Mini-Octopus build from r@171

44 files changed, 8066 insertions, 0 deletions

diff --git a/firmware/93c46.c b/firmware/93c46.c
new file mode 100644
index 0000000..4af0f45
--- /dev/null
+++ b/firmware/93c46.c
@@ -0,0 +1,359 @@
+/*
+ * Author: Benedikt Sauter <sauter@ixbat.de>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "common.h"
+#include "protocol.h"
+
+#include <util/delay.h>
+
+
+#include "93c46.h"
+
+void flash_93c46_parser(char *buf)
+{
+   //UARTWrite("flash parser\r\n");
+   switch(buf[3]) 
+   {
+      case CMD_93C46_INIT:
+         flash_93c46_init_usb();
+      break;
+      case CMD_93C46_DEINIT:
+         flash_93c46_deinit_usb();
+      break;
+      case CMD_93C46_READ:
+         // read addr, length, buffer 
+         flash_93c46_read_usb((unsigned char)buf[4], (int)buf[5], &buf[6]);
+      break;
+      case CMD_93C46_WRITE:
+         flash_93c46_write_usb((unsigned char)buf[4], (int)buf[5], &buf[6]);
+      break;
+      default:
+         //UARTWrite("default\r\n");
+         answer[0] = buf[0];
+         answer[1] = RSP_UNKOWN_CMD;
+         answer[2] = 0;
+         CommandAnswer(3);
+   }
+}
+
+void flash_93c46_init_usb(void)
+{
+   answer[0] = CMD_93C46_INIT;
+   answer[1] = (unsigned char) flash_93c46_init();
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+
+
+int flash_93c46_init(void)
+{
+   //UARTWrite("init\r\n");
+   SET_DDR_OUT(CS);
+   SET_DDR_OUT(SK);
+
+   SET_DDR_OUT(DI);
+   SET_DDR_IN(DO);
+
+   SET_DDR_OUT(DIN0);
+   SET_DDR_OUT(DIN1);
+
+   CLRPIN(DIN0);
+   CLRPIN(DIN1);
+
+   //SETPIN(DIN0) = D4 = low
+   //SETPIN(DIN1) = D4 = low
+
+   octopus.ports[19]=PIN_OUT;
+   octopus.ports[18]=PIN_OUT;
+   octopus.ports[17]=PIN_OUT;
+   octopus.ports[16]=PIN_IN;
+
+   return RSP_OK;
+}
+
+void flash_93c46_deinit_usb(void)
+{
+   answer[0]=CMD_93C46_DEINIT;
+   answer[1]=(unsigned char)flash_93c46_deinit();
+   answer[2]=0;
+   CommandAnswer(3);
+}
+
+int flash_93c46_deinit(void)
+{
+   octopus.ports[5]=PIN_OUT;  // this is wrong!
+   octopus.ports[6]=PIN_OUT;  // this is wrong!
+   octopus.ports[7]=PIN_OUT;  // this is wrong!
+
+   return RSP_OK;
+}
+
+void flash_93c46_read_usb(unsigned char address, unsigned int length, char * buf)
+{
+   answer[0]=CMD_93C46_READ;
+   answer[1]=(unsigned char)flash_93c46_read(address,length,(char*)&answer[2]);
+   CommandAnswer(length+2);
+}
+
+int flash_93c46_read(unsigned char address, unsigned int length, char * buf)
+{
+   //UARTWrite("read\r\n");
+   //SendHex((uint8_t)address);
+   //SendHex(flash_93c46_read_word((uint8_t)address));
+   unsigned int i;
+   for(i = 0; i < length; i++)
+      buf[i] = (char)flash_93c46_read_word((uint8_t)address+i);
+
+   return RSP_OK;
+}
+
+
+void flash_93c46_write_usb(unsigned char address, unsigned int length, char * buf)
+{
+   answer[0]=CMD_93C46_WRITE;
+   answer[1]=(unsigned char)flash_93c46_write(address,length, buf);
+   answer[2]=0x00;
+   CommandAnswer(3);
+}
+
+int flash_93c46_write(unsigned char address, unsigned int length, char * buf)
+{
+   unsigned int i;
+   //UARTWrite("write\r\n");
+   //SendHex((uint8_t)address); 
+   //SendHex(length);
+   //SendHex(buf[0]);
+
+   for(i=0;i<length;i++)
+      flash_93c46_write_word((uint8_t)address+i,buf[i]);
+
+   return RSP_OK;
+}
+
+
+
+// Write enable must precede all programming modes.
+
+
+
+void start_of_ins(void)
+{
+  CLRPIN(CS);
+  CLRPIN(SK);
+  CLRPIN(DI);
+    
+  _delay_ms(5);
+  //SETPIN(DO);
+  SETPIN(CS);
+   //_delay_us(2);
+  
+  _delay_us(2);
+  SETPIN(DI); //SB
+  SETPIN(SK);
+  _delay_us(2);
+}
+
+
+void send_sb_opcode(uint8_t ins)
+{
+  uint8_t    i;
+  for( i =0; i <2; i ++)
+  {
+    CLRPIN(SK);
+    if ( ins & 0x80 )  SETPIN(DI); else CLRPIN(DI);  
+    _delay_us(2);
+    SETPIN(SK);
+    _delay_us(2);
+    ins = ins <<1;  
+  }
+}
+
+void send_address(uint8_t da)
+{
+  uint8_t i;
+  da = da << 1;   
+  for( i = 0; i <7; i ++)
+  {
+    CLRPIN(SK);
+    if ( da & 0x80 )  SETPIN(DI); else CLRPIN(DI);  
+    _delay_us(2);
+    SETPIN(SK);
+    _delay_us(2);
+    da = da << 1;   
+  }
+}
+
+void send_data_byte(uint8_t da)
+{
+  uint8_t i;
+  for( i = 0; i <8; i ++)
+  {
+    CLRPIN(SK);
+    if ( da & 0x80 )  SETPIN(DI); else CLRPIN(DI);  
+    _delay_us(2);
+    SETPIN(SK);
+    _delay_us(2);
+    da = da << 1;   
+  }
+}
+
+
+uint8_t end_of_erase_write(void)
+{
+  
+  uint8_t delay_tmp =0xff;
+  CLRPIN(SK);
+  CLRPIN(DI);
+    _delay_us(2);
+  SETPIN(SK);
+    _delay_us(2);
+  CLRPIN(SK);
+  CLRPIN(CS);
+    _delay_us(2);
+  SETPIN(SK);
+    _delay_us(2);
+  CLRPIN(SK);
+    _delay_us(2);
+  SETPIN(CS);
+  
+  do{
+    if(delay_tmp-- > 0) return 0;
+    SETPIN(SK);
+    _delay_us(2);
+    CLRPIN(SK);
+    _delay_us(2);
+  } while (GETPIN(DO));
+  
+  return 1;
+}
+
+void end_of_erase_write_disable(void)
+{
+  CLRPIN(SK);
+  CLRPIN(CS);
+  CLRPIN(DI);
+  SETPIN(DO);
+}
+
+void erase_write_enable(void)
+{
+  start_of_ins(); 
+  send_sb_opcode(CMD_EWEN);  
+  send_address(0x60);  
+}
+
+void erase_write_disable(void)
+{
+  start_of_ins();    
+  send_sb_opcode(CMD_EWDS);
+  send_address(0x00);
+  end_of_erase_write_disable();    
+}
+
+
+uint8_t write_word_step(uint8_t add,uint8_t wd)
+{
+  start_of_ins();
+  send_sb_opcode(CMD_WRITE);
+  send_address(add);
+  send_data_byte(wd);
+  return 1;
+  //return( end_of_erase_write() ); 
+}
+
+uint8_t erase_word(uint8_t add)
+{
+  start_of_ins();
+  send_sb_opcode(CMD_ERASE);
+  send_address(add);
+  return( end_of_erase_write() ); 
+}
+
+uint8_t recv_data_word(void)
+{
+  uint8_t i;
+  uint8_t da=0;
+  CLRPIN(SK); 
+  _delay_us(2);
+  CLRPIN(DI); 
+  
+  for( i =0; i <8; i ++)
+  {
+    da *= 2; 
+    SETPIN(SK);
+    _delay_us(2);
+    CLRPIN(SK);
+    if (GETPIN(DO)) da++;
+    _delay_us(2);
+  }
+  
+  CLRPIN(CS); 
+  SETPIN(SK);
+    _delay_us(2);
+  SETPIN(CS);
+  CLRPIN(SK); 
+    _delay_us(2);
+  return da;
+}
+
+uint8_t flash_93c46_read_word(uint8_t add)
+{
+  //if(add < 0 && add > 127 )
+  //  return 0;
+
+  start_of_ins();  
+  send_sb_opcode(CMD_READ);
+  send_address(add);
+  return( recv_data_word() );
+}
+
+
+uint8_t flash_93c46_write_word(uint8_t add,uint8_t wd)
+{
+  
+//  if(add < 0 && add > 127 )
+//    return 0;
+
+  erase_write_enable();
+  write_word_step(add,wd);
+  //_delay_ms(1);
+
+  return 1;
+  do 
+  {
+    //write_word_step(add,wd);
+    _delay_us(10);
+  } while (flash_93c46_read_word(add)!=wd); 
+  return 1;
+}
+
diff --git a/firmware/93c46.h b/firmware/93c46.h
new file mode 100644
index 0000000..817eade
--- /dev/null
+++ b/firmware/93c46.h
@@ -0,0 +1,113 @@
+/*
+ * Author: Benedikt Sauter <sauter@ixbat.de>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef SPI_H
+#define SPI_H
+
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+
+
+#include "io.h"
+
+
+#define CS (B, 0)
+#define SK (B, 1)
+#define DI (B, 2)
+#define DO (B, 3)
+
+
+
+
+
+
+#define DIN0 (B, 4)
+#define DIN1 (B, 5)
+
+#define CMD_READ    0x80   
+#define CMD_EWEN    0x30    
+#define CMD_ERASE   0xc0  
+#define CMD_WRITE   0x40      
+#define CMD_ERAL    0x20     
+#define CMD_WRAL    0x10      
+#define CMD_EWDS    0x00    
+
+
+#define PIN_S	PB0
+#define PIN_C	PB1
+#define PIN_D	PB2
+#define PIN_Q	PB3	
+
+void flash_93c46_parser(char *buf);
+
+int flash_93c46_init(void);
+int flash_93c46_deinit(void);
+
+int flash_93c46_read(unsigned char address, unsigned int length, char * buf);
+int flash_93c46_write(unsigned char address, unsigned int length, char* buf);
+
+void flash_93c46_init_usb(void);
+void flash_93c46_deinit_usb(void);
+
+void flash_93c46_read_usb(unsigned char address, unsigned int length, char* buf);
+void flash_93c46_write_usb(unsigned char address, unsigned int length, char* buf);
+
+
+void start_of_ins(void);
+void send_sb_opcode(uint8_t ins);
+void send_data_byte(uint8_t da);
+uint8_t end_of_erase_write(void);
+void end_of_erase_write_disable(void);
+void erase_write_enable(void);
+void send_address(uint8_t da);
+uint8_t write_word_step(uint8_t add,uint8_t wd);
+uint8_t recv_data_word(void);
+uint8_t erase_word(uint8_t add);
+void erase_write_disable(void);
+
+
+
+uint8_t flash_93c46_read_word(uint8_t add);
+uint8_t flash_93c46_write_word(uint8_t add,uint8_t wd);
+
+
+
+
+
+
+
+
+
+
+
+#endif /* SPI_H */
diff --git a/firmware/Makefile b/firmware/Makefile
new file mode 100644
index 0000000..f3553b5
--- /dev/null
+++ b/firmware/Makefile
@@ -0,0 +1,458 @@
+# Hey Emacs, this is a -*- makefile -*-

+#

+# WinAVR makefile written by Eric B. Weddington, Jörg Wunsch, et al.

+# Released to the Public Domain

+# Please read the make user manual!

+#

+# Additional material for this makefile was submitted by:

+#  Tim Henigan

+#  Peter Fleury

+#  Reiner Patommel

+#  Sander Pool

+#  Frederik Rouleau

+#  Markus Pfaff

+#

+# On command line:

+#

+# make all = Make software.

+#

+# make clean = Clean out built project files.

+#

+# make coff = Convert ELF to AVR COFF (for use with AVR Studio 3.x or VMLAB).

+#

+# make extcoff = Convert ELF to AVR Extended COFF (for use with AVR Studio

+#                4.07 or greater).

+#

+# make program = Download the hex file to the device, using avrdude.  Please

+#                customize the avrdude settings below first!

+#

+# make filename.s = Just compile filename.c into the assembler code only

+#

+# To rebuild project do "make clean" then "make all".

+#

+

+# mth 2004/09 

+# Differences from WinAVR 20040720 sample:

+# - DEPFLAGS according to Eric Weddingtion's fix (avrfreaks/gcc-forum)

+# - F_OSC Define in CFLAGS and AFLAGS

+

+

+# MCU name

+#MCU = atmega128

+MCU = at90can128

+

+# Main Oscillator Frequency

+# This is only used to define F_OSC in all assembler and c-sources.

+F_OSC = 16000000
+

+# Output format. (can be srec, ihex, binary)

+FORMAT = ihex

+

+# Target file name (without extension).

+TARGET = main

+

+

+# List C source files here. (C dependencies are automatically generated.)

+#SRC = $(TARGET).c uart.c usbn2mc/main/usbn960x.c usbn2mc.c usbn2mc/main/usbnapi.c 

+

+SRC = $(TARGET).c wait.c uart.c ../usbn2mc/main/usbn960x.c usbn2mc.c ../usbn2mc/main/usbnapi.c common.c fifo.c io.c adc.c i2c.c spi.c 93c46.c pwm.c debug.c
+

+

+# List Assembler source files here.

+# Make them always end in a capital .S.  Files ending in a lowercase .s

+# will not be considered source files but generated files (assembler

+# output from the compiler), and will be deleted upon "make clean"!

+# Even though the DOS/Win* filesystem matches both .s and .S the same,

+# it will preserve the spelling of the filenames, and gcc itself does

+# care about how the name is spelled on its command-line.

+ASRC = 

+

+

+

+# Optimization level, can be [0, 1, 2, 3, s]. 

+# 0 = turn off optimization. s = optimize for size.

+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)

+OPT = s

+

+# Debugging format.

+# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.

+# AVR (extended) COFF requires stabs, plus an avr-objcopy run.

+DEBUG = stabs

+#DEBUG = dwarf-2

+

+# List any extra directories to look for include files here.

+#     Each directory must be seperated by a space.

+EXTRAINCDIRS = 

+

+

+# Compiler flag to set the C Standard level.

+# c89   - "ANSI" C

+# gnu89 - c89 plus GCC extensions

+# c99   - ISO C99 standard (not yet fully implemented)

+# gnu99 - c99 plus GCC extensions

+CSTANDARD = -std=gnu99

+

+# Place -D or -U options here

+CDEFS =

+

+# Place -I options here

+CINCS = 

+

+

+# Compiler flags.

+#  -g*:          generate debugging information

+#  -O*:          optimization level

+#  -f...:        tuning, see GCC manual and avr-libc documentation

+#  -Wall...:     warning level

+#  -Wa,...:      tell GCC to pass this to the assembler.

+#    -adhlns...: create assembler listing

+CFLAGS = -g$(DEBUG)

+CFLAGS += $(CDEFS) $(CINCS)

+CFLAGS += -O$(OPT)

+CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums

+CFLAGS += -Wall -Wstrict-prototypes

+#CFLAGS += -Wall

+CFLAGS += -Wa,-adhlns=$(<:.c=.lst)

+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))

+CFLAGS += $(CSTANDARD)

+CFLAGS += -DF_OSC=$(F_OSC)

+

+

+

+# Assembler flags.

+#  -Wa,...:   tell GCC to pass this to the assembler.

+#  -ahlms:    create listing

+#  -gstabs:   have the assembler create line number information; note that

+#             for use in COFF files, additional information about filenames

+#             and function names needs to be present in the assembler source

+#             files -- see avr-libc docs [FIXME: not yet described there]

+ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 

+ASFLAGS += -DF_OSC=$(F_OSC)

+

+

+#Additional libraries.

+

+# Minimalistic printf version

+PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min

+

+# Floating point printf version (requires MATH_LIB = -lm below)

+PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt

+

+PRINTF_LIB = 

+

+# Minimalistic scanf version

+SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min

+

+# Floating point + %[ scanf version (requires MATH_LIB = -lm below)

+SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt

+

+SCANF_LIB = 

+

+MATH_LIB = -lm

+

+# External memory options

+

+# 64 KB of external RAM, starting after internal RAM (ATmega128!),

+# used for variables (.data/.bss) and heap (malloc()).

+#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff

+

+# 64 KB of external RAM, starting after internal RAM (ATmega128!),

+# only used for heap (malloc()).

+#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff

+

+EXTMEMOPTS =

+

+# Linker flags.

+#  -Wl,...:     tell GCC to pass this to linker.

+#    -Map:      create map file

+#    --cref:    add cross reference to  map file

+LDFLAGS = -Wl,-Map=$(TARGET).map,--cref

+LDFLAGS += $(EXTMEMOPTS)

+LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)

+

+

+

+

+# Programming support using avrdude. Settings and variables.

+

+# Programming hardware: alf avr910 avrisp bascom bsd 

+# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500

+#

+# Type: avrdude -c ?

+# to get a full listing.

+#

+AVRDUDE_PROGRAMMER = stk500

+

+# com1 = serial port. Use lpt1 to connect to parallel port.

+AVRDUDE_PORT = com1    # programmer connected to serial device

+

+AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex

+#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep

+

+

+# Uncomment the following if you want avrdude's erase cycle counter.

+# Note that this counter needs to be initialized first using -Yn,

+# see avrdude manual.

+#AVRDUDE_ERASE_COUNTER = -y

+

+# Uncomment the following if you do /not/ wish a verification to be

+# performed after programming the device.

+#AVRDUDE_NO_VERIFY = -V

+

+# Increase verbosity level.  Please use this when submitting bug

+# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> 

+# to submit bug reports.

+#AVRDUDE_VERBOSE = -v -v

+

+AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)

+AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)

+AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)

+AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)

+

+

+

+# ---------------------------------------------------------------------------

+

+# Define directories, if needed.

+DIRAVR = c:/winavr

+DIRAVRBIN = $(DIRAVR)/bin

+DIRAVRUTILS = $(DIRAVR)/utils/bin

+DIRINC = .

+DIRLIB = $(DIRAVR)/avr/lib

+

+

+# Define programs and commands.

+SHELL = sh

+CC = avr-gcc

+OBJCOPY = avr-objcopy

+OBJDUMP = avr-objdump

+SIZE = avr-size

+NM = avr-nm

+AVRDUDE = avrdude

+REMOVE = rm -f

+COPY = cp

+

+

+

+

+# Define Messages

+# English

+MSG_ERRORS_NONE = Errors: none

+MSG_BEGIN = -------- begin --------

+MSG_END = --------  end  --------

+MSG_SIZE_BEFORE = Size before: 

+MSG_SIZE_AFTER = Size after:

+MSG_COFF = Converting to AVR COFF:

+MSG_EXTENDED_COFF = Converting to AVR Extended COFF:

+MSG_FLASH = Creating load file for Flash:

+MSG_EEPROM = Creating load file for EEPROM:

+MSG_EXTENDED_LISTING = Creating Extended Listing:

+MSG_SYMBOL_TABLE = Creating Symbol Table:

+MSG_LINKING = Linking:

+MSG_COMPILING = Compiling:

+MSG_ASSEMBLING = Assembling:

+MSG_CLEANING = Cleaning project:

+

+

+

+

+# Define all object files.

+OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) 

+

+# Define all listing files.

+LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)

+

+

+# Compiler flags to generate dependency files.

+### GENDEPFLAGS = -Wp,-M,-MP,-MT,$(*F).o,-MF,.dep/$(@F).d

+GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d

+

+# Combine all necessary flags and optional flags.

+# Add target processor to flags.

+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)

+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)

+

+

+

+

+

+# Default target.

+all: begin gccversion sizebefore build sizeafter finished end

+

+build: elf hex eep lss sym

+

+elf: $(TARGET).elf

+hex: $(TARGET).hex

+eep: $(TARGET).eep

+lss: $(TARGET).lss 

+sym: $(TARGET).sym

+

+

+

+# Eye candy.

+# AVR Studio 3.x does not check make's exit code but relies on

+# the following magic strings to be generated by the compile job.

+begin:

+	@echo

+	@echo $(MSG_BEGIN)

+

+finished:

+	@echo $(MSG_ERRORS_NONE)

+

+end:

+	@echo $(MSG_END)

+	@echo

+

+

+# Display size of file.

+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex

+ELFSIZE = $(SIZE) -A $(TARGET).elf

+sizebefore:

+	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi

+

+sizeafter:

+	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi

+

+

+

+# Display compiler version information.

+gccversion : 

+	@$(CC) --version

+

+

+

+# Program the device.  

+program: $(TARGET).hex $(TARGET).eep

+	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)

+

+

+

+

+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.

+COFFCONVERT=$(OBJCOPY) --debugging \

+--change-section-address .data-0x800000 \

+--change-section-address .bss-0x800000 \

+--change-section-address .noinit-0x800000 \

+--change-section-address .eeprom-0x810000 

+

+

+coff: $(TARGET).elf

+	@echo

+	@echo $(MSG_COFF) $(TARGET).cof

+	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof

+

+

+extcoff: $(TARGET).elf

+	@echo

+	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof

+	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof

+

+

+

+# Create final output files (.hex, .eep) from ELF output file.

+%.hex: %.elf

+	@echo

+	@echo $(MSG_FLASH) $@

+	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@

+

+%.eep: %.elf

+	@echo

+	@echo $(MSG_EEPROM) $@

+	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \

+	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@

+

+# Create extended listing file from ELF output file.

+%.lss: %.elf

+	@echo

+	@echo $(MSG_EXTENDED_LISTING) $@

+	$(OBJDUMP) -h -S $< > $@

+

+# Create a symbol table from ELF output file.

+%.sym: %.elf

+	@echo

+	@echo $(MSG_SYMBOL_TABLE) $@

+	$(NM) -n $< > $@

+

+

+

+# Link: create ELF output file from object files.

+.SECONDARY : $(TARGET).elf

+.PRECIOUS : $(OBJ)

+%.elf: $(OBJ)

+	@echo

+	@echo $(MSG_LINKING) $@

+	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)

+

+

+# Compile: create object files from C source files.

+%.o : %.c

+	@echo

+	@echo $(MSG_COMPILING) $<

+	$(CC) -c $(ALL_CFLAGS) $< -o $@ 

+

+

+# Compile: create assembler files from C source files.

+%.s : %.c

+	$(CC) -S $(ALL_CFLAGS) $< -o $@

+

+

+# Assemble: create object files from assembler source files.

+%.o : %.S

+	@echo

+	@echo $(MSG_ASSEMBLING) $<

+	$(CC) -c $(ALL_ASFLAGS) $< -o $@

+

+

+

+# Target: clean project.

+clean: begin clean_list finished end

+

+clean_list :

+	@echo

+	@echo $(MSG_CLEANING)

+	$(REMOVE) $(TARGET).hex

+	$(REMOVE) $(TARGET).eep

+	$(REMOVE) $(TARGET).obj

+	$(REMOVE) $(TARGET).cof

+	$(REMOVE) $(TARGET).elf

+	$(REMOVE) $(TARGET).map

+	$(REMOVE) $(TARGET).obj

+	$(REMOVE) $(TARGET).a90

+	$(REMOVE) $(TARGET).sym

+	$(REMOVE) $(TARGET).lnk

+	$(REMOVE) $(TARGET).lss

+	$(REMOVE) $(OBJ)

+	$(REMOVE) $(LST)

+	$(REMOVE) $(SRC:.c=.s)

+	$(REMOVE) $(SRC:.c=.d)

+	$(REMOVE) .dep/*

+

+

+

+# Include the dependency files.

+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)

+

+

+# Listing of phony targets.

+.PHONY : all begin finish end sizebefore sizeafter gccversion \

+build elf hex eep lss sym coff extcoff \

+clean clean_list program

+

+download:

+	avrdude -p m128 -c avrispv2 -P usb -U flash:w:main.hex

+
+download_can:

+	avrdude -p c128 -c avrispv2 -P usb -U flash:w:main.hex

+
+fuse:

+	avrdude -p m128 -c avrispv2 -P usb -U lfuse:w:0xe0:m

+	avrdude -p m128 -c avrispv2 -P usb -U efuse:w:0xff:m

+	avrdude -p m128 -c avrispv2 -P usb -U hfuse:w:0xdd:m

+	

+fuse_can:

+	avrdude -p c128 -c avrispv2 -B 10 -P usb -U lfuse:w:0xe0:m

+	avrdude -p c128 -c avrispv2 -B 10 -P usb -U efuse:w:0xff:m

+	avrdude -p c128 -c avrispv2 -B 10 -P usb -U hfuse:w:0xdd:m

+
+usbprog:	

+	avrdude -p c128 -c avrispv2 -P usb -U flash:w:main.hex 

diff --git a/firmware/adc.c b/firmware/adc.c
new file mode 100644
index 0000000..a9449b7
--- /dev/null
+++ b/firmware/adc.c
@@ -0,0 +1,200 @@
+/*
+ * Copyright (c) 2007 empronix (http://www.empronix.com)
+ * Author: Benedikt Sauter <sauter@empronix.com>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES{} LOSS OF USE, 
+ * DATA, OR PROFITS{} OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "common.h"
+#include "protocol.h"
+#include "adc.h"
+
+void adc_parser(char *buf)
+{
+   switch(buf[0])
+   {
+      case CMD_ADC_INIT_PIN:
+         adc_init_usb((int)buf[2]);
+      break;
+      case CMD_ADC_GET:
+         adc_get_usb((int)buf[2]);
+      break;
+      case CMD_ADC_REF:
+         adc_ref_usb((int)buf[2]);
+      break;
+
+      default:
+         answer[0]=buf[0];
+         answer[1]=RSP_UNKOWN_CMD;
+         answer[2]=0;
+         CommandAnswer(3);
+    }
+}
+
+int adc_init(int pin)
+{
+   if (pin >= 33 && pin <= 40)
+   {
+      octopus.ports[pin] = PIN_AD;
+
+      switch(pin)
+      {
+         case 40:	  break;
+         case 39:	  break;
+         case 38:	  break;
+         case 37:	  break;
+         case 36:	  break;
+         case 35:	  break;
+         case 34:	  break;
+         case 33:	  break;
+         default:
+	         return RSP_IMPOSSIBLE_PIN_CONFIG;
+      } 
+      return RSP_OK; 
+   }
+   return RSP_UNKOWN_PIN;
+}
+
+void adc_init_usb(int pin)
+{
+   answer[0]=CMD_ADC_INIT_PIN;
+   answer[1]= (unsigned char)adc_init(pin);
+   answer[2]=0;
+
+   CommandAnswer(3);
+}
+
+void adc_get_usb(int pin)
+{
+ 
+   uint16_t result;
+   //uint8_t result[2];
+
+   answer[0]=CMD_ADC_GET;
+   answer[1]=adc_get(pin,&result);
+   //result[0] = 0x77;
+   //result[1] = 0x88;
+   //answer[2]=(char)result[1];  //high
+   //answer[3]=(char)result[0];  //low
+   answer[2]=(char)(result>>8);  //high
+   answer[3]=(char)(result);  //low
+   CommandAnswer(4);
+}
+
+
+int adc_get(int pin, uint16_t *value)
+{
+   *value = 0;
+
+   if (octopus.ports[pin] == PIN_AD)
+   {
+      switch (pin)
+      {
+         case 40: *value =_adc_read_channel(0); break;
+         case 39: *value =_adc_read_channel(1); break;
+         case 38: *value =_adc_read_channel(2); break;
+         case 37: *value =_adc_read_channel(3); break;
+         case 36: *value =_adc_read_channel(4); break;
+         case 35: *value =_adc_read_channel(5); break;
+         case 34: *value =_adc_read_channel(6); break;
+         case 33: *value =_adc_read_channel(7); break;
+         default:
+	      return RSP_IMPOSSIBLE_PIN_CONFIG;
+      } 
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_WRONG_PIN_CONFIG;
+   } 
+}
+
+void adc_ref_usb(int ref)
+{
+   answer[0]=CMD_ADC_REF;
+   answer[1]=adc_ref(ref);
+   CommandAnswer(2);
+}
+
+int adc_ref(int ref)
+{
+   ADMUX = 0x00;
+
+   switch(ref){
+      case PARAM_ADC_AREF:  break;
+      case PARAM_ADC_AVCC:  ADMUX |= (1<<REFS0); break;
+      case PARAM_ADC_INTERNAL:  ADMUX |= (1<<REFS1) | (1<<REFS0); break;
+      default:
+         return RSP_ERROR;
+   }
+   return RSP_OK;
+}
+
+uint16_t _adc_read_channel(int mux)
+{
+   int i;
+   uint16_t result;
+ 
+   ADCSRA = (1<<ADEN) | (1<<ADPS1) | (1<<ADPS0);    // Frequenzvorteiler 
+                              // setzen auf 8 (1) und ADC aktivieren (1)
+ 
+   //ADMUX |= (unsigned char)mux;                      // Kanal waehlen
+   ADMUX = (ADMUX & 0xF0) | (unsigned char) mux; // select channel
+  
+   //ADMUX |= (1<<REFS1) | (1<<REFS0); // interne Referenzspannung nutzen 
+ 
+   /* nach Aktivieren des ADC wird ein "Dummy-Readout" empfohlen, man liest
+     also einen Wert und verwirft diesen, um den ADC "warmlaufen zu lassen" */
+
+   ADCSRA |= (1<<ADSC);              // eine ADC-Wandlung 
+   while ( ADCSRA & (1<<ADSC) ) {
+     ;     // auf Abschluss der Konvertierung warten 
+   }
+   result = ADCW;  // ADCW muss einmal gelesen werden,
+                  // sonst wird Ergebnis der nächsten Wandlung
+                  // nicht übernommen.
+ 
+   /* Eigentliche Messung - Mittelwert aus 4 aufeinanderfolgenden Wandlungen */
+   result = 0; 
+   for( i=0; i<4; i++ )
+   {
+      ADCSRA |= (1<<ADSC);            // eine Wandlung "single conversion"
+      while ( ADCSRA & (1<<ADSC) ) {
+         ;   // auf Abschluss der Konvertierung warten
+      }
+      result += ADCW;		    // Wandlungsergebnisse aufaddieren
+   }
+   ADCSRA &= ~(1<<ADEN);             // ADC deaktivieren (2)
+ 
+   result /= 4;                     // Summe durch vier teilen = arithm. Mittelwert
+ 
+   return result;
+}
diff --git a/firmware/adc.h b/firmware/adc.h
new file mode 100644
index 0000000..3aa0a6f
--- /dev/null
+++ b/firmware/adc.h
@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2007 empronix (http://www.empronix.com)
+ * Author: Benedikt Sauter <sauter@empronix.com>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef ADC_H
+#define ADC_H
+
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+
+
+void adc_parser(char *buf);
+
+int adc_init(int pin);
+void adc_init_usb(int pin);
+
+void adc_ref_usb(int ref);
+int adc_ref(int ref);
+
+
+
+int adc_get(int pin, uint16_t *value);
+void adc_get_usb(int pin);
+uint16_t _adc_read_channel(int mux);
+
+#endif /* ADC_H */
diff --git a/firmware/common.c b/firmware/common.c
new file mode 100644
index 0000000..9947c59
--- /dev/null
+++ b/firmware/common.c
@@ -0,0 +1,107 @@
+/*
+ * Copyright (c) 2006, Benedikt Sauter <sauter@empronix.com>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdlib.h>
+#include <avr/io.h>
+#include <stdint.h>
+#include <avr/interrupt.h>
+#include <inttypes.h>
+
+#include "common.h"
+#include "protocol.h"
+#include "io.h"
+#include "93c46.h"
+
+
+
+void common_latency_timer_init(void)
+{
+   // us = 256 - x/2
+   octopus.latency_timer = 206; // 255 = 2us, 254 = 4us ...
+   
+   #ifdef OCTOPUS_CAN
+   TIMSK0 = (1<<TOIE0);  /* enable TCNT0 overflow */
+   TCNT0 = octopus.latency_timer;    /* TCNT0 Timer auf 50ms einstellen */
+   TCCR0A = 3;          /* count with cpu clock/32 */ 
+   #else 
+   TIMSK = (1<<TOIE0);  /* enable TCNT0 overflow */
+   TCNT0 = octopus.latency_timer;    /* TCNT0 Timer auf 50ms einstellen */
+   TCCR0 = 3;          /* count with cpu clock/32 */ 
+   #endif
+}
+
+void common_scheduler(void){}
+
+void common_scheduler_add(int id,void(*userFunc)(void)){}
+
+
+void common_parser(char *buf)
+{
+   switch(buf[0])
+   {
+      case CMD_GET_HW_ID:
+         common_hwdesc();
+      break;
+      default:
+         ;
+   }
+}
+
+void common_init(void)
+{
+   int i;
+   for(i=1;i<=19;i++)
+      io_init(i);
+   for(i=26;i<=44;i++)
+      io_init(i);
+}
+
+
+void common_hwdesc(void)
+{
+   answer[0] = CMD_GET_HW_ID;
+   answer[1] = RSP_OK;
+   answer[2] = 11;
+   answer[3] = 'o'; answer[4] = 'c';answer[5] = 't';answer[6] = 'o';
+   #ifdef OCTOPUS_CAN  
+   answer[7] = 'c'; answer[8] = 'a';answer[9] = 'n';answer[10] = '_';
+   #else
+   answer[7] = 'p'; answer[8] = 'u';answer[9] = 's';answer[10] = '_';
+   #endif  
+   answer[11] = '0'; answer[12] = '1';
+   answer[13] = 0x00;
+   CommandAnswer(14);
+}
+
+
diff --git a/firmware/common.h b/firmware/common.h
new file mode 100644
index 0000000..3229718
--- /dev/null
+++ b/firmware/common.h
@@ -0,0 +1,93 @@
+/*
+ * Copyright (c) 2006, Benedikt Sauter <sauter@embedded-projects.net>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+
+enum signals {PIN_NONE,PIN_IN,PIN_OUT,PIN_TRI,
+	      PIN_AD,PIN_RX,PIN_TX,
+	      PIN_SS,PIN_SCK,PIN_MISO,PIN_MOSI,
+	      PIN_SCL,PIN_SDA,PIN_PWM,
+	      PIN_UART};
+
+
+#define OCTOPUS_CAN
+
+//#define DEBUG
+
+#define F_CPU 16000000UL
+#define STATUS_LED_PIN     PB7
+#define STATUS_LED_PORT    PORTB
+
+/* red status led */
+#define STATUS_LED_on     (STATUS_LED_PORT   |=  (1 << STATUS_LED_PIN)) 
+#define STATUS_LED_off    (STATUS_LED_PORT   &= ~(1 << STATUS_LED_PIN))
+
+
+volatile struct octopus_t 
+{
+   volatile unsigned char latency_timer;
+   int ports[45];
+   volatile char * msg[20];
+   volatile int datatogl;
+   volatile unsigned int long_rx_cmd;
+   volatile unsigned int long_rx_index;
+   volatile unsigned int long_rx_bytes;
+
+   volatile unsigned int long_index;
+   volatile unsigned int long_bytes;
+   volatile unsigned int long_running;
+} octopus;
+
+
+
+void CommandAnswer(unsigned int length);
+void CommandAnswerRest(void);
+void USBCommandRX(char *buf);
+void USBMessageIn(char *buf);
+
+
+volatile unsigned char answer[320];
+volatile unsigned char request[320];
+
+void common_latency_timer_init(void);
+
+void common_scheduler(void);
+
+void common_scheduler_add(int id,void(*userFunc)(void));
+
+void common_parser(char *buf);
+
+void common_init(void);
+
+void common_hwdesc(void);
+
diff --git a/firmware/debug.c b/firmware/debug.c
new file mode 100644
index 0000000..539a3e2
--- /dev/null
+++ b/firmware/debug.c
@@ -0,0 +1,72 @@
+#include <inttypes.h>
+#include <avr/io.h>
+
+#include "uart.h"
+#include "debug.h"
+#include "common.h"
+#include "protocol.h"
+
+#define UART_PORT 0
+
+void debug_init(void) {
+  uart_init(UART_PORT);
+  uart_baudrate(UART_PORT, 25, 0, 0, 0);
+  uart_stopbits(UART_PORT, 1);
+  uart_databits(UART_PORT, 8);
+  uart_parity(UART_PORT, 'N');
+}
+
+void debug_deinit(void) {
+  uart_deinit(UART_PORT);
+}
+
+void debug_write(char *buf) {
+  while(*buf)
+    uart_putchar(UART_PORT, *buf++);
+}
+
+unsigned char debug_AsciiToHex(unsigned char high, unsigned char low)
+{
+  unsigned char new;
+
+  // check if lower equal 9 ( ascii 57 )
+  if(high <= 57) // high is a number
+    high = high -48;
+  else // high is a letter
+    high = high -87;
+
+  high = high << 4;
+  high = high & 0xF0;
+ 
+  // check if lower equal 9 ( ascii 57 )
+  if(low <= 57) // high is a number
+    low = low -48;
+  else // high is a letter
+    low = low -87;
+  low = low & 0x0F;
+ 
+  new = high | low;
+ 
+  return new;
+}
+
+void debug_SendHex(unsigned char hex)
+{
+  unsigned char high,low;
+  // get highnibble
+  high = hex & 0xF0;
+  high = high >> 4;
+ 
+  // get lownibble
+  low = hex & 0x0F;
+ 
+  if(high<=9)
+    uart_putchar(UART_PORT, high+48);
+  else
+    uart_putchar(UART_PORT, high+87);
+ 
+  if(low<=9)
+    uart_putchar(UART_PORT, low+48);
+  else
+    uart_putchar(UART_PORT, low+87);
+}
diff --git a/firmware/debug.h b/firmware/debug.h
new file mode 100644
index 0000000..8aa15d9
--- /dev/null
+++ b/firmware/debug.h
@@ -0,0 +1,5 @@
+void debug_init(void);
+void debug_deinit(void);
+void debug_write(char *buf);
+unsigned char debug_AsciiToHex(unsigned char high, unsigned char low);
+void debug_SendHex(unsigned char hex);
diff --git a/firmware/fifo.c b/firmware/fifo.c
new file mode 100644
index 0000000..a1e0f87
--- /dev/null
+++ b/firmware/fifo.c
@@ -0,0 +1,27 @@
+#include "fifo.h"
+
+void fifo_init (fifo_t *f, uint8_t *buffer, const uint8_t size)
+{
+	f->count = 0;
+	f->pread = f->pwrite = buffer;
+	f->read2end = f->write2end = f->size = size;
+}
+
+uint8_t fifo_put (fifo_t *f, const uint8_t data)
+{
+	return _inline_fifo_put (f, data);
+}
+
+uint8_t fifo_get_wait (fifo_t *f)
+{
+	while (!f->count);
+	
+	return _inline_fifo_get (f);	
+}
+
+int fifo_get_nowait (fifo_t *f)
+{
+	if (!f->count)		return -1;
+		
+	return (int) _inline_fifo_get (f);	
+}
diff --git a/firmware/fifo.h b/firmware/fifo.h
new file mode 100644
index 0000000..32c3264
--- /dev/null
+++ b/firmware/fifo.h
@@ -0,0 +1,75 @@
+#ifndef _FIFO_H_
+#define _FIFO_H_
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+typedef struct
+{
+	uint8_t volatile count;       // # Zeichen im Puffer
+	uint8_t size;                 // Puffer-Größe
+	uint8_t *pread;               // Lesezeiger
+	uint8_t *pwrite;              // Schreibzeiger
+	uint8_t read2end, write2end;  // # Zeichen bis zum Überlauf Lese-/Schreibzeiger
+} fifo_t;
+
+extern void fifo_init (fifo_t*, uint8_t* buf, const uint8_t size);
+extern uint8_t fifo_put (fifo_t*, const uint8_t data);
+extern uint8_t fifo_get_wait (fifo_t*);
+extern int fifo_get_nowait (fifo_t*);
+
+static inline uint8_t
+_inline_fifo_put (fifo_t *f, const uint8_t data)
+{
+	if (f->count >= f->size)
+		return 0;
+		
+	uint8_t * pwrite = f->pwrite;
+	
+	*(pwrite++) = data;
+	
+	uint8_t write2end = f->write2end;
+	
+	if (--write2end == 0)
+	{
+		write2end = f->size;
+		pwrite -= write2end;
+	}
+	
+	f->write2end = write2end;
+	f->pwrite = pwrite;
+
+	uint8_t sreg = SREG;
+	cli();
+	f->count++;
+	SREG = sreg;
+	
+	return 1;
+}
+
+static inline uint8_t 
+_inline_fifo_get (fifo_t *f)
+{
+	uint8_t *pread = f->pread;
+	uint8_t data = *(pread++);
+	uint8_t read2end = f->read2end;
+	
+	if (--read2end == 0)
+	{
+		read2end = f->size;
+		pread -= read2end;
+	}
+	
+	f->pread = pread;
+	f->read2end = read2end;
+	
+	uint8_t sreg = SREG;
+	cli();
+	f->count--;
+	SREG = sreg;
+	
+	return data;
+}
+
+#endif /* _FIFO_H_ */
+
diff --git a/firmware/i2c.c b/firmware/i2c.c
new file mode 100644
index 0000000..b7d55fe
--- /dev/null
+++ b/firmware/i2c.c
@@ -0,0 +1,216 @@
+/*
+ * Author: Benedikt Sauter
+ * Author: Peter Huewe, Hubert Hogel
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "common.h"
+#include "protocol.h"
+#include "i2c.h"
+
+void i2c_parser(char *buf) {
+answer[0] = buf[0];
+  switch(buf[0]){
+    case CMD_I2C_INIT:
+      i2c_init_usb();
+      break;
+    case CMD_I2C_DEINIT:         
+      i2c_deinit_usb();
+      break;
+    case CMD_I2C_SET_BITRATE:  
+      i2c_set_bitrate_usb((char)buf[2]);
+      break;
+    case CMD_I2C_SEND_BYTE:
+      i2c_send_byte_usb((int)buf[2]);
+      break;
+    case CMD_I2C_RECV_BYTES:
+      i2c_reveice_bytes_usb((int)buf[3],(int)buf[1]-4, (int)buf[2]);
+      break;
+    case CMD_I2C_SEND_START:
+      i2c_send_start_usb();
+      break;
+    case CMD_I2C_SEND_STOP:
+      i2c_send_stop_usb();
+      break;
+    default:
+      answer[0]=buf[0];
+      answer[1]=RSP_UNKOWN_CMD;
+      answer[2]=0;
+      CommandAnswer(3);
+  }
+}
+
+
+unsigned char i2c_get_twsr(void)
+{
+  return (TWSR & 0xF8);
+}
+
+
+void i2c_wait_for_complete(void)
+{
+  while (!(TWCR & (1<<TWINT))){
+    //do nothing just wait
+    ;
+  }
+}
+
+
+void i2c_init_usb(void)
+{
+  answer[0]=CMD_I2C_INIT;
+  answer[1]=(unsigned char)i2c_init();
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+int i2c_init(void)
+{
+  TWCR |= (1<<TWEN);
+  octopus.ports[12] = PIN_SCL;
+  octopus.ports[13] = PIN_SDA;
+  
+  return RSP_OK;
+}
+
+
+void i2c_deinit_usb(void)
+{
+  answer[0]=CMD_I2C_DEINIT;
+  answer[1]=(unsigned char)i2c_deinit();
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+int i2c_deinit(void)
+{
+  TWCR &= ~(1<<TWEN); // deinit
+  octopus.ports[12]=PIN_OUT;  // this is wrong!
+  octopus.ports[13]=PIN_OUT;  // this is wrong!
+
+  return RSP_OK;
+}
+
+
+void i2c_set_bitrate_usb(char bitrate) {
+  answer[0] = CMD_I2C_SET_BITRATE;
+  answer[1] = (unsigned char)i2c_set_bitrate(bitrate);
+  answer[2] =  '\0';
+  CommandAnswer(3);
+}
+
+int i2c_set_bitrate(char bitrate) {
+  TWBR = bitrate;
+
+  TWSR &= ~((1<<TWPS1) | (1<<TWPS0));
+  TWSR |= (0<<TWPS0);
+
+  return RSP_OK;
+}
+
+
+void i2c_send_start_usb(void)
+{
+  answer[0] = CMD_I2C_SEND_START;
+  answer[1] = (unsigned char)i2c_send_start();
+  answer[2] = '\0';
+  CommandAnswer(3);
+}
+
+int i2c_send_start(void)
+{
+  i2c_get_twsr();
+  TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
+  i2c_wait_for_complete();
+  return RSP_OK;
+}
+
+void i2c_send_stop_usb(void)
+{
+  answer[0]=CMD_I2C_SEND_STOP;
+  answer[1]=(unsigned char)i2c_send_stop();
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+
+int i2c_send_stop(void)
+{
+  TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTO);
+  return RSP_OK;
+}
+
+
+void i2c_send_byte_usb(char data)
+{
+  i2c_send_byte(data);
+
+  answer[0] = CMD_I2C_SEND_BYTE;
+  answer[1] = RSP_OK;
+  answer[2] = '\0';
+  CommandAnswer(3);
+}
+
+void i2c_send_byte(char data)
+{
+  TWDR = data;
+  TWCR = (1<<TWINT) | (1<<TWEN);
+  i2c_wait_for_complete();
+}
+
+void i2c_reveice_bytes_usb(int address,int len, int timeout)
+{
+    /* receive */
+    //i2c_get_twsr(); 
+    //print_hex(s);
+
+    //i2c_send_start();
+    /* slave address = 0x10; */
+    //buf[3] = (0x10 << 1)|1;  /* (00010000<<1) | R */
+    //i2c_send_byte( (0x10 << 1)|1);
+    
+    
+  answer[0]=CMD_I2C_RECV_BYTES;
+  answer[1]=RSP_OK;
+  answer[2]=1;
+  answer[3]=i2c_receive_byte();
+  CommandAnswer(5);
+}
+
+
+unsigned char i2c_receive_byte(void)
+{
+  TWCR = (1<<TWINT) | (1<<TWEN);
+  i2c_wait_for_complete();
+  return TWDR;
+}
+
diff --git a/firmware/i2c.h b/firmware/i2c.h
new file mode 100644
index 0000000..89834ea
--- /dev/null
+++ b/firmware/i2c.h
@@ -0,0 +1,68 @@
+/*
+ * Author: Benedikt Sauter
+ * Author: Peter Huewe, Hubert Hogel
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef I2C_H
+#define I2C_H
+
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+
+
+void i2c_parser(char *buf);
+
+int i2c_init(void);
+int i2c_deinit(void);
+
+int i2c_set_bitrate(char);
+int i2c_send_start(void);
+int i2c_send_stop(void);
+void i2c_send_byte(char data);
+unsigned char i2c_receive_byte(void);
+
+
+unsigned char i2c_get_twsr(void);
+void i2c_wait_for_complete(void);
+
+void i2c_init_usb(void);
+void i2c_deinit_usb(void);
+
+void i2c_set_bitrate_usb(char);
+void i2c_send_start_usb(void);
+void i2c_send_stop_usb(void);
+void i2c_send_byte_usb(char data);
+
+void i2c_reveice_bytes_usb(int address,int len, int timeout);
+
+
+#endif /* I2C_H */
diff --git a/firmware/io.c b/firmware/io.c
new file mode 100644
index 0000000..280f892
--- /dev/null
+++ b/firmware/io.c
@@ -0,0 +1,512 @@
+/*
+ * Copyright (c) 2007 Embedded Projects (http://www.embedded-projects.net)
+ * Author: Benedikt Sauter <sauter@
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES{} LOSS OF USE, 
+ * DATA, OR PROFITS{} OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "common.h"
+#include "protocol.h"
+#include "io.h"
+
+void io_parser(char *buf)
+{
+   switch(buf[0])
+   {
+      case CMD_IO_INIT_PORT:
+         io_init_port_usb((uint8_t)buf[2]);
+      break;
+      case CMD_IO_INIT_PIN:
+         io_init_usb((uint8_t)buf[2]);
+      break;
+      case CMD_IO_PORT_DIRECTION_IN:
+         io_set_port_direction_in_usb((uint8_t)buf[2],(uint8_t)buf[3]);
+      break;
+      case CMD_IO_PORT_DIRECTION_OUT:
+         io_set_port_direction_out_usb((uint8_t)buf[2],(uint8_t)buf[3]);
+      break;
+      case CMD_IO_PORT_DIRECTION_TRI:
+         io_set_port_direction_tri_usb((uint8_t)buf[2],(uint8_t)buf[3]);
+      break;
+      case CMD_IO_PIN_DIRECTION_IN:
+         io_set_pin_direction_in_usb((uint8_t)buf[2]);
+      break;
+      case CMD_IO_PIN_DIRECTION_OUT:
+         io_set_pin_direction_out_usb((uint8_t)buf[2]);
+      break;
+      case CMD_IO_PIN_DIRECTION_TRI:
+         io_set_pin_direction_tri_usb((uint8_t)buf[2]);
+      break;
+      case CMD_IO_PORT_SET:
+         io_set_port_usb((uint8_t)buf[2],(uint8_t)buf[3]);
+      break;
+      case CMD_IO_PORT_GET:
+         io_get_port_usb((uint8_t)buf[2]);
+      break;
+      case CMD_IO_PIN_SET:
+         io_set_pin_usb((uint8_t)buf[2],(uint8_t)buf[3]);
+      break;
+      case CMD_IO_PIN_GET:
+         io_get_pin_usb((uint8_t)buf[2]);
+      break;
+      default:
+         answer[0] = buf[0];
+         answer[1] = RSP_UNKOWN_CMD;
+         answer[2] = 0;
+         CommandAnswer(3);
+   }
+}
+
+uint8_t io_init(uint8_t pin) 
+{
+   if ((pin >= 1 && pin <= 19) || (pin >= 26 && pin <= 44))
+   {
+      io_set_pin_direction_out(pin);
+      return RSP_OK; 
+   }
+   return RSP_UNKOWN_PIN;
+}
+
+void io_init_usb(uint8_t pin)
+{
+   answer[0] = CMD_IO_INIT_PIN;
+   answer[1] = (unsigned char)io_init(pin);
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+
+uint8_t io_init_port(uint8_t port)
+{
+    /* TODO implement this function */
+    return RSP_OK;
+}
+
+void io_init_port_usb(uint8_t port)
+{
+   answer[0] = CMD_IO_INIT_PORT;
+   answer[1] = (unsigned char)io_init_port(port);
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+
+uint8_t io_set_port_direction_out(uint8_t port,uint8_t mask)
+{
+    /* TODO
+	switch (port)

