From ed8753a873b8b04f0d201745446457a4b6609631 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Lucas=20Ple=C3=9F?= <lucas@xleave.de>
Date: Tue, 25 Mar 2014 18:08:27 +0100
Subject: [PATCH] moved new servo display code accordingly

---
 display/software/displayboard_servo/Makefile  | 276 ++++++++++
 .../displayboard_servo/displayboard.iml       |  12 +
 .../displayboard_servo/src/.main.c.swp        | Bin 0 -> 20480 bytes
 .../software/displayboard_servo/src/main.c    | 254 ++++++++++
 .../software/displayboard_servo/src/main.h    |  29 ++
 .../software/displayboard_servo/src/uart.c    | 479 ++++++++++++++++++
 .../software/displayboard_servo/src/uart.h    | 180 +++++++
 .../software/displayboard_servo/src/utils.c   |  39 ++
 .../software/displayboard_servo/src/utils.h   |  12 +
 9 files changed, 1281 insertions(+)
 create mode 100644 display/software/displayboard_servo/Makefile
 create mode 100644 display/software/displayboard_servo/displayboard.iml
 create mode 100644 display/software/displayboard_servo/src/.main.c.swp
 create mode 100644 display/software/displayboard_servo/src/main.c
 create mode 100644 display/software/displayboard_servo/src/main.h
 create mode 100644 display/software/displayboard_servo/src/uart.c
 create mode 100644 display/software/displayboard_servo/src/uart.h
 create mode 100644 display/software/displayboard_servo/src/utils.c
 create mode 100644 display/software/displayboard_servo/src/utils.h

diff --git a/display/software/displayboard_servo/Makefile b/display/software/displayboard_servo/Makefile
new file mode 100644
index 0000000..bbb562c
--- /dev/null
+++ b/display/software/displayboard_servo/Makefile
@@ -0,0 +1,276 @@
+# On command line:
+#
+# make all = Make software.
+#
+# make clean = Clean out built project files.
+#
+# make program = Download the hex file to the device, using avrdude.  Please
+#                customize the avrdude settings below first!
+#
+# To rebuild project do "make clean" then "make all".
+#
+
+MCU = atmega32
+F_CPU = 8000000
+
+# Output format. (can be srec, ihex, binary)
+FORMAT = ihex
+
+# Target file name (without extension).
+TARGET = main
+
+SRC = src/$(TARGET).c src/utils.c src/uart.c
+
+
+# Optimization level, can be [0, 1, 2, 3, s].
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+OPT = s
+
+
+# List any extra directories to look for include files here.
+#     Each directory must be seperated by a space.
+EXTRAINCDIRS = src/
+
+
+# Compiler flag to set the C Standard level.
+# c89   - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99   - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+# Place -D or -U options here
+CDEFS =
+
+# Place -I options here
+CINCS =
+
+
+# Compiler flags.
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+CFLAGS += $(CDEFS) $(CINCS)
+CFLAGS += -O$(OPT)
+CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CFLAGS += -Wall -Wstrict-prototypes
+CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+CFLAGS += $(CSTANDARD)
+CFLAGS += -DF_CPU=$(F_CPU) #-DDEBUG
+
+
+
+# External memory options
+
+
+# Linker flags.
+#  -Wl,...:     tell GCC to pass this to linker.
+#    -Map:      create map file
+#    --cref:    add cross reference to  map file
+LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
+
+
+# Programming support using avrdude. Settings and variables.
+AVRDUDE_PROGRAMMER = usbasp
+AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
+#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
+
+AVRDUDE_FLAGS = -p $(MCU) -c $(AVRDUDE_PROGRAMMER)
+
+
+# ---------------------------------------------------------------------------
+
+# Define programs and commands.
+SHELL = sh
+CC = avr-gcc
+OBJCOPY = avr-objcopy
+OBJDUMP = avr-objdump
+SIZE = avr-size
+NM = avr-nm
+AVRDUDE = avrdude
+REMOVE = rm -f
+COPY = cp
+
+
+
+
+# Define Messages
+# English
+MSG_ERRORS_NONE = Errors: none
+MSG_BEGIN = -------- begin --------
+MSG_END = --------  end  --------
+MSG_SIZE_BEFORE = Size before: 
+MSG_SIZE_AFTER = Size after:
+MSG_COFF = Converting to AVR COFF:
+MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
+MSG_FLASH = Creating load file for Flash:
+MSG_EEPROM = Creating load file for EEPROM:
+MSG_EXTENDED_LISTING = Creating Extended Listing:
+MSG_SYMBOL_TABLE = Creating Symbol Table:
+MSG_LINKING = Linking:
+MSG_COMPILING = Compiling:
+MSG_ASSEMBLING = Assembling:
+MSG_CLEANING = Cleaning project:
+
+
+
+
+# Define all object files.
+OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) 
+
+# Define all listing files.
+LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
+
+
+# Compiler flags to generate dependency files.
+### GENDEPFLAGS = -Wp,-M,-MP,-MT,$(*F).o,-MF,.dep/$(@F).d
+GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
+
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
+
+
+# Default target.
+all: begin gccversion sizebefore build sizeafter finished end
+
+build: elf hex eep lss sym
+
+elf: $(TARGET).elf
+hex: $(TARGET).hex
+eep: $(TARGET).eep
+lss: $(TARGET).lss 
+sym: $(TARGET).sym
+
+
+
+# Eye candy.
+# AVR Studio 3.x does not check make's exit code but relies on
+# the following magic strings to be generated by the compile job.
+begin:
+	@echo
+	@echo $(MSG_BEGIN)
+
+finished:
+	@echo $(MSG_ERRORS_NONE)
+
+end:
+	@echo $(MSG_END)
+	@echo
+
+
+# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
+ELFSIZE = $(SIZE) -A $(TARGET).elf
+sizebefore:
+	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
+
+sizeafter:
+	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
+
+
+
+# Display compiler version information.
+gccversion : 
+	@$(CC) --version
+
+
+
+# Program the device.  
+program: $(TARGET).hex $(TARGET).eep
+	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+
+
+# Create final output files (.hex, .eep) from ELF output file.
+%.hex: %.elf
+	@echo
+	@echo $(MSG_FLASH) $@
+	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
+
+%.eep: %.elf
+	@echo
+	@echo $(MSG_EEPROM) $@
+	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
+
+# Create extended listing file from ELF output file.
+%.lss: %.elf
+	@echo
+	@echo $(MSG_EXTENDED_LISTING) $@
+	$(OBJDUMP) -h -S $< > $@
+
+# Create a symbol table from ELF output file.
