correct firmware??

31 files changed, 2121 insertions, 7059 deletions

diff --git a/firmware/93c46.c b/firmware/93c46.c
index 9ec4e11..4af0f45 100644
--- a/firmware/93c46.c
+++ b/firmware/93c46.c
@@ -93,10 +93,10 @@ int flash_93c46_init(void)
    //SETPIN(DIN0) = D4 = low
    //SETPIN(DIN1) = D4 = low
 
-   octopus.ports[16]=PIN_IN;
-   octopus.ports[17]=PIN_OUT;
-   octopus.ports[18]=PIN_OUT;
    octopus.ports[19]=PIN_OUT;
+   octopus.ports[18]=PIN_OUT;
+   octopus.ports[17]=PIN_OUT;
+   octopus.ports[16]=PIN_IN;
 
    return RSP_OK;
 }
@@ -111,10 +111,9 @@ void flash_93c46_deinit_usb(void)
 
 int flash_93c46_deinit(void)
 {
-   octopus.ports[16]=PIN_NONE;
-   octopus.ports[17]=PIN_NONE;
-   octopus.ports[18]=PIN_NONE;
-   octopus.ports[19]=PIN_NONE;
+   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;
 }
@@ -123,8 +122,7 @@ 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]);
-   answer[2+length] = 0;
-   CommandAnswer(3+length);
+   CommandAnswer(length+2);
 }
 
 int flash_93c46_read(unsigned char address, unsigned int length, char * buf)
@@ -144,7 +142,7 @@ void flash_93c46_write_usb(unsigned char address, unsigned int length, char * bu
 {
    answer[0]=CMD_93C46_WRITE;
    answer[1]=(unsigned char)flash_93c46_write(address,length, buf);
-   answer[2]=0;
+   answer[2]=0x00;
    CommandAnswer(3);
 }
 
diff --git a/firmware/93c46.h b/firmware/93c46.h
index d919036..817eade 100644
--- a/firmware/93c46.h
+++ b/firmware/93c46.h
@@ -47,6 +47,10 @@
 #define DO (B, 3)
 
 
+
+
+
+
 #define DIN0 (B, 4)
 #define DIN1 (B, 5)
 
@@ -96,4 +100,14 @@ 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
index c8ae6de..f3553b5 100644
--- a/firmware/Makefile
+++ b/firmware/Makefile
@@ -1,458 +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.
+# 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 = $(TARGET).c wait.c uart.c ../usbn2mc/main/usbn960x.c usbn2mc.c ../usbn2mc/main/usbnapi.c common.c fifo.c io.c adc.c i2c.c spi.c 93c46.c pwm.c debug.c can.c eeprom.c pin.c
-
-
-# List Assembler source files here.
-# Make them always end in a capital .S.  Files ending in a lowercase .s
-# will not be considered source files but generated files (assembler
-# output from the compiler), and will be deleted upon "make clean"!
-# Even though the DOS/Win* filesystem matches both .s and .S the same,
-# it will preserve the spelling of the filenames, and gcc itself does
-# care about how the name is spelled on its command-line.
-ASRC = 
-
-
-
-# Optimization level, can be [0, 1, 2, 3, s]. 
-# 0 = turn off optimization. s = optimize for size.
-# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
-OPT = s
-
-# Debugging format.
-# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
-# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
-DEBUG = stabs
-#DEBUG = dwarf-2
-
-# List any extra directories to look for include files here.
-#     Each directory must be seperated by a space.
-EXTRAINCDIRS = 
-
-
-# Compiler flag to set the C Standard level.
-# c89   - "ANSI" C
-# gnu89 - c89 plus GCC extensions
-# c99   - ISO C99 standard (not yet fully implemented)
-# gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-
-# Place -D or -U options here
-CDEFS =
-
-# Place -I options here
-CINCS = 
-
-
-# Compiler flags.
-#  -g*:          generate debugging information
-#  -O*:          optimization level
-#  -f...:        tuning, see GCC manual and avr-libc documentation
-#  -Wall...:     warning level
-#  -Wa,...:      tell GCC to pass this to the assembler.
-#    -adhlns...: create assembler listing
-CFLAGS = -g$(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_old:
-	avrdude -p m128 -c avrispv2 -P usb -U flash:w:main.hex
-
-download:
-	avrdude -p c128 -c avrispv2 -P usb -U flash:w:main.hex -B 1
-
-fuse_old:
-	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:
-	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 
+

+# 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
index 915dbce..a9449b7 100644
--- a/firmware/adc.c
+++ b/firmware/adc.c
@@ -37,27 +37,19 @@
 #include "protocol.h"
 #include "adc.h"
 
-#include <stdio.h>
-#include "debug.h"
-
-
 void adc_parser(char *buf)
 {
-  //debugf("adc parser CMD %02x\n",buf[0]);
    switch(buf[0])
    {
       case CMD_ADC_INIT_PIN:
-         adc_init_usb(buf[2]);
-        break;
-      case CMD_ADC_DEINIT_PIN:
-         adc_deinit_usb(buf[2]);
-        break;
+         adc_init_usb((int)buf[2]);
+      break;
       case CMD_ADC_GET:
-         adc_get_usb(buf[2]);
-        break;
+         adc_get_usb((int)buf[2]);
+      break;
       case CMD_ADC_REF:
-         adc_ref_usb(buf[2]);
-        break;
+         adc_ref_usb((int)buf[2]);
+      break;
 
       default:
          answer[0]=buf[0];
@@ -67,49 +59,42 @@ void adc_parser(char *buf)
     }
 }
 
-int adc_init(uint8_t pin)
+int adc_init(int pin)
 {
-  if (pin >= 10 && pin <= 17)
-  {
-     octopus.ports[pin] = PIN_AD;
-     ADMUX |= (1<<REFS1) | (1<<REFS0); // interne Referenzspannung nutzen
-     return RSP_OK; 
-  }
-
-  return RSP_UNKOWN_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(uint8_t 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);
-}
-
-int adc_deinit(uint8_t pin)
-{
-  if (octopus.ports[pin] == PIN_AD)
-  {
-     octopus.ports[pin] = PIN_NONE;
-     return RSP_OK; 
-  }
-
-  return RSP_UNKOWN_PIN;
-}
-
-void adc_deinit_usb(uint8_t pin)
-{
-   answer[0]=CMD_ADC_DEINIT_PIN;
-   answer[1]= (unsigned char)adc_deinit(pin);
+   answer[1]= (unsigned char)adc_init(pin);
    answer[2]=0;
 
    CommandAnswer(3);
 }
 
-void adc_get_usb(uint8_t pin)
+void adc_get_usb(int pin)
 {
+ 
    uint16_t result;
    //uint8_t result[2];
 
@@ -125,59 +110,64 @@ void adc_get_usb(uint8_t pin)
 }
 
 
-int adc_get(uint8_t pin, uint16_t *value)
+int adc_get(int pin, uint16_t *value)
 {
-  *value = 0;
-
-  if (octopus.ports[pin] == PIN_AD)
-  {
-    // 40  => 0
-    // 39  => 1
-    // 38  => 2
-    // pin  => 40-pin
-    *value =_adc_read_channel(17 - pin);
-    debugf("Wert %i\r\n",*value);
-    return RSP_OK;
-  }
-  else 
-    return RSP_WRONG_PIN_CONFIG;
+   *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(uint8_t ref)
+void adc_ref_usb(int ref)
 {
    answer[0]=CMD_ADC_REF;
    answer[1]=adc_ref(ref);
-   answer[2]=0;
-   CommandAnswer(3);
+   CommandAnswer(2);
 }
 
-int adc_ref(uint8_t ref)
+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;
+   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(uint8_t mux)
+uint16_t _adc_read_channel(int mux)
 {
    int i;
    uint16_t result;
-
-   //ADMUX |= mux;                      // Kanal waehlen
  
    ADCSRA = (1<<ADEN) | (1<<ADPS1) | (1<<ADPS0);    // Frequenzvorteiler 
                               // setzen auf 8 (1) und ADC aktivieren (1)
  
-   ADMUX = (ADMUX & 0xF0) | mux; // select channel
+   //ADMUX |= (unsigned char)mux;                      // Kanal waehlen
+   ADMUX = (ADMUX & 0xF0) | (unsigned char) mux; // select channel
   
    //ADMUX |= (1<<REFS1) | (1<<REFS0); // interne Referenzspannung nutzen 
  
diff --git a/firmware/adc.h b/firmware/adc.h
index 1e85ff4..3aa0a6f 100644
--- a/firmware/adc.h
+++ b/firmware/adc.h
@@ -41,17 +41,16 @@
 
 void adc_parser(char *buf);
 
-int adc_init(uint8_t pin);
-void adc_init_usb(uint8_t pin);
+int adc_init(int pin);
+void adc_init_usb(int pin);
 
-int adc_deinit(uint8_t pin);
-void adc_deinit_usb(uint8_t pin);
+void adc_ref_usb(int ref);
+int adc_ref(int ref);
 
-int adc_ref(uint8_t ref);
-void adc_ref_usb(uint8_t ref);
 
