diff --git a/V5B/Reciver/Reciver.atsuo b/V5B/Reciver/Reciver.atsuo
index 5b7cd7c..ecc1998 100644
Binary files a/V5B/Reciver/Reciver.atsuo and b/V5B/Reciver/Reciver.atsuo differ
diff --git a/V5B/Reciver/Reciver/Debug/Makefile b/V5B/Reciver/Reciver/Debug/Makefile
index e778fbb..2f82e60 100644
--- a/V5B/Reciver/Reciver/Debug/Makefile
+++ b/V5B/Reciver/Reciver/Debug/Makefile
@@ -85,7 +85,7 @@ LIB_DEP+=
 ./%.o: .././%.c
 	@echo Building file: $<
 	@echo Invoking: AVR/GNU C Compiler : 
-	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.2.876\avr8-gnu-toolchain\bin\avr-gcc.exe$(QUOTE) -funsigned-char -funsigned-bitfields -O1 -ffunction-sections -fpack-struct -fshort-enums -g2 -Wall -mmcu=attiny24a -c -std=gnu99 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"   -o"$@" "$<" 
+	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.2.876\avr8-gnu-toolchain\bin\avr-gcc.exe$(QUOTE) -funsigned-char -funsigned-bitfields -O1 -ffunction-sections -fpack-struct -fshort-enums -g2 -Wall -mmcu=atmega168a -c -std=gnu99 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"   -o"$@" "$<" 
 	@echo Finished building: $<
 
 
@@ -113,7 +113,7 @@ all: $(OUTPUT_FILE_PATH) $(ADDITIONAL_DEPENDENCIES)
 $(OUTPUT_FILE_PATH): $(OBJS) $(USER_OBJS) $(OUTPUT_FILE_DEP) $(LIB_DEP)
 	@echo Building target: $@
 	@echo Invoking: AVR/GNU Linker : 
-	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.2.876\avr8-gnu-toolchain\bin\avr-gcc.exe$(QUOTE) -o$(OUTPUT_FILE_PATH_AS_ARGS) $(OBJS_AS_ARGS) $(USER_OBJS) $(LIBS) -Wl,-Map="Reciver.map" -Wl,--start-group -Wl,-lm  -Wl,--end-group -Wl,--gc-sections -mmcu=attiny24a 
+	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.2.876\avr8-gnu-toolchain\bin\avr-gcc.exe$(QUOTE) -o$(OUTPUT_FILE_PATH_AS_ARGS) $(OBJS_AS_ARGS) $(USER_OBJS) $(LIBS) -Wl,-Map="Reciver.map" -Wl,--start-group -Wl,-lm  -Wl,--end-group -Wl,--gc-sections -mmcu=atmega168a 
 	@echo Finished building target: $@
 	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.2.876\avr8-gnu-toolchain\bin\avr-objcopy.exe" -O ihex -R .eeprom -R .fuse -R .lock -R .signature  "Reciver.elf" "Reciver.hex"
 	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.2.876\avr8-gnu-toolchain\bin\avr-objcopy.exe" -j .eeprom  --set-section-flags=.eeprom=alloc,load --change-section-lma .eeprom=0  --no-change-warnings -O ihex "Reciver.elf" "Reciver.eep" || exit 0
diff --git a/V5B/Reciver/Reciver/Debug/Reciver.d b/V5B/Reciver/Reciver/Debug/Reciver.d
index b1a43c8..e511ad9 100644
--- a/V5B/Reciver/Reciver/Debug/Reciver.d
+++ b/V5B/Reciver/Reciver/Debug/Reciver.d
@@ -4,7 +4,9 @@ Reciver.d Reciver.o: .././Reciver.c .././global.h \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/inttypes.h \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/include/stdint.h \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/stdint.h \
- c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iotn24a.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iom168a.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iom168.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iomx8.h \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/portpins.h \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/common.h \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/version.h \
@@ -28,7 +30,11 @@ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-
 
 c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/stdint.h:
 
-c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iotn24a.h:
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iom168a.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iom168.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iomx8.h:
 
 c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/portpins.h:
 
diff --git a/V5B/Reciver/Reciver/Debug/Reciver.elf b/V5B/Reciver/Reciver/Debug/Reciver.elf
index fc8efc3..ecf529a 100644
Binary files a/V5B/Reciver/Reciver/Debug/Reciver.elf and b/V5B/Reciver/Reciver/Debug/Reciver.elf differ
diff --git a/V5B/Reciver/Reciver/Debug/Reciver.hex b/V5B/Reciver/Reciver/Debug/Reciver.hex
index 83dce53..4df8690 100644
--- a/V5B/Reciver/Reciver/Debug/Reciver.hex
+++ b/V5B/Reciver/Reciver/Debug/Reciver.hex
@@ -1,98 +1,110 @@
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diff --git a/V5B/Reciver/Reciver/Debug/Reciver.lss b/V5B/Reciver/Reciver/Debug/Reciver.lss
index 4030479..ec57fe0 100644
--- a/V5B/Reciver/Reciver/Debug/Reciver.lss
+++ b/V5B/Reciver/Reciver/Debug/Reciver.lss
@@ -3,1151 +3,1148 @@ Reciver.elf:     file format elf32-avr
 
 Sections:
 Idx Name          Size      VMA       LMA       File off  Algn
-  0 .text         000005f4  00000000  00000000  00000094  2**1
-                  CONTENTS, ALLOC, LOAD, READONLY, CODE
-  1 .data         00000004  00800060  000005f4  00000688  2**0
+  0 .data         00000004  00800100  000006b8  0000074c  2**0
                   CONTENTS, ALLOC, LOAD, DATA
-  2 .bss          00000002  00800064  00800064  0000068c  2**0
+  1 .text         000006b8  00000000  00000000  00000094  2**1
+                  CONTENTS, ALLOC, LOAD, READONLY, CODE
+  2 .bss          00000002  00800104  00800104  00000750  2**0
                   ALLOC
-  3 .stab         000006b4  00000000  00000000  0000068c  2**2
+  3 .stab         000006cc  00000000  00000000  00000750  2**2
                   CONTENTS, READONLY, DEBUGGING
-  4 .stabstr      00000082  00000000  00000000  00000d40  2**0
+  4 .stabstr      00000082  00000000  00000000  00000e1c  2**0
                   CONTENTS, READONLY, DEBUGGING
-  5 .comment      0000002f  00000000  00000000  00000dc2  2**0
+  5 .comment      0000002f  00000000  00000000  00000e9e  2**0
                   CONTENTS, READONLY
-  6 .debug_aranges 000000d0  00000000  00000000  00000df1  2**0
+  6 .debug_aranges 000000d0  00000000  00000000  00000ecd  2**0
                   CONTENTS, READONLY, DEBUGGING
-  7 .debug_info   00001026  00000000  00000000  00000ec1  2**0
+  7 .debug_info   00001023  00000000  00000000  00000f9d  2**0
                   CONTENTS, READONLY, DEBUGGING
-  8 .debug_abbrev 0000040a  00000000  00000000  00001ee7  2**0
+  8 .debug_abbrev 0000040a  00000000  00000000  00001fc0  2**0
                   CONTENTS, READONLY, DEBUGGING
-  9 .debug_line   0000056e  00000000  00000000  000022f1  2**0
+  9 .debug_line   0000056c  00000000  00000000  000023ca  2**0
                   CONTENTS, READONLY, DEBUGGING
- 10 .debug_frame  000001c8  00000000  00000000  00002860  2**2
+ 10 .debug_frame  000001c8  00000000  00000000  00002938  2**2
                   CONTENTS, READONLY, DEBUGGING
- 11 .debug_str    00000243  00000000  00000000  00002a28  2**0
+ 11 .debug_str    00000243  00000000  00000000  00002b00  2**0
                   CONTENTS, READONLY, DEBUGGING
- 12 .debug_loc    000007d0  00000000  00000000  00002c6b  2**0
+ 12 .debug_loc    000007d0  00000000  00000000  00002d43  2**0
                   CONTENTS, READONLY, DEBUGGING
- 13 .debug_ranges 000000b0  00000000  00000000  0000343b  2**0
+ 13 .debug_ranges 000000b0  00000000  00000000  00003513  2**0
                   CONTENTS, READONLY, DEBUGGING
 