+	{

+      case  1:   DDRB = mask; break;

+      case  2:   DDRC = mask; break; // PC7 = /CS (output) - do we need to mask this ?

+      case  3:   DDRD = mask; break;

+      case  4:   DDRE = mask; break; // PE4 = INT4 (input) - do we need to mask this ?

+      case  5:   DDRF = mask; break;

+      default:   return RSP_UNKOWN_PIN;

+	}
+    */

+	return RSP_OK;    
+}
+
+uint8_t io_set_port_direction_in(uint8_t port,uint8_t mask)
+{
+    /* TODO implement */
+    return RSP_OK;
+}
+
+uint8_t io_set_port_direction_tri(uint8_t port,uint8_t mask)
+{   
+    /* TODO implement */
+    return RSP_OK;
+}
+
+void io_set_port_direction_out_usb (uint8_t port, uint8_t mask)
+{
+   answer[0] = CMD_IO_PORT_DIRECTION_OUT;
+   answer[1] = (unsigned char)io_set_port_direction_out (port, mask);
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+
+void io_set_port_direction_in_usb(uint8_t port, uint8_t mask)
+{
+   answer[0] = CMD_IO_PORT_DIRECTION_IN;
+   answer[1] = (unsigned char)io_set_port_direction_in (port, mask);
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+void io_set_port_direction_tri_usb(uint8_t port, uint8_t mask)
+{
+   answer[0] = CMD_IO_PORT_DIRECTION_TRI;
+   answer[1] = (unsigned char)io_set_port_direction_tri (port, mask);
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+
+
+uint8_t io_set_pin_direction_out(uint8_t pin)
+{
+   if((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) )
+   {
+      octopus.ports[pin] = PIN_OUT;
+       
+      switch(pin)
+      {
+         case 1:   OX_DDR1 |=(1<<OX_P1); break;
+         case 2:   OX_DDR2 |=(1<<OX_P2); break;
+         case 3:   OX_DDR3 |=(1<<OX_P3); break;
+         case 4:   OX_DDR4 |=(1<<OX_P4); break;
+         case 5:   OX_DDR5 |=(1<<OX_P5); break;
+         case 6:   OX_DDR6 |=(1<<OX_P6); break;
+         case 7:   OX_DDR7 |=(1<<OX_P7); break;
+         case 8:   OX_DDR8 |=(1<<OX_P8); break;
+         case 9:   OX_DDR9 |=(1<<OX_P9); break;
+         case 10:   OX_DDR10 |=(1<<OX_P10); break;
+         case 11:   OX_DDR11 |=(1<<OX_P11); break;
+         case 12:   OX_DDR12 |=(1<<OX_P12); break;
+         case 13:   OX_DDR13 |=(1<<OX_P13); break;
+         case 14:   OX_DDR14 |=(1<<OX_P14); break;
+         case 15:   OX_DDR15 |=(1<<OX_P15); break;
+         case 16:   OX_DDR16 |=(1<<OX_P16); break;
+         case 17:   OX_DDR17 |=(1<<OX_P17); break;
+         case 18:   OX_DDR18 |=(1<<OX_P18); break;
+         case 19:   OX_DDR19 |=(1<<OX_P19); break;
+         
+         case 26:   OX_DDR26 |=(1<<OX_P26); break;
+         case 27:   OX_DDR27 |=(1<<OX_P27); break;
+         case 28:   OX_DDR28 |=(1<<OX_P28); break;
+         case 29:   OX_DDR29 |=(1<<OX_P29); break;
+         case 30:   OX_DDR30 |=(1<<OX_P30); break;
+         case 31:   OX_DDR31 |=(1<<OX_P31); break;
+         case 32:   OX_DDR32 |=(1<<OX_P32); break;
+         case 33:   OX_DDR33 |=(1<<OX_P33); break;
+         case 34:   OX_DDR34 |=(1<<OX_P34); break;
+         case 35:   OX_DDR35 |=(1<<OX_P35); break;
+         case 36:   OX_DDR36 |=(1<<OX_P36); break;
+         case 37:   OX_DDR37 |=(1<<OX_P37); break;
+         case 38:   OX_DDR38 |=(1<<OX_P38); break;
+         case 39:   OX_DDR39 |=(1<<OX_P39); break;
+         case 40:   OX_DDR40 |=(1<<OX_P40); break;
+         case 41:   OX_DDR41 |=(1<<OX_P41); break;
+         case 42:   OX_DDR42 |=(1<<OX_P42); break;
+         case 43:   OX_DDR43 |=(1<<OX_P43); break;
+         case 44:   OX_DDR44 |=(1<<OX_P44); break;
+         default:
+	      return RSP_UNKOWN_PIN;
+      }
+      return RSP_OK;
+   } 
+   else {
+      return RSP_UNKOWN_PIN;
+   }
+}
+
+uint8_t  io_set_pin_direction_in(uint8_t  pin)
+{
+   if((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) )
+   {
+      octopus.ports[pin] = PIN_IN;
+      switch (pin)
+      {
+         case 1:   OX_DDR1 &=~(1<<OX_P1); break;
+         case 2:   OX_DDR2 &=~(1<<OX_P2); break;
+         case 3:   OX_DDR3 &=~(1<<OX_P3); break;
+         case 4:   OX_DDR4 &=~(1<<OX_P4); break;
+         case 5:   OX_DDR5 &=~(1<<OX_P5); break;
+         case 6:   OX_DDR6 &=~(1<<OX_P6); break;
+         case 7:   OX_DDR7 &=~(1<<OX_P7); break;
+         case 8:   OX_DDR8 &=~(1<<OX_P8); break;
+         case 9:   OX_DDR9 &=~(1<<OX_P9); break;
+         case 10:   OX_DDR10 &=~(1<<OX_P10); break;
+         case 11:   OX_DDR11 &=~(1<<OX_P11); break;
+         case 12:   OX_DDR12 &=~(1<<OX_P12); break;
+         case 13:   OX_DDR13 &=~(1<<OX_P13); break;
+         case 14:   OX_DDR14 &=~(1<<OX_P14); break;
+         case 15:   OX_DDR15 &=~(1<<OX_P15); break;
+         case 16:   OX_DDR16 &=~(1<<OX_P16); break;
+         case 17:   OX_DDR17 &=~(1<<OX_P17); break;
+         case 18:   OX_DDR18 &=~(1<<OX_P18); break;
+         case 19:   OX_DDR19 &=~(1<<OX_P19); break;
+         
+         case 26:   OX_DDR26 &=~(1<<OX_P26); break;
+         case 27:   OX_DDR27 &=~(1<<OX_P27); break;
+         case 28:   OX_DDR28 &=~(1<<OX_P28); break;
+         case 29:   OX_DDR29 &=~(1<<OX_P29); break;
+         case 30:   OX_DDR30 &=~(1<<OX_P30); break;
+         case 31:   OX_DDR31 &=~(1<<OX_P31); break;
+         case 32:   OX_DDR32 &=~(1<<OX_P32); break;
+         case 33:   OX_DDR33 &=~(1<<OX_P33); break;
+         case 34:   OX_DDR34 &=~(1<<OX_P34); break;
+         case 35:   OX_DDR35 &=~(1<<OX_P35); break;
+         case 36:   OX_DDR36 &=~(1<<OX_P36); break;
+         case 37:   OX_DDR37 &=~(1<<OX_P37); break;
+         case 38:   OX_DDR38 &=~(1<<OX_P38); break;
+         case 39:   OX_DDR39 &=~(1<<OX_P39); break;
+         case 40:   OX_DDR40 &=~(1<<OX_P40); break;
+         case 41:   OX_DDR41 &=~(1<<OX_P41); break;
+         case 42:   OX_DDR42 &=~(1<<OX_P42); break;
+         case 43:   OX_DDR43 &=~(1<<OX_P43); break;
+         case 44:   OX_DDR44 &=~(1<<OX_P44); break;
+         default:
+	         return RSP_UNKOWN_PIN;
+      }
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_UNKOWN_PIN;
+   }
+}
+
+uint8_t  io_set_pin_direction_tri(uint8_t  pin)
+{
+   if ((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) )
+   {
+      octopus.ports[pin] = PIN_TRI;
+      io_set_pin_direction_out(pin);
+      io_set_pin(pin,1);
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_UNKOWN_PIN;
+   }
+}
+
+
+void io_set_pin_direction_out_usb(uint8_t  pin)
+{
+   answer[0] = CMD_IO_PIN_DIRECTION_OUT;
+   answer[1] = (unsigned char)io_set_pin_direction_out(pin);
+   answer[2] = 0;  
+   CommandAnswer(3);
+}
+
+void io_set_pin_direction_in_usb(uint8_t  pin)
+{
+   answer[0] = CMD_IO_PIN_DIRECTION_IN;
+   answer[1] = (unsigned char)io_set_pin_direction_in(pin);
+   answer[2] = 0;  
+   CommandAnswer(3);
+}
+
+void io_set_pin_direction_tri_usb(uint8_t  pin)
+{
+   answer[0] = CMD_IO_PIN_DIRECTION_TRI;
+   answer[1] = (unsigned char)io_set_pin_direction_tri(pin);
+   answer[2] = 0;  
+   CommandAnswer(3);
+}
+
+
+
+uint8_t io_get_port (uint8_t port, uint8_t *pvalue)
+{
+	uint8_t value;

+

+	*pvalue = 0;

+	switch (port)

+	{

+      case  1:   value = PINB; break;

+      case  2:   value = PINC; break; /* PC7 = /CS */

+      case  3:   value = PIND; break;

+      case  4:   value = PINE; break; /* PE4 = INTR */

+      case  5:   value = PINF; break;

+      default:   return RSP_UNKOWN_PORT;

+	}

+	*pvalue = value;

+	return RSP_OK;
+}
+
+void io_get_port_usb (uint8_t port)

+{

+	uint8_t value;

+
+    answer[0] = CMD_IO_PORT_GET;

+	answer[1] = (unsigned char)io_get_port (port, &value);

+	answer[2] = (unsigned char)value;

+	CommandAnswer(3);

+}
+
+uint8_t io_set_port(uint8_t port, uint8_t value)
+{
+	switch (port)

+	{

+      case  1:   PORTB = value; break;

+      case  2:   PORTC = value; break; // PC7 = /CS

+      case  3:   PORTD = value; break;

+      case  4:   PORTE = value; break; // PE4 = INTR 

+      case  5:   PORTF = value; break;

+      default:   return RSP_UNKOWN_PIN;

+	}

+	return RSP_OK;
+}
+
+void io_set_port_usb (uint8_t port, uint8_t value)

+{

+	answer[0] = CMD_IO_PORT_SET;

+	answer[1] = (unsigned char)io_set_port (port, value);

+	answer[2] = 0;

+	CommandAnswer(3);

+}
+
+
+void io_set_pin_usb(uint8_t pin, uint8_t value)
+{
+   answer[0] = CMD_IO_PIN_SET;
+   answer[1] = (unsigned char)io_set_pin(pin,value);
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+
+
+uint8_t io_set_pin(uint8_t pin, uint8_t value)
+{
+   if(octopus.ports[pin] == PIN_OUT)
+   {
+      switch(pin)
+      {
+         case 1:  if(value) OX_PORT1 |=(1<<OX_P1); else OX_PORT1 &=~(1<<OX_P1); break;
+         case 2:  if(value) OX_PORT2 |=(1<<OX_P2); else OX_PORT2 &=~(1<<OX_P2); break;
+         case 3:  if(value) OX_PORT3 |=(1<<OX_P3); else OX_PORT3 &=~(1<<OX_P3); break;
+         case 4:  if(value) OX_PORT4 |=(1<<OX_P4); else OX_PORT4 &=~(1<<OX_P4); break;
+         case 5:  if(value) OX_PORT5 |=(1<<OX_P5); else OX_PORT5 &=~(1<<OX_P5); break;
+         case 6:  if(value) OX_PORT6 |=(1<<OX_P6); else OX_PORT6 &=~(1<<OX_P6); break;
+         case 7:  if(value) OX_PORT7 |=(1<<OX_P7); else OX_PORT7 &=~(1<<OX_P7); break;
+         case 8:  if(value) OX_PORT8 |=(1<<OX_P8); else OX_PORT8 &=~(1<<OX_P8); break;
+         case 9:  if(value) OX_PORT9 |=(1<<OX_P9); else OX_PORT9 &=~(1<<OX_P9); break;
+         case 10:  if(value) OX_PORT10 |=(1<<OX_P10); else OX_PORT10 &=~(1<<OX_P10); break;
+         case 11:  if(value) OX_PORT11 |=(1<<OX_P11); else OX_PORT11 &=~(1<<OX_P11); break;
+         case 12:  if(value) OX_PORT12 |=(1<<OX_P12); else OX_PORT12 &=~(1<<OX_P12); break;
+         case 13:  if(value) OX_PORT13 |=(1<<OX_P13); else OX_PORT13 &=~(1<<OX_P13); break;
+         case 14:  if(value) OX_PORT14 |=(1<<OX_P14); else OX_PORT14 &=~(1<<OX_P14); break;
+         case 15:  if(value) OX_PORT15 |=(1<<OX_P15); else OX_PORT15 &=~(1<<OX_P15); break;
+         case 16:  if(value) OX_PORT16 |=(1<<OX_P16); else OX_PORT16 &=~(1<<OX_P16); break;
+         case 17:  if(value) OX_PORT17 |=(1<<OX_P17); else OX_PORT17 &=~(1<<OX_P17); break;
+         case 18:  if(value) OX_PORT18 |=(1<<OX_P18); else OX_PORT18 &=~(1<<OX_P18); break;
+         case 19:  if(value) OX_PORT19 |=(1<<OX_P19); else OX_PORT19 &=~(1<<OX_P19); break;
+         
+         case 26:  if(value) OX_PORT26 |=(1<<OX_P26); else OX_PORT26 &=~(1<<OX_P26); break;
+         case 27:  if(value) OX_PORT27 |=(1<<OX_P27); else OX_PORT27 &=~(1<<OX_P27); break;
+         case 28:  if(value) OX_PORT28 |=(1<<OX_P28); else OX_PORT28 &=~(1<<OX_P28); break;
+         case 29:  if(value) OX_PORT29 |=(1<<OX_P29); else OX_PORT29 &=~(1<<OX_P29); break;
+         case 30:  if(value) OX_PORT30 |=(1<<OX_P30); else OX_PORT30 &=~(1<<OX_P30); break;
+         case 31:  if(value) OX_PORT31 |=(1<<OX_P31); else OX_PORT31 &=~(1<<OX_P31); break;
+         case 32:  if(value) OX_PORT32 |=(1<<OX_P32); else OX_PORT32 &=~(1<<OX_P32); break;
+         case 33:  if(value) OX_PORT33 |=(1<<OX_P33); else OX_PORT33 &=~(1<<OX_P33); break;
+         case 34:  if(value) OX_PORT34 |=(1<<OX_P34); else OX_PORT34 &=~(1<<OX_P34); break;
+         case 35:  if(value) OX_PORT35 |=(1<<OX_P35); else OX_PORT35 &=~(1<<OX_P35); break;
+         case 36:  if(value) OX_PORT36 |=(1<<OX_P36); else OX_PORT36 &=~(1<<OX_P36); break;
+         case 37:  if(value) OX_PORT37 |=(1<<OX_P37); else OX_PORT37 &=~(1<<OX_P37); break;
+         case 38:  if(value) OX_PORT38 |=(1<<OX_P38); else OX_PORT38 &=~(1<<OX_P38); break;
+         case 39:  if(value) OX_PORT39 |=(1<<OX_P39); else OX_PORT39 &=~(1<<OX_P39); break;
+         case 40:  if(value) OX_PORT40 |=(1<<OX_P40); else OX_PORT40 &=~(1<<OX_P40); break;
+         case 41:  if(value) OX_PORT41 |=(1<<OX_P41); else OX_PORT41 &=~(1<<OX_P41); break;
+         case 42:  if(value) OX_PORT42 |=(1<<OX_P42); else OX_PORT42 &=~(1<<OX_P42); break;
+         case 43:  if(value) OX_PORT43 |=(1<<OX_P43); else OX_PORT43 &=~(1<<OX_P43); break;
+         case 44:  if(value) OX_PORT44 |=(1<<OX_P44); else OX_PORT44 &=~(1<<OX_P44); break;
+         default:
+	         return RSP_UNKOWN_PIN;
+      }
+
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_WRONG_PIN_CONFIG;
+   } 
+}
+
+
+void io_get_pin_usb(uint8_t pin)
+{
+   uint8_t value;
+   
+   answer[0] = CMD_IO_PIN_GET;
+   answer[1] = (unsigned char)io_get_pin(pin,&value);  
+   answer[2] = (unsigned char)value;  
+   CommandAnswer(3);
+}
+
+uint8_t io_get_pin(uint8_t pin, uint8_t *value)
+{
+	*value = 0;

+	if (octopus.ports[pin] == PIN_IN)

+	{

+		switch (pin)

+		{

+		case  1:  if (OX_PIN1 & (1<<OX_P1)) *value=1; break;

+		case  2:  if (OX_PIN2 & (1<<OX_P2)) *value=1; break;

+		case  3:  if (OX_PIN3 & (1<<OX_P3)) *value=1; break;

+		case  4:  if (OX_PIN4 & (1<<OX_P4)) *value=1; break;

+		case  5:  if (OX_PIN5 & (1<<OX_P5)) *value=1; break;

+		case  6:  if (OX_PIN6 & (1<<OX_P6)) *value=1; break;

+        case  7:  if (OX_PIN7 & (1<<OX_P7)) *value=1; break;

+		case  8:  if (OX_PIN8 & (1<<OX_P8)) *value=1; break;

+		case  9:  if (OX_PIN9 & (1<<OX_P9)) *value=1; break;

+		case 10:  if (OX_PIN10 & (1<<OX_P10)) *value=1; break;

+		case 11:  if (OX_PIN11 & (1<<OX_P11)) *value=1; break;

+		case 12:  if (OX_PIN12 & (1<<OX_P12)) *value=1; break;

+		case 13:  if (OX_PIN13 & (1<<OX_P13)) *value=1; break;

+		case 14:  if (OX_PIN14 & (1<<OX_P14)) *value=1; break;

+		case 15:  if (OX_PIN15 & (1<<OX_P15)) *value=1; break;

+		case 16:  if (OX_PIN16 & (1<<OX_P16)) *value=1; break;

+		case 17:  if (OX_PIN17 & (1<<OX_P17)) *value=1; break;

+		case 18:  if (OX_PIN18 & (1<<OX_P18)) *value=1; break;

+		case 19:  if (OX_PIN19 & (1<<OX_P19)) *value=1; break;

+		                        

+		case 26:  if (OX_PIN26 & (1<<OX_P26)) *value=1; break;

+		case 27:  if (OX_PIN27 & (1<<OX_P27)) *value=1; break;

+		case 28:  if (OX_PIN28 & (1<<OX_P28)) *value=1; break;

+		case 29:  if (OX_PIN29 & (1<<OX_P29)) *value=1; break;

+		case 30:  if (OX_PIN30 & (1<<OX_P30)) *value=1; break;

+		case 31:  if (OX_PIN31 & (1<<OX_P31)) *value=1; break;

+		case 32:  if (OX_PIN32 & (1<<OX_P32)) *value=1; break;

+		case 33:  if (OX_PIN33 & (1<<OX_P33)) *value=1; break;

+		case 34:  if (OX_PIN34 & (1<<OX_P34)) *value=1; break;

+		case 35:  if (OX_PIN35 & (1<<OX_P35)) *value=1; break;

+		case 36:  if (OX_PIN36 & (1<<OX_P36)) *value=1; break;

+		case 37:  if (OX_PIN37 & (1<<OX_P37)) *value=1; break;

+		case 38:  if (OX_PIN38 & (1<<OX_P38)) *value=1; break;

+		case 39:  if (OX_PIN39 & (1<<OX_P39)) *value=1; break;

+		case 40:  if (OX_PIN40 & (1<<OX_P40)) *value=1; break;

+		case 41:  if (OX_PIN41 & (1<<OX_P41)) *value=1; break;

+		case 42:  if (OX_PIN42 & (1<<OX_P42)) *value=1; break;

+		case 43:  if (OX_PIN43 & (1<<OX_P43)) *value=1; break;

+		case 44:  if (OX_PIN44 & (1<<OX_P44)) *value=1; break;

+		default:  return RSP_UNKOWN_PIN;

+		}

+		return RSP_OK;

+	}

+	else

+	{

+		return RSP_WRONG_PIN_CONFIG;

+	}
+}
+
+
diff --git a/firmware/io.h b/firmware/io.h
new file mode 100644
index 0000000..f86314f
--- /dev/null
+++ b/firmware/io.h
@@ -0,0 +1,269 @@
+/*
+ * Copyright (c) 2007 Embedded Projects (http://www.embedded-projecs.net)
+ * Author: Benedikt Sauter <sauter@embedded-projects.net
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef IO_H
+#define IO_H
+
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+
+
+#define OX_PIN1 PINE
+#define OX_PIN2 PINE
+#define OX_PIN3 PINE
+#define OX_PIN4 PINB
+#define OX_PIN5 PINB
+#define OX_PIN6 PINB
+#define OX_PIN7 PINB
+#define OX_PIN8 PINB
+#define OX_PIN9 PINB
+#define OX_PIN10 PINB
+#define OX_PIN11 PINB
+#define OX_PIN12 PIND
+#define OX_PIN13 PIND
+#define OX_PIN14 PIND
+#define OX_PIN15 PIND
+#define OX_PIN16 PIND
+#define OX_PIN17 PIND
+#define OX_PIN18 PIND
+#define OX_PIN19 PIND
+
+#define OX_PIN26 PINC
+#define OX_PIN27 PINC
+#define OX_PIN28 PINC
+#define OX_PIN29 PINC
+#define OX_PIN30 PINC
+#define OX_PIN31 PINC
+#define OX_PIN32 PINC
+#define OX_PIN33 PINF
+#define OX_PIN34 PINF
+#define OX_PIN35 PINF
+#define OX_PIN36 PINF
+#define OX_PIN37 PINF
+#define OX_PIN38 PINF
+#define OX_PIN39 PINF
+#define OX_PIN40 PINF
+#define OX_PIN41 PINE
+#define OX_PIN42 PINE
+#define OX_PIN43 PINE
+#define OX_PIN44 PINE
+
+#define OX_PORT1 PORTE
+#define OX_PORT2 PORTE
+#define OX_PORT3 PORTE
+#define OX_PORT4 PORTB
+#define OX_PORT5 PORTB
+#define OX_PORT6 PORTB
+#define OX_PORT7 PORTB
+#define OX_PORT8 PORTB
+#define OX_PORT9 PORTB
+#define OX_PORT10 PORTB
+#define OX_PORT11 PORTB
+#define OX_PORT12 PORTD
+#define OX_PORT13 PORTD
+#define OX_PORT14 PORTD
+#define OX_PORT15 PORTD
+#define OX_PORT16 PORTD
+#define OX_PORT17 PORTD
+#define OX_PORT18 PORTD
+#define OX_PORT19 PORTD
+
+#define OX_PORT26 PORTC
+#define OX_PORT27 PORTC
+#define OX_PORT28 PORTC
+#define OX_PORT29 PORTC
+#define OX_PORT30 PORTC
+#define OX_PORT31 PORTC
+#define OX_PORT32 PORTC
+#define OX_PORT33 PORTF
+#define OX_PORT34 PORTF
+#define OX_PORT35 PORTF
+#define OX_PORT36 PORTF
+#define OX_PORT37 PORTF
+#define OX_PORT38 PORTF
+#define OX_PORT39 PORTF
+#define OX_PORT40 PORTF
+#define OX_PORT41 PORTE
+#define OX_PORT42 PORTE
+#define OX_PORT43 PORTE
+#define OX_PORT44 PORTE
+
+#define OX_DDR1 DDRE
+#define OX_DDR2 DDRE
+#define OX_DDR3 DDRE
+#define OX_DDR4 DDRB
+#define OX_DDR5 DDRB
+#define OX_DDR6 DDRB
+#define OX_DDR7 DDRB
+#define OX_DDR8 DDRB
+#define OX_DDR9 DDRB
+#define OX_DDR10 DDRB
+#define OX_DDR11 DDRB
+#define OX_DDR12 DDRD
+#define OX_DDR13 DDRD
+#define OX_DDR14 DDRD
+#define OX_DDR15 DDRD
+#define OX_DDR16 DDRD
+#define OX_DDR17 DDRD
+#define OX_DDR18 DDRD
+#define OX_DDR19 DDRD
+
+#define OX_DDR26 DDRC
+#define OX_DDR27 DDRC
+#define OX_DDR28 DDRC
+#define OX_DDR29 DDRC
+#define OX_DDR30 DDRC
+#define OX_DDR31 DDRC
+#define OX_DDR32 DDRC
+#define OX_DDR33 DDRF
+#define OX_DDR34 DDRF
+#define OX_DDR35 DDRF
+#define OX_DDR36 DDRF
+#define OX_DDR37 DDRF
+#define OX_DDR38 DDRF
+#define OX_DDR39 DDRF
+#define OX_DDR40 DDRF
+#define OX_DDR41 DDRE
+#define OX_DDR42 DDRE
+#define OX_DDR43 DDRE
+#define OX_DDR44 DDRE
+
+
+#define OX_P1 PE5
+#define OX_P2 PE6
+#define OX_P3 PE7
+#define OX_P4 PB0
+#define OX_P5 PB1
+#define OX_P6 PB2
+#define OX_P7 PB3
+#define OX_P8 PB4
+#define OX_P9 PB5
+#define OX_P10 PB6
+#define OX_P11 PB7
+#define OX_P12 PD0
+#define OX_P13 PD1
+#define OX_P14 PD2
+#define OX_P15 PD3
+#define OX_P16 PD4
+#define OX_P17 PD5
+#define OX_P18 PD6
+#define OX_P19 PD7
+
+#define OX_P26 PC0
+#define OX_P27 PC1
+#define OX_P28 PC2
+#define OX_P29 PC3
+#define OX_P30 PC4
+#define OX_P31 PC5
+#define OX_P32 PC6
+#define OX_P33 PF7
+#define OX_P34 PF6
+#define OX_P35 PF5
+#define OX_P36 PF4
+#define OX_P37 PF3
+#define OX_P38 PF2
+#define OX_P39 PF1
+#define OX_P40 PF0
+#define OX_P41 PE0
+#define OX_P42 PE1
+#define OX_P43 PE2
+#define OX_P44 PE3
+
+
+
+void io_parser(char *buf);
+
+uint8_t io_init(uint8_t pin);
+void io_init_usb(uint8_t pin);
+
+uint8_t io_init_port(uint8_t port);
+void io_init_port_usb(uint8_t port);
+
+uint8_t io_set_port_direction_out(uint8_t port,uint8_t mask);
+uint8_t io_set_port_direction_in(uint8_t port, uint8_t mask);
+uint8_t io_set_port_direction_tri(uint8_t port, uint8_t mask);
+
+
+void io_set_port_direction_out_usb (uint8_t port, uint8_t mask);
+void io_set_port_direction_in_usb(uint8_t port, uint8_t mask);
+void io_set_port_direction_tri_usb(uint8_t port, uint8_t mask);
+
+uint8_t io_set_pin_direction_out(uint8_t pin);
+uint8_t io_set_pin_direction_in(uint8_t pin);
+uint8_t io_set_pin_direction_tri(uint8_t pin);
+
+void io_set_pin_direction_out_usb(uint8_t pin);
+void io_set_pin_direction_in_usb(uint8_t pin);
+void io_set_pin_direction_tri_usb(uint8_t pin);
+
+uint8_t io_get_port (uint8_t port, uint8_t *pvalue);
+void io_get_port_usb (uint8_t port);
+
+
+uint8_t io_set_port(uint8_t port, uint8_t value);
+void io_set_port_usb (uint8_t port, uint8_t value);
+
+uint8_t io_set_pin(uint8_t pin, uint8_t value); 
+void io_set_pin_usb(uint8_t pin, uint8_t value); 
+
+uint8_t io_get_pin(uint8_t pin, uint8_t *value);
+void io_get_pin_usb(uint8_t pin);
+
+
+#define PORT(port,pin)     (PORT##port)
+#define DDR(port,pin)      (DDR##port)
+#define PIN(port,pin)      (PIN##port)
+#define PIN_MASK(port,pin) (1<<(pin))
+
+/* Set a pin */
+#define SETPIN(pindef)      PORT pindef |= PIN_MASK pindef
+
+/* Clear a pin */
+#define CLRPIN(pindef)      PORT pindef &= ~PIN_MASK pindef
+
+/* Get pin value */
+#define GETPIN(pindef)      (PIN pindef & PIN_MASK pindef)
+
+/* Toggle a pin */
+#define TOGGLEPIN(pindef)   PIN pindef |= PIN_MASK pindef
+
+/* Set a IO to output */
+#define SET_DDR_OUT(pindef) DDR pindef |= PIN_MASK pindef
+
+/* Set a IO to input */
+#define SET_DDR_IN(pindef)  DDR pindef &= ~PIN_MASK pindef
+
+
+
+#endif /* IO_H */
diff --git a/firmware/main.c b/firmware/main.c
new file mode 100644
index 0000000..ef802a2
--- /dev/null
+++ b/firmware/main.c
@@ -0,0 +1,287 @@
+#include <stdlib.h>
+#include <avr/io.h>
+#include <stdint.h>
+#include <avr/interrupt.h>
+#include <inttypes.h>
+#include <avr/pgmspace.h>
+
+#include "usbn2mc.h"
+#define F_CPU 16000000UL
+#include <util/delay.h>
+
+#include "../usbn2mc/main/usbnapi.h"
+#include "usbn2mc.h"
+
+#include "common.h"
+#include "protocol.h"
+#include "wait.h"
+
+#include "io.h"
+#include "adc.h"
+#include "i2c.h"
+#include "spi.h"
+#include "pwm.h"
+#include "uart.h"
+
+#include "93c46.h"
+#include "debug.h"
+
+//#define DEBUG 1
+
+
+
+SIGNAL (SIG_INTERRUPT4)
+{
+  USBNInterrupt ();
+}
+
+SIGNAL (SIG_UART0_RECV)
+{
+
+}
+
+/* internal timer */
+SIGNAL (SIG_OVERFLOW0)
+{
+  common_scheduler ();
+  TCNT0 = octopus.latency_timer;
+}
+
+
+void
+USBCommandRX (char *buf)
+{
+  int i;
+
+#ifdef DEBUG
+  debug_write("get \0");
+  debug_SendHex(buf[1]);
+  debug_write("\r\n");
+#endif
+
+  /* a paket can be max 255 bytes */
+  if (octopus.long_rx_cmd == 1)
+	 {
+#ifdef DEBUG
+  debug_write("get next\r\n");
+#endif
+		for (i = 0; i < 64; i++)
+		  request[octopus.long_rx_index + i] = buf[i];
+
+		octopus.long_rx_index = octopus.long_rx_index + i;
+
+		if (octopus.long_rx_index >= octopus.long_rx_bytes)
+		  {
+			 octopus.long_rx_cmd = 0;
+			 USBMessageIn (request);
+		  }
+	 }
+  else
+	 {
+#ifdef DEBUG
+		debug_write("get and execute\r\n\0");
+#endif
+		octopus.long_rx_index = 0;
+		for (i = 0; i < 64; i++)
+		  request[octopus.long_rx_index + i] = buf[i];
+
+		octopus.long_rx_index = i;
+
+		if ((unsigned int) buf[1] < 64)
+		  {
+			 octopus.long_rx_cmd = 0;
+			 USBMessageIn (request);
+		  }
+		else
+		  {
+			 octopus.long_rx_cmd = 1;
+			 octopus.long_rx_bytes = (unsigned int) buf[1];
+		  }
+	 }
+}
+
+/* is called when received data from pc */
+void
+USBMessageIn (char *buf)
+{
+  octopus.long_index = 0;
+  octopus.long_running = 0;
+
+  STATUS_LED_on;
+#ifdef DEBUG
+  debug_write("parser\r\n\0");
+#endif
+  int check = ((int) buf[0] >> 4) & 0x0F;
+
+  switch (check)
+	 {
+	 case 0:
+		if (buf[0] == CMD_EXTERNAL_DEVICE)
+		  {
+			 switch (buf[2])
+				{
+				case CMD_EXTERNAL_93C46:
+				  flash_93c46_parser (buf);
+				  break;
+				default:
+				  ;
+				}
+		  }
+		else
+		  common_parser (buf);
+		break;
+	 case 1:
+		io_parser (buf);
+		break;
+	 case 2:
+		adc_parser (buf);
+		break;
+	 case 3:
+		i2c_parser (buf);
+		break;
+	 case 4:
+		spi_parser (buf);
+		break;
+	 case 5:
+		pwm_parser (buf);
+		break;
+         case 6:
+               uart_parser (buf);
+	       break;
+	 default:
+		answer[0] = buf[0];
+		answer[1] = RSP_UNKOWN_CMD;
+		answer[2] = 0;
+		CommandAnswer (3);
+	 }
+
+  STATUS_LED_off;
+}
+
+
+void
+CommandAnswer (unsigned int length)
+{
+  int i;
+
+  // if first packet of a lang message
+  if (length > 64 && octopus.long_running == 0)
+	 {
+		octopus.long_index = 0;
+		octopus.long_bytes = length;
+		octopus.long_running = 1;
+		length = 64;
+	 }
+
+  USBNWrite (FIFOTXC1, FLUSH);
+
+  for (i = 0; i < length; i++)
+	 USBNWrite (TXD1, answer[octopus.long_index + i]);
+
+  /* control togl bit */
+  if (octopus.datatogl == 1)
+	 {
+		USBNWrite (FIFOTXC1, TX_LAST + TX_EN + TX_TOGL);
+		octopus.datatogl = 0;
+	 }
+  else
+	 {
+		USBNWrite (FIFOTXC1, TX_LAST + TX_EN);
+		octopus.datatogl = 1;
+	 }
+}
+
+
+void
+CommandAnswerRest (void)
+{
+  if (octopus.long_running == 1)
+	 {
+		if (octopus.long_index < octopus.long_bytes)
+		  {
+			 int dif = octopus.long_bytes - octopus.long_index;
+			 octopus.long_index = octopus.long_index + 64;
+
+			 if (dif > 64)
+				CommandAnswer (64);
+
+			 else
+				{
+				  /* last packet */
+				  CommandAnswer (dif);
+				  octopus.long_running = 0;
+				}
+		  }
+	 }
+}
+
+
+int
+main (void)
+{
+  DDRB = 0xFF;
+  PORTB = 0xFF;
+
+
+  int interf;
+  int conf;
+
+
+  STATUS_LED_off;
+
+  USBNInit ();
+
+  // setup your device
+  USBNDeviceVendorID (0x1781);  // 0x0400 is the number from national
+  USBNDeviceProductID (0x0c65); // add your product id
+  USBNDeviceBCDDevice (0x0001); // you can use it as version e.g. version 1.02 
+
+  char lang[] = { 0x09, 0x04, 0x00 };
+  _USBNAddStringDescriptor (lang);	// language descriptor
+
+
+  /* Attention!!! Descriptors  must be a factor of 8 (error in the stack) */
+  USBNDeviceManufacture ("EmbeddedProjects");
+  USBNDeviceProduct ("OctopusUSB Interface Converter and I/O Extension");
+  USBNDeviceSerialNumber ("20081108");
+
+  conf = USBNAddConfiguration ();
+
+  USBNConfigurationPower (conf, 100);
+
+  interf = USBNAddInterface (conf, 0);
+  USBNAlternateSetting (conf, interf, 0);
+
+  /* communication */
+  USBNAddInEndpoint (conf, interf, 1, 0x01, BULK, 64, 0, &CommandAnswerRest);
+  USBNAddOutEndpoint (conf, interf, 1, 0x01, BULK, 64, 0, &USBCommandRX);
+
+  USBNInitMC ();
+
+  octopus.datatogl = 0;
+  octopus.long_rx_cmd = 0;
+
+  /* start usb chip */
+  USBNStart ();
+
+  /* UARTInit2(38400,8,'N',1); */
+  #ifdef DEBUG
+    debug_init();
+  #endif
+
+  /* hello world led pattern */
+  DDRC  = 0xFF;
+  PORTC = 0xAA;
+  delay_250ms ();
+  PORTC = 0xD5;
+  delay_250ms ();
+  PORTC = 0x80;
+
+  // testpin
+  //PORTB = 0xFF;
+  //PORTB = 0x00;
+
+  while (1);
+
+  return 0;
+}
diff --git a/firmware/main.hex b/firmware/main.hex
new file mode 100644
index 0000000..3d38158
--- /dev/null
+++ b/firmware/main.hex
@@ -0,0 +1,844 @@
+:100000000C94FA000C9417010C9417010C9417012E