-int adc_get(uint8_t pin, uint16_t *value);
-void adc_get_usb(uint8_t pin);
-uint16_t _adc_read_channel(uint8_t mux);
+
+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/can.c b/firmware/can.c
deleted file mode 100644
index 95090bb..0000000
--- a/firmware/can.c
+++ /dev/null
@@ -1,756 +0,0 @@
-/*
- * Copyright (c) 2007 Marco Glietsch (http://www.mikrocontroller.net/topic/98697)
- * Original author: Marco Glietsch
- * Modified for octopus by Michael Hartmann <ich@speicherleck.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.
- */
-
-#ifdef __AVR_AT90CAN128__
-
-#include "common.h"
-#include "protocol.h"
-#include "can.h"
-
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include <util/delay.h>  
-#include <inttypes.h>
-#include <stdbool.h>
-
-struct {
-  uint32_t id;
-  int8_t data[8];
-} message;
-
-int8_t iemob[15] = {
-  IEMOB0, IEMOB1, IEMOB2,  IEMOB3,  IEMOB4,  IEMOB5,  IEMOB6, IEMOB7,
-  IEMOB8, IEMOB9, IEMOB10, IEMOB11, IEMOB12, IEMOB13, IEMOB14 };
-
-// extended id
-int8_t extended_id;
-
-void can_parser(uint8_t *buf)
-{
-  switch(buf[0])
-  {
-    case CMD_CAN_INIT:
-      can_init_usb((uint8_t)buf[2], (uint8_t)buf[3]);
-      break;
-    case CMD_CAN_DEINIT:
-      can_deinit_usb();
-      break;
-    case CMD_CAN_ENABLE_MOB:
-      asm("nop");
-      uint32_t idm = 0;
-      uint32_t id  = 0;
-     
-      id  = ((uint32_t)buf[4])        +
-            ((uint32_t)buf[5]  <<  8) +
-            ((uint32_t)buf[6]  << 16) +
-            ((uint32_t)buf[7]  << 24);
-     
-      idm = ((uint32_t)buf[8])        +
-            ((uint32_t)buf[9]  <<  8) +
-            ((uint32_t)buf[10] << 16) +
-            ((uint32_t)buf[11] << 24);
-
-      // mob, mode, id, idm
-      can_enable_mob_usb(buf[2], buf[3], id, idm);
-      break;
-    case CMD_CAN_DISABLE_MOB:
-      can_disable_mob_usb((uint8_t)buf[2]);
-      break;
-    case CMD_CAN_SEND_DATA:
-      can_send_data_usb(buf[2], buf[3], &buf[4]);
-      break;
-    case CMD_CAN_SEND_REMOTE:
-      can_send_remote_usb(buf[2]);
-      break;
-    case CMD_CAN_RECEIVE_DATA:
-      can_receive_data_usb(buf[2]);
-      break;
-    case CMD_CAN_SET_AUTOREPLY:
-      can_set_autoreply_usb(buf[2], buf[3], &buf[4]);
-      break;
-    default:
-      answer[0] = buf[0];
-      answer[1] = RSP_UNKOWN_CMD;
-      answer[2] = 0;
-      CommandAnswer(3);
-   }
-}
-
-void can_init_usb(uint8_t baudrate, uint8_t eid)
-{
-  answer[0] = CMD_CAN_INIT;
-  answer[1] = (uint8_t)can_init(baudrate, CAN_INTERRUPTS_RX, eid);
-  answer[2] = 0;
-
-  CommandAnswer(3);
-}
-
-// Message Objects zuruecksetzen, CAN-Controller aktivieren
-// Parameter:
-//   uint8_t baud: 0,1,2...5 (fuer 100, 125, 200, 250, 500, 1000)
-//   uint8_t intmode: Ereignis, bei dem ein Interrupt ausgelöst werden soll
-//     - NONE  - Deaktiviert
-//     - TX    - Daten gesendet
-//     - RX    - Daten empfangen
-//     - TXRX  - Daten gesendet und/oder empfangen
-int can_init(uint8_t baudrate, uint8_t intmode, uint8_t eid)
-{
-  uint8_t i;
-
-  octopus.ports[17] = PIN_CAN;
-  octopus.ports[18] = PIN_CAN;
-
-  extended_id = eid ? 1 : 0;
-
-  message.id = 0;
-  for(i = 0; i < 8; i++)
-    message.data[i] = 0;
-
-  // Status- und Steuerregister aller Message Objects initialisieren
-  for(i = 0; i < NO_MOBS; i++)
-  {
-    can_get_mob(i);
-    CANSTMOB = 0;
-    CANCDMOB = 0;
-  }
-
-  // set baudrate
-  if(can_set_baudrate(baudrate) == 0)
-    return RSP_ERROR;
-
-  if(can_set_interrupt(intmode) == 0)
-    return RSP_ERROR;
-
-  // CAN-Controller in Enabled Mode setzen
-  setbit(CANGCON, ENASTB);
-
-  // Warten bis der CAN-Controller das Enabled-Bit gesetzt hat und
-  // einsatzbereit ist
-  while (!getbit(CANGSTA, ENFG));
-
-  return RSP_OK; 
-}
-
-void can_deinit_usb(void)
-{
-  answer[0] = CMD_CAN_DEINIT;
-  answer[1] = (int8_t)can_deinit();
-  answer[2] = 0;
-
-  CommandAnswer(3);
-}
-
-int can_deinit(void)
-{
-  uint8_t i;
-
-  octopus.ports[17] = PIN_NONE;
-  octopus.ports[18] = PIN_NONE;
-
-  for(i = 0; i < 15; i++)
-    can_disable_mob(i);
-
-  // CAN-Controller ausschalten
-  clearbit(CANGCON, ENASTB);
-
-  // warten bis wirklich ausgechaltet
-  while (getbit(CANGSTA, ENFG));
-
-  return RSP_OK;
-}
-
-void can_set_autoreply(uint8_t mob, uint8_t length, uint8_t *buf)
-{
-  can_get_mob(mob);
-  can_set_mode(CAN_MODE_AUTO_REPLY);
-  can_set_data(length, buf);
-}
-
-void can_set_autoreply_usb(uint8_t mob, uint8_t length, uint8_t *buf)
-{
-  can_set_autoreply(mob, length, buf);
-
-  answer[0] = CMD_CAN_SET_AUTOREPLY;
-  answer[1] = RSP_OK;
-  answer[2] = 0;
-
-  CommandAnswer(3);
-}
-
-int can_set_baudrate(uint8_t baudrate)
-{
-  // @16 MHz
-  switch(baudrate)
-  {
-    case CAN_BAUDRATE_100K:
-      CANBT1 = 0x12;
-      CANBT2 = 0x0c;
-      CANBT3 = 0x37;
-      break;
-
-    case CAN_BAUDRATE_125K:
-      CANBT1 = 0x0e;
-      CANBT2 = 0x0c;
-      CANBT3 = 0x37;
-      break;
-
-    case CAN_BAUDRATE_200K:
-      CANBT1 = 0x08;
-      CANBT2 = 0x0c;
-      CANBT3 = 0x37;
-      break;
-
-    case CAN_BAUDRATE_250K:
-      CANBT1 = 0x06;
-      CANBT2 = 0x0c;
-      CANBT3 = 0x37;
-      break;
-
-    case CAN_BAUDRATE_500K:
-      CANBT1 = 0x02;
-      CANBT2 = 0x0c;
-      CANBT3 = 0x37;
-      break;
-
-    case CAN_BAUDRATE_1000K:
-      CANBT1 = 0x00;
-      CANBT2 = 0x0c;
-      CANBT3 = 0x37;
-      break;
-
-    default:
-      return 0;
-  }
-
-  return 1;
-}
-
-void can_enable_mob_usb(uint8_t mob, uint8_t mode, uint32_t id, uint32_t idm)
-{
-  answer[0] = CMD_CAN_ENABLE_MOB;
-  answer[1] = (int8_t)can_enable_mob(mob, mode, id, idm);
-  answer[2] = 0;
-
-  CommandAnswer(3);
-}
-
-
-// Parameter:
-//   uint8_t mob: Nummer des zu wählenden Objekts (0-14)
-//
-//   uint8_t mode
-//     - Betriebsart des Message Objekts:
-//     - DISABLED         Deaktiviert
-//     - TRANSMIT_DATA    Daten senden
-//     - TRANSMIT_REMOTE  Anfrage senden
-//     - RECEIVE_DATA     Empfangsmodus
-//     - AUTO_REPLY       automatischer Antwortmodus
-//
-// Funktion setzt die Betriebsart des vorher gewählten Objekts
-int can_enable_mob(uint8_t mob, uint8_t mode, uint32_t id, uint32_t idm)
-{
-  // Objekt wählen
-  can_get_mob(mob);
-
-  // Interrupt für dieses Objekt aktivieren
-  can_set_mob_interrupt(mob);
-
-  // ID-Maske setzen
-  can_set_id_mask(idm);
-
-  // ID setzen
-  can_set_id(id);
-
-  // Betriebsmodus setzen
-  if(can_set_mode(mode) == 0)
-    return RSP_ERROR;
-
-  return RSP_OK;
-}
-
-
-void can_send_data_usb(uint8_t mob, uint8_t length, uint8_t *data)
-{
-  answer[0] = CMD_CAN_SEND_DATA;
-  answer[1] = (int8_t)can_send_data(mob, length, data);
-  answer[2] = 0;
-
-  CommandAnswer(3);
-}
-
-int can_send_data(uint8_t mob, uint8_t length, uint8_t * data)
-{
-  uint8_t mode;
-
-  // Objekt wählen
-  can_get_mob(mob);
-  
-  // Aktuelle Betriebsart sichern
-  mode = can_get_mode();
-
-  // Nutzdaten in Register schreiben
-  can_set_data(length, data);
-
-  // Datenübertragung starten
-  can_set_mode(CAN_MODE_TRANSMIT_DATA);
-
-  // Warten bis die Datenübertragung beendet ist (TXOK-Flag von CAN-Controller
-  // gesetzt)
-  while (!getbit(CANSTMOB, TXOK));      
-
-  // TXOK-Flag von Hand löschen
-  clearbit(CANSTMOB, TXOK);
-
-  // Alte Betriebsart wiederherstellen
-  can_set_mode(mode);
-
-  return RSP_OK;
-}
-
-
-// Parameter: uint8_t mode: Ereignis, bei dem Interrupt ausgelöst werden soll
-//   - NONE  - Deaktiviert
-//   - TX    - Daten gesendet
-//   - RX    - Daten empfangen
-//   - TXRX  - Daten gesendet und/oder empfangen
-int can_set_interrupt(uint8_t mode)
-{
-  switch(mode)
-  {
-    case CAN_INTERRUPTS_NONE:
-      clearbit(CANGIE, ENIT);
-      clearbit(CANGIE, ENRX);
-      clearbit(CANGIE, ENTX);
-      break;
-
-    case CAN_INTERRUPTS_TX:
-      setbit(CANGIE, ENIT);
-      clearbit(CANGIE, ENRX);
-      setbit(CANGIE, ENTX);
-      break;
-
-    case CAN_INTERRUPTS_RX:
-      setbit(CANGIE, ENIT);
-      setbit(CANGIE, ENRX);
-      clearbit(CANGIE, ENTX);
-      break;
-
-    case CAN_INTERRUPTS_TXRX:
-      setbit(CANGIE, ENIT);
-      setbit(CANGIE, ENRX);
-      setbit(CANGIE, ENTX);
-      break;
-
-    default:
-      return 0;
-  }
-
-  return 1;
-}
-
-
-// Funktion wählt CANPAGE des betreffenden Objekts aus und stellt Zugang zu
-// Registern des Objekts her
-void can_get_mob(uint8_t mob)
-{
-  CANPAGE = (mob << 4);
-}
-
-  
-// Parameter: uint32_t idm: ID-Maske in Dezimalschreibweise
-// Funktion setzt ID-Maske eines Objekts auf einen neuen Wert. In CANIDM4
-// bleiben dabei die Werte der unteren 3 Bit (RTRTAG, Reserved und IDEMSK)
-// erhalten.
-void can_set_id_mask(uint32_t idm)
-{
-  //Standart identifier (11 bit)
-  if(!extended_id)
-  {
-    CANIDM2 = (uint8_t)(idm << 5); 
-    CANIDM1 = (uint8_t)(idm >> 3);
-  }
-  //extended identifier
-  else
-  {
-    idm <<= 3;
-    idm  |= 7;
-
-    CANIDM4 = (int8_t) (idm);
-    CANIDM3 = (int8_t) (idm>>8);
-    CANIDM2 = (int8_t) (idm>>16);
-    CANIDM1 = (int8_t) (idm>>24);
-  }
-}
-
-// Funktion holt ID der empfangenen Nachricht
-uint32_t can_get_id(void)
-{
-  uint32_t id = 0;
-
-  //Standart identifier (11 bit)
-  if(!extended_id)
-  {
-    id  = (uint8_t)  CANIDT2 >> 5;
-    id |= (uint16_t) CANIDT1 << 3;
-  }
-  //extended identifier
-  else
-  {
-    id |= ((uint32_t) CANIDT1 << 24);
-    id |= ((uint32_t) CANIDT2 << 16);
-    id |= ((uint32_t) CANIDT3 << 8);
-    id |= (CANIDT4&0xF8);
-    id >>= 3;
-  }
-
-  return id;
-}
-
-// Funktion setzt ID eines Objekts auf einen neuen Wert. In CANIDM4 bleiben
-// dabei die Werte der unteren 3 Bit (RTRTAG, RB1TAG und RB0TAG) erhalten.
-void can_set_id(uint32_t id)
-{
-  //Standart identifier (11 bit)
-  if(!extended_id)
-  {
-    CANIDT2 = (uint8_t)(id << 5); 
-    CANIDT1 = (uint8_t)(id >> 3);
-  }
-  //extended identifier
-  else
-  {
-    id <<= 3;
-    id &= 0xfffffff8;
-    id |= (CANIDT4 & 0x07);
-
-    CANIDT4 = (int8_t) (id);