 Disassembly of section .text:
 
 00000000 <__vectors>:
-   0:	10 c0       	rjmp	.+32     	; 0x22 <__ctors_end>
-   2:	28 c0       	rjmp	.+80     	; 0x54 <__bad_interrupt>
-   4:	27 c0       	rjmp	.+78     	; 0x54 <__bad_interrupt>
-   6:	26 c0       	rjmp	.+76     	; 0x54 <__bad_interrupt>
-   8:	25 c0       	rjmp	.+74     	; 0x54 <__bad_interrupt>
-   a:	24 c0       	rjmp	.+72     	; 0x54 <__bad_interrupt>
-   c:	23 c0       	rjmp	.+70     	; 0x54 <__bad_interrupt>
-   e:	22 c0       	rjmp	.+68     	; 0x54 <__bad_interrupt>
-  10:	21 c0       	rjmp	.+66     	; 0x54 <__bad_interrupt>
-  12:	20 c0       	rjmp	.+64     	; 0x54 <__bad_interrupt>
-  14:	1f c0       	rjmp	.+62     	; 0x54 <__bad_interrupt>
-  16:	2a c1       	rjmp	.+596    	; 0x26c <__vector_11>
-  18:	1d c0       	rjmp	.+58     	; 0x54 <__bad_interrupt>
-  1a:	1c c0       	rjmp	.+56     	; 0x54 <__bad_interrupt>
-  1c:	1b c0       	rjmp	.+54     	; 0x54 <__bad_interrupt>
-  1e:	1a c0       	rjmp	.+52     	; 0x54 <__bad_interrupt>
-  20:	19 c0       	rjmp	.+50     	; 0x54 <__bad_interrupt>
+   0:	0c 94 34 00 	jmp	0x68	; 0x68 <__ctors_end>
+   4:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+   8:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+   c:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  10:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  14:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  18:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  1c:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  20:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  24:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  28:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  2c:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  30:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  34:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  38:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  3c:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  40:	0c 94 70 01 	jmp	0x2e0	; 0x2e0 <__vector_16>
+  44:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  48:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  4c:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  50:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  54:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  58:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  5c:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  60:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  64:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
 
-00000022 <__ctors_end>:
-  22:	11 24       	eor	r1, r1
-  24:	1f be       	out	0x3f, r1	; 63
-  26:	cf ed       	ldi	r28, 0xDF	; 223
-  28:	cd bf       	out	0x3d, r28	; 61
+00000068 <__ctors_end>:
+  68:	11 24       	eor	r1, r1
+  6a:	1f be       	out	0x3f, r1	; 63
+  6c:	cf ef       	ldi	r28, 0xFF	; 255
+  6e:	d4 e0       	ldi	r29, 0x04	; 4
+  70:	de bf       	out	0x3e, r29	; 62
+  72:	cd bf       	out	0x3d, r28	; 61
 
-0000002a <__do_copy_data>:
-  2a:	10 e0       	ldi	r17, 0x00	; 0
-  2c:	a0 e6       	ldi	r26, 0x60	; 96
-  2e:	b0 e0       	ldi	r27, 0x00	; 0
-  30:	e4 ef       	ldi	r30, 0xF4	; 244
-  32:	f5 e0       	ldi	r31, 0x05	; 5
-  34:	02 c0       	rjmp	.+4      	; 0x3a <__do_copy_data+0x10>
-  36:	05 90       	lpm	r0, Z+
-  38:	0d 92       	st	X+, r0
-  3a:	a4 36       	cpi	r26, 0x64	; 100
-  3c:	b1 07       	cpc	r27, r17
-  3e:	d9 f7       	brne	.-10     	; 0x36 <__do_copy_data+0xc>
+00000074 <__do_copy_data>:
+  74:	11 e0       	ldi	r17, 0x01	; 1
+  76:	a0 e0       	ldi	r26, 0x00	; 0
+  78:	b1 e0       	ldi	r27, 0x01	; 1
+  7a:	e8 eb       	ldi	r30, 0xB8	; 184
+  7c:	f6 e0       	ldi	r31, 0x06	; 6
+  7e:	02 c0       	rjmp	.+4      	; 0x84 <__do_copy_data+0x10>
+  80:	05 90       	lpm	r0, Z+
+  82:	0d 92       	st	X+, r0
+  84:	a4 30       	cpi	r26, 0x04	; 4
+  86:	b1 07       	cpc	r27, r17
+  88:	d9 f7       	brne	.-10     	; 0x80 <__do_copy_data+0xc>
 
-00000040 <__do_clear_bss>:
-  40:	20 e0       	ldi	r18, 0x00	; 0
-  42:	a4 e6       	ldi	r26, 0x64	; 100
-  44:	b0 e0       	ldi	r27, 0x00	; 0
-  46:	01 c0       	rjmp	.+2      	; 0x4a <.do_clear_bss_start>
+0000008a <__do_clear_bss>:
+  8a:	21 e0       	ldi	r18, 0x01	; 1
+  8c:	a4 e0       	ldi	r26, 0x04	; 4
+  8e:	b1 e0       	ldi	r27, 0x01	; 1
+  90:	01 c0       	rjmp	.+2      	; 0x94 <.do_clear_bss_start>
 
-00000048 <.do_clear_bss_loop>:
-  48:	1d 92       	st	X+, r1
+00000092 <.do_clear_bss_loop>:
+  92:	1d 92       	st	X+, r1
 
