#include <avr/io.h>
#define PI 3,41
#include <stdint.h>
#include<avr/interrupt.h>
//#define TIMER0_OVF_vect





//Globale Variable

long duty, w1, w2, w3; //Duty Cycle der PWMs





void rechtskom (){

// Für die High-Mosfets wird das Dutycycle  auf duty für high und auf 0 für Low eingestellt (PWM nur für High MosFets)
if ( PINB & (1<<PINB0) )
		{
			if ( !(PINB & (1<<PINB1)))
			{
		 	w1=duty;;//Ausgang high Diode aus
			}
			else{w1=0;}		
		}
else{w1=0;}

									if ( PINB & (1<<PINB3) )
										{
										if ( !(PINB & (1<<PINB1)))
											{	
									 		w2=duty;
											}
										else{w2=0;}
										}
									else{w2=0;}
			if ( PINB & (1<<PINB1) )
				{
				if ( !(PINB & (1<<PINB3)))
					{
		 			w3=duty;
					}
				else{
					w3=0;
					}
				}
			else{
			w3=0;
				}	
				
// Für die Low-Mosfets wird die Komutierung normal durchgeführt		
	

									if ( PINB & (1<<PINB0) )
									{
										if ( !(PINB & (1<<PINB3)))
										{
										 	PORTD = PORTD | 0B00100000;;
										}
										else{
											PORTD = PORTD & 0B11011111;
											}
									}
									else{
											PORTD = PORTD & 0B11011111;
										}
	
	
		if ( PINB & (1<<PINB3) )				//************************
		{										//***************************
			if ( !(PINB & (1<<PINB0)))			//***						****
			{									//***						*******
		 	PORTD = PORTD | 0B01000000;			//***	Port 6 geht nicht	**********
			}									//***						*******
			else{								//***						****
				PORTD = PORTD & 0B10111111;		//***************************						
				}								//************************
		}
		else{
			PORTD = PORTD & 0B10111111;
			}

									if ( PINB & (1<<PINB1) )
									{
										if ( !(PINB & (1<<PINB0)))
										{
										 	PORTD = PORTD | 0B10000000;;
										}
										else{
											PORTD = PORTD & 0B01111111;
											}
									}
									else{
											PORTD = PORTD & 0B01111111;
										}
}




void timer_init(void)
		{

			
			/*Fast PWM mit Timer0*/
			TCCR0A |= ((1<<COM0A1) | (1<<COM0A0) | (1<<COM0B1) | (1<<COM0B0)); 	//Setzen bei übereinstimmung und löschen bei Top (Aus Tabelle 14-3 & 14-6)
			TCCR0A |= ((1<<WGM01) | (1<<WGM00));								//Mode 7 (Fast PWM) (Aus Tabelle 14-8)
			TCCR0B |= (1<<WGM02);												//Mode 7 (Fast PWM) (Aus Tabelle 14-8)
			TCCR0B |= ((0<<CS02) | (0<<CS01) | (1<<CS00)); 						//Kein Teiler (Aus Tabelle 14-9)
			OCR0A=100;






				/*Fast PWM mit Timer1*/
			TCCR1A |= ((1<<COM1A1) | (1<<COM1A0) | (1<<COM1B1) | (1<<COM1B0)); 	//Setzen bei übereinstimmung und löschen bei Top (Aus Tabelle 15-3)
			TCCR1A |= ((1<<WGM11) | (0<<WGM10));								//Mode 3 (Fast PWM) (Aus Tabelle 15-5)
			TCCR1B |= ((0<<CS12) | (0<<CS11) | (1<<CS10)); 						//Kein Teiler (Aus Tabelle 15-6)
			TCCR1B |= ((1<<WGM13) | (1<<WGM12));								//Mode 3 (Fast PWM) (Aus Tabelle 15-5)
			ICR1=1024;
		}
						

void ad_conver(void)
		{
			// AD-Wandler mit einer Auflösung von 1024
			ADMUX |=  ((0<<REFS1) | (0<<REFS0));								//externe Spannung als Referenz (Aus Tabelle 21-3)
			ADMUX |=  ((0<<MUX3) | (0<<MUX2) | (0<<MUX1) | (0<<MUX0));			//Kanal ADC0 als Ausgang (Aus Tabelle 21-4)

			ADCSRA |= (1<<ADEN);												//ADC aktivieren

			ADCSRA |= (1<<ADATE);												//kontinuierliche Messung
		  	ADCSRA |= (1<<ADIF);												//Interruptflag
		  	ADCSRA |= (1<<ADIE);												//Interrupt erlauben
			ADCSRA |= ((1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0)); 					//Teilungsfaktor (Aus Tabelle 21-5)	
			
					
		  	//ADCSRB |= (1<<ADHSM); 											//Highspeedmodus
			ADCSRB |= ((0<<ADTS3) | (1<<ADTS2) | (0<<ADTS1) | (0<<ADTS0)); 		//free running Modus (Aus Tabelle 21-6)	
			ADCSRA |= (1<<ADSC);												//Messung starten		  		


