/****************************************************************************
 Title	:   C  file for Interrupt intilialization (interrupt.c)
 Author:    Gorang Gandhi (gorang@ufl.edu)
 Date:	    July/24/2006
 Software:  AVR-GCC 
 Target:    Atmega 128
 Comments:  
*****************************************************************************/

#include <avr/interrupt.h>
#include <avr/io.h>
#include <avr/signal.h>
#include "interrupt.h"


/*
void INIT_TIMER3(void)
// Used to read in sensors every 0.1 ms
{
  ETIFR  |= _BV(OCF3A);						// clears output compare flag 1 
  TCCR3B |= _BV(CS31)|_BV(WGM32);			// CTC (clear time on compare match), prescale = 8
  TCNT3  = 0;
  ETIMSK |= _BV(OCIE3A);    					// enable output compare interrupt
  OCR3A   = 200; 			        		// match in approx 0.1ms. 1/(16 MHz/8)*200 = 0.1ms 
}

void INIT_TIMER2(void)
// Used to update motor drivers every 8 ms 
{
  TIFR  |= _BV(OCF2);
  TCCR2 |= _BV(WGM21)|_BV(CS22)|_BV(CS20); // CTC, prescale = 1024 
  TCNT2  = 0;
  TIMSK |= _BV(OCIE2);    					// enable output compare interrupt
  OCR2   = 125; 			        		// match in approx 8ms. 1/(16 MHz/1024)*125 = 8ms 
}

void INIT_TIMER0(void)
// Used to execute PID loop
{
	TIFR  |= _BV(OCF0);
	TCCR0 |= _BV(WGM01)|_BV(CS02)|_BV(CS01)|_BV(CS00);  //CTC, prescale by 1024
	TCNT0 = 0;
	TIMSK |= _BV(OCIE0);
	OCR0 = 156;								// match in 0.01 sec . 1/(16 MHz/1024)*156 = 0.01 s
}
*/  

void INIT_TIMER2(void)
// Used to execute PID loop.  Interrupts every 10 ms.
{
  TIFR  |= _BV(OCF2);
  TCCR2 |= _BV(WGM21)|_BV(CS22)|_BV(CS20); // CTC, prescale = 1024 
  TCNT2  = 0;
  TIMSK |= _BV(OCIE2);    					// enable output compare interrupt
  OCR2   = 156; 			        		// match in approx 10ms. 1/(16 MHz/1024)*156 = 10ms 
}

void INIT_TIMER1(void)
// Used for ms_sleep.  Interrupts every 1 ms.
{
  TIFR  |= _BV(OCF1A);						// clears output compare flag 1 
  TCCR1B |= _BV(CS11)|_BV(CS10)|_BV(WGM12);	// CTC (clear time on compare match), prescale = 64
  TCNT1  = 0;
  TIMSK |= _BV(OCIE1A);    					// enable output compare interrupt
  OCR1A   = 250; 			        		// match in approx 1ms. 1/(16 MHz/64)*250 = 1ms 
}