+%.sym: %.elf
+	@echo
+	@echo $(MSG_SYMBOL_TABLE) $@
+	$(NM) -n $< > $@
+
+
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(TARGET).elf
+.PRECIOUS : $(OBJ)
+%.elf: $(OBJ)
+	@echo
+	@echo $(MSG_LINKING) $@
+	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
+
+
+# Compile: create object files from C source files.
+%.o : %.c
+	@echo
+	@echo $(MSG_COMPILING) $<
+	$(CC) -c $(ALL_CFLAGS) $< -o $@ 
+
+
+# Compile: create assembler files from C source files.
+%.s : %.c
+	$(CC) -S $(ALL_CFLAGS) $< -o $@
+
+
+# Assemble: create object files from assembler source files.
+%.o : %.S
+	@echo
+	@echo $(MSG_ASSEMBLING) $<
+	$(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+
+
+# Target: clean project.
+clean: begin clean_list finished end
+
+clean_list :
+	@echo
+	@echo $(MSG_CLEANING)
+	$(REMOVE) $(TARGET).hex
+	$(REMOVE) $(TARGET).eep
+	$(REMOVE) $(TARGET).obj
+	$(REMOVE) $(TARGET).cof
+	$(REMOVE) $(TARGET).elf
+	$(REMOVE) $(TARGET).map
+	$(REMOVE) $(TARGET).obj
+	$(REMOVE) $(TARGET).a90
+	$(REMOVE) $(TARGET).sym
+	$(REMOVE) $(TARGET).lnk
+	$(REMOVE) $(TARGET).lss
+	$(REMOVE) $(OBJ)
+	$(REMOVE) $(LST)
+	$(REMOVE) $(SRC:.c=.s)
+	$(REMOVE) $(SRC:.c=.d)
+	$(REMOVE) .dep/*
+
+
+
+# Include the dependency files.
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+
+
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex eep lss sym coff extcoff \
+clean clean_list program
+
diff --git a/display/software/displayboard_servo/displayboard.iml b/display/software/displayboard_servo/displayboard.iml
new file mode 100644
index 0000000..7694e87
--- /dev/null
+++ b/display/software/displayboard_servo/displayboard.iml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="C++" version="4">
+  <component name="NewModuleRootManager" inherit-compiler-output="true">
+    <exclude-output />
+    <content url="file://$MODULE_DIR$">
+      <sourceFolder url="file://$MODULE_DIR$/src" isTestSource="false" />
+    </content>
+    <orderEntry type="jdk" jdkName="Cpp SDK" jdkType="CppSdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
+
diff --git a/display/software/displayboard_servo/src/.main.c.swp b/display/software/displayboard_servo/src/.main.c.swp
new file mode 100644
index 0000000000000000000000000000000000000000..9dfaf30fdf57e086e7628e1ac4055f0986f7d15b
GIT binary patch
literal 20480
zcmeI4d5k1g9mfln1)9r)LsnLOJFILs(=%N)N6!p1yV7&)GI1{FSb<^aR99Db*GzR)
zr>c5pm)*e_j&P~b7*Qk}0g1$bA!>*cz&}uqh!HeK4#htdP%bqX5d(|g->a(b>YnbM
z9gO;iRhv&&z3cbh`_+5Ds(Qb-lM(lhj<cTjE&<2;1>v@jZk@UJ*wcjNML{T8W?nAp
zszqr>I2O%<Y#8zpa=1xXRs<$iOlv8jI9W51(U#P_YN(d%m{uaI*(F`xpI+`r*k;aI
zkuBAa%b2p2P1u%_D9W1AuB=;Km?6|ar~zLCWhd9xd+J<gha^(exh>n+=^vc)Q^Rwp
zflvdX20{&l8VEHIY9Q1=sDV%e{|6dyN}Ghwpr6NjeZAN_A5(We&I^CZJKtQFzR3%p
z=A9)^fG@|34o{&5LJfo(2sIFDAk;vpflvdX20{&l8VEHIY9Q3W|3CwBRuFF9EC{Ec
zfXd<j_rL#NeV-sa4ITt{fE&RI$bxBbA@~G{gTLXU{|)dII0STX2^a!{U<=p;UO80|
zegW<RSAtnE1NuP=*akL%-=87~kAug+H-H69V1V7=RB#fAfZv@g2v2|qz}?_ha1%HP
zbZ{9M0|Ouqwt`c@+b0RaYv5(@C-6t`5_klBA4~udoCV&Dpnu>6a0uKA_JX%h6oh-h
zcfdX1^I!p71U7?B;34RB74(3!z?pz_-32}jwg3S<3LXSs05X^YlVAWOz)Q!Ye((qI
zJoqX2GFSzRpc9+}HiP59KXFgr0zU&!fFFW8!R259%!4^F20jMP28Xf8^D6iexDVV4
zt_0Iy1e^^%0N%u6&r9Hb@ICM~a1e}xB<KcP!P{6=dKNqeZUEPV>p+tuvKkR0k$r3@
z>uKB9?_IKJSu-3dnRa4P7L95KYhz~FiLnH8)M6>d&S$;tVhq{qORtR~(Ls6Z<!G9Y
zp;uoUm)#_~Sr?9&y?LUS(mX>0ebr~K54(CN<^0>yn~PrCt|RAdo?1z%TpZ1yS(|xn
zj6X)al;#=McE+h>b}s~&h{ofj*??F(rkSeSDr+RBLEMI_3uF#l2B%(w8u$ci7QfC!
