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#define F_CPU 16000000UL

#include <avr/io.h>
#include <util/delay.h>

int main(void)
{      
   // Input/Output Ports initialization
   // Port A initialization
   // Function: Bit7=Out Bit6=Out Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In
   DDRA=(1<<DDA7) | (1<<DDA6) | (0<<DDA5) | (0<<DDA4) | (0<<DDA3) | (0<<DDA2) | (0<<DDA1) | (0<<DDA0);
   // State: Bit7=0 Bit6=0 Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T
   PORTA=(0<<PORTA7) | (0<<PORTA6) | (0<<PORTA5) | (0<<PORTA4) | (0<<PORTA3) | (0<<PORTA2) | (0<<PORTA1) | (0<<PORTA0);

   // Port B initialization
   // Function: Bit3=In Bit2=Out Bit1=In Bit0=In
   DDRB=(0<<DDB3) | (1<<DDB2) | (0<<DDB1) | (0<<DDB0);
   // State: Bit3=T Bit2=0 Bit1=T Bit0=T
   PORTB=(0<<PORTB3) | (0<<PORTB2) | (0<<PORTB1) | (0<<PORTB0);

   // Timer/Counter 0 initialization
   // Clock source: System Clock
   // Clock value: 16000,000 kHz
   // Mode: Phase correct PWM top=0xFF
   // OC0A output: Non-Inverted PWM
   // OC0B output: Non-Inverted PWM
   // Timer Period: 0,031875 ms
   // Output Pulse(s):
   // OC0A Period: 0,031875 ms Width: 0 us
   // OC0B Period: 0,031875 ms Width: 0 us
   TCCR0A=(1<<COM0A1) | (0<<COM0A0) | (1<<COM0B1) | (0<<COM0B0) | (0<<WGM01) | (1<<WGM00);
   TCCR0B=(0<<WGM02) | (0<<CS02) | (0<<CS01) | (1<<CS00);
   TCNT0=0x00;
   OCR0A=0x00;
   OCR0B=0x00;

   // Timer/Counter 1 initialization
   // Clock source: System Clock
   // Clock value: 16000,000 kHz
   // Mode: Ph. correct PWM top=0x00FF
   // OC1A output: Non-Inverted PWM
   // OC1B output: Disconnected
   // Noise Canceler: Off
   // Input Capture on Falling Edge
   // Timer Period: 0,031875 ms
   // Output Pulse(s):
   // OC1A Period: 0,031875 ms Width: 0 us
   // Timer1 Overflow Interrupt: Off
   // Input Capture Interrupt: Off
   // Compare A Match Interrupt: Off
   // Compare B Match Interrupt: Off
   TCCR1A=(1<<COM1A1) | (0<<COM1A0) | (0<<COM1B1) | (0<<COM1B0) | (0<<WGM11) | (1<<WGM10);
   TCCR1B=(0<<ICNC1) | (0<<ICES1) | (0<<WGM13) | (0<<WGM12) | (0<<CS12) | (0<<CS11) | (1<<CS10);
   TCNT1H=0x00;
   TCNT1L=0x00;
   ICR1H=0x00;
   ICR1L=0x00;
   OCR1AH=0x00;
   OCR1AL=0x00;
   OCR1BH=0x00;
   OCR1BL=0x00;

   // Timer/Counter 0 Interrupt(s) initialization
   TIMSK0=(0<<OCIE0B) | (0<<OCIE0A) | (0<<TOIE0);

   // Timer/Counter 1 Interrupt(s) initialization
   TIMSK1=(0<<ICIE1) | (0<<OCIE1B) | (0<<OCIE1A) | (0<<TOIE1);

   // External Interrupt(s) initialization
   // INT0: Off
   // Interrupt on any change on pins PCINT0-7: Off
   // Interrupt on any change on pins PCINT8-11: Off
   MCUCR=(0<<ISC01) | (0<<ISC00);
   GIMSK=(0<<INT0) | (0<<PCIE1) | (0<<PCIE0);

   // USI initialization
   // Mode: Disabled
   // Clock source: Register & Counter=no clk.
   // USI Counter Overflow Interrupt: Off
   USICR=(0<<USISIE) | (0<<USIOIE) | (0<<USIWM1) | (0<<USIWM0) | (0<<USICS1) | (0<<USICS0) | (0<<USICLK) | (0<<USITC);

