From 2cc08730e3fd7a89b5888e117ef188eff7925a96 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Lucas=20Ple=C3=9F?= <lucas@xleave.de>
Date: Tue, 3 Jun 2014 16:47:18 +0200
Subject: [PATCH] there is still a nasty fucking bug with OCR1A

---
 .../displayboard_servo/software/src/main.c    | 28 +++++++++++--------
 schaltungen/displayboard_servo/tester.py      | 11 ++++----
 2 files changed, 21 insertions(+), 18 deletions(-)

diff --git a/schaltungen/displayboard_servo/software/src/main.c b/schaltungen/displayboard_servo/software/src/main.c
index 82cdea9..653005c 100644
--- a/schaltungen/displayboard_servo/software/src/main.c
+++ b/schaltungen/displayboard_servo/software/src/main.c
@@ -58,7 +58,7 @@ static void work_uart() {
 			reset_input_buffer();
 		}
         
-#ifdef DEBUG
+#ifdef DEBUG1
         for(uint8_t i=0;i<BUFSIZE;i++) {
             uart_print_uint8(data_in[i]);
             uart_putc('\r');
@@ -67,7 +67,7 @@ static void work_uart() {
         uart_puts_P(" -- \r\n");
 #endif
 
-		if (cur == '\n' && data_count > 1) { // \n
+		if (cur == 13) { // \n
 			
             power = atol(data_in);
             if(power > POWER_MAX) power = POWER_MAX;
@@ -76,10 +76,10 @@ static void work_uart() {
             uart_puts_P("power = ");
             uart_print_uint16(power);
             uart_puts_P("\r\n");
-
 #endif
-
-            set_servo(power);
+            if(power > 0) {
+                set_servo(power);
+            }
            
 			reset_input_buffer();
 		} 
@@ -113,13 +113,17 @@ void set_servo(uint16_t display) {
     
     // check if timer is currently in the small pulse, then sleep here 2ms
     // and do again
-    if(OCR1A < 2250) {
-        _delay_ms(2);
+    
+    
+    if(OCR1A <= 2250) {
+        _delay_ms(10);
     }
 
-	cli();								// read and write atomic
-	OCR1A = 2500-display;
-    sei();
+	//cli();								// read and write atomic
+	TIMSK &= ~(_BV(OCIE1A));
+    OCR1A = 2500-display;
+    //sei();
+    TIMSK |= _BV(OCIE1A);
 }
 
 
@@ -143,13 +147,13 @@ int main(void) {
 	timer_init();
 	uart_init(UART_BAUD_SELECT(38400,F_CPU));
 	reset_input_buffer();
-	demo_display();
+	//demo_display();
 	
 	
 	while(1) {
 		work_uart();
 
-		if(syscounter >= 100) {
+		if(syscounter >= 10) {
 			reset_input_buffer();
 			uart_putc('a'); 	// send a to receive values from master box
             syscounter = 0;
diff --git a/schaltungen/displayboard_servo/tester.py b/schaltungen/displayboard_servo/tester.py
index e877887..0a3420f 100755
--- a/schaltungen/displayboard_servo/tester.py
+++ b/schaltungen/displayboard_servo/tester.py
@@ -11,11 +11,10 @@ incdec = 0
 
 while 1:
 	tdata = ser.read()
-	time.sleep(1)
 
 	if tdata == 'a':
 		print power
-		ser.write(str(power) + '\n')
+		ser.write(str(power) + '\x0d')
 		#ser.write('100\n')
 		ser.flush()
 
@@ -31,7 +30,7 @@ while 1:
 		if power < 0:
 			power = 0
 			incdec = 0
-	else:
-		data_left = ser.inWaiting()
-		tdata += ser.read(data_left)
-		print tdata
+	#else:
+		#data_left = ser.inWaiting()
+		#tdata += ser.read(data_left)
+		#print tdata