--- src/nibobee/motpid.c.org	2010-07-10 17:21:36.000000000 +0200
+++ src/nibobee/motpid.c	2013-05-15 07:55:54.416067720 +0200
@@ -56,7 +56,16 @@
 // PS = 1
 // freq = 15Mhz/1022 = 14.677 kHz
 // call PID with 100 Hz:
-#define MOTPID_CALL_CNT 147
+#if F_CPU == 15000000
+	#define MOTPID_CALL_CNT 147
+#else
+	#if F_CPU == 200000000
+		#define MOTPID_CALL_CNT 196
+	#else
+		#error "Frequency unknown!"
+		#define MOTPID_CALL_CNT 100
+	#endif
+#endif
 
 /*! PID will be called with 100 Hz */
 #define MOTPID_FREQ 100

--- src/nibobee/motpid.c.org	2010-07-10 17:21:36.000000000 +0200
+++ src/nibobee/motpid.c	2013-05-15 07:55:54.416067720 +0200
@@ -56,7 +56,16 @@
 // PS = 1
 // freq = 15Mhz/1022 = 14.677 kHz
 // call PID with 100 Hz:
-#define MOTPID_CALL_CNT 147
#define MOTPID_CALL_CNT (uint8_t)((F_CPU / 1022) + 50 / 100)
 
 /*! PID will be called with 100 Hz */
 #define MOTPID_FREQ 100

diff -u nibobee.org/base.c nibobee/base.c
--- nibobee.org/base.c	2013-05-15 08:38:41.000000000 +0200
+++ nibobee/base.c	2013-05-21 17:47:02.000000000 +0200
@@ -54,6 +54,7 @@
 
 uint16_t nibobee_getMillivolt() {
   uint16_t voltage = analog_getValue(ANALOG_VOLT);
+  //voltage *= ((2560 * 2) / 1024); //Referenz: 2560 mV, 10 bit, *2  wegen Spannungsteiler
   voltage = (4*12480U)/voltage;
   voltage *= 25;
   return voltage;
diff -u nibobee.org/base.h nibobee/base.h
--- nibobee.org/base.h	2013-05-15 08:38:41.000000000 +0200
+++ nibobee/base.h	2013-05-21 19:10:38.551256519 +0200
@@ -57,6 +57,7 @@
   NIBOBEE_ANALOG_INITIALIZED = 0x01,
   NIBOBEE_MOTPWM_INITIALIZED = 0x02,
   NIBOBEE_I2C_INITIALIZED    = 0x04,
+  NIBOBEE_CLOCK_INITIALIZED    = 0x08,
 };
 
 /*!
diff -u nibobee.org/clock.c nibobee/clock.c
--- nibobee.org/clock.c	2013-05-15 08:38:41.000000000 +0200
+++ nibobee/clock.c	2013-05-21 21:04:17.573286156 +0200
@@ -40,7 +40,9 @@
 #include <avr/sleep.h>
 #include <util/atomic.h>
 #include "nibobee/iodefs.h"
+#include "nibobee/base.h"
 #include "nibobee/clock.h"
+#include "nibobee/motpwm.h"
 
 
 #ifdef __cplusplus
@@ -58,11 +60,55 @@
 void clock_sec_irq_hook() {
 }
 
+void clock_ms_irq_hook() __attribute__((weak));
+
+void clock_ms_irq_hook() {
+}
+
 void clock_hundredth_irq_hook() __attribute__((weak));
 
