update firmware to @319

32 files changed, 7113 insertions, 2228 deletions

diff --git a/firmware/93c46.c b/firmware/93c46.c
index 4af0f45..9ec4e11 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[19]=PIN_OUT;
-   octopus.ports[18]=PIN_OUT;
-   octopus.ports[17]=PIN_OUT;
    octopus.ports[16]=PIN_IN;
+   octopus.ports[17]=PIN_OUT;
+   octopus.ports[18]=PIN_OUT;
+   octopus.ports[19]=PIN_OUT;
 
    return RSP_OK;
 }
@@ -111,9 +111,10 @@ void flash_93c46_deinit_usb(void)
 
 int flash_93c46_deinit(void)
 {
-   octopus.ports[5]=PIN_OUT;  // this is wrong!
-   octopus.ports[6]=PIN_OUT;  // this is wrong!
-   octopus.ports[7]=PIN_OUT;  // this is wrong!
+   octopus.ports[16]=PIN_NONE;
+   octopus.ports[17]=PIN_NONE;
+   octopus.ports[18]=PIN_NONE;
+   octopus.ports[19]=PIN_NONE;
 
    return RSP_OK;
 }
@@ -122,7 +123,8 @@ void flash_93c46_read_usb(unsigned char address, unsigned int length, char * buf
 {
    answer[0]=CMD_93C46_READ;
    answer[1]=(unsigned char)flash_93c46_read(address,length,(char*)&answer[2]);
-   CommandAnswer(length+2);
+   answer[2+length] = 0;
+   CommandAnswer(3+length);
 }
 
 int flash_93c46_read(unsigned char address, unsigned int length, char * buf)
@@ -142,7 +144,7 @@ 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]=0x00;
+   answer[2]=0;
    CommandAnswer(3);
 }
 
diff --git a/firmware/93c46.h b/firmware/93c46.h
index 817eade..d919036 100644
--- a/firmware/93c46.h
+++ b/firmware/93c46.h
@@ -47,10 +47,6 @@
 #define DO (B, 3)
 
 
-
-
-
-
 #define DIN0 (B, 4)
 #define DIN1 (B, 5)
 
@@ -100,14 +96,4 @@ 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 f3553b5..c8ae6de 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
-

-

-# 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 

+
+# 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 
diff --git a/firmware/adc.c b/firmware/adc.c
index a9449b7..915dbce 100644
--- a/firmware/adc.c
+++ b/firmware/adc.c
@@ -37,19 +37,27 @@
 #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((int)buf[2]);
-      break;
+         adc_init_usb(buf[2]);
+        break;
+      case CMD_ADC_DEINIT_PIN:
+         adc_deinit_usb(buf[2]);
+        break;
       case CMD_ADC_GET:
-         adc_get_usb((int)buf[2]);
-      break;
+         adc_get_usb(buf[2]);
+        break;
       case CMD_ADC_REF:
-         adc_ref_usb((int)buf[2]);
-      break;
+         adc_ref_usb(buf[2]);
+        break;
 
       default:
          answer[0]=buf[0];
@@ -59,42 +67,49 @@ void adc_parser(char *buf)
     }
 }
 
-int adc_init(int pin)
+int adc_init(uint8_t 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;
+  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;
 }
 
-void adc_init_usb(int pin)
+void adc_init_usb(uint8_t pin)
 {
    answer[0]=CMD_ADC_INIT_PIN;
-   answer[1]= (unsigned char)adc_init(pin);
+   answer[1]=(unsigned char)adc_init(pin);
    answer[2]=0;
 
    CommandAnswer(3);
 }
 
-void adc_get_usb(int pin)
+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[2]=0;
+
+   CommandAnswer(3);
+}
+
+void adc_get_usb(uint8_t pin)
 {
- 
    uint16_t result;
    //uint8_t result[2];
 
@@ -110,64 +125,59 @@ void adc_get_usb(int pin)
 }
 
 
-int adc_get(int pin, uint16_t *value)
+int adc_get(uint8_t pin, uint16_t *value)
 {
-   *value = 0;
-
-   if (octopus.ports[pin] == PIN_AD)
-   {
-      switch (pin)
-      {
-         case 40: *value =_adc_read_channel(0); break;
-         case 39: *value =_adc_read_channel(1); break;
-         case 38: *value =_adc_read_channel(2); break;
-         case 37: *value =_adc_read_channel(3); break;
-         case 36: *value =_adc_read_channel(4); break;
-         case 35: *value =_adc_read_channel(5); break;
-         case 34: *value =_adc_read_channel(6); break;
-         case 33: *value =_adc_read_channel(7); break;
-         default:
-	      return RSP_IMPOSSIBLE_PIN_CONFIG;
-      } 
-      return RSP_OK;
-   } 
-   else 
-   {
-      return RSP_WRONG_PIN_CONFIG;
-   } 
+  *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;
 }
 
-void adc_ref_usb(int ref)
+void adc_ref_usb(uint8_t ref)
 {
    answer[0]=CMD_ADC_REF;
    answer[1]=adc_ref(ref);
-   CommandAnswer(2);
+   answer[2]=0;
+   CommandAnswer(3);
 }
 
-int adc_ref(int ref)
+int adc_ref(uint8_t 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(int mux)
+uint16_t _adc_read_channel(uint8_t 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 |= (unsigned char)mux;                      // Kanal waehlen
-   ADMUX = (ADMUX & 0xF0) | (unsigned char) mux; // select channel
+   ADMUX = (ADMUX & 0xF0) | mux; // select channel
   
    //ADMUX |= (1<<REFS1) | (1<<REFS0); // interne Referenzspannung nutzen 
  
diff --git a/firmware/adc.h b/firmware/adc.h
index 3aa0a6f..1e85ff4 100644
--- a/firmware/adc.h
+++ b/firmware/adc.h
@@ -41,16 +41,17 @@
 
 void adc_parser(char *buf);
 
-int adc_init(int pin);
-void adc_init_usb(int pin);
+int adc_init(uint8_t pin);
+void adc_init_usb(uint8_t pin);
 
-void adc_ref_usb(int ref);
-int adc_ref(int ref);
+int adc_deinit(uint8_t pin);
+void adc_deinit_usb(uint8_t pin);
 
+int adc_ref(uint8_t ref);
+void adc_ref_usb(uint8_t ref);
 
-
-int adc_get(int pin, uint16_t *value);
-void adc_get_usb(int pin);
-uint16_t _adc_read_channel(int mux);
+int adc_get(uint8_t pin, uint16_t *value);
+void adc_get_usb(uint8_t pin);
+uint16_t _adc_read_channel(uint8_t mux);
 
 #endif /* ADC_H */
diff --git a/firmware/can.c b/firmware/can.c
new file mode 100644
index 0000000..95090bb
--- /dev/null
+++ b/firmware/can.c
@@ -0,0 +1,756 @@
+/*
+ * 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
new file mode 100644
index 0000000..1bab0ba
--- /dev/null
+++ b/firmware/can.h
@@ -0,0 +1,101 @@
+/*
+ * 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 9947c59..69f3c94 100644
--- a/firmware/common.c
+++ b/firmware/common.c
@@ -80,11 +80,17 @@ void common_parser(char *buf)
 
 void common_init(void)
 {
-   int i;
+   uint8_t i;
    for(i=1;i<=19;i++)
-      io_init(i);
-   for(i=26;i<=44;i++)
-      io_init(i);
+   {
+     io_init(i);
+     io_set_pin(i, 0);
+   }
+   for(i=24;i<=42;i++)
+   {
+     io_init(i);
+     io_set_pin(i, 0);
+   }
 }
 
