From 324c5ba9098c1010d0aa8c1e26b95509878ce9f2 Mon Sep 17 00:00:00 2001
From: Yves Fischer <yvesf-git@xapek.org>
Date: Tue, 11 Oct 2011 21:50:49 +0200
Subject: Mini-Octopus build from r@171

---
 firmware/93c46.c         | 359 ++++++++++++++++++++
 firmware/93c46.h         | 113 +++++++
 firmware/Makefile        | 458 +++++++++++++++++++++++++
 firmware/adc.c           | 200 +++++++++++
 firmware/adc.h           |  56 ++++
 firmware/common.c        | 107 ++++++
 firmware/common.h        |  93 ++++++
 firmware/debug.c         |  72 ++++
 firmware/debug.h         |   5 +
 firmware/fifo.c          |  27 ++
 firmware/fifo.h          |  75 +++++
 firmware/i2c.c           | 216 ++++++++++++
 firmware/i2c.h           |  68 ++++
 firmware/io.c            | 512 ++++++++++++++++++++++++++++
 firmware/io.h            | 269 +++++++++++++++
 firmware/main.c          | 287 ++++++++++++++++
 firmware/main.hex        | 844 +++++++++++++++++++++++++++++++++++++++++++++++
 firmware/octopus.hex     | 830 ++++++++++++++++++++++++++++++++++++++++++++++
 firmware/octopus_can.hex | 842 ++++++++++++++++++++++++++++++++++++++++++++++
 firmware/protocol.h      |  94 ++++++
 firmware/pwm.c           | 270 +++++++++++++++
 firmware/pwm.h           |  56 ++++
 firmware/spi.c           | 188 +++++++++++
 firmware/spi.h           |  64 ++++
 firmware/uart.c          | 381 +++++++++++++++++++++
 firmware/uart.h          |  19 ++
 firmware/usbn2mc.c       | 153 +++++++++
 firmware/usbn2mc.h       |  73 ++++
 firmware/wait.c          |  45 +++
 firmware/wait.h          |  39 +++
 30 files changed, 6815 insertions(+)
 create mode 100644 firmware/93c46.c
 create mode 100644 firmware/93c46.h
 create mode 100644 firmware/Makefile
 create mode 100644 firmware/adc.c
 create mode 100644 firmware/adc.h
 create mode 100644 firmware/common.c
 create mode 100644 firmware/common.h
 create mode 100644 firmware/debug.c
 create mode 100644 firmware/debug.h
 create mode 100644 firmware/fifo.c
 create mode 100644 firmware/fifo.h
 create mode 100644 firmware/i2c.c
 create mode 100644 firmware/i2c.h
 create mode 100644 firmware/io.c
 create mode 100644 firmware/io.h
 create mode 100644 firmware/main.c
 create mode 100644 firmware/main.hex
 create mode 100644 firmware/octopus.hex
 create mode 100644 firmware/octopus_can.hex
 create mode 100644 firmware/protocol.h
 create mode 100644 firmware/pwm.c
 create mode 100644 firmware/pwm.h
 create mode 100644 firmware/spi.c
 create mode 100644 firmware/spi.h
 create mode 100644 firmware/uart.c
 create mode 100644 firmware/uart.h
 create mode 100644 firmware/usbn2mc.c
 create mode 100644 firmware/usbn2mc.h
 create mode 100644 firmware/wait.c
 create mode 100644 firmware/wait.h

(limited to 'firmware')

diff --git a/firmware/93c46.c b/firmware/93c46.c
new file mode 100644
index 0000000..4af0f45
--- /dev/null
+++ b/firmware/93c46.c
@@ -0,0 +1,359 @@
+/*
+ * Author: Benedikt Sauter <sauter@ixbat.de>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "common.h"
+#include "protocol.h"
+
+#include <util/delay.h>
+
+
+#include "93c46.h"
+
+void flash_93c46_parser(char *buf)
+{
+   //UARTWrite("flash parser\r\n");
+   switch(buf[3]) 
+   {
+      case CMD_93C46_INIT:
+         flash_93c46_init_usb();
+      break;
+      case CMD_93C46_DEINIT:
+         flash_93c46_deinit_usb();
+      break;
+      case CMD_93C46_READ:
+         // read addr, length, buffer 
+         flash_93c46_read_usb((unsigned char)buf[4], (int)buf[5], &buf[6]);
+      break;
+      case CMD_93C46_WRITE:
+         flash_93c46_write_usb((unsigned char)buf[4], (int)buf[5], &buf[6]);
+      break;
+      default:
+         //UARTWrite("default\r\n");
+         answer[0] = buf[0];
+         answer[1] = RSP_UNKOWN_CMD;
+         answer[2] = 0;
+         CommandAnswer(3);
+   }
+}
+
+void flash_93c46_init_usb(void)
+{
+   answer[0] = CMD_93C46_INIT;
+   answer[1] = (unsigned char) flash_93c46_init();
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+
+
+int flash_93c46_init(void)
+{
+   //UARTWrite("init\r\n");
+   SET_DDR_OUT(CS);
+   SET_DDR_OUT(SK);
+
+   SET_DDR_OUT(DI);
+   SET_DDR_IN(DO);
+
+   SET_DDR_OUT(DIN0);
+   SET_DDR_OUT(DIN1);
+
+   CLRPIN(DIN0);
+   CLRPIN(DIN1);
+
+   //SETPIN(DIN0) = D4 = low
+   //SETPIN(DIN1) = D4 = low
+
+   octopus.ports[19]=PIN_OUT;
+   octopus.ports[18]=PIN_OUT;
+   octopus.ports[17]=PIN_OUT;
+   octopus.ports[16]=PIN_IN;
+
+   return RSP_OK;
+}
+
+void flash_93c46_deinit_usb(void)
+{
+   answer[0]=CMD_93C46_DEINIT;
+   answer[1]=(unsigned char)flash_93c46_deinit();
+   answer[2]=0;
+   CommandAnswer(3);
+}
+
+int flash_93c46_deinit(void)
+{
+   octopus.ports[5]=PIN_OUT;  // this is wrong!
+   octopus.ports[6]=PIN_OUT;  // this is wrong!
+   octopus.ports[7]=PIN_OUT;  // this is wrong!
+
+   return RSP_OK;
+}
+
+void flash_93c46_read_usb(unsigned char address, unsigned int length, char * buf)
+{
+   answer[0]=CMD_93C46_READ;
+   answer[1]=(unsigned char)flash_93c46_read(address,length,(char*)&answer[2]);
+   CommandAnswer(length+2);
+}
+
+int flash_93c46_read(unsigned char address, unsigned int length, char * buf)
+{
+   //UARTWrite("read\r\n");
+   //SendHex((uint8_t)address);
+   //SendHex(flash_93c46_read_word((uint8_t)address));
+   unsigned int i;
+   for(i = 0; i < length; i++)
+      buf[i] = (char)flash_93c46_read_word((uint8_t)address+i);
+
+   return RSP_OK;
+}
+
+
+void flash_93c46_write_usb(unsigned char address, unsigned int length, char * buf)
+{
+   answer[0]=CMD_93C46_WRITE;
+   answer[1]=(unsigned char)flash_93c46_write(address,length, buf);
+   answer[2]=0x00;
+   CommandAnswer(3);
+}
+
+int flash_93c46_write(unsigned char address, unsigned int length, char * buf)
+{
+   unsigned int i;
+   //UARTWrite("write\r\n");
+   //SendHex((uint8_t)address); 
+   //SendHex(length);
+   //SendHex(buf[0]);
+
+   for(i=0;i<length;i++)
+      flash_93c46_write_word((uint8_t)address+i,buf[i]);
+
+   return RSP_OK;
+}
+
+
+
+// Write enable must precede all programming modes.
+
+
+
+void start_of_ins(void)
+{
+  CLRPIN(CS);
+  CLRPIN(SK);
+  CLRPIN(DI);
+    
+  _delay_ms(5);
+  //SETPIN(DO);
+  SETPIN(CS);
+   //_delay_us(2);
+  
+  _delay_us(2);
+  SETPIN(DI); //SB
+  SETPIN(SK);
+  _delay_us(2);
+}
+
+
+void send_sb_opcode(uint8_t ins)
+{
+  uint8_t    i;
+  for( i =0; i <2; i ++)
+  {
+    CLRPIN(SK);
+    if ( ins & 0x80 )  SETPIN(DI); else CLRPIN(DI);  
+    _delay_us(2);
+    SETPIN(SK);
+    _delay_us(2);
+    ins = ins <<1;  
+  }
+}
+
+void send_address(uint8_t da)
+{
+  uint8_t i;
+  da = da << 1;   
+  for( i = 0; i <7; i ++)
+  {
+    CLRPIN(SK);
+    if ( da & 0x80 )  SETPIN(DI); else CLRPIN(DI);  
+    _delay_us(2);
+    SETPIN(SK);
+    _delay_us(2);
+    da = da << 1;   
+  }
+}
+
+void send_data_byte(uint8_t da)
+{
+  uint8_t i;
+  for( i = 0; i <8; i ++)
+  {
+    CLRPIN(SK);
+    if ( da & 0x80 )  SETPIN(DI); else CLRPIN(DI);  
+    _delay_us(2);
+    SETPIN(SK);
+    _delay_us(2);
+    da = da << 1;   
+  }
+}
+
+
+uint8_t end_of_erase_write(void)
+{
+  
+  uint8_t delay_tmp =0xff;
+  CLRPIN(SK);
+  CLRPIN(DI);
+    _delay_us(2);
+  SETPIN(SK);
+    _delay_us(2);
+  CLRPIN(SK);
+  CLRPIN(CS);
+    _delay_us(2);
+  SETPIN(SK);
+    _delay_us(2);
+  CLRPIN(SK);
+    _delay_us(2);
+  SETPIN(CS);
+  
+  do{
+    if(delay_tmp-- > 0) return 0;
+    SETPIN(SK);
+    _delay_us(2);
+    CLRPIN(SK);
+    _delay_us(2);
+  } while (GETPIN(DO));
+  
+  return 1;
+}
+
+void end_of_erase_write_disable(void)
+{
+  CLRPIN(SK);
+  CLRPIN(CS);
+  CLRPIN(DI);
+  SETPIN(DO);
+}
+
+void erase_write_enable(void)
+{
+  start_of_ins(); 
+  send_sb_opcode(CMD_EWEN);  
+  send_address(0x60);  
+}
+
+void erase_write_disable(void)
+{
+  start_of_ins();    
+  send_sb_opcode(CMD_EWDS);
+  send_address(0x00);
+  end_of_erase_write_disable();    
+}
+
+
+uint8_t write_word_step(uint8_t add,uint8_t wd)
+{
+  start_of_ins();
+  send_sb_opcode(CMD_WRITE);
+  send_address(add);
+  send_data_byte(wd);
+  return 1;
+  //return( end_of_erase_write() ); 
+}
+
+uint8_t erase_word(uint8_t add)
+{
+  start_of_ins();
+  send_sb_opcode(CMD_ERASE);
+  send_address(add);
+  return( end_of_erase_write() ); 
+}
+
+uint8_t recv_data_word(void)
+{
+  uint8_t i;
+  uint8_t da=0;
+  CLRPIN(SK); 
+  _delay_us(2);
+  CLRPIN(DI); 
+  
+  for( i =0; i <8; i ++)
+  {
+    da *= 2; 
+    SETPIN(SK);
+    _delay_us(2);
+    CLRPIN(SK);
+    if (GETPIN(DO)) da++;
+    _delay_us(2);
+  }
+  
+  CLRPIN(CS); 
+  SETPIN(SK);
+    _delay_us(2);
+  SETPIN(CS);
+  CLRPIN(SK); 
+    _delay_us(2);
+  return da;
+}
+
+uint8_t flash_93c46_read_word(uint8_t add)
+{
+  //if(add < 0 && add > 127 )
+  //  return 0;
+
+  start_of_ins();  
+  send_sb_opcode(CMD_READ);
+  send_address(add);
+  return( recv_data_word() );
+}
+
+
+uint8_t flash_93c46_write_word(uint8_t add,uint8_t wd)
+{
+  
+//  if(add < 0 && add > 127 )
+//    return 0;
+
+  erase_write_enable();
+  write_word_step(add,wd);
+  //_delay_ms(1);
+
+  return 1;
+  do 
+  {
+    //write_word_step(add,wd);
+    _delay_us(10);
+  } while (flash_93c46_read_word(add)!=wd); 
+  return 1;
+}
+
diff --git a/firmware/93c46.h b/firmware/93c46.h
new file mode 100644
index 0000000..817eade
--- /dev/null
+++ b/firmware/93c46.h
@@ -0,0 +1,113 @@
+/*
+ * Author: Benedikt Sauter <sauter@ixbat.de>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef SPI_H
+#define SPI_H
+
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+
+
+#include "io.h"
+
+
+#define CS (B, 0)
+#define SK (B, 1)
+#define DI (B, 2)
+#define DO (B, 3)
+
+
+
+
+
+
+#define DIN0 (B, 4)
+#define DIN1 (B, 5)
+
+#define CMD_READ    0x80   
+#define CMD_EWEN    0x30    
+#define CMD_ERASE   0xc0  
+#define CMD_WRITE   0x40      
+#define CMD_ERAL    0x20     
+#define CMD_WRAL    0x10      
+#define CMD_EWDS    0x00    
+
+
+#define PIN_S	PB0
+#define PIN_C	PB1
+#define PIN_D	PB2
+#define PIN_Q	PB3	
+
+void flash_93c46_parser(char *buf);
+
+int flash_93c46_init(void);
+int flash_93c46_deinit(void);
+
+int flash_93c46_read(unsigned char address, unsigned int length, char * buf);
+int flash_93c46_write(unsigned char address, unsigned int length, char* buf);
+
+void flash_93c46_init_usb(void);
+void flash_93c46_deinit_usb(void);
+
+void flash_93c46_read_usb(unsigned char address, unsigned int length, char* buf);
+void flash_93c46_write_usb(unsigned char address, unsigned int length, char* buf);
+
+
+void start_of_ins(void);
+void send_sb_opcode(uint8_t ins);
+void send_data_byte(uint8_t da);
+uint8_t end_of_erase_write(void);
+void end_of_erase_write_disable(void);
+void erase_write_enable(void);
+void send_address(uint8_t da);
+uint8_t write_word_step(uint8_t add,uint8_t wd);
+uint8_t recv_data_word(void);
+uint8_t erase_word(uint8_t add);
+void erase_write_disable(void);
+
+
+
+uint8_t flash_93c46_read_word(uint8_t add);
+uint8_t flash_93c46_write_word(uint8_t add,uint8_t wd);
+
+
+
+
+
+
+
+
+
+
+
+#endif /* SPI_H */
diff --git a/firmware/Makefile b/firmware/Makefile
new file mode 100644
index 0000000..f3553b5
--- /dev/null
+++ b/firmware/Makefile
@@ -0,0 +1,458 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# WinAVR makefile written by Eric B. Weddington, Jörg Wunsch, et al.
+# Released to the Public Domain
+# Please read the make user manual!
+#
+# Additional material for this makefile was submitted by:
+#  Tim Henigan
+#  Peter Fleury
+#  Reiner Patommel
+#  Sander Pool
+#  Frederik Rouleau
+#  Markus Pfaff
+#
+# On command line:
+#
+# make all = Make software.
+#
+# make clean = Clean out built project files.
+#
+# make coff = Convert ELF to AVR COFF (for use with AVR Studio 3.x or VMLAB).
+#
+# make extcoff = Convert ELF to AVR Extended COFF (for use with AVR Studio
+#                4.07 or greater).
+#
+# make program = Download the hex file to the device, using avrdude.  Please
+#                customize the avrdude settings below first!