zZBVR16xGlqdOfW*DCS0?e+|-HW3VbP9AhKH>8Z)-S;UF`s{)TpBv?^iQdw4ZWL7dQ
z$7YU6wx?8fkYRRoeCCr31)|cxz~s>Ah?I);ldPHpLT0t1YPAiS#S%8Nu~EZOEvsB|
zm~04;GBh+T4SG^Oy=PqNh_QoQ<j{;H`2rzjXm+S=+{~)|Y|2t?MaHf?*6RyMc>;ze
z$E6gEVNDY#K+Q1od0jPFM%9?#m~q)r3Ic-|>b&2KsX@ta#MEGoG>Dlh>w3Awat}XX
zF{HAxk;Peph~eRBk|1Uzeu!c}B6-zZjf$z4iw4YgR?BM+%Uaqpx=_-LpjvH5b~J@8
zn_AXYd0I0xCraTMJAkJh7fE8*JJ8g<s)ZhFO2J-HEr&%Xq3TqO<<*R)XH|!~eRKzP
zTeUQ3-_Rfarjb`!w4+-T&llsO*ju!Bc8Eng#x<d<&J}npK{Brl>Y$8mJkTGBL?CHc
zw%LqoEt|HMH)NfyXjYcVWt(N8j$tjAQ!UlF0xB?s1H$Ocbd*Ng$h4Hk&7Df6msQ1K
zvHEsHZe?I)RP4sg>SZHuTNtgHp$bUmqmYp{5n2_{5?j@xv3_cjYRDN~MWQz}ZA$jW
zH@c7>+zZ{g1DsOauF=p(=lEEI40Q9ND|k6~L?3j^RfaSP;X@k3+q)KHte-|EhBl+2
z&2pyYwNt_rNDgXv%&%xpft9==&&(W4c2O-%(M@HEX*TN}N4@AxVB|P7<LX8Z#tz;Q
z4lr?_BF6D6ickUtlYTJnhCA!RQm>cYOBa>8aI!AkSr?XgSX%YVyYf5h!pXX@QX7_f
zYr~ylZ8%9`8Wq$fkyoKmlwumT!^krCrX7~i@)_AmJC<zNy6mX)Quo4q#{%vo%`JDn
z`o%@J-EMDscpq}~EAih>{@cTUbGf=|?4qpewH5W%R+5BR=&cWR^z_A<BzDjbU3GLL
ziq7;SN%fM|d{H%=U=Ku3vQm&OrkKSd20!lo{NUW~nbAu}7W##<K~qi5GM<IZ`MT+f
zSvDM~1vX6ZA8Rm3up?>Rl(TM1T>>^S2TG8-5o53LI5LB?lf#o2xQ~>K=HxV0&vMz6
zlZ5(NkDN1GE|!j*6Ze{4mzh$wU`d=bY=GOY`UJd7^Bz|Ev25y&4C}^YF~^o=y{y{I
zR$=2!veso8b~I<1MOPPmN4BdV-U&79+V+Z6iVZ|TKFm8TjXxfBuSBLyW^cZW-%19v
zO8*!J<eCy(nwLFUlf7XPt_XX-&F?2V;NH=5vuX}zkqymFPmfH@rpHqkbA#F`;^0^O
zvDGQERIvneOlGDi?-TrT-q2!Q*hzb?W+-|Y#;b*t(_Ux^#PEIUH8C*9x?PiLz;-On
z$hQ}ERSOPKwnSFNM)=xzdD%*o@<qEOE9%;miv4boWY)&nPFB}46i46xSL56KX+Yoq
zbfV*z_^y8hd>h;X_5u3-p9DL=dEgyn{tb8*JOfC^uR(Z(8VEHIY9Q1=sDV%ep$0+?
zgc=An5NaUQK&XNLo(3u_`@^Gq{Kb7*dGr?@;4`Fe{lL<{pW>}A_(3co@tiXwdq*Z_
zM)uUn<4Y2)h$Js0N%Zsil?K-=__Z%k%T*e~c6G*>U!l89L8APa)>c<EN^l8mS9dJ9
zvO;;?b|51ykMbpVr+|fv0xe*`abc<1vI1|0`ycFCPS=zr{Lg;+{=W&E^#1~XEq(v{
z`}^O;_x+22{Qp;jJ>YeG+rI`L0uO?_z_s8SFb8JA$H5ukbns{R@?QtP0^bF<027ek
ze*l~Y-hdDPIdC`lBG?bcfCRRHSKzCE68r#M1uh3epcVWbzWJxXec%vS1iL{i_z2hv
z1n>+TaX$x-gGa$5;2v-zxE@>w@?bX@0q1~s;k!Q!o&a}%+rd@90vCe`Kz{z+pbeY_
zP6iQhA~*rO2*3Rc;K$%Apa2%YrQj0K2TlRUfWz?FzXN^??ge*(+re$%vmgyF1bv_l
zoDBX7pZ&|=dGH)~7TgaGfv<yGz*hn7@3<DMfC9JxYysr+{}4DHYzA+^xBn0DB6tD(
z1bhzM1a1U300U%!4ANi*d<sl~3&D19CO8Aom}&=c&<YO2_x}`l5<CFz0^b5hbI_o6
zeQz|FZFL!Is}18CMY^lT@VI4ZM%lPa-kRXXGDi|epa1A{n%pf^-?yeshL47<!OZBM
ziPYEzYQcgwmE3p<zpm&SKNPv-a9f~D_`DeRx{!-5VyRBqGNOD}1{|*fStmNGR}@;a
zEbCfXN}_|7Q`2y@D$yPC4!AU_B3g)+U1O%G@E>|B)B-PnADG90)LlE_Q-G5RzKsaw
zpuahiCb4jPA!?<7rRXSJos^zci)PxhjXYVP5=FIWt4`E&8NmAyXWrVcXX<$)xr=fx
zH9eaiOwA3aXGX?GhGwHuUkCg!yVFBcb1~$O1e{V7<PK%mM};7kZeg-DBk1WQ%|#;q
z6To{WX|(1|E*gk{yNtWUX_Z~$&kUvwu+Dz1wbktum0ywJKke`zO<ZIo_&^E@Y$7q)
z&peTh#F3sFNzCQo@I(U|w=y6zm|@ZF#v*lNaZNY6NpbZW=_HLb@HlCB$~LLIuYrmh
z%I2=I|B!5n+P%ghr!CA&)bRRVaxYh-++y=?O36w;gWl1ap<eN<d#-iYDJ;-U^*z|`
zxfORr2#UePNZaJcj>Zmng{$+sdPS1>{NXMb|2>9cSKYlW2LuZE2mV5kqS|)abL8=<
z=%>+n-5Kd;Mn<KyKU#GN#@%LUMsN-bes(%no5@FEB~8mQ-vrE8^WgUFWIG0T@TumD
z@hnAcHm3M5Z!F5TMHO})<JMwgGCiD{#f}6n!c|$tS4kE@K|8pG$*VAf82mx~2do(k
zm|ME4_UaWi%`um_a}vHLTt+A6#>V2TCEfy&e#<M_JXaarshY%EiGHz+rOHdSQv4*o
zbE)bAtr6zufx*U~ebS=5fico3?6F@)S}RwPu^X!Af`+ozYf8X#+OT}Xwp0o=YfSRJ
zH74NjJ^IE}3N>p?_l6r&<I@h@iYBV>dXE+0mSQZgFTZoc@@u`^>(|ino@?Ol^7Si_
zHe5l~?Y_Qru~xc`?J-Khoj%^gC1b+8!+pi^rhkp0s<Q|%ESBS&gi3K98#LK?2ea^^
zgcq-zW?^4RbdX%**j!=a>yl;m^E(`?+6}(p;(RU!w;$HWQVLd$P2Q2hyIr+_zcGL}
zuf}QbcgYpW(*xxaiImjQ-W^YNcO|>9D+@=>uY}zJ(qOe7bR@Oi(|dfoKZfvZs9fWH
zJigtX9Te?eQKUNw<E~+db6a&8?c{S0dP}8Ef)<`swoRKU?1EX=p&XSqr<AZkOy%Dp
zv@u763e8;gj-v32$_g^{D;q4u^9`~n-*BN6RNC)k1m9wLt@O_8;AYh5wI$UOW7~Ez
Rvh;M{-3@j1&sKW#{TK9HH|qcZ

literal 0
HcmV?d00001

diff --git a/display/software/displayboard_servo/src/main.c b/display/software/displayboard_servo/src/main.c
new file mode 100644
index 0000000..2a7dbf6
--- /dev/null
+++ b/display/software/displayboard_servo/src/main.c
@@ -0,0 +1,254 @@
+#include <stdlib.h>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <util/delay.h>
+#include <string.h>
+#include "utils.h"
+#include "main.h"
+#include "uart.h"
+
+#define BUFSIZE 40
+#define CURRENT_MAX     30000       // 30 Ampere is max
+
+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
+uint16_t display = 0;
+
+uint16_t power_gen = 0;
+uint16_t power_load = 0;
+
+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) {