		}




int main(void)

{
double sin[61]={0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180, 190, 200, 210, 220, 230, 240, 250, 260, 270, 280, 290, 300, 310, 320, 330, 340, 350, 360, 370, 380, 390, 400, 410, 420, 430, 440, 450, 460, 470, 480, 490, 500, 510, 520, 530, 540, 550, 560, 570, 580, 590, 600
/*	double sin[1024]={6, 13, 19, 25, 31, 38, 44, 50, 57, 63, 69, 75, 82, 88, 94, 100, 107, 113, 119, 125, 132, 138, 144, 150, 156, 163, 169, 175, 181, 187, 194, 200, 206, 212, 218, 224, 230, 237, 243, 249, 255, 261, 267, 273, 279, 285, 291, 297, 303, 309, 315, 321, 327, 333, 339, 345, 351, 357, 363, 369, 374, 380, 386, 392, 398, 403, 409, 415, 421, 426, 432, 438, 443, 
	449, 455, 460, 466, 472, 477, 483, 488, 494, 499, 505, 510, 516, 521, 526, 532, 537, 543, 548, 553, 558, 564, 569, 574, 579, 584, 590, 595, 600, 605, 610, 615, 620, 625, 630, 635, 640, 645, 650, 654, 659, 664, 669, 674, 678, 683, 688, 692, 697, 702, 706, 711, 715, 720, 724, 729, 733, 737, 742, 746, 750, 755, 759, 763, 767, 771, 775, 779, 784, 788, 792, 796, 799, 803, 
	807, 811, 815, 819, 822, 826, 830, 834, 837, 841, 844, 848, 851, 855, 858, 862, 865, 868, 872, 875, 878, 882, 885, 888, 891, 894, 897, 900, 903, 906, 909, 912, 915, 917, 920, 923, 926, 928, 931, 934, 936, 939, 941, 944, 946, 948, 951, 953, 955, 958, 960, 962, 964, 966, 968, 970, 972, 974, 976, 978, 980, 982, 983, 985, 987, 989, 990, 992, 993, 995, 996, 998, 999, 1000, 
	1002, 1003, 1004, 1006, 1007, 1008, 1009, 1010, 1011, 1012, 1013, 1014, 1015, 1016, 1016, 1017, 1018, 1018, 1019, 1020, 1020, 1021, 1021, 1022, 1022, 1022, 1023, 1023, 1023, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1023, 1023, 1023, 1022, 1022, 1022, 1021, 1021, 1020, 1020, 1019, 1018, 1018, 1017, 1016, 1016, 1015, 1014, 1013, 1012, 1011, 1010, 
	1009, 1008, 1007, 1006, 1004, 1003, 1002, 1000, 999, 998, 996, 995, 993, 992, 990, 989, 987, 985, 983, 982, 980, 978, 976, 974, 972, 970, 968, 966, 964, 962, 960, 958, 955, 953, 951, 948, 946, 944, 941, 939, 936, 934, 931, 928, 926, 923, 920, 917, 915, 912, 909, 906, 903, 900, 897, 894, 891, 888, 885, 882, 878, 875, 872, 868, 865, 862, 858, 855, 851, 848, 844, 841, 837, 
	834, 830, 826, 822, 819, 815, 811, 807, 803, 799, 796, 792, 788, 784, 779, 775, 771, 767, 763, 759, 755, 750, 746, 742, 737, 733, 729, 724, 720, 715, 711, 706, 702, 697, 692, 688, 683, 678, 674, 669, 664, 659, 654, 650, 645, 640, 635, 630, 625, 620, 615, 610, 605, 600, 595, 590, 584, 579, 574, 569, 564, 558, 553, 548, 543, 537, 532, 526, 521, 516, 510, 505, 499, 494, 488, 
	483, 477, 472, 466, 460, 455, 449, 443, 438, 432, 426, 421, 415, 409, 403, 398, 392, 386, 380, 374, 369, 363, 357, 351, 345, 339, 333, 327, 321, 315, 309, 303, 297, 291, 285, 279, 273, 267, 261, 255, 249, 243, 237, 230, 224, 218, 212, 206, 200, 194, 187, 181, 175, 169, 163, 156, 150, 144, 138, 132, 125, 119, 113, 107, 100, 94, 88, 82, 75, 69, 63, 57, 50, 44, 38, 31, 25, 
	19, 13, 6, 0, -6, -13, -19, -25, -31, -38, -44, -50, -57, -63, -69, -75, -82, -88, -94, -100, -107, -113, -119, -125, -132, -138, -144, -150, -156, -163, -169, -175, -181, -187, -194, -200, -206, -212, -218, -224, -230, -237, -243, -249, -255, -261, -267, -273, -279, -285, -291, -297, -303, -309, -315, -321, -327, -333, -339, -345, -351, -357, -363, -369, -374, -380, -386, 
	-392, -398, -403, -409, -415, -421, -426, -432, -438, -443, -449, -455, -460, -466, -472, -477, -483, -488, -494, -499, -505, -510, -516, -521, -526, -532, -537, -543, -548, -553, -558, -564, -569, -574, -579, -584, -590, -595, -600, -605, -610, -615, -620, -625, -630, -635, -640, -645, -650, -654, -659, -664, -669, -674, -678, -683, -688, -692, -697, -702, -706, -711, -715, 
	-720, -724, -729, -733, -737, -742, -746, -750, -755, -759, -763, -767, -771, -775, -779, -784, -788, -792, -796, -799, -803, -807, -811, -815, -819, -822, -826, -830, -834, -837, -841, -844, -848, -851, -855, -858, -862, -865, -868, -872, -875, -878, -882, -885, -888, -891, -894, -897, -900, -903, -906, -909, -912, -915, -917, -920, -923, -926, -928, -931, -934, -936, -939, 
	-941, -944, -946, -948, -951, -953, -955, -958, -960, -962, -964, -966, -968, -970, -972, -974, -976, -978, -980, -982, -983, -985, -987, -989, -990, -992, -993, -995, -996, -998, -999, -1000, -1002, -1003, -1004, -1006, -1007, -1008, -1009, -1010, -1011, -1012, -1013, -1014, -1015, -1016, -1016, -1017, -1018, -1018, -1019, -1020, -1020, -1021, -1021, -1022, -1022, -1022, 
	-1023, -1023, -1023, -1024, -1024, -1024, -1024, -1024, -1024, -1024, -1024, -1024, -1024, -1024, -1023, -1023, -1023, -1022, -1022, -1022, -1021, -1021, -1020, -1020, -1019, -1018, -1018, -1017, -1016, -1016, -1015, -1014, -1013, -1012, -1011, -1010, -1009, -1008, -1007, -1006, -1004, -1003, -1002, -1000, -999, -998, -996, -995, -993, -992, -990, -989, -987, -985, -983, 
	-982, -980, -978, -976, -974, -972, -970, -968, -966, -964, -962, -960, -958, -955, -953, -951, -948, -946, -944, -941, -939, -936, -934, -931, -928, -926, -923, -920, -917, -915, -912, -909, -906, -903, -900, -897, -894, -891, -888, -885, -882, -878, -875, -872, -868, -865, -862, -858, -855, -851, -848, -844, -841, -837, -834, -830, -826, -822, -819, -815, -811, -807, 
	-803, -799, -796, -792, -788, -784, -779, -775, -771, -767, -763, -759, -755, -750, -746, -742, -737, -733, -729, -724, -720, -715, -711, -706, -702, -697, -692, -688, -683, -678, -674, -669, -664, -659, -654, -650, -645, -640, -635, -630, -625, -620, -615, -610, -605, -600, -595, -590, -584, -579, -574, -569, -564, -558, -553, -548, -543, -537, -532, -526, -521, -516, 
	-510, -505, -499, -494, -488, -483, -477, -472, -466, -460, -455, -449, -443, -438, -432, -426, -421, -415, -409, -403, -398, -392, -386, -380, -374, -369, -363, -357, -351, -345, -339, -333, -327, -321, -315, -309, -303, -297, -291, -285, -279, -273, -267, -261, -255, -249, -243, -237, -230, -224, -218, -212, -206, -200, -194, -187, -181, -175, -169, -163, -156, -150, 
	-144, -138, -132, -125, -119, -113, -107, -100, -94, -88, -82, -75, -69, -63, -57, -50, -44, -38, -31, -25, -19, -13, -6, 0,
*/
};

