From 12f32ff3bf6095bca70a1398886b14ef2413dd0f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Lucas=20Ple=C3=9F?= <lucas@xleave.de>
Date: Tue, 25 Mar 2014 19:27:15 +0100
Subject: [PATCH] cleaned up software and implemented (untested) servo control

---
 display/software/.idea/modules.xml            |   1 +
 display/software/.idea/workspace.xml          | 154 ++++++++++++++++--
 display/software/atlassian-ide-plugin.xml     |   6 -
 ...isplayboard.iml => displayboard_servo.iml} |   0
 .../displayboard_servo/src/.main.c.swp        | Bin 20480 -> 0 bytes
 .../software/displayboard_servo/src/main.c    | 150 +++++------------
 .../software/displayboard_servo/src/main.h    |  21 ---
 7 files changed, 181 insertions(+), 151 deletions(-)
 delete mode 100644 display/software/atlassian-ide-plugin.xml
 rename display/software/displayboard_servo/{displayboard.iml => displayboard_servo.iml} (100%)
 delete mode 100644 display/software/displayboard_servo/src/.main.c.swp

diff --git a/display/software/.idea/modules.xml b/display/software/.idea/modules.xml
index 4947bdb..d9595fb 100644
--- a/display/software/.idea/modules.xml
+++ b/display/software/.idea/modules.xml
@@ -3,6 +3,7 @@
   <component name="ProjectModuleManager">
     <modules>
       <module fileurl="file://$PROJECT_DIR$/displayboard/displayboard.iml" filepath="$PROJECT_DIR$/displayboard/displayboard.iml" />
+      <module fileurl="file://$PROJECT_DIR$/displayboard_servo/displayboard_servo.iml" filepath="$PROJECT_DIR$/displayboard_servo/displayboard_servo.iml" />
       <module fileurl="file://$PROJECT_DIR$/powerboard/powerboard.iml" filepath="$PROJECT_DIR$/powerboard/powerboard.iml" />
       <module fileurl="file://$PROJECT_DIR$/powerboard_v2/powerboard_v2.iml" filepath="$PROJECT_DIR$/powerboard_v2/powerboard_v2.iml" />
     </modules>
diff --git a/display/software/.idea/workspace.xml b/display/software/.idea/workspace.xml
index bedf6d2..93f079f 100644
--- a/display/software/.idea/workspace.xml
+++ b/display/software/.idea/workspace.xml
@@ -2,16 +2,18 @@
 <project version="4">
   <component name="ChangeListManager">
     <list default="true" id="9fad4545-a424-4a82-86dc-76602cf3eef3" name="Default" comment="">
-      <change type="DELETED" beforePath="$PROJECT_DIR$/powerboard_v2/powerboard.iml" afterPath="" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/powerboard_v2/src/main.c" afterPath="$PROJECT_DIR$/powerboard_v2/src/main.c" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/powerboard_v2/src/main.h" afterPath="$PROJECT_DIR$/powerboard_v2/src/main.h" />
+      <change type="DELETED" beforePath="$PROJECT_DIR$/atlassian-ide-plugin.xml" afterPath="" />
+      <change type="DELETED" beforePath="$PROJECT_DIR$/displayboard_servo/displayboard.iml" afterPath="" />
+      <change type="DELETED" beforePath="$PROJECT_DIR$/displayboard_servo/src/.main.c.swp" afterPath="" />
+      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/displayboard_servo/src/main.c" afterPath="$PROJECT_DIR$/displayboard_servo/src/main.c" />
+      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/displayboard_servo/src/main.h" afterPath="$PROJECT_DIR$/displayboard_servo/src/main.h" />
       <change type="MODIFICATION" beforePath="$PROJECT_DIR$/.idea/modules.xml" afterPath="$PROJECT_DIR$/.idea/modules.xml" />
       <change type="MODIFICATION" beforePath="$PROJECT_DIR$/.idea/workspace.xml" afterPath="$PROJECT_DIR$/.idea/workspace.xml" />
     </list>
     <ignored path="bikegenerator.iws" />
     <ignored path=".idea/workspace.xml" />
     <file path="/Makefile" changelist="9fad4545-a424-4a82-86dc-76602cf3eef3" time="1371032328243" ignored="false" />
-    <file path="/Dummy.txt" changelist="9fad4545-a424-4a82-86dc-76602cf3eef3" time="1392331539190" ignored="false" />
+    <file path="/Dummy.txt" changelist="9fad4545-a424-4a82-86dc-76602cf3eef3" time="1395767588573" ignored="false" />
     <file path="/main.c" changelist="9fad4545-a424-4a82-86dc-76602cf3eef3" time="1371265283096" ignored="false" />
     <file path="/uart.c" changelist="9fad4545-a424-4a82-86dc-76602cf3eef3" time="1371164805619" ignored="false" />
     <file path="/a.java" changelist="9fad4545-a424-4a82-86dc-76602cf3eef3" time="1371206947114" ignored="false" />
@@ -75,6 +77,28 @@
   <component name="FavoritesManager">
     <favorites_list name="bikegenerator" />
   </component>
+  <component name="FileEditorManager">
+    <leaf>
+      <file leaf-file-name="main.c" pinned="false" current="true" current-in-tab="true">
+        <entry file="file://$PROJECT_DIR$/displayboard_servo/src/main.c">
+          <provider selected="true" editor-type-id="text-editor">
+            <state line="34" column="0" selection-start="726" selection-end="726" vertical-scroll-proportion="0.31337327">
+              <folding />
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file leaf-file-name="main.h" pinned="false" current="false" current-in-tab="false">
+        <entry file="file://$PROJECT_DIR$/displayboard_servo/src/main.h">