+:100010000C9417010C9408030C9417010C9417010D

+:100020000C9417010C9417010C9417010C941701F0

+:100030000C9475170C9417010C9417010C9417016C

+:100040000C9417010C94E1020C9417010C94170105

+:100050000C9417010C9419010C9417010C941701BE

+:100060000C9417010C9417010C9417010C941701B0

+:100070000C9417010C9417010C9417010C941701A0

+:100080000C9417010C9417010C9417010C94170190

+:100090000C941701AA0DAC0DAE0DB00DB20DB40D40

+:1000A000B60DB80DBA0DBC0DBE0DC00DC20DC40D00

+:1000B000C60DC80DCA0DCC0DCE0DFC0DFC0DFC0DF2

+:1000C000FC0DFC0DFC0DD00DD20DD40DD60DD80DB0

+:1000D000DA0DDC0DDE0DE00DE20DE40DE60DE80DB0

+:1000E000EA0DEC0DEE0DF00DF20DF60D490E4B0E76

+:1000F0004D0E4F0E510E530E550E570E590E5B0EF0

+:100100005D0E5F0E610E630E650E670E690E6B0E5F

+:100110006D0E9B0E9B0E9B0E9B0E9B0E9B0E6F0EF1

+:10012000710E730E750E770E790E7B0E7D0E7F0E9F

+:10013000810E830E850E870E890E8B0E8D0E8F0E0F

+:10014000910E950E090F0F0F150F1B0F210F270F83

+:100150002D0F330F390F3F0F450F4B0F510F570F17

+:100160005D0F630F690F6F0F750F060F060F060FF8

+:10017000060F060F060F7B0F810F870F8D0F930F52

+:10018000990F9F0FA50FAB0FB10FB70FBD0FC30F87

+:10019000C90FCF0FD50FDB0FE10FE70F37103A1064

+:1001A0003D1040104310461049104C104F10521093

+:1001B000551058105B105E106110641067106A10C3

+:1001C0006D1034103410341034103410341070109A

+:1001D0007310761079107C107F10821085108810B3

+:1001E0008B108E109110941097109A109D10A010E3

+:1001F000A310A61011241FBECFEFD0E1DEBFCDBFEC

+:1002000011E0A0E0B1E0E2E4F4E300E00BBF02C0E3

+:1002100007900D92A435B107D9F714E0A4E5B1E039

+:1002200001C01D92A93BB107E1F70C9423010C9486

+:1002300000001F920F920FB60F9211240F900FBE65

+:100240000F901F901895CCEFD0E1DEBFCDBF8FEFA0

+:1002500084B985B92F980E94650781E897E10E94CB

+:10026000B00785E69CE00E94B50781E090E00E941F

+:10027000BA07DE011196EBE4F1E083E001900D9204

+:100280008150E1F7CE0101960E94AF0B80E091E032

+:100290000E944B0C81E191E00E94430C82E491E0CA

+:1002A0000E943B0C0E94850B4C0164E670E00E94AA

+:1002B000C80760E070E0C4010E94F10A3C0140E020

+:1002C00050E0BC01C4010E94E90720EFA22E21E00A

+:1002D000B22ECC24DD2490E4E92EF12C02E021E0C2

+:1002E00030E041E050E0B301C4010E94860A87E794

+:1002F000A82E82E0B82E21E030E041E050E0B301CA

+:10030000C4010E94BE0A0E940A071092E1011092E5

+:10031000E0011092E3011092E2010E94790C8FEF4C

+:1003200087B98AEA88B90E942C0385ED88B90E94B2

+:100330002C0380E888B9FFCF0F931F93CF93DF93EF

+:10034000EC0181349105B0F08091EC019091ED01C8

+:10035000892B81F41092E9011092E801D093EB010E

+:10036000C093EA0181E090E09093ED018093EC016D

+:10037000C0E4D0E068E08BE20E94500700E010E0AB

+:100380000EC0E091E801F091E901E00FF11FEE5C91

+:10039000FC4F608189E20E9450070F5F1F4F0C17CE

+:1003A0001D0779F78091E0019091E101019749F4EF

+:1003B00067E08BE20E9450071092E1011092E00189

+:1003C0000AC063E08BE20E94500781E090E09093C6

+:1003D000E1018093E001DF91CF911F910F9108958A

+:1003E0008091EC019091ED01019771F52091E80168

+:1003F0003091E9018091EA019091EB0128173907CA

+:1004000018F52091EA013091EB018091E80190917B

+:10041000E901281B390B8091E8019091E901805C8A

+:100420009F4F9093E9018093E801213431052CF02E

+:1004300080E490E00E949C010895C9010E949C0103

+:100440001092ED011092EC010895FC011092E90167

+:100450001092E8011092ED011092EC0100002F9A29

+:100460002081822F82958F7099278230910511F11A

+:10047000833091052CF4009761F0019759F516C06F

+:1004800084309105F9F084309105C4F0059711F599

+:100490001DC0263039F48281813039F5CF010E94A8

+:1004A000421723C0CF010E94F30C1FC0CF010E944E

+:1004B00084111BC0CF010E94E71217C0CF010E9418

+:1004C0002A1413C0CF010E945C150FC0CF010E94F7

+:1004D00092180BC02093320383E080933303109271

+:1004E000340383E090E00E949C012F980895CF93FD

+:1004F000DF93EC018091E2019091E301019751F5C6

+:1005000020E030E0E091E401F091E501E20FF31F1B

+:10051000DE01A20FB31F8C91EE50FE4F80832F5F40

+:100520003F4F2034310571F78091E4019091E5014E

+:10053000805C9F4F9093E5018093E4012091E4015A

+:100540003091E5018091E6019091E7012817390784

+:10055000A8F11FC01092E5011092E40120E030E004

+:10056000E091E401F091E501E20FF31FDE01A20F3B

+:10057000B31F8C91EE50FE4F80832F5F3F4F20348E

+:10058000310571F73093E5012093E401A981A0348E

+:1005900048F41092E3011092E20182EF91E00E9490

+:1005A00025020CC081E090E09093E3018093E2018A

+:1005B0008A2F99279093E7018093E601DF91CF91ED

+:1005C00008951F920F920FB60F9211242F933F930D

+:1005D0004F935F936F937F938F939F93AF93BF934B

+:1005E000EF93FF930E94C50C80915D0186BDFF9142

+:1005F000EF91BF91AF919F918F917F916F915F919B

+:100600004F913F912F910F900FBE0F901F90189513

+:100610001F920F920FB60F9211242F933F934F9377

+:100620005F936F937F938F939F93AF93BF93EF935A

+:10063000FF930E94530CFF91EF91BF91AF919F9157

+:100640008F917F916F915F914F913F912F910F907B

+:100650000FBE0F901F90189520E080E49CE9019751

+:10066000F1F72F5F2931C9F70895FF920F931F9378

+:10067000162F042FF22E9C01442737FD4095542F4E

+:1006800060E472E48FE090E00E94D0192150304085

+:10069000163061F0173019F0153019F404C0E1E09C

+:1006A00003C0E1E004C0E0E070E002C0E0E071E01F

+:1006B000053439F00F3419F451E041E004C050E042

+:1006C00001C051E040E082E0F81611F462E001C0A0

+:1006D00060E0832F992787FD9A958093C50020932A

+:1006E000C40088E18093C100770FEE0FEE0FE72B77

+:1006F0005295550F507E5E2B4295407F452B660FDD

+:10070000660F660F642B6093C2001F910F91FF90DC

+:1007100008951092C50089E18093C40088E1809318

+:10072000C10086E08093C20008950895982F8091BB

+:10073000C00085FFFCCF9093C60008958091C00053

+:1007400087FFFCCF8091C600992708958A3310F463

+:10075000805301C087556A3310F4605301C0675558

+:100760006F708295807F682B862F99270895FC01F2

+:1007700007C08091C00085FFFCCF31969093C600E2

+:1007800090819923B1F70895982F92959F70282F03

+:100790002F709A3030F48091C00085FFFCCF905DBF

+:1007A00005C08091C00085FFFCCF995A9093C60088

+:1007B0002A3030F48091C00085FFFCCF205D05C059

+:1007C0008091C00085FFFCCF295A2093C600089570

+:1007D00087E280939A0485E28093990490E2909353

+:1007E0009B0410929C0428E030E030939E042093F8

+:1007F0009D0483E28093A60481E28093A5049093F4

+:10080000A7041092A8043093AA042093A904089581

+:1008100008956091B20481E20E945007089568E053

+:100820008BE20E94500761E188E20E94500768E075

+:100830008FE20E94500761E18CE20E94500761E064

+:100840008FE20E9450071092E1011092E00165E0F2

+:1008500083E20E94500708950F931F938C0160E478

+:1008600080E20E945007F8016281605884E00E9493

+:100870005007F80182818093B1041F910F91089570

+:100880000F931F93CF93DF93EC01288539851216C0

+:100890001306DCF58E819F81821793071CF568E0B3

+:1008A00083E20E94500700E010E00FC08A859B851C

+:1008B000E80FF91F608181E20E9450078E819F81BD

+:1008C00001969F838E830F5F1F4FEE81FF81888586

+:1008D0009985083011051CF4E817F9073CF3E8176F

+:1008E000F90724F061E087E20E9450078B81813094

+:1008F00031F465E089810E9450071B8206C061E0E7

+:1009000089810E94500781E08B83DF91CF911F91F5

+:100910000F910895CF93DF93CDB7DEB724970FB62D

+:10092000F894DEBF0FBECDBFDC01FC012281338114

+:100930001092AC041092AB0481E08093A804832F42

+:1009400099278230D9F0833069F1813009F057C09E

+:100950008091850499279093AE048093AD0485E837

+:1009600094E09093B0048093AF04868197818034A3

+:10097000910509F044C088E090E029C0FD0186811E

+:1009800097819093AE048093AD04E22FFF27EE0F82

+:10099000FF1F8091970490919804E80FF91F8081C0

+:1009A000918129C02223C1F0E22FFF27EE0FFF1F04

+:1009B0008091F0019091F101E80FF91F0190F08111

+:1009C000E02DF093B004E093AF04808199279093D9

+:1009D000AE048093AD0413C094E0998383E08A83CE

+:1009E00089E08B839C8384E090E09093AE048093B5

+:1009F000AD04CE0101969093B0048093AF0485EAD4

+:100A000094E00E94400424960FB6F894DEBF0FBE17

+:100A1000CDBFDF91CF910895CF93DF9382E20E9403

+:100A20002B07C82FDD27C5FF1AC068E083E20E94AC

+:100A30005007C6FF10C02091AB043091AC048091E8

+:100A4000AD049091AE04281739072CF485EA94E0A0

+:100A50000E94400404C061E087E20E945007DF91D9

+:100A6000CF9108951F93CF93DF9388E00E942B07C7

+:100A7000182FC82FDD27C6FF18C060E085E00E9450

+:100A8000500760E884E00E94500760E080E20E9426

+:100A9000500768E083E20E94500761E087E20E940D

+:100AA000500762E085E00E945007C4FF04C060EC7C

+:100AB00089E00E94500717FF04C060ED89E00E94A2

+:100AC0005007DF91CF911F9108958AE00E942B0774

+:100AD000992780FF03C00E940C05089581FF0DC077

+:100AE0008AE20E942B0780917204813061F4E091C8

+:100AF0007504F09176040995089582E30E942B070E

+:100B00008AE30E942B0708958EE00E942B0768E07D

+:100B10008FE20E94500761E08FE20E94500720910F

+:100B2000AD043091AE048091A9049091AA0482177B

+:100B300093075CF468E083E20E94500761E087E27B

+:100B40000E94500781E08093A8040895AF92BF925D

+:100B5000CF92DF92EF92FF920F931F93CF93DF9389

+:100B6000CDB7DEB728970FB6F894DEBF0FBECDBF66

+:100B700086E20E942B0786FF7EC08E010F5F1F4F0B

+:100B8000580169E0C62ED12CCC0EDD1E809199044F

+:100B90000E942B07F80181938F017501EC15FD056B

+:100BA000A9F768E087E20E94500768E083E20E94AC

+:100BB000500780E20E942B078F77682F80E20E9407

+:100BC000500789819927807690708032910509F4C9

+:100BD00040C080349105D1F1892BF1F5F501818177

+:100BE0008630D9F0873048F48130F1F18130C8F097

+:100BF0008330D1F1853081F521C0893019F18A30F7

+:100C000018F4883049F505C08A3071F18B3021F530

+:100C100020C0C5010E94090427C0C5010E948A04A2

+:100C200023C068E083E20E94500761E081E20E94F5

+:100C3000500760E081E20E9450070BC0C5010E948E

+:100C40002C0412C0C5010E940F040EC0C5010E94F1

+:100C5000080765E083E206C080E20E942B07805807

+:100C6000682F80E20E945007F70180818823D1F429

+:100C700065E083E215C02091AD043091AE0480910F

+:100C8000A9049091AA048217930764F41092AE0409

+:100C90001092AD0468E083E20E94500761E087E2B1

+:100CA0000E94500728960FB6F894DEBF0FBECDBF46

+:100CB000DF91CF911F910F91FF90EF90DF90CF9038

+:100CC000BF90AF900895CF92DF92EF92FF920F9373

+:100CD0001F93CF93DF93CDB7DEB7C054D0400FB68C

+:100CE000F894DEBF0FBECDBF8CE00E942B07992782

+:100CF00080FF03C00E94A6057BC081FF2AC08EE250

+:100D00000E942B078DE20E942B0789838E010F5FC3

+:100D10001F4F6801FFE3EF2EF12CE00EF11E0F5F75

+:100D20001F4F0E941907F80180830E151F05B9F7A0

+:100D300080915401813031F4E0915701F0915801D4

+:100D4000C601099568E08FE20E94500761E08FE2DA

+:100D50002BC082FF2CC086E30E942B0785E30E94F4

+:100D60002B0789838E010F5F1F4F6801EFE3EE2E83

+:100D7000F12CE00EF11E0F5F1F4F0E941907F801C2

+:100D800080830E151F05B9F780915501813031F42C

+:100D9000E0915901F0915A01C601099568E087E395

+:100DA0000E94500761E087E30E94500721C083FF43

+:100DB0001FC08EE30E942B078E010F5F1F4F68013B

+:100DC00071E4E72EF12CEC0EFD1E8DE30E942B0743

+:100DD000F80181938F01EE15FF05B9F78091560157

+:100DE000813031F4E0915701F0915801C601099525

+:100DF000C05CDF4F0FB6F894DEBF0FBECDBFDF91F2

+:100E0000CF911F910F91FF90EF90DF90CF900895B9

+:100E10000895089581E080936A0080E18DBB83B3DB

+:100E2000876083BB84B3836084BB3F9A479A78947E

+:100E3000089588B1805888B984B322E0822784BBA2

+:100E40000000000080B198B1905898B994B39227EF

+:100E500094BB992708959FEF91B982B988B18058C2

+:100E600088B984B395E0892784BB88B1805888B954

+:100E700084B3892784BB000011B80E941907992701

+:100E8000089582B988B1805888B984B391E08927E0

+:100E900084BB88B1805888B984B3892784BB0895FE

+:100EA00082B98FEF81B988B1805888B984B395E051

+:100EB000892784BB88B1805888B984B3892784BBCB

+:100EC000862F0E9441070895089582E1809385044A

+:100ED00081E08093860480E191E090938804809380

+:100EE00087041092890410928A0410928B0488E07F

+:100EF00080938C0410928E0410928D0410929004B2

+:100F000010928F0410929204109291041092930404

+:100F10001092940410929504109296041092540129

+:100F2000109255011092560110927204109273049F

+:100F30001092740410927C0410927B041092EF01C2

+:100F40001092EE01089590938E0480938D04709317

+:100F5000900460938F0450939204409391040895F9

+:100F600090938E0480938D040895909390048093C1

+:100F70008F04089590939204809391040895809330

+:100F80008904089580938A04089580938B040895BA

+:100F9000CF93DF939C01CB01E0917B04F0917C0423

+:100FA00062E070E00E94BD190FC0A081B181828112

+:100FB000823039F4ED018D8199278217930709F466

+:100FC00068870780F085E02D309779F7DF91CF9122

+:100FD0000895CF93DF939C01E0917B04F0917C0412

+:100FE00014C0A081B1818281843061F48481992709

+:100FF0008217930739F4868199278617970711F48A

+:10100000ED014B830780F085E02D309751F7DF919C

+:10101000CF910895BF92CF92DF92EF92FF920F93FC

+:101020001F93CF93DF936C01162FF42EB22EC09135

+:101030007B04D0917C042097A1F489E090E00E9489

+:10104000C418FC0190937C0480937B04D182C082FD

+:10105000138310861782F282B4820583E68215C05C

+:10106000EC018F8198850097D9F789E090E00E9484

+:10107000C418FC0198878F83D182C0821383F282C7

+:10108000B4820583E68210861782DF91CF911F918B

+:101090000F91FF90EF90DF90CF90BF900895EF9267

+:1010A000FF921F93CF93DF937C01C091EE01D0910B

+:1010B000EF01209711F011E012C085E090E00E944E

+:1010C000C418FC019093EF018093EE01F182E0825D

+:1010D00012821482138210E012C01F5FEC018B8118

+:1010E0009C810097D1F785E090E00E94C418FC0134

+:1010F0009C838B83F182E082128314821382812F7E

+:101100009927DF91CF911F91FF90EF900895EF9273

+:10111000FF920F931F93CF93DF93E091EE01F09135

+:10112000EF0180E090E00380F481E02D019630979C

+:10113000D1F7880F991F0E94C4189093F1018093F2

+:10114000F0010091EE011091EF01E801E880F980D3

+:101150008A81C82FDD27CC0FDD1F8091F00190918F

+:10116000F101C80FD91FF701808199270E94C41887

+:101170009983888320E030E017C0E801EA81FF27E7

+:10118000EE0FFF1F8091F0019091F101E80FF91F20

+:101190000190F081E02DE20FF31FD701A20FB31FE2

+:1011A0008C9180832F5F3F4FF7018081992728170B

+:1011B00039071CF3E8018B819C81009711F08C01A9

+:1011C000C4CFDF91CF911F910F91FF90EF900895C1

+:1011D0004F925F926F927F928F929F92AF92BF9247

+:1011E000CF92DF92EF92FF920F931F93CF93DF93F3

+:1011F000E0917B04F0917C046624772409C082810D

+:10120000823019F40894611C711C0780F085E02D70

+:101210003097A9F74301880C991CC4010E94C41897

+:101220009093980480939704E1E0EE2EF12CAA2489

+:10123000BB2455C0E0917B04F0917C0479E0C72E7B

+:10124000D12C15C0A081B181848199278E159F056D

+:1012500019F48381C80ED11CED018D818E1521F406

+:101260008281823009F45D010780F085E02D30979E

+:1012700049F7009197041091980402501040080D0E

+:10128000191DC6010E94C418F8019183808320E0D3

+:1012900030E0E0919704F0919804E80DF91D329741

+:1012A0000190F081E02DE20FF31FD501A20FB31FD3

+:1012B0008C9180832F5F3F4F2930310551F7E091AA

+:1012C0009704F0919804E80DF91D32970190F08190

+:1012D000E02D8C2D875F82830894E11CF11C6E1435

+:1012E0007F040CF0A7CF61E0C62ED12C59E0A52ECB

+:1012F000B12C4424552442E0842E912CA1C0A0910D

+:101300007B04B0917C0412C0ED91FC911197818116

+:10131000823049F4858199278C159D0521F48481BB

+:10132000482E552405C0ED01AF81B885109761F7AF

+:1013300031E0E32EF12C79C060917B0470917C0444

+:101340006DC0FB01C081D1818981843009F063C007

+:10135000868199278E159F0509F05DC084819927A4

+:101360008C159D0509F057C0950140E050E0E091D3

+:101370009704F0919804E80DF91D32970190F081DF

+:10138000E02DE20FF31FDE01A40FB51F8C918083C7

+:101390002F5F3F4F4F5F5F4F4930510541F789E065

+:1013A00090E0A80EB91EC0917B04D0917C0431C09E

+:1013B0008A81853059F58C8199278C159D0531F5E9

+:1013C0008D8199278E159F0509F508811981950151

+:1013D00040E050E0E0919704F0919804E80DF91D89

+:1013E00032970190F081E02DE20FF31FD801A40F96

+:1013F000B51F8C9180832F5F3F4F4F5F5F4F47300A

+:10140000510541F7E7E0F0E0AE0EBF1E0F80D88532

+:10141000C02D209769F6EB016F8178856115710504

+:1014200009F08FCF0894E11CF11C4E145F040CF0FE

+:1014300083CF0894C11CD11CE2E0F0E08E0E9F1E09

+:101440006C147D040CF05BCFDF91CF911F910F9155

+:10145000FF90EF90DF90CF90BF90AF909F908F90D4

+:101460007F906F905F904F9008956F927F928F92D0

+:101470009F92AF92BF92CF92DF92EF92FF920F9323

+:10148000CF93DF935C013B014901E0917B04F09134

+:101490007C0416C0A081B18184819927A816B90661

+:1014A00061F4868199278615970539F48281843005

+:1014B00021F4ED018C818F5F8C830780F085E02D16

+:1014C000309741F787E090E00E94C418FC0187E064

+:1014D000808385E0818382820383F582E482C682F1

+:1014E000EE24062D2A2D45E067E0CF010E940A0870

+:1014F000DF91CF910F91FF90EF90DF90CF90BF9051

+:10150000AF909F908F907F906F900895AF92BF9211

+:10151000CF92DF92EF92FF920F93FC01A114B104DE

+:1015200001F14230510571F04330510599F04130DD

+:101530005105B9F481E080937204B0927604A092D0

+:1015400075040FC081E080937304B0927804A09278

+:10155000770407C081E080937404B0927A04A0926B

+:10156000790420583F4FCF010E94350A0F91FF9018

+:10157000EF90DF90CF90BF90AF900895AF92BF9261

+:10158000CF92DF92EF92FF920F93FC014230510510

+:1015900071F04330510599F041305105B9F481E0C3

+:1015A00080935401B0925801A09257010FC081E07E

+:1015B00080935501B0925A01A092590107C081E071

+:1015C00080935601B0925C01A0925B01CF010E9412

+:1015D000350A0F91FF90EF90DF90CF90BF90AF90C2

+:1015E0000895CF92DF92EF920F931F93CF93DF93E3

+:1015F0006C018B01A0917B04B0917C04C0E0D0E031

+:1016000014C02D913C911197F90185818C1551F4ED

+:10161000FD018281823031F4F90184818F5F8483FE

+:10162000C82FDD27FD01A781B085109751F789E00C

+:1016300090E00E94C418FC0189E0808384E08183EB

+:101640000283138214821582168217821086EC2E72

+:1016500000E02C2D44E069E0CF010E940A08CE0191

+:10166000DF91CF911F910F91EF90DF90CF90089570

+:10167000BF92CF92DF92EF92FF920F931F93CF937F

+:10168000DF936C017B01142FB22EA0917B04B091EB

+:101690007C04C0E0D0E014C02D913C911197F90179

+:1016A00085818C1551F4FD018281823031F4F9017C

+:1016B00084818F5F8483C82FDD27FD01A781B085DA

+:1016C000109751F789E090E00E94C418FC0189E06E

+:1016D000808384E08183E282138214821583B68240

+:1016E00007831086EC2E00E02C2D44E069E0CF014A

+:1016F0000E940A08CE01DF91CF911F910F91FF90B8

+:10170000EF90DF90CF90BF900895EF920F931F93CB

+:10171000109196041F5F1093960489E090E00E9458

+:10172000C418FC0189E0808389E090E09383828380

+:1017300082E0818314821583168280EA87838AE19E

+:101740008087EE2400E020E042E069E0CF010E94C3

+:101750000A08812F99271F910F91EF900895CF9339

+:10176000DF93EC01FC0101900020E9F7E81BF90B85

+:10177000CF01880F991F0E94C4189C01FE0101909F

+:101780000020E9F7EC1BFD0BEE0FFF1FDC01EC93D3

+:1017900083E0F901818340E050E009C0FE01E40FDD

+:1017A000F51F80818C93FD0111824F5F5F4F129670

+:1017B000FE0101900020E9F73197EC1BFD0B4E175D

+:1017C0005F0760F3C9010E944F089927DF91CF910D

+:1017D0000895EF92FF920F931F93CF93DF938C01A5

+:1017E0007B01CA010E94AF0B9C01E0917B04F09148

+:1017F0007C0414C0A081B1818281843061F4848131

+:1018000099278017910739F4868199278E159F05AE

+:1018100011F4ED0128870780F085E02D309751F70E

+:10182000DF91CF911F910F91FF90EF9008950F934B

+:101830001F93CF93DF938C01CB010E94AF0B9C01D0

+:10184000E0917B04F0917C040FC0A081B181828182

+:10185000823039F4ED018D8199278017910709F4C1

+:101860002E830780F085E02D309779F7DF91CF91B7

+:101870001F910F9108950E94AF0B1816190614F4CA

+:101880008093950408950E94AF0B1816190614F45E

+:101890008093940408950E94AF0B1816190614F44F

+:1018A0008093930408951F9386E00E942B07992745

+:1018B00086FF03C00E9463060EC082FF03C00E9421

+:1018C000650509C081FF03C00E94320504C084FF82

+:1018D00002C00E94840587E00E942B07182F60E059

+:1018E00087E00E945007612F87E00E9450071F91F8

+:1018F00008950E94E8080E9487080E94E80361E0BA

+:1019000080E00E94500780E00E942B0780FDFBCF03

+:1019100062E081E00E94500760E884E00E94500786

+:1019200060E480E20E94500768E083E20E94500772

+:1019300069E087E20E9450076FE08DE00E94500747

+:101940006FE08BE00E94500768ED89E00E9450072D

+:1019500063E38FE00E94500766ED87E00E94500726

+:1019600062E085E00E9450076CEC80E00E94500726

+:1019700008958EEC80935D0181E080936E008091EC

+:101980005D0186BD83E084BD08950895089583E0D8

+:101990008093320381E0809333038BE080933403A0

+:1019A0002FE62093350393E69093360384E78093E4

+:1019B0003703209338039093390381E680933A03E9

+:1019C0008EE680933B038FE580933C0380E3809316

+:1019D0003D0381E380933E0310923F038EE090E04D

+:1019E0000E949C010895FC018081833011F40E94C3

+:1019F000C70C0895CF93DF93C1E0D0E08C2F0E94F5

+:101A00000B0E2196C431D105C9F7CAE1D0E08C2F65

+:101A10000E940B0E2196CD32D105C9F7DF91CF91EF

+:101A20000895CF93DF93DC01EC01EA81FB812191E2

+:101A30008E81815019F48981E81BF109ED01FB8346

+:101A4000EA838E839FB7F8948C9181508C939FBFCB

+:101A5000822F9927DF91CF910895FC011082758321

+:101A60006483738362834183478346830895CF935E

+:101A7000DF93DC019C91ED018981981718F080E0DB