 void clock_hundredth_irq_hook() {
 }
 
+void clock_irq_hook() __attribute__((weak));
+void clock_irq_hook() {
+}
+
+void (*pid_irq_hook)() = 0;
+
+
+ISR(TIMER1_OVF_vect) {
+  static uint8_t counter=0;
+  static uint8_t running=0;
+  counter++;
+  if (running) {
+    return;
+  }
+  running=1;
+  if (counter>=CLOCK_PRESCALER_SOFTWARE) {
+    counter-=CLOCK_PRESCALER_SOFTWARE;
+    clock_inc_irq(CLOCK_MS_PART, CLOCK_US_PART);
+  }
+
+  clock_irq_hook();
+  running = 0;
+}
+
+void clock_set_pid_irq_hook(void new_pid_irq_hook()) {
+  ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+    pid_irq_hook = new_pid_irq_hook;
+  }
+}
+
+void clock_init() {
+  if (!(nibobee_initialization & NIBOBEE_CLOCK_INITIALIZED)) {
+    nibobee_initialization |= NIBOBEE_CLOCK_INITIALIZED;
+    PWM_TIMER_CCRA = PWM_TIMER_CCRA_INIT;
+    PWM_TIMER_CCRB = PWM_TIMER_CCRB_INIT;
+    PWM_TIMER_IMSK |= PWM_TIMER_IMSK_INIT;
+    PWM_TIMER_IMSK |= PWM_TIMER_IMSK_OIE;
+  }
+}
 
 void clock_inc_irq(uint8_t ms, uint16_t us) {
   clock_us += us;
@@ -73,12 +119,17 @@
     if (clock_waitms) {
       clock_waitms--;
     }
+    if (pid_irq_hook != 0) {
+      pid_irq_hook();
+    }
+    clock_ms_irq_hook();
   }
 
   clock_10ms+=ms;
   if (clock_10ms>=10) {
     clock_10ms-=10;
     clock_hundredth_irq_hook();
+
   }
 
   clock_ms+=ms;
diff -u nibobee.org/clock.h nibobee/clock.h
--- nibobee.org/clock.h	2013-05-15 08:38:41.000000000 +0200
+++ nibobee/clock.h	2013-05-21 21:13:32.046730393 +0200
@@ -47,9 +47,57 @@
 extern "C" {
 #endif
 
+#define PWM_TIMER_MAX 511
+
+#define PWM_TIMER_CNT        TCNT1
+#define PWM_TIMER_CCRA       TCCR1A
+#define PWM_TIMER_CCRA_INIT  _BV(COM1A1) | _BV(COM1A0) | _BV(COM1B1) | _BV(COM1B0) | _BV(WGM11)
+#define PWM_TIMER_CCRB       TCCR1B
+#define PWM_TIMER_CCRB_INIT  _BV(CS10)
+#define PWM_TIMER_OCRA       OCR1A
+#define PWM_TIMER_OCRA_INIT  0
+#define PWM_TIMER_OCRB       OCR1B
+#define PWM_TIMER_OCRB_INIT  0
+#ifndef TIMSK
+# define PWM_TIMER_IMSK      TIMSK1
+#else
+# define PWM_TIMER_IMSK      TIMSK
+#endif
+#define PWM_TIMER_IMSK_INIT  0
+#define PWM_TIMER_IMSK_CMPA  _BV(OCIE1A)
+#define PWM_TIMER_IMSK_CMPB  _BV(OCIE1B)
+
+#define PWM_TIMER_IMSK_OIE   _BV(TOIE1)
+
+
+// PS = 1
+// Mode 2: PWM, Phase Correct, 9-bit
+// freq = F_CPU Mhz/(2*(512-1)) = 14.677 kHz (bei F_CPU=15000000)
+
+//#define fF_CPU 15000000
+#define CLOCK_PRESCALER_HARDWARE (2*(512-1))
+#define CLOCK_PRESCALER_SOFTWARE 15
+#define CLOCK_TIMER_US (((long long)1000000 * CLOCK_PRESCALER_HARDWARE * CLOCK_PRESCALER_SOFTWARE) / F_CPU)
+
+#define CLOCK_MS_PART CLOCK_TIMER_US / 1000
+#define CLOCK_US_PART CLOCK_TIMER_US % 1000
+
+/*!
+ * Wird vom pid-Modul verwendet, um sich einzuhooken.
+ *
+ * @internal
+ */
+void clock_set_pid_irq_hook(void new_pid_irq_hook());
+
+/*!
+ * Initialisiert den Clock-IRQ.
+ */
+void clock_init();
+
 /*!
- * Funktion zum Aufruf durch den IRQ. Wird bei Verwendung des PID Reglers
- * automatisch alle 1.022 ms aufgerufen. Falls dieser nicht verwendet wird, muss die Funktion
+ * Funktion zum Aufruf durch den IRQ. Wird bei clock_init oder bei Verwendung des PID Reglers
+ * automatisch alle 1.022 ms (bei 15 MHz, ansonsten entsprechend angepasst) aufgerufen.
+ * Falls keiner dieser Funktionen verwendet wird muss die Funktion
  * regelmäßig von einem eigenen Timer-Interrupt aus aufgerufen werden.
  */
 void clock_inc_irq(uint8_t ms, uint16_t us);
Nur in nibobee: clock.h~.
diff -u nibobee.org/motpid.c nibobee/motpid.c
--- nibobee.org/motpid.c	2013-05-21 21:10:55.000000000 +0200
+++ nibobee/motpid.c	2013-05-21 21:07:23.025795880 +0200
@@ -44,25 +44,12 @@
 #include "nibobee/motpwm.h"
 #include "nibobee/motpid.h"
 
