39 #if defined(__AVR_ATmega168__)
44 TIMSK2 &= ~_BV(TOIE2);
45 TIMSK2 |= _BV(OCIE2A);
47 TCCR2 = _BV(WGM21) | _BV(CS20);
58 #if defined(__AVR_ATmega168__)
74 #if defined(__AVR_ATmega168__)
76 TCCR2A = _BV(WGM20) | _BV(WGM21) | _BV(COM2A0) | _BV(COM2A1);
78 TIMSK2 &= ~_BV(OCIE2A);
82 TCCR2 = _BV(WGM20) | _BV(WGM21) | _BV(COM20) | _BV(COM21) | _BV(CS20);
90 ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1);
105 unsigned int sleeptime = 0, dist = 0;
116 #if defined(__AVR_ATmega168__)
120 TCCR2 = _BV(WGM21) | _BV(CS20);
129 if((ACSR & _BV(ACI))) {
130 dist = (
unsigned int) ((
long) ((344L * ((sleeptime * 1000L) / 72L) / 10000L) / 2L));
137 if(sleeptime > 3500) {