timer.c
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	#include <p33FJ128GP802.h>

	#include "timer.h"

	#include "spi_led.h"

	extern uint16 led_outputs;

	unsigned int systime;

	/* Timer 1 is used as system timer */
	void __attribute__((__interrupt__, no_auto_psv)) _T1Interrupt(void)
	{
	systime ++;

	// update rgb led status (pwm-functionality)
	UPDATE_RGB_LED(systime);

	// start new ADC conversion
	AD1CON1bits.SAMP = 0;

	IFS0bits.T1IF = 0; // Clear Timer 1 Interrupt Flag
	}

	/**
	* start timer 1 as main clock, for systime and PWM for the leds.
	* The interrupt goes off FSYST times per second
	*/

	void timer_init()
	{
	// Timer 1 is currently implemented in motorcontrol.c

	/* Set timer 1 as main clock */
	T1CONbits.TON = 0; // Disable Timer
	T1CONbits.TCS = 0; // Select internal instruction cycle clock
	T1CONbits.TGATE = 0; // Disable Gated Timer mode

	/* 1x prescaler */
	PR1 = (FCY/FSYST -1); //timer goes off every PR1 clock cycles. So FSYST times per second.
	T1CONbits.TCKPS = 0b00; // Select 1:1 Prescaler

	TMR1 = 0x00; // Clear timer register
	IPC0bits.T1IP = 0x06; // Set Timer1 Interrupt Priority Level to 6 = very high priority
	IFS0bits.T1IF = 0; // Clear Timer1 Interrupt Flag
	IEC0bits.T1IE = 1; // Enable Timer1 interrupt
	T1CONbits.TON = 1; // Start Timer

	}