+	// 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 
+}
+
+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() {
+    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:
+        // A$voltage,$current_in,$current_out,$power_in,$power_out,loadsw,dumpsw,gensw\n
+
+        //A12.5,65464,00000,00000,00000,1,0,1B
+
+        char *token;
+        uint8_t tokencounter = 0;
+
+        char *start = strrchr(command_in, 'A');
+
+        // remove first (B is ignored by atoi)
+        start++;
+
+        token = strtok(start, ",");
+
+        while( token ) {
+            switch(tokencounter) {
+                case 0:
+                    voltage = atoi(token);
+                    break;
+                case 1:
+                    current_in = atoi(token);
+                    break;
+                case 2:
+                    current_out = atoi(token);
+                    break;
+                case 3:
+                    power_gen = atoi(token);
+                    break;
+                case 4:
+                    power_load = atoi(token);
+                    break;
+                case 5:
+                    if(atoi(token) == 1) loadsw = 1;
+                    else loadsw = 0;
+                    break;
+                case 6:
+                    if(atoi(token) == 1) dumpsw = 1;
+                    else dumpsw = 0;
+                    break;
+                case 7:
+                    if(atoi(token) == 1) gensw = 1;
+                    else gensw = 0;
+                    break;
+            }
+
+            tokencounter++;
+            token = strtok(NULL, ",");
+        }
+    }
+}
+
+static void work_uart(){
+    unsigned int c = uart_getc();
+}
+
+    if ( !(c & UART_NO_DATA) ) {
+        data_in[data_count] = c;
+
+        if (data_in[data_count] == 'B') {
+            data_count = 0;
+
+            memcpy(command_in, data_in, BUFSIZE);
+            memset(data_in, 0, BUFSIZE);
+
+            process_command();
+        } else {
+            data_count++;
+        }
+    }
+}
+static void set_servo(uint16_t value){
+
+/// magic need to happen hear
+    display = value;
+/// magic end
+    OCR1A = display;
+    sei();
+}
+
+
+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];
+		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;
+	}
+
+}
+
+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) {
+            uart_putc('a'); // send a to receive values
+            set_servo(power_gen)
+
+
+
+            syscounter = 0;
+        }
+	}
+	
+	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);
+}
+
+
diff --git a/display/software/displayboard_servo/src/main.h b/display/software/displayboard_servo/src/main.h
new file mode 100644
index 0000000..f4f9033
--- /dev/null
+++ b/display/software/displayboard_servo/src/main.h
@@ -0,0 +1,29 @@
+#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
+
diff --git a/display/software/displayboard_servo/src/uart.c b/display/software/displayboard_servo/src/uart.c
new file mode 100644
index 0000000..c29ef62
--- /dev/null
+++ b/display/software/displayboard_servo/src/uart.c
@@ -0,0 +1,479 @@
+/*************************************************************************
+Title:    Interrupt UART library with receive/transmit circular buffers
+Author:   Peter Fleury <pfleury@gmx.ch>   http://jump.to/fleury
+File:     $Id: uart.c,v 1.10 2013/06/02 07:27:04 peter Exp $
+Software: AVR-GCC 4.1, AVR Libc 1.4.6 or higher
+Hardware: any AVR with built-in UART, 
+License:  GNU General Public License 
+          
+DESCRIPTION:
+    An interrupt is generated when the UART has finished transmitting or
+    receiving a byte. The interrupt handling routines use circular buffers
+    for buffering received and transmitted data.
+    
+    The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE variables define
+    the buffer size in bytes. Note that these variables must be a 
+    power of 2.
+    
+USAGE:
+    Refere to the header file uart.h for a description of the routines. 
+    See also example test_uart.c.