+#
+# make filename.s = Just compile filename.c into the assembler code only
+#
+# To rebuild project do "make clean" then "make all".
+#
+
+# mth 2004/09 
+# Differences from WinAVR 20040720 sample:
+# - DEPFLAGS according to Eric Weddingtion's fix (avrfreaks/gcc-forum)
+# - F_OSC Define in CFLAGS and AFLAGS
+
+
+# MCU name
+#MCU = atmega128
+MCU = at90can128
+
+# Main Oscillator Frequency
+# This is only used to define F_OSC in all assembler and c-sources.
+F_OSC = 16000000
+
+# Output format. (can be srec, ihex, binary)
+FORMAT = ihex
+
+# Target file name (without extension).
+TARGET = main
+
+
+# List C source files here. (C dependencies are automatically generated.)
+#SRC = $(TARGET).c uart.c usbn2mc/main/usbn960x.c usbn2mc.c usbn2mc/main/usbnapi.c 
+
+SRC = $(TARGET).c wait.c uart.c ../usbn2mc/main/usbn960x.c usbn2mc.c ../usbn2mc/main/usbnapi.c common.c fifo.c io.c adc.c i2c.c spi.c 93c46.c pwm.c debug.c
+
+
+# List Assembler source files here.
+# Make them always end in a capital .S.  Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC = 
+
+
+
+# Optimization level, can be [0, 1, 2, 3, s]. 
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+OPT = s
+
+# Debugging format.
+# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
+# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
+DEBUG = stabs
+#DEBUG = dwarf-2
+
+# List any extra directories to look for include files here.
+#     Each directory must be seperated by a space.
+EXTRAINCDIRS = 
+
+
+# Compiler flag to set the C Standard level.
+# c89   - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99   - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+# Place -D or -U options here
+CDEFS =
+
+# Place -I options here
+CINCS = 
+
+
+# Compiler flags.
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+CFLAGS = -g$(DEBUG)
+CFLAGS += $(CDEFS) $(CINCS)
+CFLAGS += -O$(OPT)
+CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CFLAGS += -Wall -Wstrict-prototypes
+#CFLAGS += -Wall
+CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+CFLAGS += $(CSTANDARD)
+CFLAGS += -DF_OSC=$(F_OSC)
+
+
+
+# Assembler flags.
+#  -Wa,...:   tell GCC to pass this to the assembler.
+#  -ahlms:    create listing
+#  -gstabs:   have the assembler create line number information; note that
+#             for use in COFF files, additional information about filenames
+#             and function names needs to be present in the assembler source
+#             files -- see avr-libc docs [FIXME: not yet described there]
+ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
+ASFLAGS += -DF_OSC=$(F_OSC)
+
+
+#Additional libraries.
+
+# Minimalistic printf version
+PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
+
+# Floating point printf version (requires MATH_LIB = -lm below)
+PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
+
+PRINTF_LIB = 
+
+# Minimalistic scanf version
+SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
+
+# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
+SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
+
+SCANF_LIB = 
+
+MATH_LIB = -lm
+
+# External memory options
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# used for variables (.data/.bss) and heap (malloc()).
+#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# only used for heap (malloc()).
+#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
+
+EXTMEMOPTS =
+
+# Linker flags.
+#  -Wl,...:     tell GCC to pass this to linker.
+#    -Map:      create map file
+#    --cref:    add cross reference to  map file
+LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
+LDFLAGS += $(EXTMEMOPTS)
+LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
+
+
+
+
+# Programming support using avrdude. Settings and variables.
+
+# Programming hardware: alf avr910 avrisp bascom bsd 
+# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
+#
+# Type: avrdude -c ?
+# to get a full listing.
+#
+AVRDUDE_PROGRAMMER = stk500
+
+# com1 = serial port. Use lpt1 to connect to parallel port.
+AVRDUDE_PORT = com1    # programmer connected to serial device
+
+AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
+#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
+
+
+# Uncomment the following if you want avrdude's erase cycle counter.
+# Note that this counter needs to be initialized first using -Yn,
+# see avrdude manual.
+#AVRDUDE_ERASE_COUNTER = -y
+
+# Uncomment the following if you do /not/ wish a verification to be
+# performed after programming the device.
+#AVRDUDE_NO_VERIFY = -V
+
+# Increase verbosity level.  Please use this when submitting bug
+# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> 
+# to submit bug reports.
+#AVRDUDE_VERBOSE = -v -v
+
+AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
+AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
+AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
+AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
+
+
+
+# ---------------------------------------------------------------------------
+
+# Define directories, if needed.
+DIRAVR = c:/winavr
+DIRAVRBIN = $(DIRAVR)/bin
+DIRAVRUTILS = $(DIRAVR)/utils/bin
+DIRINC = .
+DIRLIB = $(DIRAVR)/avr/lib
+
+
+# Define programs and commands.
+SHELL = sh
+CC = avr-gcc
+OBJCOPY = avr-objcopy
+OBJDUMP = avr-objdump
+SIZE = avr-size
+NM = avr-nm
+AVRDUDE = avrdude
+REMOVE = rm -f
+COPY = cp
+
+
+
+
+# Define Messages
+# English
+MSG_ERRORS_NONE = Errors: none
+MSG_BEGIN = -------- begin --------
+MSG_END = --------  end  --------
+MSG_SIZE_BEFORE = Size before: 
+MSG_SIZE_AFTER = Size after:
+MSG_COFF = Converting to AVR COFF:
+MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
+MSG_FLASH = Creating load file for Flash:
+MSG_EEPROM = Creating load file for EEPROM:
+MSG_EXTENDED_LISTING = Creating Extended Listing:
+MSG_SYMBOL_TABLE = Creating Symbol Table:
+MSG_LINKING = Linking:
+MSG_COMPILING = Compiling:
+MSG_ASSEMBLING = Assembling:
+MSG_CLEANING = Cleaning project:
+
+
+
+
+# Define all object files.
+OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) 
+
+# Define all listing files.
+LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
+
+
+# Compiler flags to generate dependency files.
+### GENDEPFLAGS = -Wp,-M,-MP,-MT,$(*F).o,-MF,.dep/$(@F).d
+GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
+
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+
+
+
+
+
+# Default target.
+all: begin gccversion sizebefore build sizeafter finished end
+
+build: elf hex eep lss sym
+
+elf: $(TARGET).elf
+hex: $(TARGET).hex
+eep: $(TARGET).eep
+lss: $(TARGET).lss 
+sym: $(TARGET).sym
+
+
+
+# Eye candy.
+# AVR Studio 3.x does not check make's exit code but relies on
+# the following magic strings to be generated by the compile job.
+begin:
+	@echo
+	@echo $(MSG_BEGIN)
+
+finished:
+	@echo $(MSG_ERRORS_NONE)
+
+end:
+	@echo $(MSG_END)
+	@echo
+
+
+# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
+ELFSIZE = $(SIZE) -A $(TARGET).elf
+sizebefore:
+	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
+
+sizeafter:
+	@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
+
+
+
+# Display compiler version information.
+gccversion : 
+	@$(CC) --version
+
+
+
+# Program the device.  
+program: $(TARGET).hex $(TARGET).eep
+	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+
+
+
+
+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
+COFFCONVERT=$(OBJCOPY) --debugging \
+--change-section-address .data-0x800000 \
+--change-section-address .bss-0x800000 \
+--change-section-address .noinit-0x800000 \
+--change-section-address .eeprom-0x810000 
+
+
+coff: $(TARGET).elf
+	@echo
+	@echo $(MSG_COFF) $(TARGET).cof
+	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
+
+
+extcoff: $(TARGET).elf
+	@echo
+	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
+	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
+
+
+
+# Create final output files (.hex, .eep) from ELF output file.
+%.hex: %.elf
+	@echo
+	@echo $(MSG_FLASH) $@
+	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
+
+%.eep: %.elf
+	@echo
+	@echo $(MSG_EEPROM) $@
+	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
+
+# Create extended listing file from ELF output file.
+%.lss: %.elf
+	@echo
+	@echo $(MSG_EXTENDED_LISTING) $@
+	$(OBJDUMP) -h -S $< > $@
+
+# Create a symbol table from ELF output file.
+%.sym: %.elf
+	@echo
+	@echo $(MSG_SYMBOL_TABLE) $@
+	$(NM) -n $< > $@
+
+
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(TARGET).elf
+.PRECIOUS : $(OBJ)
+%.elf: $(OBJ)
+	@echo
+	@echo $(MSG_LINKING) $@
+	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
+
+
+# Compile: create object files from C source files.
+%.o : %.c
+	@echo
+	@echo $(MSG_COMPILING) $<
+	$(CC) -c $(ALL_CFLAGS) $< -o $@ 
+
+
+# Compile: create assembler files from C source files.
+%.s : %.c
+	$(CC) -S $(ALL_CFLAGS) $< -o $@
+
+
+# Assemble: create object files from assembler source files.
+%.o : %.S
+	@echo
+	@echo $(MSG_ASSEMBLING) $<
+	$(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+
+
+# Target: clean project.
+clean: begin clean_list finished end
+
+clean_list :
+	@echo
+	@echo $(MSG_CLEANING)
+	$(REMOVE) $(TARGET).hex
+	$(REMOVE) $(TARGET).eep
+	$(REMOVE) $(TARGET).obj
+	$(REMOVE) $(TARGET).cof
+	$(REMOVE) $(TARGET).elf
+	$(REMOVE) $(TARGET).map
+	$(REMOVE) $(TARGET).obj
+	$(REMOVE) $(TARGET).a90
+	$(REMOVE) $(TARGET).sym
+	$(REMOVE) $(TARGET).lnk
+	$(REMOVE) $(TARGET).lss
+	$(REMOVE) $(OBJ)
+	$(REMOVE) $(LST)
+	$(REMOVE) $(SRC:.c=.s)
+	$(REMOVE) $(SRC:.c=.d)
+	$(REMOVE) .dep/*
+
+
+
+# Include the dependency files.
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+
+
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex eep lss sym coff extcoff \
+clean clean_list program
+
+download:
+	avrdude -p m128 -c avrispv2 -P usb -U flash:w:main.hex
+
+download_can:
+	avrdude -p c128 -c avrispv2 -P usb -U flash:w:main.hex
+
+fuse:
+	avrdude -p m128 -c avrispv2 -P usb -U lfuse:w:0xe0:m
+	avrdude -p m128 -c avrispv2 -P usb -U efuse:w:0xff:m
+	avrdude -p m128 -c avrispv2 -P usb -U hfuse:w:0xdd:m
+	
+fuse_can:
+	avrdude -p c128 -c avrispv2 -B 10 -P usb -U lfuse:w:0xe0:m
+	avrdude -p c128 -c avrispv2 -B 10 -P usb -U efuse:w:0xff:m
+	avrdude -p c128 -c avrispv2 -B 10 -P usb -U hfuse:w:0xdd:m
+
+usbprog:	
+	avrdude -p c128 -c avrispv2 -P usb -U flash:w:main.hex 
diff --git a/firmware/adc.c b/firmware/adc.c
new file mode 100644
index 0000000..a9449b7
--- /dev/null
+++ b/firmware/adc.c
@@ -0,0 +1,200 @@
+/*
+ * Copyright (c) 2007 empronix (http://www.empronix.com)
+ * Author: Benedikt Sauter <sauter@empronix.com>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES{} LOSS OF USE, 
+ * DATA, OR PROFITS{} OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "common.h"
+#include "protocol.h"
+#include "adc.h"
+
+void adc_parser(char *buf)
+{
+   switch(buf[0])
+   {
+      case CMD_ADC_INIT_PIN:
+         adc_init_usb((int)buf[2]);
+      break;
+      case CMD_ADC_GET:
+         adc_get_usb((int)buf[2]);
+      break;
+      case CMD_ADC_REF:
+         adc_ref_usb((int)buf[2]);
+      break;
+
+      default:
+         answer[0]=buf[0];
+         answer[1]=RSP_UNKOWN_CMD;
+         answer[2]=0;
+         CommandAnswer(3);
+    }
+}
+
+int adc_init(int pin)
+{
+   if (pin >= 33 && pin <= 40)
+   {
+      octopus.ports[pin] = PIN_AD;
+
+      switch(pin)
+      {
+         case 40:	  break;
+         case 39:	  break;
+         case 38:	  break;
+         case 37:	  break;
+         case 36:	  break;
+         case 35:	  break;
+         case 34:	  break;
+         case 33:	  break;
+         default:
+	         return RSP_IMPOSSIBLE_PIN_CONFIG;
+      } 
+      return RSP_OK; 
+   }
+   return RSP_UNKOWN_PIN;
+}
+
+void adc_init_usb(int pin)
+{
+   answer[0]=CMD_ADC_INIT_PIN;
+   answer[1]= (unsigned char)adc_init(pin);
+   answer[2]=0;
+
+   CommandAnswer(3);
+}
+
+void adc_get_usb(int pin)
+{
+ 
+   uint16_t result;
+   //uint8_t result[2];
+
+   answer[0]=CMD_ADC_GET;
+   answer[1]=adc_get(pin,&result);
+   //result[0] = 0x77;
+   //result[1] = 0x88;
+   //answer[2]=(char)result[1];  //high
+   //answer[3]=(char)result[0];  //low
+   answer[2]=(char)(result>>8);  //high
+   answer[3]=(char)(result);  //low
+   CommandAnswer(4);
+}
+
+
+int adc_get(int pin, uint16_t *value)
+{
+   *value = 0;
+
+   if (octopus.ports[pin] == PIN_AD)
+   {
+      switch (pin)
+      {
+         case 40: *value =_adc_read_channel(0); break;
+         case 39: *value =_adc_read_channel(1); break;
+         case 38: *value =_adc_read_channel(2); break;
+         case 37: *value =_adc_read_channel(3); break;
+         case 36: *value =_adc_read_channel(4); break;
+         case 35: *value =_adc_read_channel(5); break;
+         case 34: *value =_adc_read_channel(6); break;
+         case 33: *value =_adc_read_channel(7); break;
+         default:
+	      return RSP_IMPOSSIBLE_PIN_CONFIG;
+      } 
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_WRONG_PIN_CONFIG;
+   } 
+}
+
+void adc_ref_usb(int ref)
+{
+   answer[0]=CMD_ADC_REF;
+   answer[1]=adc_ref(ref);
+   CommandAnswer(2);
+}
+
+int adc_ref(int ref)
+{
+   ADMUX = 0x00;
+
+   switch(ref){
+      case PARAM_ADC_AREF:  break;
+      case PARAM_ADC_AVCC:  ADMUX |= (1<<REFS0); break;
+      case PARAM_ADC_INTERNAL:  ADMUX |= (1<<REFS1) | (1<<REFS0); break;
+      default:
+         return RSP_ERROR;
+   }
+   return RSP_OK;
+}
+
+uint16_t _adc_read_channel(int mux)
+{
+   int i;
+   uint16_t result;
+ 
+   ADCSRA = (1<<ADEN) | (1<<ADPS1) | (1<<ADPS0);    // Frequenzvorteiler 
+                              // setzen auf 8 (1) und ADC aktivieren (1)
+ 
+   //ADMUX |= (unsigned char)mux;                      // Kanal waehlen
+   ADMUX = (ADMUX & 0xF0) | (unsigned char) mux; // select channel
+  
+   //ADMUX |= (1<<REFS1) | (1<<REFS0); // interne Referenzspannung nutzen 
+ 
+   /* nach Aktivieren des ADC wird ein "Dummy-Readout" empfohlen, man liest
+     also einen Wert und verwirft diesen, um den ADC "warmlaufen zu lassen" */
+
+   ADCSRA |= (1<<ADSC);              // eine ADC-Wandlung 
+   while ( ADCSRA & (1<<ADSC) ) {
+     ;     // auf Abschluss der Konvertierung warten 
+   }
+   result = ADCW;  // ADCW muss einmal gelesen werden,
+                  // sonst wird Ergebnis der nächsten Wandlung
+                  // nicht übernommen.