 
@@ -100,7 +106,7 @@ void common_hwdesc(void)
    answer[7] = 'p'; answer[8] = 'u';answer[9] = 's';answer[10] = '_';
    #endif  
    answer[11] = '0'; answer[12] = '1';
-   answer[13] = 0x00;
+   answer[13] = 0;
    CommandAnswer(14);
 }
 
diff --git a/firmware/common.h b/firmware/common.h
index 3229718..11716fb 100644
--- a/firmware/common.h
+++ b/firmware/common.h
@@ -31,32 +31,46 @@
  * (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_UART,PIN_CAN};
 
+#ifdef __AVR_AT90CAN128__
+  #define OCTOPUS_CAN
+#endif
 
-#define OCTOPUS_CAN
+//#define OCTOPUS_RELAIS
 
-//#define DEBUG
+#define DEBUG 1
 
 #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;
-   int ports[45];
+   volatile unsigned char status_led;
+   uint8_t ports[43];
    volatile char * msg[20];
    volatile int datatogl;
    volatile unsigned int long_rx_cmd;
@@ -71,7 +85,7 @@ volatile struct octopus_t
 
 
 void CommandAnswer(unsigned int length);
-void CommandAnswerRest(void);
+void CommandAnswerRest (void);
 void USBCommandRX(char *buf);
 void USBMessageIn(char *buf);
 
@@ -91,3 +105,4 @@ void common_init(void);
 
 void common_hwdesc(void);
 
+#endif //COMMON_H
diff --git a/firmware/debug.c b/firmware/debug.c
index 539a3e2..5e7a950 100644
--- a/firmware/debug.c
+++ b/firmware/debug.c
@@ -1,4 +1,7 @@
 #include <inttypes.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <stdlib.h>
 #include <avr/io.h>
 
 #include "uart.h"
@@ -8,21 +11,39 @@
 
 #define UART_PORT 0
 
-void debug_init(void) {
+void debug_dummy(char *fmt, ...) {}
+
+void debug_init()
+{
+#ifdef DEBUG
+#warning Compiling with debug-support!
   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
 }
 
-void debug_deinit(void) {
-  uart_deinit(UART_PORT);
+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_write(char *buf) {
-  while(*buf)
-    uart_putchar(UART_PORT, *buf++);
+void debug_deinit(void)
+{
+#ifdef DEBUG
+  uart_deinit(UART_PORT);
+#endif
 }
 
 unsigned char debug_AsciiToHex(unsigned char high, unsigned char low)
@@ -52,6 +73,7 @@ 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;
@@ -69,4 +91,8 @@ 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 8aa15d9..202ef22 100644
--- a/firmware/debug.h
+++ b/firmware/debug.h
@@ -1,5 +1,12 @@
+#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
new file mode 100644
index 0000000..3f0c1a1
--- /dev/null
+++ b/firmware/eeprom.c
@@ -0,0 +1,119 @@
+#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
new file mode 100644
index 0000000..2ac7d4a
--- /dev/null
+++ b/firmware/eeprom.h
@@ -0,0 +1,11 @@
+#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 a1e0f87..17551d7 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 b7d55fe..4baa7bb 100644
--- a/firmware/i2c.c
+++ b/firmware/i2c.c
@@ -36,9 +36,12 @@
 #include "common.h"
 #include "protocol.h"
 #include "i2c.h"
+#define I2C_WAIT_FOR_COMPLETE() while (!(TWCR & (1<<TWINT)));
+
+void i2c_parser(char *buf)
+{
+  answer[0] = buf[0];
 
-void i2c_parser(char *buf) {
-answer[0] = buf[0];
   switch(buf[0]){
     case CMD_I2C_INIT:
       i2c_init_usb();
@@ -49,45 +52,32 @@ answer[0] = buf[0];
     case CMD_I2C_SET_BITRATE:  
       i2c_set_bitrate_usb((char)buf[2]);
       break;
-    case CMD_I2C_SEND_BYTE:
-      i2c_send_byte_usb((int)buf[2]);
+
+    case CMD_I2C_SEND:
+      i2c_send_usb((int)buf[2], &buf[3]);
       break;
-    case CMD_I2C_RECV_BYTES:
-      i2c_reveice_bytes_usb((int)buf[3],(int)buf[1]-4, (int)buf[2]);
+    case CMD_I2C_RECV:
+      i2c_recv_usb((int)buf[2],(int)buf[3]);
       break;
+
     case CMD_I2C_SEND_START:
       i2c_send_start_usb();
       break;
     case CMD_I2C_SEND_STOP:
       i2c_send_stop_usb();
       break;
+
     default:
-      answer[0]=buf[0];
-      answer[1]=RSP_UNKOWN_CMD;
-      answer[2]=0;
+      answer[1] = RSP_UNKOWN_CMD;
+      answer[2] = 0;
       CommandAnswer(3);
   }
 }
 
 
-unsigned char i2c_get_twsr(void)
-{
-  return (TWSR & 0xF8);
-}
-
-
-void i2c_wait_for_complete(void)
-{
-  while (!(TWCR & (1<<TWINT))){
-    //do nothing just wait
-    ;
-  }
-}
-
 
 void i2c_init_usb(void)
 {
-  answer[0]=CMD_I2C_INIT;
   answer[1]=(unsigned char)i2c_init();
   answer[2]=0;
   CommandAnswer(3);
@@ -105,7 +95,6 @@ int i2c_init(void)
 
 void i2c_deinit_usb(void)
 {
-  answer[0]=CMD_I2C_DEINIT;
   answer[1]=(unsigned char)i2c_deinit();
   answer[2]=0;
   CommandAnswer(3);
@@ -114,17 +103,16 @@ void i2c_deinit_usb(void)
 int i2c_deinit(void)
 {
   TWCR &= ~(1<<TWEN); // deinit
-  octopus.ports[12]=PIN_OUT;  // this is wrong!
-  octopus.ports[13]=PIN_OUT;  // this is wrong!
+  octopus.ports[12]=PIN_NONE;
+  octopus.ports[13]=PIN_NONE;
 
   return RSP_OK;
 }
 
 
 void i2c_set_bitrate_usb(char bitrate) {
-  answer[0] = CMD_I2C_SET_BITRATE;
   answer[1] = (unsigned char)i2c_set_bitrate(bitrate);
-  answer[2] =  '\0';
+  answer[2] =  0;
   CommandAnswer(3);
 }
 
@@ -140,77 +128,82 @@ int i2c_set_bitrate(char bitrate) {
 
 void i2c_send_start_usb(void)
 {
-  answer[0] = CMD_I2C_SEND_START;
   answer[1] = (unsigned char)i2c_send_start();
-  answer[2] = '\0';
+  answer[2] = 0;
   CommandAnswer(3);
 }
 
+unsigned char i2c_get_twsr(void)
+{
+  return (TWSR & 0xF8);
+}
+
 int i2c_send_start(void)
 {
   i2c_get_twsr();
   TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
-  i2c_wait_for_complete();
+  I2C_WAIT_FOR_COMPLETE();
   return RSP_OK;
 }
 
+
+
+
 void i2c_send_stop_usb(void)
 {
-  answer[0]=CMD_I2C_SEND_STOP;
   answer[1]=(unsigned char)i2c_send_stop();
   answer[2]=0;
   CommandAnswer(3);
 }
 
