// Timer/Counter 0 initialization
   // Clock source: System Clock
   // Clock value: 2000,000 kHz
   // Mode: Normal top=0xFF
   // OC0 output: Disconnected
   // Timer Period: 0,06 ms
   ASSR=0<<AS0;
   TCCR0=(0<<WGM00) | (0<<COM01) | (0<<COM00) | (0<<WGM01) | (0<<CS02) | (1<<CS01) | (0<<CS00);
   TCNT0=0x88;
   OCR0=0x00;


//   TIMSK=0x01;
//   ETIMSK=0x00;

   // Timer/Counter 1 initialization
   // Clock source: System Clock
   // Clock value: Timer1 Stopped
   // Mode: Normal top=0xFFFF
   // OC1A output: Discon.
   // OC1B output: Discon.
   // OC1C output: Discon.
   // Noise Canceler: Off
   // Input Capture on Falling Edge
   // Timer1 Overflow Interrupt: Off
   // Input Capture Interrupt: Off
   // Compare A Match Interrupt: Off
   // Compare B Match Interrupt: Off
   // Compare C Match Interrupt: Off
   TCCR1A=0x00;
   TCCR1B=0x00;
   TCNT1H=0x00;
   TCNT1L=0x00;
   ICR1H=0x00;
   ICR1L=0x00;
   OCR1AH=0x00;
   OCR1AL=0x00;
   OCR1BH=0x00;
   OCR1BL=0x00;
   OCR1CH=0x00;
   OCR1CL=0x00;

   // Timer/Counter 2 initialization
   // Clock source: System Clock
   // Clock value: Timer2 Stopped
   // Mode: Normal top=0xFF
   // OC2 output: Disconnected
   TCCR2=0x00;
   TCNT2=0x00;
   OCR2=0x00;

   // Timer/Counter 3 initialization
   // Clock source: System Clock
   // Clock value: Timer3 Stopped
   // Mode: Normal top=0xFFFF
   // OC3A output: Discon.
   // OC3B output: Discon.
   // OC3C output: Discon.
   // Noise Canceler: Off
   // Input Capture on Falling Edge
   // Timer3 Overflow Interrupt: Off
   // Input Capture Interrupt: Off
   // Compare A Match Interrupt: Off
   // Compare B Match Interrupt: Off
   // Compare C Match Interrupt: Off
   TCCR3A=0x00;
   TCCR3B=0x00;
   TCNT3H=0x00;
   TCNT3L=0x00;
   ICR3H=0x00;
   ICR3L=0x00;
   OCR3AH=0x00;
   OCR3AL=0x00;
   OCR3BH=0x00;
   OCR3BL=0x00;
   OCR3CH=0x00;
   OCR3CL=0x00;

   // External Interrupt(s) initialization
   // INT0: Off
   // INT1: Off
   // INT2: Off
   // INT3: Off
   // INT4: Off
   // INT5: Off
   // INT6: Off
   // INT7: Off
   EICRA=0x00;
   EICRB=0x00;
   EIMSK=0x00;

   // Timer(s)/Counter(s) Interrupt(s) initialization
     TIMSK=1<<TOIE0;

     ETIMSK=0x00;

   // USART0 initialization
   // USART0 disabled
   UCSR0B=0x00;

   // USART1 initialization
   // USART1 disabled
   UCSR1B=0x00;

   // Analog Comparator initialization
   // Analog Comparator: Off
   // Analog Comparator Input Capture by Timer/Counter 1: Off
   ACSR=0x80;
   SFIOR=0x00;

   // ADC initialization
   // ADC disabled
   ADCSRA=0x00;

   // SPI initialization
   // SPI disabled
   SPCR=0x00;

   // TWI initialization
   // TWI disabled
   TWCR=0x00;
  }



  // Alphanumeric LCD initialization
   {
    // Connections specified in the
    // Project|Configure|C Compiler|Libraries|Alphanumeric LCD menu:
    // RS - PORTC Bit 0
    // RD - PORTC Bit 1
    // EN - PORTC Bit 2
    // D4 - PORTC Bit 4
    // D5 - PORTC Bit 5
    // D6 - PORTC Bit 6
    // D7 - PORTC Bit 7
    // Characters/line: 20
    lcd_init(20);
   }

  //Initialisierung Timer
   {
    /* clkio/1024 */
    TCCR1B=(1<<CS12)|(1<<CS10);
    /* initialize Timer1 overflow interrupts in Mode 0 (Normal) */
    TCCR1A=0x00;
    /* timer overflow interrupts will occur with 100Hz frequency */
    TCNT1H=T1_INIT>>8;
    TCNT1L=T1_INIT&0xFF;
    /* enable Timer1 overflow interrupt */
    TIMSK=1<<TOIE1;
   }



  /* globally enable interrupts */
    Drehgeber_X();
    Drehgeber_Y();
    Drehgeber_Z();



  #asm("sei")

  /* Initialisierung SD-Karte */
   {
    /* initialize SPI interface and card driver */
    status=disk_initialize(0);

    /* display disk initialization result on the LCD */
    if (status & STA_NODISK)
     {
      lcd_puts("SD-Karte:\nnicht vorhanden");
      delay_ms(500);
     }

    else
    if (status & STA_NOINIT)
     {
      lcd_puts("SD-Karte:\nInitialisierung\nfehlgeschlagen");
      delay_ms(500);
     }

    else
    if (status & STA_PROTECT)
     {
      lcd_puts("SD-Karte:\nSchreibschutz aktiv");
      delay_ms(500);
     }
    else
     {
      lcd_puts("SD-Karte:\nInitialisierung\nerfolgreich");
      delay_ms(500);
      /* clear the LCD */
      lcd_clear();
      /* get the sector size */
      if (disk_ioctl(0,GET_SECTOR_SIZE,&sector_size)==RES_OK)
       {
        /* sector size read OK, display it */
        sprintf(display_buffer,"Sector size: \n%u\n",sector_size);
        lcd_puts(display_buffer);

        /* get the sector count */
        if (disk_ioctl(0,GET_SECTOR_COUNT,&sector_count)==RES_OK)
         {
          /* sector count read OK, display it */
          sprintf(display_buffer,"Sector count: \n%lu",sector_count);
          lcd_puts(display_buffer);
         }
        else lcd_puts("Error reading\nsector count");
       }
      else lcd_puts("Error reading\nsector size");
     }
    delay_ms(500);
   }

  /* initialize the USART0 TX, 8N1, Baud rate: 19200 */
   {
    UCSR0A=0;
    UCSR0B=1<<TXEN0;
    UCSR0C=(1<<UCSZ01)|(1<<UCSZ00);
    UBRR0H=BAUD_INIT>>8;
    UBRR0L=BAUD_INIT&0xFF;
   }

  /* mount logical drive 0: */
   {
    if ((res=f_mount(0,&drive))==FR_OK)
     {
      lcd_clear();
      lcd_puts("Logical drive 0:\n mounted OK\r\n");
      delay_ms(500);
     }
    else
    //if an error occured, display it and stop
    error(res);
   }



  //Hauptprogramm
   //Referenzpunkte anfahren
   FN_Referenz();

   while (1)
    {

     //Automatikbetrieb
     if (Schalter_Auto == EIN)
      {
       FN_Automatikbetrieb();
      }

     //Handbetrieb
     if (Schalter_Auto == AUS)
     {
      FN_Handbetrieb();
     }
   }
 }