   // Analog Comparator initialization
   // Analog Comparator: Off
   // The Analog Comparator's positive input is
   // connected to the AIN0 pin
   // The Analog Comparator's negative input is
   // connected to the AIN1 pin
   ACSR=(1<<ACD) | (0<<ACBG) | (0<<ACO) | (0<<ACI) | (0<<ACIE) | (0<<ACIC) | (0<<ACIS1) | (0<<ACIS0);
   ADCSRB=(0<<ACME);
   // Digital input buffer on AIN0: On
   // Digital input buffer on AIN1: On
   DIDR0=(0<<ADC1D) | (0<<ADC2D);

   // ADC initialization
   // ADC disabled
   ADCSRA=(0<<ADEN) | (0<<ADSC) | (0<<ADATE) | (0<<ADIF) | (0<<ADIE) | (0<<ADPS2) | (0<<ADPS1) | (0<<ADPS0);
   
      
   unsigned char   VL_OCR0A = 0,
               VL_OCR0B = 0,
               VL_OCR1A = 0;

   OCR0A = 0;
   OCR0B = 0;
   OCR1A = 0;
   
    while(1)
    {            
      _delay_ms( 100 );
      
      VL_OCR0A = VL_OCR0A + 1;
      VL_OCR0B = VL_OCR0B + 1;
      VL_OCR1A = VL_OCR1A + 1;   
      
      if( VL_OCR0A >= 250 ){ VL_OCR0A = 0; }
      if( VL_OCR0B >= 250 ){ VL_OCR0B = 0; }
      if( VL_OCR1A >= 250 ){ VL_OCR1A = 0; }
         
      OCR0A = VL_OCR0A;
      OCR0B = VL_OCR0B;
      OCR1A = VL_OCR1A;
    }
}

/* Copyright (c) 2002, Marek Michalkiewicz
   Copyright (c) 2007 Joerg Wunsch
   All rights reserved.

   Redistribution and use in source and binary forms, with or without
   modification, are permitted provided that the following conditions are met:

   * Redistributions of source code must retain the above copyright
     notice, this list of conditions and the following disclaimer.

   * Redistributions in binary form must reproduce the above copyright
     notice, this list of conditions and the following disclaimer in
     the documentation and/or other materials provided with the
     distribution.

   * Neither the name of the copyright holders nor the names of
     contributors may be used to endorse or promote products derived
     from this software without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  POSSIBILITY OF SUCH DAMAGE. */

/* $Id$ */

#ifndef _UTIL_DELAY_BASIC_H_
#define _UTIL_DELAY_BASIC_H_ 1

#include <inttypes.h>

#if !defined(__DOXYGEN__)
static inline void _delay_loop_1(uint8_t __count) __attribute__((always_inline));
static inline void _delay_loop_2(uint16_t __count) __attribute__((always_inline));
#endif

/** \file */
/** \defgroup util_delay_basic <util/delay_basic.h>: Basic busy-wait delay loops
    \code
    #include <util/delay_basic.h>
    \endcode

    The functions in this header file implement simple delay loops
    that perform a busy-waiting.  They are typically used to
    facilitate short delays in the program execution.  They are
    implemented as count-down loops with a well-known CPU cycle
    count per loop iteration.  As such, no other processing can
    occur simultaneously.  It should be kept in mind that the
    functions described here do not disable interrupts.

    In general, for long delays, the use of hardware timers is
    much preferrable, as they free the CPU, and allow for
    concurrent processing of other events while the timer is
    running.  However, in particular for very short delays, the
    overhead of setting up a hardware timer is too much compared
    to the overall delay time.

    Two inline functions are provided for the actual delay algorithms.

*/

/** \ingroup util_delay_basic

    Delay loop using an 8-bit counter \c __count, so up to 256
    iterations are possible.  (The value 256 would have to be passed
    as 0.)  The loop executes three CPU cycles per iteration, not
    including the overhead the compiler needs to setup the counter
    register.

    Thus, at a CPU speed of 1 MHz, delays of up to 768 microseconds
    can be achieved.
*/
void
_delay_loop_1(uint8_t __count)
{
   __asm__ volatile (
      "1: dec %0" "\n\t"
      "brne 1b"
      : "=r" (__count)
      : "0" (__count)
   );
}

/** \ingroup util_delay_basic

    Delay loop using a 16-bit counter \c __count, so up to 65536
    iterations are possible.  (The value 65536 would have to be
    passed as 0.)  The loop executes four CPU cycles per iteration,
    not including the overhead the compiler requires to setup the
    counter register pair.

    Thus, at a CPU speed of 1 MHz, delays of up to about 262.1
    milliseconds can be achieved.
*/
void
_delay_loop_2(uint16_t __count)
{
   __asm__ volatile (
      "1: sbiw %0,1" "\n\t"
      "brne 1b"
      : "=w" (__count)
      : "0" (__count)
   );
}

#endif /* _UTIL_DELAY_BASIC_H_ */

/* Copyright (c) 2002, Marek Michalkiewicz
   Copyright (c) 2004,2005,2007 Joerg Wunsch
   Copyright (c) 2007  Florin-Viorel Petrov
   All rights reserved.