-0000004a <.do_clear_bss_start>:
-  4a:	a6 36       	cpi	r26, 0x66	; 102
-  4c:	b2 07       	cpc	r27, r18
-  4e:	e1 f7       	brne	.-8      	; 0x48 <.do_clear_bss_loop>
-  50:	86 d1       	rcall	.+780    	; 0x35e <main>
-  52:	ce c2       	rjmp	.+1436   	; 0x5f0 <_exit>
+00000094 <.do_clear_bss_start>:
+  94:	a6 30       	cpi	r26, 0x06	; 6
+  96:	b2 07       	cpc	r27, r18
+  98:	e1 f7       	brne	.-8      	; 0x92 <.do_clear_bss_loop>
+  9a:	0e 94 e9 01 	call	0x3d2	; 0x3d2 <main>
+  9e:	0c 94 5a 03 	jmp	0x6b4	; 0x6b4 <_exit>
 
-00000054 <__bad_interrupt>:
-  54:	d5 cf       	rjmp	.-86     	; 0x0 <__vectors>
+000000a2 <__bad_interrupt>:
+  a2:	0c 94 00 00 	jmp	0	; 0x0 <__vectors>
 
-00000056 <turn>:
+000000a6 <turn>:
 volatile int pwm_led = 0;
 
 volatile int servopos = RIGHT;
 
 void turn() {
 	if(status == RUN)
-  56:	80 91 62 00 	lds	r24, 0x0062
-  5a:	90 91 63 00 	lds	r25, 0x0063
-  5e:	06 97       	sbiw	r24, 0x06	; 6
-  60:	09 f4       	brne	.+2      	; 0x64 <turn+0xe>
-  62:	43 c0       	rjmp	.+134    	; 0xea <__stack+0xb>
+  a6:	80 91 02 01 	lds	r24, 0x0102
+  aa:	90 91 03 01 	lds	r25, 0x0103
+  ae:	06 97       	sbiw	r24, 0x06	; 6
+  b0:	09 f4       	brne	.+2      	; 0xb4 <turn+0xe>
+  b2:	41 c0       	rjmp	.+130    	; 0x136 <turn+0x90>
 		return;
 	status = RUN;
-  64:	86 e0       	ldi	r24, 0x06	; 6
-  66:	90 e0       	ldi	r25, 0x00	; 0
-  68:	90 93 63 00 	sts	0x0063, r25
-  6c:	80 93 62 00 	sts	0x0062, r24
+  b4:	86 e0       	ldi	r24, 0x06	; 6
+  b6:	90 e0       	ldi	r25, 0x00	; 0
+  b8:	90 93 03 01 	sts	0x0103, r25
+  bc:	80 93 02 01 	sts	0x0102, r24
 	servopos = RIGHT-140;
-  70:	88 e2       	ldi	r24, 0x28	; 40
-  72:	90 e0       	ldi	r25, 0x00	; 0
-  74:	90 93 61 00 	sts	0x0061, r25
-  78:	80 93 60 00 	sts	0x0060, r24
+  c0:	88 e2       	ldi	r24, 0x28	; 40
+  c2:	90 e0       	ldi	r25, 0x00	; 0
+  c4:	90 93 01 01 	sts	0x0101, r25
+  c8:	80 93 00 01 	sts	0x0100, r24
 	#else
 		//round up by default
 		__ticks_dc = (uint32_t)(ceil(fabs(__tmp)));
 	#endif
 