+ 
+   /* Eigentliche Messung - Mittelwert aus 4 aufeinanderfolgenden Wandlungen */
+   result = 0; 
+   for( i=0; i<4; i++ )
+   {
+      ADCSRA |= (1<<ADSC);            // eine Wandlung "single conversion"
+      while ( ADCSRA & (1<<ADSC) ) {
+         ;   // auf Abschluss der Konvertierung warten
+      }
+      result += ADCW;		    // Wandlungsergebnisse aufaddieren
+   }
+   ADCSRA &= ~(1<<ADEN);             // ADC deaktivieren (2)
+ 
+   result /= 4;                     // Summe durch vier teilen = arithm. Mittelwert
+ 
+   return result;
+}
diff --git a/firmware/adc.h b/firmware/adc.h
new file mode 100644
index 0000000..3aa0a6f
--- /dev/null
+++ b/firmware/adc.h
@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2007 empronix (http://www.empronix.com)
+ * Author: Benedikt Sauter <sauter@empronix.com>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef ADC_H
+#define ADC_H
+
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+
+
+void adc_parser(char *buf);
+
+int adc_init(int pin);
+void adc_init_usb(int pin);
+
+void adc_ref_usb(int ref);
+int adc_ref(int ref);
+
+
+
+int adc_get(int pin, uint16_t *value);
+void adc_get_usb(int pin);
+uint16_t _adc_read_channel(int mux);
+
+#endif /* ADC_H */
diff --git a/firmware/common.c b/firmware/common.c
new file mode 100644
index 0000000..9947c59
--- /dev/null
+++ b/firmware/common.c
@@ -0,0 +1,107 @@
+/*
+ * Copyright (c) 2006, Benedikt Sauter <sauter@empronix.com>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdlib.h>
+#include <avr/io.h>
+#include <stdint.h>
+#include <avr/interrupt.h>
+#include <inttypes.h>
+
+#include "common.h"
+#include "protocol.h"
+#include "io.h"
+#include "93c46.h"
+
+
+
+void common_latency_timer_init(void)
+{
+   // us = 256 - x/2
+   octopus.latency_timer = 206; // 255 = 2us, 254 = 4us ...
+   
+   #ifdef OCTOPUS_CAN
+   TIMSK0 = (1<<TOIE0);  /* enable TCNT0 overflow */
+   TCNT0 = octopus.latency_timer;    /* TCNT0 Timer auf 50ms einstellen */
+   TCCR0A = 3;          /* count with cpu clock/32 */ 
+   #else 
+   TIMSK = (1<<TOIE0);  /* enable TCNT0 overflow */
+   TCNT0 = octopus.latency_timer;    /* TCNT0 Timer auf 50ms einstellen */
+   TCCR0 = 3;          /* count with cpu clock/32 */ 
+   #endif
+}
+
+void common_scheduler(void){}
+
+void common_scheduler_add(int id,void(*userFunc)(void)){}
+
+
+void common_parser(char *buf)
+{
+   switch(buf[0])
+   {
+      case CMD_GET_HW_ID:
+         common_hwdesc();
+      break;
+      default:
+         ;
+   }
+}
+
+void common_init(void)
+{
+   int i;
+   for(i=1;i<=19;i++)
+      io_init(i);
+   for(i=26;i<=44;i++)
+      io_init(i);
+}
+
+
+void common_hwdesc(void)
+{
+   answer[0] = CMD_GET_HW_ID;
+   answer[1] = RSP_OK;
+   answer[2] = 11;
+   answer[3] = 'o'; answer[4] = 'c';answer[5] = 't';answer[6] = 'o';
+   #ifdef OCTOPUS_CAN  
+   answer[7] = 'c'; answer[8] = 'a';answer[9] = 'n';answer[10] = '_';
+   #else
+   answer[7] = 'p'; answer[8] = 'u';answer[9] = 's';answer[10] = '_';
+   #endif  
+   answer[11] = '0'; answer[12] = '1';
+   answer[13] = 0x00;
+   CommandAnswer(14);
+}
+
+
diff --git a/firmware/common.h b/firmware/common.h
new file mode 100644
index 0000000..3229718
--- /dev/null
+++ b/firmware/common.h
@@ -0,0 +1,93 @@
+/*
+ * Copyright (c) 2006, Benedikt Sauter <sauter@embedded-projects.net>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+
+enum signals {PIN_NONE,PIN_IN,PIN_OUT,PIN_TRI,
+	      PIN_AD,PIN_RX,PIN_TX,
+	      PIN_SS,PIN_SCK,PIN_MISO,PIN_MOSI,
+	      PIN_SCL,PIN_SDA,PIN_PWM,
+	      PIN_UART};
+
+
+#define OCTOPUS_CAN
+
+//#define DEBUG
+
+#define F_CPU 16000000UL
+#define STATUS_LED_PIN     PB7
+#define STATUS_LED_PORT    PORTB
+
+/* red status led */
+#define STATUS_LED_on     (STATUS_LED_PORT   |=  (1 << STATUS_LED_PIN)) 
+#define STATUS_LED_off    (STATUS_LED_PORT   &= ~(1 << STATUS_LED_PIN))
+
+
+volatile struct octopus_t 
+{
+   volatile unsigned char latency_timer;
+   int ports[45];
+   volatile char * msg[20];
+   volatile int datatogl;
+   volatile unsigned int long_rx_cmd;
+   volatile unsigned int long_rx_index;
+   volatile unsigned int long_rx_bytes;
+
+   volatile unsigned int long_index;
+   volatile unsigned int long_bytes;
+   volatile unsigned int long_running;
+} octopus;
+
+
+
+void CommandAnswer(unsigned int length);
+void CommandAnswerRest(void);
+void USBCommandRX(char *buf);
+void USBMessageIn(char *buf);
+
+
+volatile unsigned char answer[320];
+volatile unsigned char request[320];
+
+void common_latency_timer_init(void);
+
+void common_scheduler(void);
+
+void common_scheduler_add(int id,void(*userFunc)(void));
+
+void common_parser(char *buf);
+
+void common_init(void);
+
+void common_hwdesc(void);
+
diff --git a/firmware/debug.c b/firmware/debug.c
new file mode 100644
index 0000000..539a3e2
--- /dev/null
+++ b/firmware/debug.c
@@ -0,0 +1,72 @@
+#include <inttypes.h>
+#include <avr/io.h>
+
+#include "uart.h"
+#include "debug.h"
+#include "common.h"
+#include "protocol.h"
+
+#define UART_PORT 0
+
+void debug_init(void) {
+  uart_init(UART_PORT);
+  uart_baudrate(UART_PORT, 25, 0, 0, 0);
+  uart_stopbits(UART_PORT, 1);
+  uart_databits(UART_PORT, 8);
+  uart_parity(UART_PORT, 'N');
+}
+
+void debug_deinit(void) {
+  uart_deinit(UART_PORT);
+}
+
+void debug_write(char *buf) {
+  while(*buf)
+    uart_putchar(UART_PORT, *buf++);
+}
+
+unsigned char debug_AsciiToHex(unsigned char high, unsigned char low)
+{
+  unsigned char new;
+
+  // check if lower equal 9 ( ascii 57 )
+  if(high <= 57) // high is a number
+    high = high -48;
+  else // high is a letter
+    high = high -87;
+
+  high = high << 4;
+  high = high & 0xF0;
+ 
+  // check if lower equal 9 ( ascii 57 )
+  if(low <= 57) // high is a number
+    low = low -48;
+  else // high is a letter
+    low = low -87;
+  low = low & 0x0F;
+ 
+  new = high | low;
+ 
+  return new;
+}
+
+void debug_SendHex(unsigned char hex)
+{
+  unsigned char high,low;
+  // get highnibble
+  high = hex & 0xF0;
+  high = high >> 4;
+ 
+  // get lownibble
+  low = hex & 0x0F;
+ 
+  if(high<=9)
+    uart_putchar(UART_PORT, high+48);
+  else
+    uart_putchar(UART_PORT, high+87);
+ 
+  if(low<=9)
+    uart_putchar(UART_PORT, low+48);
+  else
+    uart_putchar(UART_PORT, low+87);
+}
diff --git a/firmware/debug.h b/firmware/debug.h
new file mode 100644
index 0000000..8aa15d9
--- /dev/null
+++ b/firmware/debug.h
@@ -0,0 +1,5 @@
+void debug_init(void);
+void debug_deinit(void);
+void debug_write(char *buf);
+unsigned char debug_AsciiToHex(unsigned char high, unsigned char low);
+void debug_SendHex(unsigned char hex);
diff --git a/firmware/fifo.c b/firmware/fifo.c
new file mode 100644
index 0000000..a1e0f87
--- /dev/null
+++ b/firmware/fifo.c
@@ -0,0 +1,27 @@
+#include "fifo.h"
+
+void fifo_init (fifo_t *f, uint8_t *buffer, const uint8_t size)
+{
+	f->count = 0;
+	f->pread = f->pwrite = buffer;
+	f->read2end = f->write2end = f->size = size;
+}
+
+uint8_t fifo_put (fifo_t *f, const uint8_t data)
+{
+	return _inline_fifo_put (f, data);
+}
+
+uint8_t fifo_get_wait (fifo_t *f)
+{
+	while (!f->count);
+	
+	return _inline_fifo_get (f);	
+}
+
+int fifo_get_nowait (fifo_t *f)
+{
+	if (!f->count)		return -1;
+		
+	return (int) _inline_fifo_get (f);	
+}
diff --git a/firmware/fifo.h b/firmware/fifo.h
new file mode 100644
index 0000000..32c3264
--- /dev/null
+++ b/firmware/fifo.h
@@ -0,0 +1,75 @@
+#ifndef _FIFO_H_
+#define _FIFO_H_
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+typedef struct
+{
+	uint8_t volatile count;       // # Zeichen im Puffer
+	uint8_t size;                 // Puffer-Größe
+	uint8_t *pread;               // Lesezeiger
+	uint8_t *pwrite;              // Schreibzeiger
+	uint8_t read2end, write2end;  // # Zeichen bis zum Überlauf Lese-/Schreibzeiger
+} fifo_t;
+
+extern void fifo_init (fifo_t*, uint8_t* buf, const uint8_t size);
+extern uint8_t fifo_put (fifo_t*, const uint8_t data);
+extern uint8_t fifo_get_wait (fifo_t*);
+extern int fifo_get_nowait (fifo_t*);
+
+static inline uint8_t
+_inline_fifo_put (fifo_t *f, const uint8_t data)
+{
+	if (f->count >= f->size)
+		return 0;
+		
+	uint8_t * pwrite = f->pwrite;
+	
+	*(pwrite++) = data;
+	
+	uint8_t write2end = f->write2end;
+	
+	if (--write2end == 0)
+	{
+		write2end = f->size;
+		pwrite -= write2end;
+	}
+	
+	f->write2end = write2end;
+	f->pwrite = pwrite;
+
+	uint8_t sreg = SREG;
+	cli();
+	f->count++;
+	SREG = sreg;
+	
+	return 1;
+}
+
+static inline uint8_t 
+_inline_fifo_get (fifo_t *f)
+{
+	uint8_t *pread = f->pread;
+	uint8_t data = *(pread++);
+	uint8_t read2end = f->read2end;
+	
+	if (--read2end == 0)
+	{
+		read2end = f->size;
+		pread -= read2end;
+	}
+	
+	f->pread = pread;
+	f->read2end = read2end;
+	
+	uint8_t sreg = SREG;
+	cli();
+	f->count--;
+	SREG = sreg;
+	
+	return data;
+}
+
+#endif /* _FIFO_H_ */
+
diff --git a/firmware/i2c.c b/firmware/i2c.c
new file mode 100644
index 0000000..b7d55fe
--- /dev/null
+++ b/firmware/i2c.c
@@ -0,0 +1,216 @@
+/*
+ * Author: Benedikt Sauter
+ * Author: Peter Huewe, Hubert Hogel
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "common.h"
+#include "protocol.h"
+#include "i2c.h"
+
+void i2c_parser(char *buf) {
+answer[0] = buf[0];
+  switch(buf[0]){
+    case CMD_I2C_INIT:
+      i2c_init_usb();
+      break;
+    case CMD_I2C_DEINIT:         
+      i2c_deinit_usb();
+      break;
+    case CMD_I2C_SET_BITRATE:  
+      i2c_set_bitrate_usb((char)buf[2]);
+      break;
+    case CMD_I2C_SEND_BYTE:
+      i2c_send_byte_usb((int)buf[2]);
+      break;
+    case CMD_I2C_RECV_BYTES:
+      i2c_reveice_bytes_usb((int)buf[3],(int)buf[1]-4, (int)buf[2]);
+      break;
+    case CMD_I2C_SEND_START:
+      i2c_send_start_usb();
+      break;
+    case CMD_I2C_SEND_STOP:
+      i2c_send_stop_usb();
+      break;
+    default:
+      answer[0]=buf[0];
+      answer[1]=RSP_UNKOWN_CMD;
+      answer[2]=0;
+      CommandAnswer(3);
+  }
+}
+
+
+unsigned char i2c_get_twsr(void)
+{
+  return (TWSR & 0xF8);
+}
+
+
+void i2c_wait_for_complete(void)
+{
+  while (!(TWCR & (1<<TWINT))){
+    //do nothing just wait
+    ;
+  }
+}
+
+
+void i2c_init_usb(void)
+{
+  answer[0]=CMD_I2C_INIT;
+  answer[1]=(unsigned char)i2c_init();
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+int i2c_init(void)
+{
+  TWCR |= (1<<TWEN);
+  octopus.ports[12] = PIN_SCL;
+  octopus.ports[13] = PIN_SDA;
+  
+  return RSP_OK;
+}
+
+
+void i2c_deinit_usb(void)
+{
+  answer[0]=CMD_I2C_DEINIT;
+  answer[1]=(unsigned char)i2c_deinit();
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+int i2c_deinit(void)
+{
+  TWCR &= ~(1<<TWEN); // deinit
+  octopus.ports[12]=PIN_OUT;  // this is wrong!
+  octopus.ports[13]=PIN_OUT;  // this is wrong!