-
 int i2c_send_stop(void)
 {
   TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTO);
+  while(TWCR & (1<<TWSTO));
   return RSP_OK;
 }
 
 
-void i2c_send_byte_usb(char data)
+void i2c_send_usb(int length, char *data)
 {
-  i2c_send_byte(data);
+  i2c_send(data, length);
 
-  answer[0] = CMD_I2C_SEND_BYTE;
   answer[1] = RSP_OK;
-  answer[2] = '\0';
+  answer[2] = 0;
   CommandAnswer(3);
 }
 
-void i2c_send_byte(char data)
+void i2c_send(char *data, int length)
 {
-  TWDR = data;
-  TWCR = (1<<TWINT) | (1<<TWEN);
-  i2c_wait_for_complete();
+  int i;
+
+  for(i = 0; i < length; i++) {
+    TWDR = data[i];
+    TWCR = (1<<TWINT) | (1<<TWEN);
+    I2C_WAIT_FOR_COMPLETE();
+  }
 }
 
-void i2c_reveice_bytes_usb(int address,int len, int timeout)
+
+void i2c_recv_usb(int address, int length)
 {
-    /* receive */
-    //i2c_get_twsr(); 
-    //print_hex(s);
-
-    //i2c_send_start();
-    /* slave address = 0x10; */
-    //buf[3] = (0x10 << 1)|1;  /* (00010000<<1) | R */
-    //i2c_send_byte( (0x10 << 1)|1);
-    
-    
-  answer[0]=CMD_I2C_RECV_BYTES;
+  int i;
+
+  answer[0]=CMD_I2C_RECV;
   answer[1]=RSP_OK;
-  answer[2]=1;
-  answer[3]=i2c_receive_byte();
-  CommandAnswer(5);
+
+  for(i = 0; i < length; i++)
+    answer[2+i] = i2c_recv_byte();
+
+  answer[length+2] = 0;
+
+  CommandAnswer(3+length);
 }
 
 
-unsigned char i2c_receive_byte(void)
+unsigned char i2c_recv_byte(void)
 {
   TWCR = (1<<TWINT) | (1<<TWEN);
-  i2c_wait_for_complete();
+  I2C_WAIT_FOR_COMPLETE();
   return TWDR;
 }
-
diff --git a/firmware/i2c.h b/firmware/i2c.h
index 89834ea..3d0f02b 100644
--- a/firmware/i2c.h
+++ b/firmware/i2c.h
@@ -47,22 +47,21 @@ int i2c_deinit(void);
 int i2c_set_bitrate(char);
 int i2c_send_start(void);
 int i2c_send_stop(void);
-void i2c_send_byte(char data);
+void i2c_send(char *data, int length);
 unsigned char i2c_receive_byte(void);
 
 
-unsigned char i2c_get_twsr(void);
-void i2c_wait_for_complete(void);
-
 void i2c_init_usb(void);
 void i2c_deinit_usb(void);
 
 void i2c_set_bitrate_usb(char);
 void i2c_send_start_usb(void);
 void i2c_send_stop_usb(void);
-void i2c_send_byte_usb(char data);
+void i2c_send_usb(int length, char *data);
+unsigned char i2c_recv_byte(void);
+int i2c_send_start(void);
 
-void i2c_reveice_bytes_usb(int address,int len, int timeout);
+void i2c_recv_usb(int address, int len);
 
 
 #endif /* I2C_H */
diff --git a/firmware/io.c b/firmware/io.c
index 280f892..4227ec9 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@
+ * Author: Benedikt Sauter <sauter@embedded-projects.net>
  * All rights reserved.
  *
  * Short descripton of file:
@@ -36,6 +36,8 @@
 #include "common.h"
 #include "protocol.h"
 #include "io.h"
+#include "pin.h"
+
 
 void io_parser(char *buf)
 {
@@ -77,6 +79,9 @@ 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;
@@ -87,12 +92,7 @@ void io_parser(char *buf)
 
 uint8_t io_init(uint8_t pin) 
 {
-   if ((pin >= 1 && pin <= 19) || (pin >= 26 && pin <= 44))
-   {
-      io_set_pin_direction_out(pin);
-      return RSP_OK; 
-   }
-   return RSP_UNKOWN_PIN;
+  return io_set_pin_direction_out(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;    
 }
 
@@ -160,6 +160,7 @@ 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;
@@ -171,131 +172,41 @@ void io_set_port_direction_tri_usb(uint8_t port, uint8_t mask)
 
 uint8_t io_set_pin_direction_out(uint8_t pin)
 {
-   if((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) )
-   {
-      octopus.ports[pin] = PIN_OUT;
-       
-      switch(pin)
-      {
-         case 1:   OX_DDR1 |=(1<<OX_P1); break;
-         case 2:   OX_DDR2 |=(1<<OX_P2); break;
-         case 3:   OX_DDR3 |=(1<<OX_P3); break;
-         case 4:   OX_DDR4 |=(1<<OX_P4); break;
-         case 5:   OX_DDR5 |=(1<<OX_P5); break;
-         case 6:   OX_DDR6 |=(1<<OX_P6); break;
-         case 7:   OX_DDR7 |=(1<<OX_P7); break;
-         case 8:   OX_DDR8 |=(1<<OX_P8); break;
-         case 9:   OX_DDR9 |=(1<<OX_P9); break;
-         case 10:   OX_DDR10 |=(1<<OX_P10); break;
-         case 11:   OX_DDR11 |=(1<<OX_P11); break;
-         case 12:   OX_DDR12 |=(1<<OX_P12); break;
-         case 13:   OX_DDR13 |=(1<<OX_P13); break;
-         case 14:   OX_DDR14 |=(1<<OX_P14); break;
-         case 15:   OX_DDR15 |=(1<<OX_P15); break;
-         case 16:   OX_DDR16 |=(1<<OX_P16); break;
-         case 17:   OX_DDR17 |=(1<<OX_P17); break;
-         case 18:   OX_DDR18 |=(1<<OX_P18); break;
-         case 19:   OX_DDR19 |=(1<<OX_P19); break;
-         
-         case 26:   OX_DDR26 |=(1<<OX_P26); break;
-         case 27:   OX_DDR27 |=(1<<OX_P27); break;
-         case 28:   OX_DDR28 |=(1<<OX_P28); break;
-         case 29:   OX_DDR29 |=(1<<OX_P29); break;
-         case 30:   OX_DDR30 |=(1<<OX_P30); break;
-         case 31:   OX_DDR31 |=(1<<OX_P31); break;
-         case 32:   OX_DDR32 |=(1<<OX_P32); break;
-         case 33:   OX_DDR33 |=(1<<OX_P33); break;
-         case 34:   OX_DDR34 |=(1<<OX_P34); break;
-         case 35:   OX_DDR35 |=(1<<OX_P35); break;
-         case 36:   OX_DDR36 |=(1<<OX_P36); break;
-         case 37:   OX_DDR37 |=(1<<OX_P37); break;
-         case 38:   OX_DDR38 |=(1<<OX_P38); break;
-         case 39:   OX_DDR39 |=(1<<OX_P39); break;
-         case 40:   OX_DDR40 |=(1<<OX_P40); break;
-         case 41:   OX_DDR41 |=(1<<OX_P41); break;
-         case 42:   OX_DDR42 |=(1<<OX_P42); break;
-         case 43:   OX_DDR43 |=(1<<OX_P43); break;
-         case 44:   OX_DDR44 |=(1<<OX_P44); break;
-         default:
-	      return RSP_UNKOWN_PIN;
-      }
-      return RSP_OK;
-   } 
-   else {
-      return RSP_UNKOWN_PIN;
-   }
+  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;
 }
 
