добавлена библиотека servo, прерывание для нее и дефайны по времени

cores/arduino/trap_handler.c

@@ -8,6 +8,10 @@ void __attribute__((weak)) wire_handler_wrapper(void)
 {
     // dummy function for case when wire library is not in use
 }
+void __attribute__((weak)) servo_handler_wrapper(void)
+{
+    // dummy function for case when wire library is not in use
+}
 
 // ---------------------------------------------- //
 void trap_handler(void)
@@ -16,6 +20,10 @@ void trap_handler(void)
     if (EPIC_CHECK_TIMER16_1())
         tone_interrupt_handler();
 
+    // servo timer interrupt
+    if (EPIC_CHECK_TIMER16_2())
+        servo_handler_wrapper();
+
     // uart0 interrupt
     if (EPIC_CHECK_UART_0())
         serial_handler_wrapper(0);

cores/arduino/wiring_time.h

@@ -24,6 +24,10 @@
 extern "C" {
 #endif
 
+#define clockCyclesPerMicrosecond()   (F_CPU / 1000000L)
+#define clockCyclesToMicroseconds(a)  ((a) / clockCyclesPerMicrosecond())
+#define microsecondsToClockCycles(a)  ((a) * clockCyclesPerMicrosecond())
+
 /**
  * \brief Initialize timer for creating delays
  *