From 61ee69dc84690fa677f383acbacd6de9b1b22b4e Mon Sep 17 00:00:00 2001
From: Tristan Krause <tristan.krause@stud.htwk-leipzig.de>
Date: Tue, 25 Jun 2019 11:06:25 +0200
Subject: [PATCH] Begin of servo

---
 firmware/global_vars.cpp      |  2 +-
 firmware/request_handlers.cpp | 19 +++++++++++++++++++
 firmware/request_handlers.h   |  3 +++
 firmware/servo.cpp            |  1 +
 firmware/servo.h              | 14 ++++++++++++++
 5 files changed, 38 insertions(+), 1 deletion(-)
 create mode 100644 firmware/servo.cpp
 create mode 100644 firmware/servo.h

diff --git a/firmware/global_vars.cpp b/firmware/global_vars.cpp
index d498b6d..833fa9d 100644
--- a/firmware/global_vars.cpp
+++ b/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
diff --git a/firmware/request_handlers.cpp b/firmware/request_handlers.cpp
index 6f2191f..19eade1 100644
--- a/firmware/request_handlers.cpp
+++ b/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();
+}
diff --git a/firmware/request_handlers.h b/firmware/request_handlers.h
index 1d8365f..63d8b1b 100644
--- a/firmware/request_handlers.h
+++ b/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
diff --git a/firmware/servo.cpp b/firmware/servo.cpp
new file mode 100644
index 0000000..74a7b1f
--- /dev/null
+++ b/firmware/servo.cpp
@@ -0,0 +1 @@
+#include "servo.h"
diff --git a/firmware/servo.h b/firmware/servo.h
new file mode 100644
index 0000000..456e130
--- /dev/null
+++ b/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