-uint8_t  io_set_pin_direction_in(uint8_t  pin)
+uint8_t io_set_pin_direction_in(uint8_t  pin)
 {
-   if((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) )
-   {
-      octopus.ports[pin] = PIN_IN;
-      switch (pin)
-      {
-         case 1:   OX_DDR1 &=~(1<<OX_P1); break;
-         case 2:   OX_DDR2 &=~(1<<OX_P2); break;
-         case 3:   OX_DDR3 &=~(1<<OX_P3); break;
-         case 4:   OX_DDR4 &=~(1<<OX_P4); break;
-         case 5:   OX_DDR5 &=~(1<<OX_P5); break;
-         case 6:   OX_DDR6 &=~(1<<OX_P6); break;
-         case 7:   OX_DDR7 &=~(1<<OX_P7); break;
-         case 8:   OX_DDR8 &=~(1<<OX_P8); break;
-         case 9:   OX_DDR9 &=~(1<<OX_P9); break;
-         case 10:   OX_DDR10 &=~(1<<OX_P10); break;
-         case 11:   OX_DDR11 &=~(1<<OX_P11); break;
-         case 12:   OX_DDR12 &=~(1<<OX_P12); break;
-         case 13:   OX_DDR13 &=~(1<<OX_P13); break;
-         case 14:   OX_DDR14 &=~(1<<OX_P14); break;
-         case 15:   OX_DDR15 &=~(1<<OX_P15); break;
-         case 16:   OX_DDR16 &=~(1<<OX_P16); break;
-         case 17:   OX_DDR17 &=~(1<<OX_P17); break;
-         case 18:   OX_DDR18 &=~(1<<OX_P18); break;
-         case 19:   OX_DDR19 &=~(1<<OX_P19); break;
-         
-         case 26:   OX_DDR26 &=~(1<<OX_P26); break;
-         case 27:   OX_DDR27 &=~(1<<OX_P27); break;
-         case 28:   OX_DDR28 &=~(1<<OX_P28); break;
-         case 29:   OX_DDR29 &=~(1<<OX_P29); break;
-         case 30:   OX_DDR30 &=~(1<<OX_P30); break;
-         case 31:   OX_DDR31 &=~(1<<OX_P31); break;
-         case 32:   OX_DDR32 &=~(1<<OX_P32); break;
-         case 33:   OX_DDR33 &=~(1<<OX_P33); break;
-         case 34:   OX_DDR34 &=~(1<<OX_P34); break;
-         case 35:   OX_DDR35 &=~(1<<OX_P35); break;
-         case 36:   OX_DDR36 &=~(1<<OX_P36); break;
-         case 37:   OX_DDR37 &=~(1<<OX_P37); break;
-         case 38:   OX_DDR38 &=~(1<<OX_P38); break;
-         case 39:   OX_DDR39 &=~(1<<OX_P39); break;
-         case 40:   OX_DDR40 &=~(1<<OX_P40); break;
-         case 41:   OX_DDR41 &=~(1<<OX_P41); break;
-         case 42:   OX_DDR42 &=~(1<<OX_P42); break;
-         case 43:   OX_DDR43 &=~(1<<OX_P43); break;
-         case 44:   OX_DDR44 &=~(1<<OX_P44); break;
-         default:
-	         return RSP_UNKOWN_PIN;
-      }
-      return RSP_OK;
-   } 
-   else 
-   {
-      return RSP_UNKOWN_PIN;
-   }
+  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;
 }
 
-uint8_t  io_set_pin_direction_tri(uint8_t  pin)
+
+uint8_t io_set_pin_direction_tri(uint8_t pin)
 {
-   if ((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) )
+   if(io_set_pin_direction_out(pin) == RSP_OK && 
+      io_set_pin(pin,1)             == 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;
+     octopus.ports[pin] = PIN_TRI;
+     return RSP_OK;
    }
+   else 
+     return RSP_UNKOWN_PIN;
 }
 
 
@@ -324,55 +235,58 @@ 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;

-	CommandAnswer(3);

+    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);
 }
 
+// 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);
 }
 
 
@@ -387,59 +301,20 @@ void io_set_pin_usb(uint8_t pin, uint8_t value)
 
 uint8_t io_set_pin(uint8_t pin, uint8_t value)
 {
-   if(octopus.ports[pin] == PIN_OUT)
-   {
-      switch(pin)
-      {
-         case 1:  if(value) OX_PORT1 |=(1<<OX_P1); else OX_PORT1 &=~(1<<OX_P1); break;
-         case 2:  if(value) OX_PORT2 |=(1<<OX_P2); else OX_PORT2 &=~(1<<OX_P2); break;
-         case 3:  if(value) OX_PORT3 |=(1<<OX_P3); else OX_PORT3 &=~(1<<OX_P3); break;
-         case 4:  if(value) OX_PORT4 |=(1<<OX_P4); else OX_PORT4 &=~(1<<OX_P4); break;
-         case 5:  if(value) OX_PORT5 |=(1<<OX_P5); else OX_PORT5 &=~(1<<OX_P5); break;
-         case 6:  if(value) OX_PORT6 |=(1<<OX_P6); else OX_PORT6 &=~(1<<OX_P6); break;
-         case 7:  if(value) OX_PORT7 |=(1<<OX_P7); else OX_PORT7 &=~(1<<OX_P7); break;
-         case 8:  if(value) OX_PORT8 |=(1<<OX_P8); else OX_PORT8 &=~(1<<OX_P8); break;
-         case 9:  if(value) OX_PORT9 |=(1<<OX_P9); else OX_PORT9 &=~(1<<OX_P9); break;
-         case 10:  if(value) OX_PORT10 |=(1<<OX_P10); else OX_PORT10 &=~(1<<OX_P10); break;
-         case 11:  if(value) OX_PORT11 |=(1<<OX_P11); else OX_PORT11 &=~(1<<OX_P11); break;
-         case 12:  if(value) OX_PORT12 |=(1<<OX_P12); else OX_PORT12 &=~(1<<OX_P12); break;
-         case 13:  if(value) OX_PORT13 |=(1<<OX_P13); else OX_PORT13 &=~(1<<OX_P13); break;
-         case 14:  if(value) OX_PORT14 |=(1<<OX_P14); else OX_PORT14 &=~(1<<OX_P14); break;
-         case 15:  if(value) OX_PORT15 |=(1<<OX_P15); else OX_PORT15 &=~(1<<OX_P15); break;
-         case 16:  if(value) OX_PORT16 |=(1<<OX_P16); else OX_PORT16 &=~(1<<OX_P16); break;
-         case 17:  if(value) OX_PORT17 |=(1<<OX_P17); else OX_PORT17 &=~(1<<OX_P17); break;
-         case 18:  if(value) OX_PORT18 |=(1<<OX_P18); else OX_PORT18 &=~(1<<OX_P18); break;
-         case 19:  if(value) OX_PORT19 |=(1<<OX_P19); else OX_PORT19 &=~(1<<OX_P19); break;
-         
-         case 26:  if(value) OX_PORT26 |=(1<<OX_P26); else OX_PORT26 &=~(1<<OX_P26); break;
-         case 27:  if(value) OX_PORT27 |=(1<<OX_P27); else OX_PORT27 &=~(1<<OX_P27); break;
-         case 28:  if(value) OX_PORT28 |=(1<<OX_P28); else OX_PORT28 &=~(1<<OX_P28); break;
-         case 29:  if(value) OX_PORT29 |=(1<<OX_P29); else OX_PORT29 &=~(1<<OX_P29); break;
-         case 30:  if(value) OX_PORT30 |=(1<<OX_P30); else OX_PORT30 &=~(1<<OX_P30); break;
-         case 31:  if(value) OX_PORT31 |=(1<<OX_P31); else OX_PORT31 &=~(1<<OX_P31); break;
-         case 32:  if(value) OX_PORT32 |=(1<<OX_P32); else OX_PORT32 &=~(1<<OX_P32); break;
-         case 33:  if(value) OX_PORT33 |=(1<<OX_P33); else OX_PORT33 &=~(1<<OX_P33); break;
-         case 34:  if(value) OX_PORT34 |=(1<<OX_P34); else OX_PORT34 &=~(1<<OX_P34); break;
-         case 35:  if(value) OX_PORT35 |=(1<<OX_P35); else OX_PORT35 &=~(1<<OX_P35); break;
-         case 36:  if(value) OX_PORT36 |=(1<<OX_P36); else OX_PORT36 &=~(1<<OX_P36); break;
-         case 37:  if(value) OX_PORT37 |=(1<<OX_P37); else OX_PORT37 &=~(1<<OX_P37); break;
-         case 38:  if(value) OX_PORT38 |=(1<<OX_P38); else OX_PORT38 &=~(1<<OX_P38); break;
-         case 39:  if(value) OX_PORT39 |=(1<<OX_P39); else OX_PORT39 &=~(1<<OX_P39); break;
-         case 40:  if(value) OX_PORT40 |=(1<<OX_P40); else OX_PORT40 &=~(1<<OX_P40); break;
-         case 41:  if(value) OX_PORT41 |=(1<<OX_P41); else OX_PORT41 &=~(1<<OX_P41); break;
-         case 42:  if(value) OX_PORT42 |=(1<<OX_P42); else OX_PORT42 &=~(1<<OX_P42); break;
-         case 43:  if(value) OX_PORT43 |=(1<<OX_P43); else OX_PORT43 &=~(1<<OX_P43); break;
-         case 44:  if(value) OX_PORT44 |=(1<<OX_P44); else OX_PORT44 &=~(1<<OX_P44); break;
-         default:
-	         return RSP_UNKOWN_PIN;
-      }
-
-      return RSP_OK;
-   } 
-   else 
-   {
-      return RSP_WRONG_PIN_CONFIG;
-   } 
+  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;
 }
 
