Run at 3v3/8MHz.

1 files changed, 16 insertions, 17 deletions

diff --git a/main.c b/main.c
index d495c3e..ba0c254 100644
--- a/main.c
+++ b/main.c
@@ -6,19 +6,19 @@
 
 #include "fpm.h"
 
-#define SERVO_PIN  PB1
-#define SERVO_DDR  DDRB
+#define SERVO_PIN          PB1
+#define SERVO_DDR          DDRB
 
-#define PWM_MIN    500
-#define PWM_MID    1600
-#define PWM_MAX    2550
-#define PWM_TOP    20000
+#define PWM_MIN            500
+#define PWM_MID            1600
+#define PWM_MAX            2550
+#define PWM_TOP            19999
 
-#define VCC_MIN    4900
+#define VCC_MIN            4900
 
-#define LED_PIN    PB5
-#define LED_DDR    DDRB
-#define LED_PORT   PORTB
+#define LED_PIN            PB5
+#define LED_DDR            DDRB
+#define LED_PORT           PORTB
 
 #define FRONT_UNLOCK_PIN   PD2
 #define FRONT_LOCK_PIN     PD3
@@ -52,15 +52,13 @@ static volatile int cmd = NONE;
 static inline void lock(void)
 {
 	OCR1A = PWM_MID;
-	_delay_ms(100);
-	OCR1A = PWM_TOP;
+	_delay_ms(500);
 }
 
 static inline void unlock(void)
 {
 	OCR1A = PWM_MAX;
-	_delay_ms(100);
-	OCR1A = PWM_TOP;
+	_delay_ms(500);
 }
 
 uint16_t getvcc(void)
@@ -125,10 +123,11 @@ int main(void)
 	           (1 << BACK_LOCK_INT) | (1 << BACK_UNLOCK_INT));
 
 	/* servo */
+	TCCR1A |= (1 << WGM11);
+	TCCR1B |= (1 << WGM12) | (1 << WGM13);
+	TCCR1B |= (1 << CS11);
 	ICR1 = PWM_TOP;
-	TCCR1A |= (1 << WGM11) | (1 << COM1A1);
-	TCCR1B |= (1 << WGM13) | (1 << CS11);
-
+	TCCR1A |= (1 << COM1A1);
 	SERVO_DDR |= (1 << SERVO_PIN);
 
 	fpm_init();