+          <provider selected="true" editor-type-id="text-editor">
+            <state line="3" column="0" selection-start="37" selection-end="37" vertical-scroll-proportion="0.0">
+              <folding />
+            </state>
+          </provider>
+        </entry>
+      </file>
+    </leaf>
+  </component>
   <component name="FindManager">
     <FindUsagesManager>
       <setting name="OPEN_NEW_TAB" value="false" />
@@ -91,8 +115,6 @@
   <component name="IdeDocumentHistory">
     <option name="changedFiles">
       <list>
-        <option value="$PROJECT_DIR$/powerboard/src/adc.c" />
-        <option value="$PROJECT_DIR$/powerboard/src/uart.h" />
         <option value="$PROJECT_DIR$/displayboard/src/utils.h" />
         <option value="$PROJECT_DIR$/displayboard/Makefile" />
         <option value="$PROJECT_DIR$/displayboard/src/main.h" />
@@ -107,9 +129,12 @@
         <option value="/usr/lib/avr/include/avr/sfr_defs.h" />
         <option value="$PROJECT_DIR$/powerboard_v2/src/main.c" />
         <option value="/usr/lib/avr/include/stdint.h" />
+        <option value="$PROJECT_DIR$/displayboard_servo/src/main.h" />
+        <option value="$PROJECT_DIR$/displayboard_servo/src/main.c" />
       </list>
     </option>
   </component>
+  <component name="PhpWorkspaceProjectConfiguration" backward_compatibility_performed="true" />
   <component name="ProjectFrameBounds">
     <option name="x" value="1596" />
     <option name="width" value="1928" />
@@ -210,7 +235,45 @@
               <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.ProjectViewProjectNode" />
             </PATH_ELEMENT>
             <PATH_ELEMENT>
-              <option name="myItemId" value="displayboard" />
+              <option name="myItemId" value="powerboard" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
+            </PATH_ELEMENT>
+          </PATH>
+          <PATH>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="bikegenerator" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.ProjectViewProjectNode" />
+            </PATH_ELEMENT>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="powerboard" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
+            </PATH_ELEMENT>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="src" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
+            </PATH_ELEMENT>
+          </PATH>
+          <PATH>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="bikegenerator" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.ProjectViewProjectNode" />
+            </PATH_ELEMENT>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="displayboard_servo" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
+            </PATH_ELEMENT>
+          </PATH>
+          <PATH>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="bikegenerator" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.ProjectViewProjectNode" />
+            </PATH_ELEMENT>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="displayboard_servo" />
+              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
+            </PATH_ELEMENT>
+            <PATH_ELEMENT>
+              <option name="myItemId" value="src" />
               <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
             </PATH_ELEMENT>
           </PATH>
@@ -223,10 +286,6 @@
               <option name="myItemId" value="displayboard" />
               <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
             </PATH_ELEMENT>
-            <PATH_ELEMENT>
-              <option name="myItemId" value="src" />
-              <option name="myItemType" value="com.intellij.ide.projectView.impl.nodes.PsiDirectoryNode" />
-            </PATH_ELEMENT>
           </PATH>
         </subPane>
       </pane>
@@ -242,7 +301,7 @@
     <property name="MemberChooser.sorted" value="false" />
     <property name="recentsLimit" value="5" />
     <property name="options.lastSelected" value="File.Encoding" />
-    <property name="last_opened_file_path" value="$PROJECT_DIR$" />
+    <property name="last_opened_file_path" value="$PROJECT_DIR$/displayboard_servo/displayboard_servo.iml" />
     <property name="project.structure.side.proportion" value="0.2" />
     <property name="MemberChooser.copyJavadoc" value="false" />
     <property name="GoToClass.toSaveIncludeLibraries" value="false" />
@@ -450,7 +509,6 @@
     <editor active="true" />
     <layout>
       <window_info id="Changes" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.3243626" sideWeight="0.5" order="11" side_tool="false" content_ui="tabs" />
-      <window_info id="Atlassian " active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="12" side_tool="false" content_ui="tabs" />
       <window_info id="Palette" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
       <window_info id="Ant Build" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
       <window_info id="Database" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="6" side_tool="false" content_ui="tabs" />