 	__builtin_avr_delay_cycles(__ticks_dc);
-  7c:	2f e7       	ldi	r18, 0x7F	; 127
-  7e:	88 e3       	ldi	r24, 0x38	; 56
-  80:	91 e0       	ldi	r25, 0x01	; 1
-  82:	21 50       	subi	r18, 0x01	; 1
-  84:	80 40       	sbci	r24, 0x00	; 0
-  86:	90 40       	sbci	r25, 0x00	; 0
-  88:	e1 f7       	brne	.-8      	; 0x82 <turn+0x2c>
-  8a:	00 c0       	rjmp	.+0      	; 0x8c <turn+0x36>
-  8c:	00 00       	nop
+  cc:	8f e3       	ldi	r24, 0x3F	; 63
+  ce:	9c e9       	ldi	r25, 0x9C	; 156
+  d0:	01 97       	sbiw	r24, 0x01	; 1
+  d2:	f1 f7       	brne	.-4      	; 0xd0 <turn+0x2a>
+  d4:	00 c0       	rjmp	.+0      	; 0xd6 <turn+0x30>
+  d6:	00 00       	nop
 	_delay_ms(10+DEVICE);
 	rf12_txpacket(MASTER, DEVICE, status);
-  8e:	40 91 62 00 	lds	r20, 0x0062
-  92:	50 91 63 00 	lds	r21, 0x0063
-  96:	68 e2       	ldi	r22, 0x28	; 40
-  98:	81 e0       	ldi	r24, 0x01	; 1
-  9a:	2c d2       	rcall	.+1112   	; 0x4f4 <rf12_txpacket>
-  9c:	2f ef       	ldi	r18, 0xFF	; 255
-  9e:	83 ec       	ldi	r24, 0xC3	; 195
-  a0:	99 e0       	ldi	r25, 0x09	; 9
-  a2:	21 50       	subi	r18, 0x01	; 1
-  a4:	80 40       	sbci	r24, 0x00	; 0
-  a6:	90 40       	sbci	r25, 0x00	; 0
-  a8:	e1 f7       	brne	.-8      	; 0xa2 <turn+0x4c>
-  aa:	00 c0       	rjmp	.+0      	; 0xac <turn+0x56>
-  ac:	00 00       	nop
+  d8:	40 91 02 01 	lds	r20, 0x0102
+  dc:	50 91 03 01 	lds	r21, 0x0103
+  e0:	6a e0       	ldi	r22, 0x0A	; 10
+  e2:	81 e0       	ldi	r24, 0x01	; 1
+  e4:	0e 94 c6 02 	call	0x58c	; 0x58c <rf12_txpacket>
+  e8:	9f ef       	ldi	r25, 0xFF	; 255
+  ea:	23 ec       	ldi	r18, 0xC3	; 195
+  ec:	89 e0       	ldi	r24, 0x09	; 9
+  ee:	91 50       	subi	r25, 0x01	; 1
+  f0:	20 40       	sbci	r18, 0x00	; 0
+  f2:	80 40       	sbci	r24, 0x00	; 0
+  f4:	e1 f7       	brne	.-8      	; 0xee <turn+0x48>
+  f6:	00 c0       	rjmp	.+0      	; 0xf8 <turn+0x52>
+  f8:	00 00       	nop
 	_delay_ms(400);
 	servopos = RIGHT-160;
-  ae:	84 e1       	ldi	r24, 0x14	; 20
-  b0:	90 e0       	ldi	r25, 0x00	; 0
-  b2:	90 93 61 00 	sts	0x0061, r25
-  b6:	80 93 60 00 	sts	0x0060, r24
-  ba:	2f ef       	ldi	r18, 0xFF	; 255
-  bc:	82 e5       	ldi	r24, 0x52	; 82
-  be:	97 e0       	ldi	r25, 0x07	; 7
-  c0:	21 50       	subi	r18, 0x01	; 1
-  c2:	80 40       	sbci	r24, 0x00	; 0
-  c4:	90 40       	sbci	r25, 0x00	; 0
-  c6:	e1 f7       	brne	.-8      	; 0xc0 <turn+0x6a>
-  c8:	00 c0       	rjmp	.+0      	; 0xca <turn+0x74>
-  ca:	00 00       	nop
+  fa:	84 e1       	ldi	r24, 0x14	; 20
+  fc:	90 e0       	ldi	r25, 0x00	; 0
+  fe:	90 93 01 01 	sts	0x0101, r25
+ 102:	80 93 00 01 	sts	0x0100, r24
+ 106:	9f ef       	ldi	r25, 0xFF	; 255
+ 108:	22 e5       	ldi	r18, 0x52	; 82
+ 10a:	87 e0       	ldi	r24, 0x07	; 7
+ 10c:	91 50       	subi	r25, 0x01	; 1
+ 10e:	20 40       	sbci	r18, 0x00	; 0
+ 110:	80 40       	sbci	r24, 0x00	; 0
+ 112:	e1 f7       	brne	.-8      	; 0x10c <turn+0x66>
+ 114:	00 c0       	rjmp	.+0      	; 0x116 <turn+0x70>
+ 116:	00 00       	nop
 	_delay_ms(300);
 	servopos = RIGHT;
-  cc:	84 eb       	ldi	r24, 0xB4	; 180
-  ce:	90 e0       	ldi	r25, 0x00	; 0
-  d0:	90 93 61 00 	sts	0x0061, r25
-  d4:	80 93 60 00 	sts	0x0060, r24
-  d8:	2f ef       	ldi	r18, 0xFF	; 255
-  da:	86 e1       	ldi	r24, 0x16	; 22
-  dc:	91 e1       	ldi	r25, 0x11	; 17
-  de:	21 50       	subi	r18, 0x01	; 1
-  e0:	80 40       	sbci	r24, 0x00	; 0
-  e2:	90 40       	sbci	r25, 0x00	; 0
-  e4:	e1 f7       	brne	.-8      	; 0xde <turn+0x88>
-  e6:	00 c0       	rjmp	.+0      	; 0xe8 <__stack+0x9>
-  e8:	00 00       	nop
-  ea:	08 95       	ret
+ 118:	84 eb       	ldi	r24, 0xB4	; 180
+ 11a:	90 e0       	ldi	r25, 0x00	; 0
+ 11c:	90 93 01 01 	sts	0x0101, r25
+ 120:	80 93 00 01 	sts	0x0100, r24
+ 124:	9f ef       	ldi	r25, 0xFF	; 255
+ 126:	26 e1       	ldi	r18, 0x16	; 22
+ 128:	81 e1       	ldi	r24, 0x11	; 17
+ 12a:	91 50       	subi	r25, 0x01	; 1
+ 12c:	20 40       	sbci	r18, 0x00	; 0
+ 12e:	80 40       	sbci	r24, 0x00	; 0
+ 130:	e1 f7       	brne	.-8      	; 0x12a <turn+0x84>
+ 132:	00 c0       	rjmp	.+0      	; 0x134 <turn+0x8e>
+ 134:	00 00       	nop
+ 136:	08 95       	ret
 