+:101A800090E016C0ED01EC81FD8161938F81815062

+:101A900019F48981E81BF109ED018F83FD83EC8343

+:101AA0009FB7F8948C918F5F8C939FBF81E090E0FB

+:101AB000DF91CF910895FC0180818823E9F3CF0164

+:101AC0000E94110D99270895FC018081882319F443

+:101AD0008FEF9FEF0895CF010E94110D9927089570

+:101AE00081E090E0089581E090E0089581E090E049

+:101AF000089581E090E00895CF93DF93CDB7DEB7EE

+:101B000022970FB6F894DEBF0FBECDBF282F8150AD

+:101B1000833120F08951833108F06EC0E22FFF2716

+:101B2000EE0FFF1FE35AFE4F82E090E09283818325

+:101B3000822F9927AA27BB27FC013197EC32F105A8

+:101B400008F05AC0E65BFF4FEE0FFF1F0590F491BF

+:101B5000E02D09946D9A47C06E9A49C06F9A43C0B0

+:101B6000209A45C0219A3FC0229A41C0239A3BC087

+:101B7000249A3DC0259A37C0269A39C0279A33C087

+:101B8000509A35C0519A2FC0529A31C0539A2BC0E7

+:101B9000549A2DC0559A27C0569A29C0579A23C0E7

+:101BA000389A25C0399A1FC03A9A21C03B9A1BC067

+:101BB0003C9A1DC03D9A17C03E9A19C0879A13C01F

+:101BC000869A15C0859A0FC0849A11C0839A0BC05B

+:101BD000829A0DC0819A07C0809A09C0689A03C092

+:101BE000699A05C06A9A81E090E008C06B9AE1E0CA

+:101BF000F0E0FA83E98304C084E090E09A8389836B

+:101C000089819A8122960FB6F894DEBF0FBECDBFB0

+:101C1000DF91CF910895982F8150833130F0895111

+:101C2000833118F084E090E00895892F0E947C0DA4

+:101C300081E090E00895CF93DF93CDB7DEB7229790

+:101C40000FB6F894DEBF0FBECDBF282F8150833171

+:101C500020F08951833108F06EC0E22FFF27EE0F8C

+:101C6000FF1FE35AFE4F81E090E092838183822F31

+:101C70009927AA27BB27FC013197EC32F10508F020

+:101C80005AC0EA58FF4FEE0FFF1F0590F491E02D68

+:101C900009946D9847C06E9849C06F9843C02098CA

+:101CA00045C021983FC0229841C023983BC024984A

+:101CB0003DC0259837C0269839C0279833C0509822

+:101CC00035C051982FC0529831C053982BC05498AA

+:101CD0002DC0559827C0569829C0579823C03898CA

+:101CE00025C039981FC03A9821C03B981BC03C982A

+:101CF0001DC03D9817C03E9819C0879813C086989C

+:101D000015C085980FC0849811C083980BC0829825

+:101D10000DC0819807C0809809C0689803C0699871

+:101D200005C06A9881E090E008C06B98E1E0F0E0BF

+:101D3000FA83E98304C084E090E09A8389838981EF

+:101D40009A8122960FB6F894DEBF0FBECDBFDF9109

+:101D5000CF910895FB011082833091F0843028F4F4

+:101D6000813051F0823029F409C0843059F0853037

+:101D700059F085E090E0089583B107C086B105C0B1

+:101D800089B103C08CB101C08FB1808381E090E044

+:101D90000895833091F0843028F4813051F08230FE

+:101DA00029F409C0843059F0853069F084E090E06E

+:101DB000089565B905C068B903C06BB901C06EB9B3

+:101DC00081E090E0089561BB81E090E00895282FC4

+:101DD000E82FFF27EE0FFF1FE35AFE4F818192810C

+:101DE000029719F086E090E00895822F9927AA279C

+:101DF000BB27FC013197EC32F10540F4EE55FF4F63

+:101E0000EE0FFF1F0590F491E02D099484E090E01F

+:101E10000895662311F0759ADDC07598DBC06623BE

+:101E200011F0769AD7C07698D5C0662311F0779ACC

+:101E3000D1C07798CFC0662311F0289ACBC02898DC

+:101E4000C9C0662311F0299AC5C02998C3C066236A

+:101E500011F02A9ABFC02A98BDC0662311F02B9AB0

+:101E6000B9C02B98B7C0662311F02C9AB3C02C9838

+:101E7000B1C0662311F02D9AADC02D98ABC066237A

+:101E800011F02E9AA7C02E98A5C0662311F02F9AA4

+:101E9000A1C02F989FC0662311F0589A9BC05898F4

+:101EA00099C0662311F0599A95C0599893C066233A

+:101EB00011F05A9A8FC05A988DC0662311F05B9A20

+:101EC00089C05B9887C0662311F05C9A83C05C98D8

+:101ED00081C0662311F05D9A7DC05D987BC066234A

+:101EE00011F05E9A77C05E9875C0662311F05F9A14

+:101EF00071C05F986FC0662311F0409A6BC0409824

+:101F000069C0662311F0419A65C0419863C0662399

+:101F100011F0429A5FC042985DC0662311F0439A67

+:101F200059C0439857C0662311F0449A53C044984F

+:101F300051C0662311F0459A4DC045984BC06623A9

+:101F400011F0469A47C0469845C0662311F08F9A13

+:101F500041C08F983FC0662311F08E9A3BC08E9887

+:101F600039C0662311F08D9A35C08D9833C0662331

+:101F700011F08C9A2FC08C982DC0662311F08B9A8B

+:101F800029C08B9827C0662311F08A9A23C08A98AB

+:101F900021C0662311F0899A1DC089981BC0662351

+:101FA00011F0889A17C0889815C0662311F0709AAE

+:101FB00011C070980FC0662311F0719A0BC0719810

+:101FC00009C0662311F0729A05C0729803C0662397

+:101FD00021F0739A81E090E00895739881E090E099

+:101FE00008951F93182F8150833130F08951833128

+:101FF00018F084E090E013C0E12FFF27EE0FFF1FE1

+:10200000E35AFE4F83E090E092838183812F0E9408

+:102010007C0D61E0812F0E94E70E81E090E01F912E

+:102020000895CF93DF93282FEB011882E82FFF2725

+:10203000EE0FFF1FE35AFE4F81819281019719F045

+:1020400086E090E089C0822F9927AA27BB27FC0150

+:102050003197EC32F10540F4E253FF4FEE0FFF1FD2

+:102060000590F491E02D099484E090E075C0659BA3

+:1020700071C06EC0669B6EC06BC0679B6BC068C052

+:10208000189B68C065C0199B65C062C01A9B62C07E

+:102090005FC01B9B5FC05CC01C9B5CC059C01D9B8C

+:1020A00059C056C01E9B56C053C01F9B53C050C042

+:1020B000489B50C04DC0499B4DC04AC04A9B4AC036

+:1020C00047C04B9B47C044C04C9B44C041C04D9B44

+:1020D00041C03EC04E9B3EC03BC04F9B3BC038C042

+:1020E000309B38C035C0319B35C032C0329B32C0C6

+:1020F0002FC0339B2FC02CC0349B2CC029C0359BD4

+:1021000029C026C0369B26C023C07F9B23C020C089

+:102110007E9B20C01DC07D9B1DC01AC07C9B1AC029

+:1021200017C07B9B17C014C07A9B14C011C0799B49

+:1021300011C00EC0789B0EC00BC0609B0BC008C0C6

+:10214000619B08C005C0629B05C002C0639B02C0C2

+:1021500081E0888381E090E0DF91CF910895CF9373

+:10216000DF93CDB7DEB721970FB6F894DEBF0FBE71

+:10217000CDBF9BE190933203BE016F5F7F4F0E9402

+:1021800011108093330389818093340383E090E0BE

+:102190000E949C0121960FB6F894DEBF0FBECDBF02

+:1021A000DF91CF9108959AE1909332030E94E70E58

+:1021B000809333031092340383E090E00E949C01EB

+:1021C000089598E1909332030E94C90E80933303DF

+:1021D0001092340383E090E00E949C010895982FB0

+:1021E00089E180933203933099F0943028F4913050

+:1021F00059F0923029F40AC0943061F0953061F0C2

+:1022000085E090E020E00BC023B107C026B105C0F7

+:1022100029B103C02CB101C02FB181E090E08093BF

+:1022200033032093340383E090E00E949C010895DF

+:1022300097E1909332030E94F10F80933303109241

+:10224000340383E090E00E949C01089595E190930F

+:1022500032030E941B0E809333031092340383E0F9

+:1022600090E00E949C01089596E1909332030E94B1

+:102270007C0D809333031092340383E090E00E943E

+:102280009C01089584E18093320381E080933303BD

+:102290001092340383E090E00E949C01089582E153

+:1022A0008093320381E0809333031092340383E000

+:1022B00090E00E949C01089583E18093320381E0C5

+:1022C000809333031092340383E090E00E949C01DA

+:1022D000089580E18093320381E08093330310926C

+:1022E000340383E090E00E949C01089591E1909373

+:1022F00032030E940B0E809333031092340383E069

+:1023000090E00E949C010895FC0180818531C9F113

+:10231000863180F4823131F1833130F48031D1F073

+:10232000813109F04CC01AC0833109F1843109F0C0

+:1023300046C022C0883189F1893128F4863129F1DB

+:102340008731E9F526C08A3189F18A3158F18B311C

+:10235000B1F531C082810E946911089582810E9485

+:1023600076110895638182810E944F1108956381DF

+:1023700082810E945C110895638182810E944211D2

+:10238000089582810E942611089582810E9434114D

+:10239000089582810E9418110895638182810E94AC

+:1023A000E110089582810E94EF1008956381828177

+:1023B0000E94D310089582810E94AF1008958093E7

+:1023C000320383E0809333031092340383E090E080

+:1023D0000E949C010895FC018197089718F084E001

+:1023E00090E00895EE0FFF1FE35AFE4F84E090E067

+:1023F0009283818381E090E0089510927C00823086

+:10240000910541F08330910569F0019741F082E038

+:1024100090E0089580917C00806480937C0081E04E

+:1024200090E0089580917C00806C80937C0081E036

+:1024300090E0089593E890937A0090917C00907FCB

+:10244000982B90937C0080917A00806480937A002E

+:1024500080917A0086FDFCCF809178009091790080

+:1024600020E030E040E050E080917A00806480938A

+:102470007A0080917A0086FDFCCF8091780090915F

+:102480007900480F591F2F5F3F4F2430310561F706

+:1024900080917A008F7780937A00CA01969587950C

+:1024A000969587950895CF93DF939C01EB01198250

+:1024B0001882FC01EE0FFF1FE35AFE4F81819281CB

+:1024C000049719F086E090E03CC02432310541F1D8

+:1024D0002532310554F42232310541F123323105E0

+:1024E00014F52132310569F424C02632310591F00A

+:1024F0002632310594F02732310549F02832310572

+:1025000019F087E090E01DC080E090E014C081E009

+:1025100090E011C082E090E00EC083E090E00BC03C

+:1025200084E090E008C085E090E005C086E090E09F

+:1025300002C087E090E00E941A129983888381E0AC

+:1025400090E0DF91CF91089522E2209332030E9420

+:10255000FD118093330382E090E00E949C01089576

+:10256000CF93DF93CDB7DEB722970FB6F894DEBFD7

+:102570000FBECDBF21E220933203BE016F5F7F4FBC

+:102580000E9453128093330329813A81832F992724

+:10259000809334032093350384E090E00E949C01F3

+:1025A00022960FB6F894DEBF0FBECDBFDF91CF915C

+:1025B000089520E2209332030E94EB1180933303AD

+:1025C0001092340383E090E00E949C010895FC0186

+:1025D0008081813249F0823261F0803279F48281E7

+:1025E00099270E94D9120895828199270E94B012DA

+:1025F0000895828199270E94A4120895809332033E

+:1026000083E0809333031092340383E090E00E94D0

+:102610009C0108958091B9009927887F9070089552

+:102620008091BC0087FFFCCF0895ECEBF0E0808147

+:10263000846080838BE090E09093770180937601B3

+:102640008CE090E0909379018093780181E090E0B4

+:102650000895ECEBF0E080818B7F808382E090E056

+:10266000909377018093760190937901809378011C

+:1026700081E090E008958130910511F48CE00BC069

+:102680008230910511F488E106C0039719F082E0C9

+:1026900090E0089588E48093B8008091B9008C7F21

+:1026A0008093B9008091B9008093B90081E090E0F7

+:1026B00008958091B90084EA8093BC008091BC00A9

+:1026C00087FFFCCF81E090E0089584E98093BC000F

+:1026D00081E090E008958093BB0084E88093BC0083

+:1026E0008091BC0087FFFCCF80E090E0089584E8F3

+:1026F0008093BC008091BC0087FFFCCF8091BB0021

+:102700009927089585E38093320381E08093330312

+:102710008093340384E88093BC008091BC0087FFE1

+:10272000FCCF8091BB008093350385E090E00E9450

+:102730009C01089540E050E00FC0F901E40FF51F3F

+:1027400080818093BB0084E88093BC008091BC00B2

+:1027500087FFFCCF4F5F5F4F4617570774F384E343

+:102760008093320381E0809333031092340383E03B

+:1027700090E00E949C01089587E38093320384E9EE

+:102780008093BC0081E0809333031092340383E094

+:1027900090E00E949C01089586E38093320380912B

+:1027A000B90084EA8093BC008091BC0087FFFCCF15

+:1027B00081E0809333031092340383E090E00E9421

+:1027C0009C01089522E3209332030E943B138093DF

+:1027D00033031092340383E090E00E949C0108953B

+:1027E00081E380933203ECEBF0E080818B7F808388

+:1027F00082E090E090937701809376019093790145

+:102800008093780181E0809333031092340383E056

+:1028100090E00E949C01089580E380933203ECEBEA

+:10282000F0E08081846080838BE090E0909377017A

+:10283000809376018CE090E0909379018093780109

+:1028400081E0809333031092340383E090E00E9490

+:102850009C010895FC0180818433D9F0853338F4DC

+:10286000813379F0823381F0803389F507C0863374

+:1028700041F18633D8F0873351F526C00E940C14FD

+:1028800008950E94F0130895828199270E94E2130F

+:102890000895428155276181772764507040838174

+:1028A00034969F0199270E949A13089542815527D3

+:1028B0006181772764507040838199270E94821339

+:1028C00008950E94CC1308950E94BC13089580932C

+:1028D000320383E0809333031092340383E090E06B

+:1028E0000E949C01089585B1817F85B9239886E077

+:1028F00084B91CBC1DBC83E58CBD88E090E090933E

+:102900006901809368018AE090E090936B01809365

+:102910006A0189E090E090936D0180936C0181E001

+:1029200090E008951CBC1DBC82E090E0909369018A

+:102930008093680190936B0180936A0190936D017D

+:1029400080936C0181E090E00895089581E090E02B

+:102950000895AC0120E030E00AC0FA01E20FF31F55

+:1029600080818EBD0DB407FEFDCF2F5F3F4F261730

+:1029700037079CF381E090E00895DC0120E030E02F

+:1029800040E050E015C01EBC09C04F5F5F4F83E0C0

+:10299000493E58071CF088E090E008950DB407FE0A

+:1029A000F4CFFD01E20FF31F8EB580832F5F3F4F01

+:1029B0002617370744F381E090E00895CF93DF9323

+:1029C000EC0120E030E0A0E0B0E018C0FE01E20F32

+:1029D000F31F80818EBD08C0119683E0A93EB80721

+:1029E0001CF088E090E00FC00DB407FEF5CFFB01AE

+:1029F000E20FF31F8EB580832F5F3F4F24173507FB

+:102A00002CF381E090E0DF91CF9108950F931F9315

+:102A10008B0123E420933203AB0164E373E00E9453

+:102A2000DE148093330310923403C80102960E948F

+:102A30009C011F910F9108950F931F938C0184E4C3

+:102A400080933203B80184E393E00E94BD14809325

+:102A5000330310923403C80102960E949C011F9117

+:102A60000F91089523E4209332030E94A9148093C8

+:102A700033031092340383E090E00E949C01089598

+:102A800081E4809332030E94921480933303109266

+:102A9000340383E090E00E949C01089580E48093D9

+:102AA00032030E947314809333031092350383E042

+:102AB00090E00E949C010895CF93DF93EC01888100

+:102AC0008334A1F0843438F4813469F0823458F5C9

+:102AD0008034F1F405C0843481F08534C9F411C028

+:102AE0000E944E1520C00E9440151DC069817727A5

+:102AF000CE0102960E94321516C0898199270E9444

+:102B00001C1569817727CE0102960E9406150BC01D

+:102B10008093320383E0809333031092340383E085

+:102B200090E00E949C01DF91CF910895209A219A14

+:102B3000229A2398249A259A2C982D9882E090E046

+:102B40009093850180938401909383018093820107

+:102B5000909381018093800181E090E090937F01C8

+:102B600080937E01089582E090E0909369018093C4

+:102B7000680190936B0180936A0190936D0180933B

+:102B80006C0181E090E00895289829982A9880E2C5

+:102B90009EE40197F1F7289A8AE0982F9A95F1F729

+:102BA0002A9A299A8A95F1F70895282F299887FD5E

+:102BB00002C02A9801C02A9A8AE0982F9A95F1F7C4

+:102BC000299A8A95F1F7299826FF02C02A9A01C00E

+:102BD0002A988AE0982F9A95F1F7299A8A95F1F721

+:102BE0000895282F220F30E0299827FF02C02A9A43

+:102BF00001C02A988AE0982F9A95F1F7299A8A9528

+:102C0000F1F73F5F373011F0220FEECF0895282FF4

+:102C100030E0299827FF02C02A9A01C02A988AE04A

+:102C2000982F9A95F1F7299A8A95F1F73F5F3830F6

+:102C300011F0220FEECF089529982A988AE0982F54

+:102C40009A95F1F7299A982F9A95F1F7299828984B

+:102C5000982F9A95F1F7299A982F9A95F1F7299834

+:102C60008A95F1F7289A80E090E0089529982898AD

+:102C70002A982B9A08950E94C41580E30E94D515C6

+:102C800080E60E94F11508950E94C41580E00E941C

+:102C9000D51580E00E94F1150E94361608950F9315

+:102CA0001F93182F062F0E94C41580E40E94D5158B

+:102CB000812F0E94F115802F0E94071681E090E07D

+:102CC0001F910F9108951F93182F0E94C41580EC37

+:102CD0000E94D515812F0E94F1150E941C1699277C

+:102CE0001F91089529988AE08A95F1F72A9830E093

+:102CF00090E0990F299A2AE0822F8A95F1F7299876

+:102D00001B999F5F822F8A95F1F73F5F383089F7D3

+:102D10002898299A822F8A95F1F7289A29982A9536

+:102D2000F1F7892F992708951F93182F0E94C41532

+:102D300080E80E94D515812F0E94F1150E9472161D

+:102D400099271F910895DF92EF92FF920F931F939F

+:102D5000CF93DF93D82E7B018A01C0E0D0E009C079

+:102D60008D2D8C0F0E949416F801EC0FFD1F8083AF

+:102D70002196CE15DF05A1F781E090E0DF91CF919C

+:102D80001F910F91FF90EF90DF9008950F931F9385

+:102D9000082F162F0E943B16612F802F0E944F167E

+:102DA00081E090E01F910F910895DF92EF92FF92E2

+:102DB0000F931F93CF93DF93D82E7B018A01C0E03E

+:102DC000D0E009C0F801EC0FFD1F60818D2D8C0F44

+:102DD0000E94C6162196CE15DF05A1F781E090E08E

+:102DE000DF91CF911F910F91FF90EF90DF900895A9

+:102DF00094E0909332030E94D5168093330310928F

+:102E0000340383E090E00E949C0108950F931F9388

+:102E10008B0193E09093320344E353E00E94A316A6

+:102E200080933303C80102960E949C011F910F9169

+:102E3000089582E08093320382E090E090936901EC

+:102E40008093680190936B0180936A0190936D0168

+:102E500080936C0181E0809333031092340383E00C

+:102E600090E00E949C01089581E0809332030E94CB

+:102E70009615809333031092340383E090E00E9410

+:102E80009C010895FC018381823069F0833018F43D

+:102E90008130F1F405C0833049F08430C9F40FC0AB

+:102EA0000E94341708950E9419170895AF014A5FD0

+:102EB0005F4F6581772784810E9406170895AF01CF

+:102EC0004A5F5F4F6581772784810E94F8160895D5

+:102ED00080818093320383E0809333031092340324

+:102EE00083E090E00E949C0108951F920F920FB61C

+:102EF0000F9211240F900FBE0F901F9018959C01F8

+:102F00000897029718F084E090E00895F901EE0F19

+:102F1000FF1FE35AFE4F8DE090E0928381832830BB

+:102F20003105B1F02930310519F087E090E00895BE

+:102F3000259A81E090E0909389008093880081E851

+:102F40008093800089E08093810081E090E0089583

+:102F5000249A81E08093B30089E68093B00081E0F9

+:102F600090E008959C01FC01EE0FFF1FE35AFE4F15

+:102F7000818192810D9719F086E090E008952830C4

+:102F8000310539F12930310519F087E090E00895D5

+:102F900063307105B1F06430710544F4613071053E

+:102FA00061F06230710509F040C009C064307105FC

+:102FB00051F065307105C9F508C081E007C082E0B5

+:102FC00005C083E003C084E001C085E080938100F8

+:102FD00029C064307105E9F06530710554F4623040

+:102FE000710599F06330710594F461307105E9F46D

+:102FF0000AC06630710589F06630710564F067308B

+:10300000710599F40CC089E60BC08AE609C08BE60D

+:1030100007C08CE605C08DE603C08EE601C08FE6D2

+:103020008093B00081E090E0089581E090E0089501

+:103030009C01FC01EE0FFF1FE35AFE4F818192813C

+:103040000D9719F086E090E008952830310569F079

+:103050002930310519F087E090E0089570938900D8

+:103060006093880081E090E008956093B30081E070

+:1030700090E0089523E5209332030E94181880936E

+:1030800033031092340383E090E00E949C01089582

+:1030900022E5209332030E94B217809333031092EB

+:1030A000340383E090E00E949C01089520E5209382

+:1030B00032030E947F17809333031092340383E01E

+:1030C00090E00E949C0108959C01FC01EE0FFF1FFF

+:1030D000E35AFE4F82E090E09283818328303105ED

+:1030E00031F02930310531F086E090E008951092FA

+:1030F000B00004C01092810010928000822F0E94C4

+:103100007C0D81E090E0089521E5209332030E9438

+:103110006418809333031092340383E090E00E949C

+:103120009C010895FC018081813579F0823518F485

+:103130008035F1F405C0823569F08335C9F411C0DA

+:10314000828199270E9456180895828199270E94AA

+:103150008418089563817727828199270E944818EF

+:10316000089563817727828199270E943A180895EC

+:103170008093320383E0809333031092340383E01F

+:1031800090E00E949C010895CF93DF93AC010297D9

+:1031900010F442E050E0A091B704B091B804FD01F2

+:1031A000C0E0D0E020E030E020C080819181841731

+:1031B000950769F482819381209719F09B838A8314

+:1031C00004C09093B8048093B704CF0132C048176D

+:1031D000590738F42115310519F08217930708F4BF

+:1031E0009C01EF010280F381E02D3097F1F621156B

+:1031F000310589F1C901841B950B049708F4A901D5

+:10320000E0E0F0E026C08D919C9111978217930722

+:10321000E9F44817590779F4ED018A819B813097C9

+:1032200019F09383828304C09093B8048093B70409

+:10323000CD01029649C0841B950BFD01E80FF91FD3

+:103240004193519302978D939C933AC0FD01A281C3

+:10325000B3811097C1F68091B5049091B604892B83

+:1032600041F480915001909151019093B604809364

+:10327000B50420915201309153012115310541F4DB

+:103280002DB73EB780914E0190914F01281B390B0D

+:10329000E091B504F091B6042E1B3F0B24173507BF

+:1032A00088F0CA0102962817390760F0CF01840F11

+:1032B000951F02969093B6048093B5044193519361

+:1032C000CF0102C080E090E0DF91CF910895CF93CD

+:1032D000DF93009709F44EC0EC0122971B821A82FB

+:1032E000A091B704B091B804109711F140E050E0FC

+:1032F00001C0DC01AC17BD0700F1BB83AA83FE014E

+:1033000021913191E20FF31FEA17FB0771F42E5F51

+:103310003F4F8D919C911197820F931F99838883C2

+:10332000FD01828193819B838A834115510559F464

+:10333000D093B804C093B7041DC0FD01828193816E

+:10334000AD010097B1F6FA01D383C2832191319187

+:10335000E20FF31FEC17FD0769F42E5F3F4F8881E2

+:103360009981820F931FFA01918380838A819B81C7

+:1033700093838283DF91CF91089597FB092E0726CF

+:103380000AD077FD04D027D006D000201AF470951B

+:1033900061957F4F0895F6F7909581959F4F089519

+:1033A00097FB092E05260ED057FD04D028D00AD051

+:1033B000001C38F450954095309521953F4F4F4F64

+:1033C0005F4F0895F6F790958095709561957F4FC2

+:1033D0008F4F9F4F0895AA1BBB1B51E107C0AA1F27

+:1033E000BB1FA617B70710F0A61BB70B881F991FA6

+:1033F0005A95A9F780959095BC01CD010895A1E259

+:103400001A2EAA1BBB1BFD010DC0AA1FBB1FEE1F5E

+:10341000FF1FA217B307E407F50720F0A21BB30BA9

+:10342000E40BF50B661F771F881F991F1A9469F725

+:1034300060957095809590959B01AC01BD01CF0181

+:023440000895ED

+:10344200456D62656464656450726F6A6563747326

+:10345200004F63746F70757355534220496E7465E3

+:10346200726661636520436F6E7665727465722061

+:10347200616E6420492F4F20457874656E73696FC1

+:103482006E0032303038313130380009040020000B

+:04349200B904000079

+:00000001FF

diff --git a/firmware/octopus.hex b/firmware/octopus.hex
new file mode 100644
index 0000000..1dde146
--- /dev/null
+++ b/firmware/octopus.hex
@@ -0,0 +1,830 @@
+:100000000C94CA000C94E7000C94E7000C94E700F1