   Redistribution and use in source and binary forms, with or without
   modification, are permitted provided that the following conditions are met:

   * Redistributions of source code must retain the above copyright
     notice, this list of conditions and the following disclaimer.

   * Redistributions in binary form must reproduce the above copyright
     notice, this list of conditions and the following disclaimer in
     the documentation and/or other materials provided with the
     distribution.

   * Neither the name of the copyright holders nor the names of
     contributors may be used to endorse or promote products derived
     from this software without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  POSSIBILITY OF SUCH DAMAGE. */

/* $Id$ */

#ifndef _UTIL_DELAY_H_
#define _UTIL_DELAY_H_ 1

#ifndef __HAS_DELAY_CYCLES
#define __HAS_DELAY_CYCLES 1
#endif

#include <inttypes.h>
#include <util/delay_basic.h>
#include <math.h>

/** \file */
/** \defgroup util_delay <util/delay.h>: Convenience functions for busy-wait delay loops
    \code
    #define F_CPU 1000000UL  // 1 MHz
    //#define F_CPU 14.7456E6
    #include <util/delay.h>
    \endcode

    \note As an alternative method, it is possible to pass the
    F_CPU macro down to the compiler from the Makefile.
    Obviously, in that case, no \c \#define statement should be
    used.

    The functions in this header file are wrappers around the basic
    busy-wait functions from <util/delay_basic.h>.  They are meant as
    convenience functions where actual time values can be specified
    rather than a number of cycles to wait for.  The idea behind is
    that compile-time constant expressions will be eliminated by
    compiler optimization so floating-point expressions can be used
    to calculate the number of delay cycles needed based on the CPU
    frequency passed by the macro F_CPU.

    \note In order for these functions to work as intended, compiler
    optimizations <em>must</em> be enabled, and the delay time
    <em>must</em> be an expression that is a known constant at
    compile-time.  If these requirements are not met, the resulting
    delay will be much longer (and basically unpredictable), and
    applications that otherwise do not use floating-point calculations
    will experience severe code bloat by the floating-point library
    routines linked into the application.

    The functions available allow the specification of microsecond, and
    millisecond delays directly, using the application-supplied macro
    F_CPU as the CPU clock frequency (in Hertz).

*/

#if !defined(__DOXYGEN__)
static inline void _delay_us(double __us) __attribute__((always_inline));
static inline void _delay_ms(double __ms) __attribute__((always_inline));
#endif

#ifndef F_CPU
/* prevent compiler error by supplying a default */
# warning "F_CPU not defined for <util/delay.h>"
# define F_CPU 1000000UL
#endif

#ifndef __OPTIMIZE__
# warning "Compiler optimizations disabled; functions from <util/delay.h> won't work as designed"
#endif

#if __HAS_DELAY_CYCLES && defined(__OPTIMIZE__) && \
  !defined(__DELAY_BACKWARD_COMPATIBLE__) &&      \
  __STDC_HOSTED__
#  include <math.h>
#endif

/**
   \ingroup util_delay

   Perform a delay of \c __ms milliseconds, using _delay_loop_2().

   The macro F_CPU is supposed to be defined to a
   constant defining the CPU clock frequency (in Hertz).

   The maximal possible delay is 262.14 ms / F_CPU in MHz.

   When the user request delay which exceed the maximum possible one,
   _delay_ms() provides a decreased resolution functionality. In this
   mode _delay_ms() will work with a resolution of 1/10 ms, providing
   delays up to 6.5535 seconds (independent from CPU frequency).  The
   user will not be informed about decreased resolution.

   If the avr-gcc toolchain has __builtin_avr_delay_cycles(unsigned long)
   support, maximal possible delay is 4294967.295 ms/ F_CPU in MHz. For
   values greater than the maximal possible delay, overflows results in
   no delay i.e., 0ms.

   Conversion of __us into clock cycles may not always result in integer.
   By default, the clock cycles rounded up to next integer. This ensures that
   the user gets atleast __us microseconds of delay.

   Alternatively, user can define __DELAY_ROUND_DOWN__ and __DELAY_ROUND_CLOSEST__
   to round down and round to closest integer.

   Note: The new implementation of _delay_ms(double __ms) with
    __builtin_avr_delay_cycles(unsigned long) support is not backward compatible.
   User can define __DELAY_BACKWARD_COMPATIBLE__ to get a backward compatible delay.
   Also, the backward compatible
   algorithm will be chosen if the code is compiled in a <em>freestanding
   environment</em> (GCC option \c -ffreestanding), as the math functions
   required for rounding are not available to the compiler then.