-    CANIDT3 = (int8_t) (id>>8);
-    CANIDT2 = (int8_t) (id>>16);
-    CANIDT1 = (int8_t) (id>>24);
-  }
-}
-
-
-// Funktion setzt die Betriebsart des vorher gewählten Objekts.
-// Parameter: uint8_t mode:
-//   - Betriebsart des Message Objekts:
-//   - DISABLED        - Deaktiviert
-//   - TRANSMIT_DATA   - Daten senden
-//   - TRANSMIT_REMOTE - Anfrage senden
-//   - RECEIVE_DATA    - Empfangsmodus
-//   - AUTO_REPLY      - automatischer Antwortmodus
-int can_set_mode(uint8_t mode)
-{
-  if(extended_id)
-    setbit(CANCDMOB, IDE);
-  else
-    clearbit(CANCDMOB, IDE);
-
-  switch(mode)
-  {
-    case CAN_MODE_DISABLED:
-      clearbit(CANCDMOB, CONMOB0);
-      clearbit(CANCDMOB, CONMOB1);
-      clearbit(CANCDMOB, RPLV);
-      clearbit(CANIDT4, RTRTAG);
-      clearbit(CANIDM4, RTRMSK);
-      break;
-
-    case CAN_MODE_TRANSMIT_DATA:
-      CANCDMOB &= ~(1 << CONMOB1 || 1 << CONMOB0 || 1 << RPLV);
-      CANCDMOB |=  (1 << CONMOB0 || 0 << CONMOB1);
-      clearbit(CANIDT4, RTRTAG);
-      break;
-
-    case CAN_MODE_TRANSMIT_REMOTE:
-      clearbit(CANCDMOB, CONMOB1);
-      setbit(CANCDMOB, CONMOB0);
-      clearbit(CANCDMOB, RPLV);
-      setbit(CANIDT4, RTRTAG);
-      break;
-
-    case CAN_MODE_RECEIVE_DATA:
-      clearbit(CANCDMOB, CONMOB0);
-      setbit(CANCDMOB, CONMOB1);
-      clearbit(CANCDMOB, RPLV);
-      clearbit(CANIDT4, RTRTAG);
-      break;
-
-    case CAN_MODE_AUTO_REPLY:
-      clearbit(CANCDMOB, CONMOB0);
-      setbit(CANCDMOB, CONMOB1);
-      setbit(CANCDMOB, RPLV);
-      setbit(CANIDT4, RTRTAG);
-      break;
-
-    default:
-      return 0;
-  }
-
-  return 1;
-}
-
-
-// Funktion holt die Betriebsart des vorher gewaehlten Objekts
-uint8_t can_get_mode(void)
-{
-  uint8_t mode = 0;
-
-  if(!getbit(CANCDMOB, CONMOB1) && !getbit(CANCDMOB, CONMOB0))
-  {
-    mode = CAN_MODE_DISABLED;
-  }
-  else if(!getbit(CANCDMOB, CONMOB1) && getbit(CANCDMOB, CONMOB0) &&
-    !getbit(CANIDT4, RTRTAG))
-  {
-    mode = CAN_MODE_TRANSMIT_DATA;
-  }
-  else if(!getbit(CANCDMOB, CONMOB1) && getbit(CANCDMOB, CONMOB0) &&
-    getbit(CANIDT4, RTRTAG))
-  {
-    mode = CAN_MODE_TRANSMIT_REMOTE;
-  }
-  else if(getbit(CANCDMOB, CONMOB1) && !getbit(CANCDMOB, CONMOB0) &&
-    !getbit(CANIDT4, RTRTAG))
-  {
-    mode = CAN_MODE_RECEIVE_DATA;
-  }
-  else if(getbit(CANCDMOB, CONMOB1) && !getbit(CANCDMOB, CONMOB0) &&
-    getbit(CANCDMOB,RPLV) && getbit(CANIDT4, RTRTAG))
-  {
-    mode = CAN_MODE_AUTO_REPLY;
-  }
-
-  return mode;
-}
-
-
-// Funktion schreibt in das Objekt die zu uebermittelnden Daten
-void can_set_data(uint8_t length, uint8_t * data)
-{
-  uint8_t i;
-  uint8_t cancdmob;
-
-  if(length > 8)
-    length = 8;
-
-  // Anzahl der Datenbytes in der Nachricht
-  // scheinbar darf man das CANCDMOB register nicht beliebig oft
-  // schreiben/lesen, daher speichern wir den wert dazwischen, loeschen die
-  // entsprechenden bits fuer die laenge und schreiben dann unsere laenge rein
-  // wie dem auch sei: so funktionierts zumindest, also vorsicht beim aufraeumen ;-)
-  cancdmob = CANCDMOB;
-  clearbit(cancdmob, DLC0);
-  clearbit(cancdmob, DLC1);
-  clearbit(cancdmob, DLC2);
-  clearbit(cancdmob, DLC3);
-  CANCDMOB = (cancdmob | (length << DLC0));
-  for(i = 0; i < length; i++)
-    CANMSG = data[i];
-}
-
-void can_get_data(int8_t *msg)
-{
-  uint8_t i;
-
-  for(i = 0; i < 8; i++)
-    msg[i] = CANMSG;
-}
-
-// Parameter: uint8_t mob: Nummer des Objekts (0-14)
-// Funktion setzt den Interrupt für das jeweilige Objekt
-void can_set_mob_interrupt(uint8_t mob)
-{
-  // bugfix von C.H.
-  // http://www.mikrocontroller.net/topic/98697#1232848
-  if (mob < 8) { setbit(CANIE2, iemob[mob]); }
-  else         { setbit(CANIE1, iemob[mob]); }
-}
-
-// Parameter: uint8_t mob: Nummer des Objekts (0-14)
-// Funktion löscht den Interrupt für das jeweilige Objekt
-void can_clear_mob_interrupt(uint8_t mob)
-{
-  clearbit(CANIE2, iemob[mob]);
-}
-
-// Rückgabe: uint8_t mob: Nummer des Objekts
-// Funktion ermittelt, welches Objekt Interrupt ausgeloest hat
-uint8_t can_get_mob_interrupt(void)
-{
-  uint8_t  mob;
-  uint16_t maske;
-  maske = CANSIT2 | (CANSIT1 << 8);
-
-  // Wenn alle 32 Bit der Bitmaske 0 sind dann ist ein Fehler aufgetreten
-  if(maske == 0)
-    return NOMOB;
-
-  // Die Bitmaske wird so lange nach rechts geschoben, bis Bit0 eine 1 hat.
-  // Die Anzahl der Schiebeoperatoren gibt somit die Nummer des MOBs zurück
-  for(mob=0; (maske & 0x01)==0; maske >>= 1, ++mob);
-
-  // Kontrolle: Wenn mob größer als die Anzahl der verfügbaren
-  // Message Objects ist das Ergebnis falsch
-  if(mob > 14)
-    return NOMOB;
-
-  return mob;
-}
-
-void can_disable_mob_usb(uint8_t mob)
-{
-   answer[0] = CMD_CAN_DISABLE_MOB;
-   answer[1] = (int8_t)can_disable_mob(mob);
-   answer[2] = 0;
-
-   CommandAnswer(3);
-}
-
-// Funktion deaktiviert das gewählte Objekt
-int can_disable_mob(uint8_t mob)
-{
-  // Objekt wählen
-  can_get_mob(mob);
-
-  // Interrupt für dieses Objekt aktivieren
-  can_clear_mob_interrupt(mob);
-
-  // Betriebsmodus setzen
-  can_set_mode(CAN_MODE_DISABLED);
-
-  return RSP_OK;
-}
-
-
-void can_send_remote_usb(uint8_t mob)
-{
-  answer[0] = CMD_CAN_SEND_REMOTE;
-  answer[1] = (int8_t)can_send_remote(mob);
-  answer[2] = 0;
-
-  CommandAnswer(3);
-}
-
-// Funktion sendet eine Anfrage (Remote Frame)
-int can_send_remote(uint8_t mob)
-{
-  uint8_t mode;
-
-  // Objekt wählen
-  can_get_mob(mob);
-  
-  // Aktuelle Betriebsart sichern
-  mode = can_get_mode();
-
-  // Datenübertragung starten
-  can_set_mode(CAN_MODE_TRANSMIT_REMOTE);
-
-  // Warten bis die Datenübertragung beendet ist (TXOK-Flag von CAN-Controller
-  // gesetzt)
-  while (!getbit(CANSTMOB, TXOK));      
-
-  // TXOK-Flag von Hand löschen
-  clearbit(CANSTMOB, TXOK);
-
-  // Alte Betriebsart wiederherstellen
-  can_set_mode(mode);
-
-  return RSP_OK;
-}
-
-void can_receive_data_usb(int mob)
-{
-  uint8_t i;
-  answer[0] = CMD_CAN_RECEIVE_DATA;
-  answer[1] = RSP_OK;
-
-  // id
-  answer[2] = (int8_t) (message.id);
-  answer[3] = (int8_t) (message.id >> 8);
-  answer[4] = (int8_t) (message.id >> 16);
-  answer[5] = (int8_t) (message.id >> 24);
-
-  message.id = 0;
-  for(i = 0; i < 8; i++)
-  {
-    answer[6+i] = message.data[i];
-    message.data[i] = 0;
-  }
-  answer[14] = 0;
-  
-  CommandAnswer(15);
-}
-
-// Interrupt fuer Empfang einer Nachricht
-SIGNAL(SIG_CAN_INTERRUPT1)
-{
-  uint8_t save_canpage;
-  uint8_t mob;
-
-  // Aktuelle CANPAGE sichern
-  save_canpage = CANPAGE;
-
-  // Index des MOB ermitteln, der den Interrupt ausgelöst hat
-  mob = can_get_mob_interrupt();
-    
-  // Falls es kein gültiges MOB war abbrechen
-  if(mob == NOMOB)
-    return;
-
-  // Objekt das den Interrupt ausgelöst hat holen
-  can_get_mob(mob);
-  
-  // Id der Nachricht holen
-  message.id = can_get_id();
-    
-  // Daten des MOBs aus CANMSG auslesen
-  can_get_data(message.data);
-
-  // Id der Nachricht holen
-  message.id = can_get_id();
-
-  // RXOK-Flag löschen
-  clearbit(CANSTMOB, RXOK);
-    
-  // MOB auf Empfang setzen
-  can_set_mode(CAN_MODE_RECEIVE_DATA);
-    
-  // CANPAGE wiederherstellen
-  CANPAGE = save_canpage;
-}
-
-#endif
diff --git a/firmware/can.h b/firmware/can.h
deleted file mode 100644
index 1bab0ba..0000000
--- a/firmware/can.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- * Copyright (c) 2007 Marco Glietsch (http://www.mikrocontroller.net/topic/98697)
- * Original author: Marco Glietsch
- * Modified for octopus by Michael Hartmann <ich@speicherleck.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 CAN_H
-#define CAN_H
-
-#include <inttypes.h>
-
-#define setbit(ADR,BIT)   (ADR |= (1<<BIT))
-#define clearbit(ADR,BIT) (ADR &=~(1<<BIT))
-#define getbit(ADR, BIT)  (ADR &  (1<<BIT))
-
-/* CAN Objekte */
-#define NO_MOBS 15   // Anzahl der Message Objects festlegen
-#define NOMOB   0xff // Definition für ungültigen Objektindex
-
-// baudrate
-enum { CAN_BAUDRATE_100K, CAN_BAUDRATE_125K, CAN_BAUDRATE_200K,
-       CAN_BAUDRATE_250K, CAN_BAUDRATE_500K, CAN_BAUDRATE_1000K };
-
-// Betriebsmodi
-enum { CAN_MODE_DISABLED, CAN_MODE_TRANSMIT_DATA, CAN_MODE_TRANSMIT_REMOTE,
-       CAN_MODE_RECEIVE_DATA, CAN_MODE_AUTO_REPLY };
-
-// Interrupt-Modi
-enum { CAN_INTERRUPTS_NONE, CAN_INTERRUPTS_TX, CAN_INTERRUPTS_RX,
-       CAN_INTERRUPTS_TXRX };
-
-void can_parser(uint8_t *buf);
-
-int can_init(uint8_t baudrate, uint8_t intmode, uint8_t eid);
-void can_init_usb(uint8_t baudrate, uint8_t eid);
-
-int can_deinit(void);
-void can_deinit_usb(void);
-
-int can_enable_mob(uint8_t mob, uint8_t mode, uint32_t id, uint32_t idm);
-void can_enable_mob_usb(uint8_t mob, uint8_t mode, uint32_t id, uint32_t idm);
-
-int can_disable_mob(uint8_t mob);
-void can_disable_mob_usb(uint8_t mob);
-
-int can_send_data(uint8_t mob, uint8_t length, uint8_t * data);
-void can_send_data_usb(uint8_t mob, uint8_t length, uint8_t *data);
-
-int can_send_remote(uint8_t mob);
-void can_send_remote_usb(uint8_t mob);
-
-void can_receive_data_usb(int mob);
-
-void can_set_autoreply(uint8_t mob, uint8_t length, uint8_t *buf);
-void can_set_autoreply_usb(uint8_t mob, uint8_t length, uint8_t *buf);
-
-// sonsitge hilfsfunktionen
-int can_set_baudrate(uint8_t baudrate);
-int can_set_interrupt(uint8_t mode);
-void can_get_mob(uint8_t mob);
-uint32_t can_get_id(void);
-void can_set_id_mask(uint32_t idm);
-void can_set_id(uint32_t id);
-int can_set_mode(uint8_t mode);
-uint8_t can_get_mode(void);
-void can_set_data(uint8_t length, uint8_t * data);
-void can_get_data(int8_t *msg);
-void can_set_mob_interrupt(uint8_t object);
-void can_clear_mob_interrupt(uint8_t mob);
-uint8_t can_get_mob_interrupt(void);
-
-#endif /* CAN_H */
diff --git a/firmware/common.c b/firmware/common.c
index 69f3c94..9947c59 100644
--- a/firmware/common.c
+++ b/firmware/common.c
@@ -80,17 +80,11 @@ void common_parser(char *buf)
 