 
@@ -450,63 +325,42 @@ 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;  
-   CommandAnswer(3);
+   answer[3] = 0;
+   CommandAnswer(4);
 }
 
 uint8_t io_get_pin(uint8_t pin, uint8_t *value)
 {
-	*value = 0;

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

-	{

-		switch (pin)

-		{

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

-		                        

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

-		default:  return RSP_UNKOWN_PIN;

-		}

-		return RSP_OK;

-	}

-	else

-	{

-		return RSP_WRONG_PIN_CONFIG;

-	}
+  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;
 }
 
+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 f86314f..5cfb5f4 100644
--- a/firmware/io.h
+++ b/firmware/io.h
@@ -38,169 +38,9 @@
 #include <avr/io.h>
 #include <avr/pgmspace.h>
 
-
-#define OX_PIN1 PINE
-#define OX_PIN2 PINE
-#define OX_PIN3 PINE
-#define OX_PIN4 PINB
-#define OX_PIN5 PINB
-#define OX_PIN6 PINB
-#define OX_PIN7 PINB
-#define OX_PIN8 PINB
-#define OX_PIN9 PINB
-#define OX_PIN10 PINB
-#define OX_PIN11 PINB
-#define OX_PIN12 PIND
-#define OX_PIN13 PIND
-#define OX_PIN14 PIND
-#define OX_PIN15 PIND
-#define OX_PIN16 PIND
-#define OX_PIN17 PIND
-#define OX_PIN18 PIND
-#define OX_PIN19 PIND
-
-#define OX_PIN26 PINC
-#define OX_PIN27 PINC
-#define OX_PIN28 PINC
-#define OX_PIN29 PINC
-#define OX_PIN30 PINC
-#define OX_PIN31 PINC
-#define OX_PIN32 PINC
-#define OX_PIN33 PINF
-#define OX_PIN34 PINF
-#define OX_PIN35 PINF
-#define OX_PIN36 PINF
-#define OX_PIN37 PINF
-#define OX_PIN38 PINF
-#define OX_PIN39 PINF
-#define OX_PIN40 PINF
-#define OX_PIN41 PINE
-#define OX_PIN42 PINE
-#define OX_PIN43 PINE
-#define OX_PIN44 PINE
-
-#define OX_PORT1 PORTE
-#define OX_PORT2 PORTE
-#define OX_PORT3 PORTE
-#define OX_PORT4 PORTB
-#define OX_PORT5 PORTB
-#define OX_PORT6 PORTB
-#define OX_PORT7 PORTB
-#define OX_PORT8 PORTB
-#define OX_PORT9 PORTB
-#define OX_PORT10 PORTB
-#define OX_PORT11 PORTB
-#define OX_PORT12 PORTD
-#define OX_PORT13 PORTD
-#define OX_PORT14 PORTD
-#define OX_PORT15 PORTD
-#define OX_PORT16 PORTD
-#define OX_PORT17 PORTD
-#define OX_PORT18 PORTD
-#define OX_PORT19 PORTD
-
-#define OX_PORT26 PORTC
-#define OX_PORT27 PORTC
-#define OX_PORT28 PORTC
-#define OX_PORT29 PORTC
-#define OX_PORT30 PORTC
-#define OX_PORT31 PORTC
-#define OX_PORT32 PORTC
-#define OX_PORT33 PORTF
-#define OX_PORT34 PORTF
-#define OX_PORT35 PORTF
-#define OX_PORT36 PORTF
-#define OX_PORT37 PORTF
-#define OX_PORT38 PORTF
-#define OX_PORT39 PORTF
-#define OX_PORT40 PORTF
-#define OX_PORT41 PORTE
-#define OX_PORT42 PORTE
-#define OX_PORT43 PORTE
-#define OX_PORT44 PORTE
-
-#define OX_DDR1 DDRE
-#define OX_DDR2 DDRE
-#define OX_DDR3 DDRE
-#define OX_DDR4 DDRB
-#define OX_DDR5 DDRB
-#define OX_DDR6 DDRB
-#define OX_DDR7 DDRB
-#define OX_DDR8 DDRB
-#define OX_DDR9 DDRB
-#define OX_DDR10 DDRB
-#define OX_DDR11 DDRB
-#define OX_DDR12 DDRD
-#define OX_DDR13 DDRD
-#define OX_DDR14 DDRD
-#define OX_DDR15 DDRD
-#define OX_DDR16 DDRD
-#define OX_DDR17 DDRD
-#define OX_DDR18 DDRD
-#define OX_DDR19 DDRD
-
-#define OX_DDR26 DDRC
-#define OX_DDR27 DDRC
-#define OX_DDR28 DDRC
-#define OX_DDR29 DDRC
-#define OX_DDR30 DDRC
-#define OX_DDR31 DDRC
-#define OX_DDR32 DDRC
-#define OX_DDR33 DDRF
-#define OX_DDR34 DDRF
-#define OX_DDR35 DDRF
-#define OX_DDR36 DDRF
-#define OX_DDR37 DDRF
-#define OX_DDR38 DDRF
-#define OX_DDR39 DDRF
-#define OX_DDR40 DDRF
-#define OX_DDR41 DDRE
-#define OX_DDR42 DDRE
-#define OX_DDR43 DDRE
-#define OX_DDR44 DDRE
-
-
-#define OX_P1 PE5
-#define OX_P2 PE6
-#define OX_P3 PE7
-#define OX_P4 PB0
-#define OX_P5 PB1
-#define OX_P6 PB2
-#define OX_P7 PB3
-#define OX_P8 PB4
-#define OX_P9 PB5
-#define OX_P10 PB6
-#define OX_P11 PB7
-#define OX_P12 PD0
-#define OX_P13 PD1
-#define OX_P14 PD2
-#define OX_P15 PD3
-#define OX_P16 PD4
-#define OX_P17 PD5
-#define OX_P18 PD6
-#define OX_P19 PD7
-
-#define OX_P26 PC0
-#define OX_P27 PC1
-#define OX_P28 PC2
-#define OX_P29 PC3
-#define OX_P30 PC4
-#define OX_P31 PC5
-#define OX_P32 PC6
-#define OX_P33 PF7
-#define OX_P34 PF6
-#define OX_P35 PF5
-#define OX_P36 PF4
-#define OX_P37 PF3
-#define OX_P38 PF2
-#define OX_P39 PF1
-#define OX_P40 PF0
-#define OX_P41 PE0
-#define OX_P42 PE1
-#define OX_P43 PE2
-#define OX_P44 PE3
-
-
+#ifdef __AVR_AT90CAN128__
+  #define OCTOPUS_CAN
+#endif
 