+
+NOTES:
+    Based on Atmel Application Note AVR306
+                    
+LICENSE:
+    Copyright (C) 2006 Peter Fleury
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+                        
+*************************************************************************/
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include "uart.h"
+
+
+/*
+ *  constants and macros
+ */
+
+/* size of RX/TX buffers */
+#define UART_RX_BUFFER_MASK ( UART_RX_BUFFER_SIZE - 1)
+#define UART_TX_BUFFER_MASK ( UART_TX_BUFFER_SIZE - 1)
+
+#if ( UART_RX_BUFFER_SIZE & UART_RX_BUFFER_MASK )
+#error RX buffer size is not a power of 2
+#endif
+#if ( UART_TX_BUFFER_SIZE & UART_TX_BUFFER_MASK )
+#error TX buffer size is not a power of 2
+#endif
+
+#if defined(__AVR_AT90S2313__) \
+ || defined(__AVR_AT90S4414__) || defined(__AVR_AT90S4434__) \
+ || defined(__AVR_AT90S8515__) || defined(__AVR_AT90S8535__) \
+ || defined(__AVR_ATmega103__)
+ /* old AVR classic or ATmega103 with one UART */
+ #define AT90_UART
+ #define UART0_RECEIVE_INTERRUPT   UART_RX_vect
+ #define UART0_TRANSMIT_INTERRUPT  UART_UDRE_vect
+ #define UART0_STATUS   USR
+ #define UART0_CONTROL  UCR
+ #define UART0_DATA     UDR
+ #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_AT90S2333__) || defined(__AVR_AT90S4433__)
+ /* old AVR classic with one UART */
+ #define AT90_UART
+ #define UART0_RECEIVE_INTERRUPT   UART_RX_vect
+ #define UART0_TRANSMIT_INTERRUPT  UART_UDRE_vect
+ #define UART0_STATUS   UCSRA
+ #define UART0_CONTROL  UCSRB
+ #define UART0_DATA     UDR
+ #define UART0_UDRIE    UDRIE
+#elif  defined(__AVR_ATmega8__) || defined(__AVR_ATmega16__) || defined(__AVR_ATmega32__) \
+  || defined(__AVR_ATmega323__)
+  /* ATmega with one USART */
+ #define ATMEGA_USART
+ #define UART0_RECEIVE_INTERRUPT   USART_RXC_vect
+ #define UART0_TRANSMIT_INTERRUPT  USART_UDRE_vect
+ #define UART0_STATUS   UCSRA
+ #define UART0_CONTROL  UCSRB
+ #define UART0_DATA     UDR
+ #define UART0_UDRIE    UDRIE
+#elif defined (__AVR_ATmega8515__) || defined(__AVR_ATmega8535__)
+ #define ATMEGA_USART
+ #define UART0_RECEIVE_INTERRUPT   USART_RX_vect
+ #define UART0_TRANSMIT_INTERRUPT  USART_UDRE_vect
+ #define UART0_STATUS   UCSRA
+ #define UART0_CONTROL  UCSRB
+ #define UART0_DATA     UDR
+ #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega163__)
+  /* ATmega163 with one UART */
+ #define ATMEGA_UART
+ #define UART0_RECEIVE_INTERRUPT   UART_RX_vect
+ #define UART0_TRANSMIT_INTERRUPT  UART_UDRE_vect
+ #define UART0_STATUS   UCSRA
+ #define UART0_CONTROL  UCSRB
+ #define UART0_DATA     UDR
+ #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega162__)
+ /* ATmega with two USART */
+ #define ATMEGA_USART0
+ #define ATMEGA_USART1
+ #define UART0_RECEIVE_INTERRUPT   USART0_RXC_vect
+ #define UART1_RECEIVE_INTERRUPT   USART1_RXC_vect
+ #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+ #define UART1_TRANSMIT_INTERRUPT  USART1_UDRE_vect
+ #define UART0_STATUS   UCSR0A
+ #define UART0_CONTROL  UCSR0B
+ #define UART0_DATA     UDR0
+ #define UART0_UDRIE    UDRIE0
+ #define UART1_STATUS   UCSR1A
+ #define UART1_CONTROL  UCSR1B
+ #define UART1_DATA     UDR1
+ #define UART1_UDRIE    UDRIE1
+#elif defined(__AVR_ATmega64__) || defined(__AVR_ATmega128__)
+ /* ATmega with two USART */
+ #define ATMEGA_USART0
+ #define ATMEGA_USART1
+ #define UART0_RECEIVE_INTERRUPT   USART0_RX_vect
+ #define UART1_RECEIVE_INTERRUPT   USART1_RX_vect
+ #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+ #define UART1_TRANSMIT_INTERRUPT  USART1_UDRE_vect
+ #define UART0_STATUS   UCSR0A
+ #define UART0_CONTROL  UCSR0B
+ #define UART0_DATA     UDR0
+ #define UART0_UDRIE    UDRIE0
+ #define UART1_STATUS   UCSR1A
+ #define UART1_CONTROL  UCSR1B
+ #define UART1_DATA     UDR1
+ #define UART1_UDRIE    UDRIE1
+#elif defined(__AVR_ATmega161__)
+ /* ATmega with UART */
+ #error "AVR ATmega161 currently not supported by this libaray !"
+#elif defined(__AVR_ATmega169__)
+ /* ATmega with one USART */
+ #define ATMEGA_USART
+ #define UART0_RECEIVE_INTERRUPT   USART0_RX_vect
+ #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+ #define UART0_STATUS   UCSRA
+ #define UART0_CONTROL  UCSRB
+ #define UART0_DATA     UDR
+ #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega48__) || defined(__AVR_ATmega88__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega48P__) || defined(__AVR_ATmega88P__) || defined(__AVR_ATmega168P__) || defined(__AVR_ATmega328P__) \
+ || defined(__AVR_ATmega3250__) || defined(__AVR_ATmega3290__) ||defined(__AVR_ATmega6450__) || defined(__AVR_ATmega6490__)
+ /* ATmega with one USART */
+ #define ATMEGA_USART0
+ #define UART0_RECEIVE_INTERRUPT   USART_RX_vect
+ #define UART0_TRANSMIT_INTERRUPT  USART_UDRE_vect
+ #define UART0_STATUS   UCSR0A
+ #define UART0_CONTROL  UCSR0B
+ #define UART0_DATA     UDR0
+ #define UART0_UDRIE    UDRIE0
+#elif defined(__AVR_ATtiny2313__)
+ #define ATMEGA_USART
+ #define UART0_RECEIVE_INTERRUPT   USART_RX_vect
+ #define UART0_TRANSMIT_INTERRUPT  USART_UDRE_vect
+ #define UART0_STATUS   UCSRA
+ #define UART0_CONTROL  UCSRB
+ #define UART0_DATA     UDR
+ #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega329__) || \
+      defined(__AVR_ATmega649__) || \
+      defined(__AVR_ATmega325__) || \
+      defined(__AVR_ATmega645__)
+  /* ATmega with one USART */
+  #define ATMEGA_USART0
+  #define UART0_RECEIVE_INTERRUPT   USART0_RX_vect
+  #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+  #define UART0_STATUS   UCSR0A
+  #define UART0_CONTROL  UCSR0B
+  #define UART0_DATA     UDR0
+  #define UART0_UDRIE    UDRIE0