+:100010000C94E7000C94D8020C94E7000C94E700D1

+:100020000C94E7000C94E7000C94E7000C94E700B4

+:100030000C9483170C94E7000C94E7000C94E700F1

+:100040000C94B1020C94E7000C94E9000C94E700C6

+:100050000C94E7000C94E7000C94E7000C94E70084

+:100060000C94E7000C94E7000C94E7000C94E70074

+:100070000C94E7000C94E7000C94E7000C94E70064

+:100080000C94E7000C94E7000C94E7005D0D5F0D05

+:10009000610D630D650D670D690D6B0D6D0D6F0DB8

+:1000A000710D730D750D770D790D7B0D7D0D7F0D28

+:1000B000810DC30DC30DC30DC30DC30DC30D830D42

+:1000C000850D870D890D8B0D8D0D8F0D910D950D66

+:1000D000990D9F0DA30DA70DAB0DAF0DB50DB70D70

+:1000E000B90DBD0D0D0E0F0E110E130E150E170EC0

+:1000F000190E1B0E1D0E1F0E210E230E250E270E90

+:10010000290E2B0E2D0E2F0E310E730E730E730E45

+:10011000730E730E730E330E350E370E390E3B0E03

+:100120003D0E3F0E410E450E490E4F0E530E570E1B

+:100130005B0E5F0E650E670E690E6D0EAF0EB50E8F

+:10014000BB0EC10EC70ECD0ED30ED90EDF0EE50EBF

+:10015000EB0EF10EF70EFD0E030F090F0F0F150F2B

+:100160001B0FAC0EAC0EAC0EAC0EAC0EAC0E210FD9

+:10017000270F2D0F330F390F3F0F450F4B0F550F23

+:10018000610F6B0F750F7F0F890F930F9D0FA30FDB

+:10019000A90FAF0F11241FBECFEFD0E1DEBFCDBF3F

+:1001A00011E0A0E0B1E0E4E6F3E300E00BBF02C041

+:1001B00007900D92A435B107D9F714E0A4E5B1E09A

+:1001C00001C01D92A93BB107E1F70C94F3000C9418

+:1001D00000001F920F920FB60F9211240F900FBEC6

+:1001E0000F901F901895CCEFD0E1DEBFCDBF8FEF01

+:1001F00087BB88BBC7980E94270781E897E10E94C8

+:10020000720785E69CE00E94770781E090E00E94FB

+:100210007C07DE011196EBE4F1E083E001900D92A2

+:100220008150E1F7CE0101960E94710B80E091E0D0

+:100230000E940D0C81E191E00E94050C82E491E0A6

+:100240000E94FD0B0E94470B4C0164E670E00E9487

+:100250008A0760E070E0C4010E94B30A3C0140E0FC

+:1002600050E0BC01C4010E94AB0720ECA22E21E0AB

+:10027000B22ECC24DD2490E4E92EF12C02E021E022

+:1002800030E041E050E0B301C4010E94480A87E435

+:10029000A82E82E0B82E21E030E041E050E0B3012A

+:1002A000C4010E94800A0E94C1061092E1011092CE

+:1002B000E0011092E3011092E2010E943B0C8FEFEB

+:1002C00084BB8AEA85BB0E94FC0285ED85BB0E9447

+:1002D000FC0280E885BBFFCF0F931F93CF93DF9382

+:1002E000EC0181349105B0F08091EC019091ED0129

+:1002F000892B81F41092E9011092E801D093EB016F

+:10030000C093EA0181E090E09093ED018093EC01CD

+:10031000C0E4D0E068E08BE20E94100700E010E04B

+:100320000EC0E091E801F091E901E00FF11FEE5CF1

+:10033000FC4F608189E20E9410070F5F1F4F0C176E

+:100340001D0779F78091E0019091E101019749F44F

+:1003500067E08BE20E9410071092E1011092E00129

+:100360000AC063E08BE20E94100781E090E0909366

+:10037000E1018093E001DF91CF911F910F910895EA

+:100380008091EC019091ED01019771F52091E801C8

+:100390003091E9018091EA019091EB01281739072A

+:1003A00018F52091EA013091EB018091E8019091DC

+:1003B000E901281B390B8091E8019091E901805CEB

+:1003C0009F4F9093E9018093E801213431052CF08F

+:1003D00080E490E00E946C010895C9010E946C01C4

+:1003E0001092ED011092EC010895FC011092E901C8

+:1003F0001092E8011092ED011092EC010000C79AF2

+:100400002081822F82958F7099278230910511F17A

+:10041000833091052CF4009761F0019759F516C0CF

+:1004200084309105F9F084309105C4F0059711F5F9

+:100430001DC0263039F48281813039F5CF010E9408

+:10044000501723C0CF010E94B50C1FC0CF010E94DE

+:10045000DD111BC0CF010E94FB1217C0CF010E940B

+:100460003B1413C0CF010E946A150FC0CF010E9438

+:100470002E180BC02093320383E080933303109235

+:10048000340383E090E00E946C01C7980895CF93F5

+:10049000DF93EC018091E2019091E301019751F526

+:1004A00020E030E0E091E401F091E501E20FF31F7C

+:1004B000DE01A20FB31F8C91EE50FE4F80832F5FA1

+:1004C0003F4F2034310571F78091E4019091E501AF

+:1004D000805C9F4F9093E5018093E4012091E401BB

+:1004E0003091E5018091E6019091E70128173907E5

+:1004F000A8F11FC01092E5011092E40120E030E065

+:10050000E091E401F091E501E20FF31FDE01A20F9B

+:10051000B31F8C91EE50FE4F80832F5F3F4F2034EE

+:10052000310571F73093E5012093E401A981A034EE

+:1005300048F41092E3011092E20182EF91E00E94F0

+:10054000F5010CC081E090E09093E3018093E2011B

+:100550008A2F99279093E7018093E601DF91CF914D

+:1005600008951F920F920FB60F9211242F933F936D

+:100570004F935F936F937F938F939F93AF93BF93AB

+:10058000EF93FF930E94860C80915D0182BFFF91E3

+:10059000EF91BF91AF919F918F917F916F915F91FB

+:1005A0004F913F912F910F900FBE0F901F90189574

+:1005B0001F920F920FB60F9211242F933F934F93D8

+:1005C0005F936F937F938F939F93AF93BF93EF93BB

+:1005D000FF930E94150CFF91EF91BF91AF919F91F6

+:1005E0008F917F916F915F914F913F912F910F90DC

+:1005F0000FBE0F901F90189520E080E49CE90197B2

+:10060000F1F72F5F2931C9F70895FF920F931F93D8

+:10061000162F042FF22E9C01442737FD4095542FAE

+:1006200060E472E48FE090E00E9461192150304054

+:10063000163061F0173019F0153019F404C0E1E0FC

+:1006400003C0E1E004C0E0E070E002C0E0E071E07F

+:10065000053439F00F3419F451E041E004C050E0A2

+:1006600001C051E040E082E0F81611F462E001C000

+:1006700060E0832F992787FD9A958093900029B990

+:1006800088E18AB9770FEE0FEE0FE72B5295550FE1

+:10069000507E5E2B4295407F452B660F660F660F9E

+:1006A000642B609395001F910F91FF900895109215

+:1006B000900089E189B988E18AB986E08093950044

+:1006C000089508955D9BFECF8CB908955F9BFECF82

+:1006D0008CB1992708958A3310F4805301C087554F

+:1006E0006A3310F4605301C067556F708295807F44

+:1006F000682B862F99270895FC0104C05D9BFECFCF

+:1007000031968CB980818823C9F70895982F9295E6

+:100710009F708F709A3020F45D9BFECF905D03C078

+:100720005D9BFECF995A9CB98A3020F45D9BFECF29

+:10073000805D03C05D9BFECF895A8CB9089587E226

+:1007400080939A0485E28093990490E290939B04AD

+:1007500010929C0428E030E030939E0420939D0486

+:1007600083E28093A60481E28093A5049093A7047A

+:100770001092A8043093AA042093A9040895089520

+:100780006091B20481E20E941007089568E08BE254

+:100790000E94100761E188E20E94100768E08FE282

+:1007A0000E94100761E18CE20E94100761E08FE275

+:1007B0000E9410071092E1011092E00165E083E2CF

+:1007C0000E94100708950F931F938C0160E480E24C

+:1007D0000E941007F8016281605884E00E941007AF

+:1007E000F80182818093B1041F910F9108950F93B6

+:1007F0001F93CF93DF93EC012885398512161306DA

+:10080000DCF58E819F81821793071CF568E083E2F7

+:100810000E94100700E010E00FC08A859B85E80F5A

+:10082000F91F608181E20E9410078E819F810196ED

+:100830009F838E830F5F1F4FEE81FF81888599858F

+:10084000083011051CF4E817F9073CF3E817F9071D

+:1008500024F061E087E20E9410078B81813031F43F

+:1008600065E089810E9410071B8206C061E08981D2

+:100870000E94100781E08B83DF91CF911F910F9130

+:100880000895CF93DF93CDB7DEB724970FB6F894D2

+:10089000DEBF0FBECDBFDC01FC012281338110928F

+:1008A000AC041092AB0481E08093A804832F9927B5

+:1008B0008230D9F0833069F1813009F057C08091DE

+:1008C000850499279093AE048093AD0485E894E065

+:1008D0009093B0048093AF04868197818034910512

+:1008E00009F044C088E090E029C0FD01868197812D

+:1008F0009093AE048093AD04E22FFF27EE0FFF1F0D

+:100900008091970490919804E80FF91F808191815C

+:1009100029C02223C1F0E22FFF27EE0FFF1F809195

+:10092000F0019091F101E80FF91F0190F081E02DA5

+:10093000F093B004E093AF04808199279093AE04C4

+:100940008093AD0413C094E0998383E08A8389E0A7

+:100950008B839C8384E090E09093AE048093AD04FD

+:10096000CE0101969093B0048093AF0485EA94E0A1

+:100970000E94F70324960FB6F894DEBF0FBECDBFDA

+:10098000DF91CF910895CF93DF9382E20E94E70633

+:10099000C82FDD27C5FF1AC068E083E20E94100758

+:1009A000C6FF10C02091AB043091AC048091AD041F

+:1009B0009091AE04281739072CF485EA94E00E9440

+:1009C000F70304C061E087E20E941007DF91CF9136

+:1009D00008951F93CF93DF9388E00E94E706182FB6

+:1009E000C82FDD27C6FF18C060E085E00E94100711

+:1009F00060E884E00E94100760E080E20E94100737

+:100A000068E083E20E94100761E087E20E9410071D

+:100A100062E085E00E941007C4FF04C060EC89E03A

+:100A20000E94100717FF04C060ED89E00E941007C4

+:100A3000DF91CF911F9108958AE00E94E7069927E0

+:100A400080FF03C00E94C304089581FF0DC08AE2A5

+:100A50000E94E70680917204813061F4E091750490

+:100A6000F09176040995089582E30E94E7068AE3EF

+:100A70000E94E70608958EE00E94E70668E08FE294

+:100A80000E94100761E08FE20E9410072091AD04E0

+:100A90003091AE048091A9049091AA048217930723

+:100AA0005CF468E083E20E94100761E087E20E9444

+:100AB000100781E08093A8040895AF92BF92CF926F

+:100AC000DF92EF92FF920F931F93CF93DF93CDB7F7

+:100AD000DEB728970FB6F894DEBF0FBECDBF86E213

+:100AE0000E94E70686FF7EC08E010F5F1F4F5801F0

+:100AF00069E0C62ED12CCC0EDD1E809199040E9497

+:100B0000E706F80181938F017501EC15FD05A9F742

+:100B100068E087E20E94100768E083E20E94100705

+:100B200080E20E94E7068F77682F80E20E9410071C

+:100B300089819927807690708032910509F440C0B0

+:100B400080349105D1F1892BF1F5F5018181863051

+:100B5000D9F0873048F48130F1F18130C8F083302A

+:100B6000D1F1853081F521C0893019F18A3018F42E

+:100B7000883049F505C08A3071F18B3021F520C0ED

+:100B8000C5010E94C00327C0C5010E94410423C0C3

+:100B900068E083E20E94100761E081E20E94100792

+:100BA00060E081E20E9410070BC0C5010E94E303D0

+:100BB00012C0C5010E94C6030EC0C5010E94BF0637

+:100BC00065E083E206C080E20E94E7068058682F55

+:100BD00080E20E941007F70180818823D1F465E04C

+:100BE00083E215C02091AD043091AE048091A90438

+:100BF0009091AA048217930764F41092AE041092A5

+:100C0000AD0468E083E20E94100761E087E20E9481

+:100C1000100728960FB6F894DEBF0FBECDBFDF9148

+:100C2000CF911F910F91FF90EF90DF90CF90BF90E9

+:100C3000AF900895CF92DF92EF92FF920F931F93A0

+:100C4000CF93DF93CDB7DEB7C054D0400FB6F89442

+:100C5000DEBF0FBECDBF8CE00E94E706992780FF64

+:100C600003C00E945D057BC081FF2AC08EE20E9406

+:100C7000E7068DE20E94E70689838E010F5F1F4F12

+:100C80006801FFE3EF2EF12CE00EF11E0F5F1F4F06

+:100C90000E94D306F80180830E151F05B9F78091D5

+:100CA0005401813031F4E0915701F0915801C601AF

+:100CB000099568E08FE20E94100761E08FE22BC087

+:100CC00082FF2CC086E30E94E70685E30E94E706C8

+:100CD00089838E010F5F1F4F6801EFE3EE2EF12C29

+:100CE000E00EF11E0F5F1F4F0E94D306F8018083B4

+:100CF0000E151F05B9F780915501813031F4E0914F

+:100D00005901F0915A01C601099568E087E30E94F4

+:100D1000100761E087E30E94100721C083FF1FC016

+:100D20008EE30E94E7068E010F5F1F4F680171E49A

+:100D3000E72EF12CEC0EFD1E8DE30E94E706F80174

+:100D400081938F01EE15FF05B9F78091560181302F

+:100D500031F4E0915701F0915801C6010995C05C4A

+:100D6000DF4F0FB6F894DEBF0FBECDBFDF91CF913E

+:100D70001F910F91FF90EF90DF90CF90089508950D

+:100D8000089581E08ABF80E189BFE4E6F0E08081D8

+:100D900087608083E5E6F0E0808183608083A79AA6

+:100DA000AF9A7894089585B3805885BBE5E6F0E066

+:100DB000808122E0822780830000000089B395B300

+:100DC000905895BB908192279083992708959FEF23

+:100DD0009ABB8BBB85B3805885BBE5E6F0E080818C

+:100DE00095E08927808385B3805885BB80818927DA

+:100DF000808300001ABA0E94D306992708958BBBFE

+:100E000085B3805885BBE5E6F0E0808191E08927D5

+:100E1000808385B3805885BB80818927808308952E

+:100E20008BBB8FEF8ABB85B3805885BBE5E6F0E0CE

+:100E3000808195E08927808385B3805885BB808138

+:100E400089278083862F0E94FF060895089582E1F6

+:100E50008093850481E08093860480E191E0909303

+:100E60008804809387041092890410928A04109257

+:100E70008B0488E080938C0410928E0410928D0471

+:100E80001092900410928F04109292041092910488

+:100E90001092930410929404109295041092960468

+:100EA0001092540110925501109256011092720442

+:100EB000109273041092740410927C0410927B04BC

+:100EC0001092EF011092EE01089590938E0480939A

+:100ED0008D047093900460938F0450939204409318

+:100EE0009104089590938E0480938D0408959093B7

+:100EF000900480938F0408959093920480939104BA

+:100F0000089580938904089580938A0408958093B6

+:100F10008B040895CF93DF939C01CB01E0917B0478

+:100F2000F0917C0462E070E00E944E190FC0A08135

+:100F3000B1818281823039F4ED018D819927821748

+:100F4000930709F468870780F085E02D309779F7DB

+:100F5000DF91CF910895CF93DF939C01E0917B04C3

+:100F6000F0917C0414C0A081B1818281843061F44D

+:100F7000848199278217930739F4868199278617E8

+:100F8000970711F4ED014B830780F085E02D309732

+:100F900051F7DF91CF910895BF92CF92DF92EF92F8

+:100FA000FF920F931F93CF93DF936C01162FF42EB4

+:100FB000B22EC0917B04D0917C042097A1F489E0EB

+:100FC00090E00E945518FC0190937C0480937B0470

+:100FD000D182C082138310861782F282B482058385

+:100FE000E68215C0EC018F8198850097D9F789E0DA

+:100FF00090E00E945518FC0198878F83D182C082AF

+:101000001383F282B4820583E68210861782DF9111

+:10101000CF911F910F91FF90EF90DF90CF90BF90F5

+:101020000895EF92FF921F93CF93DF937C01C091BD

+:10103000EE01D091EF01209711F011E012C085E090

+:1010400090E00E945518FC019093EF018093EE010F

+:10105000F182E08212821482138210E012C01F5FBC

+:10106000EC018B819C810097D1F785E090E00E9494

+:101070005518FC019C838B83F182E08212831482D9

+:101080001382812F9927DF91CF911F91FF90EF90CD

+:101090000895EF92FF920F931F93CF93DF93E09108

+:1010A000EE01F091EF0180E090E00380F481E02D0B

+:1010B00001963097D1F7880F991F0E945518909389

+:1010C000F1018093F0010091EE011091EF01E80130

+:1010D000E880F9808A81C82FDD27CC0FDD1F809141

+:1010E000F0019091F101C80FD91FF7018081992774

+:1010F0000E9455189983888320E030E017C0E801EA

+:10110000EA81FF27EE0FFF1F8091F0019091F1011E

+:10111000E80FF91F0190F081E02DE20FF31FD701D6

+:10112000A20FB31F8C9180832F5F3F4FF701808107

+:101130009927281739071CF3E8018B819C810097B8

+:1011400011F08C01C4CFDF91CF911F910F91FF90CF

+:10115000EF9008954F925F926F927F928F929F923D

+:10116000AF92BF92CF92DF92EF92FF920F931F93B5

+:10117000CF93DF93E0917B04F0917C046624772485

+:1011800009C08281823019F40894611C711C0780A7

+:10119000F085E02D3097A9F74301880C991CC40114

+:1011A0000E9455189093980480939704E1E0EE2EE6

+:1011B000F12CAA24BB2455C0E0917B04F0917C045F

+:1011C00079E0C72ED12C15C0A081B18184819927E7

+:1011D0008E159F0519F48381C80ED11CED018D81F8

+:1011E0008E1521F48281823009F45D010780F0853B

+:1011F000E02D309749F70091970410919804025020

+:101200001040080D191DC6010E945518F801918360

+:10121000808320E030E0E0919704F0919804E80D9D

+:10122000F91D32970190F081E02DE20FF31FD501F7

+:10123000A20FB31F8C9180832F5F3F4F2930310560

+:1012400051F7E0919704F0919804E80DF91D329759

+:101250000190F081E02D8C2D875F82830894E11C42

+:10126000F11C6E147F040CF0A7CF61E0C62ED12CC8

+:1012700059E0A52EB12C4424552442E0842E912C13

+:10128000A1C0A0917B04B0917C0412C0ED91FC91AF

+:1012900011978181823049F4858199278C159D05AC

+:1012A00021F48481482E552405C0ED01AF81B88515

+:1012B000109761F731E0E32EF12C79C060917B0447

+:1012C00070917C046DC0FB01C081D1818981843023

+:1012D00009F063C0868199278E159F0509F05DC0CE

+:1012E000848199278C159D0509F057C0950140E030

+:1012F00050E0E0919704F0919804E80DF91D3297C1

+:101300000190F081E02DE20FF31FDE01A40FB51F65

+:101310008C9180832F5F3F4F4F5F5F4F4930510566

+:1013200041F789E090E0A80EB91EC0917B04D091EE

+:101330007C0431C08A81853059F58C8199278C15C0

+:101340009D0531F58D8199278E159F0509F5088139

+:101350001981950140E050E0E0919704F0919804E4

+:10136000E80DF91D32970190F081E02DE20FF31F97

+:10137000D801A40FB51F8C9180832F5F3F4F4F5F23

+:101380005F4F4730510541F7E7E0F0E0AE0EBF1E7A

+:101390000F80D885C02D209769F6EB016F81788585

+:1013A0006115710509F08FCF0894E11CF11C4E14F2

+:1013B0005F040CF083CF0894C11CD11CE2E0F0E084

+:1013C0008E0E9F1E6C147D040CF05BCFDF91CF91CD

+:1013D0001F910F91FF90EF90DF90CF90BF90AF9053

+:1013E0009F908F907F906F905F904F9008956F9235

+:1013F0007F928F929F92AF92BF92CF92DF92EF92A5

+:10140000FF920F93CF93DF935C013B014901E09181

+:101410007B04F0917C0416C0A081B181848199275E

+:10142000A816B90661F4868199278615970539F4BF

+:101430008281843021F4ED018C818F5F8C83078061

+:10144000F085E02D309741F787E090E00E94551835

+:10145000FC0187E0808385E0818382820383F582BB

+:10146000E482C682EE24062D2A2D45E067E0CF01F6

+:101470000E94CC07DF91CF910F91FF90EF90DF900A

+:10148000CF90BF90AF909F908F907F906F90089576

+:10149000AF92BF92CF92DF92EF92FF920F93FC0137

+:1014A000A114B10401F14230510571F043305105EE

+:1014B00099F041305105B9F481E080937204B09203

+:1014C0007604A09275040FC081E080937304B092FB

+:1014D0007804A092770407C081E080937404B092EE

+:1014E0007A04A092790420583F4FCF010E94F70957

+:1014F0000F91FF90EF90DF90CF90BF90AF90089545

+:10150000AF92BF92CF92DF92EF92FF920F93FC01C6

+:101510004230510571F04330510599F04130510589

+:10152000B9F481E080935401B0925801A092570120

+:101530000FC081E080935501B0925A01A0925901E9

+:1015400007C081E080935601B0925C01A0925B01DC

+:10155000CF010E94F7090F91FF90EF90DF90CF909D

+:10156000BF90AF900895CF92DF92EF920F931F93A9

+:10157000CF93DF936C018B01A0917B04B0917C042D

+:10158000C0E0D0E014C02D913C911197F901858104

+:101590008C1551F4FD018281823031F4F90184818E

+:1015A0008F5F8483C82FDD27FD01A781B085109749

+:1015B00051F789E090E00E945518FC0189E0808392

+:1015C00084E081830283138214821582168217823B

+:1015D0001086EC2E00E02C2D44E069E0CF010E9443

+:1015E000CC07CE01DF91CF911F910F91EF90DF904B

+:1015F000CF900895BF92CF92DF92EF92FF920F9318

+:101600001F93CF93DF936C017B01142FB22EA09117

+:101610007B04B0917C04C0E0D0E014C02D913C91DB

+:101620001197F90185818C1551F4FD018281823079

+:1016300031F4F90184818F5F8483C82FDD27FD0198

+:10164000A781B085109751F789E090E00E94551866

+:10165000FC0189E0808384E08183E282138214822A

+:101660001583B68207831086EC2E00E02C2D44E013

+:1016700069E0CF010E94CC07CE01DF91CF911F918D

+:101680000F91FF90EF90DF90CF90BF900895EF9271

+:101690000F931F93109196041F5F1093960489E097

+:1016A00090E00E945518FC0189E0808389E090E079

+:1016B0009383828382E0818314821583168280EA79

+:1016C00087838AE18087EE2400E020E042E069E041

+:1016D000CF010E94CC07812F99271F910F91EF9086

+:1016E0000895CF93DF93EC01FC0101900020E9F70E

+:1016F000E81BF90BCF01880F991F0E9455189C0118

+:10170000FE0101900020E9F7EC1BFD0BEE0FFF1F1F

+:10171000DC01EC9383E0F901818340E050E009C0F3

+:10172000FE01E40FF51F80818C93FD0111824F5F54

+:101730005F4F1296FE0101900020E9F73197EC1BF4

+:10174000FD0B4E175F0760F3C9010E94110899272E

+:10175000DF91CF910895EF92FF920F931F93CF9354

+:10176000DF938C017B01CA010E94710B9C01E09107

+:101770007B04F0917C0414C0A081B181828184300B

+:1017800061F4848199278017910739F4868199271C

+:101790008E159F0511F4ED0128870780F085E02D57

+:1017A000309751F7DF91CF911F910F91FF90EF90FC

+:1017B00008950F931F93CF93DF938C01CB010E9469

+:1017C000710B9C01E0917B04F0917C040FC0A0811F

+:1017D000B1818281823039F4ED018D8199278017A2

+:1017E000910709F42E830780F085E02D309779F773

+:1017F000DF91CF911F910F9108950E94710B1816E0

+:10180000190614F48093950408950E94710B18161C

+:10181000190614F48093940408950E94710B18160D

+:10182000190614F48093930408951F9386E00E9490

+:10183000E706992786FF03C00E941A060EC082FFA2

+:1018400003C00E941C0509C081FF03C00E94E90477

+:1018500004C084FF02C00E943B0587E00E94E706A7

+:10186000182F60E087E00E941007612F87E00E9438

+:1018700010071F9108950E94AA080E9449080E941B

+:101880009F0361E080E00E94100780E00E94E7066D

+:1018900080FDFBCF62E081E00E94100760E884E0F9

+:1018A0000E94100760E480E20E94100768E083E273

+:1018B0000E94100769E087E20E9410076FE08DE048

+:1018C0000E9410076FE08BE00E94100768ED89E02E

+:1018D0000E94100763E38FE00E94100766ED87E027

+:1018E0000E94100762E085E00E9410076CEC80E027

+:1018F0000E94100708958EEC80935D0181E087BF00

+:1019000080915D0182BF83E083BF089508950895AB

+:1019100083E08093320381E0809333038BE08093F4

+:1019200034039FE69093350383E68093360384E780

+:10193000809337039093380380E78093390385E7DA

+:1019400080933A0383E780933B038FE580933C03C6

+:1019500080E380933D0381E380933E0310923F0335

+:101960008EE090E00E946C010895FC01808183303C

+:1019700011F40E94880C0895CF93DF93C1E0D0E06A

+:10198000CE010E94D20D2196C431D105C9F7CAE11A

+:10199000D0E0CE010E94D20D2196CD32D105C9F7FB

+:1019A000DF91CF910895CF93DF93DC01EC01EA81C1

+:1019B000FB8121918E81815019F48981E81BF10905

+:1019C000ED01FB83EA838E839FB7F8948C9181505D

+:1019D0008C939FBF822F9927DF91CF910895FC01AF

+:1019E0001082758364837383628341834783468354

+:1019F0000895CF93DF93DC019C91ED0189819817C5

+:101A000018F080E090E016C0ED01EC81FD8161935B

+:101A10008F81815019F48981E81BF109ED018F83D1

+:101A2000FD83EC839FB7F8948C918F5F8C939FBF5D

+:101A300081E090E0DF91CF910895FC0180818823BF

+:101A4000E9F3CF010E94D30C99270895FC0180810E

+:101A5000882319F48FEF9FEF0895CF010E94D30CD4

+:101A6000992708950895CF93DF93CDB7DEB72297D6

+:101A70000FB6F894DEBF0FBECDBF9C010197439710

+:101A800028F0C9014A97439708F07DC0F901EE0F8D

+:101A9000FF1FE35AFE4F82E090E092838183F901B9

+:101AA0003197EC32F10508F06EC0EA5BFF4FEE0FA4

+:101AB000FF1F0590F491E02D0994159A5BC0169ACA

+:101AC0005DC0179A57C0B89A59C0B99A53C0BA9A0C

+:101AD00055C0BB9A4FC0BC9A51C0BD9A4BC0BE9A6C

+:101AE0004DC0BF9A47C0889A49C0899A43C08A9A14

+:101AF00045C08B9A3FC08C9A41C08D9A3BC08E9A4C

+:101B00003DC08F9A37C0A09A39C0A19A33C0A29A1B

+:101B100035C0A39A2FC0A49A31C0A59A2BC0A69A0B

+:101B20002DC080916100806807C080916100806451

+:101B300019C0809161008062809361001BC0809118

+:101B4000610080610FC0809161008860F5CF809155

+:101B50006100846007C0809161008260EDCF809158

+:101B6000610081608093610009C0109A03C0119ADE

+:101B700005C0129A81E090E008C0139AE1E0F0E01D

+:101B8000FA83E98304C084E090E09A8389838981A1

+:101B90009A8122960FB6F894DEBF0FBECDBFDF91BB

+:101BA000CF9108959C010197439738F0C9014A9756

+:101BB000439718F084E090E00895C9010E94330D26

+:101BC00081E090E00895CF93DF93CDB7DEB7229701

+:101BD0000FB6F894DEBF0FBECDBF9C0101974397AF

+:101BE00028F0C9014A97439708F07DC0F901EE0F2C

+:101BF000FF1FE35AFE4F81E090E092838183F90159

+:101C00003197EC32F10508F06EC0EE58FF4FEE0F41

+:101C1000FF1F0590F491E02D099415985BC016986C

+:101C20005DC0179857C0B89859C0B99853C0BA98B2

+:101C300055C0BB984FC0BC9851C0BD984BC0BE9812

+:101C40004DC0BF9847C0889849C0899843C08A98BA

+:101C500045C08B983FC08C9841C08D983BC08E98F2

+:101C60003DC08F9837C0A09839C0A19833C0A298C2

+:101C700035C0A3982FC0A49831C0A5982BC0A698B2

+:101C80002DC0809161008F7707C0809161008F7BAC

+:101C900019C0809161008F7D809361001BC080918D

+:101CA00061008F7E0FC080916100877FF5CF8091AA

+:101CB00061008B7F07C0809161008D7FEDCF8091A7

+:101CC00061008E7F8093610009C0109803C0119855

+:101CD00005C0129881E090E008C01398E1E0F0E0C0

+:101CE000FA83E98304C084E090E09A838983898140

+:101CF0009A8122960FB6F894DEBF0FBECDBFDF915A

+:101D0000CF91089580E090E0089580E090E00895FC

+:101D100080E090E008950895089508950895089545

+:101D2000089508959C01FC01EE0FFF1FE35AFE4F3A

+:101D300081819281029719F085E090E00895F90180

+:101D40003197EC32F10540F4E256FF4FEE0FFF1FE2

+:101D50000590F491E02D099484E090E00895672BBC

+:101D600011F01D9AFFC01D98FDC0672B11F01E9A3F

+:101D7000F9C01E98F7C0672B11F01F9AF3C01F9887

+:101D8000F1C0672B11F0C09AEDC0C098EBC0672B73

+:101D900011F0C19AE7C0C198E5C0672B11F0C29A53

+:101DA000E1C0C298DFC0672B11F0C39ADBC0C398B3

+:101DB000D9C0672B11F0C49AD5C0C498D3C0672B83

+:101DC00011F0C59ACFC0C598CDC0672B11F0C69A47

+:101DD000C9C0C698C7C0672B11F0C79AC3C0C798BF

+:101DE000C1C0672B11F0909ABDC09098BBC0672B03

+:101DF00011F0919AB7C09198B5C0672B11F0929AE3

+:101E0000B1C09298AFC0672B11F0939AABC0939872

+:101E1000A9C0672B11F0949AA5C09498A3C0672B12

+:101E200011F0959A9FC095989DC0672B11F0969AD6

+:101E300099C0969897C0672B11F0979A93C097987E

+:101E400091C0672B11F0A89A8DC0A8988BC0672B02

+:101E500011F0A99A87C0A99885C0672B11F0AA9A9A

+:101E600081C0AA987FC0672B11F0AB9A7BC0AB985A

+:101E700079C0672B11F0AC9A75C0AC9873C0672B12

+:101E800011F0AD9A6FC0AD986DC0672B11F0AE9A8E

+:101E900069C0AE9867C0672B21F0809162008068AE

+:101EA0000DC0809162008F7709C0672B21F080916F

+:101EB0006200806403C0809162008F7B8093620027

+:101EC00051C0672B21F0809162008062F7CF809132

+:101ED00062008F7DF3CF672B21F0809162008061DB

+:101EE000EDCF809162008F7EE9CF672B21F080914A

+:101EF00062008860E3CF80916200877FDFCF672B2D

+:101F000021F0809162008460D9CF809162008B7F44

+:101F1000D5CF672B21F0809162008260CFCF809176

+:101F200062008D7FCBCF672B21F0809162008160B2

+:101F3000C5CF809162008E7FC1CF672B11F0189AB8

+:101F400011C018980FC0672B11F0199A0BC019987F

+:101F500009C0672B11F01A9A05C01A9803C0672BA5

+:101F600021F01B9A81E090E008951B9881E090E0B9

+:101F70000895CF93DF93EC010197439738F0CE019A

+:101F80004A97439718F084E090E013C0FE01EE0FEB

+:101F9000FF1FE35AFE4F83E090E092838183CE01DE

+:101FA0000E94330D61E070E0CE010E94920E81E04C

+:101FB00090E0DF91CF91089508959C01DB01119687

+:101FC0001C921E92FC01EE0FFF1FE35AFE4F81810F

+:101FD00092818130910519F085E090E008952130DB

+:101FE000310531F4859B28C011963C932E9324C073

+:101FF0002230310531F4869B2AC011969C938E9332

+:1020000026C02330310531F40F9B2CC011969C93D0

+:102010008E9328C02430310531F4B09B2EC0119628

+:102020009C938E932AC02530310531F4B19B30C08A

+:1020300011969C938E932CC02630310541F4B29BAF

+:1020400032C081E090E011969C938E932CC0273093

+:10205000310541F4B39B32C081E090E011969C932E

+:102060008E932CC02830310541F4B49B32C081E0FE

+:1020700090E011969C938E932CC02930310541F449

+:10208000B59B32C081E090E011969C938E932CC05A

+:102090002A30310541F4B69B32C081E090E01196C0

+:1020A0009C938E932CC02B30310541F4B79B32C0EA

+:1020B00081E090E011969C938E932CC02C303105DA

+:1020C00041F4809B32C081E090E011969C938E9306

+:1020D0002CC02D30310541F4819B32C081E090E06D

+:1020E00011969C938E932CC02E30310541F4829B27

+:1020F00032C081E090E011969C938E932CC02F30DB

+:10210000310541F4839B32C081E090E011969C93AD

+:102110008E932CC02031310541F4849B32C081E084

+:1021200090E011969C938E932CC02131310541F49F

+:10213000859B32C081E090E011969C938E932CC0D9

+:102140002231310541F4869B32C081E090E0119646

+:102150009C938E932CC02331310541F4879B32C070

+:1021600081E090E011969C938E932CC02A3131052A

+:1021700041F4809B32C081E090E011969C938E9355

+:102180002CC02B31310541F4999B32C081E090E0A5

+:1021900011969C938E932CC02C31310541F49A9B5F

+:1021A00032C081E090E011969C938E932CC02D312B

+:1021B000310541F49B9B32C081E090E011969C93E5

+:1021C0008E932CC02E31310541F49C9B32C081E0AE

+:1021D00090E011969C938E932CC02F31310541F4E1

+:1021E0009D9B32C081E090E011969C938E932CC011

+:1021F0002032310541F49E9B32C081E090E011967F

+:102200009C938E932CC02132310541F4079B32C040

+:1022100081E090E011969C938E932CC02232310580

+:1022200041F4069B32C081E090E011969C938E931E

+:102230002CC02332310541F4059B32C081E090E08F

+:1022400011969C938E932CC02432310541F4049B4B

+:102250002AC081E090E011969C938E9324C0253291

+:10226000310541F4039B25C081E090E011969C93D9

+:102270008E931FC02632310541F4029B20C081E0BD

+:1022800090E011969C938E931AC02732310541F449

+:10229000019B1BC081E090E011969C938E9315C02A

+:1022A0002832310519F02932310519F4809B17C005

+:1022B00011C02A32310519F4099B11C00BC02B3211

+:1022C000310519F40A9B0BC005C02C32310539F4D5

+:1022D0000B9B05C081E090E08D939C93089581E075

+:1022E00090E008950895CF93DF93CDB7DEB722979E

+:1022F0000FB6F894DEBF0FBECDBF2BE120933203A3

+:10230000BE016F5F7F4F0E94DD0F80933303898191

+:102310008093340383E090E00E946C0122960FB614

+:10232000F894DEBF0FBECDBFDF91CF9108952AE1B3

+:10233000209332030E94920E809333031092340351

+:1023400083E090E00E946C01089527E1209332031E

+:102350000E94B90F809333031092340383E090E01E

+:102360000E946C01089525E1209332030E94E30D41

+:10237000809333031092340383E090E00E946C0159

+:10238000089526E1209332030E94330D8093330396

+:102390001092340383E090E00E946C01089521E1E3

+:1023A000209332030E94D20D8093330310923403A2

+:1023B00083E090E00E946C010895FC0180818631E9

+:1023C000E9F0873138F48531A0F48231C0F58031ED

+:1023D00058F10AC08A3118F4883188F514C08A315E

+:1023E000B9F08B3109F51BC0828199270E94CF116A

+:1023F0000895828199270E94B311089582819927B7

+:102400000E94C1110895828199270E94B90F0895F1

+:1024100063817727828199270E949711089582818D

+:1024200099270E94731108958093320383E080936B

+:1024300033031092340383E090E00E946C0108950E

+:10244000FC018197089718F084E090E00895EE0F62

+:10245000FF1FE35AFE4F84E090E09283818381E086

+:1024600090E0089517B88230910541F083309105CE

+:1024700049F0019721F082E090E008953E9A81E0D2

+:1024800090E0089587B1806C87B981E090E008956D

+:1024900093E896B997B1907F982B97B9369A369969

+:1024A000FECF84B195B120E030E040E050E0369AB4

+:1024B0003699FECF84B195B1480F591F2F5F3F4F1A

+:1024C00024303105A1F73798CA01969587959695DE

+:1024D00087950895CF93DF939C01EB0119821882B1

+:1024E000FC01EE0FFF1FE35AFE4F8181928104979A

+:1024F000D1F52432310559F12532310554F4223217

+:10250000310559F1233231052CF52132310559F5C8

+:1025100027C026323105A9F026323105ACF027322A

+:10252000310531F028323105F1F480E090E002C04D

+:1025300081E090E00E9448129983888381E090E0D6

+:1025400014C082E090E0F6CF83E090E0F3CF84E027

+:1025500090E0F0CF85E090E0EDCF86E090E0EACF2C

+:1025600087E090E0E7CF85E090E0DF91CF9108959C

+:1025700022E2209332030E9432128093330382E0DE

+:1025800090E00E946C010895CF93DF93CDB7DEB742

+:1025900022970FB6F894DEBF0FBECDBF21E2209385

+:1025A0003203BE016F5F7F4F0E946A128093330334

+:1025B00029813A81832F992780933403209335030F

+:1025C00084E090E00E946C0122960FB6F894DEBF82

+:1025D0000FBECDBFDF91CF91089520E2209332034B

+:1025E0000E942012809333031092340383E090E022

+:1025F0000E946C010895FC018081813249F0823291

+:1026000061F0803279F4828199270E94ED12089559

+:10261000828199270E94C4120895828199270E947D

+:10262000B81208958093320383E0809333031092AD

+:10263000340383E090E00E946C0108958091710062

+:102640009927887F907008958091740087FFFCCF50

+:102650000895E4E7F0E08081846080838BE090E07F

+:1026600090937701809376018CE090E090937901CC

+:102670008093780181E090E00895E4E7F0E08081C4

+:102680008B7F808382E090E0909377018093760146

+:10269000909379018093780108958130910511F428

+:1026A0008CE00BC08230910511F488E106C00397DD

+:1026B00019F082E090E0089588E4809370008091A2

+:1026C00071008C7F80937100809171008093710004

+:1026D00081E090E008958091710084EA8093740015

+:1026E0008091740087FFFCCF81E090E0089584E939

+:1026F0008093740081E090E008958093730084E8F3

+:10270000809374008091740087FFFCCF80E090E09C

+:10271000089584E8809374008091740087FFFCCF53

+:10272000809173009927089585E38093320381E0B7

+:10273000809333038093340384E880937400809102

+:10274000740087FFFCCF809173008093350385E090

+:1027500090E00E946C01089540E050E00FC0F90144

+:10276000E40FF51F80818093730084E880937400E8

+:102770008091740087FFFCCF4F5F5F4F461757076C

+:1027800074F384E38093320381E0809333031092E7

+:10279000340383E090E00E946C01089587E3809306

+:1027A000320384E98093740081E0809333031092B4

+:1027B000340383E090E00E946C01089586E38093E7

+:1027C00032038091710084EA8093740080917400D8

+:1027D00087FFFCCF81E0809333031092340383E0C2

+:1027E00090E00E946C01089522E3209332030E943E

+:1027F0004D13809333031092340383E090E00E94E2

+:102800006C01089581E380933203E4E7F0E0808176

+:102810008B7F808382E090E09093770180937601B4

+:1028200090937901809378011092330310923403CE

+:1028300083E090E00E946C01089580E3809332036E

+:10284000E4E7F0E08081846080838BE090E0909307

+:102850007701809376018CE090E0909379018093EA

+:10286000780181E0809333031092340383E090E099

+:102870000E946C010895FC0180818433D9F0853376

+:1028800038F4813379F0823381F0803389F507C0E1

+:10289000863341F18633D8F0873351F526C00E9444

+:1028A0001D1408950E9402140895828199270E94A0

+:1028B000F413089542815527618177276450704051

+:1028C000838134969F0199270E94AC130895428119

+:1028D00055276181772764507040838199270E9432

+:1028E000941308950E94DE1308950E94CE13089554

+:1028F0008093320383E0809333031092340383E0A8

+:1029000090E00E946C01089588B3817F88BBBB98DA

+:1029100086E087BB1DB81EB883E58DB988E090E0DE

+:1029200090936901809368018AE090E090936B0135

+:1029300080936A0189E090E090936D0180936C012F

+:1029400081E090E008951DB81EB882E090E0909379

+:1029500069018093680190936B0180936A01909361

+:102960006D0180936C0181E090E00895089581E00D

+:1029700090E00895AC0120E030E009C0FA01E20FD8

+:10298000F31F80818FB9779BFECF2F5F3F4F2617B4

+:102990003707A4F381E090E00895DC0120E030E007

+:1029A00040E050E014C01FB809C04F5F5F4F83E0A4

+:1029B000493E58071CF086E090E00895779BF5CFDC

+:1029C000FD01E20FF31F8FB180832F5F3F4F26176A

+:1029D00037074CF381E090E00895CF93DF93EC014B

+:1029E00020E030E0A0E0B0E017C0FE01E20FF31FEE

+:1029F00080818FB908C0119683E0A93EB8071CF00A

+:102A000086E090E00EC0779BF6CFFB01E20FF31F4C

+:102A10008FB180832F5F3F4F2417350734F381E058

+:102A200090E0DF91CF9108950F931F938B0123E4E2

+:102A300020933203AB0164E373E00E94ED148093B2

+:102A4000330310923403C80102960E946C011F9157

+:102A50000F9108950F931F938C0184E480933203A8

+:102A6000B80184E393E00E94CD1480933303109265

+:102A70003403C80102960E946C011F910F910895C2

+:102A800023E4209332030E94BA14809333031092FC

+:102A9000340383E090E00E946C01089581E4809308

+:102AA00032030E94A314809333031092340383E013

+:102AB00090E00E946C01089580E4809332030E94AC

+:102AC0008414809333031092350383E090E00E94D6

+:102AD0006C010895CF93DF93EC0188818334A1F0DA

+:102AE000843438F4813469F0823458F58034F1F458

+:102AF00005C0843481F08534C9F411C00E945C158E

+:102B000020C00E944E151DC069817727CE01029614

+:102B10000E94401516C0898199270E942A15698153

+:102B20007727CE0102960E9414150BC080933203C2

+:102B300083E0809333031092340383E090E00E949B

+:102B40006C01DF91CF910895B89AB99ABA9ABB985F

+:102B5000BC9ABD9AC498C59882E090E09093850194

+:102B600080938401909383018093820190938101EB

+:102B70008093800181E090E090937F0180937E01BB

+:102B8000089582E090E090936901809368019093AA

+:102B90006B0180936A0190936D0180936C0181E0D9

+:102BA00090E00895C098C198C29880E29EE4019791

+:102BB000F1F7C09A8AE0982F9A95F1F7C29AC19AD4

+:102BC0008A95F1F70895282FC19887FD02C0C29811

+:102BD00001C0C29A8AE0982F9A95F1F7C19A8A9516

+:102BE000F1F7C19826FF02C0C29A01C0C2988AE0DC

+:102BF000982F9A95F1F7C19A8A95F1F70895282FA1

+:102C0000220F30E0C19827FF02C0C29A01C0C298CB

+:102C10008AE0982F9A95F1F7C19A8A95F1F73F5F6C

+:102C2000373011F0220FEECF0895282F30E0C198F1

+:102C300027FF02C0C29A01C0C2988AE0982F9A95D5

+:102C4000F1F7C19A8A95F1F73F5F383011F0220F02

+:102C5000EECF0895C198C2988AE0982F9A95F1F71F

+:102C6000C19A982F9A95F1F7C198C098982F9A9584

+:102C7000F1F7C19A982F9A95F1F7C1988A95F1F7D3

+:102C8000C09A80E090E00895C198C098C298C39A15

+:102C900008950E94D21580E30E94E31580E60E9409

+:102CA000FF1508950E94D21580E00E94E31580E090

+:102CB0000E94FF150E94441608950F931F93182F2A

+:102CC000062F0E94D21580E40E94E315812F0E94F6

+:102CD000FF15802F0E94151681E090E01F910F9143

+:102CE00008951F93182F0E94D21580EC0E94E315BF

+:102CF000812F0E94FF150E942A1699271F9108957F

+:102D0000C1988AE08A95F1F7C29830E090E0990F77

+:102D1000C19A2AE0822F8A95F1F7C198B3999F5FF3

+:102D2000822F8A95F1F73F5F383089F7C098C19AB2

+:102D3000822F8A95F1F7C09AC1982A95F1F7892FC9

+:102D4000992708951F93182F0E94D21580E80E949A

+:102D5000E315812F0E94FF150E94801699271F916D

+:102D60000895DF92EF92FF920F931F93CF93DF931B

+:102D7000D82E7B018A01C0E0D0E009C08D2D8C0FD8

+:102D80000E94A216F801EC0FFD1F80832196CE153C

+:102D9000DF05A1F781E090E0DF91CF911F910F91C6

+:102DA000FF90EF90DF9008950F931F93082F162F39

+:102DB0000E944916612F802F0E945D1681E090E0ED

+:102DC0001F910F910895DF92EF92FF920F931F933F

+:102DD000CF93DF93D82E7B018A01C0E0D0E009C0F9

+:102DE000F801EC0FFD1F60818D2D8C0F0E94D41611

+:102DF0002196CE15DF05A1F781E090E0DF91CF911C

+:102E00001F910F91FF90EF90DF90089594E09093C1

+:102E100032030E94E316809333031092340383E05D

+:102E200090E00E946C0108950F931F938B0193E033

+:102E30009093320344E353E00E94B116809333032E

+:102E4000C80102960E946C011F910F91089582E0C3

+:102E50008093320382E090E090936901809368014F

+:102E600090936B0180936A0190936D0180936C0144

+:102E700081E0809333031092340383E090E00E945A

+:102E80006C01089581E0809332030E94A415809321

+:102E900033031092340383E090E00E946C010895A4

+:102EA000FC018381823069F0833018F48130F1F4C1

+:102EB00005C0833049F08430C9F40FC00E94421726

+:102EC00008950E9427170895AF014A5F5F4F6581FB

+:102ED000772784810E9414170895AF014A5F5F4FDE

+:102EE0006581772784810E940617089580818093E9

+:102EF000320383E0809333031092340383E090E045

+:102F00000E946C0108951F920F920FB60F92112428

+:102F10008F939F938091B3049091B4049BBD8ABD1D

+:102F20009F918F910F900FBE0F901F901895FC01ED

+:102F30000897029718F084E090E00895EE0FFF1FC5

+:102F4000E35AFE4F8DE090E09283818381E090E030

+:102F500008959C01FC01EE0FFF1FE35AFE4F818193

+:102F600092810D97F1F428303105F1F029303105C7

+:102F7000C1F48091B3049091B404892B31F480E8BA

+:102F800090E09093B4048093B3046130710561F4D0

+:102F90008FB5816A8FBD8EB581608EBD81E090E076

+:102FA000089585E090E0089581E090E008959C0107

+:102FB000FC01EE0FFF1FE35AFE4F818192810D97B6

+:102FC00059F42830310529F02930310529F47BBD29

+:102FD0006ABD81E090E0089585E090E008959C014D

+:102FE00082E580933203F901EE0FFF1FE35AFE4F93

+:102FF000818192810D9759F42830310529F02930CB

+:10300000310529F47BBD6ABD81E090E002C085E016

+:1030100090E0809333031092340383E090E00E94A9

+:103020006C01089521E5209332030E94A917809333

+:1030300033031092340383E090E00E946C01089502

+:1030400020E5209332030E94971780933303109258

+:10305000340383E090E00E946C010895FC018081BC

+:10306000813549F0823571F0803599F48281992754

+:103070000E942018089563817727828199270E94F2

+:103080001218089563817727828199270E94EF178C

+:1030900008958093320383E08093330310923403C6

+:1030A00083E090E00E946C010895CF93DF93AC0120

+:1030B000029710F442E050E0A091B704B091B80438

+:1030C000FD01C0E0D0E020E030E020C080819181AF

+:1030D0008417950769F482819381209719F09B8367

+:1030E0008A8304C09093B8048093B704CF0132C0A0

+:1030F0004817590738F42115310519F0821793073D

+:1031000008F49C01EF010280F381E02D3097F1F685

+:103110002115310589F1C901841B950B049708F429

+:10312000A901E0E0F0E026C08D919C9111978217F3

+:103130009307E9F44817590779F4ED018A819B81D7

+:10314000309719F09383828304C09093B8048093DE

+:10315000B704CD01029649C0841B950BFD01E80F11

+:10316000F91F4193519302978D939C933AC0FD01AF

+:10317000A281B3811097C1F68091B5049091B604F5

+:10318000892B41F480915001909151019093B604A4

+:103190008093B504209152013091530121153105DE

+:1031A00041F42DB73EB780914E0190914F01281BFD

+:1031B000390BE091B504F091B6042E1B3F0B241798

+:1031C000350788F0CA0102962817390760F0CF0149

+:1031D000840F951F02969093B6048093B504419393

+:1031E0005193CF0102C080E090E0DF91CF9108952C

+:1031F000CF93DF93009709F44EC0EC0122971B8216

+:103200001A82A091B704B091B804109711F140E070

+:1032100050E001C0DC01AC17BD0700F1BB83AA83FD

+:10322000FE0121913191E20FF31FEA17FB0771F4C0

+:103230002E5F3F4F8D919C911197820F931F998321

+:103240008883FD01828193819B838A834115510587

+:1032500059F4D093B804C093B7041DC0FD01828116

+:103260009381AD010097B1F6FA01D383C283219116

+:103270003191E20FF31FEC17FD0769F42E5F3F4F0A

+:1032800088819981820F931FFA01918380838A81BB

+:103290009B8193838283DF91CF91089597FB092EC1

+:1032A00007260AD077FD04D027D006D000201AF4D4

+:1032B000709561957F4F0895F6F7909581959F4F92

+:1032C000089597FB092E05260ED057FD04D028D06F

+:1032D0000AD0001C38F450954095309521953F4F09

+:1032E0004F4F5F4F0895F6F79095809570956195D3

+:1032F0007F4F8F4F9F4F0895AA1BBB1B51E107C003

+:10330000AA1FBB1FA617B70710F0A61BB70B881F75

+:10331000991F5A95A9F780959095BC01CD01089504

+:10332000A1E21A2EAA1BBB1BFD010DC0AA1FBB1FC9

+:10333000EE1FFF1FA217B307E407F50720F0A21B3B

+:10334000B30BE40BF50B661F771F881F991F1A94A8

+:1033500069F760957095809590959B01AC01BD01D2

+:04336000CF010895FC

+:10336400456D62656464656450726F6A6563747305

+:10337400004F63746F70757355534220496E7465C2

+:10338400726661636520436F6E7665727465722040

+:10339400616E6420492F4F20457874656E73696FA0

+:1033A4006E003230303831313038000904002000EA

+:0433B400B904000058

+:00000001FF

diff --git a/firmware/octopus_can.hex b/firmware/octopus_can.hex
new file mode 100644
index 0000000..aa546f0
--- /dev/null
+++ b/firmware/octopus_can.hex
@@ -0,0 +1,842 @@
+:100000000C94FA000C9417010C9417010C9417012E

