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113 Kevin 1 
/* The processor calls these handlers when an interrupt is triggered */
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#include "maindefs.h"
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#include "msg_queues.h"
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#include <timers.h>
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#include "timers.h"
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#include "pwm.h"
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unsigned char overflow_counter;
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void timers_init() {
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    /*--------------------Timer Delay Formulas-------------------- */
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    /* InitTMR0 = 256 - ( Delay * Frequency ) / ( 4* Prescaler)    */
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    /* Delay = (256 - InitTMR0 * Prescaler) / (Frequency / 4)      */
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    /* ----------------------------------------------------------- */
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    // Sleep timer
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    OpenTimer0(TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_256);
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    T0CONbits.TMR0ON = 0;   // Timer 0 initially off
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#ifdef _BASE_STATION
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    OpenTimer2(TIMER_INT_ON & T2_PS_1_16 & T2_POST_1_16);
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    T2CONbits.TMR2ON = 0;   // Timer 2 initially off
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#endif
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#ifdef _REMOTE
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    // Data polling timer
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    OpenTimer1(TIMER_INT_ON & T1_16BIT_RW &
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                T1_SOURCE_FOSC_4 & T1_PS_1_1 &
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                T1_OSC1EN_OFF & T1_SYNC_EXT_OFF,
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                TIMER_GATE_OFF & TIMER_GATE_INT_OFF);
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    T1CONbits.TMR1ON = 0;   // Timer 1 initially off
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    overflow_counter = 0;
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    // Open timer 2 for ECCP1 (PWM)
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    OpenTimer2(TIMER_INT_OFF & T2_PS_1_4 & T2_POST_1_1);
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    // Open timer 3 for PWM IR signaling
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    OpenTimer3(TIMER_INT_ON & T3_16BIT_RW & T3_SOURCE_FOSC_4 &
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            T3_OSC1EN_OFF & T3_PS_1_1 & T3_SYNC_EXT_OFF, TIMER_GATE_OFF);
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    T3CONbits.TMR3ON = 0;   // Timer 3 initially off
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#endif
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}
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// Interrupt handler for timer 0
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void timer0_interrupt_handler() {
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    timer0_disable();   // Run once!
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    MQ_sendmsg_ToMainFromLow(0, MSGTYPE_TIMER0, (void *) 0);
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}
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void timer0_enable() {
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    WriteTimer0(0);
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    T0CONbits.TMR0ON = 1;
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}
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void timer0_disable() {
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    T0CONbits.TMR0ON = 0;
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}
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// Interrupt handler for timer 1
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void timer1_interrupt_handler() {
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#ifdef _REMOTE
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    overflow_counter++;
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    if (overflow_counter % 3 == 0) {
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        MQ_sendmsg_ToMainFromLow(0, MSGTYPE_TIMER1, (void *) 0);
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    }
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#endif
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}
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void timer1_enable() {
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    WriteTimer1(0);
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    T1CONbits.TMR1ON = 1;
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}
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void timer1_disable() {
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    T1CONbits.TMR1ON = 0;
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}
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// Interrupt handler for timer 2
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void timer2_interrupt_handler() {
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    overflow_counter++;
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    if (overflow_counter ==  50) {
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        overflow_counter = 0;
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        timer2_disable();
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        MQ_sendmsg_ToMainFromLow(0, MSGTYPE_TIMER2, (void *) 0);
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    }
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}
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void timer2_enable() {
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    WriteTimer2(0);
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    T2CONbits.TMR2ON = 1;
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}
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void timer2_disable() {
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    T2CONbits.TMR2ON = 0;
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}
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void timer3_interrupt_handler() {
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#ifdef _REMOTE
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    if (!PWM_IR_STATE) {
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        // Turn on PWM
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        pwm_IR_start();
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        PWM_IR_STATE = 1;
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        WriteTimer3(0xEA00);    // Send 38kHz pulses for 600us
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    } else {
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        // Turn off PWM
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        pwm_IR_stop();
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        PWM_IR_STATE = 0;
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//        WriteTimer3(0xEA00);    // Send low for 0.6ms
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//        WriteTimer3(0xD800);    // Send low for 1ms
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//        WriteTimer3(0xB000);    // Send low for 2ms
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        WriteTimer3(0x1000);    // Send low for 6ms
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    }
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#endif
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}
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void timer3_enable() {
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    // Enable timer and start PWM
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    T3CONbits.TMR3ON = 1;
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    pwm_IR_start();
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    PWM_IR_STATE = 1;
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}
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void timer3_disable() {
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    // Disable timer and stop PWM
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    T3CONbits.TMR3ON = 0;
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    pwm_IR_stop();
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    PWM_IR_STATE = 0;
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}