Hallo

So vielleicht:
Code:
#include <avr/io.h>
#include <stdlib.h>
#include <inttypes.h>
#include <avr/interrupt.h>
#include <util/delay.h>

volatile unsigned char servopos0;

#define SERVO_0_PIN 7
#define SERVOPORT PORTC
#define DDRSERVO DDRC

#ifndef F_CPU
#define F_CPU 8000000UL
#endif

void servo_init(void)
{

TIMSK|=(1<<OCIE2); // Interrupt gestatten
TCCR2 |= (1<<WGM21) | (1<<CS20); // CTC-Mode, no prescaling (= anstelle von |= wäre sicherer)
OCR2 = F_CPU/100000; // 100000kHz
DDRSERVO |= (1<<SERVO_0_PIN);
}

ISR(TIMER2_COMP_vect)
{
char cSREG;
cSREG = SREG;
static int scount;
if(scount>servopos0)SERVOPORT&=~(1<<SERVO_0_PIN);
else SERVOPORT|=(1<<SERVO_0_PIN);
if(scount<2000)scount++;
else scount=0;
SREG = cSREG;
}

uint16_t readADC(uint8_t channel)
{
	uint16_t result;

   ADCSRA = (1<<ADEN) | (1<<ADPS2) | (1<<ADPS1); // ADC einschalten, prescal /64
   ADMUX = channel; // Kanal wählen
   ADMUX |= (1<<REFS1) | (1<<REFS0); // + interne 2,56V-Referenz
   ADCSRA |= (1<<ADSC); // Konvertierung starten
   while(ADCSRA & (1<<ADSC)); // warten bis Wandlung abgeschlossen

	result= ADC; // Ergebnis zwischspeichern

   ADCSRA &= ~(1<<ADEN); // ADC ausschalten

   return(result); // Ergebnis abliefern
}



/***************************Hauptprogramm***************************/
int main (void)
{

DDRD = 0xFF;
PORTA = 0b00001111;
uint16_t result0 = 0;
uint16_t result1 = 0;
uint16_t result2 = 0;
uint16_t result3 = 0;
servo_init();
sei();

while (1)
{
servopos0 = 100;
result0= readADC(4)/3;  // /3 ????
result1= readADC(5)/3;
result2= readADC(6)/3;
result3= readADC(7)/3;

if((result0 >=300) && (result1 >= 300) && (result2 >= 300)) // ?????????????????
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}


}
}
Gruß

mic