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// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 57,600 kHz
// Mode: Fast PWM top=01FFh
// OC1A output: Non-Inv.
// OC1B output: Non-Inv.
// OC1C output: Non-Inv.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
// Compare C Match Interrupt: Off
TCCR1A=0xAA;
TCCR1B=0x0C;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
OCR1CH=0x00;
OCR1CL=0x00;
//в АСКИ передается :1M0F07^ последние две цифры и есть величина ШИМ от 0 до 31.
    if(k[0]==':'){
      pwm_val = 00;
      pwm_val = k[5]&0b00001111;
      pwm_val = pwm_val<<4;
      pwm_val = pwm_val | (k[6]&0b00001111);
      pwm_val = bcd2bin(pwm_val);
      if (k[4]=='F') {
         zdnNpr = 1;
         PORTB.0 = 0;
      };
      if (k[4]=='B') {
         zdnNpr = -1;
         PORTB.0 = 1;
      };             
      if (pwm_val==0) zdnNpr = 0;
      pwm_val *= 16;
      OCR1CH = (unsigned char)(pwm_val>>8);
      OCR1CL = (unsigned char)pwm_val; 
     
      k[0]='^';
    };