main.c

#include <stdlib.h>

#include <inttypes.h>

#include <avr/io.h>

#include <util/delay.h>

#define BAUD 9600          // Baudrate für setbaud.h

#include <util/setbaud.h>

int uart_putc(unsigned char c) {

  while (!(UCSRA & (1 << UDRE))) {

  }

  UDR = c;

  return 0;

}

void init_uart(void) {

  UBRRH = UBRRH_VALUE;

  UBRRL = UBRRL_VALUE;

#if USE_2X

  UCSRA |= (1 << U2X);

#else

  UCSRA &= ~(1 << U2X);

#endif

  UCSRB |= (1 << TXEN); // UART TX einschalten

  UCSRB |= (1 << RXEN); // UART RX einschalten

  UCSRC |= (1 << URSEL) | (3 << UCSZ0); // Asynchron 8N1

}

int main(void) {

  DDRA = 0xFF;

  DDRB = 0xFF;

  DDRC = 0xFF;

  DDRD = 0xFF;

  init_uart();

  uart_putc('a');  //Debug

  ICR1 = 36864;  //20 msec bei Teiler 8 und 14,7456 MHz

  TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM11); // lösche OC1A/OC1B bei OCR1A/OCR1B, setze OC1A/OC1B bei ICR1

  TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS11); // Prescaler 8; Fast PWM; TOP = ICR1,

  TCNT1 = 0; // reset Timer

  uart_putc('b');  //Debug

  OCR1A = 1000; // set Servo 1 to 1ms-position

  OCR1B = 2000; // set Servo 1 to 2ms-position

  uart_putc('c');  //Debug

  for (int i = 0; i < 50; i++) {

    _delay_ms(10);

  }

  uart_putc('d');  //Debug

  OCR1A = 2000; // set Servo 1 to 1ms-position

  OCR1B = 1000; // set Servo 1 to 2ms-position

  uart_putc('e');  //Debug

  while (1) {

  }

}