+#elif defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__) || defined(__AVR_ATmega1280__)  || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega640__)
+/* ATmega with two USART */
+  #define ATMEGA_USART0
+  #define ATMEGA_USART1
+  #define UART0_RECEIVE_INTERRUPT   USART0_RX_vect
+  #define UART1_RECEIVE_INTERRUPT   USART1_RX_vect
+  #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+  #define UART1_TRANSMIT_INTERRUPT  USART1_UDRE_vect
+  #define UART0_STATUS   UCSR0A
+  #define UART0_CONTROL  UCSR0B
+  #define UART0_DATA     UDR0
+  #define UART0_UDRIE    UDRIE0
+  #define UART1_STATUS   UCSR1A
+  #define UART1_CONTROL  UCSR1B
+  #define UART1_DATA     UDR1
+  #define UART1_UDRIE    UDRIE1
+#elif defined(__AVR_ATmega644__)
+ /* ATmega with one USART */
+ #define ATMEGA_USART0
+ #define UART0_RECEIVE_INTERRUPT   USART0_RX_vect
+ #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+ #define UART0_STATUS   UCSR0A
+ #define UART0_CONTROL  UCSR0B
+ #define UART0_DATA     UDR0
+ #define UART0_UDRIE    UDRIE0
+#elif defined(__AVR_ATmega164P__) || defined(__AVR_ATmega324P__) || defined(__AVR_ATmega644P__)
+ /* ATmega with two USART */
+ #define ATMEGA_USART0
+ #define ATMEGA_USART1
+ #define UART0_RECEIVE_INTERRUPT   USART0_RX_vect
+ #define UART1_RECEIVE_INTERRUPT   USART1_RX_vect
+ #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+ #define UART1_TRANSMIT_INTERRUPT  USART1_UDRE_vect
+ #define UART0_STATUS   UCSR0A
+ #define UART0_CONTROL  UCSR0B
+ #define UART0_DATA     UDR0
+ #define UART0_UDRIE    UDRIE0
+ #define UART1_STATUS   UCSR1A
+ #define UART1_CONTROL  UCSR1B
+ #define UART1_DATA     UDR1
+ #define UART1_UDRIE    UDRIE1
+#else
+ #error "no UART definition for MCU available"
+#endif
+
+
+/*
+ *  module global variables
+ */
+static volatile unsigned char UART_TxBuf[UART_TX_BUFFER_SIZE];
+static volatile unsigned char UART_RxBuf[UART_RX_BUFFER_SIZE];
+static volatile unsigned char UART_TxHead;
+static volatile unsigned char UART_TxTail;
+static volatile unsigned char UART_RxHead;
+static volatile unsigned char UART_RxTail;
+static volatile unsigned char UART_LastRxError;
+
+#if defined( ATMEGA_USART1 )
+static volatile unsigned char UART1_TxBuf[UART_TX_BUFFER_SIZE];
+static volatile unsigned char UART1_RxBuf[UART_RX_BUFFER_SIZE];
+static volatile unsigned char UART1_TxHead;
+static volatile unsigned char UART1_TxTail;
+static volatile unsigned char UART1_RxHead;
+static volatile unsigned char UART1_RxTail;
+static volatile unsigned char UART1_LastRxError;
+#endif
+
+
+
+ISR (UART0_RECEIVE_INTERRUPT)	
+/*************************************************************************
+Function: UART Receive Complete interrupt
+Purpose:  called when the UART has received a character
+**************************************************************************/
+{
+    unsigned char tmphead;
+    unsigned char data;
+    unsigned char usr;
+    unsigned char lastRxError;
+ 
+ 
+    /* read UART status register and UART data register */ 
+    usr  = UART0_STATUS;
+    data = UART0_DATA;
+    
+    /* */
+#if defined( AT90_UART )
+    lastRxError = (usr & (_BV(FE)|_BV(DOR)) );
+#elif defined( ATMEGA_USART )
+    lastRxError = (usr & (_BV(FE)|_BV(DOR)) );
+#elif defined( ATMEGA_USART0 )
+    lastRxError = (usr & (_BV(FE0)|_BV(DOR0)) );
+#elif defined ( ATMEGA_UART )
+    lastRxError = (usr & (_BV(FE)|_BV(DOR)) );
+#endif
+
+    /* calculate buffer index */ 
+    tmphead = ( UART_RxHead + 1) & UART_RX_BUFFER_MASK;
+    
+    if ( tmphead == UART_RxTail ) {
+        /* error: receive buffer overflow */
+        lastRxError = UART_BUFFER_OVERFLOW >> 8;
+    }else{
+        /* store new index */
+        UART_RxHead = tmphead;
+        /* store received data in buffer */
+        UART_RxBuf[tmphead] = data;
+    }
+    UART_LastRxError |= lastRxError;   
+}
+
+
+ISR (UART0_TRANSMIT_INTERRUPT)
+/*************************************************************************
+Function: UART Data Register Empty interrupt
+Purpose:  called when the UART is ready to transmit the next byte
+**************************************************************************/
+{
+    unsigned char tmptail;
+
+    
+    if ( UART_TxHead != UART_TxTail) {
+        /* calculate and store new buffer index */
+        tmptail = (UART_TxTail + 1) & UART_TX_BUFFER_MASK;
+        UART_TxTail = tmptail;
+        /* get one byte from buffer and write it to UART */
+        UART0_DATA = UART_TxBuf[tmptail];  /* start transmission */
+    }else{
+        /* tx buffer empty, disable UDRE interrupt */
+        UART0_CONTROL &= ~_BV(UART0_UDRIE);
+    }
+}
+
+
+/*************************************************************************
+Function: uart_init()
+Purpose:  initialize UART and set baudrate
+Input:    baudrate using macro UART_BAUD_SELECT()
+Returns:  none
+**************************************************************************/
+void uart_init(unsigned int baudrate)
+{
+    UART_TxHead = 0;
+    UART_TxTail = 0;
+    UART_RxHead = 0;
+    UART_RxTail = 0;
+    
+#if defined( AT90_UART )
+    /* set baud rate */
+    UBRR = (unsigned char)baudrate;
+
+    /* enable UART receiver and transmmitter and receive complete interrupt */
+    UART0_CONTROL = _BV(RXCIE)|_BV(RXEN)|_BV(TXEN);
+
+#elif defined (ATMEGA_USART)
+    /* Set baud rate */
+    if ( baudrate & 0x8000 )
+    {
+    	 UART0_STATUS = (1<<U2X);  //Enable 2x speed 
+    	 baudrate &= ~0x8000;
+    }
+    UBRRH = (unsigned char)(baudrate>>8);
+    UBRRL = (unsigned char) baudrate;
+   
+    /* Enable USART receiver and transmitter and receive complete interrupt */
+    UART0_CONTROL = _BV(RXCIE)|(1<<RXEN)|(1<<TXEN);