 void common_init(void)
 {
-   uint8_t i;
+   int i;
    for(i=1;i<=19;i++)
-   {
-     io_init(i);
-     io_set_pin(i, 0);
-   }
-   for(i=24;i<=42;i++)
-   {
-     io_init(i);
-     io_set_pin(i, 0);
-   }
+      io_init(i);
+   for(i=26;i<=44;i++)
+      io_init(i);
 }
 
 
@@ -106,7 +100,7 @@ void common_hwdesc(void)
    answer[7] = 'p'; answer[8] = 'u';answer[9] = 's';answer[10] = '_';
    #endif  
    answer[11] = '0'; answer[12] = '1';
-   answer[13] = 0;
+   answer[13] = 0x00;
    CommandAnswer(14);
 }
 
diff --git a/firmware/common.h b/firmware/common.h
index 11716fb..3229718 100644
--- a/firmware/common.h
+++ b/firmware/common.h
@@ -31,46 +31,32 @@
  * (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 COMMON_H
-#define COMMON_H
-
-#include <inttypes.h>
-#include <stdbool.h>
 
 
 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,PIN_CAN};
+	      PIN_UART};
 
-#ifdef __AVR_AT90CAN128__
-  #define OCTOPUS_CAN
-#endif
 
-//#define OCTOPUS_RELAIS
+#define OCTOPUS_CAN
 
-#define DEBUG 1
+//#define DEBUG
 
 #define F_CPU 16000000UL
 #define STATUS_LED_PIN     PB7
 #define STATUS_LED_PORT    PORTB
 
 /* red status led */
-#ifndef OCTOPUS_RELAIS
 #define STATUS_LED_on     (STATUS_LED_PORT   |=  (1 << STATUS_LED_PIN)) 
 #define STATUS_LED_off    (STATUS_LED_PORT   &= ~(1 << STATUS_LED_PIN))
-#else
-#define STATUS_LED_on  (1);
-#define STATUS_LED_off (1);
-#endif
 
 
 volatile struct octopus_t 
 {
    volatile unsigned char latency_timer;
-   volatile unsigned char status_led;
-   uint8_t ports[43];
+   int ports[45];
    volatile char * msg[20];
    volatile int datatogl;
    volatile unsigned int long_rx_cmd;
@@ -85,7 +71,7 @@ volatile struct octopus_t
 
 
 void CommandAnswer(unsigned int length);
-void CommandAnswerRest (void);
+void CommandAnswerRest(void);
 void USBCommandRX(char *buf);
 void USBMessageIn(char *buf);
 
@@ -105,4 +91,3 @@ void common_init(void);
 
 void common_hwdesc(void);
 
-#endif //COMMON_H
diff --git a/firmware/debug.c b/firmware/debug.c
index 5e7a950..539a3e2 100644
--- a/firmware/debug.c
+++ b/firmware/debug.c
@@ -1,7 +1,4 @@
 #include <inttypes.h>
-#include <stdarg.h>
-#include <stdio.h>
-#include <stdlib.h>
 #include <avr/io.h>
 
 #include "uart.h"
@@ -11,39 +8,21 @@
 
 #define UART_PORT 0
 
-void debug_dummy(char *fmt, ...) {}
-
-void debug_init()
-{
-#ifdef DEBUG
-#warning Compiling with debug-support!
+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');
-
-  static FILE mystdout = FDEV_SETUP_STREAM(debug_putchar, NULL,
-                                              _FDEV_SETUP_WRITE);
-  stdout = &mystdout;
-#endif
 }
 
-int debug_putchar(char c, FILE *stream)
-{
-#ifdef DEBUG
-  if (c == '\n')
-    uart_putchar(UART_PORT, '\r');
-  uart_putchar(UART_PORT, c);
-#endif
-  return 1;
+void debug_deinit(void) {
+  uart_deinit(UART_PORT);
 }
 
-void debug_deinit(void)
-{
-#ifdef DEBUG
-  uart_deinit(UART_PORT);
-#endif
+void debug_write(char *buf) {
+  while(*buf)
+    uart_putchar(UART_PORT, *buf++);
 }
 
 unsigned char debug_AsciiToHex(unsigned char high, unsigned char low)
@@ -73,7 +52,6 @@ unsigned char debug_AsciiToHex(unsigned char high, unsigned char low)
 