+:100010000C9417010C9408030C9417010C9417010D

+:100020000C9417010C9417010C9417010C941701F0

+:100030000C9475170C9417010C9417010C9417016C

+:100040000C9417010C94E1020C9417010C94170105

+:100050000C9417010C9419010C9417010C941701BE

+:100060000C9417010C9417010C9417010C941701B0

+:100070000C9417010C9417010C9417010C941701A0

+:100080000C9417010C9417010C9417010C94170190

+:100090000C941701AA0DAC0DAE0DB00DB20DB40D40

+:1000A000B60DB80DBA0DBC0DBE0DC00DC20DC40D00

+:1000B000C60DC80DCA0DCC0DCE0DFC0DFC0DFC0DF2

+:1000C000FC0DFC0DFC0DD00DD20DD40DD60DD80DB0

+:1000D000DA0DDC0DDE0DE00DE20DE40DE60DE80DB0

+:1000E000EA0DEC0DEE0DF00DF20DF60D490E4B0E76

+:1000F0004D0E4F0E510E530E550E570E590E5B0EF0

+:100100005D0E5F0E610E630E650E670E690E6B0E5F

+:100110006D0E9B0E9B0E9B0E9B0E9B0E9B0E6F0EF1

+:10012000710E730E750E770E790E7B0E7D0E7F0E9F

+:10013000810E830E850E870E890E8B0E8D0E8F0E0F

+:10014000910E950E090F0F0F150F1B0F210F270F83

+:100150002D0F330F390F3F0F450F4B0F510F570F17

+:100160005D0F630F690F6F0F750F060F060F060FF8

+:10017000060F060F060F7B0F810F870F8D0F930F52

+:10018000990F9F0FA50FAB0FB10FB70FBD0FC30F87

+:10019000C90FCF0FD50FDB0FE10FE70F37103A1064

+:1001A0003D1040104310461049104C104F10521093

+:1001B000551058105B105E106110641067106A10C3

+:1001C0006D1034103410341034103410341070109A

+:1001D0007310761079107C107F10821085108810B3

+:1001E0008B108E109110941097109A109D10A010E3

+:1001F000A310A61011241FBECFEFD0E1DEBFCDBFEC

+:1002000011E0A0E0B1E0E0E3F4E300E00BBF02C0E6

+:1002100007900D92A435B107D9F714E0A4E5B1E039

+:1002200001C01D92A93BB107E1F70C9423010C9486

+:1002300000001F920F920FB60F9211240F900FBE65

+:100240000F901F901895CCEFD0E1DEBFCDBF8FEFA0

+:1002500084B985B92F980E94650781E897E10E94CB

+:10026000B00785E69CE00E94B50781E090E00E941F

+:10027000BA07DE011196EBE4F1E083E001900D9204

+:100280008150E1F7CE0101960E94AF0B80E091E032

+:100290000E944B0C81E191E00E94430C82E491E0CA

+:1002A0000E943B0C0E94850B4C0164E670E00E94AA

+:1002B000C80760E070E0C4010E94F10A3C0140E020

+:1002C00050E0BC01C4010E94E90720EFA22E21E00A

+:1002D000B22ECC24DD2490E4E92EF12C02E021E0C2

+:1002E00030E041E050E0B301C4010E94860A87E794

+:1002F000A82E82E0B82E21E030E041E050E0B301CA

+:10030000C4010E94BE0A0E940A071092E1011092E5

+:10031000E0011092E3011092E2010E94790C8FEF4C

+:1003200087B98AEA88B90E942C0385ED88B90E94B2

+:100330002C0380E888B9FFCF0F931F93CF93DF93EF

+:10034000EC0181349105B0F08091EC019091ED01C8

+:10035000892B81F41092E9011092E801D093EB010E

+:10036000C093EA0181E090E09093ED018093EC016D

+:10037000C0E4D0E068E08BE20E94500700E010E0AB

+:100380000EC0E091E801F091E901E00FF11FEE5C91

+:10039000FC4F608189E20E9450070F5F1F4F0C17CE

+:1003A0001D0779F78091E0019091E101019749F4EF

+:1003B00067E08BE20E9450071092E1011092E00189

+:1003C0000AC063E08BE20E94500781E090E09093C6

+:1003D000E1018093E001DF91CF911F910F9108958A

+:1003E0008091EC019091ED01019771F52091E80168

+:1003F0003091E9018091EA019091EB0128173907CA

+:1004000018F52091EA013091EB018091E80190917B

+:10041000E901281B390B8091E8019091E901805C8A

+:100420009F4F9093E9018093E801213431052CF02E

+:1004300080E490E00E949C010895C9010E949C0103

+:100440001092ED011092EC010895FC011092E90167

+:100450001092E8011092ED011092EC0100002F9A29

+:100460002081822F82958F7099278230910511F11A

+:10047000833091052CF4009761F0019759F516C06F

+:1004800084309105F9F084309105C4F0059711F599

+:100490001DC0263039F48281813039F5CF010E94A8

+:1004A000421723C0CF010E94F30C1FC0CF010E944E

+:1004B00084111BC0CF010E94E71217C0CF010E9418

+:1004C0002A1413C0CF010E945C150FC0CF010E94F7

+:1004D00089180BC02093320383E08093330310927A

+:1004E000340383E090E00E949C012F980895CF93FD

+:1004F000DF93EC018091E2019091E301019751F5C6

+:1005000020E030E0E091E401F091E501E20FF31F1B

+:10051000DE01A20FB31F8C91EE50FE4F80832F5F40

+:100520003F4F2034310571F78091E4019091E5014E

+:10053000805C9F4F9093E5018093E4012091E4015A

+:100540003091E5018091E6019091E7012817390784

+:10055000A8F11FC01092E5011092E40120E030E004

+:10056000E091E401F091E501E20FF31FDE01A20F3B

+:10057000B31F8C91EE50FE4F80832F5F3F4F20348E

+:10058000310571F73093E5012093E401A981A0348E

+:1005900048F41092E3011092E20182EF91E00E9490

+:1005A00025020CC081E090E09093E3018093E2018A

+:1005B0008A2F99279093E7018093E601DF91CF91ED

+:1005C00008951F920F920FB60F9211242F933F930D

+:1005D0004F935F936F937F938F939F93AF93BF934B

+:1005E000EF93FF930E94C50C80915D0186BDFF9142

+:1005F000EF91BF91AF919F918F917F916F915F919B

+:100600004F913F912F910F900FBE0F901F90189513

+:100610001F920F920FB60F9211242F933F934F9377

+:100620005F936F937F938F939F93AF93BF93EF935A

+:10063000FF930E94530CFF91EF91BF91AF919F9157

+:100640008F917F916F915F914F913F912F910F907B

+:100650000FBE0F901F90189520E080E49CE9019751

+:10066000F1F72F5F2931C9F70895FF920F931F9378

+:10067000162F042FF22E9C01442737FD4095542F4E

+:1006800060E472E48FE090E00E94C719215030408E

+:10069000163061F0173019F0153019F404C0E1E09C

+:1006A00003C0E1E004C0E0E070E002C0E0E071E01F

+:1006B000053439F00F3419F451E041E004C050E042

+:1006C00001C051E040E082E0F81611F462E001C0A0

+:1006D00060E0832F992787FD9A958093C50020932A

+:1006E000C40088E18093C100770FEE0FEE0FE72B77

+:1006F0005295550F507E5E2B4295407F452B660FDD

+:10070000660F660F642B6093C2001F910F91FF90DC

+:1007100008951092C50089E18093C40088E1809318

+:10072000C10086E08093C20008950895982F8091BB

+:10073000C00085FFFCCF9093C60008958091C00053

+:1007400087FFFCCF8091C600992708958A3310F463

+:10075000805301C087556A3310F4605301C0675558

+:100760006F708295807F682B862F99270895FC01F2

+:1007700007C08091C00085FFFCCF31969093C600E2

+:1007800090819923B1F70895982F92959F70282F03

+:100790002F709A3030F48091C00085FFFCCF905DBF

+:1007A00005C08091C00085FFFCCF995A9093C60088

+:1007B0002A3030F48091C00085FFFCCF205D05C059

+:1007C0008091C00085FFFCCF295A2093C600089570

+:1007D00087E280939A0485E28093990490E2909353

+:1007E0009B0410929C0428E030E030939E042093F8

+:1007F0009D0483E28093A60481E28093A5049093F4

+:10080000A7041092A8043093AA042093A904089581

+:1008100008956091B20481E20E945007089568E053

+:100820008BE20E94500761E188E20E94500768E075

+:100830008FE20E94500761E18CE20E94500761E064

+:100840008FE20E9450071092E1011092E00165E0F2

+:1008500083E20E94500708950F931F938C0160E478

+:1008600080E20E945007F8016281605884E00E9493

+:100870005007F80182818093B1041F910F91089570

+:100880000F931F93CF93DF93EC01288539851216C0

+:100890001306DCF58E819F81821793071CF568E0B3

+:1008A00083E20E94500700E010E00FC08A859B851C

+:1008B000E80FF91F608181E20E9450078E819F81BD

+:1008C00001969F838E830F5F1F4FEE81FF81888586

+:1008D0009985083011051CF4E817F9073CF3E8176F

+:1008E000F90724F061E087E20E9450078B81813094

+:1008F00031F465E089810E9450071B8206C061E0E7

+:1009000089810E94500781E08B83DF91CF911F91F5

+:100910000F910895CF93DF93CDB7DEB724970FB62D

+:10092000F894DEBF0FBECDBFDC01FC012281338114

+:100930001092AC041092AB0481E08093A804832F42

+:1009400099278230D9F0833069F1813009F057C09E

+:100950008091850499279093AE048093AD0485E837

+:1009600094E09093B0048093AF04868197818034A3

+:10097000910509F044C088E090E029C0FD0186811E

+:1009800097819093AE048093AD04E22FFF27EE0F82

+:10099000FF1F8091970490919804E80FF91F8081C0

+:1009A000918129C02223C1F0E22FFF27EE0FFF1F04

+:1009B0008091F0019091F101E80FF91F0190F08111

+:1009C000E02DF093B004E093AF04808199279093D9

+:1009D000AE048093AD0413C094E0998383E08A83CE

+:1009E00089E08B839C8384E090E09093AE048093B5

+:1009F000AD04CE0101969093B0048093AF0485EAD4

+:100A000094E00E94400424960FB6F894DEBF0FBE17

+:100A1000CDBFDF91CF910895CF93DF9382E20E9403

+:100A20002B07C82FDD27C5FF1AC068E083E20E94AC

+:100A30005007C6FF10C02091AB043091AC048091E8

+:100A4000AD049091AE04281739072CF485EA94E0A0

+:100A50000E94400404C061E087E20E945007DF91D9

+:100A6000CF9108951F93CF93DF9388E00E942B07C7

+:100A7000182FC82FDD27C6FF18C060E085E00E9450

+:100A8000500760E884E00E94500760E080E20E9426

+:100A9000500768E083E20E94500761E087E20E940D

+:100AA000500762E085E00E945007C4FF04C060EC7C

+:100AB00089E00E94500717FF04C060ED89E00E94A2

+:100AC0005007DF91CF911F9108958AE00E942B0774

+:100AD000992780FF03C00E940C05089581FF0DC077

+:100AE0008AE20E942B0780917204813061F4E091C8

+:100AF0007504F09176040995089582E30E942B070E

+:100B00008AE30E942B0708958EE00E942B0768E07D

+:100B10008FE20E94500761E08FE20E94500720910F

+:100B2000AD043091AE048091A9049091AA0482177B

+:100B300093075CF468E083E20E94500761E087E27B

+:100B40000E94500781E08093A8040895AF92BF925D

+:100B5000CF92DF92EF92FF920F931F93CF93DF9389

+:100B6000CDB7DEB728970FB6F894DEBF0FBECDBF66

+:100B700086E20E942B0786FF7EC08E010F5F1F4F0B

+:100B8000580169E0C62ED12CCC0EDD1E809199044F

+:100B90000E942B07F80181938F017501EC15FD056B

+:100BA000A9F768E087E20E94500768E083E20E94AC

+:100BB000500780E20E942B078F77682F80E20E9407

+:100BC000500789819927807690708032910509F4C9

+:100BD00040C080349105D1F1892BF1F5F501818177

+:100BE0008630D9F0873048F48130F1F18130C8F097

+:100BF0008330D1F1853081F521C0893019F18A30F7

+:100C000018F4883049F505C08A3071F18B3021F530

+:100C100020C0C5010E94090427C0C5010E948A04A2

+:100C200023C068E083E20E94500761E081E20E94F5

+:100C3000500760E081E20E9450070BC0C5010E948E

+:100C40002C0412C0C5010E940F040EC0C5010E94F1

+:100C5000080765E083E206C080E20E942B07805807

+:100C6000682F80E20E945007F70180818823D1F429

+:100C700065E083E215C02091AD043091AE0480910F

+:100C8000A9049091AA048217930764F41092AE0409

+:100C90001092AD0468E083E20E94500761E087E2B1

+:100CA0000E94500728960FB6F894DEBF0FBECDBF46

+:100CB000DF91CF911F910F91FF90EF90DF90CF9038

+:100CC000BF90AF900895CF92DF92EF92FF920F9373

+:100CD0001F93CF93DF93CDB7DEB7C054D0400FB68C

+:100CE000F894DEBF0FBECDBF8CE00E942B07992782

+:100CF00080FF03C00E94A6057BC081FF2AC08EE250

+:100D00000E942B078DE20E942B0789838E010F5FC3

+:100D10001F4F6801FFE3EF2EF12CE00EF11E0F5F75

+:100D20001F4F0E941907F80180830E151F05B9F7A0

+:100D300080915401813031F4E0915701F0915801D4

+:100D4000C601099568E08FE20E94500761E08FE2DA

+:100D50002BC082FF2CC086E30E942B0785E30E94F4

+:100D60002B0789838E010F5F1F4F6801EFE3EE2E83

+:100D7000F12CE00EF11E0F5F1F4F0E941907F801C2

+:100D800080830E151F05B9F780915501813031F42C

+:100D9000E0915901F0915A01C601099568E087E395

+:100DA0000E94500761E087E30E94500721C083FF43

+:100DB0001FC08EE30E942B078E010F5F1F4F68013B

+:100DC00071E4E72EF12CEC0EFD1E8DE30E942B0743

+:100DD000F80181938F01EE15FF05B9F78091560157

+:100DE000813031F4E0915701F0915801C601099525

+:100DF000C05CDF4F0FB6F894DEBF0FBECDBFDF91F2

+:100E0000CF911F910F91FF90EF90DF90CF900895B9

+:100E10000895089581E080936A0080E18DBB83B3DB

+:100E2000876083BB84B3836084BB3F9A479A78947E

+:100E3000089588B1805888B984B322E0822784BBA2

+:100E40000000000080B198B1905898B994B39227EF

+:100E500094BB992708959FEF91B982B988B18058C2

+:100E600088B984B395E0892784BB88B1805888B954

+:100E700084B3892784BB000011B80E941907992701

+:100E8000089582B988B1805888B984B391E08927E0

+:100E900084BB88B1805888B984B3892784BB0895FE

+:100EA00082B98FEF81B988B1805888B984B395E051

+:100EB000892784BB88B1805888B984B3892784BBCB

+:100EC000862F0E9441070895089582E1809385044A

+:100ED00081E08093860480E191E090938804809380

+:100EE00087041092890410928A0410928B0488E07F

+:100EF00080938C0410928E0410928D0410929004B2

+:100F000010928F0410929204109291041092930404

+:100F10001092940410929504109296041092540129

+:100F2000109255011092560110927204109273049F

+:100F30001092740410927C0410927B041092EF01C2

+:100F40001092EE01089590938E0480938D04709317

+:100F5000900460938F0450939204409391040895F9

+:100F600090938E0480938D040895909390048093C1

+:100F70008F04089590939204809391040895809330

+:100F80008904089580938A04089580938B040895BA

+:100F9000CF93DF939C01CB01E0917B04F0917C0423

+:100FA00062E070E00E94B4190FC0A081B18182811B

+:100FB000823039F4ED018D8199278217930709F466

+:100FC00068870780F085E02D309779F7DF91CF9122

+:100FD0000895CF93DF939C01E0917B04F0917C0412

+:100FE00014C0A081B1818281843061F48481992709

+:100FF0008217930739F4868199278617970711F48A

+:10100000ED014B830780F085E02D309751F7DF919C

+:10101000CF910895BF92CF92DF92EF92FF920F93FC

+:101020001F93CF93DF936C01162FF42EB22EC09135

+:101030007B04D0917C042097A1F489E090E00E9489

+:10104000BB18FC0190937C0480937B04D182C08206

+:10105000138310861782F282B4820583E68215C05C

+:10106000EC018F8198850097D9F789E090E00E9484

+:10107000BB18FC0198878F83D182C0821383F282D0

+:10108000B4820583E68210861782DF91CF911F918B

+:101090000F91FF90EF90DF90CF90BF900895EF9267

+:1010A000FF921F93CF93DF937C01C091EE01D0910B

+:1010B000EF01209711F011E012C085E090E00E944E

+:1010C000BB18FC019093EF018093EE01F182E08266

+:1010D00012821482138210E012C01F5FEC018B8118

+:1010E0009C810097D1F785E090E00E94BB18FC013D

+:1010F0009C838B83F182E082128314821382812F7E

+:101100009927DF91CF911F91FF90EF900895EF9273

+:10111000FF920F931F93CF93DF93E091EE01F09135

+:10112000EF0180E090E00380F481E02D019630979C

+:10113000D1F7880F991F0E94BB189093F1018093FB

+:10114000F0010091EE011091EF01E801E880F980D3

+:101150008A81C82FDD27CC0FDD1F8091F00190918F

+:10116000F101C80FD91FF701808199270E94BB1890

+:101170009983888320E030E017C0E801EA81FF27E7

+:10118000EE0FFF1F8091F0019091F101E80FF91F20

+:101190000190F081E02DE20FF31FD701A20FB31FE2

+:1011A0008C9180832F5F3F4FF7018081992728170B

+:1011B00039071CF3E8018B819C81009711F08C01A9

+:1011C000C4CFDF91CF911F910F91FF90EF900895C1

+:1011D0004F925F926F927F928F929F92AF92BF9247

+:1011E000CF92DF92EF92FF920F931F93CF93DF93F3

+:1011F000E0917B04F0917C046624772409C082810D

+:10120000823019F40894611C711C0780F085E02D70

+:101210003097A9F74301880C991CC4010E94BB18A0

+:101220009093980480939704E1E0EE2EF12CAA2489

+:10123000BB2455C0E0917B04F0917C0479E0C72E7B

+:10124000D12C15C0A081B181848199278E159F056D

+:1012500019F48381C80ED11CED018D818E1521F406

+:101260008281823009F45D010780F085E02D30979E

+:1012700049F7009197041091980402501040080D0E

+:10128000191DC6010E94BB18F8019183808320E0DC

+:1012900030E0E0919704F0919804E80DF91D329741

+:1012A0000190F081E02DE20FF31FD501A20FB31FD3

+:1012B0008C9180832F5F3F4F2930310551F7E091AA

+:1012C0009704F0919804E80DF91D32970190F08190

+:1012D000E02D8C2D875F82830894E11CF11C6E1435

+:1012E0007F040CF0A7CF61E0C62ED12C59E0A52ECB

+:1012F000B12C4424552442E0842E912CA1C0A0910D

+:101300007B04B0917C0412C0ED91FC911197818116

+:10131000823049F4858199278C159D0521F48481BB

+:10132000482E552405C0ED01AF81B885109761F7AF

+:1013300031E0E32EF12C79C060917B0470917C0444

+:101340006DC0FB01C081D1818981843009F063C007

+:10135000868199278E159F0509F05DC084819927A4

+:101360008C159D0509F057C0950140E050E0E091D3

+:101370009704F0919804E80DF91D32970190F081DF

+:10138000E02DE20FF31FDE01A40FB51F8C918083C7

+:101390002F5F3F4F4F5F5F4F4930510541F789E065

+:1013A00090E0A80EB91EC0917B04D0917C0431C09E

+:1013B0008A81853059F58C8199278C159D0531F5E9

+:1013C0008D8199278E159F0509F508811981950151

+:1013D00040E050E0E0919704F0919804E80DF91D89

+:1013E00032970190F081E02DE20FF31FD801A40F96

+:1013F000B51F8C9180832F5F3F4F4F5F5F4F47300A

+:10140000510541F7E7E0F0E0AE0EBF1E0F80D88532

+:10141000C02D209769F6EB016F8178856115710504

+:1014200009F08FCF0894E11CF11C4E145F040CF0FE

+:1014300083CF0894C11CD11CE2E0F0E08E0E9F1E09

+:101440006C147D040CF05BCFDF91CF911F910F9155

+:10145000FF90EF90DF90CF90BF90AF909F908F90D4

+:101460007F906F905F904F9008956F927F928F92D0

+:101470009F92AF92BF92CF92DF92EF92FF920F9323

+:10148000CF93DF935C013B014901E0917B04F09134

+:101490007C0416C0A081B18184819927A816B90661

+:1014A00061F4868199278615970539F48281843005

+:1014B00021F4ED018C818F5F8C830780F085E02D16

+:1014C000309741F787E090E00E94BB18FC0187E06D

+:1014D000808385E0818382820383F582E482C682F1

+:1014E000EE24062D2A2D45E067E0CF010E940A0870

+:1014F000DF91CF910F91FF90EF90DF90CF90BF9051

+:10150000AF909F908F907F906F900895AF92BF9211

+:10151000CF92DF92EF92FF920F93FC01A114B104DE

+:1015200001F14230510571F04330510599F04130DD

+:101530005105B9F481E080937204B0927604A092D0

+:1015400075040FC081E080937304B0927804A09278

+:10155000770407C081E080937404B0927A04A0926B

+:10156000790420583F4FCF010E94350A0F91FF9018

+:10157000EF90DF90CF90BF90AF900895AF92BF9261

+:10158000CF92DF92EF92FF920F93FC014230510510

+:1015900071F04330510599F041305105B9F481E0C3

+:1015A00080935401B0925801A09257010FC081E07E

+:1015B00080935501B0925A01A092590107C081E071

+:1015C00080935601B0925C01A0925B01CF010E9412

+:1015D000350A0F91FF90EF90DF90CF90BF90AF90C2

+:1015E0000895CF92DF92EF920F931F93CF93DF93E3

+:1015F0006C018B01A0917B04B0917C04C0E0D0E031

+:1016000014C02D913C911197F90185818C1551F4ED

+:10161000FD018281823031F4F90184818F5F8483FE

+:10162000C82FDD27FD01A781B085109751F789E00C

+:1016300090E00E94BB18FC0189E0808384E08183F4

+:101640000283138214821582168217821086EC2E72

+:1016500000E02C2D44E069E0CF010E940A08CE0191

+:10166000DF91CF911F910F91EF90DF90CF90089570

+:10167000BF92CF92DF92EF92FF920F931F93CF937F

+:10168000DF936C017B01142FB22EA0917B04B091EB

+:101690007C04C0E0D0E014C02D913C911197F90179

+:1016A00085818C1551F4FD018281823031F4F9017C

+:1016B00084818F5F8483C82FDD27FD01A781B085DA

+:1016C000109751F789E090E00E94BB18FC0189E077

+:1016D000808384E08183E282138214821583B68240

+:1016E00007831086EC2E00E02C2D44E069E0CF014A

+:1016F0000E940A08CE01DF91CF911F910F91FF90B8

+:10170000EF90DF90CF90BF900895EF920F931F93CB

+:10171000109196041F5F1093960489E090E00E9458

+:10172000BB18FC0189E0808389E090E09383828389

+:1017300082E0818314821583168280EA87838AE19E

+:101740008087EE2400E020E042E069E0CF010E94C3

+:101750000A08812F99271F910F91EF900895CF9339

+:10176000DF93EC01FC0101900020E9F7E81BF90B85

+:10177000CF01880F991F0E94BB189C01FE010190A8

+:101780000020E9F7EC1BFD0BEE0FFF1FDC01EC93D3

+:1017900083E0F901818340E050E009C0FE01E40FDD

+:1017A000F51F80818C93FD0111824F5F5F4F129670

+:1017B000FE0101900020E9F73197EC1BFD0B4E175D

+:1017C0005F0760F3C9010E944F089927DF91CF910D

+:1017D0000895EF92FF920F931F93CF93DF938C01A5

+:1017E0007B01CA010E94AF0B9C01E0917B04F09148

+:1017F0007C0414C0A081B1818281843061F4848131

+:1018000099278017910739F4868199278E159F05AE

+:1018100011F4ED0128870780F085E02D309751F70E

+:10182000DF91CF911F910F91FF90EF9008950F934B

+:101830001F93CF93DF938C01CB010E94AF0B9C01D0

+:10184000E0917B04F0917C040FC0A081B181828182

+:10185000823039F4ED018D8199278017910709F4C1

+:101860002E830780F085E02D309779F7DF91CF91B7

+:101870001F910F9108950E94AF0B1816190614F4CA

+:101880008093950408950E94AF0B1816190614F45E

+:101890008093940408950E94AF0B1816190614F44F

+:1018A0008093930408951F9386E00E942B07992745

+:1018B00086FF03C00E9463060EC082FF03C00E9421

+:1018C000650509C081FF03C00E94320504C084FF82

+:1018D00002C00E94840587E00E942B07182F60E059

+:1018E00087E00E945007612F87E00E9450071F91F8

+:1018F00008950E94E8080E9487080E94E80361E0BA

+:1019000080E00E94500780E00E942B0780FDFBCF03

+:1019100062E081E00E94500760E884E00E94500786

+:1019200060E480E20E94500768E083E20E94500772

+:1019300069E087E20E9450076FE08DE00E94500747

+:101940006FE08BE00E94500768ED89E00E9450072D

+:1019500063E38FE00E94500766ED87E00E94500726

+:1019600062E085E00E9450076CEC80E00E94500726

+:1019700008958EEC80935D0181E080936E008091EC

+:101980005D0186BD83E084BD08950895089583E0D8

+:101990008093320381E0809333038BE080933403A0

+:1019A0002FE62093350393E69093360384E78093E4

+:1019B0003703209338039093390381E680933A03E9

+:1019C0008EE680933B038FE580933C0380E3809316

+:1019D0003D0381E380933E0310923F038EE090E04D

+:1019E0000E949C010895FC018081833011F40E94C3

+:1019F000C70C0895CF93DF93C1E0D0E08C2F0E94F5

+:101A00000B0E2196C431D105C9F7CAE1D0E08C2F65

+:101A10000E940B0E2196CD32D105C9F7DF91CF91EF

+:101A20000895CF93DF93DC01EC01EA81FB812191E2

+:101A30008E81815019F48981E81BF109ED01FB8346

+:101A4000EA838E839FB7F8948C9181508C939FBFCB

+:101A5000822F9927DF91CF910895FC011082758321

+:101A60006483738362834183478346830895CF935E

+:101A7000DF93DC019C91ED018981981718F080E0DB

+:101A800090E016C0ED01EC81FD8161938F81815062

+:101A900019F48981E81BF109ED018F83FD83EC8343

+:101AA0009FB7F8948C918F5F8C939FBF81E090E0FB

+:101AB000DF91CF910895FC0180818823E9F3CF0164

+:101AC0000E94110D99270895FC018081882319F443

+:101AD0008FEF9FEF0895CF010E94110D9927089570

+:101AE00081E090E0089581E090E0089581E090E049

+:101AF000089581E090E00895CF93DF93CDB7DEB7EE

+:101B000022970FB6F894DEBF0FBECDBF282F8150AD

+:101B1000833120F08951833108F06EC0E22FFF2716

+:101B2000EE0FFF1FE35AFE4F82E090E09283818325

+:101B3000822F9927AA27BB27FC013197EC32F105A8

+:101B400008F05AC0E65BFF4FEE0FFF1F0590F491BF

+:101B5000E02D09946D9A47C06E9A49C06F9A43C0B0

+:101B6000209A45C0219A3FC0229A41C0239A3BC087

+:101B7000249A3DC0259A37C0269A39C0279A33C087

+:101B8000509A35C0519A2FC0529A31C0539A2BC0E7

+:101B9000549A2DC0559A27C0569A29C0579A23C0E7

+:101BA000389A25C0399A1FC03A9A21C03B9A1BC067

+:101BB0003C9A1DC03D9A17C03E9A19C0879A13C01F

+:101BC000869A15C0859A0FC0849A11C0839A0BC05B

+:101BD000829A0DC0819A07C0809A09C0689A03C092

+:101BE000699A05C06A9A81E090E008C06B9AE1E0CA

+:101BF000F0E0FA83E98304C084E090E09A8389836B

+:101C000089819A8122960FB6F894DEBF0FBECDBFB0

+:101C1000DF91CF910895982F8150833130F0895111

+:101C2000833118F084E090E00895892F0E947C0DA4

+:101C300081E090E00895CF93DF93CDB7DEB7229790

+:101C40000FB6F894DEBF0FBECDBF282F8150833171

+:101C500020F08951833108F06EC0E22FFF27EE0F8C

+:101C6000FF1FE35AFE4F81E090E092838183822F31

+:101C70009927AA27BB27FC013197EC32F10508F020

+:101C80005AC0EA58FF4FEE0FFF1F0590F491E02D68

+:101C900009946D9847C06E9849C06F9843C02098CA

+:101CA00045C021983FC0229841C023983BC024984A

+:101CB0003DC0259837C0269839C0279833C0509822

+:101CC00035C051982FC0529831C053982BC05498AA

+:101CD0002DC0559827C0569829C0579823C03898CA

+:101CE00025C039981FC03A9821C03B981BC03C982A

+:101CF0001DC03D9817C03E9819C0879813C086989C

+:101D000015C085980FC0849811C083980BC0829825

+:101D10000DC0819807C0809809C0689803C0699871

+:101D200005C06A9881E090E008C06B98E1E0F0E0BF

+:101D3000FA83E98304C084E090E09A8389838981EF

+:101D40009A8122960FB6F894DEBF0FBECDBFDF9109

+:101D5000CF910895FB011082833091F0843028F4F4

+:101D6000813051F0823029F409C0843059F0853037

+:101D700059F085E090E0089583B107C086B105C0B1

+:101D800089B103C08CB101C08FB1808381E090E044

+:101D90000895833091F0843028F4813051F08230FE

+:101DA00029F409C0843059F0853069F084E090E06E

+:101DB000089565B905C068B903C06BB901C06EB9B3

+:101DC00081E090E0089561BB81E090E00895282FC4

+:101DD000E82FFF27EE0FFF1FE35AFE4F818192810C

+:101DE000029719F086E090E00895822F9927AA279C

+:101DF000BB27FC013197EC32F10540F4EE55FF4F63

+:101E0000EE0FFF1F0590F491E02D099484E090E01F

+:101E10000895662311F0759ADDC07598DBC06623BE

+:101E200011F0769AD7C07698D5C0662311F0779ACC

+:101E3000D1C07798CFC0662311F0289ACBC02898DC

+:101E4000C9C0662311F0299AC5C02998C3C066236A

+:101E500011F02A9ABFC02A98BDC0662311F02B9AB0

+:101E6000B9C02B98B7C0662311F02C9AB3C02C9838

+:101E7000B1C0662311F02D9AADC02D98ABC066237A

+:101E800011F02E9AA7C02E98A5C0662311F02F9AA4

+:101E9000A1C02F989FC0662311F0589A9BC05898F4

+:101EA00099C0662311F0599A95C0599893C066233A

+:101EB00011F05A9A8FC05A988DC0662311F05B9A20

+:101EC00089C05B9887C0662311F05C9A83C05C98D8

+:101ED00081C0662311F05D9A7DC05D987BC066234A

+:101EE00011F05E9A77C05E9875C0662311F05F9A14

+:101EF00071C05F986FC0662311F0409A6BC0409824

+:101F000069C0662311F0419A65C0419863C0662399

+:101F100011F0429A5FC042985DC0662311F0439A67

+:101F200059C0439857C0662311F0449A53C044984F

+:101F300051C0662311F0459A4DC045984BC06623A9

+:101F400011F0469A47C0469845C0662311F08F9A13

+:101F500041C08F983FC0662311F08E9A3BC08E9887

+:101F600039C0662311F08D9A35C08D9833C0662331

+:101F700011F08C9A2FC08C982DC0662311F08B9A8B

+:101F800029C08B9827C0662311F08A9A23C08A98AB

+:101F900021C0662311F0899A1DC089981BC0662351

+:101FA00011F0889A17C0889815C0662311F0709AAE

+:101FB00011C070980FC0662311F0719A0BC0719810

+:101FC00009C0662311F0729A05C0729803C0662397

+:101FD00021F0739A81E090E00895739881E090E099

+:101FE00008951F93182F8150833130F08951833128

+:101FF00018F084E090E013C0E12FFF27EE0FFF1FE1

+:10200000E35AFE4F83E090E092838183812F0E9408

+:102010007C0D61E0812F0E94E70E81E090E01F912E

+:102020000895CF93DF93282FEB011882E82FFF2725

+:10203000EE0FFF1FE35AFE4F81819281019719F045

+:1020400086E090E089C0822F9927AA27BB27FC0150

+:102050003197EC32F10540F4E253FF4FEE0FFF1FD2

+:102060000590F491E02D099484E090E075C0659BA3

+:1020700071C06EC0669B6EC06BC0679B6BC068C052

+:10208000189B68C065C0199B65C062C01A9B62C07E

+:102090005FC01B9B5FC05CC01C9B5CC059C01D9B8C

+:1020A00059C056C01E9B56C053C01F9B53C050C042

+:1020B000489B50C04DC0499B4DC04AC04A9B4AC036

+:1020C00047C04B9B47C044C04C9B44C041C04D9B44

+:1020D00041C03EC04E9B3EC03BC04F9B3BC038C042

+:1020E000309B38C035C0319B35C032C0329B32C0C6

+:1020F0002FC0339B2FC02CC0349B2CC029C0359BD4

+:1021000029C026C0369B26C023C07F9B23C020C089

+:102110007E9B20C01DC07D9B1DC01AC07C9B1AC029

+:1021200017C07B9B17C014C07A9B14C011C0799B49

+:1021300011C00EC0789B0EC00BC0609B0BC008C0C6

+:10214000619B08C005C0629B05C002C0639B02C0C2

+:1021500081E0888381E090E0DF91CF910895CF9373

+:10216000DF93CDB7DEB721970FB6F894DEBF0FBE71

+:10217000CDBF9BE190933203BE016F5F7F4F0E9402

+:1021800011108093330389818093340383E090E0BE

+:102190000E949C0121960FB6F894DEBF0FBECDBF02

+:1021A000DF91CF9108959AE1909332030E94E70E58

+:1021B000809333031092340383E090E00E949C01EB

+:1021C000089598E1909332030E94C90E80933303DF

+:1021D0001092340383E090E00E949C010895982FB0

+:1021E00089E180933203933099F0943028F4913050

+:1021F00059F0923029F40AC0943061F0953061F0C2

+:1022000085E090E020E00BC023B107C026B105C0F7

+:1022100029B103C02CB101C02FB181E090E08093BF

+:1022200033032093340383E090E00E949C010895DF

+:1022300097E1909332030E94F10F80933303109241

+:10224000340383E090E00E949C01089595E190930F

+:1022500032030E941B0E809333031092340383E0F9

+:1022600090E00E949C01089596E1909332030E94B1

+:102270007C0D809333031092340383E090E00E943E

+:102280009C01089584E18093320381E080933303BD

+:102290001092340383E090E00E949C01089582E153

+:1022A0008093320381E0809333031092340383E000

+:1022B00090E00E949C01089583E18093320381E0C5

+:1022C000809333031092340383E090E00E949C01DA

+:1022D000089580E18093320381E08093330310926C

+:1022E000340383E090E00E949C01089591E1909373

+:1022F00032030E940B0E809333031092340383E069

+:1023000090E00E949C010895FC0180818531C9F113

+:10231000863180F4823131F1833130F48031D1F073

+:10232000813109F04CC01AC0833109F1843109F0C0

+:1023300046C022C0883189F1893128F4863129F1DB

+:102340008731E9F526C08A3189F18A3158F18B311C

+:10235000B1F531C082810E946911089582810E9485

+:1023600076110895638182810E944F1108956381DF

+:1023700082810E945C110895638182810E944211D2

+:10238000089582810E942611089582810E9434114D

+:10239000089582810E9418110895638182810E94AC

+:1023A000E110089582810E94EF1008956381828177

+:1023B0000E94D310089582810E94AF1008958093E7

+:1023C000320383E0809333031092340383E090E080

+:1023D0000E949C010895FC018197089718F084E001

+:1023E00090E00895EE0FFF1FE35AFE4F84E090E067

+:1023F0009283818381E090E0089510927C00823086

+:10240000910541F08330910569F0019741F082E038

+:1024100090E0089580917C00806480937C0081E04E

+:1024200090E0089580917C00806C80937C0081E036

+:1024300090E0089593E890937A0090917C00907FCB

+:10244000982B90937C0080917A00806480937A002E

+:1024500080917A0086FDFCCF809178009091790080

+:1024600020E030E040E050E080917A00806480938A

+:102470007A0080917A0086FDFCCF8091780090915F

+:102480007900480F591F2F5F3F4F2430310561F706

+:1024900080917A008F7780937A00CA01969587950C

+:1024A000969587950895CF93DF939C01EB01198250

+:1024B0001882FC01EE0FFF1FE35AFE4F81819281CB

+:1024C000049719F086E090E03CC02432310541F1D8

+:1024D0002532310554F42232310541F123323105E0

+:1024E00014F52132310569F424C02632310591F00A

+:1024F0002632310594F02732310549F02832310572

+:1025000019F087E090E01DC080E090E014C081E009

+:1025100090E011C082E090E00EC083E090E00BC03C

+:1025200084E090E008C085E090E005C086E090E09F

+:1025300002C087E090E00E941A129983888381E0AC

+:1025400090E0DF91CF91089522E2209332030E9420

+:10255000FD118093330382E090E00E949C01089576

+:10256000CF93DF93CDB7DEB722970FB6F894DEBFD7

+:102570000FBECDBF21E220933203BE016F5F7F4FBC

+:102580000E9453128093330329813A81832F992724

+:10259000809334032093350384E090E00E949C01F3

+:1025A00022960FB6F894DEBF0FBECDBFDF91CF915C

+:1025B000089520E2209332030E94EB1180933303AD

+:1025C0001092340383E090E00E949C010895FC0186

+:1025D0008081813249F0823261F0803279F48281E7

+:1025E00099270E94D9120895828199270E94B012DA

+:1025F0000895828199270E94A4120895809332033E

+:1026000083E0809333031092340383E090E00E94D0

+:102610009C0108958091B9009927887F9070089552

+:102620008091BC0087FFFCCF0895ECEBF0E0808147

+:10263000846080838BE090E09093770180937601B3

+:102640008CE090E0909379018093780181E090E0B4

+:102650000895ECEBF0E080818B7F808382E090E056

+:10266000909377018093760190937901809378011C

+:1026700081E090E008958130910511F48CE00BC069

+:102680008230910511F488E106C0039719F082E0C9

+:1026900090E0089588E48093B8008091B9008C7F21

+:1026A0008093B9008091B9008093B90081E090E0F7

+:1026B00008958091B90084EA8093BC008091BC00A9

+:1026C00087FFFCCF81E090E0089584E98093BC000F

+:1026D00081E090E008958093BB0084E88093BC0083

+:1026E0008091BC0087FFFCCF80E090E0089584E8F3

+:1026F0008093BC008091BC0087FFFCCF8091BB0021

+:102700009927089585E38093320381E08093330312

+:102710008093340384E88093BC008091BC0087FFE1

+:10272000FCCF8091BB008093350385E090E00E9450

+:102730009C01089540E050E00FC0F901E40FF51F3F

+:1027400080818093BB0084E88093BC008091BC00B2

+:1027500087FFFCCF4F5F5F4F4617570774F384E343

+:102760008093320381E0809333031092340383E03B

+:1027700090E00E949C01089587E38093320384E9EE

+:102780008093BC0081E0809333031092340383E094

+:1027900090E00E949C01089586E38093320380912B

+:1027A000B90084EA8093BC008091BC0087FFFCCF15

+:1027B00081E0809333031092340383E090E00E9421

+:1027C0009C01089522E3209332030E943B138093DF

+:1027D00033031092340383E090E00E949C0108953B

+:1027E00081E380933203ECEBF0E080818B7F808388

+:1027F00082E090E090937701809376019093790145

+:102800008093780181E0809333031092340383E056

+:1028100090E00E949C01089580E380933203ECEBEA

+:10282000F0E08081846080838BE090E0909377017A

+:10283000809376018CE090E0909379018093780109

+:1028400081E0809333031092340383E090E00E9490

+:102850009C010895FC0180818433D9F0853338F4DC

+:10286000813379F0823381F0803389F507C0863374

+:1028700041F18633D8F0873351F526C00E940C14FD

+:1028800008950E94F0130895828199270E94E2130F

+:102890000895428155276181772764507040838174

+:1028A00034969F0199270E949A13089542815527D3

+:1028B0006181772764507040838199270E94821339

+:1028C00008950E94CC1308950E94BC13089580932C

+:1028D000320383E0809333031092340383E090E06B

+:1028E0000E949C01089585B1817F85B9239886E077

+:1028F00084B91CBC1DBC83E58CBD88E090E090933E

+:102900006901809368018AE090E090936B01809365

+:102910006A0189E090E090936D0180936C0181E001

+:1029200090E008951CBC1DBC82E090E0909369018A

+:102930008093680190936B0180936A0190936D017D

+:1029400080936C0181E090E00895089581E090E02B

+:102950000895AC0120E030E00AC0FA01E20FF31F55

+:1029600080818EBD0DB407FEFDCF2F5F3F4F261730

+:1029700037079CF381E090E00895DC0120E030E02F

+:1029800040E050E015C01EBC09C04F5F5F4F83E0C0

+:10299000493E58071CF088E090E008950DB407FE0A

+:1029A000F4CFFD01E20FF31F8EB580832F5F3F4F01

+:1029B0002617370744F381E090E00895CF93DF9323

+:1029C000EC0120E030E0A0E0B0E018C0FE01E20F32

+:1029D000F31F80818EBD08C0119683E0A93EB80721

+:1029E0001CF088E090E00FC00DB407FEF5CFFB01AE

+:1029F000E20FF31F8EB580832F5F3F4F24173507FB

+:102A00002CF381E090E0DF91CF9108950F931F9315

+:102A10008B0123E420933203AB0164E373E00E9453

+:102A2000DE148093330310923403C80102960E948F

+:102A30009C011F910F9108950F931F938C0184E4C3

+:102A400080933203B80184E393E00E94BD14809325

+:102A5000330310923403C80102960E949C011F9117

+:102A60000F91089523E4209332030E94A9148093C8

+:102A700033031092340383E090E00E949C01089598

+:102A800081E4809332030E94921480933303109266

+:102A9000340383E090E00E949C01089580E48093D9

+:102AA00032030E947314809333031092350383E042

+:102AB00090E00E949C010895CF93DF93EC01888100

+:102AC0008334A1F0843438F4813469F0823458F5C9

+:102AD0008034F1F405C0843481F08534C9F411C028

+:102AE0000E944E1520C00E9440151DC069817727A5

+:102AF000CE0102960E94321516C0898199270E9444

+:102B00001C1569817727CE0102960E9406150BC01D

+:102B10008093320383E0809333031092340383E085

+:102B200090E00E949C01DF91CF910895209A219A14

+:102B3000229A2398249A259A2C982D9882E090E046

+:102B40009093850180938401909383018093820107

+:102B5000909381018093800181E090E090937F01C8

+:102B600080937E01089582E090E0909369018093C4

+:102B7000680190936B0180936A0190936D0180933B

+:102B80006C0181E090E00895289829982A9880E2C5

+:102B90009EE40197F1F7289A8AE0982F9A95F1F729

+:102BA0002A9A299A8A95F1F70895282F299887FD5E

+:102BB00002C02A9801C02A9A8AE0982F9A95F1F7C4

+:102BC000299A8A95F1F7299826FF02C02A9A01C00E

+:102BD0002A988AE0982F9A95F1F7299A8A95F1F721

+:102BE0000895282F220F30E0299827FF02C02A9A43

+:102BF00001C02A988AE0982F9A95F1F7299A8A9528

+:102C0000F1F73F5F373011F0220FEECF0895282FF4

+:102C100030E0299827FF02C02A9A01C02A988AE04A

+:102C2000982F9A95F1F7299A8A95F1F73F5F3830F6

+:102C300011F0220FEECF089529982A988AE0982F54

+:102C40009A95F1F7299A982F9A95F1F7299828984B

+:102C5000982F9A95F1F7299A982F9A95F1F7299834

+:102C60008A95F1F7289A80E090E0089529982898AD

+:102C70002A982B9A08950E94C41580E30E94D515C6

+:102C800080E60E94F11508950E94C41580E00E941C

+:102C9000D51580E00E94F1150E94361608950F9315

+:102CA0001F93182F062F0E94C41580E40E94D5158B

+:102CB000812F0E94F115802F0E94071681E090E07D

+:102CC0001F910F9108951F93182F0E94C41580EC37

+:102CD0000E94D515812F0E94F1150E941C1699277C

+:102CE0001F91089529988AE08A95F1F72A9830E093

+:102CF00090E0990F299A2AE0822F8A95F1F7299876

+:102D00001B999F5F822F8A95F1F73F5F383089F7D3

+:102D10002898299A822F8A95F1F7289A29982A9536

+:102D2000F1F7892F992708951F93182F0E94C41532

+:102D300080E80E94D515812F0E94F1150E9472161D

+:102D400099271F910895DF92EF92FF920F931F939F

+:102D5000CF93DF93D82E7B018A01C0E0D0E009C079

+:102D60008D2D8C0F0E949416F801EC0FFD1F8083AF

+:102D70002196CE15DF05A1F781E090E0DF91CF919C

+:102D80001F910F91FF90EF90DF9008950F931F9385

+:102D9000082F162F0E943B16612F802F0E944F167E

+:102DA00081E090E01F910F910895DF92EF92FF92E2

+:102DB0000F931F93CF93DF93D82E7B018A01C0E03E

+:102DC000D0E009C0F801EC0FFD1F60818D2D8C0F44

+:102DD0000E94C6162196CE15DF05A1F781E090E08E

+:102DE000DF91CF911F910F91FF90EF90DF900895A9

+:102DF00094E0909332030E94D5168093330310928F

+:102E0000340383E090E00E949C0108950F931F9388

+:102E10008B0193E09093320344E353E00E94A316A6

+:102E200080933303C80102960E949C011F910F9169

+:102E3000089582E08093320382E090E090936901EC

+:102E40008093680190936B0180936A0190936D0168

+:102E500080936C0181E0809333031092340383E00C

+:102E600090E00E949C01089581E0809332030E94CB