+
+  return RSP_OK;
+}
+
+
+void i2c_set_bitrate_usb(char bitrate) {
+  answer[0] = CMD_I2C_SET_BITRATE;
+  answer[1] = (unsigned char)i2c_set_bitrate(bitrate);
+  answer[2] =  '\0';
+  CommandAnswer(3);
+}
+
+int i2c_set_bitrate(char bitrate) {
+  TWBR = bitrate;
+
+  TWSR &= ~((1<<TWPS1) | (1<<TWPS0));
+  TWSR |= (0<<TWPS0);
+
+  return RSP_OK;
+}
+
+
+void i2c_send_start_usb(void)
+{
+  answer[0] = CMD_I2C_SEND_START;
+  answer[1] = (unsigned char)i2c_send_start();
+  answer[2] = '\0';
+  CommandAnswer(3);
+}
+
+int i2c_send_start(void)
+{
+  i2c_get_twsr();
+  TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
+  i2c_wait_for_complete();
+  return RSP_OK;
+}
+
+void i2c_send_stop_usb(void)
+{
+  answer[0]=CMD_I2C_SEND_STOP;
+  answer[1]=(unsigned char)i2c_send_stop();
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+
+int i2c_send_stop(void)
+{
+  TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTO);
+  return RSP_OK;
+}
+
+
+void i2c_send_byte_usb(char data)
+{
+  i2c_send_byte(data);
+
+  answer[0] = CMD_I2C_SEND_BYTE;
+  answer[1] = RSP_OK;
+  answer[2] = '\0';
+  CommandAnswer(3);
+}
+
+void i2c_send_byte(char data)
+{
+  TWDR = data;
+  TWCR = (1<<TWINT) | (1<<TWEN);
+  i2c_wait_for_complete();
+}
+
+void i2c_reveice_bytes_usb(int address,int len, int timeout)
+{
+    /* receive */
+    //i2c_get_twsr(); 
+    //print_hex(s);
+
+    //i2c_send_start();
+    /* slave address = 0x10; */
+    //buf[3] = (0x10 << 1)|1;  /* (00010000<<1) | R */
+    //i2c_send_byte( (0x10 << 1)|1);
+    
+    
+  answer[0]=CMD_I2C_RECV_BYTES;
+  answer[1]=RSP_OK;
+  answer[2]=1;
+  answer[3]=i2c_receive_byte();
+  CommandAnswer(5);
+}
+
+
+unsigned char i2c_receive_byte(void)
+{
+  TWCR = (1<<TWINT) | (1<<TWEN);
+  i2c_wait_for_complete();
+  return TWDR;
+}
+
diff --git a/firmware/i2c.h b/firmware/i2c.h
new file mode 100644
index 0000000..89834ea
--- /dev/null
+++ b/firmware/i2c.h
@@ -0,0 +1,68 @@
+/*
+ * Author: Benedikt Sauter
+ * Author: Peter Huewe, Hubert Hogel
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef I2C_H
+#define I2C_H
+
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+
+
+void i2c_parser(char *buf);
+
+int i2c_init(void);
+int i2c_deinit(void);
+
+int i2c_set_bitrate(char);
+int i2c_send_start(void);
+int i2c_send_stop(void);
+void i2c_send_byte(char data);
+unsigned char i2c_receive_byte(void);
+
+
+unsigned char i2c_get_twsr(void);
+void i2c_wait_for_complete(void);
+
+void i2c_init_usb(void);
+void i2c_deinit_usb(void);
+
+void i2c_set_bitrate_usb(char);
+void i2c_send_start_usb(void);
+void i2c_send_stop_usb(void);
+void i2c_send_byte_usb(char data);
+
+void i2c_reveice_bytes_usb(int address,int len, int timeout);
+
+
+#endif /* I2C_H */
diff --git a/firmware/io.c b/firmware/io.c
new file mode 100644
index 0000000..280f892
--- /dev/null
+++ b/firmware/io.c
@@ -0,0 +1,512 @@
+/*
+ * Copyright (c) 2007 Embedded Projects (http://www.embedded-projects.net)
+ * Author: Benedikt Sauter <sauter@
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES{} LOSS OF USE, 
+ * DATA, OR PROFITS{} OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "common.h"
+#include "protocol.h"
+#include "io.h"
+
+void io_parser(char *buf)
+{
+   switch(buf[0])
+   {
+      case CMD_IO_INIT_PORT:
+         io_init_port_usb((uint8_t)buf[2]);
+      break;
+      case CMD_IO_INIT_PIN:
+         io_init_usb((uint8_t)buf[2]);
+      break;
+      case CMD_IO_PORT_DIRECTION_IN:
+         io_set_port_direction_in_usb((uint8_t)buf[2],(uint8_t)buf[3]);
+      break;
+      case CMD_IO_PORT_DIRECTION_OUT:
+         io_set_port_direction_out_usb((uint8_t)buf[2],(uint8_t)buf[3]);
+      break;
+      case CMD_IO_PORT_DIRECTION_TRI:
+         io_set_port_direction_tri_usb((uint8_t)buf[2],(uint8_t)buf[3]);
+      break;
+      case CMD_IO_PIN_DIRECTION_IN:
+         io_set_pin_direction_in_usb((uint8_t)buf[2]);
+      break;
+      case CMD_IO_PIN_DIRECTION_OUT:
+         io_set_pin_direction_out_usb((uint8_t)buf[2]);
+      break;
+      case CMD_IO_PIN_DIRECTION_TRI:
+         io_set_pin_direction_tri_usb((uint8_t)buf[2]);
+      break;
+      case CMD_IO_PORT_SET:
+         io_set_port_usb((uint8_t)buf[2],(uint8_t)buf[3]);
+      break;
+      case CMD_IO_PORT_GET:
+         io_get_port_usb((uint8_t)buf[2]);
+      break;
+      case CMD_IO_PIN_SET:
+         io_set_pin_usb((uint8_t)buf[2],(uint8_t)buf[3]);
+      break;
+      case CMD_IO_PIN_GET:
+         io_get_pin_usb((uint8_t)buf[2]);
+      break;
+      default:
+         answer[0] = buf[0];
+         answer[1] = RSP_UNKOWN_CMD;
+         answer[2] = 0;
+         CommandAnswer(3);
+   }
+}
+
+uint8_t io_init(uint8_t pin) 
+{
+   if ((pin >= 1 && pin <= 19) || (pin >= 26 && pin <= 44))
+   {
+      io_set_pin_direction_out(pin);
+      return RSP_OK; 
+   }
+   return RSP_UNKOWN_PIN;
+}
+
+void io_init_usb(uint8_t pin)
+{
+   answer[0] = CMD_IO_INIT_PIN;
+   answer[1] = (unsigned char)io_init(pin);
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+
+uint8_t io_init_port(uint8_t port)
+{
+    /* TODO implement this function */
+    return RSP_OK;
+}
+
+void io_init_port_usb(uint8_t port)
+{
+   answer[0] = CMD_IO_INIT_PORT;
+   answer[1] = (unsigned char)io_init_port(port);
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+
+uint8_t io_set_port_direction_out(uint8_t port,uint8_t mask)
+{
+    /* TODO
+	switch (port)
+	{
+      case  1:   DDRB = mask; break;
+      case  2:   DDRC = mask; break; // PC7 = /CS (output) - do we need to mask this ?
+      case  3:   DDRD = mask; break;
+      case  4:   DDRE = mask; break; // PE4 = INT4 (input) - do we need to mask this ?
+      case  5:   DDRF = mask; break;
+      default:   return RSP_UNKOWN_PIN;
+	}
+    */
+	return RSP_OK;    
+}
+
+uint8_t io_set_port_direction_in(uint8_t port,uint8_t mask)
+{
+    /* TODO implement */
+    return RSP_OK;
+}
+
+uint8_t io_set_port_direction_tri(uint8_t port,uint8_t mask)
+{   
+    /* TODO implement */
+    return RSP_OK;
+}
+
+void io_set_port_direction_out_usb (uint8_t port, uint8_t mask)
+{
+   answer[0] = CMD_IO_PORT_DIRECTION_OUT;
+   answer[1] = (unsigned char)io_set_port_direction_out (port, mask);
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+
+void io_set_port_direction_in_usb(uint8_t port, uint8_t mask)
+{
+   answer[0] = CMD_IO_PORT_DIRECTION_IN;
+   answer[1] = (unsigned char)io_set_port_direction_in (port, mask);
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+void io_set_port_direction_tri_usb(uint8_t port, uint8_t mask)
+{
+   answer[0] = CMD_IO_PORT_DIRECTION_TRI;
+   answer[1] = (unsigned char)io_set_port_direction_tri (port, mask);
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+
+
+uint8_t io_set_pin_direction_out(uint8_t pin)
+{
+   if((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) )
+   {
+      octopus.ports[pin] = PIN_OUT;
+       
+      switch(pin)
+      {
+         case 1:   OX_DDR1 |=(1<<OX_P1); break;
+         case 2:   OX_DDR2 |=(1<<OX_P2); break;
+         case 3:   OX_DDR3 |=(1<<OX_P3); break;
+         case 4:   OX_DDR4 |=(1<<OX_P4); break;
+         case 5:   OX_DDR5 |=(1<<OX_P5); break;
+         case 6:   OX_DDR6 |=(1<<OX_P6); break;
+         case 7:   OX_DDR7 |=(1<<OX_P7); break;
+         case 8:   OX_DDR8 |=(1<<OX_P8); break;
+         case 9:   OX_DDR9 |=(1<<OX_P9); break;
+         case 10:   OX_DDR10 |=(1<<OX_P10); break;
+         case 11:   OX_DDR11 |=(1<<OX_P11); break;
+         case 12:   OX_DDR12 |=(1<<OX_P12); break;
+         case 13:   OX_DDR13 |=(1<<OX_P13); break;
+         case 14:   OX_DDR14 |=(1<<OX_P14); break;
+         case 15:   OX_DDR15 |=(1<<OX_P15); break;
+         case 16:   OX_DDR16 |=(1<<OX_P16); break;
+         case 17:   OX_DDR17 |=(1<<OX_P17); break;
+         case 18:   OX_DDR18 |=(1<<OX_P18); break;
+         case 19:   OX_DDR19 |=(1<<OX_P19); break;
+         
+         case 26:   OX_DDR26 |=(1<<OX_P26); break;
+         case 27:   OX_DDR27 |=(1<<OX_P27); break;
+         case 28:   OX_DDR28 |=(1<<OX_P28); break;
+         case 29:   OX_DDR29 |=(1<<OX_P29); break;
+         case 30:   OX_DDR30 |=(1<<OX_P30); break;
+         case 31:   OX_DDR31 |=(1<<OX_P31); break;
+         case 32:   OX_DDR32 |=(1<<OX_P32); break;
+         case 33:   OX_DDR33 |=(1<<OX_P33); break;
+         case 34:   OX_DDR34 |=(1<<OX_P34); break;
+         case 35:   OX_DDR35 |=(1<<OX_P35); break;
+         case 36:   OX_DDR36 |=(1<<OX_P36); break;
+         case 37:   OX_DDR37 |=(1<<OX_P37); break;
+         case 38:   OX_DDR38 |=(1<<OX_P38); break;
+         case 39:   OX_DDR39 |=(1<<OX_P39); break;
+         case 40:   OX_DDR40 |=(1<<OX_P40); break;
+         case 41:   OX_DDR41 |=(1<<OX_P41); break;
+         case 42:   OX_DDR42 |=(1<<OX_P42); break;
+         case 43:   OX_DDR43 |=(1<<OX_P43); break;
+         case 44:   OX_DDR44 |=(1<<OX_P44); break;
+         default:
+	      return RSP_UNKOWN_PIN;
+      }
+      return RSP_OK;
+   } 
+   else {
+      return RSP_UNKOWN_PIN;
+   }
+}
+
+uint8_t  io_set_pin_direction_in(uint8_t  pin)
+{
+   if((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) )
+   {
+      octopus.ports[pin] = PIN_IN;
+      switch (pin)
+      {
+         case 1:   OX_DDR1 &=~(1<<OX_P1); break;
+         case 2:   OX_DDR2 &=~(1<<OX_P2); break;
+         case 3:   OX_DDR3 &=~(1<<OX_P3); break;
+         case 4:   OX_DDR4 &=~(1<<OX_P4); break;
+         case 5:   OX_DDR5 &=~(1<<OX_P5); break;
+         case 6:   OX_DDR6 &=~(1<<OX_P6); break;
+         case 7:   OX_DDR7 &=~(1<<OX_P7); break;
+         case 8:   OX_DDR8 &=~(1<<OX_P8); break;
+         case 9:   OX_DDR9 &=~(1<<OX_P9); break;
+         case 10:   OX_DDR10 &=~(1<<OX_P10); break;
+         case 11:   OX_DDR11 &=~(1<<OX_P11); break;
+         case 12:   OX_DDR12 &=~(1<<OX_P12); break;
+         case 13:   OX_DDR13 &=~(1<<OX_P13); break;
+         case 14:   OX_DDR14 &=~(1<<OX_P14); break;
+         case 15:   OX_DDR15 &=~(1<<OX_P15); break;
+         case 16:   OX_DDR16 &=~(1<<OX_P16); break;
+         case 17:   OX_DDR17 &=~(1<<OX_P17); break;
+         case 18:   OX_DDR18 &=~(1<<OX_P18); break;
+         case 19:   OX_DDR19 &=~(1<<OX_P19); break;
+         
+         case 26:   OX_DDR26 &=~(1<<OX_P26); break;
+         case 27:   OX_DDR27 &=~(1<<OX_P27); break;
+         case 28:   OX_DDR28 &=~(1<<OX_P28); break;
+         case 29:   OX_DDR29 &=~(1<<OX_P29); break;
+         case 30:   OX_DDR30 &=~(1<<OX_P30); break;
+         case 31:   OX_DDR31 &=~(1<<OX_P31); break;
+         case 32:   OX_DDR32 &=~(1<<OX_P32); break;
+         case 33:   OX_DDR33 &=~(1<<OX_P33); break;
+         case 34:   OX_DDR34 &=~(1<<OX_P34); break;
+         case 35:   OX_DDR35 &=~(1<<OX_P35); break;
+         case 36:   OX_DDR36 &=~(1<<OX_P36); break;