-000000ec <poll>:
+00000138 <poll>:
 	_delay_ms(700);
 }
 
 void poll() {
 	DDRB &= ~(1<<PINB2);
-  ec:	ba 98       	cbi	0x17, 2	; 23
+ 138:	22 98       	cbi	0x04, 2	; 4
 	if(status == ACTIVE) {
-  ee:	80 91 62 00 	lds	r24, 0x0062
-  f2:	90 91 63 00 	lds	r25, 0x0063
-  f6:	03 97       	sbiw	r24, 0x03	; 3
-  f8:	29 f4       	brne	.+10     	; 0x104 <poll+0x18>
+ 13a:	80 91 02 01 	lds	r24, 0x0102
+ 13e:	90 91 03 01 	lds	r25, 0x0103
+ 142:	03 97       	sbiw	r24, 0x03	; 3
+ 144:	41 f4       	brne	.+16     	; 0x156 <poll+0x1e>
 		if(PINB & (1<<PINB2)) {
-  fa:	b2 9b       	sbis	0x16, 2	; 22
-  fc:	03 c0       	rjmp	.+6      	; 0x104 <poll+0x18>
+ 146:	1a 9b       	sbis	0x03, 2	; 3
+ 148:	06 c0       	rjmp	.+12     	; 0x156 <poll+0x1e>
 			rf12_endasyncrx();
-  fe:	f6 d1       	rcall	.+1004   	; 0x4ec <rf12_endasyncrx>
+ 14a:	0e 94 c1 02 	call	0x582	; 0x582 <rf12_endasyncrx>
 			turn();
- 100:	aa df       	rcall	.-172    	; 0x56 <turn>
+ 14e:	0e 94 53 00 	call	0xa6	; 0xa6 <turn>
 			rf12_beginasyncrx();
- 102:	e1 d1       	rcall	.+962    	; 0x4c6 <rf12_beginasyncrx>
+ 152:	0e 94 a7 02 	call	0x54e	; 0x54e <rf12_beginasyncrx>
 		}
 	}
 	if(status == SLEEP) {
- 104:	80 91 62 00 	lds	r24, 0x0062
- 108:	90 91 63 00 	lds	r25, 0x0063
- 10c:	02 97       	sbiw	r24, 0x02	; 2
- 10e:	41 f4       	brne	.+16     	; 0x120 <poll+0x34>
+ 156:	80 91 02 01 	lds	r24, 0x0102
+ 15a:	90 91 03 01 	lds	r25, 0x0103
+ 15e:	02 97       	sbiw	r24, 0x02	; 2
+ 160:	59 f4       	brne	.+22     	; 0x178 <poll+0x40>
 		if(PINB & (1<<PINB2)) {
- 110:	b2 9b       	sbis	0x16, 2	; 22
- 112:	06 c0       	rjmp	.+12     	; 0x120 <poll+0x34>
+ 162:	1a 9b       	sbis	0x03, 2	; 3
+ 164:	09 c0       	rjmp	.+18     	; 0x178 <poll+0x40>
 			rf12_endasyncrx();
- 114:	eb d1       	rcall	.+982    	; 0x4ec <rf12_endasyncrx>
+ 166:	0e 94 c1 02 	call	0x582	; 0x582 <rf12_endasyncrx>
 			rf12_txpacket(MASTER, DEVICE, DEDECT);
- 116:	48 e0       	ldi	r20, 0x08	; 8
- 118:	68 e2       	ldi	r22, 0x28	; 40
- 11a:	81 e0       	ldi	r24, 0x01	; 1
- 11c:	eb d1       	rcall	.+982    	; 0x4f4 <rf12_txpacket>
+ 16a:	48 e0       	ldi	r20, 0x08	; 8
+ 16c:	6a e0       	ldi	r22, 0x0A	; 10
+ 16e:	81 e0       	ldi	r24, 0x01	; 1
+ 170:	0e 94 c6 02 	call	0x58c	; 0x58c <rf12_txpacket>
 			rf12_beginasyncrx();
- 11e:	d3 d1       	rcall	.+934    	; 0x4c6 <rf12_beginasyncrx>
+ 174:	0e 94 a7 02 	call	0x54e	; 0x54e <rf12_beginasyncrx>
 		}			
 	}
-	if(!(PINA & (1<<PINA4))) { //SCK auf 0
- 120:	cc 99       	sbic	0x19, 4	; 25
- 122:	2d c0       	rjmp	.+90     	; 0x17e <poll+0x92>
+	if(!(PIND & (1<<PIND3))) { //SCK auf 0
+ 178:	4b 99       	sbic	0x09, 3	; 9
+ 17a:	2d c0       	rjmp	.+90     	; 0x1d6 <poll+0x9e>
 		if(status == SLEEP) {
- 124:	80 91 62 00 	lds	r24, 0x0062
- 128:	90 91 63 00 	lds	r25, 0x0063
- 12c:	02 97       	sbiw	r24, 0x02	; 2
- 12e:	39 f5       	brne	.+78     	; 0x17e <poll+0x92>
+ 17c:	80 91 02 01 	lds	r24, 0x0102
+ 180:	90 91 03 01 	lds	r25, 0x0103
+ 184:	02 97       	sbiw	r24, 0x02	; 2
+ 186:	39 f5       	brne	.+78     	; 0x1d6 <poll+0x9e>
 			status = RUN;
- 130:	86 e0       	ldi	r24, 0x06	; 6
- 132:	90 e0       	ldi	r25, 0x00	; 0
- 134:	90 93 63 00 	sts	0x0063, r25
- 138:	80 93 62 00 	sts	0x0062, r24
- 13c:	2f ef       	ldi	r18, 0xFF	; 255
- 13e:	81 e1       	ldi	r24, 0x11	; 17
- 140:	9a e7       	ldi	r25, 0x7A	; 122
- 142:	21 50       	subi	r18, 0x01	; 1
- 144:	80 40       	sbci	r24, 0x00	; 0
- 146:	90 40       	sbci	r25, 0x00	; 0
- 148:	e1 f7       	brne	.-8      	; 0x142 <poll+0x56>
- 14a:	00 c0       	rjmp	.+0      	; 0x14c <poll+0x60>
- 14c:	00 00       	nop
- 14e:	2f ef       	ldi	r18, 0xFF	; 255
- 150:	81 e1       	ldi	r24, 0x11	; 17
- 152:	9a e7       	ldi	r25, 0x7A	; 122
- 154:	21 50       	subi	r18, 0x01	; 1
- 156:	80 40       	sbci	r24, 0x00	; 0
- 158:	90 40       	sbci	r25, 0x00	; 0
- 15a:	e1 f7       	brne	.-8      	; 0x154 <poll+0x68>
- 15c:	00 c0       	rjmp	.+0      	; 0x15e <poll+0x72>
- 15e:	00 00       	nop
- 160:	2f ef       	ldi	r18, 0xFF	; 255
- 162:	81 e1       	ldi	r24, 0x11	; 17
- 164:	9a e7       	ldi	r25, 0x7A	; 122
- 166:	21 50       	subi	r18, 0x01	; 1
- 168:	80 40       	sbci	r24, 0x00	; 0
- 16a:	90 40       	sbci	r25, 0x00	; 0
- 16c:	e1 f7       	brne	.-8      	; 0x166 <poll+0x7a>
- 16e:	00 c0       	rjmp	.+0      	; 0x170 <poll+0x84>
- 170:	00 00       	nop
+ 188:	86 e0       	ldi	r24, 0x06	; 6
+ 18a:	90 e0       	ldi	r25, 0x00	; 0
+ 18c:	90 93 03 01 	sts	0x0103, r25
+ 190:	80 93 02 01 	sts	0x0102, r24
+ 194:	2f ef       	ldi	r18, 0xFF	; 255
+ 196:	81 e1       	ldi	r24, 0x11	; 17
+ 198:	9a e7       	ldi	r25, 0x7A	; 122
+ 19a:	21 50       	subi	r18, 0x01	; 1
+ 19c:	80 40       	sbci	r24, 0x00	; 0
+ 19e:	90 40       	sbci	r25, 0x00	; 0
+ 1a0:	e1 f7       	brne	.-8      	; 0x19a <poll+0x62>
+ 1a2:	00 c0       	rjmp	.+0      	; 0x1a4 <poll+0x6c>
+ 1a4:	00 00       	nop
+ 1a6:	2f ef       	ldi	r18, 0xFF	; 255
+ 1a8:	81 e1       	ldi	r24, 0x11	; 17
+ 1aa:	9a e7       	ldi	r25, 0x7A	; 122
+ 1ac:	21 50       	subi	r18, 0x01	; 1
+ 1ae:	80 40       	sbci	r24, 0x00	; 0
+ 1b0:	90 40       	sbci	r25, 0x00	; 0
+ 1b2:	e1 f7       	brne	.-8      	; 0x1ac <poll+0x74>
+ 1b4:	00 c0       	rjmp	.+0      	; 0x1b6 <poll+0x7e>
+ 1b6:	00 00       	nop
+ 1b8:	2f ef       	ldi	r18, 0xFF	; 255
+ 1ba:	81 e1       	ldi	r24, 0x11	; 17
+ 1bc:	9a e7       	ldi	r25, 0x7A	; 122
+ 1be:	21 50       	subi	r18, 0x01	; 1
+ 1c0:	80 40       	sbci	r24, 0x00	; 0
+ 1c2:	90 40       	sbci	r25, 0x00	; 0
+ 1c4:	e1 f7       	brne	.-8      	; 0x1be <poll+0x86>
+ 1c6:	00 c0       	rjmp	.+0      	; 0x1c8 <poll+0x90>
+ 1c8:	00 00       	nop
 			_delay_ms(5000);
 			_delay_ms(5000);
 			_delay_ms(5000);
 			status = ACTIVE;
- 172:	83 e0       	ldi	r24, 0x03	; 3
- 174:	90 e0       	ldi	r25, 0x00	; 0
- 176:	90 93 63 00 	sts	0x0063, r25
- 17a:	80 93 62 00 	sts	0x0062, r24
- 17e:	08 95       	ret
+ 1ca:	83 e0       	ldi	r24, 0x03	; 3
+ 1cc:	90 e0       	ldi	r25, 0x00	; 0
+ 1ce:	90 93 03 01 	sts	0x0103, r25
+ 1d2:	80 93 02 01 	sts	0x0102, r24
+ 1d6:	08 95       	ret
 