+    
+    /* Set frame format: asynchronous, 8data, no parity, 1stop bit */
+    #ifdef URSEL
+    UCSRC = (1<<URSEL)|(3<<UCSZ0);
+    #else
+    UCSRC = (3<<UCSZ0);
+    #endif 
+    
+#elif defined (ATMEGA_USART0 )
+    /* Set baud rate */
+    if ( baudrate & 0x8000 )
+    {
+   		UART0_STATUS = (1<<U2X0);  //Enable 2x speed
+   		baudrate &= ~0x8000;
+   	}
+    UBRR0H = (unsigned char)(baudrate>>8);
+    UBRR0L = (unsigned char) baudrate;
+
+    /* Enable USART receiver and transmitter and receive complete interrupt */
+    UART0_CONTROL = _BV(RXCIE0)|(1<<RXEN0)|(1<<TXEN0);
+
+    /* Set frame format: asynchronous, 8data, no parity, 1stop bit */
+    #ifdef URSEL0
+    UCSR0C = (1<<URSEL0)|(3<<UCSZ00);
+    #else
+    UCSR0C = (3<<UCSZ00);
+    #endif
+
+#elif defined ( ATMEGA_UART )
+    /* set baud rate */
+    if ( baudrate & 0x8000 )
+    {
+    	UART0_STATUS = (1<<U2X);  //Enable 2x speed
+    	baudrate &= ~0x8000;
+    }
+    UBRRHI = (unsigned char)(baudrate>>8);
+    UBRR   = (unsigned char) baudrate;
+
+    /* Enable UART receiver and transmitter and receive complete interrupt */
+    UART0_CONTROL = _BV(RXCIE)|(1<<RXEN)|(1<<TXEN);
+
+#endif
+
+}/* uart_init */
+
+
+/*************************************************************************
+Function: uart_getc()
+Purpose:  return byte from ringbuffer  
+Returns:  lower byte:  received byte from ringbuffer
+          higher byte: last receive error
+**************************************************************************/
+unsigned int uart_getc(void)
+{    
+    unsigned char tmptail;
+    unsigned char data;
+
+
+    if ( UART_RxHead == UART_RxTail ) {
+        return UART_NO_DATA;   /* no data available */
+    }
+    
+    /* calculate /store buffer index */
+    tmptail = (UART_RxTail + 1) & UART_RX_BUFFER_MASK;
+    UART_RxTail = tmptail; 
+    
+    /* get data from receive buffer */
+    data = UART_RxBuf[tmptail];
+    
+    data = (UART_LastRxError << 8) + data;
+    UART_LastRxError = 0;
+    return data;
+
+}/* uart_getc */
+
+
+/*************************************************************************
+Function: uart_putc()
+Purpose:  write byte to ringbuffer for transmitting via UART
+Input:    byte to be transmitted
+Returns:  none          
+**************************************************************************/
+void uart_putc(unsigned char data)
+{
+    unsigned char tmphead;
+
+    
+    tmphead  = (UART_TxHead + 1) & UART_TX_BUFFER_MASK;
+
+    while ( tmphead == UART_TxTail ){
+        ;/* wait for free space in buffer */
+    }
+    
+    UART_TxBuf[tmphead] = data;
+    UART_TxHead = tmphead;
+
+    /* enable UDRE interrupt */
+    UART0_CONTROL    |= _BV(UART0_UDRIE);
+    return 0;
+
+}/* uart_putc */
+
+
+/*************************************************************************
+Function: uart_puts()
+Purpose:  transmit string to UART
+Input:    string to be transmitted
+Returns:  none          
+**************************************************************************/
+void uart_puts(const char *s )
+{
+    while (*s) 
+      uart_putc(*s++);
+
+}/* uart_puts */
+
+
+/*************************************************************************
+Function: uart_puts_p()
+Purpose:  transmit string from program memory to UART
+Input:    program memory string to be transmitted
+Returns:  none
+**************************************************************************/
+void uart_puts_p(const char *progmem_s )
+{
+    register char c;
+    
+    while ( (c = pgm_read_byte(progmem_s++)) ) 
+      uart_putc(c);
+
+}/* uart_puts_p */
+
diff --git a/display/software/displayboard_servo/src/uart.h b/display/software/displayboard_servo/src/uart.h
new file mode 100644
index 0000000..12f69fb
--- /dev/null
+++ b/display/software/displayboard_servo/src/uart.h
@@ -0,0 +1,180 @@
+#ifndef UART_H
+#define UART_H
+/************************************************************************
+Title:    Interrupt UART library with receive/transmit circular buffers
+Author:   Peter Fleury <pfleury@gmx.ch>   http://jump.to/fleury
+File:     $Id: uart.h,v 1.12 2012/11/19 19:52:27 peter Exp $
+Software: AVR-GCC 4.1, AVR Libc 1.4
+Hardware: any AVR with built-in UART, tested on AT90S8515 & ATmega8 at 4 Mhz
+License:  GNU General Public License 
+Usage:    see Doxygen manual
+
+LICENSE:
+    Copyright (C) 2006 Peter Fleury
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+    
+************************************************************************/
+
+/** 
+ *  @defgroup pfleury_uart UART Library
+ *  @code #include <uart.h> @endcode
+ * 
+ *  @brief Interrupt UART library using the built-in UART with transmit and receive circular buffers. 
+ *
+ *  This library can be used to transmit and receive data through the built in UART. 
+ *
+ *  An interrupt is generated when the UART has finished transmitting or
+ *  receiving a byte. The interrupt handling routines use circular buffers
+ *  for buffering received and transmitted data.
+ *
+ *  The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE constants define
+ *  the size of the circular buffers in bytes. Note that these constants must be a power of 2.
+ *  You may need to adapt this constants to your target and your application by adding 
+ *  CDEFS += -DUART_RX_BUFFER_SIZE=nn -DUART_RX_BUFFER_SIZE=nn to your Makefile.
+ *
+ *  @note Based on Atmel Application Note AVR306
+ *  @author Peter Fleury pfleury@gmx.ch  http://jump.to/fleury
+ */
+ 
+/**@{*/
+
+
+#if (__GNUC__ * 100 + __GNUC_MINOR__) < 304
+#error "This library requires AVR-GCC 3.4 or later, update to newer AVR-GCC compiler !"