-#ifndef TIMSK
-# define PWM_TIMER_IMSK     TIMSK1
-#else
-# define PWM_TIMER_IMSK     TIMSK
-#endif
-
-#define PWM_TIMER_IMSK_OIE   _BV(TOIE1)
-
-// call PID with 100 Hz:
-#define MOTPID_CALL_CNT ((uint8_t)((F_CPU / 1022) + 50 / 100))
-// Example for 15 MHz:
-// Clock = 15 Mhz, (PS = 1)
-// freq = 15Mhz/1022 = 14.677 kHz
-// ->  MOTPID_CALL_CNT = 147
-
 
 /*! PID will be called with 100 Hz */
 #define MOTPID_FREQ 100
 
+#define MOTPID_CALL_CNT 1000 / MOTPID_FREQ
+
 #define MOTPID_KP 5
 #define MOTPID_KI 6
 #define MOTPID_KD 7
@@ -194,19 +181,7 @@
 }
 
 
-ISR(TIMER1_OVF_vect) {
-  static uint8_t counter=0;
-  static uint8_t running=0;
-  counter++;
-  if (running) {
-    return;
-  }
-  running=1;
-  if (counter>=15) {
-    counter-=15;
-    clock_inc_irq(1, 22);
-  }
-
+void clock_irq_motpid_hook() {
   motpid_cnt++;
   if (motpid_cnt>=MOTPID_CALL_CNT) {
     motpid_left_timer_int();
@@ -216,7 +191,6 @@
     //comdata_signal();
     motpid_cnt=0;
   }
-  running = 0;
 }
 
 
@@ -224,7 +198,8 @@
   if (!(nibobee_initialization&NIBOBEE_MOTPWM_INITIALIZED)) {
     motpwm_init();
   }
-  PWM_TIMER_IMSK |= PWM_TIMER_IMSK_OIE;
+  clock_init();
+  clock_set_pid_irq_hook(clock_irq_motpid_hook);
   motpid_reset();
   motpid_mode = MOTPID_MODE_OFF;
 }
diff -u nibobee.org/motpwm.c nibobee/motpwm.c
--- nibobee.org/motpwm.c	2013-05-15 08:38:41.000000000 +0200
+++ nibobee/motpwm.c	2013-05-21 19:51:32.601151189 +0200
@@ -40,32 +40,9 @@
 #include <util/atomic.h>
 #include "nibobee/iodefs.h"
 #include "nibobee/base.h"
+#include "nibobee/clock.h"
+
 
-// Clock = 15 Mhz
-// PS = 1
-// Mode 2: PWM, Phase Correct, 9-bit
-// freq = 15Mhz/(2*(512-1)) = 14.677 kHz
-
-
-#define PWM_TIMER_MAX 511
-
-#define PWM_TIMER_CNT        TCNT1
-#define PWM_TIMER_CCRA       TCCR1A
-#define PWM_TIMER_CCRA_INIT  _BV(COM1A1) | _BV(COM1A0) | _BV(COM1B1) | _BV(COM1B0) | _BV(WGM11)
-#define PWM_TIMER_CCRB       TCCR1B
-#define PWM_TIMER_CCRB_INIT  _BV(CS10)
-#define PWM_TIMER_OCRA       OCR1A
-#define PWM_TIMER_OCRA_INIT  0
-#define PWM_TIMER_OCRB       OCR1B
-#define PWM_TIMER_OCRB_INIT  0
-#ifndef TIMSK
-# define PWM_TIMER_IMSK      TIMSK1
-#else
-# define PWM_TIMER_IMSK      TIMSK
-#endif
-#define PWM_TIMER_IMSK_INIT  0
-#define PWM_TIMER_IMSK_CMPA  _BV(OCIE1A)
-#define PWM_TIMER_IMSK_CMPB  _BV(OCIE1B)
 