@@ -467,6 +525,7 @@
       <window_info id="Project" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" weight="0.2497332" sideWeight="0.67563736" order="0" side_tool="false" content_ui="combo" />
       <window_info id="Run" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
       <window_info id="Cvs" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.25" sideWeight="0.5" order="5" side_tool="false" content_ui="tabs" />
+      <window_info id="Atlassian " active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="12" side_tool="false" content_ui="tabs" />
       <window_info id="Message" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
       <window_info id="Find" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="2" side_tool="false" content_ui="tabs" />
       <window_info id="Messages" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.32893288" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
@@ -571,6 +630,73 @@
       </JiraViewConfigurationBean>
     </option>
   </component>
+  <component name="editorHistoryManager">
+    <entry file="file://$PROJECT_DIR$/displayboard_servo/displayboard_servo.iml">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="0" column="0" selection-start="0" selection-end="0" vertical-scroll-proportion="0.0">
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/powerboard_v2/powerboard_v2.iml">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="0" column="0" selection-start="0" selection-end="0" vertical-scroll-proportion="0.0">
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/powerboard/powerboard.iml">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="0" column="0" selection-start="0" selection-end="0" vertical-scroll-proportion="0.0">
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/displayboard_servo/src/uart.c">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="0" column="0" selection-start="0" selection-end="0" vertical-scroll-proportion="-1.3650151">
+          <folding>
+            <element signature="n#!!doc" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/powerboard/src/main.c">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="0" column="0" selection-start="0" selection-end="0" vertical-scroll-proportion="-0.8083832">
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/displayboard_servo/src/uart.h">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="0" column="0" selection-start="0" selection-end="0" vertical-scroll-proportion="-1.2005988">
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/displayboard_servo/src/main.h">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="3" column="0" selection-start="37" selection-end="37" vertical-scroll-proportion="0.0">
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/powerboard_v2/src/main.c">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="0" column="0" selection-start="0" selection-end="0" vertical-scroll-proportion="-0.5838323">
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/displayboard_servo/src/main.c">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="34" column="0" selection-start="726" selection-end="726" vertical-scroll-proportion="0.31337327">
+          <folding />
+        </state>
+      </provider>
+    </entry>
+  </component>
   <component name="masterDetails">
     <states>
       <state key="ArtifactsStructureConfigurable.UI">
@@ -623,7 +749,7 @@
       </state>
       <state key="ModuleStructureConfigurable.UI">
         <settings>
-          <last-edited>displayboard</last-edited>
+          <last-edited>displayboard_servo</last-edited>
           <splitter-proportions>
             <option name="proportions">
               <list>
diff --git a/display/software/atlassian-ide-plugin.xml b/display/software/atlassian-ide-plugin.xml
deleted file mode 100644
index 31cdb22..0000000
--- a/display/software/atlassian-ide-plugin.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<atlassian-ide-plugin>
-  <project-configuration id="1">
-    <servers id="2" />
-    <default-jira-server id="3">a36e3af5-abd2-4783-a6a6-3383b8cb560f</default-jira-server>
-  </project-configuration>
-</atlassian-ide-plugin>
\ No newline at end of file
diff --git a/display/software/displayboard_servo/displayboard.iml b/display/software/displayboard_servo/displayboard_servo.iml
similarity index 100%
rename from display/software/displayboard_servo/displayboard.iml
rename to display/software/displayboard_servo/displayboard_servo.iml
diff --git a/display/software/displayboard_servo/src/.main.c.swp b/display/software/displayboard_servo/src/.main.c.swp
deleted file mode 100644
index 9dfaf30fdf57e086e7628e1ac4055f0986f7d15b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/display/software/displayboard_servo/src/main.c b/display/software/displayboard_servo/src/main.c
index 2a7dbf6..1e5ac48 100644
--- a/display/software/displayboard_servo/src/main.c
+++ b/display/software/displayboard_servo/src/main.c
@@ -10,20 +10,21 @@
 
