ATmega128: T4 - Controlo de um motor

/*
manualni PWM
*/
#include <avr\io.h>
#include <avr/iom128.h>


int main(void) {
    // PORTD pins as input
    DDRD = 0x00;

    // enable internal pull ups
    PORTD = 0xFF;

    // set PORTB1 pin as output
    DDRB = 0xFF; // output pro PWM port PB5, PB6, PB7

    // vyuzivaji se PB5(OC1A), PB6(OC1B)
    // TOP = ICR1;
    // output compare OC1A 8 bit non inverted PWM

    // clear OC1A on Compare Match, set OC1A at TOP
    // fast PWM
    // ICR1 = 20000 definuje 50Hz PWM DDRB 6 23 DDRB 5 23
    ICR1 = 20000;

    TCCR1A|=(1<<COM1A1)|(1<<COM1B1)|(1<<WGM11);

    TCCR1B|=(1<<WGM13)|(1<<WGM12)|(1<<CS10);//(1<<WGM13)|(1<<WGM12)|(1<<CS10)

    // start timeru s divisor de freq 8
    while (1) {
        if(bit_is_clear(PIND, 0)){
            // increase duty cycle
            OCR1A += 10;
            loop_until_bit_is_set(PIND, 0);
        }

        if (bit_is_clear(PIND, 1)) {
            // decease duty cycle
            OCR1A -= 10;
            loop_until_bit_is_set(PIND, 1);
        }

        if (bit_is_clear(PIND, 2)) {
            // increase duty cycle
            OCR1B += 10;
            loop_until_bit_is_set(PIND, 2);
        }

        if (bit_is_clear(PIND, 3)) {
            // decease duty cycle
            OCR1B -= 10;
            loop_until_bit_is_set(PIND, 3);
        }
    }
}