 #ifdef __cplusplus
 extern "C" {
@@ -84,9 +61,7 @@
   nibobee_initialization |= NIBOBEE_MOTPWM_INITIALIZED;
   set_output_group(IO_MOTOR);
   activate_output_group(IO_MOTOR);
-  PWM_TIMER_CCRA = PWM_TIMER_CCRA_INIT;
-  PWM_TIMER_CCRB = PWM_TIMER_CCRB_INIT;
-  PWM_TIMER_IMSK |= PWM_TIMER_IMSK_INIT;
+  clock_init();
 }
 

--- nibobee.org/usart.h	2013-05-15 08:38:41.000000000 +0200
+++ nibobee/usart.h	2013-05-22 23:01:27.937160878 +0200
@@ -88,6 +88,11 @@
 
 
 /*!
+ * Schreibt einen 0-terminierten String.
+ */
+void usart_putstring(char* data);
+
+/*!
  * Liefert true wenn der Empfangspuffer leer ist.
  */
 static inline char usart_rxempty() {
--- nibobee.org/usart.c	2013-05-15 08:38:41.000000000 +0200
+++ nibobee/usart.c	2013-05-22 23:01:04.972598513 +0200
@@ -103,6 +103,13 @@
   return c;
 }
 
+void usart_putstring(char* data) {
+	while(*data != '\0') {
+		while (usart_txfull());
+		usart_putchar(*data);
+		data++;
+	}
+}
 
 static char usart_tx_getchar() {
   uint8_t result = usart_txbuf[usart_txbuf_begin];

#define NSP_REGISTER_TEXT \
  "Registers:\n"\
  "=========\n"\
  " 0: BOT ID\n"\
  " 1: Version\n"\
  " 2: Supply Voltage [mV]\n"\
  " 3: LEDs\n"\
  " 4: Sensors\n"\
  " 6: Motor Mode (0=stop, 1=unstop, 2=pwm, 3=pid) \n"\
  " 7: Motor PWM/PID L \n"\
  " 8: Motor PWM/PID R \n"\
  "13: Odometry L \n"\
  "14: Odometry R \n"\
  "16: Line C\n"\
  "17: Line L\n"\
  "18: Line R\n"\
  "\n"

--- niboprot.c.org	2013-06-01 20:52:07.745293167 +0200
+++ niboprot.c	2013-06-01 20:50:13.855473944 +0200
@@ -57,21 +57,29 @@
 
 static uint16_t parse_dec() {
   uint16_t result=0;
+  uint8_t negativ=0;
   while (length) {
     char c = *data;
     if ((c>='0') && (c<='9')) {
       data++; length--;
       result = result*10 + (c-'0');
+    } else if (c == '-') { //Trick, um negative Zahlen zu erfassen (muss bei Verwendung natuerlich als int16_t angesehen werden)
+      data++; length--;
+      negativ = 1;
     } else {
-      return result;
+      break;
     }
   }
-  return result;
+  if (negativ)
+    return (~result)+1;
+  else
+    return result;
 }
 
 
 static uint16_t parse_hex() {
   uint16_t result=0;
+  uint8_t negativ=0;
   while (length) {
     char c = *data;
     if ((c>='0') && (c<='9')) {
@@ -80,11 +88,17 @@
     } else if ((c>='a') && (c<='f')) {
       data++; length--;
       result = result*16 + (c-('a'-10));
+    } else if (c == '-') { //Trick, um negative Zahlen zu erfassen (muss bei Verwendung natuerlich als int16_t angesehen werden)
+      data++; length--;
+      negativ = 1;
     } else {
-      return result;
+      break;
     }
   }  
-  return result;
+  if (negativ)
+    return (~result)+1;
+  else
+    return result;
 }