 #define BUFSIZE 40
 #define CURRENT_MAX     30000       // 30 Ampere is max
+#define POWER_MAX       300
+#define SERVO_NEUTRAL   2312
+#define SERVO_MIN       2312
+#define SERVO_MAX       2312
+
 
 volatile uint16_t syscounter = 0;
-volatile uint8_t digitbuffer[6] = { 0,0,0,0,0,0 };
-volatile uint8_t leddigitbuffer[4] = { 0,0,0,0 };
-uint8_t digit = 0;
-uint8_t leddigit = 0;
 
 // values send over uart from powerboard
 uint16_t voltage = 0;
 int16_t current_in = 0;
 int16_t current_out = 0;
-uint8_t dumpsw = 0; //TODO: make bitfield
-uint8_t loadsw = 0; //TODO: make bitfield
-uint8_t gensw = 0;  //TODO: make bitfield
+uint8_t dumpsw = 0;
+uint8_t loadsw = 0;
+uint8_t gensw = 0;
 uint16_t display = 0;
 
 uint16_t power_gen = 0;
@@ -33,62 +34,22 @@ unsigned char data_count = 0;
 unsigned char data_in[BUFSIZE];
 char command_in[BUFSIZE];
 
-const uint8_t segment_translate[10] = {
-    63, 6, 91, 79, 102, 109, 125, 7, 127, 111
-};
 
-const uint8_t smallbar_translate[9] = {
-    0x00, 0x01, 0x03, 0x07, 0x0f, 0x1f, 0x3f, 0x7f, 0xff
-};
-
-const uint8_t bigbar_translate[15][2] = {
-    { 0x00, 0xc0},
-	{ 0x00, 0x60},
-	{ 0x00, 0x30},
-	{ 0x00, 0x18},
-	{ 0x00, 0x0c},
-	{ 0x00, 0x06},
-	{ 0x00, 0x03},
-	{ 0x01, 0x01},
-	{ 0x03, 0x00},
-	{ 0x06, 0x00},
-	{ 0x0c, 0x00},
-	{ 0x18, 0x00},
-	{ 0x30, 0x00},
-	{ 0x60, 0x00},
-	{ 0xc0, 0x00}
-};
-
-
-
-//static void timer_init(void) {
+static void timer_init(void) {
 	// clock is 8MHz
-	//TCCR1B |= _BV(WGM12) | _BV(CS11) | _BV(CS10) ; // CTC Mode for Timer 1 (16Bit) with prescale of 64
-	//OCR1A   = 250;    // 500Hz
-	//TIMSK   = _BV(OCIE1A);
-	//sei();	// enable interrupts
-//}
-// Timer init
-ISR( TIMER1_COMPA_vect )                // Interruptbehandlungsroutine
-{
-  OCR1A = 2500-OCR1A;			// Das Servosignal wird aus der Differenz von
-                                        // Periodenlänge (2500*0,008ms=20ms) und letztem
-                                        // Vergleichswert (OCR1A) gebildet 
+	TCCR1B |= _BV(WGM12) | _BV(CS11) | _BV(CS10);       // CTC Mode for Timer 1 (16Bit) with prescale of 64
+    OCR1A = 2312;                           // Neutralposition ((2500-2312)*0.008ms)=1,5ms)
+	TIMSK = _BV(OCIE1A);
+	TCCR1A = (1<<COM1A0);                   // Togglen bei Compare Match
+
+    sei();	// enable interrupts
 }
 
 static void ports_init(void) {
-    // make column / digit driver pins to output
-  DDRB = 0b11111100;
-  PORTB = (1<<PB1) | (1<<PB0);          // Pullup für PB0 und PB1
- 
-  TCCR1A = (1<<COM1A0);                 // Togglen bei Compare Match
-  TCCR1B = (1<<WGM12) | (1<<CS11);      // CTC-Mode; Prescaler 8
-  TIMSK  = (1<<OCIE1A);                 // Timer-Compare Interrupt an
-    // make data ports to output
 
 }
 
-void process_command() {
+static void process_command() {
     if(strstr(command_in,"A") != NULL) {
         // we have an A and B (from check in work_uart()
         // so our message should be complete and consist of:
@@ -143,9 +104,9 @@ void process_command() {
     }
 }
 