+#endif
+
+
+/*
+** constants and macros
+*/
+
+/** @brief  UART Baudrate Expression
+ *  @param  xtalcpu  system clock in Mhz, e.g. 4000000UL for 4Mhz          
+ *  @param  baudrate baudrate in bps, e.g. 1200, 2400, 9600     
+ */
+#define UART_BAUD_SELECT(baudRate,xtalCpu)  (((xtalCpu) + 8UL * (baudRate)) / (16UL * (baudRate)) -1UL)
+
+/** @brief  UART Baudrate Expression for ATmega double speed mode
+ *  @param  xtalcpu  system clock in Mhz, e.g. 4000000UL for 4Mhz           
+ *  @param  baudrate baudrate in bps, e.g. 1200, 2400, 9600     
+ */
+#define UART_BAUD_SELECT_DOUBLE_SPEED(baudRate,xtalCpu) ( ((((xtalCpu) + 4UL * (baudRate)) / (8UL * (baudRate)) -1UL)) | 0x8000)
+
+
+/** Size of the circular receive buffer, must be power of 2 */
+#ifndef UART_RX_BUFFER_SIZE
+#define UART_RX_BUFFER_SIZE 32
+#endif
+/** Size of the circular transmit buffer, must be power of 2 */
+#ifndef UART_TX_BUFFER_SIZE
+#define UART_TX_BUFFER_SIZE 32
+#endif
+
+/* test if the size of the circular buffers fits into SRAM */
+#if ( (UART_RX_BUFFER_SIZE+UART_TX_BUFFER_SIZE) >= (RAMEND-0x60 ) )
+#error "size of UART_RX_BUFFER_SIZE + UART_TX_BUFFER_SIZE larger than size of SRAM"
+#endif
+
+/* 
+** high byte error return code of uart_getc()
+*/
+#define UART_FRAME_ERROR      0x1000              /* Framing Error by UART       */
+#define UART_OVERRUN_ERROR    0x0800              /* Overrun condition by UART   */
+#define UART_PARITY_ERROR     0x0400              /* Parity Error by UART        */ 
+#define UART_BUFFER_OVERFLOW  0x0200              /* receive ringbuffer overflow */
+#define UART_NO_DATA          0x0100              /* no receive data available   */
+
+
+/*
+** function prototypes
+*/
+
+/**
+   @brief   Initialize UART and set baudrate 
+   @param   baudrate Specify baudrate using macro UART_BAUD_SELECT()
+   @return  none
+*/
+extern void uart_init(unsigned int baudrate);
+
+
+/**
+ *  @brief   Get received byte from ringbuffer
+ *
+ * Returns in the lower byte the received character and in the 
+ * higher byte the last receive error.
+ * UART_NO_DATA is returned when no data is available.
+ *
+ *  @param   void
+ *  @return  lower byte:  received byte from ringbuffer
+ *  @return  higher byte: last receive status
+ *           - \b 0 successfully received data from UART
+ *           - \b UART_NO_DATA           
+ *             <br>no receive data available
+ *           - \b UART_BUFFER_OVERFLOW   
+ *             <br>Receive ringbuffer overflow.
+ *             We are not reading the receive buffer fast enough, 
+ *             one or more received character have been dropped 
+ *           - \b UART_OVERRUN_ERROR     
+ *             <br>Overrun condition by UART.
+ *             A character already present in the UART UDR register was 
+ *             not read by the interrupt handler before the next character arrived,
+ *             one or more received characters have been dropped.
+ *           - \b UART_FRAME_ERROR       
+ *             <br>Framing Error by UART
+ */
+extern unsigned int uart_getc(void);
+
+
+/**
+ *  @brief   Put byte to ringbuffer for transmitting via UART
+ *  @param   data byte to be transmitted
+ *  @return  none
+ */
+extern void uart_putc(unsigned char data);
+
+
+/**
+ *  @brief   Put string to ringbuffer for transmitting via UART
+ *
+ *  The string is buffered by the uart library in a circular buffer
+ *  and one character at a time is transmitted to the UART using interrupts.
+ *  Blocks if it can not write the whole string into the circular buffer.
+ * 
+ *  @param   s string to be transmitted
+ *  @return  none
+ */
+extern void uart_puts(const char *s );
+
+
+/**
+ * @brief    Put string from program memory to ringbuffer for transmitting via UART.
+ *
+ * The string is buffered by the uart library in a circular buffer
+ * and one character at a time is transmitted to the UART using interrupts.
+ * Blocks if it can not write the whole string into the circular buffer.
+ *
+ * @param    s program memory string to be transmitted
+ * @return   none
+ * @see      uart_puts_P
+ */
+extern void uart_puts_p(const char *s );
+
+/**
+ * @brief    Macro to automatically put a string constant into program memory
+ */
+#define uart_puts_P(__s)       uart_puts_p(PSTR(__s))
+
+
+
+
+#endif // UART_H 
+
diff --git a/display/software/displayboard_servo/src/utils.c b/display/software/displayboard_servo/src/utils.c
new file mode 100644
index 0000000..6a5caca
--- /dev/null
+++ b/display/software/displayboard_servo/src/utils.c
@@ -0,0 +1,39 @@
+#include <avr/io.h>
+#include <util/delay.h>
+#include "uart.h"
+
+void wait(uint8_t count) {
+	uint8_t i;
+	if(count == 0) count = 100;
+	for(i=0;i<count;i++) {
+		_delay_ms(10);
+	}
+}
+
+void uart_print_voltage(uint16_t x) {
+    uart_putc(48 + (x / 10000));
+    uart_putc(48 + (x % 10000 /1000));
+    uart_putc('.');
+    uart_putc(48 + (x % 1000 / 100 ));
+    //uart_putc(48 + (x % 100 / 10 ));
+    //uart_putc(48 + (x % 10));
+}
+
+void uart_print_int16(int16_t x) {
+    if(x <0) uart_putc('-');
+	uart_putc(48 + (x / 10000));
+	uart_putc(48 + (x % 10000 /1000));
+	uart_putc(48 + (x % 1000 / 100 ));
+	uart_putc(48 + (x % 100 / 10 ));
+	uart_putc(48 + (x % 10));
+}
+
+void uart_print_uint16(uint16_t x) {
+    uart_putc(48 + (x / 10000));
+    uart_putc(48 + (x % 10000 /1000));
+    uart_putc(48 + (x % 1000 / 100 ));
+    uart_putc(48 + (x % 100 / 10 ));
+    uart_putc(48 + (x % 10));
+}
+
+
diff --git a/display/software/displayboard_servo/src/utils.h b/display/software/displayboard_servo/src/utils.h
new file mode 100644
index 0000000..e3dec72
--- /dev/null
+++ b/display/software/displayboard_servo/src/utils.h
@@ -0,0 +1,12 @@
+#ifndef _utils_h
+	#define _utils_h
+
+	extern void wait(uint8_t count);
+	extern void uart_print_voltage(uint16_t);
+	extern void uart_print_int16(int16_t);
+	extern void uart_print_uint16(uint16_t);
+
+#endif
+
+
+