Index: firmware/source/rti.c
===================================================================
diff -u -r792764062d7b7826af10e030277f18379af4fcd1 -rabb9687e52d9db5df1abe7626ba04a6d431ba823
--- firmware/source/rti.c	(.../rti.c)	(revision 792764062d7b7826af10e030277f18379af4fcd1)
+++ firmware/source/rti.c	(.../rti.c)	(revision abb9687e52d9db5df1abe7626ba04a6d431ba823)
@@ -87,7 +87,7 @@
     rtiREG1->CAPCTRL = 0U | 0U;
 
     /** - Setup input source compare 0-3 */
-    rtiREG1->COMPCTRL = 0x00001000U | 0x00000100U | 0x00000000U | 0x00000000U;
+    rtiREG1->COMPCTRL = 0x00000000U | 0x00000100U | 0x00000000U | 0x00000000U;
 
     /** - Reset up counter 0 */
     rtiREG1->CNT[0U].UCx = 0x00000000U;
@@ -99,7 +99,7 @@
     *     - 0x00000000: Divide by 2^32
     *     - 0x00000001-0xFFFFFFFF: Divide by (CPUC0 + 1)
     */
-    rtiREG1->CNT[0U].CPUCx = 10U;
+    rtiREG1->CNT[0U].CPUCx = 9U;
 
     /** - Reset up counter 1 */
     rtiREG1->CNT[1U].UCx = 0x00000000U;
@@ -111,31 +111,31 @@
     *     - 0x00000000: Divide by 2^32
     *     - 0x00000001-0xFFFFFFFF: Divide by (CPUC1 + 1)
     */
-    rtiREG1->CNT[1U].CPUCx = 10U;
+    rtiREG1->CNT[1U].CPUCx = 9U;
 
     /** - Setup compare 0 value. This value is compared with selected free running counter. */
-    rtiREG1->CMP[0U].COMPx = 10000U;
+    rtiREG1->CMP[0U].COMPx = 10400U;
 
     /** - Setup update compare 0 value. This value is added to the compare 0 value on each compare match. */
-    rtiREG1->CMP[0U].UDCPx = 10000U;
+    rtiREG1->CMP[0U].UDCPx = 10400U;
 
     /** - Setup compare 1 value. This value is compared with selected free running counter. */
-    rtiREG1->CMP[1U].COMPx = 50000U;
+    rtiREG1->CMP[1U].COMPx = 104000U;
 
     /** - Setup update compare 1 value. This value is added to the compare 1 value on each compare match. */
-    rtiREG1->CMP[1U].UDCPx = 50000U;
+    rtiREG1->CMP[1U].UDCPx = 104000U;
 
     /** - Setup compare 2 value. This value is compared with selected free running counter. */
-    rtiREG1->CMP[2U].COMPx = 80000U;
+    rtiREG1->CMP[2U].COMPx = 83200U;
 
     /** - Setup update compare 2 value. This value is added to the compare 2 value on each compare match. */
-    rtiREG1->CMP[2U].UDCPx = 80000U;
+    rtiREG1->CMP[2U].UDCPx = 83200U;
 
     /** - Setup compare 3 value. This value is compared with selected free running counter. */
-    rtiREG1->CMP[3U].COMPx = 100000U;
+    rtiREG1->CMP[3U].COMPx = 520000U;
 
     /** - Setup update compare 3 value. This value is added to the compare 3 value on each compare match. */
-    rtiREG1->CMP[3U].UDCPx = 100000U;
+    rtiREG1->CMP[3U].UDCPx = 520000U;
 
     /** - Clear all pending interrupts */
     rtiREG1->INTFLAG = 0x0007000FU;
@@ -844,9 +844,85 @@
 	}
 }
 
+/* USER CODE BEGIN (73) */
+/* USER CODE END */
 
+/** @fn void rtiCompare0Interrupt(void)
+*   @brief RTI1 Compare 0 Interrupt Handler
+*
+*   RTI1 Compare 0 interrupt handler 
+*
+*/
+#pragma CODE_STATE(rtiCompare0Interrupt, 32)
+#pragma INTERRUPT(rtiCompare0Interrupt, FIQ)
 
+/* SourceId : RTI_SourceId_022 */
+/* DesignId : RTI_DesignId_022 */
+/* Requirements : HL_SR95 */
+void rtiCompare0Interrupt(void)
+{
+/* USER CODE BEGIN (74) */
+/* USER CODE END */
 
+    rtiREG1->INTFLAG = 1U;
+    rtiNotification(rtiNOTIFICATION_COMPARE0);
 
+/* USER CODE BEGIN (75) */
+/* USER CODE END */
+}
 
+/* USER CODE BEGIN (76) */
+/* USER CODE END */
 
+/** @fn void rtiCompare1Interrupt(void)
+*   @brief RTI1 Compare 1 Interrupt Handler
+*
+*   RTI1 Compare 1 interrupt handler 
+*
+*/
+
+/* SourceId : RTI_SourceId_023 */
+/* DesignId : RTI_DesignId_022 */
+/* Requirements : HL_SR95 */
+void rtiCompare1Interrupt(void)
+{
+/* USER CODE BEGIN (77) */
+/* USER CODE END */
+
+    rtiREG1->INTFLAG = 2U;
+    rtiNotification(rtiNOTIFICATION_COMPARE1);
+
+/* USER CODE BEGIN (78) */
+/* USER CODE END */
+}
+
+
+
+/* USER CODE BEGIN (82) */
+/* USER CODE END */
+
+/** @fn void rtiCompare3Interrupt(void)
+*   @brief RTI1 Compare 3 Interrupt Handler
+*
+*   RTI1 Compare 3 interrupt handler 
+*
+*/
+
+/* SourceId : RTI_SourceId_025 */
+/* DesignId : RTI_DesignId_022 */
+/* Requirements : HL_SR95 */
+void rtiCompare3Interrupt(void)
+{
+/* USER CODE BEGIN (83) */
+/* USER CODE END */
+
+    rtiREG1->INTFLAG = 8U;
+    rtiNotification(rtiNOTIFICATION_COMPARE3);
+
+/* USER CODE BEGIN (84) */
+/* USER CODE END */
+}
+
+
+
+