-static void work_uart(){
-    unsigned int c = uart_getc();
-}
+static void work_uart() {
+
+    uint8_t c = uart_getc();
 
     if ( !(c & UART_NO_DATA) ) {
         data_in[data_count] = c;
@@ -162,70 +123,49 @@ static void work_uart(){
         }
     }
 }
-static void set_servo(uint16_t value){
 
-/// magic need to happen hear
-    display = value;
-/// magic end
-    OCR1A = display;
-    sei();
+static void set_servo(uint8_t power) {
+
+    uint8_t display = 0;
+
+    display = power * 10;     // shift, since we have to divide by 2,4 (24)
+    display = display / 24;   // instead of dividing by 2,4
+    display = display + 125;
+
+    OCR1A = 2500-display;
 }
 
 
 static void demo_display(void) {
 
-	for(uint8_t i = 0; i< 16;i++) {
-		leddigitbuffer[0] = bigbar_translate[i][0];
-		leddigitbuffer[1] = bigbar_translate[i][1];
+	for(uint8_t i = 0; i< 30;i++) {
+		set_servo(i*10);
 		wait(5);
 	}
 
-	for(uint8_t i = 0; i< 9;i++) {
-		leddigitbuffer[2] = smallbar_translate[i];
-		wait(5);
-	}
-
-	for(uint8_t i = 0; i< 9;i++) {
-		leddigitbuffer[3] = smallbar_translate[i];
-		wait(5);
-	}
-
-	for(uint8_t j = 0; j< 3;j++) {
-		for(uint8_t i = 0; i< 6; i++) {
-	    	digitbuffer[i] = 0xff;		
-    	}
-		wait(20);
-		for(uint8_t i = 0; i< 6; i++) {
-			digitbuffer[i] = 0x00;
-    	}
-		wait(20);
-	}
-
-	for(uint8_t i = 0; i< 3;i++) {
-		leddigitbuffer[i] = 0x00;
-	}
+	for(uint8_t i = 30; i> 0;i--) {
+        set_servo(i*10);
+    	wait(5);
+    }
 
 }
 
 int main(void) {
+
 	ports_init();
 	timer_init();
     uart_init(UART_BAUD_SELECT(19200,F_CPU));
     memset(data_in, 0, BUFSIZE);
 
-
 	demo_display();
 
 	while(1) {
-
 	    work_uart();
 
-        if(syscounter >= 100) {
+        if(syscounter >= 10) {
             uart_putc('a'); // send a to receive values
-            set_servo(power_gen)
-
-
 
+            set_servo(power_gen);
             syscounter = 0;
         }
 	}
@@ -233,22 +173,12 @@ int main(void) {
 	return(0);
 }
 
-// system timer
 SIGNAL(TIMER1_COMPA_vect) {
 	syscounter++;
 
-	// output to sevensegment and leds
-	// make this here to reduce display flicker
-    digit++;
-    if(digit >5) digit = 0;
-    leddigit++;
-    if(leddigit >3) leddigit = 0;
-
-    SEVENSEG_PORT = digitbuffer[digit];
-    SEVENSEGDIG_PORT = _BV(digit+DIG0);
-
-    LED_PORT = leddigitbuffer[leddigit];
-    LEDDIG_PORT = _BV(leddigit);
+    OCR1A = 2500-OCR1A;         // Das Servosignal wird aus der Differenz von
+                                // Periodenlänge (2500*0,008ms=20ms) und letztem
+                                // Vergleichswert (OCR1A) gebildet
 }
 
 
diff --git a/display/software/displayboard_servo/src/main.h b/display/software/displayboard_servo/src/main.h
index f4f9033..f9aa780 100644
--- a/display/software/displayboard_servo/src/main.h
+++ b/display/software/displayboard_servo/src/main.h
@@ -1,28 +1,7 @@
 #ifndef _main_h
     #define _main_h
 
-    #define SEVENSEG_PORT   PORTA
-    #define SEVENSEG_DDR    DDRA
 
-    #define LED_PORT        PORTC
-    #define LED_DDR         DDRC
-
-    #define DIG0            PD2
-    #define DIG1            PD3
-    #define DIG2            PD4
-    #define DIG3            PD5
-    #define DIG4            PD6
-    #define DIG5            PD7
-    #define LEDS_MID1       PB0
-    #define LEDS_MID2       PB1
-    #define LEDS_LOAD       PB2
-    #define LEDS_GEN        PB3
-
-    #define SEVENSEGDIG_PORT PORTD
-    #define SEVENSEGDIG_DDR  DDRD
-
-    #define LEDDIG_PORT      PORTB
-    #define LEDDIG_DDR       DDRB
 
 
 #endif