+:102E70009615809333031092340383E090E00E9410

+:102E80009C010895FC018381823069F0833018F43D

+:102E90008130F1F405C0833049F08430C9F40FC0AB

+:102EA0000E94341708950E9419170895AF014A5FD0

+:102EB0005F4F6581772784810E9406170895AF01CF

+:102EC0004A5F5F4F6581772784810E94F8160895D5

+:102ED00080818093320383E0809333031092340324

+:102EE00083E090E00E949C0108951F920F920FB61C

+:102EF0000F9211240F900FBE0F901F9018959C01F8

+:102F00000897029718F084E090E00895F901EE0F19

+:102F1000FF1FE35AFE4F8DE090E0928381832830BB

+:102F2000310531F02930310531F087E090E0089526

+:102F300081E090E00895259A81E090E090938900E7

+:102F40008093880081E88093800089E080938100ED

+:102F500081E090E008959C01FC01EE0FFF1FE35A11

+:102F6000FE4F818192810D9719F086E090E00895DF

+:102F70002830310539F12930310519F087E090E02A

+:102F8000089563307105B1F06430710544F4613027

+:102F9000710561F06230710509F040C009C064300C

+:102FA000710551F065307105C9F508C081E007C0B1

+:102FB00082E005C083E003C084E001C085E0809327

+:102FC000810029C064307105E9F06530710554F461

+:102FD0006230710599F06330710594F461307105C8

+:102FE000E9F40AC06630710589F06630710564F055

+:102FF0006730710599F40CC089E60BC08AE609C0F8

+:103000008BE607C08CE605C08DE603C08EE601C0E6

+:103010008FE68093B00081E090E0089581E090E039

+:1030200008959C01FC01EE0FFF1FE35AFE4F8181C2

+:1030300092810D9719F086E090E0089528303105CF

+:1030400069F02930310519F087E090E00895709318

+:1030500089006093880081E090E008956093B30058

+:1030600081E090E0089523E5209332030E94111837

+:10307000809333031092340383E090E00E949C011C

+:10308000089522E5209332030E94AB178093330307

+:103090001092340383E090E00E949C01089520E5A3

+:1030A000209332030E947F178093330310923403DE

+:1030B00083E090E00E949C0108959C01FC01EE0FCA

+:1030C000FF1FE35AFE4F82E090E092838183283015

+:1030D000310531F02930310531F086E090E0089576

+:1030E0001092B00002C010928100822F0E947C0DCD

+:1030F00081E090E0089521E5209332030E945D185D

+:10310000809333031092340383E090E00E949C018B

+:103110000895FC018081813579F0823518F480357D

+:10312000F1F405C0823569F08335C9F411C082819C

+:1031300099270E944F180895828199270E947B1831

+:10314000089563817727828199270E944118089505

+:1031500063817727828199270E943318089580938D

+:10316000320383E0809333031092340383E090E0D2

+:103170000E949C010895CF93DF93AC01029710F455

+:1031800042E050E0A091B704B091B804FD01C0E066

+:10319000D0E020E030E020C0808191818417950745

+:1031A00069F482819381209719F09B838A8304C0FC

+:1031B0009093B8048093B704CF0132C048175907E1

+:1031C00038F42115310519F08217930708F49C0192

+:1031D000EF010280F381E02D3097F1F621153105E2

+:1031E00089F1C901841B950B049708F4A901E0E05B

+:1031F000F0E026C08D919C91119782179307E9F416

+:103200004817590779F4ED018A819B81309719F0AD

+:103210009383828304C09093B8048093B704CD0154

+:10322000029649C0841B950BFD01E80FF91F4193DD

+:10323000519302978D939C933AC0FD01A281B38173

+:103240001097C1F68091B5049091B604892B41F492

+:1032500080915001909151019093B6048093B504F0

+:1032600020915201309153012115310541F42DB7C0

+:103270003EB780914E0190914F01281B390BE09190

+:10328000B504F091B6042E1B3F0B2417350788F0C8

+:10329000CA0102962817390760F0CF01840F951FE5

+:1032A00002969093B6048093B50441935193CF0155

+:1032B00002C080E090E0DF91CF910895CF93DF933B

+:1032C000009709F44EC0EC0122971B821A82A0914C

+:1032D000B704B091B804109711F140E050E001C07C

+:1032E000DC01AC17BD0700F1BB83AA83FE0121916D

+:1032F0003191E20FF31FEA17FB0771F42E5F3F4F86

+:103300008D919C911197820F931F99838883FD0162

+:10331000828193819B838A834115510559F4D0930F

+:10332000B804C093B7041DC0FD0182819381AD0133

+:103330000097B1F6FA01D383C28321913191E20F54

+:10334000F31FEC17FD0769F42E5F3F4F88819981C9

+:10335000820F931FFA01918380838A819B819383DB

+:103360008283DF91CF91089597FB092E07260AD01B

+:1033700077FD04D027D006D000201AF4709561950F

+:103380007F4F0895F6F7909581959F4F089597FB8D

+:10339000092E05260ED057FD04D028D00AD0001CD7

+:1033A00038F450954095309521953F4F4F4F5F4FE2

+:1033B0000895F6F790958095709561957F4F8F4FA2

+:1033C0009F4F0895AA1BBB1B51E107C0AA1FBB1F3B

+:1033D000A617B70710F0A61BB70B881F991F5A95A1

+:1033E000A9F780959095BC01CD010895A1E21A2E10

+:1033F000AA1BBB1BFD010DC0AA1FBB1FEE1FFF1F99

+:10340000A217B307E407F50720F0A21BB30BE40BE8

+:10341000F50B661F771F881F991F1A9469F760952F

+:103420007095809590959B01AC01BD01CF010895E9

+:10343000456D62656464656450726F6A6563747338

+:10344000004F63746F70757355534220496E7465F5

+:10345000726661636520436F6E7665727465722073

+:10346000616E6420492F4F20457874656E73696FD3

+:103470006E0032303038313130380009040020001D

+:04348000B90400008B

+:00000001FF

diff --git a/firmware/protocol.h b/firmware/protocol.h
new file mode 100644
index 0000000..fce8eda
--- /dev/null
+++ b/firmware/protocol.h
@@ -0,0 +1,94 @@
+/**
+ * Protocol is under GNU/GPL2!
+ * Author: Benedikt Sauter sauter@empronix.com, 2007-09-02
+ * 
+ * BYTE	      command
+ * BYTE	      parameter
+ * BYTE	      length body <x>
+ * <x> BYTES  body
+ *
+ * max body length = 60 bytes
+ */
+
+/**
+ * The first byte in the body of an response packet 
+ * is always a value from the next table.
+ */
+
+#define RSP_OK                          0x01
+#define RSP_ERROR                       0x02
+#define RSP_UNKOWN_CMD                  0x03
+#define RSP_UNKOWN_PIN                  0x04
+#define RSP_UNKOWN_PORT                 0x05
+#define RSP_WRONG_PIN_CONFIG            0x06
+#define RSP_IMPOSSIBLE_PIN_CONFIG       0x07
+#define RSP_TIMEOUT                     0x08
+
+
+#define CMD_LATENCY_TIMER_SET           0x01
+#define CMD_LATENCY_TIMER_GET           0x02
+#define CMD_GET_HW_ID                   0x03
+#define CMD_EXTERNAL_DEVICE             0x06
+
+#define CMD_IO_INIT_PORT                0x10
+#define CMD_IO_INIT_PIN                 0x11
+#define CMD_IO_PORT_DIRECTION_IN        0x12
+#define CMD_IO_PORT_DIRECTION_OUT       0x13
+#define CMD_IO_PORT_DIRECTION_TRI       0x14
+#define CMD_IO_PIN_DIRECTION_IN         0x15
+#define CMD_IO_PIN_DIRECTION_OUT        0x16
+#define CMD_IO_PIN_DIRECTION_TRI        0x17
+#define CMD_IO_PORT_SET                 0x18
+#define CMD_IO_PORT_GET                 0x19
+#define CMD_IO_PIN_SET                  0x1A
+#define CMD_IO_PIN_GET                  0x1B
+
+#define CMD_ADC_INIT_PIN                0x20
+#define CMD_ADC_GET                     0x21
+#define CMD_ADC_REF                     0x22
+ 
+#define CMD_I2C_INIT                    0x30
+#define CMD_I2C_DEINIT                  0x31
+#define CMD_I2C_SET_BITRATE             0x32
+#define CMD_I2C_SEND_BYTE               0x34
+#define CMD_I2C_RECV_BYTES              0x35
+#define CMD_I2C_SEND_START              0x36        
+#define CMD_I2C_SEND_STOP               0x37       
+
+#define CMD_SPI_INIT                    0x40
+#define CMD_SPI_DEINIT                  0x41
+#define CMD_SPI_SPEED                   0x42
+#define CMD_SPI_SEND                    0x43
+#define CMD_SPI_RECV                    0x44
+#define CMD_SPI_SEND_AND_RECV           0x45
+
+
+#define CMD_PWM_INIT_PIN                0x50
+#define CMD_PWM_DEINIT_PIN              0x51
+#define CMD_PWM_SPEED                   0x52
+#define CMD_PWM_VALUE                   0x53
+
+
+#define CMD_UART_INIT			0x60
+#define CMD_UART_DEINIT			0x61
+#define CMD_UART_BAUDRATE		0x62
+#define CMD_UART_STOPBITS		0x63
+#define CMD_UART_DATABITS		0x64
+#define CMD_UART_PARITY			0x65
+#define CMD_UART_RECV			0x67
+#define CMD_UART_SEND			0x68
+
+
+#define PARAM_ADC_AREF                  0x01
+#define PARAM_ADC_AVCC                  0x02
+#define PARAM_ADC_INTERNAL              0x03
+
+
+/* microwire eeprom */
+#define CMD_EXTERNAL_93C46              0x01
+
+
+#define CMD_93C46_INIT                  0x01
+#define CMD_93C46_DEINIT                0x02
+#define CMD_93C46_READ                  0x03
+#define CMD_93C46_WRITE                 0x04
diff --git a/firmware/pwm.c b/firmware/pwm.c
new file mode 100644
index 0000000..9e3666d
--- /dev/null
+++ b/firmware/pwm.c
@@ -0,0 +1,270 @@
+/*
+ * Copyright (c) 2007 empronix (http://www.empronix.com)
+ * Author: Benedikt Sauter <sauter@empronix.com>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES{} LOSS OF USE, 
+ * DATA, OR PROFITS{} OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "common.h"
+#include "protocol.h"
+#include "adc.h"
+#include "io.h"
+#include "pwm.h"
+
+#include <avr/interrupt.h>
+
+volatile unsigned int counter;
+
+ SIGNAL(SIG_OUTPUT_COMPARE1A){
+    //OCR1A = counter;
+ }
+
+
+
+void pwm_parser(char *buf)
+{
+   switch(buf[0])
+   {
+      case CMD_PWM_INIT_PIN:
+         pwm_init_usb((int)buf[2]);
+      break;
+      case CMD_PWM_DEINIT_PIN:
+         pwm_deinit_usb((int)buf[2]);
+      break;
+      case CMD_PWM_SPEED:
+         pwm_speed_usb((int)buf[2],(int)buf[3]);
+      break;
+      case CMD_PWM_VALUE:
+        pwm_value_usb((int)buf[2],(int)buf[3]);
+      break;
+
+      default:
+         answer[0]=buf[0];
+         answer[1]=RSP_UNKOWN_CMD;
+         answer[2]=0;
+         CommandAnswer(3);
+    }
+}
+
+int pwm_init(int pin)
+{
+   if (pin >= 8 && pin <= 9)
+   {
+      octopus.ports[pin] = PIN_PWM;
+
+      switch(pin)
+      {
+         case 9:	        
+            /* set pin as output */
+            OX_DDR9 |=(1<<OX_P9); 
+            OCR1A=1; // TOP          
+#ifdef OCTOPUS_CAN
+            /* configure timer, (WGM = FAST PWM) (clear on OCnA, set on TOP  COM1A1)*/    
+            TCCR1A = (1<<WGM10)|(1<<COM1A1);         
+            TCCR1B = (1<<WGM12)|(1<<CS10);  // system clock
+#else            
+            /* configure timer */    
+            //TCCR1 = (1<<WGM10)|(1<<COM01)|(1<<CS01);                        
+            //TCCR1B = (1<<CS10);  // system clock
+#endif
+         break;
+         case 8:	  
+            OX_DDR8 |=(1<<OX_P8); 
+#ifdef OCTOPUS_CAN
+            OCR2A=1; // TOP          
+            /* configure timer, (WGM = FAST PWM) (clear on OCnA, set on TOP  COM1A1)*/    
+            TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS20);         
+            //TCCR1B = (1<<WGM12)|(1<<CS10);  // system clock
+#else            
+            /* configure timer */    
+            //TCCR1 = (1<<WGM10)|(1<<COM01)|(1<<CS01);                        
+            //TCCR1B = (1<<CS10);  // system clock
+#endif
+         break;
+         default:
+	         return RSP_IMPOSSIBLE_PIN_CONFIG;
+      } 
+      return RSP_OK; 
+   }
+   return RSP_UNKOWN_PIN;
+}
+
+void pwm_init_usb(int pin)
+{
+   answer[0]=CMD_PWM_INIT_PIN;
+   answer[1]= (unsigned char)pwm_init(pin);
+   answer[2]=0;
+
+   CommandAnswer(3);
+}
+
+
+
+void pwm_deinit_usb(int pin)
+{
+  answer[0]=CMD_PWM_DEINIT_PIN;
+  answer[1]=(unsigned char)pwm_deinit(pin);
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+int pwm_deinit(int pin)
+{
+  octopus.ports[pin]=PIN_OUT;  // this is wrong!
+#ifdef OCTOPUS_CAN
+  switch(pin)
+  {
+     case 8: TCCR2A = 0; break;
+     case 9: TCCR1B = 0; TCCR1A = 0; break;
+     default: return RSP_WRONG_PIN_CONFIG;
+
+  }     
+  io_set_pin_direction_out(pin);
+#endif
+  return RSP_OK;
+}
+
+
+
+void pwm_speed_usb(int pin, int speed)
+{
+   answer[0]=CMD_PWM_SPEED;
+   answer[1]=pwm_speed(pin,speed);
+   answer[2]=0; 
+   CommandAnswer(3);
+}
+
+
+int pwm_speed(int pin, int speed)
+{
+   if (octopus.ports[pin] == PIN_PWM)
+   {
+      switch (pin)
+      {
+         case 9: 
+            switch (speed)
+            {
+               case 1:                  
+                  TCCR1B = (1<<CS10);  // system clock      33 kHz                               
+               break;
+               case 2:
+                  TCCR1B = (1<<CS11);  // div 8 // 500 Hz                 
+               break;
+               case 3:
+                  TCCR1B = (1<<CS11)|(1<<CS10);  // div 64
+               break;
+               case 4:
+                  TCCR1B = (1<<CS12);  // div 256
+               break;
+               case 5:
+                  TCCR1B = (1<<CS12)|(1<<CS10);  // div 1024
+               break;
+
+               default:
+               ;
+            }
+         break;
+         case 8: 
+#ifdef OCTOPUS_CAN
+
+            switch (speed)
+            {
+               case 1:                  
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS20);     // external 32kHz                              
+               break;
+               case 2:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS21);    // external div 8                      
+               break;
+               case 3:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS20)|(1<<CS21); //div 32         
+               break;
+               case 4:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS22); //div 64         
+               break;
+               case 5:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS20)|(1<<CS22); //div 128         
+               break; 
+               case 6:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS21)|(1<<CS22); //div 256         
+               break;   
+               case 7:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS21)|(1<<CS22)|(1<<CS20); //div 1024         
+               break;                  
+               default:
+               ;
+            }
+#endif
+         break;
+         default:
+	      return RSP_IMPOSSIBLE_PIN_CONFIG;
+      } 
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_WRONG_PIN_CONFIG;
+   } 
+}
+
+void pwm_value_usb(int pin, unsigned int value)
+{
+   answer[0]=CMD_PWM_VALUE;
+   answer[1]=pwm_value(pin,value);
+   answer[2]=0; 
+   CommandAnswer(3);
+}
+
+
+int pwm_value(int pin, unsigned int value)
+{
+   if (octopus.ports[pin] == PIN_PWM)
+   {
+      switch (pin)
+      {
+         case 9: 
+            OCR1A = value; 
+         break;
+         case 8: 
+#ifdef OCTOPUS_CAN
+            OCR2A = value; 
+#endif
+            ; 
+         break;
+         default:
+	      return RSP_IMPOSSIBLE_PIN_CONFIG;
+      } 
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_WRONG_PIN_CONFIG;
+   } 
+}
diff --git a/firmware/pwm.h b/firmware/pwm.h
new file mode 100644
index 0000000..99e24db
--- /dev/null
+++ b/firmware/pwm.h
@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2007 empronix (http://www.empronix.com)
+ * Author: Benedikt Sauter <sauter@empronix.com>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef PWM_H
+#define PWM_H
+
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+
+
+void pwm_parser(char *buf);
+
+int pwm_init(int pin);
+void pwm_init_usb(int pin);
+
+int pwm_deinit(int pin);
+void pwm_deinit_usb(int pin);
+
+void pwm_speed_usb(int pin, int speed);
+int pwm_speed(int pin, int speed);
+
+void pwm_value_usb(int pin, unsigned int value);
+int pwm_value(int pin, unsigned int value);
+
+#endif /* PWM_H */
diff --git a/firmware/spi.c b/firmware/spi.c
new file mode 100644
index 0000000..2b8abb1
--- /dev/null
+++ b/firmware/spi.c
@@ -0,0 +1,188 @@
+/*
+ * Author: Benedikt Sauter <sauter@ixbat.de>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "common.h"
+#include "protocol.h"
+
+#include "spi.h"
+
+void spi_parser(char *buf)
+{
+  switch(buf[0]) {
+    case CMD_SPI_INIT:
+      spi_init_usb();
+    break;
+    case CMD_SPI_DEINIT:
+      spi_deinit_usb();
+    break;
+    case CMD_SPI_SPEED:
+      spi_set_speed_usb((int)buf[2]);
+    break;
+    case CMD_SPI_SEND:
+      spi_send_usb(&buf[2], (int)buf[1]);
+    break;
+    case CMD_SPI_RECV:
+      spi_receive_usb((int)buf[1]);
+    case CMD_SPI_SEND_AND_RECV:
+      spi_send_and_receive_usb(&buf[2], (int)buf[1]);
+    break;
+    default:
+      answer[0] = buf[0];
+      answer[1] = RSP_UNKOWN_CMD;
+      answer[2] = 0;
+      CommandAnswer(3);
+  }
+}
+
+void spi_init_usb(void)
+{
+  answer[0] = CMD_SPI_INIT;
+  answer[1] = (unsigned char) spi_init();
+  answer[3] = 0;
+  CommandAnswer(3);
+}
+
+
+int spi_init(void)
+{
+  PORTB   &=  ~((1 << SCK)|(1<<MISO)|(1<<MOSI));  // SCK have to be low in IDLE
+  DDRB &=~(1 << MISO);
+  DDRB = (1 << MOSI)|(1 << SCK); 
+
+  SPCR = 0;
+  SPSR = 0;
+
+  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0)|(1<<SPR1);
+
+  octopus.ports[5]=PIN_SCK;
+  octopus.ports[6]=PIN_MOSI;
+  octopus.ports[7]=PIN_MISO;
+
+  return RSP_OK;
+}
+
+void spi_deinit_usb(void)
+{
+  answer[0]=CMD_SPI_DEINIT;
+  answer[1]=(unsigned char)spi_deinit();
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+int spi_deinit(void)
+{
+  SPCR = 0;
+  SPSR = 0;
+
+  octopus.ports[5]=PIN_OUT;  // this is wrong!
+  octopus.ports[6]=PIN_OUT;  // this is wrong!
+  octopus.ports[7]=PIN_OUT;  // this is wrong!
+
+  return RSP_OK;
+}
+
+void spi_set_speed_usb(int speed){
+
+}
+
+int spi_set_speed(int speed){
+
+  return RSP_OK;
+}
+
+void spi_send_usb(char * buf, int length)
+{
+  answer[0]=CMD_SPI_SEND;
+  answer[1]=(unsigned char)spi_send(buf,length);
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+int spi_send(char * buf, int length)
+{
+  int i;
+  for(i=0;i<length;i++){
+    SPDR = buf[i];
+    while ( !(SPSR & (1 << SPIF)) ) ;
+  }
+  return RSP_OK;
+}
+
+
+void spi_receive_usb(int length)
+{
+  answer[0]=CMD_SPI_RECV;
+  answer[1]=(unsigned char)spi_receive((char*)&answer[2],length);
+  answer[2]=0;
+  CommandAnswer(length+2);
+}
+
+
+unsigned char spi_receive( char * buf, int length)
+{
+  int i;
+  int timeout = 0;
+  for(i=0;i<length;i++){
+    SPDR = 0;
+    while(!(SPSR & (1 << SPIF))) { timeout++; if( timeout > 1000) return RSP_TIMEOUT; }
+    buf[i]=SPDR;
+  }
+  return RSP_OK;
+}
+
+void spi_send_and_receive_usb(char * txbuf, int length)
+{
+  answer[0]=CMD_SPI_SEND;
+  answer[1]=(unsigned char)spi_send_and_receive(txbuf,(char *)&answer[2],length);
+  answer[2]=0;
+  CommandAnswer(2+length);
+
+}
+
+int spi_send_and_receive(char * txbuf, char * rxbuf, int length){
+
+  int i, timeout=0;
+  for(i=0;i<length;i++){
+    SPDR = txbuf[i];
+    //while ( !(SPSR & (1 << SPIF)) ) ;
+    while(!(SPSR & (1 << SPIF))) { timeout++; if( timeout > 1000) return RSP_TIMEOUT; }
+    rxbuf[i]=SPDR;
+  }
+  return RSP_OK;
+}
+
+
+
+
+
+
diff --git a/firmware/spi.h b/firmware/spi.h
new file mode 100644
index 0000000..d7cfbf1
--- /dev/null
+++ b/firmware/spi.h
@@ -0,0 +1,64 @@
+/*
+ * Author: Benedikt Sauter <sauter@ixbat.de>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef SPI_H
+#define SPI_H
+
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+
+#define MOSI PB2
+#define MISO PB3
+#define SCK PB1
+
+void spi_parser(char *buf);
+
+int spi_init(void);
+int spi_deinit(void);
+
+int spi_set_speed(int speed);
+int spi_send(char * buf, int length);
+unsigned char spi_receive( char * buf, int length);
+int spi_send_and_receive(char * txbuf, char * rxbuf, int length);
+
+
+void spi_init_usb(void);
+void spi_deinit_usb(void);
+
+void spi_set_speed_usb(int speed);
+void spi_send_usb(char * buf, int length);
+void spi_receive_usb(int length);
+void spi_send_and_receive_usb(char * txbuf, int length);
+
+
+#endif /* SPI_H */
diff --git a/firmware/uart.c b/firmware/uart.c
new file mode 100644
index 0000000..02b4a87
--- /dev/null
+++ b/firmware/uart.c
@@ -0,0 +1,381 @@
+#include <inttypes.h>
+#include <avr/io.h>
+
+#include "uart.h"
+#include "common.h"
+#include "protocol.h"
+
+void uart_parser(char *buf)
+{
+  answer[0] = buf[0];
+
+  switch(buf[0])
+  {
+    case CMD_UART_INIT:
+      uart_init_usb((char)buf[2]);
+      break;
+    case CMD_UART_DEINIT:
+      uart_deinit_usb((char)buf[2]);
+      break;
+
+    case CMD_UART_BAUDRATE:
+      uart_baudrate_usb((char)buf[2], (char)buf[3], (char)buf[4], (char)buf[5], (char)buf[6]);
+      break;
+    case CMD_UART_STOPBITS:
+      uart_stopbits_usb((char)buf[2], (char)buf[3]);
+      break;
+    case CMD_UART_DATABITS:
+      uart_stopbits_usb((char)buf[2], (char)buf[3]);
+      break;
+    case CMD_UART_PARITY:
+      uart_parity_usb((char)buf[2], (char)buf[3]);
+      break;
+
+    case CMD_UART_SEND:
+      uart_send_usb((char)buf[2], (char)buf[3], &buf[4]);
+      break;
+    case CMD_UART_RECV:
+      uart_recv_usb((char)buf[2], (char)buf[3]);
+      break;
+    default:
+      answer[1] = RSP_UNKOWN_CMD;
+      answer[2] = '\0';
+      CommandAnswer(3);
+  }
+}
+
+void uart_init_usb(char uartport)
+{
+   answer[1] = (unsigned char)uart_init(uartport);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+char uart_init(char uartport)
+{
+  switch(uartport)
+  {
+    case 0:
+      octopus.ports[41] = PIN_UART;
+      octopus.ports[42] = PIN_UART;
+      /* enable transmitter receiver */
+      UCSR0B = (1 << RXEN0) | (1 << TXEN0);
+      break;
+    case 1:
+      octopus.ports[14] = PIN_UART;
+      octopus.ports[15] = PIN_UART;
+      /* enable transmitter receiver */
+      UCSR1B = (1 << RXEN1) | (1 << TXEN1);
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  } 
+
+  return RSP_OK; 
+}
+
+void uart_deinit_usb(char uartport)
+{
+   answer[1] = (unsigned char)uart_deinit(uartport);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+char uart_deinit(char uartport)
+{
+  switch(uartport)
+  {
+    case 0:
+      octopus.ports[41] = PIN_NONE;
+      octopus.ports[42] = PIN_NONE;
+      UBRR0H = 0;
+      UBRR0L = 0;
+      UCSR0B = 0;
+      UCSR0C = 0;
+      break;
+    case 1:
+      octopus.ports[14] = PIN_NONE;
+      octopus.ports[15] = PIN_NONE;
+      UBRR1H = 0;
+      UBRR1L = 0;
+      UCSR1B = 0;
+      UCSR1C = 0;
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  } 
+
+  return RSP_OK; 
+}
+
+void uart_baudrate_usb(char uartport, char ubrrll, char ubrrlh, char ubrrhl, char ubrrhh)
+{
+   answer[1] = (unsigned char)uart_baudrate(uartport, ubrrll, ubrrlh, ubrrhl, ubrrhh);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+char uart_baudrate(char uartport, char ubrrll, char ubrrlh, char ubrrhl, char ubrrhh)
+{
+  switch(uartport)
+  {
+    case 0:
+      UBRR0H = (ubrrhh << 8) | ubrrhl;
+      UBRR0L = (ubrrhl << 8) | ubrrll;
+      break;
+    case 1:
+      UBRR1H = (ubrrhh << 8) | ubrrhl;
+      UBRR1L = (ubrrhl << 8) | ubrrll;
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  }
+
+  return RSP_OK; 
+}
+
+void uart_stopbits_usb(char uartport, char stopbits)
+{
+   answer[1] = (unsigned char)uart_stopbits(uartport, stopbits);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+char uart_stopbits(char uartport, char stopbits)
+{
+  char usbs;
+
+  switch(stopbits)
+  {
+    case 1:  usbs = 0; break;
+    case 2:  usbs = 2; break;
+    default: usbs = 0; break;
+  }
+
+  switch(uartport)
+  {
+    case 0:
+      UCSR0C |= (usbs << USBS0);
+      break;
+    case 1:
+      UCSR1C |= (usbs << USBS1);
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  }
+
+  return RSP_OK; 
+}
+
+void uart_databits_usb(char uartport, char databits)
+{
+   answer[1] = (unsigned char)uart_databits(uartport, databits);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+char uart_databits(char uartport, char databits)
+{
+  char ucsz1,ucsz0;
+
+  switch(databits) {
+    case 5:  ucsz1 = 0; ucsz0 = 0; break;
+    case 6:  ucsz1 = 0; ucsz0 = 1; break;
+    case 7:  ucsz1 = 1; ucsz0 = 0; break;
+    case 8:  ucsz1 = 1; ucsz0 = 1; break;
+    default: ucsz1 = 1; ucsz0 = 1; break;
+  }
+
+  switch(uartport)
+  {
+    case 0:
+      UCSR0C |= (ucsz1 << UCSZ01) | (ucsz0 << UCSZ00);
+      break;
+    case 1:
+      UCSR1C |= (ucsz1 << UCSZ11) | (ucsz0 << UCSZ10);
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  }
+
+  return RSP_OK; 
+}
+
+void uart_parity_usb(char uartport, char parity)
+{
+   answer[1] = (unsigned char)uart_databits(uartport, parity);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+char uart_parity(char uartport, char parity)
+{
+  char upm1, upm0;
+  switch(parity)
+  {
+    case 'N': upm1 = 0; upm0 = 0; break;
+    case 'E': upm1 = 1; upm0 = 0; break;
+    case 'O': upm1 = 1; upm0 = 1; break;
+    default:  upm1 = 0; upm0 = 0; break;
+  }
+
+  switch(uartport)
+  {
+    case 0:
+      UCSR0C |= (upm1 << UPM01) | (upm0 << UPM00);
+      break;
+    case 1:
+      UCSR1C |= (upm1 << UPM11) | (upm0 << UPM10);
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  }
+
+  return RSP_OK; 
+}
+
+void uart_send_usb(char uartport, char length, char *buf)
+{
+   answer[1] = (unsigned char)uart_send(uartport, length, buf);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+
+char uart_send(char uartport, unsigned int length, char *buf)
+{
+  if(uartport != 0 && uartport != 1)
+    return RSP_UNKOWN_PIN;
+
+  while(length--)
+  {   
+    uart_putchar(uartport, *buf++);
+  } 
+
+  return RSP_OK; 
+}
+
+char uart_putchar(char uartport, char data)
+{
+  switch(uartport)
+  {
+    case 0:
+      /* Wait for empty transmit buffer */
+      while (!(UCSR0A & (1 << UDRE0)));
+      /* Put data into buffer, sends the data */
+      UDR0 = data;
+      break;
+    case 1:
+      /* Wait for empty transmit buffer */
+      while (!(UCSR1A & (1 << UDRE1)));
+      /* Put data into buffer, sends the data */
+      UDR1 = data;
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  }
+
+  return RSP_OK; 
+}
+
+void uart_recv_usb(char uartport, int length)
+{
+   char data[length];
+   int i;
+
+   answer[1] = (char)uart_recv(uartport, data, length);
+
+   for(i = 0; i < length; i++)
+     answer[2+i] = data[i];
+
+   CommandAnswer(3+length);
+}
+
+char uart_recv(char uartport, char * buf, int length)
+{
+  if(uartport != 0 && uartport != 1)
+    return RSP_UNKOWN_PIN;
+
+  while(length-- > 0)
+    *buf++ = uart_getchar(uartport);
+
+  return RSP_OK; 
+}
+
+char uart_getchar(char uartport)
+{
+  char c;
+
+  switch(uartport)
+  {
+    case 0:
+      while (!(UCSR0A & (1 << RXC0)));
+      c = UDR0;
+      break;
+    case 1:
+      while (!(UCSR1A & (1 << RXC1)));
+      c = UDR1;
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  }
+
+  return c;
+}
+
+/*
+unsigned char AsciiToHex(unsigned char high,unsigned char low)
+{
+  unsigned char new;
+
+  // check if lower equal 9 ( ascii 57 )
+  if(high <= 57) // high is a number
+    high = high -48;
+  else // high is a letter
+    high = high -87;
+
+  high = high << 4;
+  high = high & 0xF0;
+ 
+  // check if lower equal 9 ( ascii 57 )
+  if(low <= 57) // high is a number
+    low = low -48;
+  else // high is a letter
+    low = low -87;
+  low = low & 0x0F;
+ 
+  new = high | low;
+ 
+  return new;
+}
+
+void SendHex(unsigned char hex)
+{
+  unsigned char high,low;
+  // get highnibble
+  high = hex & 0xF0;
+  high = high >> 4;
+ 
+  // get lownibble
+  low = hex & 0x0F;
+ 
+  if(high<=9)
+    UARTPutChar(high+48);
+  else
+    UARTPutChar(high+87);
+ 
+ 
+  if(low<=9)
+    UARTPutChar(low+48);
+  else
+    UARTPutChar(low+87);
+
+}
+*/
diff --git a/firmware/uart.h b/firmware/uart.h
new file mode 100644
index 0000000..fc89a0a
--- /dev/null
+++ b/firmware/uart.h
@@ -0,0 +1,19 @@
+void uart_parser(char *);
+char uart_init(char);
+void uart_init_usb(char);
+char uart_deinit(char);
+void uart_deinit_usb(char);
+char uart_baudrate(char uartport, char, char, char, char);
+void uart_baudrate_usb(char uartport, char, char, char, char);
+char uart_stopbits(char, char);
+void uart_stopbits_usb(char, char);
+char uart_databits(char, char);
+void uart_databits_usb(char, char);
+char uart_parity(char, char);
+void uart_parity_usb(char, char);
+char uart_putchar(char, char);
+char uart_getchar(char uartport);
+char uart_send(char uartport, unsigned int length, char *buf);
+void uart_send_usb(char uartport, char length, char *buf);
+void uart_recv_usb(char uartport, int length);
+char uart_recv(char uartport, char * buf, int length);
diff --git a/firmware/usbn2mc.c b/firmware/usbn2mc.c
new file mode 100644
index 0000000..d9b0fdd
--- /dev/null
+++ b/firmware/usbn2mc.c
@@ -0,0 +1,153 @@
+/* usbn960x.c
+* Copyright (C) 2005  Benedikt Sauter
+*
+* This program is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation; either version 2 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program; if not, write to the Free Software
+* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include "usbn2mc.h"
+#include "uart.h"
+
+//*******************************************************************
+// add own vendor requests          
+// ********************************************************************
+
+// decode your own vendor requests
+
+void
+USBNDecodeVendorRequest (DeviceRequest * req)
+{
+#if 0
+  //SendHex(req->bRequest);       // decode request code
+  SendHex (req->wLength);	// decode request code
+  USBNWrite (RXC0, RX_EN);
+  USBNRead (RXD0);
+  USBNRead (RXD0);
+
+  //USBNWrite(TXC0,FLUSH);
+  //USBNWrite(TXD0,0x24);
+  //USBNWrite(TXD0,0x25);
+#endif
+}
+
+
+void
+USBNDecodeClassRequest (DeviceRequest * req)
+{
+#if 0
+  //SendHex(req->bRequest);       // decode request code
+  SendHex (req->wLength);	// decode request code
+  USBNWrite (RXC0, RX_EN);
+  USBNRead (RXD0);
+  USBNRead (RXD0);
+#endif
+}
+
+
+
+// ********************************************************************
+// This subroutine handles the communication with usbn9604          
+// ********************************************************************
+
+
+// Read data from usbn96x register
+
+void
+USBNInitMC (void)
+{
+  // interrupt on INT4 pin falling edge (atmega128)
+  //EICRB = (0 << ISC41) | (1 << ISC40);
+  EICRB = (1 << ISC40);
+  // interrupts on!
+  //EIMSK = (1 << INT4);		// allow extern irq4
+  EIMSK = (1 << INT4);
+
+  USB_CTRL_DDR |= (1 << PF_A0) | (1 << PF_RD) | (1 << PF_WR);	// output (a0,rd,wr)
+  //USB_CTRL_PORT |= ((1 << PF_RD) | (1 << PF_WR) & ~(PF_A0));
+  USB_CTRL_PORT |= ((1 << PF_RD) | (1 << PF_WR));
+  USB_CS_DDR |= (1 << PF_CS);
+  USB_CS_PORT |= (1 << PF_CS);
+
+  sei ();
+}
+
+
+unsigned char
+USBNRead (unsigned char Adr)
+{
+  USB_DATA_DDR = 0xff;		// set for output
+  USB_DATA_OUT = Adr;		// load address
+
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_WR) | (1 << PF_A0);	// strobe the CS, WR, and A0 pins
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_WR) | (1 << PF_A0);	// strobe the CS, WR, and A0 pins
+//      USB_CS_PORT ^=(1<<PF_CS);       
+//      USB_CTRL_PORT ^= (1<<PF_WR) |(1<<PF_A0);
+  asm ("nop");			// pause for data to get to bus
+  USB_DATA_DDR = 0x00;		// set PortD for input
+  return (USBNBurstRead ());	// get data off the bus
+}
+
+
+unsigned char
+USBNBurstRead (void)
+{
+  unsigned char result;
+
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_RD);
+
+  asm ("nop");			// pause for data to get to bus
+  asm ("nop");
+  result = USB_DATA_IN;
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_RD);
+  return result;
+}
+
+
+// Write data to usbn96x register
+void
+USBNWrite (unsigned char Adr, unsigned char Data)
+{
+  USB_DATA_OUT = Adr;		// put the address on the bus
+  USB_DATA_DDR = 0xff;		// set for output
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_WR) | (1 << PF_A0);
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_WR) | (1 << PF_A0);
+  USBNBurstWrite (Data);
+}
+
+
+void
+USBNBurstWrite (unsigned char Data)
+{
+  USB_DATA_OUT = Data;		// put data on the bus
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_WR);
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_WR);
+}
+
+
+
+void
+USBNDebug (char *msg)
+{
+//  UARTWrite (msg);
+}
diff --git a/firmware/usbn2mc.h b/firmware/usbn2mc.h
new file mode 100644
index 0000000..2e7f8e7
--- /dev/null
+++ b/firmware/usbn2mc.h
@@ -0,0 +1,73 @@
+/* mciface.h
+* Copyright (C) 2005  Benedikt Sauter
+*
+* This program is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation; either version 2 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program; if not, write to the Free Software
+* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+#ifndef _MCIFACE_H_
+#define _MCIFACE_H_
+
+#include <stdint.h>
+#include <avr/interrupt.h>
+#include <inttypes.h>
+
+
+#include "../usbn2mc/main/usbnapi.h"
+
+unsigned char USBNRead(unsigned char Adr);
+unsigned char USBNBurstRead(void);
+void USBNWrite(unsigned char Adr,unsigned char Data);
+void USBNBurstWrite(unsigned char Data);
+
+void USBNInitMC(void);
+
+// print debug messages
+void USBNDebug(char *msg);
+
+void USBNDecodeVendorRequest(DeviceRequest *req);
+void USBNDecodeClassRequest(DeviceRequest *req);
+
+
+/// The Atmega register used to send data/address to the USBN9604
+#define USB_DATA_OUT		PORTA
+
+/// The Atmega register used to receive data from the USBN9604
+#define USB_DATA_IN		PINA
+
+/// The Atmega register that controls the i/o direction of the USB_DATA_OUT
+#define USB_DATA_DDR		DDRA
+
+/// The Atmega port used to send control signals to the USBN9604
+#define USB_CTRL_PORT		PORTG
+
+/// The Atmega register that controls the i/o direction of USB_CTRL_PORT
+#define USB_CTRL_DDR		DDRG
+
+
+#define USB_CS_DDR			DDRC
+#define USB_CS_PORT			PORTC
+
+/// The pin address of the chip select signal
+#define  PF_CS    PC7
+
+/// The pin address of the Address enable signal
+#define  PF_A0    PG2
+
+/// The pin address of the write strobe signal
+#define  PF_WR    PG0
+
+/// The pin address of the read strobe signal
+#define  PF_RD    PG1
+
+#endif /* _MCIFACE_H_ */
diff --git a/firmware/wait.c b/firmware/wait.c
new file mode 100644
index 0000000..91ef62a
--- /dev/null
+++ b/firmware/wait.c
@@ -0,0 +1,45 @@
+/*
+ * Copyright (c) 2006, Benedikt Sauter <sauter@embedded-projects.net>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <stdint.h>
+#include "wait.h"
+#define F_CPU 16000000U
+#include <util/delay.h>
+
+void delay_250ms (void)
+{
+  uint8_t i;
+
+  for (i = 0; i < 25; i++)
+    _delay_ms (10);
+}
diff --git a/firmware/wait.h b/firmware/wait.h
new file mode 100644
index 0000000..f1b56f8
--- /dev/null
+++ b/firmware/wait.h
@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) 2006, Benedikt Sauter <sauter@embedded-projects.net>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef WAIT_H
+#define WAIT_H
+
+
+void delay_250ms (void);
+#endif /* WAIT_H */
diff --git a/liboctopus/.gitignore b/liboctopus/.gitignore
new file mode 100644
index 0000000..cc78368
--- /dev/null
+++ b/liboctopus/.gitignore
@@ -0,0 +1,2 @@
+*.so
+*.o
diff --git a/liboctopus/Makefile b/liboctopus/Makefile
new file mode 100644
index 0000000..70d2625
--- /dev/null
+++ b/liboctopus/Makefile
@@ -0,0 +1,10 @@
+CC=gcc
+CFLAGS= -fPIC
+LDFLAGS=`pkg-config --libs libusb`
+
+all: octopus.o