*/
void
_delay_ms(double __ms)
{
   double __tmp ;
#if __HAS_DELAY_CYCLES && defined(__OPTIMIZE__) && \
  !defined(__DELAY_BACKWARD_COMPATIBLE__) &&      \
  __STDC_HOSTED__
   uint32_t __ticks_dc;
   extern void __builtin_avr_delay_cycles(unsigned long);
   __tmp = ((F_CPU) / 1e3) * __ms;

   #if defined(__DELAY_ROUND_DOWN__)
      __ticks_dc = (uint32_t)fabs(__tmp);

   #elif defined(__DELAY_ROUND_CLOSEST__)
      __ticks_dc = (uint32_t)(fabs(__tmp)+0.5);

   #else
      //round up by default
      __ticks_dc = (uint32_t)(ceil(fabs(__tmp)));
   #endif

   __builtin_avr_delay_cycles(__ticks_dc);

#else
   uint16_t __ticks;
   __tmp = ((F_CPU) / 4e3) * __ms;
   if (__tmp < 1.0)
      __ticks = 1;
   else if (__tmp > 65535)
   {
      //   __ticks = requested delay in 1/10 ms
      __ticks = (uint16_t) (__ms * 10.0);
      while(__ticks)
      {
         // wait 1/10 ms
         _delay_loop_2(((F_CPU) / 4e3) / 10);
         __ticks --;
      }
      return;
   }
   else
      __ticks = (uint16_t)__tmp;
   _delay_loop_2(__ticks);
#endif
}

/**
   \ingroup util_delay

   Perform a delay of \c __us microseconds, using _delay_loop_1().

   The macro F_CPU is supposed to be defined to a
   constant defining the CPU clock frequency (in Hertz).

   The maximal possible delay is 768 us / F_CPU in MHz.

   If the user requests a delay greater than the maximal possible one,
   _delay_us() will automatically call _delay_ms() instead.  The user
   will not be informed about this case.

   If the avr-gcc toolchain has __builtin_avr_delay_cycles(unsigned long)
   support, maximal possible delay is 4294967.295 us/ F_CPU in MHz. For
   values greater than the maximal possible delay, overflow results in
   no delay i.e., 0us.
 
   Conversion of __us into clock cycles may not always result in integer.
   By default, the clock cycles rounded up to next integer. This ensures that
   the user gets atleast __us microseconds of delay.

   Alternatively, user can define __DELAY_ROUND_DOWN__ and __DELAY_ROUND_CLOSEST__
   to round down and round to closest integer.

   Note: The new implementation of _delay_us(double __us) with
    __builtin_avr_delay_cycles(unsigned long) support is not backward compatible.
   User can define __DELAY_BACKWARD_COMPATIBLE__ to get a backward compatible delay.
   Also, the backward compatible
   algorithm will be chosen if the code is compiled in a <em>freestanding
   environment</em> (GCC option \c -ffreestanding), as the math functions
   required for rounding are not available to the compiler then.

*/
void
_delay_us(double __us)
{
   double __tmp ;
#if __HAS_DELAY_CYCLES && defined(__OPTIMIZE__) && \
  !defined(__DELAY_BACKWARD_COMPATIBLE__) &&      \
  __STDC_HOSTED__
   uint32_t __ticks_dc;
   extern void __builtin_avr_delay_cycles(unsigned long);
   __tmp = ((F_CPU) / 1e6) * __us;

   #if defined(__DELAY_ROUND_DOWN__)
      __ticks_dc = (uint32_t)fabs(__tmp);

   #elif defined(__DELAY_ROUND_CLOSEST__)
      __ticks_dc = (uint32_t)(fabs(__tmp)+0.5);

   #else
      //round up by default
      __ticks_dc = (uint32_t)(ceil(fabs(__tmp)));
   #endif

   __builtin_avr_delay_cycles(__ticks_dc);

#else
   uint8_t __ticks;
   double __tmp2 ;
   __tmp = ((F_CPU) / 3e6) * __us;
   __tmp2 = ((F_CPU) / 4e6) * __us;
   if (__tmp < 1.0)
      __ticks = 1;
   else if (__tmp2 > 65535)
   {
      _delay_ms(__us / 1000.0);
   }
   else if (__tmp > 255)
   {
      uint16_t __ticks=(uint16_t)__tmp2;
      _delay_loop_2(__ticks);
      return;
   }
   else
      __ticks = (uint8_t)__tmp;
   _delay_loop_1(__ticks);
#endif
}


#endif /* _UTIL_DELAY_H_ */