Begin of servo

firmware/global_vars.cpp

@@ -10,4 +10,4 @@ volatile ADU adu;
 volatile USART usart;
 volatile PWM pwm;
 volatile bool nextRequest = false;
-volatile uint16_t interruptCounters[35];
+volatile uint16_t interruptCounters[35] = { 0 }; // alle Einträge mit 0 initialisieren

firmware/request_handlers.cpp

@@ -78,6 +78,19 @@ void handleRequest()
 		case RQ_GET_MEM_8:
 			rqGetMem8();
 			break;
+			break;
+			
+		case RQ_SET_MEM_16:
+			rqSetMem16();
+			break;
+			
+		case RQ_GET_MEM_16:
+			rqGetMem16();
+			break;
+            
+        case RQ_COUNTER_OFFSET:
+            rqGetInterruptCounterOffset();
+            break;
 
 		default:
 			break;
@@ -293,3 +306,9 @@ void rqGetMem16()
 	usart.flush();
 }
 
+void rqGetInterruptCounterOffset()
+{
+	usart.initTX();    
+	usart.writeInt((volatile uint16_t) &interruptCounters[0]);
+	usart.flush();
+}

firmware/request_handlers.h

@@ -32,5 +32,8 @@ void rqPwmSetFreq(void);
 void rqPwmSetValue(void);
 void rqSetMem8(void);
 void rqGetMem8(void);
+void rqSetMem16(void);
+void rqGetMem16(void);
+void rqGetInterruptCounterOffset(void);
 
 #endif // REQUEST_HANDLERS_H

firmware/servo.cpp

@@ -0,0 +1 @@
+#include "servo.h"

firmware/servo.h

@@ -0,0 +1,14 @@
+#ifndef SERVO_H
+#define SERVO_H
+
+class Server
+{
+public:
+	
+	/**
+	 * Initialisiert die Servo Funktion (Timer 1 & 2).
+	 */
+	void init(void) const volatile;
+};
+
+#endif // SERVO_H