+         case 37:   OX_DDR37 &=~(1<<OX_P37); break;
+         case 38:   OX_DDR38 &=~(1<<OX_P38); break;
+         case 39:   OX_DDR39 &=~(1<<OX_P39); break;
+         case 40:   OX_DDR40 &=~(1<<OX_P40); break;
+         case 41:   OX_DDR41 &=~(1<<OX_P41); break;
+         case 42:   OX_DDR42 &=~(1<<OX_P42); break;
+         case 43:   OX_DDR43 &=~(1<<OX_P43); break;
+         case 44:   OX_DDR44 &=~(1<<OX_P44); break;
+         default:
+	         return RSP_UNKOWN_PIN;
+      }
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_UNKOWN_PIN;
+   }
+}
+
+uint8_t  io_set_pin_direction_tri(uint8_t  pin)
+{
+   if ((pin >= 1 && pin <= 19) || (pin >=26 && pin <=44) )
+   {
+      octopus.ports[pin] = PIN_TRI;
+      io_set_pin_direction_out(pin);
+      io_set_pin(pin,1);
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_UNKOWN_PIN;
+   }
+}
+
+
+void io_set_pin_direction_out_usb(uint8_t  pin)
+{
+   answer[0] = CMD_IO_PIN_DIRECTION_OUT;
+   answer[1] = (unsigned char)io_set_pin_direction_out(pin);
+   answer[2] = 0;  
+   CommandAnswer(3);
+}
+
+void io_set_pin_direction_in_usb(uint8_t  pin)
+{
+   answer[0] = CMD_IO_PIN_DIRECTION_IN;
+   answer[1] = (unsigned char)io_set_pin_direction_in(pin);
+   answer[2] = 0;  
+   CommandAnswer(3);
+}
+
+void io_set_pin_direction_tri_usb(uint8_t  pin)
+{
+   answer[0] = CMD_IO_PIN_DIRECTION_TRI;
+   answer[1] = (unsigned char)io_set_pin_direction_tri(pin);
+   answer[2] = 0;  
+   CommandAnswer(3);
+}
+
+
+
+uint8_t io_get_port (uint8_t port, uint8_t *pvalue)
+{
+	uint8_t value;
+
+	*pvalue = 0;
+	switch (port)
+	{
+      case  1:   value = PINB; break;
+      case  2:   value = PINC; break; /* PC7 = /CS */
+      case  3:   value = PIND; break;
+      case  4:   value = PINE; break; /* PE4 = INTR */
+      case  5:   value = PINF; break;
+      default:   return RSP_UNKOWN_PORT;
+	}
+	*pvalue = value;
+	return RSP_OK;
+}
+
+void io_get_port_usb (uint8_t port)
+{
+	uint8_t value;
+
+    answer[0] = CMD_IO_PORT_GET;
+	answer[1] = (unsigned char)io_get_port (port, &value);
+	answer[2] = (unsigned char)value;
+	CommandAnswer(3);
+}
+
+uint8_t io_set_port(uint8_t port, uint8_t value)
+{
+	switch (port)
+	{
+      case  1:   PORTB = value; break;
+      case  2:   PORTC = value; break; // PC7 = /CS
+      case  3:   PORTD = value; break;
+      case  4:   PORTE = value; break; // PE4 = INTR 
+      case  5:   PORTF = value; break;
+      default:   return RSP_UNKOWN_PIN;
+	}
+	return RSP_OK;
+}
+
+void io_set_port_usb (uint8_t port, uint8_t value)
+{
+	answer[0] = CMD_IO_PORT_SET;
+	answer[1] = (unsigned char)io_set_port (port, value);
+	answer[2] = 0;
+	CommandAnswer(3);
+}
+
+
+void io_set_pin_usb(uint8_t pin, uint8_t value)
+{
+   answer[0] = CMD_IO_PIN_SET;
+   answer[1] = (unsigned char)io_set_pin(pin,value);
+   answer[2] = 0;
+   CommandAnswer(3);
+}
+
+
+uint8_t io_set_pin(uint8_t pin, uint8_t value)
+{
+   if(octopus.ports[pin] == PIN_OUT)
+   {
+      switch(pin)
+      {
+         case 1:  if(value) OX_PORT1 |=(1<<OX_P1); else OX_PORT1 &=~(1<<OX_P1); break;
+         case 2:  if(value) OX_PORT2 |=(1<<OX_P2); else OX_PORT2 &=~(1<<OX_P2); break;
+         case 3:  if(value) OX_PORT3 |=(1<<OX_P3); else OX_PORT3 &=~(1<<OX_P3); break;
+         case 4:  if(value) OX_PORT4 |=(1<<OX_P4); else OX_PORT4 &=~(1<<OX_P4); break;
+         case 5:  if(value) OX_PORT5 |=(1<<OX_P5); else OX_PORT5 &=~(1<<OX_P5); break;
+         case 6:  if(value) OX_PORT6 |=(1<<OX_P6); else OX_PORT6 &=~(1<<OX_P6); break;
+         case 7:  if(value) OX_PORT7 |=(1<<OX_P7); else OX_PORT7 &=~(1<<OX_P7); break;
+         case 8:  if(value) OX_PORT8 |=(1<<OX_P8); else OX_PORT8 &=~(1<<OX_P8); break;
+         case 9:  if(value) OX_PORT9 |=(1<<OX_P9); else OX_PORT9 &=~(1<<OX_P9); break;
+         case 10:  if(value) OX_PORT10 |=(1<<OX_P10); else OX_PORT10 &=~(1<<OX_P10); break;
+         case 11:  if(value) OX_PORT11 |=(1<<OX_P11); else OX_PORT11 &=~(1<<OX_P11); break;
+         case 12:  if(value) OX_PORT12 |=(1<<OX_P12); else OX_PORT12 &=~(1<<OX_P12); break;
+         case 13:  if(value) OX_PORT13 |=(1<<OX_P13); else OX_PORT13 &=~(1<<OX_P13); break;
+         case 14:  if(value) OX_PORT14 |=(1<<OX_P14); else OX_PORT14 &=~(1<<OX_P14); break;
+         case 15:  if(value) OX_PORT15 |=(1<<OX_P15); else OX_PORT15 &=~(1<<OX_P15); break;
+         case 16:  if(value) OX_PORT16 |=(1<<OX_P16); else OX_PORT16 &=~(1<<OX_P16); break;
+         case 17:  if(value) OX_PORT17 |=(1<<OX_P17); else OX_PORT17 &=~(1<<OX_P17); break;
+         case 18:  if(value) OX_PORT18 |=(1<<OX_P18); else OX_PORT18 &=~(1<<OX_P18); break;
+         case 19:  if(value) OX_PORT19 |=(1<<OX_P19); else OX_PORT19 &=~(1<<OX_P19); break;
+         
+         case 26:  if(value) OX_PORT26 |=(1<<OX_P26); else OX_PORT26 &=~(1<<OX_P26); break;
+         case 27:  if(value) OX_PORT27 |=(1<<OX_P27); else OX_PORT27 &=~(1<<OX_P27); break;
+         case 28:  if(value) OX_PORT28 |=(1<<OX_P28); else OX_PORT28 &=~(1<<OX_P28); break;
+         case 29:  if(value) OX_PORT29 |=(1<<OX_P29); else OX_PORT29 &=~(1<<OX_P29); break;
+         case 30:  if(value) OX_PORT30 |=(1<<OX_P30); else OX_PORT30 &=~(1<<OX_P30); break;
+         case 31:  if(value) OX_PORT31 |=(1<<OX_P31); else OX_PORT31 &=~(1<<OX_P31); break;
+         case 32:  if(value) OX_PORT32 |=(1<<OX_P32); else OX_PORT32 &=~(1<<OX_P32); break;
+         case 33:  if(value) OX_PORT33 |=(1<<OX_P33); else OX_PORT33 &=~(1<<OX_P33); break;
+         case 34:  if(value) OX_PORT34 |=(1<<OX_P34); else OX_PORT34 &=~(1<<OX_P34); break;
+         case 35:  if(value) OX_PORT35 |=(1<<OX_P35); else OX_PORT35 &=~(1<<OX_P35); break;
+         case 36:  if(value) OX_PORT36 |=(1<<OX_P36); else OX_PORT36 &=~(1<<OX_P36); break;
+         case 37:  if(value) OX_PORT37 |=(1<<OX_P37); else OX_PORT37 &=~(1<<OX_P37); break;
+         case 38:  if(value) OX_PORT38 |=(1<<OX_P38); else OX_PORT38 &=~(1<<OX_P38); break;
+         case 39:  if(value) OX_PORT39 |=(1<<OX_P39); else OX_PORT39 &=~(1<<OX_P39); break;
+         case 40:  if(value) OX_PORT40 |=(1<<OX_P40); else OX_PORT40 &=~(1<<OX_P40); break;
+         case 41:  if(value) OX_PORT41 |=(1<<OX_P41); else OX_PORT41 &=~(1<<OX_P41); break;
+         case 42:  if(value) OX_PORT42 |=(1<<OX_P42); else OX_PORT42 &=~(1<<OX_P42); break;
+         case 43:  if(value) OX_PORT43 |=(1<<OX_P43); else OX_PORT43 &=~(1<<OX_P43); break;
+         case 44:  if(value) OX_PORT44 |=(1<<OX_P44); else OX_PORT44 &=~(1<<OX_P44); break;
+         default:
+	         return RSP_UNKOWN_PIN;
+      }
+
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_WRONG_PIN_CONFIG;
+   } 
+}
+
+
+void io_get_pin_usb(uint8_t pin)
+{
+   uint8_t value;
+   
+   answer[0] = CMD_IO_PIN_GET;
+   answer[1] = (unsigned char)io_get_pin(pin,&value);  
+   answer[2] = (unsigned char)value;  
+   CommandAnswer(3);
+}
+
+uint8_t io_get_pin(uint8_t pin, uint8_t *value)
+{
+	*value = 0;
+	if (octopus.ports[pin] == PIN_IN)
+	{
+		switch (pin)
+		{
+		case  1:  if (OX_PIN1 & (1<<OX_P1)) *value=1; break;
+		case  2:  if (OX_PIN2 & (1<<OX_P2)) *value=1; break;
+		case  3:  if (OX_PIN3 & (1<<OX_P3)) *value=1; break;
+		case  4:  if (OX_PIN4 & (1<<OX_P4)) *value=1; break;
+		case  5:  if (OX_PIN5 & (1<<OX_P5)) *value=1; break;
+		case  6:  if (OX_PIN6 & (1<<OX_P6)) *value=1; break;
+        case  7:  if (OX_PIN7 & (1<<OX_P7)) *value=1; break;
+		case  8:  if (OX_PIN8 & (1<<OX_P8)) *value=1; break;
+		case  9:  if (OX_PIN9 & (1<<OX_P9)) *value=1; break;
+		case 10:  if (OX_PIN10 & (1<<OX_P10)) *value=1; break;
+		case 11:  if (OX_PIN11 & (1<<OX_P11)) *value=1; break;
+		case 12:  if (OX_PIN12 & (1<<OX_P12)) *value=1; break;
+		case 13:  if (OX_PIN13 & (1<<OX_P13)) *value=1; break;
+		case 14:  if (OX_PIN14 & (1<<OX_P14)) *value=1; break;
+		case 15:  if (OX_PIN15 & (1<<OX_P15)) *value=1; break;
+		case 16:  if (OX_PIN16 & (1<<OX_P16)) *value=1; break;
+		case 17:  if (OX_PIN17 & (1<<OX_P17)) *value=1; break;
+		case 18:  if (OX_PIN18 & (1<<OX_P18)) *value=1; break;
+		case 19:  if (OX_PIN19 & (1<<OX_P19)) *value=1; break;
+		                        
+		case 26:  if (OX_PIN26 & (1<<OX_P26)) *value=1; break;
+		case 27:  if (OX_PIN27 & (1<<OX_P27)) *value=1; break;
+		case 28:  if (OX_PIN28 & (1<<OX_P28)) *value=1; break;
+		case 29:  if (OX_PIN29 & (1<<OX_P29)) *value=1; break;
+		case 30:  if (OX_PIN30 & (1<<OX_P30)) *value=1; break;
+		case 31:  if (OX_PIN31 & (1<<OX_P31)) *value=1; break;
+		case 32:  if (OX_PIN32 & (1<<OX_P32)) *value=1; break;
+		case 33:  if (OX_PIN33 & (1<<OX_P33)) *value=1; break;
+		case 34:  if (OX_PIN34 & (1<<OX_P34)) *value=1; break;
+		case 35:  if (OX_PIN35 & (1<<OX_P35)) *value=1; break;
+		case 36:  if (OX_PIN36 & (1<<OX_P36)) *value=1; break;
+		case 37:  if (OX_PIN37 & (1<<OX_P37)) *value=1; break;
+		case 38:  if (OX_PIN38 & (1<<OX_P38)) *value=1; break;
+		case 39:  if (OX_PIN39 & (1<<OX_P39)) *value=1; break;
+		case 40:  if (OX_PIN40 & (1<<OX_P40)) *value=1; break;
+		case 41:  if (OX_PIN41 & (1<<OX_P41)) *value=1; break;
+		case 42:  if (OX_PIN42 & (1<<OX_P42)) *value=1; break;
+		case 43:  if (OX_PIN43 & (1<<OX_P43)) *value=1; break;
+		case 44:  if (OX_PIN44 & (1<<OX_P44)) *value=1; break;
+		default:  return RSP_UNKOWN_PIN;
+		}
+		return RSP_OK;
+	}
+	else
+	{
+		return RSP_WRONG_PIN_CONFIG;
+	}
+}
+
+
diff --git a/firmware/io.h b/firmware/io.h
new file mode 100644
index 0000000..f86314f
--- /dev/null
+++ b/firmware/io.h
@@ -0,0 +1,269 @@
+/*
+ * Copyright (c) 2007 Embedded Projects (http://www.embedded-projecs.net)
+ * Author: Benedikt Sauter <sauter@embedded-projects.net
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef IO_H
+#define IO_H
+
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+
+
+#define OX_PIN1 PINE
+#define OX_PIN2 PINE
+#define OX_PIN3 PINE
+#define OX_PIN4 PINB
+#define OX_PIN5 PINB
+#define OX_PIN6 PINB
+#define OX_PIN7 PINB
+#define OX_PIN8 PINB
+#define OX_PIN9 PINB
+#define OX_PIN10 PINB
+#define OX_PIN11 PINB
+#define OX_PIN12 PIND
+#define OX_PIN13 PIND
+#define OX_PIN14 PIND
+#define OX_PIN15 PIND
+#define OX_PIN16 PIND
+#define OX_PIN17 PIND
+#define OX_PIN18 PIND
+#define OX_PIN19 PIND
+
+#define OX_PIN26 PINC
+#define OX_PIN27 PINC
+#define OX_PIN28 PINC
+#define OX_PIN29 PINC
+#define OX_PIN30 PINC
+#define OX_PIN31 PINC
+#define OX_PIN32 PINC
+#define OX_PIN33 PINF
+#define OX_PIN34 PINF
+#define OX_PIN35 PINF
+#define OX_PIN36 PINF
+#define OX_PIN37 PINF
+#define OX_PIN38 PINF
+#define OX_PIN39 PINF
+#define OX_PIN40 PINF
+#define OX_PIN41 PINE
+#define OX_PIN42 PINE
+#define OX_PIN43 PINE
+#define OX_PIN44 PINE
+
+#define OX_PORT1 PORTE
+#define OX_PORT2 PORTE
+#define OX_PORT3 PORTE
+#define OX_PORT4 PORTB
+#define OX_PORT5 PORTB
+#define OX_PORT6 PORTB
+#define OX_PORT7 PORTB