-00000180 <recive>:
+000001d8 <recive>:
 		}
 	}
 }
 
 void recive() {
- 180:	cf 93       	push	r28
+ 1d8:	cf 93       	push	r28
 	rf12_beginasyncrx();
- 182:	a1 d1       	rcall	.+834    	; 0x4c6 <rf12_beginasyncrx>
+ 1da:	0e 94 a7 02 	call	0x54e	; 0x54e <rf12_beginasyncrx>
 	while(rf12_hasdata()) {
- 184:	01 c0       	rjmp	.+2      	; 0x188 <recive+0x8>
+ 1de:	02 c0       	rjmp	.+4      	; 0x1e4 <recive+0xc>
 		poll();
- 186:	b2 df       	rcall	.-156    	; 0xec <poll>
+ 1e0:	0e 94 9c 00 	call	0x138	; 0x138 <poll>
 	}
 }
 
 void recive() {
 	rf12_beginasyncrx();
 	while(rf12_hasdata()) {
- 188:	a8 d1       	rcall	.+848    	; 0x4da <rf12_hasdata>
- 18a:	81 11       	cpse	r24, r1
- 18c:	fc cf       	rjmp	.-8      	; 0x186 <recive+0x6>
+ 1e4:	0e 94 b4 02 	call	0x568	; 0x568 <rf12_hasdata>
+ 1e8:	81 11       	cpse	r24, r1
+ 1ea:	fa cf       	rjmp	.-12     	; 0x1e0 <recive+0x8>
 		poll();
 	}
 	uint8_t addr = rf12_rxbyte();
- 18e:	aa d1       	rcall	.+852    	; 0x4e4 <rf12_rxbyte>
+ 1ec:	0e 94 bc 02 	call	0x578	; 0x578 <rf12_rxbyte>
 	if(addr == ALL || addr == DEVICE || addr == GROUP) {
- 190:	88 23       	and	r24, r24
- 192:	39 f0       	breq	.+14     	; 0x1a2 <recive+0x22>
- 194:	88 32       	cpi	r24, 0x28	; 40
- 196:	29 f0       	breq	.+10     	; 0x1a2 <recive+0x22>
- 198:	80 3f       	cpi	r24, 0xF0	; 240
- 19a:	09 f0       	breq	.+2      	; 0x19e <recive+0x1e>
- 19c:	3f c0       	rjmp	.+126    	; 0x21c <recive+0x9c>
- 19e:	01 c0       	rjmp	.+2      	; 0x1a2 <recive+0x22>
+ 1f0:	88 23       	and	r24, r24
+ 1f2:	41 f0       	breq	.+16     	; 0x204 <recive+0x2c>
+ 1f4:	8a 30       	cpi	r24, 0x0A	; 10
+ 1f6:	31 f0       	breq	.+12     	; 0x204 <recive+0x2c>
+ 1f8:	80 3f       	cpi	r24, 0xF0	; 240
+ 1fa:	09 f0       	breq	.+2      	; 0x1fe <recive+0x26>
+ 1fc:	48 c0       	rjmp	.+144    	; 0x28e <recive+0xb6>
+ 1fe:	02 c0       	rjmp	.+4      	; 0x204 <recive+0x2c>
 		while(rf12_hasdata()) {
 			poll();
- 1a0:	a5 df       	rcall	.-182    	; 0xec <poll>
+ 200:	0e 94 9c 00 	call	0x138	; 0x138 <poll>
 	while(rf12_hasdata()) {
 		poll();
 	}
 	uint8_t addr = rf12_rxbyte();
 	if(addr == ALL || addr == DEVICE || addr == GROUP) {
 		while(rf12_hasdata()) {
- 1a2:	9b d1       	rcall	.+822    	; 0x4da <rf12_hasdata>
- 1a4:	81 11       	cpse	r24, r1
- 1a6:	fc cf       	rjmp	.-8      	; 0x1a0 <recive+0x20>
+ 204:	0e 94 b4 02 	call	0x568	; 0x568 <rf12_hasdata>
+ 208:	81 11       	cpse	r24, r1
+ 20a:	fa cf       	rjmp	.-12     	; 0x200 <recive+0x28>
 			poll();
 		}
 		uint8_t from = rf12_rxbyte();
- 1a8:	9d d1       	rcall	.+826    	; 0x4e4 <rf12_rxbyte>
- 1aa:	c8 2f       	mov	r28, r24
+ 20c:	0e 94 bc 02 	call	0x578	; 0x578 <rf12_rxbyte>
+ 210:	c8 2f       	mov	r28, r24
 		while(rf12_hasdata()) {
- 1ac:	01 c0       	rjmp	.+2      	; 0x1b0 <recive+0x30>
+ 212:	02 c0       	rjmp	.+4      	; 0x218 <recive+0x40>
 			poll();
- 1ae:	9e df       	rcall	.-196    	; 0xec <poll>
+ 214:	0e 94 9c 00 	call	0x138	; 0x138 <poll>
 	if(addr == ALL || addr == DEVICE || addr == GROUP) {
 		while(rf12_hasdata()) {
 			poll();
 		}
 		uint8_t from = rf12_rxbyte();
 		while(rf12_hasdata()) {
- 1b0:	94 d1       	rcall	.+808    	; 0x4da <rf12_hasdata>
- 1b2:	81 11       	cpse	r24, r1
- 1b4:	fc cf       	rjmp	.-8      	; 0x1ae <recive+0x2e>
+ 218:	0e 94 b4 02 	call	0x568	; 0x568 <rf12_hasdata>
+ 21c:	81 11       	cpse	r24, r1
+ 21e:	fa cf       	rjmp	.-12     	; 0x214 <recive+0x3c>
 			poll();
 		}
 		if(from == MASTER) {
- 1b6:	c1 30       	cpi	r28, 0x01	; 1
- 1b8:	89 f5       	brne	.+98     	; 0x21c <recive+0x9c>
+ 220:	c1 30       	cpi	r28, 0x01	; 1
+ 222:	a9 f5       	brne	.+106    	; 0x28e <recive+0xb6>
 			uint8_t data = rf12_rxbyte();
- 1ba:	94 d1       	rcall	.+808    	; 0x4e4 <rf12_rxbyte>
+ 224:	0e 94 bc 02 	call	0x578	; 0x578 <rf12_rxbyte>
 			switch(data) {
- 1bc:	84 30       	cpi	r24, 0x04	; 4
- 1be:	49 f0       	breq	.+18     	; 0x1d2 <recive+0x52>
- 1c0:	18 f4       	brcc	.+6      	; 0x1c8 <recive+0x48>
- 1c2:	81 30       	cpi	r24, 0x01	; 1
- 1c4:	c1 f4       	brne	.+48     	; 0x1f6 <recive+0x76>