 void debug_SendHex(unsigned char hex)
 {
-#ifdef DEBUG
   unsigned char high,low;
   // get highnibble
   high = hex & 0xF0;
@@ -91,8 +69,4 @@ void debug_SendHex(unsigned char hex)
     uart_putchar(UART_PORT, low+48);
   else
     uart_putchar(UART_PORT, low+87);
-
-  //_debug_write("\r\n");
-#endif
 }
-
diff --git a/firmware/debug.h b/firmware/debug.h
index 202ef22..8aa15d9 100644
--- a/firmware/debug.h
+++ b/firmware/debug.h
@@ -1,12 +1,5 @@
-#ifdef DEBUG
-#define debugf printf("%s,%d: ", __FILE__, __LINE__); printf
-#else
-#define debugf debug_dummy
-#endif
-
-void debug_dummy(char *fmt, ...);
 void debug_init(void);
-int debug_putchar(char c, FILE *stream);
 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/eeprom.c b/firmware/eeprom.c
deleted file mode 100644
index 3f0c1a1..0000000
--- a/firmware/eeprom.c
+++ /dev/null
@@ -1,119 +0,0 @@
-#include "common.h"
-#include "protocol.h"
-
-#include <inttypes.h>
-#include <stdbool.h>
-#include <avr/io.h>
-#include <avr/eeprom.h>
-#include <stdio.h>
-
-#include "eeprom.h"
-#include "debug.h"
-
-#define EEPROM_READY() while(EECR & (1 << EEWE));
-
-void eeprom_parser(char *buf)
-{
-  uint16_t addr;
-  uint16_t length;
-
-  addr =   ((uint16_t)buf[2]) +
-           ((uint16_t)buf[3] << 8);
-
-  length = ((uint16_t)buf[4]) +
-           ((uint16_t)buf[5] << 8);
-
-  debugf("eeprom_parser: length: %u, addr: %u\n", length, addr);
-
-  switch(buf[0])
-  {
-    case CMD_EEPROM_READ_BYTES:
-      eeprom_read_bytes_usb(addr, length);
-      break;
-
-    case CMD_EEPROM_WRITE_BYTES:
-      eeprom_write_bytes_usb(addr, &buf[6], length);
-      break;
-
-    default:
-      answer[0] = buf[0];
-      answer[1] = RSP_UNKOWN_CMD;
-      answer[2] = 0;
-      CommandAnswer(3);
-  }
-}
-
-
-void eeprom_read_bytes_usb(uint16_t addr, uint16_t length)
-{
-  answer[0] = CMD_EEPROM_READ_BYTES;
-  answer[1] = eeprom_read_bytes(addr, (char *)&answer[2], length);
-  answer[2+length] = 0;
-
-  debugf("read: %s\n", &answer[2]);
-
-  CommandAnswer(3+length);
-}
-
-uint8_t eeprom_read_bytes(uint16_t addr, char * buf, uint16_t length)
-{
-  uint8_t i;
-
-  if(addr > MAX_ADDR)
-    return RSP_ERROR;
-
-  // wait for eeprom
-  EEPROM_READY();
-
-  for(i = 0; i < length; i++)
-  {
-
-    buf[i] = eeprom_read_byte((uint8_t*) addr++); 
-    // set addr
-    //EEAR = addr++;
-
-    //EECR |= (1 << EERE);
-
-    //buf[i] = EEDR;
-    //debug_SendHex(buf[i]);
-  }
-
-  return RSP_OK;
-}
-
-void eeprom_write_bytes_usb(uint16_t addr, char * buf, uint16_t length)
-{
-  answer[0] = CMD_EEPROM_WRITE_BYTES;
-  answer[1] = eeprom_write_bytes(addr, buf, length);
-  answer[2] = 0;
-
-  debugf("written: %s\n", buf);
-  
-  CommandAnswer(3);
-}
-
-uint8_t eeprom_write_bytes(uint16_t addr, char * buf, uint16_t length)
-{
-  uint8_t i;
-
-  if(addr > MAX_ADDR)
-    return RSP_ERROR;
-
-  // wait for eeprom
-  EEPROM_READY();
-
-  for(i = 0; i < length; i++)
-  {
-    eeprom_write_byte ((uint8_t*) addr++, buf[i]); 
-    
-    //EEAR = addr++;
-    //EEDR = buf[i];
-
-    //EECR |= (1 << EEMWE);
-    //EECR |= (1 << EEWE);
-  }
-
-  eeprom_read_bytes(addr, buf, length);
-
-  return RSP_OK;
-}
diff --git a/firmware/eeprom.h b/firmware/eeprom.h
deleted file mode 100644
index 2ac7d4a..0000000
--- a/firmware/eeprom.h
+++ /dev/null
@@ -1,11 +0,0 @@
-#include <inttypes.h>
-#include <stdbool.h>
-
-#define MAX_ADDR 4095
-
-void eeprom_parser(char *buf);
-
-void eeprom_read_bytes_usb(uint16_t addr, uint16_t length);
-uint8_t eeprom_read_bytes(uint16_t addr, char * buf, uint16_t length);
-void eeprom_write_bytes_usb(uint16_t addr, char * buf, uint16_t length);
-uint8_t eeprom_write_bytes(uint16_t addr, char * buf, uint16_t length);
diff --git a/firmware/fifo.c b/firmware/fifo.c
index 17551d7..a1e0f87 100644
--- a/firmware/fifo.c
+++ b/firmware/fifo.c
@@ -2,26 +2,26 @@
 
 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;
+	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);
+	return _inline_fifo_put (f, data);
 }
 
 uint8_t fifo_get_wait (fifo_t *f)
 {
-  while (!f->count);
-  
-  return _inline_fifo_get (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);	
+	if (!f->count)		return -1;
+		
+	return (int) _inline_fifo_get (f);	
 }
diff --git a/firmware/i2c.c b/firmware/i2c.c
index 4baa7bb..fca24ac 100644
--- a/firmware/i2c.c
+++ b/firmware/i2c.c
@@ -36,6 +36,7 @@
 #include "common.h"
 #include "protocol.h"
 #include "i2c.h"
+#include "debug.h"
 #define I2C_WAIT_FOR_COMPLETE() while (!(TWCR & (1<<TWINT)));
 
 void i2c_parser(char *buf)
@@ -103,8 +104,8 @@ void i2c_deinit_usb(void)
 int i2c_deinit(void)
 {
   TWCR &= ~(1<<TWEN); // deinit
-  octopus.ports[12]=PIN_NONE;
-  octopus.ports[13]=PIN_NONE;
+  octopus.ports[12]=PIN_NONE;  // XXX correct?
+  octopus.ports[13]=PIN_NONE;  // XXX correct?
 
   return RSP_OK;
 }
@@ -112,7 +113,7 @@ int i2c_deinit(void)
 
 void i2c_set_bitrate_usb(char bitrate) {
   answer[1] = (unsigned char)i2c_set_bitrate(bitrate);
-  answer[2] =  0;
+  answer[2] =  '\0';
   CommandAnswer(3);
 }
 
@@ -129,7 +130,7 @@ int i2c_set_bitrate(char bitrate) {
 void i2c_send_start_usb(void)
 {
   answer[1] = (unsigned char)i2c_send_start();
-  answer[2] = 0;
+  answer[2] = '\0';
   CommandAnswer(3);
 }
 
@@ -169,7 +170,7 @@ void i2c_send_usb(int length, char *data)
   i2c_send(data, length);
 
   answer[1] = RSP_OK;
-  answer[2] = 0;
+  answer[2] = '\0';
   CommandAnswer(3);
 }
 
@@ -192,12 +193,16 @@ void i2c_recv_usb(int address, int length)
   answer[0]=CMD_I2C_RECV;
   answer[1]=RSP_OK;
 
-  for(i = 0; i < length; i++)
+  debug_init();
+  for(i = 0; i < length; i++) {
+    debug_write("recv\r\n\0");
     answer[2+i] = i2c_recv_byte();
+    debug_write("recved\r\n\0");
+    }
 
   answer[length+2] = 0;
 
-  CommandAnswer(3+length);
+  CommandAnswer(length+2);
 }
 
 
diff --git a/firmware/io.c b/firmware/io.c
index 4227ec9..280f892 100644
--- a/firmware/io.c
+++ b/firmware/io.c
@@ -1,6 +1,6 @@
 /*
  * Copyright (c) 2007 Embedded Projects (http://www.embedded-projects.net)
- * Author: Benedikt Sauter <sauter@embedded-projects.net>
+ * Author: Benedikt Sauter <sauter@
  * All rights reserved.
  *
  * Short descripton of file:
@@ -36,8 +36,6 @@
 #include "common.h"
 #include "protocol.h"
 #include "io.h"
-#include "pin.h"
-
 
 void io_parser(char *buf)
 {
@@ -79,9 +77,6 @@ void io_parser(char *buf)
       case CMD_IO_PIN_GET:
          io_get_pin_usb((uint8_t)buf[2]);
       break;
-      case CMD_IO_SET_STATUS_LED:
-         io_set_status_led_usb((uint8_t)buf[2]);
-      break;
       default:
          answer[0] = buf[0];
          answer[1] = RSP_UNKOWN_CMD;
@@ -92,7 +87,12 @@ void io_parser(char *buf)
 
 uint8_t io_init(uint8_t pin) 
 {
-  return io_set_pin_direction_out(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)
@@ -120,16 +120,16 @@ void io_init_port_usb(uint8_t port)
 uint8_t io_set_port_direction_out(uint8_t port,uint8_t mask)
 {
     /* TODO
-	switch (port)
-	{
-      case  1:   DDRB = mask; break;
+	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  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;
+      case  5:   DDRF = mask; break;

+      default:   return RSP_UNKOWN_PIN;

 	}
-    */
+    */

 	return RSP_OK;    
 }
 
@@ -160,7 +160,6 @@ void io_set_port_direction_in_usb(uint8_t port, uint8_t 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;
@@ -172,41 +171,131 @@ void io_set_port_direction_tri_usb(uint8_t port, uint8_t mask)
 
 uint8_t io_set_pin_direction_out(uint8_t pin)
 {
-  pin_conf p;
-
-  if(!pin_get_conf(pin, &p))
-    return RSP_UNKOWN_PIN;
-  
-  octopus.ports[pin] = PIN_OUT;
-  *(p.ox_ddr) |= (1 << p.ox_p);
-
-  return RSP_OK;
+   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)
+uint8_t  io_set_pin_direction_in(uint8_t  pin)
 {
-  pin_conf p;
-
-  if(!pin_get_conf(pin, &p))
-    return RSP_UNKOWN_PIN;
-  
-  octopus.ports[pin] = PIN_IN;
-  *(p.ox_ddr) &= ~(1 << p.ox_p);
-
-  return RSP_OK;
+   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)
+uint8_t  io_set_pin_direction_tri(uint8_t  pin)
 {
-   if(io_set_pin_direction_out(pin) == RSP_OK && 
-      io_set_pin(pin,1)             == RSP_OK)
+   if ((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) )
    {
-     octopus.ports[pin] = PIN_TRI;
-     return RSP_OK;
-   }
+      octopus.ports[pin] = PIN_TRI;
+      io_set_pin_direction_out(pin);
+      io_set_pin(pin,1);
+      return RSP_OK;
+   } 
    else 
-     return RSP_UNKOWN_PIN;
+   {
+      return RSP_UNKOWN_PIN;
+   }
 }
 
 
@@ -235,58 +324,55 @@ void io_set_pin_direction_tri_usb(uint8_t  pin)
 }
 
 
-//XXX
+
 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;
+	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;
+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;
-        answer[3] = 0;
-	CommandAnswer(4);
+    answer[0] = CMD_IO_PORT_GET;

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

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

+	CommandAnswer(3);

 }
 
-// XXX
 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;
-	}
+	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_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);

 }
 
 
@@ -301,20 +387,59 @@ void io_set_pin_usb(uint8_t pin, uint8_t value)
 
 uint8_t io_set_pin(uint8_t pin, uint8_t value)
 {
-  pin_conf p;
-
-  if(!pin_get_conf(pin, &p))
-    return RSP_UNKOWN_PIN;
-  
-  if(octopus.ports[pin] != PIN_OUT)
-    return RSP_WRONG_PIN_CONFIG;
-
-  if(value)
-    *(p.ox_port) |=  (1 << p.ox_p);
-  else
-    *(p.ox_port) &= ~(1 << p.ox_p);
-
-  return RSP_OK;
+   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;
+   } 
 }
 