		
	uint16_t adx;
    DDRD = 0xFF;//0xC;	//OC0A & OC1A
//	DDRA = 0x00;
	DDRB = 0xFF;
	DDRC = 0x2;	//OC1B
	DDRE = 0x2;	//OC0B


ad_conver();

//adx=ADC;	//Abkürzung

timer_init();


	sei();




int tem, ii;

tem=0;
	while(1)
    {


/*

//PID-Regler für die PWMs
e=soll-adx;
y=(e*P)+(e*I+Ialt)+((e-ealt)*D);
Ialt=e*I;
ealt=e;
*/

//////////////////////////////////////////1
						//////////////////1
tem=tem+1;				//////////////////1
if (tem>=60)			//////////////////1
{						//////////////////1
	tem=0;				//////////////////1
	ii=ii+1;			//////////////////1
}						//////////////////1
if (ii>20)				//////////////////1
ii=0;					//////////////////1
//////////////////////////////////////////1


duty=75,75;

adx=ADCL;
adx += (ADCH<<8);
//a=adx;

		//Vergleichswert für die Duty Cycle Einstellung	
	OCR0B=20;	//Vergleichswert für die Duty Cycle Einstellung	
	OCR1B=adx;

//////////////////////////////////////////2
//////////////////////////////////////////2
	OCR1A=ii;	//////////////////////////2
//////////////////////////////////////////2
//////////////////////////////////////////2



	}
 
    return 0;
}