 void io_parser(char *buf);
 
@@ -240,6 +80,8 @@ 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 ef802a2..6bd7c32 100644
--- a/firmware/main.c
+++ b/firmware/main.c
@@ -16,19 +16,19 @@
 #include "protocol.h"
 #include "wait.h"
 
-#include "io.h"
+#include "93c46.h"
 #include "adc.h"
+#include "can.h"
+#include "eeprom.h"
 #include "i2c.h"
-#include "spi.h"
+#include "io.h"
 #include "pwm.h"
+#include "spi.h"
 #include "uart.h"
 
-#include "93c46.h"
+#include <stdio.h>
 #include "debug.h"
 
-//#define DEBUG 1
-
-
 
 SIGNAL (SIG_INTERRUPT4)
 {
@@ -48,185 +48,218 @@ SIGNAL (SIG_OVERFLOW0)
 }
 
 
-void
-USBCommandRX (char *buf)
+void USBCommandRX (char *buf)
 {
   int i;
 
-#ifdef DEBUG
-  debug_write("get \0");
-  debug_SendHex(buf[1]);
-  debug_write("\r\n");
-#endif
+  debugf("receiving command: %X (length: %u)\n", buf[1]);
 
   /* a paket can be max 255 bytes */
   if (octopus.long_rx_cmd == 1)
-	 {
-#ifdef DEBUG
-  debug_write("get next\r\n");
-#endif
-		for (i = 0; i < 64; i++)
-		  request[octopus.long_rx_index + i] = buf[i];
+  {
+    debugf("get next\n");
+
+    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
-	 {
-#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];
-		  }
-	 }
+  {
+    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];
+    }
+  }
 }
 
 /* is called when received data from pc */
-void
-USBMessageIn (char *buf)
+void USBMessageIn (char *buf)
 {
   octopus.long_index = 0;
   octopus.long_running = 0;
 
-  STATUS_LED_on;
-#ifdef DEBUG
-  debug_write("parser\r\n\0");
-#endif
+  if(octopus.status_led)
+    STATUS_LED_on;
+
   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;
-				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);
-	 }
+  {
+    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;
+}
 
-  STATUS_LED_off;
+
+unsigned int strlen(volatile unsigned char *str)
+{
+  unsigned int len = 0;
+   
+  while (*str++)
+    len++;
+   
+  return len;
 }
 
 
-void
-CommandAnswer (unsigned int length)
+void CommandAnswer(unsigned int length)
 {
   int i;
 
-  // if first packet of a lang message
+  // if first packet of a long message
   if (length > 64 && octopus.long_running == 0)
-	 {
-		octopus.long_index = 0;
-		octopus.long_bytes = length;
-		octopus.long_running = 1;
-		length = 64;
-	 }
+  {
+    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;
+  }
 
   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)
-	 {
-		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;
-				}
-		  }
-	 }
+  {
+    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;
+      }
+    }
+  }
 }
 
 
-int
-main (void)
+int main(void)
 {
-  DDRB = 0xFF;
-  PORTB = 0xFF;
+  cli();
 
+  USBNInitMC ();
+  USBNStartClock();
+  
+  DDRB  = 0xFF;
+  PORTB = 0x00;
+
+  /* use status led */
+  octopus.status_led = 1;
 
   int interf;
   int conf;
 
-
   STATUS_LED_off;
 
   USBNInit ();
@@ -237,17 +270,19 @@ 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");
-  USBNDeviceSerialNumber ("20081108");
+  //USBNDeviceProduct ("Octopus USB v3.3");
+  USBNDeviceSerialNumber ("20090718");
 
   conf = USBNAddConfiguration ();
 
-  USBNConfigurationPower (conf, 100);
+  // we reserve 500mA, because users could drive LEDs and need more power
+  USBNConfigurationPower (conf, 200);
 
   interf = USBNAddInterface (conf, 0);
   USBNAlternateSetting (conf, interf, 0);
@@ -255,33 +290,32 @@ main (void)
   /* communication */
   USBNAddInEndpoint (conf, interf, 1, 0x01, BULK, 64, 0, &CommandAnswerRest);
   USBNAddOutEndpoint (conf, interf, 1, 0x01, BULK, 64, 0, &USBCommandRX);
-
-  USBNInitMC ();
+  //USBNAddOutEndpoint (conf, interf, 1, 0x02, BULK, 64, 0, NULL);
 
   octopus.datatogl = 0;
   octopus.long_rx_cmd = 0;
 
-  /* start usb chip */
-  USBNStart ();
-
   /* UARTInit2(38400,8,'N',1); */
-  #ifdef DEBUG
-    debug_init();
-  #endif
+  debug_init();
 
   /* hello world led pattern */
-  DDRC  = 0xFF;
-  PORTC = 0xAA;
+  DDRC  = 0x7F;
+  PORTC = 0x2A;
   delay_250ms ();
-  PORTC = 0xD5;
+  PORTC = 0x55;
   delay_250ms ();
-  PORTC = 0x80;
+  PORTC = 0x00;
 
-  // testpin
-  //PORTB = 0xFF;
-  //PORTB = 0x00;
+  common_init();
 
-  while (1);
 
+  /* init connection between avr and usbn9604 */
+  USBNInitMC ();
+  /* start usb chip */
+  USBNStart ();
+  sei();
+
+  while (1);
   return 0;
 }
+
diff --git a/firmware/main.hex b/firmware/main.hex
index 3d38158..d7795f1 100644
--- a/firmware/main.hex
+++ b/firmware/main.hex
@@ -1,844 +1,1327 @@
-:100000000C94FA000C9417010C9417010C9417012E