 
@@ -325,42 +450,63 @@ void io_get_pin_usb(uint8_t pin)
    answer[0] = CMD_IO_PIN_GET;
    answer[1] = (unsigned char)io_get_pin(pin,&value);  
    answer[2] = (unsigned char)value;  
-   answer[3] = 0;
-   CommandAnswer(4);
+   CommandAnswer(3);
 }
 
 uint8_t io_get_pin(uint8_t pin, uint8_t *value)
 {
-  pin_conf p;
-
-  if(!pin_get_conf(pin, &p))
-    return RSP_UNKOWN_PIN;
-
-  if(octopus.ports[pin] != PIN_IN)
-    return RSP_WRONG_PIN_CONFIG;
-
-  if(*(p.ox_pin) & (1 << p.ox_p))
-    *value = 1;
-  else
-    *value = 0;
-
-  return RSP_OK;
+	*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;

+	}
 }
 
-void io_set_status_led(uint8_t on)
-{
-   if(on)
-     octopus.status_led = 1;
-   else
-     octopus.status_led = 0;
-}
 
-void io_set_status_led_usb(uint8_t on)
-{
-   io_set_status_led(on);
-   
-   answer[0] = CMD_IO_PIN_GET;
-   answer[1] = on;
-   answer[2] = 0;
-   CommandAnswer(3);
-}
diff --git a/firmware/io.h b/firmware/io.h
index 5cfb5f4..f86314f 100644
--- a/firmware/io.h
+++ b/firmware/io.h
@@ -38,9 +38,169 @@
 #include <avr/io.h>
 #include <avr/pgmspace.h>
 
-#ifdef __AVR_AT90CAN128__
-  #define OCTOPUS_CAN
-#endif
+
+#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);
 
@@ -80,8 +240,6 @@ 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);
 
-void io_set_status_led(uint8_t on);
-void io_set_status_led_usb(uint8_t on);
 
 #define PORT(port,pin)     (PORT##port)
 #define DDR(port,pin)      (DDR##port)
diff --git a/firmware/main.c b/firmware/main.c
index 6bd7c32..ef802a2 100644
--- a/firmware/main.c
+++ b/firmware/main.c
@@ -16,19 +16,19 @@
 #include "protocol.h"
 #include "wait.h"
 
-#include "93c46.h"
+#include "io.h"
 #include "adc.h"
-#include "can.h"
-#include "eeprom.h"
 #include "i2c.h"
-#include "io.h"
-#include "pwm.h"
 #include "spi.h"
+#include "pwm.h"
 #include "uart.h"
 
-#include <stdio.h>
+#include "93c46.h"
 #include "debug.h"
 
+//#define DEBUG 1
+
+
 
 SIGNAL (SIG_INTERRUPT4)
 {
@@ -48,218 +48,185 @@ SIGNAL (SIG_OVERFLOW0)
 }
 
 
-void USBCommandRX (char *buf)
+void
+USBCommandRX (char *buf)
 {
   int i;
 
-  debugf("receiving command: %X (length: %u)\n", buf[1]);
+#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)
-  {
-    debugf("get next\n");
-
-    for (i = 0; i < 64; i++)
-      request[octopus.long_rx_index + i] = buf[i];
+	 {
+#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;
+		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);
-    }
-  }
+		if (octopus.long_rx_index >= octopus.long_rx_bytes)
+		  {
+			 octopus.long_rx_cmd = 0;
+			 USBMessageIn (request);
+		  }
+	 }
   else
-  {
-    debugf("get and execute\n");
-
-    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];
-    }
-  }
+	 {
+#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)
+void
+USBMessageIn (char *buf)
 {
   octopus.long_index = 0;
   octopus.long_running = 0;
 
-  if(octopus.status_led)
-    STATUS_LED_on;
-
+  STATUS_LED_on;
+#ifdef DEBUG
+  debug_write("parser\r\n\0");
+#endif
   int check = ((int) buf[0] >> 4) & 0x0F;
 
-  debugf("parser, check: %X, command: %X\n", check, buf[0]);
-
   switch (check)
-  {
-    case 0:
-      if (buf[0] == CMD_EXTERNAL_DEVICE)
-      {
-        switch (buf[2])
-        {
-          case CMD_EXTERNAL_93C46:
-            flash_93c46_parser(buf);
-            break;
-        }
-      }
-      else
-        common_parser(buf);
-      
-      break;
-
-  case 1:
-    debugf("calling io_parser\n");
-    io_parser (buf);
-    break;
-  case 2:
-    debugf("calling adc_parser\n");
-    adc_parser (buf);
-    break;
-  case 3:
-    debugf("calling i2c_parser\n");
-    i2c_parser (buf);
-    break;
-  case 4:
-    debugf("calling spi_parser\n");
-    spi_parser (buf);
-    break;
-  case 5:
-    debugf("calling pwm_parser\n");
-    pwm_parser (buf);
-    break;
-  case 6:
-    debugf("calling adc_parser\n");
-    uart_parser (buf);
-    break;
-  case 7:
-#ifdef OCTOPUS_CAN
-    debugf("calling can_parser\n");
-    can_parser ((uint8_t *)buf);
-#else
-    debugf("can't call can_parser - no CAN-support\n");
-#endif
-    break;
-  case 8:
-    debugf("calling eeprom_parser\n");
-    eeprom_parser(buf);
-    break;
-  default:
-    debugf("unknown cmd\n");
-    answer[0] = buf[0];
-    answer[1] = RSP_UNKOWN_CMD;
-    answer[2] = 0;
-    CommandAnswer(3);
-  }
-
-  if(octopus.status_led)
-    STATUS_LED_off;
-}
-
+	 {
+	 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);
+	 }
 
-unsigned int strlen(volatile unsigned char *str)
-{
-  unsigned int len = 0;
-   
-  while (*str++)
-    len++;
-   
-  return len;
+  STATUS_LED_off;
 }
 
 
-void CommandAnswer(unsigned int length)
+void
+CommandAnswer (unsigned int length)
 {
   int i;
 
-  // if first packet of a long message
+  // if first packet of a lang message
   if (length > 64 && octopus.long_running == 0)
-  {
-    debugf("first packet of a long message (length: %d)\n", length);
-    octopus.long_index = 0;
-    octopus.long_bytes = length;
-    octopus.long_running = 1;
-    length = 64;
-  }
+	 {
+		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]);
+	 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;
-  }
+	 {
+		USBNWrite (FIFOTXC1, TX_LAST + TX_EN + TX_TOGL);
+		octopus.datatogl = 0;
+	 }
   else
-  {
-    USBNWrite (FIFOTXC1, TX_LAST + TX_EN);
-    octopus.datatogl = 1;
-  }
+	 {
+		USBNWrite (FIFOTXC1, TX_LAST + TX_EN);
+		octopus.datatogl = 1;
+	 }
 }
 
 
-void CommandAnswerRest (void)
+void
+CommandAnswerRest (void)
 {
   if (octopus.long_running == 1)
-  {
-    debugf("octopus long running message\n");
-    if (octopus.long_index < octopus.long_bytes)
-    {
-      debugf("octopus.long_index < octopus.long_bytes\n");
-      int diff = octopus.long_bytes - octopus.long_index;
-      octopus.long_index = octopus.long_index + 64;
-
-      if (diff > 64)
-      {
-        debugf("not last packet: diff > 64\n");
-        CommandAnswer (64);
-      }
-      else
-      {
-        debugf("last packet\n");
-        /* last packet */
-        CommandAnswer (diff);
-        octopus.long_running = 0;
-      }
-    }
-  }
+	 {
+		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)
+int
+main (void)
 {
-  cli();
+  DDRB = 0xFF;
+  PORTB = 0xFF;
 
-  USBNInitMC ();
-  USBNStartClock();
-  
-  DDRB  = 0xFF;
-  PORTB = 0x00;
-
-  /* use status led */
-  octopus.status_led = 1;
 
   int interf;
   int conf;
 
+
   STATUS_LED_off;
 
   USBNInit ();
@@ -270,19 +237,17 @@ int main(void)
   USBNDeviceBCDDevice (0x0001); // you can use it as version e.g. version 1.02 
 
   char lang[] = { 0x09, 0x04, 0x00 };
-  _USBNAddStringDescriptor (lang);  // language descriptor
+  _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");
-  //USBNDeviceProduct ("Octopus USB v3.3");
-  USBNDeviceSerialNumber ("20090718");
+  USBNDeviceSerialNumber ("20081108");
 
   conf = USBNAddConfiguration ();
 
-  // we reserve 500mA, because users could drive LEDs and need more power
-  USBNConfigurationPower (conf, 200);
+  USBNConfigurationPower (conf, 100);
 
   interf = USBNAddInterface (conf, 0);
   USBNAlternateSetting (conf, interf, 0);
@@ -290,32 +255,33 @@ int main(void)
   /* communication */
   USBNAddInEndpoint (conf, interf, 1, 0x01, BULK, 64, 0, &CommandAnswerRest);
   USBNAddOutEndpoint (conf, interf, 1, 0x01, BULK, 64, 0, &USBCommandRX);
-  //USBNAddOutEndpoint (conf, interf, 1, 0x02, BULK, 64, 0, NULL);
+
+  USBNInitMC ();
 
   octopus.datatogl = 0;
   octopus.long_rx_cmd = 0;
 
+  /* start usb chip */
+  USBNStart ();
+
   /* UARTInit2(38400,8,'N',1); */
-  debug_init();
+  #ifdef DEBUG
+    debug_init();
+  #endif
 
   /* hello world led pattern */
-  DDRC  = 0x7F;
-  PORTC = 0x2A;
+  DDRC  = 0xFF;
+  PORTC = 0xAA;
   delay_250ms ();
-  PORTC = 0x55;
+  PORTC = 0xD5;
   delay_250ms ();
-  PORTC = 0x00;
-
-  common_init();
+  PORTC = 0x80;
 
-
-  /* init connection between avr and usbn9604 */
-  USBNInitMC ();
-  /* start usb chip */
-  USBNStart ();
-  sei();
+  // testpin
+  //PORTB = 0xFF;
+  //PORTB = 0x00;
 
   while (1);
+
   return 0;
 }
-
diff --git a/firmware/main.hex b/firmware/main.hex
index d7795f1..3d38158 100644
--- a/firmware/main.hex
+++ b/firmware/main.hex
@@ -1,1327 +1,844 @@
-:100000000C9470000C948F000C948F000C948F0053

-:100010000C948F000C9463050C948F000C948F004B

-:100020000C948F000C948F000C948F000C948F0014

-:100030000C94DD190C948F000C948F000C948F009D

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-:100050000C948F000C9491000C948F000C948F00E2

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-:100070000C948F000C948F000C948F000C948F00C4

-:100080000C948F000C948F000C948F000C948F00B4

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-:1000A0008E229922A422AF22BD22CB22D922E7227E

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-:10010000AE36B107D9F716E0AEE6B3E001C01D92F6

