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/* The processor calls these handlers when an interrupt is triggered */
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/* The processor calls these handlers when an interrupt is triggered */
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#include "maindefs.h"
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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 "timers.h"
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#include "timers.h"
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#include "pwm.h"
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void timers_init() {
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void timers_init() {
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    /*--------------------Timer Delay Formulas-------------------- */
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    /*--------------------Timer Delay Formulas-------------------- */
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    /* InitTMR0 = 256 - ( Delay * Frequency ) / ( 4* Prescaler)    */
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    /* InitTMR0 = 256 - ( Delay * Frequency ) / ( 4* Prescaler)    */
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    /* Delay = (256 - InitTMR0 * Prescaler) / (Frequency / 4)      */
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    /* Delay = (256 - InitTMR0 * Prescaler) / (Frequency / 4)      */
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    /* ----------------------------------------------------------- */
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    /* ----------------------------------------------------------- */
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#ifdef _BASE_STATION
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    OpenTimer0(TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_16);
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    OpenTimer0(TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_16);
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    T0CONbits.TMR0ON = 0;   // Timer 0 initially off
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    T0CONbits.TMR0ON = 0;   // Timer 0 initially off
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#endif
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//    // Set timer 1 to overflow every two seconds
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//    // Set timer 1 to overflow every two seconds
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//    OpenTimer1(TIMER_INT_ON & T1_16BIT_RW &
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//    OpenTimer1(TIMER_INT_ON & T1_16BIT_RW &
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//                T1_SOURCE_PINOSC & T1_PS_1_1 &
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//                T1_SOURCE_PINOSC & T1_PS_1_1 &
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//                T1_OSC1EN_ON & T1_SYNC_EXT_OFF,
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//                T1_OSC1EN_ON & T1_SYNC_EXT_OFF,
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//                TIMER_GATE_OFF & TIMER_GATE_INT_OFF);
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//                TIMER_GATE_OFF & TIMER_GATE_INT_OFF);
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#ifdef _REMOTE
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    // Open timer 2 for ECCP1 (PWM)
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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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    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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    // 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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    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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            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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    T3CONbits.TMR3ON = 0;   // Timer 3 initially off
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#endif
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}
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}
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// Interrupt handler for timer 0
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// Interrupt handler for timer 0
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void timer0_interrupt_handler() {
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void timer0_interrupt_handler() {
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    MQ_sendmsg_ToMainFromLow(0, MSGTYPE_TIMER0, (void *) 0);
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}
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}
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void timer0_enable() {
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void timer0_enable() {
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    T0CONbits.TMR0ON = 1;
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    T0CONbits.TMR0ON = 1;
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}
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}
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void timer0_disable() {
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void timer0_disable() {
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    T0CONbits.TMR0ON = 0;
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    T0CONbits.TMR0ON = 0;
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}
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}
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// Interrupt handler for timer 1
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// Interrupt handler for timer 1
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void timer1_interrupt_handler() {
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void timer1_interrupt_handler() {
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    // Set timer to overflow every 10ms
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    WriteTimer1(62259);
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}
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}
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void timer3_interrupt_handler() {
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void timer3_interrupt_handler() {
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    if (!pwm_on) {
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        // Turn on PWM
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        pwm_start();
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        pwm_on = 1;
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        WriteTimer3(0xE500);    // Send 38kHz pulses for 600us
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    } else {
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        // Turn off PWM
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        pwm_stop();
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        pwm_on = 0;
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        WriteTimer3(0xE500);    // Send low for 0.6ms
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//        WriteTimer3(0xD000);    // Send low for 1ms
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//        WriteTimer3(0xA000);    // Send low for 2ms
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//        WriteTimer3(0x1000);    // Send low for 5ms
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    }
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}
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}
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void timer3_enable() {
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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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    T3CONbits.TMR3ON = 1;
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    pwm_start();
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    pwm_on = 1;
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}
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}
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void timer3_disable() {
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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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    T3CONbits.TMR3ON = 0;
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    pwm_stop();
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    pwm_on = 0;
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}
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}