#define F_CPU 14745600UL    

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



//*******************************************************************************************
//  MOJE UPRAVY
//-------------------------------------------------------------------------------------------
//
#define setb(port,pin)    port |= 1<<pin    //nastav bit
#define clrb(port,pin)    port &= ~(1<<pin) //nuluj bit
#define negb(port,pin)    port ^= 1<<pin    //neguj bit

//*******************************************************************************************


void servo_us(unsigned int uSec)
  {
  // 0,9216 = 1us
if (uSec<600) uSec=600;
if (uSec>2400) uSec=2400;

OCR1A=(922*(uSec/100))/10; 	// hlidat aby nepretekl int (cca 65000)
			       // za cenu zaokrouhleni 921,6 na 922

//OCR1A=0.9216*uSec;  //pouziti float = presne, ale zabira hodne pameti
  
  }



void servo_poloha(unsigned char poloha)
  {
 // 921,6 = cca 922 =  1ms
 // 0,9216 = 1us

 // stred = 1500 us
 // 0st= 600us
 // 180st= 2400us


if (poloha<0) poloha=0;
if (poloha>180) poloha=180;

servo_us((poloha*10)+600);

  }



int main(void)
{


// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTB=0x00;
DDRB=0xB0;



// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 2000,000 kHz
// Mode: Ph. & fr. cor. PWM top=ICR1
// OC1A output: Non-Inv.
// OC1B output: Discon.
// OC1C output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
// Compare C Match Interrupt: Off
TCCR1A=0x80;
TCCR1B=0x12;
TCNT1H=0x00;
TCNT1L=0x00;
//********************************************************************
//  Vypocet frekvence PWM :
// ------------------------
//                            1
//     poz. frekvence  = ---------------- /2= 50Hz
//          		    1
//        		-------- * ICR1
//        	     2000 000
//
//    po uprave: (Clock je fr. timeru tj. Fr. procesoru/N  ,
//                kde N je preddelicka 1, 8, 64, 256, nebo 1024) 
//             
//
//                    Clock (Hz)
//       ICR1 = ----------------------
//               2 * poz. frekvence PWM
//
//  
//
// Vypocet OCR1 (na urceni stridy):
// ----------------------------------
//
//
//                Clock (Hz)  *   Poz. cas
//       OCR1 = ----------------------------
//                            2
//*********************************************************************

// ICR1=20000; pro 16MHz
ICR1=18432;  // pro 14,745600 Hz



OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
OCR1CH=0x00;
OCR1CL=0x00;



while (1)
      {
// 921,6 = cca 922 =  1ms
// 



  servo_poloha(0);

  _delay_ms(1000);
 
  servo_poloha(90);

  _delay_ms(1000);

   servo_poloha(180);

  _delay_ms(1000);

      };
}