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diff --git a/firmware/octopus_can_stable_1_1.hex b/firmware/octopus_can_stable_1_1.hex
deleted file mode 100644
index cf06536..0000000
--- a/firmware/octopus_can_stable_1_1.hex
+++ /dev/null
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diff --git a/firmware/octopus_relais.hex b/firmware/octopus_relais.hex
deleted file mode 100644
index 68d0cd1..0000000
--- a/firmware/octopus_relais.hex
+++ /dev/null
@@ -1,959 +0,0 @@
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diff --git a/firmware/octopus_stable_1_1.hex b/firmware/octopus_stable_1_1.hex
deleted file mode 100644
index 5fa412b..0000000
--- a/firmware/octopus_stable_1_1.hex
+++ /dev/null
@@ -1,971 +0,0 @@
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diff --git a/firmware/pin.c b/firmware/pin.c
deleted file mode 100644
index 97218b7..0000000
--- a/firmware/pin.c
+++ /dev/null
@@ -1,93 +0,0 @@
-/*
- * Copyright (c) 2009 Embedded Projects (http://www.embedded-projects.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.
- */
-
-#include <inttypes.h>
-#include <avr/io.h>
-
-#include "pin.h"
-
-
-char pin_get_conf(uint8_t i, pin_conf *p)
-{
-  switch(i)
-  {
-    case  3: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC0; break;
-    case  4: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC1; break;
-    case  5: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC2; break;
-    case  6: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC3; break;
-    case  7: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC4; break;
-    case  8: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC5; break;
-    case  9: p->ox_port = &PORTC; p->ox_pin = &PINC; p->ox_ddr = &DDRC; p->ox_p = PC6; break;
-
-    case 10: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF7; break;
-    case 11: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF6; break;
-    case 12: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF5; break;
-    case 13: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF4; break;
-    case 14: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF3; break;
-    case 15: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF2; break;
-    case 16: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF1; break;
-    case 17: p->ox_port = &PORTF; p->ox_pin = &PINF; p->ox_ddr = &DDRF; p->ox_p = PF0; break;
-
-    case 18: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE0; break;
-    case 19: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE1; break;
-    case 20: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE2; break;
-    case 21: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE3; break;
-    case 22: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE5; break;
-    case 23: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE6; break;
-    case 24: p->ox_port = &PORTE; p->ox_pin = &PINE; p->ox_ddr = &DDRE; p->ox_p = PE7; break;
-
-    case 25: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB0; break;
-    case 26: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB1; break;
-    case 27: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB2; break;
-    case 28: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB3; break;
-    case 29: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB4; break;
-    case 30: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB5; break;
-    case 31: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB6; break;
-    case 32: p->ox_port = &PORTB; p->ox_pin = &PINB; p->ox_ddr = &DDRB; p->ox_p = PB7; break;
-
-    case 33: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD0; break;
-    case 34: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD1; break;
-    case 35: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD2; break;
-    case 36: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD3; break;
-    case 37: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD4; break;
-    case 38: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD5; break;
-    case 39: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD6; break;
-    case 40: p->ox_port = &PORTD; p->ox_pin = &PIND; p->ox_ddr = &DDRD; p->ox_p = PD7; break;
-
-    default: return 0;
-  }
-
-  return 1;
-}
diff --git a/firmware/pin.h b/firmware/pin.h
deleted file mode 100644
index f0deda7..0000000
--- a/firmware/pin.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
- * Copyright (c) 2009 Embedded Projects (http://www.embedded-projecs.net)
- * Author: Michael Hartmann <hartmann@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 PIN_H
-#define PIN_H
-
-#include <inttypes.h>
-
-#define OX_AD7  10
-#define OX_AD6  11
-#define OX_AD5  12
-#define OX_AD4  13
-#define OX_AD3  14
-#define OX_AD2  15
-#define OX_AD1  16
-#define OX_AD0  17
-
-#define OX_RX0  18
-#define OX_TX0  19
-#define OX_RX1  35
-#define OX_TX1  36
-
-#define OX_SS   25
-#define OX_SCK  26
-#define OX_MOSI 27
-#define OX_MISO 28
-
-#define OX_PWM1 30
-#define OX_PWM2 29
-
-#define OX_SCL  33
-#define OX_SDA  34
-
-#define OX_LED1 3
-#define OX_LED2 4
-#define OX_LED3 5
-#define OX_LED4 6
-#define OX_LED5 7
-#define OX_LED6 8
-#define OX_LED7 9
-#define OX_LED_STATUS 32
-
-typedef struct pin_conf {
-  volatile unsigned char *ox_port;
-  volatile unsigned char *ox_pin;
-  volatile unsigned char *ox_ddr;
-  volatile unsigned char ox_p;
-} pin_conf;
-
-char pin_get_conf(uint8_t i, pin_conf *p);
-
-#endif /* PIN_H */
diff --git a/firmware/protocol.h b/firmware/protocol.h
index af2c6fb..6ae1c2a 100644
--- a/firmware/protocol.h
+++ b/firmware/protocol.h
@@ -42,12 +42,10 @@
 #define CMD_IO_PORT_GET                 0x19
 #define CMD_IO_PIN_SET                  0x1A
 #define CMD_IO_PIN_GET                  0x1B
-#define CMD_IO_SET_STATUS_LED           0x1C
 
 #define CMD_ADC_INIT_PIN                0x20
-#define CMD_ADC_DEINIT_PIN              0x21
-#define CMD_ADC_GET                     0x22
-#define CMD_ADC_REF                     0x23
+#define CMD_ADC_GET                     0x21
+#define CMD_ADC_REF                     0x22
 
 #define CMD_I2C_INIT                    0x30
 #define CMD_I2C_DEINIT                  0x31
@@ -80,17 +78,6 @@
 #define CMD_UART_RECV			0x67
 #define CMD_UART_SEND			0x68
 
-#define CMD_CAN_INIT                    0x70
-#define CMD_CAN_DEINIT                  0x71
-#define CMD_CAN_SEND_DATA               0x72
-#define CMD_CAN_ENABLE_MOB              0x73
-#define CMD_CAN_DISABLE_MOB             0x74
-#define CMD_CAN_SEND_REMOTE             0x75
-#define CMD_CAN_RECEIVE_DATA            0x76
-#define CMD_CAN_SET_AUTOREPLY           0x77
-
-#define CMD_EEPROM_READ_BYTES           0x80
-#define CMD_EEPROM_WRITE_BYTES          0x81
 
 #define PARAM_ADC_AREF                  0x01
 #define PARAM_ADC_AVCC                  0x02
diff --git a/firmware/pwm.c b/firmware/pwm.c
index b8b6231..9e3666d 100644
--- a/firmware/pwm.c
+++ b/firmware/pwm.c
@@ -84,7 +84,7 @@ int pwm_init(int pin)
       {
          case 9:	        
             /* set pin as output */
-            DDRB |=(1<<PB5); 
+            OX_DDR9 |=(1<<OX_P9); 
             OCR1A=1; // TOP          
 #ifdef OCTOPUS_CAN
             /* configure timer, (WGM = FAST PWM) (clear on OCnA, set on TOP  COM1A1)*/    
@@ -97,7 +97,7 @@ int pwm_init(int pin)
 #endif
          break;
          case 8:	  
-            DDRB |=(1<<PB4); 
+            OX_DDR8 |=(1<<OX_P8); 
 #ifdef OCTOPUS_CAN
             OCR2A=1; // TOP          
             /* configure timer, (WGM = FAST PWM) (clear on OCnA, set on TOP  COM1A1)*/    
@@ -138,7 +138,7 @@ void pwm_deinit_usb(int pin)
 
 int pwm_deinit(int pin)
 {
-  octopus.ports[pin]=PIN_NONE;
+  octopus.ports[pin]=PIN_OUT;  // this is wrong!
 #ifdef OCTOPUS_CAN
   switch(pin)
   {
diff --git a/firmware/spi.c b/firmware/spi.c
index b3e3a95..2b8abb1 100644
--- a/firmware/spi.c
+++ b/firmware/spi.c
@@ -36,24 +36,26 @@
 
 #include "spi.h"
 
-
 void spi_parser(char *buf)
 {
   switch(buf[0]) {
     case CMD_SPI_INIT:
-      spi_init_usb(buf[2], buf[3], buf[4]);
-      break;
+      spi_init_usb();
+    break;
     case CMD_SPI_DEINIT:
       spi_deinit_usb();
-      break;
+    break;
+    case CMD_SPI_SPEED:
+      spi_set_speed_usb((int)buf[2]);
+    break;
     case CMD_SPI_SEND:
-      spi_send_usb(buf[2], &buf[3]);
-      break;
+      spi_send_usb(&buf[2], (int)buf[1]);
+    break;
     case CMD_SPI_RECV:
-      spi_receive_usb((int)buf[2]);
+      spi_receive_usb((int)buf[1]);
     case CMD_SPI_SEND_AND_RECV:
-      spi_send_and_receive_usb(&buf[3], (int)buf[2]);
-      break;
+      spi_send_and_receive_usb(&buf[2], (int)buf[1]);
+    break;
     default:
       answer[0] = buf[0];
       answer[1] = RSP_UNKOWN_CMD;
@@ -62,111 +64,38 @@ void spi_parser(char *buf)
   }
 }
 
-void spi_init_usb(uint8_t dord, uint8_t mode, uint8_t speed)
+void spi_init_usb(void)
 {
   answer[0] = CMD_SPI_INIT;
-  answer[1] = (unsigned char) spi_init(dord, mode, speed);
-  answer[2] = 0;
+  answer[1] = (unsigned char) spi_init();
+  answer[3] = 0;
   CommandAnswer(3);
 }
 
 
-int spi_init(uint8_t dord, uint8_t mode, uint8_t speed)
+int spi_init(void)
 {
-  uint8_t cpol, cpha, spr1, spr0, spi2x;
-
-  dord = dord ? 1 : 0;
-
-  switch(mode)
-  {
-    case 0:
-      cpol = 0;
-      cpha = 0;
-      break;
-    case 1:
-      cpol = 0;
-      cpha = 1;
-      break;
-    case 2:
-      cpol = 1;
-      cpha = 0;
-      break;
-    case 3:
-      cpol = 1;
-      cpha = 1;
-      break;
-    default:
-      return RSP_ERROR;
-  }
-
-  switch(speed)
-  {
-    case SPI_SPEED_125kHz:
-      spi2x = 0;
-      spr1  = 1;
-      spr0  = 1;
-      break;
-    case SPI_SPEED_250kHz:
-      spi2x = 0;
-      spr1  = 1;
-      spr0  = 0;
-      break;
-    case SPI_SPEED_500kHz:
-      spi2x = 1;
-      spr1  = 1;
-      spr0  = 0;
-      break;
-    case SPI_SPEED_1MHz:
-      spi2x = 0;
-      spr1  = 0;
-      spr0  = 1;
-      break;
-    case SPI_SPEED_2MHz:
-      spi2x = 1;
-      spr1  = 0;
-      spr0  = 1;
-      break;
-    case SPI_SPEED_4MHz:
-      spi2x = 0;
-      spr1  = 0;
-      spr0  = 0;
-      break;
-    case SPI_SPEED_8MHz:
-      spi2x = 1;
-      spr1  = 0;
-      spr0  = 0;
-      break;
-    default:
-      return RSP_ERROR;
-  }
+  PORTB   &=  ~((1 << SCK)|(1<<MISO)|(1<<MOSI));  // SCK have to be low in IDLE
+  DDRB &=~(1 << MISO);
+  DDRB = (1 << MOSI)|(1 << SCK); 
 