+#define OX_PORT8 PORTB
+#define OX_PORT9 PORTB
+#define OX_PORT10 PORTB
+#define OX_PORT11 PORTB
+#define OX_PORT12 PORTD
+#define OX_PORT13 PORTD
+#define OX_PORT14 PORTD
+#define OX_PORT15 PORTD
+#define OX_PORT16 PORTD
+#define OX_PORT17 PORTD
+#define OX_PORT18 PORTD
+#define OX_PORT19 PORTD
+
+#define OX_PORT26 PORTC
+#define OX_PORT27 PORTC
+#define OX_PORT28 PORTC
+#define OX_PORT29 PORTC
+#define OX_PORT30 PORTC
+#define OX_PORT31 PORTC
+#define OX_PORT32 PORTC
+#define OX_PORT33 PORTF
+#define OX_PORT34 PORTF
+#define OX_PORT35 PORTF
+#define OX_PORT36 PORTF
+#define OX_PORT37 PORTF
+#define OX_PORT38 PORTF
+#define OX_PORT39 PORTF
+#define OX_PORT40 PORTF
+#define OX_PORT41 PORTE
+#define OX_PORT42 PORTE
+#define OX_PORT43 PORTE
+#define OX_PORT44 PORTE
+
+#define OX_DDR1 DDRE
+#define OX_DDR2 DDRE
+#define OX_DDR3 DDRE
+#define OX_DDR4 DDRB
+#define OX_DDR5 DDRB
+#define OX_DDR6 DDRB
+#define OX_DDR7 DDRB
+#define OX_DDR8 DDRB
+#define OX_DDR9 DDRB
+#define OX_DDR10 DDRB
+#define OX_DDR11 DDRB
+#define OX_DDR12 DDRD
+#define OX_DDR13 DDRD
+#define OX_DDR14 DDRD
+#define OX_DDR15 DDRD
+#define OX_DDR16 DDRD
+#define OX_DDR17 DDRD
+#define OX_DDR18 DDRD
+#define OX_DDR19 DDRD
+
+#define OX_DDR26 DDRC
+#define OX_DDR27 DDRC
+#define OX_DDR28 DDRC
+#define OX_DDR29 DDRC
+#define OX_DDR30 DDRC
+#define OX_DDR31 DDRC
+#define OX_DDR32 DDRC
+#define OX_DDR33 DDRF
+#define OX_DDR34 DDRF
+#define OX_DDR35 DDRF
+#define OX_DDR36 DDRF
+#define OX_DDR37 DDRF
+#define OX_DDR38 DDRF
+#define OX_DDR39 DDRF
+#define OX_DDR40 DDRF
+#define OX_DDR41 DDRE
+#define OX_DDR42 DDRE
+#define OX_DDR43 DDRE
+#define OX_DDR44 DDRE
+
+
+#define OX_P1 PE5
+#define OX_P2 PE6
+#define OX_P3 PE7
+#define OX_P4 PB0
+#define OX_P5 PB1
+#define OX_P6 PB2
+#define OX_P7 PB3
+#define OX_P8 PB4
+#define OX_P9 PB5
+#define OX_P10 PB6
+#define OX_P11 PB7
+#define OX_P12 PD0
+#define OX_P13 PD1
+#define OX_P14 PD2
+#define OX_P15 PD3
+#define OX_P16 PD4
+#define OX_P17 PD5
+#define OX_P18 PD6
+#define OX_P19 PD7
+
+#define OX_P26 PC0
+#define OX_P27 PC1
+#define OX_P28 PC2
+#define OX_P29 PC3
+#define OX_P30 PC4
+#define OX_P31 PC5
+#define OX_P32 PC6
+#define OX_P33 PF7
+#define OX_P34 PF6
+#define OX_P35 PF5
+#define OX_P36 PF4
+#define OX_P37 PF3
+#define OX_P38 PF2
+#define OX_P39 PF1
+#define OX_P40 PF0
+#define OX_P41 PE0
+#define OX_P42 PE1
+#define OX_P43 PE2
+#define OX_P44 PE3
+
+
+
+void io_parser(char *buf);
+
+uint8_t io_init(uint8_t pin);
+void io_init_usb(uint8_t pin);
+
+uint8_t io_init_port(uint8_t port);
+void io_init_port_usb(uint8_t port);
+
+uint8_t io_set_port_direction_out(uint8_t port,uint8_t mask);
+uint8_t io_set_port_direction_in(uint8_t port, uint8_t mask);
+uint8_t io_set_port_direction_tri(uint8_t port, uint8_t mask);
+
+
+void io_set_port_direction_out_usb (uint8_t port, uint8_t mask);
+void io_set_port_direction_in_usb(uint8_t port, uint8_t mask);
+void io_set_port_direction_tri_usb(uint8_t port, uint8_t mask);
+
+uint8_t io_set_pin_direction_out(uint8_t pin);
+uint8_t io_set_pin_direction_in(uint8_t pin);
+uint8_t io_set_pin_direction_tri(uint8_t pin);
+
+void io_set_pin_direction_out_usb(uint8_t pin);
+void io_set_pin_direction_in_usb(uint8_t pin);
+void io_set_pin_direction_tri_usb(uint8_t pin);
+
+uint8_t io_get_port (uint8_t port, uint8_t *pvalue);
+void io_get_port_usb (uint8_t port);
+
+
+uint8_t io_set_port(uint8_t port, uint8_t value);
+void io_set_port_usb (uint8_t port, uint8_t value);
+
+uint8_t io_set_pin(uint8_t pin, uint8_t value); 
+void io_set_pin_usb(uint8_t pin, uint8_t value); 
+
+uint8_t io_get_pin(uint8_t pin, uint8_t *value);
+void io_get_pin_usb(uint8_t pin);
+
+
+#define PORT(port,pin)     (PORT##port)
+#define DDR(port,pin)      (DDR##port)
+#define PIN(port,pin)      (PIN##port)
+#define PIN_MASK(port,pin) (1<<(pin))
+
+/* Set a pin */
+#define SETPIN(pindef)      PORT pindef |= PIN_MASK pindef
+
+/* Clear a pin */
+#define CLRPIN(pindef)      PORT pindef &= ~PIN_MASK pindef
+
+/* Get pin value */
+#define GETPIN(pindef)      (PIN pindef & PIN_MASK pindef)
+
+/* Toggle a pin */
+#define TOGGLEPIN(pindef)   PIN pindef |= PIN_MASK pindef
+
+/* Set a IO to output */
+#define SET_DDR_OUT(pindef) DDR pindef |= PIN_MASK pindef
+
+/* Set a IO to input */
+#define SET_DDR_IN(pindef)  DDR pindef &= ~PIN_MASK pindef
+
+
+
+#endif /* IO_H */
diff --git a/firmware/main.c b/firmware/main.c
new file mode 100644
index 0000000..ef802a2
--- /dev/null
+++ b/firmware/main.c
@@ -0,0 +1,287 @@
+#include <stdlib.h>
+#include <avr/io.h>
+#include <stdint.h>
+#include <avr/interrupt.h>
+#include <inttypes.h>
+#include <avr/pgmspace.h>
+
+#include "usbn2mc.h"
+#define F_CPU 16000000UL
+#include <util/delay.h>
+
+#include "../usbn2mc/main/usbnapi.h"
+#include "usbn2mc.h"
+
+#include "common.h"
+#include "protocol.h"
+#include "wait.h"
+
+#include "io.h"
+#include "adc.h"
+#include "i2c.h"
+#include "spi.h"
+#include "pwm.h"
+#include "uart.h"
+
+#include "93c46.h"
+#include "debug.h"
+
+//#define DEBUG 1
+
+
+
+SIGNAL (SIG_INTERRUPT4)
+{
+  USBNInterrupt ();
+}
+
+SIGNAL (SIG_UART0_RECV)
+{
+
+}
+
+/* internal timer */
+SIGNAL (SIG_OVERFLOW0)
+{
+  common_scheduler ();
+  TCNT0 = octopus.latency_timer;
+}
+
+
+void
+USBCommandRX (char *buf)
+{
+  int i;
+
+#ifdef DEBUG
+  debug_write("get \0");
+  debug_SendHex(buf[1]);
+  debug_write("\r\n");
+#endif
+
+  /* a paket can be max 255 bytes */
+  if (octopus.long_rx_cmd == 1)
+	 {
+#ifdef DEBUG
+  debug_write("get next\r\n");
+#endif
+		for (i = 0; i < 64; i++)
+		  request[octopus.long_rx_index + i] = buf[i];
+
+		octopus.long_rx_index = octopus.long_rx_index + i;
+
+		if (octopus.long_rx_index >= octopus.long_rx_bytes)
+		  {
+			 octopus.long_rx_cmd = 0;
+			 USBMessageIn (request);
+		  }
+	 }
+  else
+	 {
+#ifdef DEBUG
+		debug_write("get and execute\r\n\0");
+#endif
+		octopus.long_rx_index = 0;
+		for (i = 0; i < 64; i++)
+		  request[octopus.long_rx_index + i] = buf[i];
+
+		octopus.long_rx_index = i;
+
+		if ((unsigned int) buf[1] < 64)
+		  {
+			 octopus.long_rx_cmd = 0;
+			 USBMessageIn (request);
+		  }
+		else
+		  {
+			 octopus.long_rx_cmd = 1;
+			 octopus.long_rx_bytes = (unsigned int) buf[1];
+		  }
+	 }
+}
+
+/* is called when received data from pc */
+void
+USBMessageIn (char *buf)
+{
+  octopus.long_index = 0;
+  octopus.long_running = 0;
+
+  STATUS_LED_on;
+#ifdef DEBUG
+  debug_write("parser\r\n\0");
+#endif
+  int check = ((int) buf[0] >> 4) & 0x0F;
+
+  switch (check)
+	 {
+	 case 0:
+		if (buf[0] == CMD_EXTERNAL_DEVICE)
+		  {
+			 switch (buf[2])
+				{
+				case CMD_EXTERNAL_93C46:
+				  flash_93c46_parser (buf);
+				  break;
+				default:
+				  ;
+				}
+		  }
+		else
+		  common_parser (buf);
+		break;
+	 case 1:
+		io_parser (buf);
+		break;
+	 case 2:
+		adc_parser (buf);
+		break;
+	 case 3:
+		i2c_parser (buf);
+		break;
+	 case 4:
+		spi_parser (buf);
+		break;
+	 case 5:
+		pwm_parser (buf);
+		break;
+         case 6:
+               uart_parser (buf);
+	       break;
+	 default:
+		answer[0] = buf[0];
+		answer[1] = RSP_UNKOWN_CMD;
+		answer[2] = 0;
+		CommandAnswer (3);
+	 }
+
+  STATUS_LED_off;
+}
+
+
+void
+CommandAnswer (unsigned int length)
+{
+  int i;
+
+  // if first packet of a lang message
+  if (length > 64 && octopus.long_running == 0)
+	 {
+		octopus.long_index = 0;
+		octopus.long_bytes = length;
+		octopus.long_running = 1;
+		length = 64;
+	 }
+
+  USBNWrite (FIFOTXC1, FLUSH);
+
+  for (i = 0; i < length; i++)
+	 USBNWrite (TXD1, answer[octopus.long_index + i]);
+
+  /* control togl bit */
+  if (octopus.datatogl == 1)
+	 {
+		USBNWrite (FIFOTXC1, TX_LAST + TX_EN + TX_TOGL);
+		octopus.datatogl = 0;
+	 }
+  else
+	 {
+		USBNWrite (FIFOTXC1, TX_LAST + TX_EN);
+		octopus.datatogl = 1;
+	 }
+}
+
+
+void
+CommandAnswerRest (void)
+{
+  if (octopus.long_running == 1)
+	 {
+		if (octopus.long_index < octopus.long_bytes)
+		  {
+			 int dif = octopus.long_bytes - octopus.long_index;
+			 octopus.long_index = octopus.long_index + 64;
+
+			 if (dif > 64)
+				CommandAnswer (64);
+
+			 else
+				{
+				  /* last packet */
+				  CommandAnswer (dif);
+				  octopus.long_running = 0;
+				}
+		  }
+	 }
+}
+
+
+int
+main (void)
+{
+  DDRB = 0xFF;
+  PORTB = 0xFF;
+
+
+  int interf;
+  int conf;
+
+
+  STATUS_LED_off;
+
+  USBNInit ();
+
+  // setup your device
+  USBNDeviceVendorID (0x1781);  // 0x0400 is the number from national
+  USBNDeviceProductID (0x0c65); // add your product id
+  USBNDeviceBCDDevice (0x0001); // you can use it as version e.g. version 1.02 
+
+  char lang[] = { 0x09, 0x04, 0x00 };
+  _USBNAddStringDescriptor (lang);	// language descriptor
+
+
+  /* Attention!!! Descriptors  must be a factor of 8 (error in the stack) */
+  USBNDeviceManufacture ("EmbeddedProjects");
+  USBNDeviceProduct ("OctopusUSB Interface Converter and I/O Extension");
+  USBNDeviceSerialNumber ("20081108");
+
+  conf = USBNAddConfiguration ();
+
+  USBNConfigurationPower (conf, 100);
+
+  interf = USBNAddInterface (conf, 0);
+  USBNAlternateSetting (conf, interf, 0);
+
+  /* communication */
+  USBNAddInEndpoint (conf, interf, 1, 0x01, BULK, 64, 0, &CommandAnswerRest);
+  USBNAddOutEndpoint (conf, interf, 1, 0x01, BULK, 64, 0, &USBCommandRX);
+
+  USBNInitMC ();
+
+  octopus.datatogl = 0;
+  octopus.long_rx_cmd = 0;
+
+  /* start usb chip */
+  USBNStart ();
+
+  /* UARTInit2(38400,8,'N',1); */
+  #ifdef DEBUG
+    debug_init();
+  #endif
+
+  /* hello world led pattern */
+  DDRC  = 0xFF;
+  PORTC = 0xAA;
+  delay_250ms ();
+  PORTC = 0xD5;
+  delay_250ms ();
+  PORTC = 0x80;
+
+  // testpin
+  //PORTB = 0xFF;
+  //PORTB = 0x00;
+
+  while (1);
+
+  return 0;
+}
diff --git a/firmware/main.hex b/firmware/main.hex
new file mode 100644
index 0000000..3d38158
--- /dev/null
+++ b/firmware/main.hex
@@ -0,0 +1,844 @@
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diff --git a/firmware/octopus.hex b/firmware/octopus.hex
new file mode 100644
index 0000000..1dde146
--- /dev/null
+++ b/firmware/octopus.hex
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diff --git a/firmware/octopus_can.hex b/firmware/octopus_can.hex
new file mode 100644
index 0000000..aa546f0
--- /dev/null
+++ b/firmware/octopus_can.hex
@@ -0,0 +1,842 @@
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diff --git a/firmware/protocol.h b/firmware/protocol.h
new file mode 100644
index 0000000..fce8eda
--- /dev/null
+++ b/firmware/protocol.h
@@ -0,0 +1,94 @@
+/**
+ * Protocol is under GNU/GPL2!
+ * Author: Benedikt Sauter sauter@empronix.com, 2007-09-02
+ * 
+ * BYTE	      command
+ * BYTE	      parameter
+ * BYTE	      length body <x>
+ * <x> BYTES  body
+ *
+ * max body length = 60 bytes
+ */
+
+/**
+ * The first byte in the body of an response packet 
+ * is always a value from the next table.