- 1c6:	19 c0       	rjmp	.+50     	; 0x1fa <recive+0x7a>
- 1c8:	85 30       	cpi	r24, 0x05	; 5
- 1ca:	51 f0       	breq	.+20     	; 0x1e0 <recive+0x60>
- 1cc:	87 30       	cpi	r24, 0x07	; 7
- 1ce:	99 f4       	brne	.+38     	; 0x1f6 <recive+0x76>
- 1d0:	0e c0       	rjmp	.+28     	; 0x1ee <recive+0x6e>
+ 228:	84 30       	cpi	r24, 0x04	; 4
+ 22a:	49 f0       	breq	.+18     	; 0x23e <recive+0x66>
+ 22c:	18 f4       	brcc	.+6      	; 0x234 <recive+0x5c>
+ 22e:	81 30       	cpi	r24, 0x01	; 1
+ 230:	d9 f4       	brne	.+54     	; 0x268 <recive+0x90>
+ 232:	1d c0       	rjmp	.+58     	; 0x26e <recive+0x96>
+ 234:	85 30       	cpi	r24, 0x05	; 5
+ 236:	51 f0       	breq	.+20     	; 0x24c <recive+0x74>
+ 238:	87 30       	cpi	r24, 0x07	; 7
+ 23a:	b1 f4       	brne	.+44     	; 0x268 <recive+0x90>
+ 23c:	0e c0       	rjmp	.+28     	; 0x25a <recive+0x82>
 				case PING: {
 					break;
 				}
 				case SETSLEEP: {
 					status = SLEEP;
- 1d2:	82 e0       	ldi	r24, 0x02	; 2
- 1d4:	90 e0       	ldi	r25, 0x00	; 0
- 1d6:	90 93 63 00 	sts	0x0063, r25
- 1da:	80 93 62 00 	sts	0x0062, r24
+ 23e:	82 e0       	ldi	r24, 0x02	; 2
+ 240:	90 e0       	ldi	r25, 0x00	; 0
+ 242:	90 93 03 01 	sts	0x0103, r25
+ 246:	80 93 02 01 	sts	0x0102, r24
 					break;
- 1de:	0d c0       	rjmp	.+26     	; 0x1fa <recive+0x7a>
+ 24a:	11 c0       	rjmp	.+34     	; 0x26e <recive+0x96>
 				}
 				case SETACTIVE: {
 					status = ACTIVE;
- 1e0:	83 e0       	ldi	r24, 0x03	; 3
- 1e2:	90 e0       	ldi	r25, 0x00	; 0
- 1e4:	90 93 63 00 	sts	0x0063, r25
- 1e8:	80 93 62 00 	sts	0x0062, r24
+ 24c:	83 e0       	ldi	r24, 0x03	; 3
+ 24e:	90 e0       	ldi	r25, 0x00	; 0
+ 250:	90 93 03 01 	sts	0x0103, r25
+ 254:	80 93 02 01 	sts	0x0102, r24
 					break;
- 1ec:	06 c0       	rjmp	.+12     	; 0x1fa <recive+0x7a>
+ 258:	0a c0       	rjmp	.+20     	; 0x26e <recive+0x96>
 				}
 				case SETRUN: {
 					rf12_endasyncrx();
- 1ee:	7e d1       	rcall	.+764    	; 0x4ec <rf12_endasyncrx>
+ 25a:	0e 94 c1 02 	call	0x582	; 0x582 <rf12_endasyncrx>
 					turn();
- 1f0:	32 df       	rcall	.-412    	; 0x56 <turn>
+ 25e:	0e 94 53 00 	call	0xa6	; 0xa6 <turn>
 					rf12_beginasyncrx();
- 1f2:	69 d1       	rcall	.+722    	; 0x4c6 <rf12_beginasyncrx>
+ 262:	0e 94 a7 02 	call	0x54e	; 0x54e <rf12_beginasyncrx>
 					return;
- 1f4:	13 c0       	rjmp	.+38     	; 0x21c <recive+0x9c>
+ 266:	13 c0       	rjmp	.+38     	; 0x28e <recive+0xb6>
 				}
 				default:
 				{
 					rf12_endasyncrx();
- 1f6:	7a d1       	rcall	.+756    	; 0x4ec <rf12_endasyncrx>
+ 268:	0e 94 c1 02 	call	0x582	; 0x582 <rf12_endasyncrx>
 					return;
- 1f8:	11 c0       	rjmp	.+34     	; 0x21c <recive+0x9c>
+ 26c:	10 c0       	rjmp	.+32     	; 0x28e <recive+0xb6>
 				}
 			}
 			rf12_endasyncrx();
- 1fa:	78 d1       	rcall	.+752    	; 0x4ec <rf12_endasyncrx>
- 1fc:	2f e7       	ldi	r18, 0x7F	; 127
- 1fe:	88 e3       	ldi	r24, 0x38	; 56
- 200:	91 e0       	ldi	r25, 0x01	; 1
- 202:	21 50       	subi	r18, 0x01	; 1
- 204:	80 40       	sbci	r24, 0x00	; 0
- 206:	90 40       	sbci	r25, 0x00	; 0
- 208:	e1 f7       	brne	.-8      	; 0x202 <recive+0x82>
- 20a:	00 c0       	rjmp	.+0      	; 0x20c <recive+0x8c>
- 20c:	00 00       	nop
+ 26e:	0e 94 c1 02 	call	0x582	; 0x582 <rf12_endasyncrx>
+ 272:	8f e3       	ldi	r24, 0x3F	; 63
+ 274:	9c e9       	ldi	r25, 0x9C	; 156
+ 276:	01 97       	sbiw	r24, 0x01	; 1
+ 278:	f1 f7       	brne	.-4      	; 0x276 <recive+0x9e>
+ 27a:	00 c0       	rjmp	.+0      	; 0x27c <recive+0xa4>
+ 27c:	00 00       	nop
 			_delay_ms(10+DEVICE);
 			rf12_txpacket(MASTER, DEVICE, status);
- 20e:	40 91 62 00 	lds	r20, 0x0062
- 212:	50 91 63 00 	lds	r21, 0x0063
- 216:	68 e2       	ldi	r22, 0x28	; 40
- 218:	81 e0       	ldi	r24, 0x01	; 1
- 21a:	6c d1       	rcall	.+728    	; 0x4f4 <rf12_txpacket>
+ 27e:	40 91 02 01 	lds	r20, 0x0102
+ 282:	50 91 03 01 	lds	r21, 0x0103
+ 286:	6a e0       	ldi	r22, 0x0A	; 10
+ 288:	81 e0       	ldi	r24, 0x01	; 1
+ 28a:	0e 94 c6 02 	call	0x58c	; 0x58c <rf12_txpacket>
 			return;
 		}					
 	}
 }
- 21c:	cf 91       	pop	r28
- 21e:	08 95       	ret
+ 28e:	cf 91       	pop	r28
+ 290:	08 95       	ret
 
