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Line 63... Line 63...
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//Setting up OC1A, 16 bit counter used as 8 bit.
 63 
//Setting up OC1A, 16 bit counter used as 8 bit.
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    /* Use OC1A */
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    /* Use OC1A */
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    TCCR1A |= (1<<COM1A1) | (1<<WGM11); /* Set OC1A at TOP, mode 14 */
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    TCCR1A |= (1<<COM1A1) | (1<<WGM11); /* Set OC1A at TOP, mode 14 */
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    TCCR1B |= (1<<WGM13) | (1<<WGM12) | (1<<CS11); /* Timer uses main system clock with 1/8 prescale */
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    TCCR1B |= (1<<WGM13) | (1<<WGM12) | (1<<CS11); /* Timer uses main system clock with 1/8 prescale */
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    ICR1 = 256; //8 bit precision to match the other two counters.
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    ICR1 = 256; //8 bit precision to match the other two counters.
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    OCR1A = 128;  //50% as standard
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    OCR1A = 1;  //50% as standard
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    DDRB |= (1<<PB1); /* Enable pin as output */
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    DDRB |= (1<<PB1); /* Enable pin as output */
- 
 
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- 
 
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/* Use OC0A */
- 
 
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    TCCR0A |= (1<<COM0A1)|(1<<WGM01)|(1<<WGM00); /* Set OC0A at TOP, Mode 7 */
- 
 
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    TCCR0B |= (1<<CS02);//(1<<CS02)|(1<<CS00); /* Prescaler 1/1024 */
- 
 
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    OCR0A = 40;
- 
 
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    DDRD |= (1<<PD6);
- 
 
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- 
 
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/* Use OC0B */
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    TCCR0A |= (1<<COM0B1);
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    OCR0B = 40;
- 
 
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    DDRD |= (1<<PD5);
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//Initialize variables
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//Initialize variables
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    fadeSpeed = 250;
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    fadeSpeed = 250;
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    dimSpeed = 255;
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    dimSpeed = 255;
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    timeStamp = 0;
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    timeStamp = 0;
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    dimStamp = 0;
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    dimStamp = 0;
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    Can_Message_t rxMsg;
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    Can_Message_t rxMsg;
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    currR = 0x3f;
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    currR = 0x64;
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    currG = 0x15;
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    currG = 0x15;
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    currB = 0x63;
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    currB = 0x63;
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    sei(); 
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    sei(); 
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    reformatRGB(currR,currG,currB);
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    reformatRGB(currR,currG,currB);
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    destR = 0xff;
 - 
 
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    currIntens = 100;
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    currIntens = 20;
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    destIntens = 100;
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    destIntens = 200;
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    /* main loop */
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    /* main loop */
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    while (1) {
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    while (1) {
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        /* service the CAN routines */
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        /* service the CAN routines */
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        Can_Service();
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        Can_Service();
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            }
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            }
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            if ((rxMsg.Data.bytes[0] == 0x0)&(rxMsg.Data.bytes[3] == 0x21)){
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            if ((rxMsg.Data.bytes[0] == 0x0)&(rxMsg.Data.bytes[3] == 0x21)){
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                program = 2;
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                program = 2;
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                fadeSpeed = 0;
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                fadeSpeed = 0;
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            }
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            }
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        }
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        }
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    }
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    }
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    return 0;
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    return 0;
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}
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}
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void updateLED(){
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void updateLED(){
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    OCR1A = currR * currIntens / 255;
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//  OCR1A = currR * currIntens / 255;
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    //TODO: Här ska givetvis de andra två färgerna också uppdateras.
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    //TODO: Här ska givetvis de andra två färgerna också uppdateras.
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    //Bara för debugcrap
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    //Bara för debugcrap
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    Can_Message_t txMsg;
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    Can_Message_t txMsg;
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    txMsg.Id = 0x55;
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    txMsg.Id = 0x55;
148 
    txMsg.RemoteFlag = 0;
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    txMsg.RemoteFlag = 0;
149 
    txMsg.ExtendedFlag = 1;
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    txMsg.ExtendedFlag = 1;
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//Red
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//Red
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//Green
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//Green
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//Blue
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//Blue
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}
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}
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 - 
 
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void reformatRGB(uint8_t R, uint8_t G, uint8_t B){
 177 
void reformatRGB(uint8_t R, uint8_t G, uint8_t B){
169 
    uint8_t maxvalue;
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    uint8_t maxvalue;
170 
    uint16_t tempcontainer;
 179 
    uint16_t tempcontainer;