+ */
+
+#define RSP_OK                          0x01
+#define RSP_ERROR                       0x02
+#define RSP_UNKOWN_CMD                  0x03
+#define RSP_UNKOWN_PIN                  0x04
+#define RSP_UNKOWN_PORT                 0x05
+#define RSP_WRONG_PIN_CONFIG            0x06
+#define RSP_IMPOSSIBLE_PIN_CONFIG       0x07
+#define RSP_TIMEOUT                     0x08
+
+
+#define CMD_LATENCY_TIMER_SET           0x01
+#define CMD_LATENCY_TIMER_GET           0x02
+#define CMD_GET_HW_ID                   0x03
+#define CMD_EXTERNAL_DEVICE             0x06
+
+#define CMD_IO_INIT_PORT                0x10
+#define CMD_IO_INIT_PIN                 0x11
+#define CMD_IO_PORT_DIRECTION_IN        0x12
+#define CMD_IO_PORT_DIRECTION_OUT       0x13
+#define CMD_IO_PORT_DIRECTION_TRI       0x14
+#define CMD_IO_PIN_DIRECTION_IN         0x15
+#define CMD_IO_PIN_DIRECTION_OUT        0x16
+#define CMD_IO_PIN_DIRECTION_TRI        0x17
+#define CMD_IO_PORT_SET                 0x18
+#define CMD_IO_PORT_GET                 0x19
+#define CMD_IO_PIN_SET                  0x1A
+#define CMD_IO_PIN_GET                  0x1B
+
+#define CMD_ADC_INIT_PIN                0x20
+#define CMD_ADC_GET                     0x21
+#define CMD_ADC_REF                     0x22
+ 
+#define CMD_I2C_INIT                    0x30
+#define CMD_I2C_DEINIT                  0x31
+#define CMD_I2C_SET_BITRATE             0x32
+#define CMD_I2C_SEND_BYTE               0x34
+#define CMD_I2C_RECV_BYTES              0x35
+#define CMD_I2C_SEND_START              0x36        
+#define CMD_I2C_SEND_STOP               0x37       
+
+#define CMD_SPI_INIT                    0x40
+#define CMD_SPI_DEINIT                  0x41
+#define CMD_SPI_SPEED                   0x42
+#define CMD_SPI_SEND                    0x43
+#define CMD_SPI_RECV                    0x44
+#define CMD_SPI_SEND_AND_RECV           0x45
+
+
+#define CMD_PWM_INIT_PIN                0x50
+#define CMD_PWM_DEINIT_PIN              0x51
+#define CMD_PWM_SPEED                   0x52
+#define CMD_PWM_VALUE                   0x53
+
+
+#define CMD_UART_INIT			0x60
+#define CMD_UART_DEINIT			0x61
+#define CMD_UART_BAUDRATE		0x62
+#define CMD_UART_STOPBITS		0x63
+#define CMD_UART_DATABITS		0x64
+#define CMD_UART_PARITY			0x65
+#define CMD_UART_RECV			0x67
+#define CMD_UART_SEND			0x68
+
+
+#define PARAM_ADC_AREF                  0x01
+#define PARAM_ADC_AVCC                  0x02
+#define PARAM_ADC_INTERNAL              0x03
+
+
+/* microwire eeprom */
+#define CMD_EXTERNAL_93C46              0x01
+
+
+#define CMD_93C46_INIT                  0x01
+#define CMD_93C46_DEINIT                0x02
+#define CMD_93C46_READ                  0x03
+#define CMD_93C46_WRITE                 0x04
diff --git a/firmware/pwm.c b/firmware/pwm.c
new file mode 100644
index 0000000..9e3666d
--- /dev/null
+++ b/firmware/pwm.c
@@ -0,0 +1,270 @@
+/*
+ * Copyright (c) 2007 empronix (http://www.empronix.com)
+ * Author: Benedikt Sauter <sauter@empronix.com>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES{} LOSS OF USE, 
+ * DATA, OR PROFITS{} OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "common.h"
+#include "protocol.h"
+#include "adc.h"
+#include "io.h"
+#include "pwm.h"
+
+#include <avr/interrupt.h>
+
+volatile unsigned int counter;
+
+ SIGNAL(SIG_OUTPUT_COMPARE1A){
+    //OCR1A = counter;
+ }
+
+
+
+void pwm_parser(char *buf)
+{
+   switch(buf[0])
+   {
+      case CMD_PWM_INIT_PIN:
+         pwm_init_usb((int)buf[2]);
+      break;
+      case CMD_PWM_DEINIT_PIN:
+         pwm_deinit_usb((int)buf[2]);
+      break;
+      case CMD_PWM_SPEED:
+         pwm_speed_usb((int)buf[2],(int)buf[3]);
+      break;
+      case CMD_PWM_VALUE:
+        pwm_value_usb((int)buf[2],(int)buf[3]);
+      break;
+
+      default:
+         answer[0]=buf[0];
+         answer[1]=RSP_UNKOWN_CMD;
+         answer[2]=0;
+         CommandAnswer(3);
+    }
+}
+
+int pwm_init(int pin)
+{
+   if (pin >= 8 && pin <= 9)
+   {
+      octopus.ports[pin] = PIN_PWM;
+
+      switch(pin)
+      {
+         case 9:	        
+            /* set pin as output */
+            OX_DDR9 |=(1<<OX_P9); 
+            OCR1A=1; // TOP          
+#ifdef OCTOPUS_CAN
+            /* configure timer, (WGM = FAST PWM) (clear on OCnA, set on TOP  COM1A1)*/    
+            TCCR1A = (1<<WGM10)|(1<<COM1A1);         
+            TCCR1B = (1<<WGM12)|(1<<CS10);  // system clock
+#else            
+            /* configure timer */    
+            //TCCR1 = (1<<WGM10)|(1<<COM01)|(1<<CS01);                        
+            //TCCR1B = (1<<CS10);  // system clock
+#endif
+         break;
+         case 8:	  
+            OX_DDR8 |=(1<<OX_P8); 
+#ifdef OCTOPUS_CAN
+            OCR2A=1; // TOP          
+            /* configure timer, (WGM = FAST PWM) (clear on OCnA, set on TOP  COM1A1)*/    
+            TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS20);         
+            //TCCR1B = (1<<WGM12)|(1<<CS10);  // system clock
+#else            
+            /* configure timer */    
+            //TCCR1 = (1<<WGM10)|(1<<COM01)|(1<<CS01);                        
+            //TCCR1B = (1<<CS10);  // system clock
+#endif
+         break;
+         default:
+	         return RSP_IMPOSSIBLE_PIN_CONFIG;
+      } 
+      return RSP_OK; 
+   }
+   return RSP_UNKOWN_PIN;
+}
+
+void pwm_init_usb(int pin)
+{
+   answer[0]=CMD_PWM_INIT_PIN;
+   answer[1]= (unsigned char)pwm_init(pin);
+   answer[2]=0;
+
+   CommandAnswer(3);
+}
+
+
+
+void pwm_deinit_usb(int pin)
+{
+  answer[0]=CMD_PWM_DEINIT_PIN;
+  answer[1]=(unsigned char)pwm_deinit(pin);
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+int pwm_deinit(int pin)
+{
+  octopus.ports[pin]=PIN_OUT;  // this is wrong!
+#ifdef OCTOPUS_CAN
+  switch(pin)
+  {
+     case 8: TCCR2A = 0; break;
+     case 9: TCCR1B = 0; TCCR1A = 0; break;
+     default: return RSP_WRONG_PIN_CONFIG;
+
+  }     
+  io_set_pin_direction_out(pin);
+#endif
+  return RSP_OK;
+}
+
+
+
+void pwm_speed_usb(int pin, int speed)
+{
+   answer[0]=CMD_PWM_SPEED;
+   answer[1]=pwm_speed(pin,speed);
+   answer[2]=0; 
+   CommandAnswer(3);
+}
+
+
+int pwm_speed(int pin, int speed)
+{
+   if (octopus.ports[pin] == PIN_PWM)
+   {
+      switch (pin)
+      {
+         case 9: 
+            switch (speed)
+            {
+               case 1:                  
+                  TCCR1B = (1<<CS10);  // system clock      33 kHz                               
+               break;
+               case 2:
+                  TCCR1B = (1<<CS11);  // div 8 // 500 Hz                 
+               break;
+               case 3:
+                  TCCR1B = (1<<CS11)|(1<<CS10);  // div 64
+               break;
+               case 4:
+                  TCCR1B = (1<<CS12);  // div 256
+               break;
+               case 5:
+                  TCCR1B = (1<<CS12)|(1<<CS10);  // div 1024
+               break;
+
+               default:
+               ;
+            }
+         break;
+         case 8: 
+#ifdef OCTOPUS_CAN
+
+            switch (speed)
+            {
+               case 1:                  
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS20);     // external 32kHz                              
+               break;
+               case 2:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS21);    // external div 8                      
+               break;
+               case 3:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS20)|(1<<CS21); //div 32         
+               break;
+               case 4:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS22); //div 64         
+               break;
+               case 5:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS20)|(1<<CS22); //div 128         
+               break; 
+               case 6:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS21)|(1<<CS22); //div 256         
+               break;   
+               case 7:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS21)|(1<<CS22)|(1<<CS20); //div 1024         
+               break;                  
+               default:
+               ;
+            }
+#endif
+         break;
+         default:
+	      return RSP_IMPOSSIBLE_PIN_CONFIG;
+      } 
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_WRONG_PIN_CONFIG;
+   } 
+}
+
+void pwm_value_usb(int pin, unsigned int value)
+{
+   answer[0]=CMD_PWM_VALUE;
+   answer[1]=pwm_value(pin,value);
+   answer[2]=0; 
+   CommandAnswer(3);
+}
+
+
+int pwm_value(int pin, unsigned int value)
+{
+   if (octopus.ports[pin] == PIN_PWM)
+   {
+      switch (pin)
+      {
+         case 9: 
+            OCR1A = value; 
+         break;
+         case 8: 
+#ifdef OCTOPUS_CAN
+            OCR2A = value; 
+#endif
+            ; 
+         break;
+         default:
+	      return RSP_IMPOSSIBLE_PIN_CONFIG;
+      } 
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_WRONG_PIN_CONFIG;
+   } 
+}
diff --git a/firmware/pwm.h b/firmware/pwm.h
new file mode 100644
index 0000000..99e24db
--- /dev/null
+++ b/firmware/pwm.h
@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2007 empronix (http://www.empronix.com)
+ * Author: Benedikt Sauter <sauter@empronix.com>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef PWM_H
+#define PWM_H
+
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+
+
+void pwm_parser(char *buf);
+
+int pwm_init(int pin);
+void pwm_init_usb(int pin);
+
+int pwm_deinit(int pin);
+void pwm_deinit_usb(int pin);
+
+void pwm_speed_usb(int pin, int speed);
+int pwm_speed(int pin, int speed);
+
+void pwm_value_usb(int pin, unsigned int value);
+int pwm_value(int pin, unsigned int value);
+
+#endif /* PWM_H */
diff --git a/firmware/spi.c b/firmware/spi.c
new file mode 100644
index 0000000..2b8abb1
--- /dev/null
+++ b/firmware/spi.c
@@ -0,0 +1,188 @@
+/*
+ * Author: Benedikt Sauter <sauter@ixbat.de>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "common.h"
+#include "protocol.h"
+
+#include "spi.h"
+
+void spi_parser(char *buf)
+{
+  switch(buf[0]) {
+    case CMD_SPI_INIT:
+      spi_init_usb();
+    break;
+    case CMD_SPI_DEINIT:
+      spi_deinit_usb();
+    break;
+    case CMD_SPI_SPEED:
+      spi_set_speed_usb((int)buf[2]);
+    break;
+    case CMD_SPI_SEND:
+      spi_send_usb(&buf[2], (int)buf[1]);
+    break;
+    case CMD_SPI_RECV:
+      spi_receive_usb((int)buf[1]);
+    case CMD_SPI_SEND_AND_RECV:
+      spi_send_and_receive_usb(&buf[2], (int)buf[1]);
+    break;
+    default:
+      answer[0] = buf[0];
+      answer[1] = RSP_UNKOWN_CMD;
+      answer[2] = 0;
+      CommandAnswer(3);
+  }
+}
+
+void spi_init_usb(void)
+{
+  answer[0] = CMD_SPI_INIT;
+  answer[1] = (unsigned char) spi_init();
+  answer[3] = 0;
+  CommandAnswer(3);
+}
+
+
+int spi_init(void)
+{
+  PORTB   &=  ~((1 << SCK)|(1<<MISO)|(1<<MOSI));  // SCK have to be low in IDLE
+  DDRB &=~(1 << MISO);
+  DDRB = (1 << MOSI)|(1 << SCK); 
+
+  SPCR = 0;
+  SPSR = 0;
+
+  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0)|(1<<SPR1);
+
+  octopus.ports[5]=PIN_SCK;
+  octopus.ports[6]=PIN_MOSI;
+  octopus.ports[7]=PIN_MISO;
+
+  return RSP_OK;
+}
+
+void spi_deinit_usb(void)
+{
+  answer[0]=CMD_SPI_DEINIT;
+  answer[1]=(unsigned char)spi_deinit();
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+int spi_deinit(void)
+{
+  SPCR = 0;
+  SPSR = 0;
+
+  octopus.ports[5]=PIN_OUT;  // this is wrong!
+  octopus.ports[6]=PIN_OUT;  // this is wrong!
+  octopus.ports[7]=PIN_OUT;  // this is wrong!
+
+  return RSP_OK;
+}
+
+void spi_set_speed_usb(int speed){
+
+}
+
+int spi_set_speed(int speed){
+
+  return RSP_OK;
+}
+
+void spi_send_usb(char * buf, int length)
+{
+  answer[0]=CMD_SPI_SEND;
+  answer[1]=(unsigned char)spi_send(buf,length);
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+int spi_send(char * buf, int length)
+{
+  int i;
+  for(i=0;i<length;i++){
+    SPDR = buf[i];
+    while ( !(SPSR & (1 << SPIF)) ) ;
+  }
+  return RSP_OK;
+}
+
+
+void spi_receive_usb(int length)
+{
+  answer[0]=CMD_SPI_RECV;
+  answer[1]=(unsigned char)spi_receive((char*)&answer[2],length);
+  answer[2]=0;
+  CommandAnswer(length+2);
+}
+
+
+unsigned char spi_receive( char * buf, int length)
+{
+  int i;
+  int timeout = 0;
+  for(i=0;i<length;i++){
+    SPDR = 0;
+    while(!(SPSR & (1 << SPIF))) { timeout++; if( timeout > 1000) return RSP_TIMEOUT; }
+    buf[i]=SPDR;
+  }
+  return RSP_OK;
+}
+
+void spi_send_and_receive_usb(char * txbuf, int length)
+{
+  answer[0]=CMD_SPI_SEND;
+  answer[1]=(unsigned char)spi_send_and_receive(txbuf,(char *)&answer[2],length);
+  answer[2]=0;
+  CommandAnswer(2+length);
+
+}
+
+int spi_send_and_receive(char * txbuf, char * rxbuf, int length){
+
+  int i, timeout=0;
+  for(i=0;i<length;i++){
+    SPDR = txbuf[i];
+    //while ( !(SPSR & (1 << SPIF)) ) ;
+    while(!(SPSR & (1 << SPIF))) { timeout++; if( timeout > 1000) return RSP_TIMEOUT; }
+    rxbuf[i]=SPDR;
+  }
+  return RSP_OK;
+}
+
+
+
+
+
+
diff --git a/firmware/spi.h b/firmware/spi.h
new file mode 100644
index 0000000..d7cfbf1
--- /dev/null
+++ b/firmware/spi.h
@@ -0,0 +1,64 @@
+/*
+ * Author: Benedikt Sauter <sauter@ixbat.de>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef SPI_H
+#define SPI_H
+
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+
+#define MOSI PB2
+#define MISO PB3
+#define SCK PB1
+
+void spi_parser(char *buf);
+
+int spi_init(void);
+int spi_deinit(void);
+
+int spi_set_speed(int speed);
+int spi_send(char * buf, int length);
+unsigned char spi_receive( char * buf, int length);
+int spi_send_and_receive(char * txbuf, char * rxbuf, int length);
+
+
+void spi_init_usb(void);
+void spi_deinit_usb(void);
+
+void spi_set_speed_usb(int speed);
+void spi_send_usb(char * buf, int length);
+void spi_receive_usb(int length);
+void spi_send_and_receive_usb(char * txbuf, int length);
+
+
+#endif /* SPI_H */
diff --git a/firmware/uart.c b/firmware/uart.c
new file mode 100644
index 0000000..02b4a87
--- /dev/null
+++ b/firmware/uart.c
@@ -0,0 +1,381 @@
+#include <inttypes.h>
+#include <avr/io.h>
+
+#include "uart.h"
+#include "common.h"
+#include "protocol.h"
+
+void uart_parser(char *buf)
+{
+  answer[0] = buf[0];
+
+  switch(buf[0])
+  {
+    case CMD_UART_INIT:
+      uart_init_usb((char)buf[2]);
+      break;
+    case CMD_UART_DEINIT:
+      uart_deinit_usb((char)buf[2]);
+      break;
+
+    case CMD_UART_BAUDRATE:
+      uart_baudrate_usb((char)buf[2], (char)buf[3], (char)buf[4], (char)buf[5], (char)buf[6]);