-:100010000C9417010C9408030C9417010C9417010D

-:100020000C9417010C9417010C9417010C941701F0

-:100030000C9475170C9417010C9417010C9417016C

-:100040000C9417010C94E1020C9417010C94170105

-:100050000C9417010C9419010C9417010C941701BE

-:100060000C9417010C9417010C9417010C941701B0

-:100070000C9417010C9417010C9417010C941701A0

-:100080000C9417010C9417010C9417010C94170190

-:100090000C941701AA0DAC0DAE0DB00DB20DB40D40

-:1000A000B60DB80DBA0DBC0DBE0DC00DC20DC40D00

-:1000B000C60DC80DCA0DCC0DCE0DFC0DFC0DFC0DF2

-:1000C000FC0DFC0DFC0DD00DD20DD40DD60DD80DB0

-:1000D000DA0DDC0DDE0DE00DE20DE40DE60DE80DB0

-:1000E000EA0DEC0DEE0DF00DF20DF60D490E4B0E76

-:1000F0004D0E4F0E510E530E550E570E590E5B0EF0

-:100100005D0E5F0E610E630E650E670E690E6B0E5F

-:100110006D0E9B0E9B0E9B0E9B0E9B0E9B0E6F0EF1

-:10012000710E730E750E770E790E7B0E7D0E7F0E9F

-:10013000810E830E850E870E890E8B0E8D0E8F0E0F

-:10014000910E950E090F0F0F150F1B0F210F270F83

-:100150002D0F330F390F3F0F450F4B0F510F570F17

-:100160005D0F630F690F6F0F750F060F060F060FF8

-:10017000060F060F060F7B0F810F870F8D0F930F52

-:10018000990F9F0FA50FAB0FB10FB70FBD0FC30F87

-:10019000C90FCF0FD50FDB0FE10FE70F37103A1064

-:1001A0003D1040104310461049104C104F10521093

-:1001B000551058105B105E106110641067106A10C3

-:1001C0006D1034103410341034103410341070109A

-:1001D0007310761079107C107F10821085108810B3

-:1001E0008B108E109110941097109A109D10A010E3

-:1001F000A310A61011241FBECFEFD0E1DEBFCDBFEC

-:1002000011E0A0E0B1E0E2E4F4E300E00BBF02C0E3

-:1002100007900D92A435B107D9F714E0A4E5B1E039

-:1002200001C01D92A93BB107E1F70C9423010C9486

-:1002300000001F920F920FB60F9211240F900FBE65

-:100240000F901F901895CCEFD0E1DEBFCDBF8FEFA0

-:1002500084B985B92F980E94650781E897E10E94CB

-:10026000B00785E69CE00E94B50781E090E00E941F

-:10027000BA07DE011196EBE4F1E083E001900D9204

-:100280008150E1F7CE0101960E94AF0B80E091E032

-:100290000E944B0C81E191E00E94430C82E491E0CA

-:1002A0000E943B0C0E94850B4C0164E670E00E94AA

-:1002B000C80760E070E0C4010E94F10A3C0140E020

-:1002C00050E0BC01C4010E94E90720EFA22E21E00A

-:1002D000B22ECC24DD2490E4E92EF12C02E021E0C2

-:1002E00030E041E050E0B301C4010E94860A87E794

-:1002F000A82E82E0B82E21E030E041E050E0B301CA

-:10030000C4010E94BE0A0E940A071092E1011092E5

-:10031000E0011092E3011092E2010E94790C8FEF4C

-:1003200087B98AEA88B90E942C0385ED88B90E94B2

-:100330002C0380E888B9FFCF0F931F93CF93DF93EF

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-:1006B000053439F00F3419F451E041E004C050E042

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diff --git a/firmware/octopus_can_stable_1_1.hex b/firmware/octopus_can_stable_1_1.hex
new file mode 100644
index 0000000..cf06536
--- /dev/null
+++ b/firmware/octopus_can_stable_1_1.hex
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diff --git a/firmware/octopus_relais.hex b/firmware/octopus_relais.hex
new file mode 100644
index 0000000..68d0cd1
--- /dev/null
+++ b/firmware/octopus_relais.hex
@@ -0,0 +1,959 @@
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diff --git a/firmware/octopus_stable_1_1.hex b/firmware/octopus_stable_1_1.hex
new file mode 100644
index 0000000..5fa412b
--- /dev/null
+++ b/firmware/octopus_stable_1_1.hex
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diff --git a/firmware/pin.c b/firmware/pin.c
new file mode 100644
index 0000000..97218b7
--- /dev/null
+++ b/firmware/pin.c
@@ -0,0 +1,93 @@
+/*
+ * 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
new file mode 100644
index 0000000..f0deda7
--- /dev/null
+++ b/firmware/pin.h
@@ -0,0 +1,84 @@
+/*
+ * 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 fce8eda..af2c6fb 100644
--- a/firmware/protocol.h
+++ b/firmware/protocol.h
@@ -42,18 +42,20 @@
 #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_GET                     0x21
-#define CMD_ADC_REF                     0x22
- 
+#define CMD_ADC_DEINIT_PIN              0x21
+#define CMD_ADC_GET                     0x22
+#define CMD_ADC_REF                     0x23
+
 #define CMD_I2C_INIT                    0x30
 #define CMD_I2C_DEINIT                  0x31
 #define CMD_I2C_SET_BITRATE             0x32
-#define CMD_I2C_SEND_BYTE               0x34
-#define CMD_I2C_RECV_BYTES              0x35
-#define CMD_I2C_SEND_START              0x36        
-#define CMD_I2C_SEND_STOP               0x37       
+#define CMD_I2C_SEND                    0x34
+#define CMD_I2C_RECV                    0x35
+#define CMD_I2C_SEND_START              0x36
+#define CMD_I2C_SEND_STOP               0x37
 
 #define CMD_SPI_INIT                    0x40
 #define CMD_SPI_DEINIT                  0x41
@@ -78,6 +80,17 @@
 #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 9e3666d..b8b6231 100644
--- a/firmware/pwm.c
+++ b/firmware/pwm.c
@@ -84,7 +84,7 @@ int pwm_init(int pin)
       {
          case 9:	        
             /* set pin as output */
-            OX_DDR9 |=(1<<OX_P9); 
+            DDRB |=(1<<PB5); 
             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:	  
-            OX_DDR8 |=(1<<OX_P8); 
+            DDRB |=(1<<PB4); 
 #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_OUT;  // this is wrong!
+  octopus.ports[pin]=PIN_NONE;
 #ifdef OCTOPUS_CAN
   switch(pin)
   {
diff --git a/firmware/spi.c b/firmware/spi.c
index 2b8abb1..b3e3a95 100644
--- a/firmware/spi.c
+++ b/firmware/spi.c
@@ -36,26 +36,24 @@
 
 #include "spi.h"
 
+
 void spi_parser(char *buf)
 {
   switch(buf[0]) {
     case CMD_SPI_INIT:
-      spi_init_usb();
-    break;
+      spi_init_usb(buf[2], buf[3], buf[4]);
+      break;
     case CMD_SPI_DEINIT:
       spi_deinit_usb();
-    break;
-    case CMD_SPI_SPEED:
-      spi_set_speed_usb((int)buf[2]);
-    break;
+      break;
     case CMD_SPI_SEND:
-      spi_send_usb(&buf[2], (int)buf[1]);
-    break;
+      spi_send_usb(buf[2], &buf[3]);
+      break;
     case CMD_SPI_RECV:
-      spi_receive_usb((int)buf[1]);
+      spi_receive_usb((int)buf[2]);
     case CMD_SPI_SEND_AND_RECV:
-      spi_send_and_receive_usb(&buf[2], (int)buf[1]);
-    break;
+      spi_send_and_receive_usb(&buf[3], (int)buf[2]);
+      break;
     default:
       answer[0] = buf[0];
       answer[1] = RSP_UNKOWN_CMD;
@@ -64,38 +62,111 @@ void spi_parser(char *buf)
   }
 }
 
