#define BAUD 9600
#define FOSC 16000000
#define MYUBRR FOSC/16/BAUD -1

#define T1_PB1 1
#define T1_PB2 2
#define T0_PD1 5
#define T0_PD2 6
#define T2_PD3 3

#define num_of_leds 5

float leds[num_of_leds];
int out_p[num_of_leds] = {1, 2, 5, 6, 3};

volatile unsigned char data_in[22];
volatile unsigned char *command_in;

volatile unsigned char data_count;
volatile unsigned char ready;

void set_pwm(int i, int pwm) {
switch(i) {
  case 1:
      OCR1A = pwm;
      break;
  case 2:
      OCR1B = pwm;
      break;
  case 5:
      OCR0A = pwm;
      break;
  case 6:
      OCR0B = pwm;
      break;
  case 3:
      OCR2B = pwm;
      break;
  default:
      break;
  }
}

void uart_init(void) {
      UBRR0H = (MYUBRR >> 8);
      UBRR0L = MYUBRR;

      UCSR0B |= (1 << RXEN0) | (1 << TXEN0);
      UCSR0B |= (1 << RXCIE0);
      UCSR0C |= (1 << UCSZ01) | (1 << UCSZ00);
}

// главная функция
void process() {
      // разбивает строку на числа
      char* pch = strtok(command_in, ";");
      int i = 0;
      while (pch != NULL) {
            leds[i] = char_to_float(pch);
            pch = strtok(NULL, ";");
            i++;
      }

      // присваивает значения шима регистрам
      int pwm;
      for(int i = 0; i < num_of_leds; i++) {
      pwm = (led[i]*255)/2;
      set_pwm(out_p[i], pwm);
      }
}

int main(void) {
      pin_init();
      timer_init();
      uart_init();
      sei();

      while(1) {
            if (ready == TRUE) {
                  command();
                  ready = FALSE;
            }
    }
 }

 ISR (USART_RX_vect) {
       data_in[data_count] = UDR0;
       if (data_in[data_count] == 'n') {
             ready = TRUE;
             data_count = 0;
       } else {
             data_count++;
       }
 }

for(int i = 0; i < num_of_motors; i++) {
    pwm = (leds[i]*255)/period;
    print(pwm);                       // вывод: b'127n'
    set_pwm(out_p[i], pwm);
}