+      break;
+    case CMD_UART_STOPBITS:
+      uart_stopbits_usb((char)buf[2], (char)buf[3]);
+      break;
+    case CMD_UART_DATABITS:
+      uart_stopbits_usb((char)buf[2], (char)buf[3]);
+      break;
+    case CMD_UART_PARITY:
+      uart_parity_usb((char)buf[2], (char)buf[3]);
+      break;
+
+    case CMD_UART_SEND:
+      uart_send_usb((char)buf[2], (char)buf[3], &buf[4]);
+      break;
+    case CMD_UART_RECV:
+      uart_recv_usb((char)buf[2], (char)buf[3]);
+      break;
+    default:
+      answer[1] = RSP_UNKOWN_CMD;
+      answer[2] = '\0';
+      CommandAnswer(3);
+  }
+}
+
+void uart_init_usb(char uartport)
+{
+   answer[1] = (unsigned char)uart_init(uartport);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+char uart_init(char uartport)
+{
+  switch(uartport)
+  {
+    case 0:
+      octopus.ports[41] = PIN_UART;
+      octopus.ports[42] = PIN_UART;
+      /* enable transmitter receiver */
+      UCSR0B = (1 << RXEN0) | (1 << TXEN0);
+      break;
+    case 1:
+      octopus.ports[14] = PIN_UART;
+      octopus.ports[15] = PIN_UART;
+      /* enable transmitter receiver */
+      UCSR1B = (1 << RXEN1) | (1 << TXEN1);
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  } 
+
+  return RSP_OK; 
+}
+
+void uart_deinit_usb(char uartport)
+{
+   answer[1] = (unsigned char)uart_deinit(uartport);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+char uart_deinit(char uartport)
+{
+  switch(uartport)
+  {
+    case 0:
+      octopus.ports[41] = PIN_NONE;
+      octopus.ports[42] = PIN_NONE;
+      UBRR0H = 0;
+      UBRR0L = 0;
+      UCSR0B = 0;
+      UCSR0C = 0;
+      break;
+    case 1:
+      octopus.ports[14] = PIN_NONE;
+      octopus.ports[15] = PIN_NONE;
+      UBRR1H = 0;
+      UBRR1L = 0;
+      UCSR1B = 0;
+      UCSR1C = 0;
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  } 
+
+  return RSP_OK; 
+}
+
+void uart_baudrate_usb(char uartport, char ubrrll, char ubrrlh, char ubrrhl, char ubrrhh)
+{
+   answer[1] = (unsigned char)uart_baudrate(uartport, ubrrll, ubrrlh, ubrrhl, ubrrhh);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+char uart_baudrate(char uartport, char ubrrll, char ubrrlh, char ubrrhl, char ubrrhh)
+{
+  switch(uartport)
+  {
+    case 0:
+      UBRR0H = (ubrrhh << 8) | ubrrhl;
+      UBRR0L = (ubrrhl << 8) | ubrrll;
+      break;
+    case 1:
+      UBRR1H = (ubrrhh << 8) | ubrrhl;
+      UBRR1L = (ubrrhl << 8) | ubrrll;
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  }
+
+  return RSP_OK; 
+}
+
+void uart_stopbits_usb(char uartport, char stopbits)
+{
+   answer[1] = (unsigned char)uart_stopbits(uartport, stopbits);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+char uart_stopbits(char uartport, char stopbits)
+{
+  char usbs;
+
+  switch(stopbits)
+  {
+    case 1:  usbs = 0; break;
+    case 2:  usbs = 2; break;
+    default: usbs = 0; break;
+  }
+
+  switch(uartport)
+  {
+    case 0:
+      UCSR0C |= (usbs << USBS0);
+      break;
+    case 1:
+      UCSR1C |= (usbs << USBS1);
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  }
+
+  return RSP_OK; 
+}
+
+void uart_databits_usb(char uartport, char databits)
+{
+   answer[1] = (unsigned char)uart_databits(uartport, databits);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+char uart_databits(char uartport, char databits)
+{
+  char ucsz1,ucsz0;
+
+  switch(databits) {
+    case 5:  ucsz1 = 0; ucsz0 = 0; break;
+    case 6:  ucsz1 = 0; ucsz0 = 1; break;
+    case 7:  ucsz1 = 1; ucsz0 = 0; break;
+    case 8:  ucsz1 = 1; ucsz0 = 1; break;
+    default: ucsz1 = 1; ucsz0 = 1; break;
+  }
+
+  switch(uartport)
+  {
+    case 0:
+      UCSR0C |= (ucsz1 << UCSZ01) | (ucsz0 << UCSZ00);
+      break;
+    case 1:
+      UCSR1C |= (ucsz1 << UCSZ11) | (ucsz0 << UCSZ10);
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  }
+
+  return RSP_OK; 
+}
+
+void uart_parity_usb(char uartport, char parity)
+{
+   answer[1] = (unsigned char)uart_databits(uartport, parity);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+char uart_parity(char uartport, char parity)
+{
+  char upm1, upm0;
+  switch(parity)
+  {
+    case 'N': upm1 = 0; upm0 = 0; break;
+    case 'E': upm1 = 1; upm0 = 0; break;
+    case 'O': upm1 = 1; upm0 = 1; break;
+    default:  upm1 = 0; upm0 = 0; break;
+  }
+
+  switch(uartport)
+  {
+    case 0:
+      UCSR0C |= (upm1 << UPM01) | (upm0 << UPM00);
+      break;
+    case 1:
+      UCSR1C |= (upm1 << UPM11) | (upm0 << UPM10);
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  }
+
+  return RSP_OK; 
+}
+
+void uart_send_usb(char uartport, char length, char *buf)
+{
+   answer[1] = (unsigned char)uart_send(uartport, length, buf);
+   answer[2] = '\0';
+
+   CommandAnswer(3);
+}
+
+
+char uart_send(char uartport, unsigned int length, char *buf)
+{
+  if(uartport != 0 && uartport != 1)
+    return RSP_UNKOWN_PIN;
+
+  while(length--)
+  {   
+    uart_putchar(uartport, *buf++);
+  } 
+
+  return RSP_OK; 
+}
+
+char uart_putchar(char uartport, char data)
+{
+  switch(uartport)
+  {
+    case 0:
+      /* Wait for empty transmit buffer */
+      while (!(UCSR0A & (1 << UDRE0)));
+      /* Put data into buffer, sends the data */
+      UDR0 = data;
+      break;
+    case 1:
+      /* Wait for empty transmit buffer */
+      while (!(UCSR1A & (1 << UDRE1)));
+      /* Put data into buffer, sends the data */
+      UDR1 = data;
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  }
+
+  return RSP_OK; 
+}
+
+void uart_recv_usb(char uartport, int length)
+{
+   char data[length];
+   int i;
+
+   answer[1] = (char)uart_recv(uartport, data, length);
+
+   for(i = 0; i < length; i++)
+     answer[2+i] = data[i];
+
+   CommandAnswer(3+length);
+}
+
+char uart_recv(char uartport, char * buf, int length)
+{
+  if(uartport != 0 && uartport != 1)
+    return RSP_UNKOWN_PIN;
+
+  while(length-- > 0)
+    *buf++ = uart_getchar(uartport);
+
+  return RSP_OK; 
+}
+
+char uart_getchar(char uartport)
+{
+  char c;
+
+  switch(uartport)
+  {
+    case 0:
+      while (!(UCSR0A & (1 << RXC0)));
+      c = UDR0;
+      break;
+    case 1:
+      while (!(UCSR1A & (1 << RXC1)));
+      c = UDR1;
+      break;
+    default:
+      return RSP_UNKOWN_PIN;
+  }
+
+  return c;
+}
+
+/*
+unsigned char AsciiToHex(unsigned char high,unsigned char low)
+{
+  unsigned char new;
+
+  // check if lower equal 9 ( ascii 57 )
+  if(high <= 57) // high is a number
+    high = high -48;
+  else // high is a letter
+    high = high -87;
+
+  high = high << 4;
+  high = high & 0xF0;
+ 
+  // check if lower equal 9 ( ascii 57 )
+  if(low <= 57) // high is a number
+    low = low -48;
+  else // high is a letter
+    low = low -87;
+  low = low & 0x0F;
+ 
+  new = high | low;
+ 
+  return new;
+}
+
+void SendHex(unsigned char hex)
+{
+  unsigned char high,low;
+  // get highnibble
+  high = hex & 0xF0;
+  high = high >> 4;
+ 
+  // get lownibble
+  low = hex & 0x0F;
+ 
+  if(high<=9)
+    UARTPutChar(high+48);
+  else
+    UARTPutChar(high+87);
+ 
+ 
+  if(low<=9)
+    UARTPutChar(low+48);
+  else
+    UARTPutChar(low+87);
+
+}
+*/
diff --git a/firmware/uart.h b/firmware/uart.h
new file mode 100644
index 0000000..fc89a0a
--- /dev/null
+++ b/firmware/uart.h
@@ -0,0 +1,19 @@
+void uart_parser(char *);
+char uart_init(char);
+void uart_init_usb(char);
+char uart_deinit(char);
+void uart_deinit_usb(char);
+char uart_baudrate(char uartport, char, char, char, char);
+void uart_baudrate_usb(char uartport, char, char, char, char);
+char uart_stopbits(char, char);
+void uart_stopbits_usb(char, char);
+char uart_databits(char, char);
+void uart_databits_usb(char, char);
+char uart_parity(char, char);
+void uart_parity_usb(char, char);
+char uart_putchar(char, char);
+char uart_getchar(char uartport);
+char uart_send(char uartport, unsigned int length, char *buf);
+void uart_send_usb(char uartport, char length, char *buf);
+void uart_recv_usb(char uartport, int length);
+char uart_recv(char uartport, char * buf, int length);
diff --git a/firmware/usbn2mc.c b/firmware/usbn2mc.c
new file mode 100644
index 0000000..d9b0fdd
--- /dev/null
+++ b/firmware/usbn2mc.c
@@ -0,0 +1,153 @@
+/* usbn960x.c
+* Copyright (C) 2005  Benedikt Sauter
+*
+* This program is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation; either version 2 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program; if not, write to the Free Software
+* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include "usbn2mc.h"
+#include "uart.h"
+
+//*******************************************************************
+// add own vendor requests          
+// ********************************************************************
+
+// decode your own vendor requests
+
+void
+USBNDecodeVendorRequest (DeviceRequest * req)
+{
+#if 0
+  //SendHex(req->bRequest);       // decode request code
+  SendHex (req->wLength);	// decode request code
+  USBNWrite (RXC0, RX_EN);
+  USBNRead (RXD0);
+  USBNRead (RXD0);
+
+  //USBNWrite(TXC0,FLUSH);
+  //USBNWrite(TXD0,0x24);
+  //USBNWrite(TXD0,0x25);
+#endif
+}
+
+
+void
+USBNDecodeClassRequest (DeviceRequest * req)
+{
+#if 0
+  //SendHex(req->bRequest);       // decode request code
+  SendHex (req->wLength);	// decode request code
+  USBNWrite (RXC0, RX_EN);
+  USBNRead (RXD0);
+  USBNRead (RXD0);
+#endif
+}
+
+
+
+// ********************************************************************
+// This subroutine handles the communication with usbn9604          
+// ********************************************************************
+
+
+// Read data from usbn96x register
+
+void
+USBNInitMC (void)
+{
+  // interrupt on INT4 pin falling edge (atmega128)
+  //EICRB = (0 << ISC41) | (1 << ISC40);
+  EICRB = (1 << ISC40);
+  // interrupts on!
+  //EIMSK = (1 << INT4);		// allow extern irq4
+  EIMSK = (1 << INT4);
+
+  USB_CTRL_DDR |= (1 << PF_A0) | (1 << PF_RD) | (1 << PF_WR);	// output (a0,rd,wr)
+  //USB_CTRL_PORT |= ((1 << PF_RD) | (1 << PF_WR) & ~(PF_A0));
+  USB_CTRL_PORT |= ((1 << PF_RD) | (1 << PF_WR));
+  USB_CS_DDR |= (1 << PF_CS);
+  USB_CS_PORT |= (1 << PF_CS);
+
+  sei ();
+}
+
+
+unsigned char
+USBNRead (unsigned char Adr)
+{
+  USB_DATA_DDR = 0xff;		// set for output
+  USB_DATA_OUT = Adr;		// load address
+
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_WR) | (1 << PF_A0);	// strobe the CS, WR, and A0 pins
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_WR) | (1 << PF_A0);	// strobe the CS, WR, and A0 pins
+//      USB_CS_PORT ^=(1<<PF_CS);       
+//      USB_CTRL_PORT ^= (1<<PF_WR) |(1<<PF_A0);
+  asm ("nop");			// pause for data to get to bus
+  USB_DATA_DDR = 0x00;		// set PortD for input
+  return (USBNBurstRead ());	// get data off the bus
+}
+
+
+unsigned char
+USBNBurstRead (void)
+{
+  unsigned char result;
+
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_RD);
+
+  asm ("nop");			// pause for data to get to bus
+  asm ("nop");
+  result = USB_DATA_IN;
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_RD);
+  return result;
+}
+
+
+// Write data to usbn96x register
+void
+USBNWrite (unsigned char Adr, unsigned char Data)
+{
+  USB_DATA_OUT = Adr;		// put the address on the bus
+  USB_DATA_DDR = 0xff;		// set for output
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_WR) | (1 << PF_A0);
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_WR) | (1 << PF_A0);
+  USBNBurstWrite (Data);
+}
+
+
+void
+USBNBurstWrite (unsigned char Data)
+{
+  USB_DATA_OUT = Data;		// put data on the bus
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_WR);
+  USB_CS_PORT ^= (1 << PF_CS);
+  USB_CTRL_PORT ^= (1 << PF_WR);
+}
+
+
+
+void
+USBNDebug (char *msg)
+{
+//  UARTWrite (msg);
+}
diff --git a/firmware/usbn2mc.h b/firmware/usbn2mc.h
new file mode 100644
index 0000000..2e7f8e7
--- /dev/null
+++ b/firmware/usbn2mc.h
@@ -0,0 +1,73 @@
+/* mciface.h
+* Copyright (C) 2005  Benedikt Sauter
+*
+* This program is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation; either version 2 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program; if not, write to the Free Software
+* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+#ifndef _MCIFACE_H_
+#define _MCIFACE_H_
+
+#include <stdint.h>
+#include <avr/interrupt.h>
+#include <inttypes.h>
+
+
+#include "../usbn2mc/main/usbnapi.h"
+
+unsigned char USBNRead(unsigned char Adr);
+unsigned char USBNBurstRead(void);
+void USBNWrite(unsigned char Adr,unsigned char Data);
+void USBNBurstWrite(unsigned char Data);
+
+void USBNInitMC(void);
+
+// print debug messages
+void USBNDebug(char *msg);
+
+void USBNDecodeVendorRequest(DeviceRequest *req);
+void USBNDecodeClassRequest(DeviceRequest *req);
+
+
+/// The Atmega register used to send data/address to the USBN9604
+#define USB_DATA_OUT		PORTA
+
+/// The Atmega register used to receive data from the USBN9604
+#define USB_DATA_IN		PINA
+
+/// The Atmega register that controls the i/o direction of the USB_DATA_OUT
+#define USB_DATA_DDR		DDRA
+
+/// The Atmega port used to send control signals to the USBN9604
+#define USB_CTRL_PORT		PORTG
+
+/// The Atmega register that controls the i/o direction of USB_CTRL_PORT
+#define USB_CTRL_DDR		DDRG
+
+
+#define USB_CS_DDR			DDRC
+#define USB_CS_PORT			PORTC
+
+/// The pin address of the chip select signal
+#define  PF_CS    PC7
+
+/// The pin address of the Address enable signal
+#define  PF_A0    PG2
+
+/// The pin address of the write strobe signal
+#define  PF_WR    PG0
+
+/// The pin address of the read strobe signal
+#define  PF_RD    PG1
+
+#endif /* _MCIFACE_H_ */
diff --git a/firmware/wait.c b/firmware/wait.c
new file mode 100644
index 0000000..91ef62a
--- /dev/null
+++ b/firmware/wait.c
@@ -0,0 +1,45 @@
+/*
+ * Copyright (c) 2006, Benedikt Sauter <sauter@embedded-projects.net>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <stdint.h>
+#include "wait.h"
+#define F_CPU 16000000U
+#include <util/delay.h>
+
+void delay_250ms (void)
+{
+  uint8_t i;
+
+  for (i = 0; i < 25; i++)
+    _delay_ms (10);
+}
diff --git a/firmware/wait.h b/firmware/wait.h
new file mode 100644
index 0000000..f1b56f8
--- /dev/null
+++ b/firmware/wait.h
@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) 2006, Benedikt Sauter <sauter@embedded-projects.net>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef WAIT_H
+#define WAIT_H
+
+
+void delay_250ms (void);
+#endif /* WAIT_H */
-- 
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