-void spi_init_usb(void)
+void spi_init_usb(uint8_t dord, uint8_t mode, uint8_t speed)
 {
   answer[0] = CMD_SPI_INIT;
-  answer[1] = (unsigned char) spi_init();
-  answer[3] = 0;
+  answer[1] = (unsigned char) spi_init(dord, mode, speed);
+  answer[2] = 0;
   CommandAnswer(3);
 }
 
 
-int spi_init(void)
+int spi_init(uint8_t dord, uint8_t mode, uint8_t speed)
 {
-  PORTB   &=  ~((1 << SCK)|(1<<MISO)|(1<<MOSI));  // SCK have to be low in IDLE
-  DDRB &=~(1 << MISO);
-  DDRB = (1 << MOSI)|(1 << SCK); 
+  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;
+  }
 
-  SPCR = 0;
-  SPSR = 0;
+  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;
+  }
+
+  // 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 = (1<<SPE)|(1<<MSTR)|(1<<SPR0)|(1<<SPR1);
+  // 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);
 
-  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);
 }
 
@@ -104,36 +175,30 @@ int spi_deinit(void)
   SPCR = 0;
   SPSR = 0;
 
-  octopus.ports[5]=PIN_OUT;  // this is wrong!
-  octopus.ports[6]=PIN_OUT;  // this is wrong!
-  octopus.ports[7]=PIN_OUT;  // this is wrong!
+  octopus.ports[5] = PIN_NONE;
+  octopus.ports[6] = PIN_NONE;
+  octopus.ports[7] = PIN_NONE;
 
   return RSP_OK;
 }
 
-void spi_set_speed_usb(int speed){
-
-}
-
-int spi_set_speed(int speed){
-
-  return RSP_OK;
-}
 
-void spi_send_usb(char * buf, int length)
+void spi_send_usb(uint8_t length, char * buf)
 {
-  answer[0]=CMD_SPI_SEND;
-  answer[1]=(unsigned char)spi_send(buf,length);
-  answer[2]=0;
+  answer[0] = CMD_SPI_SEND;
+  answer[1] = (unsigned char)spi_send(length, buf);
+  answer[2] = 0;
+
   CommandAnswer(3);
 }
 
-int spi_send(char * buf, int length)
+int spi_send(int length, char * buf)
 {
-  int i;
-  for(i=0;i<length;i++){
+  uint8_t i;
+  for(i = 0; i < length; i++)
+  {
     SPDR = buf[i];
-    while ( !(SPSR & (1 << SPIF)) ) ;
+    while(!(SPSR & (1 << SPIF)));
   }
   return RSP_OK;
 }
@@ -141,22 +206,29 @@ int spi_send(char * buf, int length)
 
 void spi_receive_usb(int length)
 {
-  answer[0]=CMD_SPI_RECV;
-  answer[1]=(unsigned char)spi_receive((char*)&answer[2],length);
-  answer[2]=0;
-  CommandAnswer(length+2);
+  answer[0]        = CMD_SPI_RECV;
+  answer[1]        = (unsigned char)spi_receive(length, (char*)&answer[2]);
+  answer[2+length] = 0;
+  CommandAnswer(3+length);
 }
 
 
-unsigned char spi_receive( char * buf, int length)
+unsigned char spi_receive(int length, char * buf)
 {
   int i;
   int timeout = 0;
-  for(i=0;i<length;i++){
+
+  for(i = 0; i < length; i++)
+  {
     SPDR = 0;
-    while(!(SPSR & (1 << SPIF))) { timeout++; if( timeout > 1000) return RSP_TIMEOUT; }
-    buf[i]=SPDR;
+    while(!(SPSR & (1 << SPIF))) 
+    {
+      if(timeout++ > 1000) 
+        return RSP_TIMEOUT;
+    }
+    buf[i] = SPDR;
   }
+
   return RSP_OK;
 }
 
@@ -164,8 +236,8 @@ 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]=0;
-  CommandAnswer(2+length);
+  answer[2+length]=0;
+  CommandAnswer(3+length);
 
 }
 
@@ -180,9 +252,3 @@ 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 d7cfbf1..8a8a1fe 100644
--- a/firmware/spi.h
+++ b/firmware/spi.h
@@ -41,24 +41,25 @@
 #define MISO PB3
 #define SCK PB1
 
-void spi_parser(char *buf);
-
-int spi_init(void);
-int spi_deinit(void);
+enum { SPI_SPEED_125kHz, SPI_SPEED_250kHz, SPI_SPEED_500kHz, SPI_SPEED_1MHz,
+       SPI_SPEED_2MHz,   SPI_SPEED_4MHz,   SPI_SPEED_8MHz };
 
-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_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_init_usb(void);
 void spi_deinit_usb(void);
+int spi_deinit(void);
+
+void spi_send_usb(uint8_t length, char * buf);
+int spi_send(int length, char * buf);
 
-void spi_set_speed_usb(int speed);
-void spi_send_usb(char * buf, int length);
 void spi_receive_usb(int length);
+unsigned char spi_receive(int length, char * buf);
+
 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 02b4a87..9ae00c9 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);
 }
@@ -255,9 +255,7 @@ char uart_send(char uartport, unsigned int length, char *buf)
     return RSP_UNKOWN_PIN;
 
   while(length--)
-  {   
     uart_putchar(uartport, *buf++);
-  } 
 
   return RSP_OK; 
 }
@@ -295,6 +293,8 @@ 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);
 }
 
@@ -330,52 +330,4 @@ char uart_getchar(char uartport)
   return c;
 }
 
-/*
-unsigned char AsciiToHex(unsigned char high,unsigned char low)
-{
-  unsigned char new;
-
-  // check if lower equal 9 ( ascii 57 )
-  if(high <= 57) // high is a number
-    high = high -48;
-  else // high is a letter
-    high = high -87;
-
-  high = high << 4;
-  high = high & 0xF0;
- 
-  // check if lower equal 9 ( ascii 57 )
-  if(low <= 57) // high is a number
-    low = low -48;
-  else // high is a letter
-    low = low -87;
-  low = low & 0x0F;
- 
-  new = high | low;
- 
-  return new;
-}
 
-void SendHex(unsigned char hex)
-{
-  unsigned char high,low;
-  // get highnibble
-  high = hex & 0xF0;
-  high = high >> 4;
- 
-  // get lownibble
-  low = hex & 0x0F;
- 
-  if(high<=9)
-    UARTPutChar(high+48);
-  else
-    UARTPutChar(high+87);
- 
- 
-  if(low<=9)
-    UARTPutChar(low+48);
-  else
-    UARTPutChar(low+87);
-
-}
-*/
diff --git a/firmware/uart_fifo.c b/firmware/uart_fifo.c
new file mode 100644
index 0000000..d4da869
--- /dev/null
+++ b/firmware/uart_fifo.c
@@ -0,0 +1,368 @@
+#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 d9b0fdd..413009c 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 ();
 }