+	gcc -fPIC -shared octopus.o $(LDFLAGS) -o liboctopus.so
+
+.PHONY: clean
+clean:
+	rm -vf octopus.o liboctopus.so
diff --git a/liboctopus/octopus.c b/liboctopus/octopus.c
new file mode 100644
index 0000000..5471d7b
--- /dev/null
+++ b/liboctopus/octopus.c
@@ -0,0 +1,815 @@
+/***************************************************************************
+                          octopus.c  -  description
+                             -------------------
+    begin                : Aug  2007
+    author               : Benedikt Sauter, sauter@embedded-projects.net
+ ***************************************************************************/
+
+/***************************************************************************
+ *                                                                         *
+ *   This program is free software, you can redistribute it and/or modify  *
+ *   it under the terms of the GNU Lesser General Public License           *
+ *   version 2.1 as published by the Free Software Foundation.             *
+ *                                                                         *
+ ***************************************************************************/
+
+/**
+    \mainpage liboctopus API documentation
+
+    Library to talk to octopus devices. You find the latest versions of liboctopus at
+    http://www.embedded-projects.net/octopus
+
+    The library is easy to use. Have a look at this short example:
+    \include simple.c
+
+    More examples can be found in the "examples" directory.
+*/
+/** \addtogroup liboctopus */
+/* @{ */
+
+#include <usb.h>
+#include <string.h>
+#include <errno.h>
+
+#include "octopus.h"
+#include "../firmware/protocol.h"
+
+#define F_CPU 16000000UL
+
+#define octopus_error_return(code, str) do {  \
+        octopus->error_str = str;             \
+	return code;                       \
+	} while(0);
+
+
+/*
+ * initial octopus handle before use octopus_open
+ */
+int octopus_init(struct octopus_context *octopus)
+{
+   if (octopus == NULL)
+      octopus_error_return(-1,"octopus not valid");
+
+   octopus->error_str = NULL;
+   octopus->usb_handle = NULL;
+  
+   return 1;
+}
+
+/*
+ * open first octopus on usb
+ */
+int octopus_open(struct octopus_context *octopus)
+{
+   if (octopus_open_id(octopus,VID,PID) < 0)
+      octopus_error_return(-1,"could not found octopus device with pid and vid");
+   
+   return 1;
+}
+
+/*
+ * open octopus with a given usb vendor and product id
+ */
+int octopus_open_id(struct octopus_context *octopus, int vendor, int product)
+{
+   struct usb_bus *busses;
+   struct usb_bus *bus;
+   struct usb_device *dev;
+
+   usb_init();
+
+   if (usb_find_busses() < 0)
+      octopus_error_return(-1, "usb_find_busses() failed");
+    
+   if (usb_find_devices() < 0)
+      octopus_error_return(-2, "usb_find_devices() failed");
+  
+   busses = usb_get_busses();
+   
+   if (busses == NULL)
+      octopus_error_return(-3, "usb_get_busses() failed");
+  
+   for (bus = busses; bus; bus = bus->next)
+   {
+      for (dev = bus->devices; dev; dev = dev->next)
+      {
+         if (dev->descriptor.idVendor == vendor && dev->descriptor.idProduct == product) 
+         {
+	         octopus_open_dev(octopus,dev);
+	         return 1;
+         }
+      }
+   }
+   octopus_error_return(-4,"could not found octopus device with pid and vid");
+   return -1;
+}
+
+/*
+ * open octopus with a given usb name description (not tested!)
+ */
+int octopus_open_serial(struct octopus_context *octopus, char * serial)
+{
+   struct usb_bus *busses;
+   struct usb_dev_handle* usb_handle;
+   struct usb_bus *bus;
+   struct usb_device *dev;
+   char usbserial[64];
+   int length=0;
+
+   usb_init();
+
+   if (usb_find_busses() < 0)
+      octopus_error_return(-1, "usb_find_busses() failed");
+   if (usb_find_devices() < 0)
+      octopus_error_return(-2, "usb_find_devices() failed");
+
+   busses = usb_get_busses();
+   if(busses==NULL)
+      octopus_error_return(-3, "usb_get_busses() failed");
+
+   for (bus = busses; bus; bus = bus->next)
+   {
+      for (dev = bus->devices; dev; dev = dev->next)
+      {
+         usb_handle = usb_open(dev);
+         usb_set_configuration(usb_handle,0);
+         length = usb_get_string_simple(usb_handle,3,usbserial,64);
+         usb_close(usb_handle);
+
+         if (strncmp(serial,usbserial,length) == 0)
+         {
+            octopus_open_dev(octopus,dev);
+            return 1;
+         }
+      }
+   }
+   
+   octopus_error_return(-4,"could not found octopus device with serial number");
+   return -1;
+}
+
+/*
+ * open octopus with a libusb dev handle
+ */
+int octopus_open_dev(struct octopus_context *octopus, struct usb_device *dev)
+{
+   if (octopus == NULL)
+      octopus_error_return(-1,"octopus handle is wrong or missing");
+
+   if (dev == NULL)
+      octopus_error_return(-2,"device handle is wrong or missing");
+
+   if (!(octopus->usb_handle = usb_open(dev)))
+      octopus_error_return(-3,"can't open usb device");
+
+   if (usb_set_configuration (octopus->usb_handle,dev->config[0].bConfigurationValue) < 0)
+      octopus_error_return(-4,"can't set configuration for given usb device");
+
+   if (usb_claim_interface(octopus->usb_handle, 0)  < 0)
+      octopus_error_return(-5,"can't claim interface for given usb device");
+
+   if (usb_set_altinterface(octopus->usb_handle,0)  < 0)
+      octopus_error_return(-6,"can't set altinterface for given usb device");
+
+   return 1;
+}
+
+/*
+ * close a open octopus handle
+ */
+int octopus_close(struct octopus_context *octopus)
+{
+   if (octopus == NULL)
+      octopus_error_return(-1,"octopus is not a valid handle");
+
+   if (usb_close(octopus->usb_handle) < 0)
+      octopus_error_return(-2,usb_strerror());
+
+   return 1;
+}
+
+/*
+ * send message to octopus
+ */
+int octopus_message(struct  octopus_context *octopus, char *msg,
+		    int msglen, char *answer, int answerlen)
+{
+   int timeout=0; 
+   
+   if (usb_bulk_write(octopus->usb_handle,1,msg,msglen,100) < msglen)
+      octopus_error_return(-1,"transfer error occurred"); 
+
+   if (answerlen>0){
+      while(1)
+      {
+         if(usb_bulk_read(octopus->usb_handle,0x81,(char*)answer,answerlen,100)>0)
+            break; 
+	 
+         if(timeout++ >= 1000)
+            octopus_error_return(-2,"receive error occurred");
+      }
+
+      if(answer[1]==RSP_OK)
+      {
+         return 1;
+      } 
+      else if (answer[1]==RSP_UNKOWN_CMD) 
+      {
+         octopus_error_return(-1,"unkown command"); 
+      } 
+      else if (answer[1]==RSP_UNKOWN_PIN) 
+      {
+         octopus_error_return(-2,"unkown pin"); 
+      } 
+      else if (answer[1]==RSP_WRONG_PIN_CONFIG) 
+      {
+         octopus_error_return(-3,"pin is in wrong configuration"); 
+      } 
+      else if (answer[1]==RSP_ERROR) 
+      {
+         octopus_error_return(-4,"error in usb device"); 
+      } 
+      else if (answer[1]==RSP_TIMEOUT) 
+      {
+         octopus_error_return(-4,"timeout error in usb device"); 
+      } 
+      else 
+      {
+         octopus_error_return(-5,"unknown error"); 
+      }      
+   }
+   return 1;
+}
+
+/*
+ * get internal device description of octopus (octopus_1, octocan_01)
+ */
+char * octopus_get_hwdesc(struct octopus_context *octopus, char *desc)
+{
+
+   char msg[] = {CMD_GET_HW_ID,0x00,0x00};
+   int i;  
+   char answer[64];
+  
+   for (i=0;i<64;i++)
+      answer[i]=0;
+
+   if (octopus_message(octopus,msg,3,answer,14) == RSP_OK)
+   {
+      if ((int)answer[2] > 0)
+         memcpy(desc,answer+3,(int)answer[2]);
+      return desc;
+   } 
+   else 
+   {
+      octopus_error_return(NULL,octopus->error_str);
+   }
+   return desc;
+}
+
+/*
+ * use pin as gpio
+ */
+int octopus_io_init(struct octopus_context *octopus, int pin)
+{
+   char answer[3];
+   char msg[] = {CMD_IO_INIT_PIN,0x01,0x00};
+   msg[2] = (char)pin;
+   if (octopus_message(octopus,msg,3,answer,3) > 0)
+      return 1;
+   else return -1;
+}
+
+
+int octopus_io_init_port(struct octopus_context *octopus, int port)
+{
+  char msg[] = {CMD_IO_INIT_PORT,0x01,0x00};
+  char answer[3];
+  msg[2] = (char)port;
+  if(octopus_message(octopus,msg,3,answer,3)>0)
+    return 1;
+  else return -1;
+}
+
+int octopus_io_set_port_direction_out(struct octopus_context *octopus, int port,unsigned char mask)
+{
+  char answer[3];
+  char msg[] = {CMD_IO_PORT_DIRECTION_OUT,0x02,0x00,0x00};
+  msg[2] = (char)port;
+  msg[3] = mask;
+  if(octopus_message(octopus,msg,4,answer,3))
+    return 1;
+  else return -1;
+}
+
+int octopus_io_set_port_direction_in(struct octopus_context *octopus, int port, unsigned char mask)
+{
+  char answer[3];
+  char msg[] = {CMD_IO_PORT_DIRECTION_IN,0x02,0x00,0x00};
+  msg[2] = (char)port;
+  msg[3] = mask;
+  if(octopus_message(octopus,msg,4,answer,3))
+    return 1;
+  else return -1;
+}
+
+
+int octopus_io_set_port_direction_tri(struct octopus_context *octopus, int port, unsigned char mask)
+{
+  char answer[3];
+  char msg[] = {CMD_IO_PORT_DIRECTION_TRI,0x02,0x00,0x00};
+  msg[2] = (char)port;
+  msg[3] = mask;
+  if(octopus_message(octopus,msg,4,answer,3))
+    return 1;
+  else return -1;
+}
+
+/*
+ * use pin as output
+ */
+int octopus_io_set_pin_direction_out(struct octopus_context *octopus, int pin)
+{
+   char answer[3];
+   char msg[] = {CMD_IO_PIN_DIRECTION_OUT,0x01,0x00};
+   msg[2] = (char)pin;
+   if (octopus_message(octopus,msg,3,answer,3) == RSP_OK)
+      return 1;
+   else 
+      octopus_error_return(-1,octopus->error_str);
+}
+
+
+int octopus_io_set_pin_direction_in(struct octopus_context *octopus, int pin)
+{
+  char answer[3];
+  char msg[] = {CMD_IO_PIN_DIRECTION_IN,0x01,0x00};
+  msg[2] = (char)pin;
+  if(octopus_message(octopus,msg,3,answer,3)==RSP_OK)
+    return 1;
+  else 
+    octopus_error_return(-1,octopus->error_str);
+}
+
+
+
+int octopus_io_set_pin_direction_tri(struct octopus_context *octopus, int pin)
+{
+  char answer[3];
+  char msg[] = {CMD_IO_PIN_DIRECTION_TRI,0x01,0x00};
+  msg[2] = (char)pin;
+  if(octopus_message(octopus,msg,3,answer,3)==RSP_OK)
+    return 1;
+  else 
+    octopus_error_return(-1,octopus->error_str);
+}
+
+unsigned char octopus_io_get_port(struct octopus_context *octopus, int port)
+{
+  char answer[3];
+  char msg[] = {CMD_IO_PORT_GET,0x01,0x00};
+  msg[2] = (char)port;
+  if(octopus_message(octopus,msg,3,answer,3)==RSP_OK)
+    return (unsigned char) answer[2];
+  else 
+    return 0;
+    //octopus_error_return((unsigned char)NULL,octopus->error_str);
+}
+
+
+int octopus_io_set_port(struct octopus_context *octopus, int port, unsigned char value)
+{
+  char answer[3];
+  char msg[] = {CMD_IO_PORT_SET,0x01,0x00,0x00};
+  msg[2] = (char)port;
+  msg[3] = (char)value;
+  if(octopus_message(octopus,msg,4,answer,3))
+    return 1;
+  else return -1;
+}
+
+
+int octopus_io_set_pin(struct octopus_context *octopus, int pin, int value)
+{
+  char answer[3];
+  char msg[] = {CMD_IO_PIN_SET,0x01,0x00,0x00};
+  msg[2] = (char)pin;
+  msg[3] = (char)value;
+  if(octopus_message(octopus,msg,4,answer,3)==RSP_OK)
+    return 1;
+  else 
+    octopus_error_return(-1,octopus->error_str);
+}  
+
+
+int octopus_io_get_pin(struct octopus_context *octopus, int pin)
+{
+  char answer[3];
+  char msg[] = {CMD_IO_PIN_GET,0x01,0x00};
+  msg[2] = (char)pin;
+  //msg[3] = 0x00;
+  if(octopus_message(octopus,msg,3,answer,3)==RSP_OK)
+    return (int)answer[2];
+  else 
+    octopus_error_return(-1,octopus->error_str);
+}
+
+
+
+/// part: adc
+int octopus_adc_init(struct octopus_context *octopus, int pin)
+{
+  char answer[3];
+  char msg[] = {CMD_ADC_INIT_PIN,0x01,0x00};
+  msg[2] = (char)pin;
+  if(octopus_message(octopus,msg,3,answer,3)>0)
+    return 1;
+  else return -1;
+}
+
+
+
+int octopus_adc_get(struct octopus_context *octopus, int pin)
+{
+  unsigned char answer[4];
+  char msg[] = { CMD_ADC_GET, 0x01, 0x00 };
+  msg[2] = (char) pin;
+
+  //XXX ????
+  if (octopus_message (octopus, msg, 3, (char *)answer, sizeof (answer)) >0)
+  {
+     unsigned int low = (unsigned int)answer[3];
+     unsigned int high = (unsigned int)answer[2];
+
+     return((int)((unsigned int)(low | (high << 8))));
+  }
+  else
+     return -1;
+}
+
+int octopus_adc_ref(struct octopus_context *octopus, int ref)
+{
+  char answer[3];
+  char msg[] = {CMD_ADC_REF,0x01,0x00};
+  msg[2] = (char)ref;
+  if(octopus_message(octopus,msg,3,answer,3)>0)
+    return (int)answer[1];
+  else 
+    octopus_error_return(-1,octopus->error_str);
+}
+
+
+
+int octopus_adc_get_bulk(struct octopus_context *octopus, 
+  int pin, int number, int * buf)
+{
+  return 1;
+}
+
+int octopus_i2c_init(struct octopus_context *octopus)
+{
+  char answer[3];
+  char msg[] = {CMD_I2C_INIT,0x01,0x00};
+  if(octopus_message(octopus,msg,3,answer,3)>0)
+    return 1;
+  else return -1;
+}
+
+int octopus_i2c_deinit(struct octopus_context *octopus)
+{
+  char answer[3];
+  char msg[] = {CMD_I2C_DEINIT,0x01,0x00};
+  if(octopus_message(octopus,msg,3,answer,3)>0)
+    return 1;
+  else return -1;
+}
+
+int octopus_i2c_set_bitrate(struct octopus_context *octopus, int scl_freq) {
+  char answer[3];
+  char msg[] = {CMD_I2C_SET_BITRATE, 0x01, 0x00};
+
+  //XXX rounding XXX
+  int bitrate = ((F_CPU/scl_freq)-16) / 2;
+  msg[2] = bitrate;
+
+  if(octopus_message(octopus,msg,3,answer,3)>0)
+    return 1;
+  else return -1;
+}
+
+
+int octopus_i2c_send_byte(struct octopus_context *octopus, char data)
+{
+  char answer[3];
+
+  // cmd = cmd,len,timeout,address,data1,data2,..)
+  char msg[] = {CMD_I2C_SEND_BYTE,0x01,0x00};
+  msg[2] = (char)data;
+
+  if(octopus_message(octopus,msg,3,answer,3)>0)
+    return 1;
+  else 
+    octopus_error_return(-1,octopus->error_str);
+}
+
+
+int octopus_i2c_send_bytes(struct octopus_context *octopus, char *buf, int len)
+{
+  while(len > 0) {
+    if(octopus_i2c_send_byte(octopus,buf[len--]) <= 0)
+      return 0;
+  }
+
+  return 1;
+}
+
+
+unsigned char octopus_i2c_receive_byte(struct octopus_context *octopus, 
+  int address,int timeout)
+{
+  char tmp[1];
+
+  if(octopus_i2c_receive_bytes(octopus,address,tmp,1,1)>0)
+    return tmp[1];
+  else
+    return -1;
+}
+
+
+int octopus_i2c_receive_bytes(struct octopus_context *octopus, 
+  int address,char *buf, int len, int timeout)
+{
+  if(len>60){
+    return -1; // max 60 bytes
+  }
+ 
+  char msg[64] = {CMD_I2C_RECV_BYTES,0x01,0x00};
+  msg[1] = (char)(len+4);
+  msg[2] = (char)timeout;
+  msg[3] = (char)address;
+
+  char answer[64];
+  int i;
+
+  if(octopus_message(octopus,msg,4,answer,len+3)>0){
+    for(i=0;i<len;i++)
+      buf[i]=answer[i+3];
+    return (int)answer[2];
+  }
+  else 
+    octopus_error_return(-1,octopus->error_str);
+
+  return 1;
+}
+
+int octopus_i2c_send_start(struct octopus_context *octopus)
+{
+  char answer[3];
+  char msg[] = {CMD_I2C_SEND_START,0x01,0x00};
+  if(octopus_message(octopus,msg,3,answer,3)>0)
+    return 1;
+  else return -1;
+
+  return 1;
+}
+
+int octopus_i2c_send_stop(struct octopus_context *octopus)
+{
+  char answer[3];
+  char msg[] = {CMD_I2C_SEND_STOP,0x00,0x00};
+  if(octopus_message(octopus,msg,3,answer,3)>0)
+    return 1;
+  else return -1;
+
+  return 1;
+}
+
+/// part: SPI
+int octopus_spi_init(struct octopus_context *octopus)
+{
+  char answer[2];
+  char msg[] = {CMD_SPI_INIT,0x00,0x00};
+  if(octopus_message(octopus,msg,3,answer,2)>0)
+    return 1;
+  else return -1;
+
+}
+
+int octopus_spi_deinit(struct octopus_context *octopus)
+{
+  char answer[2];
+  char msg[] = {CMD_SPI_DEINIT,0x00,0x00};
+  if(octopus_message(octopus,msg,3,answer,2)>0)
+    return 1;
+  else return -1;
+
+}
+
+int octopus_spi_speed(struct octopus_context *octopus, int speed)
+{
+    return 0;
+}
+
+
+int octopus_spi_send(struct octopus_context *octopus, unsigned char * buf, int length)
+{
+  if(length>60){
+    return -1; // max 60 bytes
+  }
+  
+  char answer[2];
+
+  // cmd = cmd,len,timeout,address,data1,data2,..)
+  char msg[64] = {CMD_SPI_SEND,0x01,0x00};
+  msg[1] = (char)(length);
+
+  // build send array
+  int i;
+  for(i=0;i<length;i++)
+    msg[i+2]=(char)buf[i];
+
+  if(octopus_message(octopus,msg,2+length,answer,2)>0)
+    return 1; 
+  else 
+    octopus_error_return(-1,octopus->error_str);
+
+  return 1;
+}
+
+int octopus_spi_recv(struct octopus_context *octopus, unsigned char * buf, int length)
+{
+  if(length>60){
+    return -1; // max 60 bytes
+  }
+  
+  char answer[64];
+
+  char msg[64] = {CMD_SPI_RECV,0x01,0x00};
+  msg[1] = (char)(length);
+  
+  int i;
+
+  if(octopus_message(octopus,msg,2,answer,2+length)>0) {
+    for(i=0;i<length;i++)
+      buf[i]=answer[i+2];
+   
+    return 1; 
+  }
+  else 
+    octopus_error_return(-1,octopus->error_str);
+}
+
+int octopus_spi_send_and_recv(struct octopus_context *octopus, unsigned char * buf, int length)
+{
+  if(length>60){
+    return -1; // max 60 bytes
+  }
+  
+  char answer[2];
+
+  // cmd = cmd,len,timeout,address,data1,data2,..)
+  char msg[64] = {CMD_SPI_SEND_AND_RECV,0x01,0x00};
+  msg[1] = (char)(length);
+
+  // build send array
+  int i;
+  for(i=0;i<length;i++)
+    msg[i+2]=(char)buf[i];
+
+  if(octopus_message(octopus,msg,2+length,answer,2+length)>0) {
+    
+    for(i=0;i<length;i++)
+      buf[i]=answer[i+2];
+ 
+    return 1; 
+  }
+  else 
+    octopus_error_return(-1,octopus->error_str);
+
+  return 1;
+
+}
+
+/// part:  Flash 93c46
+int octopus_93c46_init(struct octopus_context *octopus)
+{
+   char answer[3];
+   char msg[] = {CMD_EXTERNAL_DEVICE,0x00,CMD_EXTERNAL_93C46,CMD_93C46_INIT};
+   msg[1] = 4;
+   if(octopus_message(octopus,msg,4,answer,3)>0)
+      return 1;
+   else return -1;
+}
+
+int octopus_93c46_deinit(struct octopus_context *octopus)
+{
+   char answer[3];
+   char msg[] = {CMD_EXTERNAL_DEVICE,CMD_EXTERNAL_93C46,CMD_93C46_DEINIT};
+   if (octopus_message(octopus,msg,3,answer,3) > 0)
+      return 1;
+   else return -1;
+}
+
+int octopus_93c46_write(struct octopus_context *octopus, unsigned char address, int length, unsigned char * buf)
+{
+   /*
+   if(length>59){
+      return -1; // max 60 bytes
+   }
+   */
+   
+   char answer[3];
+
+   // cmd = cmd,len,timeout,address,data1,data2,..)
+   char msg[150] = {CMD_EXTERNAL_DEVICE,0x00,CMD_EXTERNAL_93C46,CMD_93C46_WRITE};
+   msg[1] = (unsigned char)(6 + length);
+   msg[4] = (unsigned char)(address);
+   msg[5] = (unsigned char)(length);
+
+   // build send array
+   int i;
+   for(i=0;i<length;i++)
+      msg[i+6]=(char)buf[i];
+
+   if(octopus_message(octopus,msg,6+length,answer,3)>0)
+      return 1; 
+   else 
+      octopus_error_return(-1,octopus->error_str);
+
+   return 1;
+}
+
+int octopus_93c46_read(struct octopus_context *octopus, unsigned char address, int length, unsigned char * buf)
+{
+   /*
+   if(length>59)
+   {
+      return -1; // max 60 bytes
+   }*/
+
+   char answer[150];
+
+   char msg[6] = {CMD_EXTERNAL_DEVICE,0x00,CMD_EXTERNAL_93C46,CMD_93C46_READ};
+   
+   msg[1] = 6;
+   msg[4] = (unsigned char)(address);
+   msg[5] = (unsigned char)(length);
+
+   int i;
+
+   if (octopus_message(octopus, msg, 6, answer, 2 + length) > 0)
+   {    
+      for(i=0;i<length;i++)
+         buf[i]=answer[i+2];
+
+      return 1; 
+   }
+   else 
+      octopus_error_return(-1,octopus->error_str);
+}
+
+
+/// part:  PWM
+int octopus_pwm_init(struct octopus_context *octopus, int pin)
+{
+   char answer[3];
+   char msg[] = {CMD_PWM_INIT_PIN,0x01,0x00};
+   msg[2] = (char)pin;
+   if(octopus_message(octopus,msg,3,answer,3)>0)
+      return 1;
+   else return -1;
+}
+
+int octopus_pwm_deinit(struct octopus_context *octopus, int pin)
+{
+   char answer[3];
+   char msg[] = {CMD_PWM_DEINIT_PIN,0x01,0x00};
+   msg[2] = (char)pin;
+   if(octopus_message(octopus,msg,3,answer,3)>0)
+      return 1;
+   else return -1;
+}
+
+int octopus_pwm_speed(struct octopus_context *octopus, int pin, int speed)
+{
+   char answer[3];
+   char msg[] = {CMD_PWM_SPEED,0x02,0x00,0x00};
+   msg[2] = (char)pin;
+   msg[3] = (char)speed;
+   if(octopus_message(octopus,msg,4,answer,3)>0)
+      return 1;
+   else return -1;
+}
+
+int octopus_pwm_value(struct octopus_context *octopus, int pin, unsigned char value)
+{
+   char answer[3];
+   char msg[] = {CMD_PWM_VALUE,0x02,0x00,0x00};
+   msg[2] = (char)pin;
+   msg[3] = (char)value;
+   if(octopus_message(octopus,msg,4,answer,3)>0)
+      return 1;
+   else return -1;
+}
+
+;
diff --git a/liboctopus/octopus.h b/liboctopus/octopus.h
new file mode 100644
index 0000000..b123335
--- /dev/null
+++ b/liboctopus/octopus.h
@@ -0,0 +1,141 @@
+/***************************************************************************
+                          octopus.h  -  description
+                             -------------------
+    begin                : Fri Apr 1 2007
+    copyright            : (C) 2007 by Embedded Projects
+    email                : sauter@embedded-projects.net
+ ***************************************************************************/
+
+/***************************************************************************
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU Lesser General Public License           *
+ *   version 2.1 as published by the Free Software Foundation;             *
+ *                                                                         *
+ ***************************************************************************/
+
+#ifndef __liboctopus_h__
+#define __liboctopus_h__
+
+#include <usb.h>
+
+
+#define VID 0x1781
+#define PID 0x0c65
+
+/**
+  \brief Main context structure for all liboctopus functions.
+
+ Do not access directly if possible.
+*/
+struct octopus_context {
+   // USB specific
+   /// libusb's usb_dev_handle
+   struct usb_dev_handle *usb_handle;
+
+   /// String representation of last error
+   char *error_str;
+};
+
+/**
+    \brief list of usb devices created by octopus_usb_find_all()
+*/
+struct octopus_device_list {
+   /// pointer to next entry
+   struct octopus_device_list *next;
+   /// pointer to libusb's usb_device
+   struct usb_device *dev;
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+   int octopus_init(struct octopus_context *octopus);
+
+   int octopus_open(struct octopus_context *octopus);
+   int octopus_open_id(struct octopus_context *octopus, int vendor, int product);
+   int octopus_open_serial(struct octopus_context *octopus, char * serial);
+
+   int octopus_open_dev(struct octopus_context *octopus, struct usb_device *dev);
+
+   int octopus_close(struct octopus_context *octopus);
+
+   int octopus_message(struct  octopus_context *octopus, char *msg,
+	       int msglen, char *answer, int answerlen);
+
+   char * octopus_get_hwdesc(struct octopus_context *octopus, char *desc);
+
+   /// part: IO
+
+   int octopus_io_init(struct octopus_context *octopus, int pin);
+   int octopus_io_init_port(struct octopus_context *octopus, int port);
+
+   int octopus_io_set_port_direction_out(struct octopus_context *octopus, 
+                                        int port,unsigned char mask);
+   int octopus_io_set_port_direction_in(struct octopus_context *octopus, 
+                                       int port, unsigned char mask);
+   int octopus_io_set_port_direction_tri(struct octopus_context *octopus, 
+                                        int port, unsigned char mask);
+
+   int octopus_io_set_pin_direction_out(struct octopus_context *octopus, int pin);
+   int octopus_io_set_pin_direction_in(struct octopus_context *octopus, int pin);
+   //int octopus_io_set_pin_direction_in_pullup(struct octopus_context *octopus, int pin);
+   int octopus_io_set_pin_direction_tri(struct octopus_context *octopus, int pin);
+
+   unsigned char octopus_io_get_port(struct octopus_context *octopus, int port);
+
+   int octopus_io_set_port(struct octopus_context *octopus, int port, unsigned char value);
+
+   int octopus_io_set_pin(struct octopus_context *octopus, int pin, int value);	//buffered
+
+   int octopus_io_get_pin(struct octopus_context *octopus, int pin);
+
+   /// part: adc
+
+   int octopus_adc_init(struct octopus_context *octopus, int pin);
+   int octopus_adc_get(struct octopus_context *octopus, int pin);
+   int octopus_adc_ref(struct octopus_context *octopus, int ref); 
+   // 1= extern AREF, 2 = AVCC as reference, 3=intern voltage
+
+
+   /// part: I2C
+   int octopus_i2c_init(struct octopus_context *octopus);
+   int octopus_i2c_deinit(struct octopus_context *octopus);
+
+   int octopus_i2c_set_bitrate(struct octopus_context *octopus, int bitrate);
+   int octopus_i2c_send_byte(struct octopus_context *octopus, char data);
+   int octopus_i2c_send_bytes(struct octopus_context *octopus, char *buf, int len);
+   unsigned char octopus_i2c_receive_byte(struct octopus_context *octopus, int address,int timeout);
+   int octopus_i2c_receive_bytes(struct octopus_context *octopus, int address,char *buf, int len, int timeout);
+
+   int octopus_i2c_send_start(struct octopus_context *octopus);
+   int octopus_i2c_send_stop(struct octopus_context *octopus);
+
+   /// part: SPI
+   int octopus_spi_init(struct octopus_context *octopus);
+   int octopus_spi_deinit(struct octopus_context *octopus);
+
+   int octopus_spi_speed(struct octopus_context *octopus, int speed);
+   int octopus_spi_send(struct octopus_context *octopus, unsigned char * buf, int length);
+   int octopus_spi_recv(struct octopus_context *octopus, unsigned char * buf, int length);
+   int octopus_spi_send_and_recv(struct octopus_context *octopus, unsigned char * buf, int length);
+
+   /// part:  Flash 93c46
+   int octopus_93c46_init(struct octopus_context *octopus);
+   int octopus_93c46_deinit(struct octopus_context *octopus);
+
+   int octopus_93c46_read(struct octopus_context *octopus, unsigned char address, int length, unsigned char * buf);
+   int octopus_93c46_write(struct octopus_context *octopus, unsigned char address, int length, unsigned char * buf);
+
+   /// part:  PWM
+   int octopus_pwm_init(struct octopus_context *octopus, int pin);
+   int octopus_pwm_deinit(struct octopus_context *octopus, int pin);
+   int octopus_pwm_speed(struct octopus_context *octopus, int pin, int speed);
+   int octopus_pwm_value(struct octopus_context *octopus, int pin, unsigned char value);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __liboctopus_h__ */
diff --git a/liboctopus/python/.gitignore b/liboctopus/python/.gitignore
new file mode 100644
index 0000000..5b2c896
--- /dev/null
+++ b/liboctopus/python/.gitignore
@@ -0,0 +1,2 @@
+octopus.py
+octopus_wrap.c
diff --git a/liboctopus/python/Makefile b/liboctopus/python/Makefile
new file mode 100644
index 0000000..e0e6f29
--- /dev/null
+++ b/liboctopus/python/Makefile
@@ -0,0 +1,19 @@
+CC=gcc
+CFLAGS= -fPIC
+CFLAGS+=-I..
+CFLAGS+=`python-config --cflags`
+LDFLAGS=`pkg-config --libs libusb`
+
+all: octopus.o octopus_wrap.o
+	gcc -fPIC -shared octopus_wrap.o octopus.o $(LDFLAGS) -o _octopus.so
+
+octopus_wrap.o:
+	swig -python octopus.i
+	$(CC) -c -o octopus_wrap.o octopus_wrap.c $(CFLAGS)
+
+octopus.o:
+	$(CC) -c -o octopus.o ../octopus.c $(CFLAGS)
+
+.PHONY: clean
+clean:
+	rm -vf octopus.o  octopus.py  _octopus.so  octopus_wrap.o octopus.pyc octopus_wrap.c
diff --git a/liboctopus/python/demos/adc.py b/liboctopus/python/demos/adc.py
new file mode 100644
index 0000000..5e55ab7
--- /dev/null
+++ b/liboctopus/python/demos/adc.py
@@ -0,0 +1,19 @@
+
+
+from  octopus import *
+import time
+
+
+op=octopus_context()
+octopus_init(op)
+octopus_open(op)
+octopus_adc_init(op, 33)
+octopus_adc_ref(op, 2)
+
+while 1:
+    value = octopus_adc_get(op, 33)
+    callin = "Value %i" % value
+    print callin
+    time.sleep(1)
+        
+    
diff --git a/liboctopus/python/demos/blink.py b/liboctopus/python/demos/blink.py
new file mode 100644
index 0000000..3e454af
--- /dev/null
+++ b/liboctopus/python/demos/blink.py
@@ -0,0 +1,22 @@
+#blink.py
+#laesst die led1 (26) blinken
+
+
+from  octopus import *
+import time
+
+
+op=octopus_context()
+octopus_init(op)
+octopus_open(op)
+octopus_io_init(op,26)
+
+octopus_io_set_pin_direction_out(op,26)
+
+while 1:
+    octopus_io_set_pin(op,26,1)
+    time.sleep(1)
+    octopus_io_set_pin(op,26,0)
+    time.sleep(1)
+        
+    
diff --git a/liboctopus/python/demos/blink_all.py b/liboctopus/python/demos/blink_all.py
new file mode 100644
index 0000000..32c963b
--- /dev/null
+++ b/liboctopus/python/demos/blink_all.py
@@ -0,0 +1,58 @@
+#blink_all.py
+#laesst die led1 - led6 auf einmal blinken
+
+import sys
+
+sys.path.append("../../libs/python")
+
+from  octopus import *
+import time
+
+
+op=octopus_context()
+octopus_init(op)
+octopus_open(op)
+octopus_io_init(op,26)
+octopus_io_init(op,27)
+octopus_io_init(op,28)
+octopus_io_init(op,29)
+octopus_io_init(op,30)
+octopus_io_init(op,31)
+octopus_io_init(op,32)
+
+octopus_io_set_pin_direction_out(op,26)
+octopus_io_set_pin_direction_out(op,27)
+octopus_io_set_pin_direction_out(op,28)
+octopus_io_set_pin_direction_out(op,29)
+octopus_io_set_pin_direction_out(op,30)
+octopus_io_set_pin_direction_out(op,31)
+octopus_io_set_pin_direction_out(op,32)
+
+octopus_io_set_pin(op,26,0)
+octopus_io_set_pin(op,27,0)
+octopus_io_set_pin(op,28,0)
+octopus_io_set_pin(op,29,0)
+octopus_io_set_pin(op,30,0)
+octopus_io_set_pin(op,31,0)
+octopus_io_set_pin(op,32,0)
+    
+
+
+
+while 1:
+    octopus_io_set_pin(op,26,1)
+    octopus_io_set_pin(op,27,1)
+    octopus_io_set_pin(op,28,1)
+    octopus_io_set_pin(op,29,1)
+    octopus_io_set_pin(op,30,1)
+    octopus_io_set_pin(op,31,1)
+    octopus_io_set_pin(op,32,1)
+    time.sleep(1)
+    octopus_io_set_pin(op,26,0)
+    octopus_io_set_pin(op,27,0)
+    octopus_io_set_pin(op,28,0)
+    octopus_io_set_pin(op,29,0)
+    octopus_io_set_pin(op,30,0)
+    octopus_io_set_pin(op,31,0)
+    octopus_io_set_pin(op,32,0)
+    time.sleep(1)
diff --git a/liboctopus/python/demos/blink_i2c.py b/liboctopus/python/demos/blink_i2c.py
new file mode 100644
index 0000000..5fd4cb9
--- /dev/null
+++ b/liboctopus/python/demos/blink_i2c.py
@@ -0,0 +1,29 @@
+# blink_i2c.py
+# laesst die led des i2c (0x10) blinken
+
+import sys
+sys.path.append("..\\..\\libs\\python")
+
+from  octopus import *
+import time
+
+
+op=octopus_context()
+octopus_init(op)
+octopus_open(op)
+octopus_i2c_init(op)
+octopus_i2c_set_bitrate(op,3) # 100khz
+
+
+octopus_i2c_send_start(op)
+
+while 1:
+    #octopus_i2c_receive_byte(op,0x10,1)
+    octopus_i2c_send_byte(op,0x20,1)
+    octopus_i2c_send_byte(op,1,1)
+    time.sleep(1)
+    octopus_i2c_send_byte(op,0x20,1)
+    octopus_i2c_send_byte(op,0,1)
+    time.sleep(1)
+    
+    
diff --git a/liboctopus/python/demos/blink_lauf.py b/liboctopus/python/demos/blink_lauf.py
new file mode 100644
index 0000000..00f73e7
--- /dev/null
+++ b/liboctopus/python/demos/blink_lauf.py
@@ -0,0 +1,67 @@
+#blink_lauf.py
+#laesst alle leds nacheinander blinken
+
+from  octopus import *
+import time
+
+
+op=octopus_context()
+octopus_init(op)
+octopus_open(op)
+octopus_io_init(op,26)
+octopus_io_init(op,27)
+octopus_io_init(op,28)
+octopus_io_init(op,29)
+octopus_io_init(op,30)
+octopus_io_init(op,31)
+octopus_io_init(op,32)
+
+octopus_io_set_pin_direction_out(op,26)
+octopus_io_set_pin_direction_out(op,27)
+octopus_io_set_pin_direction_out(op,28)
+octopus_io_set_pin_direction_out(op,29)
+octopus_io_set_pin_direction_out(op,30)
+octopus_io_set_pin_direction_out(op,31)
+octopus_io_set_pin_direction_out(op,32)
+
+octopus_io_set_pin(op,26,0)
+octopus_io_set_pin(op,27,0)
+octopus_io_set_pin(op,28,0)
+octopus_io_set_pin(op,29,0)
+octopus_io_set_pin(op,30,0)
+octopus_io_set_pin(op,31,0)
+octopus_io_set_pin(op,32,0)
+    
+
+
+
+while 1:
+    octopus_io_set_pin(op,26,1)
+    time.sleep(1)
+    octopus_io_set_pin(op,26,0)
+    time.sleep(0.5)     
+    octopus_io_set_pin(op,27,1)
+    time.sleep(1)
+    octopus_io_set_pin(op,27,0)
+    time.sleep(0.5)    
+    octopus_io_set_pin(op,28,1)
+    time.sleep(1)
+    octopus_io_set_pin(op,28,0)
+    time.sleep(0.5)    
+    octopus_io_set_pin(op,29,1)
+    time.sleep(1)
+    octopus_io_set_pin(op,29,0)
+    time.sleep(0.5)    
+    octopus_io_set_pin(op,30,1)
+    time.sleep(1)
+    octopus_io_set_pin(op,30,0)
+    time.sleep(0.5)
+    octopus_io_set_pin(op,31,1)
+    time.sleep(1)
+    octopus_io_set_pin(op,31,0)
+    time.sleep(0.5)
+    octopus_io_set_pin(op,32,1)
+    time.sleep(1)
+    octopus_io_set_pin(op,32,0)
+    time.sleep(0.5)
+    
diff --git a/liboctopus/python/demos/blink_status.py b/liboctopus/python/demos/blink_status.py
new file mode 100644
index 0000000..c4b0945
--- /dev/null
+++ b/liboctopus/python/demos/blink_status.py
@@ -0,0 +1,26 @@
+# blink_status.py
+# laesst die status led (11) blinken
+
+import sys
+sys.path.append("..\\..\\libs\\python")
+
+
+from  octopus import *
+import time
+
+
+op=octopus_context()
+octopus_init(op)
+octopus_open(op)
+octopus_io_init(op,11)
+
+octopus_io_set_pin_direction_out(op,11)
+
+octopus_io_set_pin(op,11,0)
+
+
+while 1:
+    octopus_io_set_pin(op,11,1)
+    time.sleep(1)
+    octopus_io_set_pin(op,11,0)
+    time.sleep(1)
diff --git a/liboctopus/python/demos/eeprom_i2c.py b/liboctopus/python/demos/eeprom_i2c.py
new file mode 100644
index 0000000..17707a4
--- /dev/null
+++ b/liboctopus/python/demos/eeprom_i2c.py
@@ -0,0 +1,36 @@
+# blink_i2c.py
+# laesst die led des i2c (0x10) blinken
+
+from  octopus import *
+import time
+
+
+op=octopus_context()
+octopus_init(op)
+octopus_open(op)
+octopus_i2c_init(op)
+octopus_i2c_set_bitrate(op,3) # 100khz
+
+
+octopus_i2c_send_start(op)
+octopus_i2c_send_byte(op,0xae,1)
+octopus_i2c_send_byte(op,1,1)
+octopus_i2c_send_byte(op,0,1)
+octopus_i2c_send_byte(op,0x77,1)
+octopus_i2c_send_stop(op)
+
+
+
+octopus_i2c_send_start(op)
+octopus_i2c_send_byte(op,0xae,1)
+octopus_i2c_send_byte(op,1,1)
+octopus_i2c_send_byte(op,0,1)
+octopus_i2c_send_start(op)
+
+octopus_i2c_send_byte(op,0xaf,1)
+
+print octopus_i2c_receive_byte(op,1,1)
+
+octopus_i2c_send_stop(op)
+
+
diff --git a/liboctopus/python/octopus.i b/liboctopus/python/octopus.i
new file mode 100644
index 0000000..4999a19
--- /dev/null
+++ b/liboctopus/python/octopus.i
@@ -0,0 +1,5 @@
+%module octopus
+%{
+#include "../octopus.h"
+%}
+%include "../octopus.h"