-  // MOSI, SCK: out/low
-  // MISO:      in
-  DDRB  &=  ~(1 << MISO);
-  DDRB  |=   (1 << MOSI | 1 << SCK); 
-  PORTB &=  ~(1 << MOSI | 1 << MISO | 1 << SCK);  // SCK has to be low in IDLE
+  SPCR = 0;
+  SPSR = 0;
 
-  // SPE:  SPI enable
-  // DORD: Data Order (0: starting with LSB)
-  // MSTR: Master mode
-  // SPR1, SPR2, SPI2X: speed
-  SPCR = (1 << SPE | dord << DORD | 1 << MSTR | cpol << CPOL | cpha << CPHA |
-          spr1 << SPR1 | spr0 << SPR0);
-  SPSR = (spi2x << SPI2X);
+  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0)|(1<<SPR1);
 
-  octopus.ports[5] = PIN_SCK;
-  octopus.ports[6] = PIN_MOSI;
-  octopus.ports[7] = PIN_MISO;
+  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;
-
+  answer[0]=CMD_SPI_DEINIT;
+  answer[1]=(unsigned char)spi_deinit();
+  answer[2]=0;
   CommandAnswer(3);
 }
 
@@ -175,30 +104,36 @@ int spi_deinit(void)
   SPCR = 0;
   SPSR = 0;
 
-  octopus.ports[5] = PIN_NONE;
-  octopus.ports[6] = PIN_NONE;
-  octopus.ports[7] = PIN_NONE;
+  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){
 
-void spi_send_usb(uint8_t length, char * buf)
-{
-  answer[0] = CMD_SPI_SEND;
-  answer[1] = (unsigned char)spi_send(length, buf);
-  answer[2] = 0;
+}
+
+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(int length, char * buf)
+int spi_send(char * buf, int length)
 {
-  uint8_t i;
-  for(i = 0; i < length; i++)
-  {
+  int i;
+  for(i=0;i<length;i++){
     SPDR = buf[i];
-    while(!(SPSR & (1 << SPIF)));
+    while ( !(SPSR & (1 << SPIF)) ) ;
   }
   return RSP_OK;
 }
@@ -206,29 +141,22 @@ int spi_send(int length, char * buf)
 
 void spi_receive_usb(int length)
 {
-  answer[0]        = CMD_SPI_RECV;
-  answer[1]        = (unsigned char)spi_receive(length, (char*)&answer[2]);
-  answer[2+length] = 0;
-  CommandAnswer(3+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(int length, char * buf)
+unsigned char spi_receive( char * buf, int length)
 {
   int i;
   int timeout = 0;
-
-  for(i = 0; i < length; i++)
-  {
+  for(i=0;i<length;i++){
     SPDR = 0;
-    while(!(SPSR & (1 << SPIF))) 
-    {
-      if(timeout++ > 1000) 
-        return RSP_TIMEOUT;
-    }
-    buf[i] = SPDR;
+    while(!(SPSR & (1 << SPIF))) { timeout++; if( timeout > 1000) return RSP_TIMEOUT; }
+    buf[i]=SPDR;
   }
-
   return RSP_OK;
 }
 
@@ -236,8 +164,8 @@ 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+length]=0;
-  CommandAnswer(3+length);
+  answer[2]=0;
+  CommandAnswer(2+length);
 
 }
 
@@ -252,3 +180,9 @@ int spi_send_and_receive(char * txbuf, char * rxbuf, int length){
   }
   return RSP_OK;
 }
+
+
+
+
+
+
diff --git a/firmware/spi.h b/firmware/spi.h
index 8a8a1fe..d7cfbf1 100644
--- a/firmware/spi.h
+++ b/firmware/spi.h
@@ -41,25 +41,24 @@
 #define MISO PB3
 #define SCK PB1
 
-enum { SPI_SPEED_125kHz, SPI_SPEED_250kHz, SPI_SPEED_500kHz, SPI_SPEED_1MHz,
-       SPI_SPEED_2MHz,   SPI_SPEED_4MHz,   SPI_SPEED_8MHz };
-
 void spi_parser(char *buf);
 
-void spi_init_usb(uint8_t dord, uint8_t mode, uint8_t speed);
-int spi_init(uint8_t dord, uint8_t mode, uint8_t speed);
-
-void spi_deinit_usb(void);
+int spi_init(void);
 int spi_deinit(void);
 
-void spi_send_usb(uint8_t length, char * buf);
-int spi_send(int length, char * buf);
+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_receive_usb(int length);
-unsigned char spi_receive(int length, char * buf);
 
+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);
-int spi_send_and_receive(char * txbuf, char * rxbuf, int length);
 
 
 #endif /* SPI_H */
diff --git a/firmware/uart.c b/firmware/uart.c
index 9ae00c9..ac856b2 100644
--- a/firmware/uart.c
+++ b/firmware/uart.c
@@ -39,7 +39,7 @@ void uart_parser(char *buf)
       break;
     default:
       answer[1] = RSP_UNKOWN_CMD;
-      answer[2] = 0;
+      answer[2] = '\0';
       CommandAnswer(3);
   }
 }
@@ -47,7 +47,7 @@ void uart_parser(char *buf)
 void uart_init_usb(char uartport)
 {
    answer[1] = (unsigned char)uart_init(uartport);
-   answer[2] = 0;
+   answer[2] = '\0';
 
    CommandAnswer(3);
 }
@@ -78,7 +78,7 @@ char uart_init(char uartport)
 void uart_deinit_usb(char uartport)
 {
    answer[1] = (unsigned char)uart_deinit(uartport);
-   answer[2] = 0;
+   answer[2] = '\0';
 
    CommandAnswer(3);
 }
@@ -113,7 +113,7 @@ char uart_deinit(char uartport)
 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;
+   answer[2] = '\0';
 
    CommandAnswer(3);
 }
@@ -140,7 +140,7 @@ char uart_baudrate(char uartport, char ubrrll, char ubrrlh, char ubrrhl, char ub
 void uart_stopbits_usb(char uartport, char stopbits)
 {
    answer[1] = (unsigned char)uart_stopbits(uartport, stopbits);
-   answer[2] = 0;
+   answer[2] = '\0';
 
    CommandAnswer(3);
 }
@@ -174,7 +174,7 @@ char uart_stopbits(char uartport, char stopbits)
 void uart_databits_usb(char uartport, char databits)
 {
    answer[1] = (unsigned char)uart_databits(uartport, databits);
-   answer[2] = 0;
+   answer[2] = '\0';
 
    CommandAnswer(3);
 }
@@ -209,7 +209,7 @@ char uart_databits(char uartport, char databits)
 void uart_parity_usb(char uartport, char parity)
 {
    answer[1] = (unsigned char)uart_databits(uartport, parity);
-   answer[2] = 0;
+   answer[2] = '\0';
 
    CommandAnswer(3);
 }
@@ -243,7 +243,7 @@ char uart_parity(char uartport, char parity)
 void uart_send_usb(char uartport, char length, char *buf)
 {
    answer[1] = (unsigned char)uart_send(uartport, length, buf);
-   answer[2] = 0;
+   answer[2] = '\0';
 
    CommandAnswer(3);
 }
@@ -255,7 +255,9 @@ char uart_send(char uartport, unsigned int length, char *buf)
     return RSP_UNKOWN_PIN;
 
   while(length--)
+  {   
     uart_putchar(uartport, *buf++);
+  } 
 
   return RSP_OK; 
 }
@@ -293,8 +295,6 @@ void uart_recv_usb(char uartport, int length)
    for(i = 0; i < length; i++)
      answer[2+i] = data[i];
 
-   answer[2+length] = 0;
-
    CommandAnswer(3+length);
 }
 
@@ -329,5 +329,3 @@ char uart_getchar(char uartport)
 
   return c;
 }
-
-
diff --git a/firmware/uart_fifo.c b/firmware/uart_fifo.c
deleted file mode 100644
index d4da869..0000000
--- a/firmware/uart_fifo.c
+++ /dev/null
@@ -1,368 +0,0 @@
-#include <inttypes.h>
-#include <avr/io.h>
-
-#include "uart.h"
-#include "common.h"
-#include "protocol.h"
-#include "fifo.h"
-
-#define BUFSIZE_IN  5
-#define BUFSIZE_OUT 5
-
-uint8_t inbuf0[BUFSIZE_IN];
-uint8_t inbuf1[BUFSIZE_IN];
-fifo_t infifo0;
-fifo_t infifo1;
-
-uint8_t outbuf1[BUFSIZE_OUT];
-uint8_t outbuf0[BUFSIZE_OUT];
-fifo_t outfifo0;
-fifo_t outfifo1;
-
-
-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) | (1 << RXCIE0);
-      break;
-    case 1:
-      octopus.ports[14] = PIN_UART;
-      octopus.ports[15] = PIN_UART;
-      /* enable transmitter receiver */
-      UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1);
-      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:
-      fifo_put (&outfifo0, data);
-      UCSR0B |= (1 << UDRIE0);
-      break;
-    case 1:
-      fifo_put (&outfifo1, data);
-      UCSR1B |= (1 << UDRIE1);
-      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];
-
-   answer[2+length] = 0;
-
-   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;
-}
-
-// Empfangene Zeichen werden in die Eingabgs-FIFO gespeichert und warten dort 
-//SIGNAL (SIG_UART0_RECV)
-//{
-//  _inline_fifo_put (&infifo0, UDR0);
-//}
-
-// Ein Zeichen aus der Ausgabe-FIFO lesen und ausgeben 
-// Ist das Zeichen fertig ausgegeben, wird ein neuer SIG_UART_DATA-IRQ getriggert 
-// Ist die FIFO leer, deaktiviert die ISR ihren eigenen IRQ. 
-SIGNAL (SIG_UART0_DATA)
-{
-  PORTC ^= 5;
-  if (outfifo0.count > 0)
-  {
-    PORTC ^= 2;
-    UDR0 = _inline_fifo_get (&outfifo0);
-  }
-  else
-  {
-    PORTC ^= 3;
-    UCSR0B &= ~(1 << UDRIE0);
-  }
-}
-
diff --git a/firmware/usbn2mc.c b/firmware/usbn2mc.c
index 413009c..d9b0fdd 100644
--- a/firmware/usbn2mc.c
+++ b/firmware/usbn2mc.c
@@ -81,7 +81,7 @@ USBNInitMC (void)
   USB_CS_DDR |= (1 << PF_CS);
   USB_CS_PORT |= (1 << PF_CS);
 
-  //sei ();
+  sei ();
 }