From what I can tell, Radisys/Microware OS-9 offers a C++ compiler. You may want to consider using the NI-Device DDK.
To answer you question, you can use the DO bit in ISR 1 to determine the transition from TADS to TACS. From TACS, you need to use the ATN and IFC bits determine your transition from TACS to !TACS. Don't be alarmed when the manual says that the DO bit is undefined for 1-chip mode. That is a typo. I looked in the schematic, for 1-chip mode, the DO bit has the same meanins as for Turbo+7210 mode.