-00000220 <init_timer>:
+00000292 <init_timer>:
 	// Clock value: 7,813 kHz
 	// Mode: Normal top=0xFF
 	// OC0A output: Disconnected
 	// OC0B output: Disconnected
 	// Timer Period: 21,504 ms
 	TCCR0A = (0<<COM0A1) | (0<<COM0A0) | (0<<COM0B1) | (0<<COM0B0) | (0<<WGM01) | (0<<WGM00);
- 220:	10 be       	out	0x30, r1	; 48
+ 292:	14 bc       	out	0x24, r1	; 36
 	TCCR0B = (0<<WGM02) | (1<<CS02) | (0<<CS01) | (1<<CS00);
- 222:	85 e0       	ldi	r24, 0x05	; 5
- 224:	83 bf       	out	0x33, r24	; 51
+ 294:	85 e0       	ldi	r24, 0x05	; 5
+ 296:	85 bd       	out	0x25, r24	; 37
 	TCNT0 = 0x58;
- 226:	88 e5       	ldi	r24, 0x58	; 88
- 228:	82 bf       	out	0x32, r24	; 50
+ 298:	88 e5       	ldi	r24, 0x58	; 88
+ 29a:	86 bd       	out	0x26, r24	; 38
 	
 	// Timer/Counter 0 Interrupt(s) initialization
 	TIMSK0=(0<<OCIE0B) | (0<<OCIE0A) | (1<<TOIE0);
- 22a:	81 e0       	ldi	r24, 0x01	; 1
- 22c:	89 bf       	out	0x39, r24	; 57
+ 29c:	81 e0       	ldi	r24, 0x01	; 1
+ 29e:	80 93 6e 00 	sts	0x006E, r24
 	
 	DDRB |= (1<<PINB0);
- 22e:	b8 9a       	sbi	0x17, 0	; 23
+ 2a2:	20 9a       	sbi	0x04, 0	; 4
 	PORTB |= (1<<PINB0);
- 230:	c0 9a       	sbi	0x18, 0	; 24
+ 2a4:	28 9a       	sbi	0x05, 0	; 5
 	#else
 		//round up by default
 		__ticks_dc = (uint32_t)(ceil(fabs(__tmp)));
 	#endif
 
 	__builtin_avr_delay_cycles(__ticks_dc);
- 232:	8f ea       	ldi	r24, 0xAF	; 175
- 234:	94 e0       	ldi	r25, 0x04	; 4
- 236:	01 97       	sbiw	r24, 0x01	; 1
- 238:	f1 f7       	brne	.-4      	; 0x236 <init_timer+0x16>
- 23a:	00 c0       	rjmp	.+0      	; 0x23c <init_timer+0x1c>
- 23c:	00 00       	nop
+ 2a6:	8f ea       	ldi	r24, 0xAF	; 175
+ 2a8:	94 e0       	ldi	r25, 0x04	; 4
+ 2aa:	01 97       	sbiw	r24, 0x01	; 1
+ 2ac:	f1 f7       	brne	.-4      	; 0x2aa <init_timer+0x18>
+ 2ae:	00 c0       	rjmp	.+0      	; 0x2b0 <init_timer+0x1e>
+ 2b0:	00 00       	nop
 	_delay_us(LEFT);
 	for(int i=0;i<servopos;i++) {
- 23e:	80 91 60 00 	lds	r24, 0x0060
- 242:	90 91 61 00 	lds	r25, 0x0061
- 246:	18 16       	cp	r1, r24
- 248:	19 06       	cpc	r1, r25
- 24a:	74 f4       	brge	.+28     	; 0x268 <init_timer+0x48>
- 24c:	80 e0       	ldi	r24, 0x00	; 0
- 24e:	90 e0       	ldi	r25, 0x00	; 0
- 250:	25 e1       	ldi	r18, 0x15	; 21
- 252:	2a 95       	dec	r18
- 254:	f1 f7       	brne	.-4      	; 0x252 <init_timer+0x32>
- 256:	00 00       	nop
- 258:	01 96       	adiw	r24, 0x01	; 1
- 25a:	20 91 60 00 	lds	r18, 0x0060
- 25e:	30 91 61 00 	lds	r19, 0x0061
- 262:	82 17       	cp	r24, r18
- 264:	93 07       	cpc	r25, r19
- 266:	a4 f3       	brlt	.-24     	; 0x250 <init_timer+0x30>
+ 2b2:	80 91 00 01 	lds	r24, 0x0100
+ 2b6:	90 91 01 01 	lds	r25, 0x0101
+ 2ba:	18 16       	cp	r1, r24
+ 2bc:	19 06       	cpc	r1, r25
+ 2be:	74 f4       	brge	.+28     	; 0x2dc <init_timer+0x4a>
+ 2c0:	80 e0       	ldi	r24, 0x00	; 0
+ 2c2:	90 e0       	ldi	r25, 0x00	; 0
+ 2c4:	25 e1       	ldi	r18, 0x15	; 21
+ 2c6:	2a 95       	dec	r18
+ 2c8:	f1 f7       	brne	.-4      	; 0x2c6 <init_timer+0x34>
+ 2ca:	00 00       	nop
+ 2cc:	01 96       	adiw	r24, 0x01	; 1
+ 2ce:	20 91 00 01 	lds	r18, 0x0100
+ 2d2:	30 91 01 01 	lds	r19, 0x0101
+ 2d6:	82 17       	cp	r24, r18
+ 2d8:	93 07       	cpc	r25, r19
+ 2da:	a4 f3       	brlt	.-24     	; 0x2c4 <init_timer+0x32>
 		_delay_us(STEP);
 	}
 	PORTB &= ~(1<<PINB0);
- 268:	c0 98       	cbi	0x18, 0	; 24
- 26a:	08 95       	ret
+ 2dc:	28 98       	cbi	0x05, 0	; 5
+ 2de:	08 95       	ret
 
-0000026c <__vector_11>:
+000002e0 <__vector_16>:
 }
 
-ISR(TIM0_OVF_vect) {
- 26c:	1f 92       	push	r1
- 26e:	0f 92       	push	r0
- 270:	0f b6       	in	r0, 0x3f	; 63
- 272:	0f 92       	push	r0
- 274:	11 24       	eor	r1, r1
- 276:	2f 93       	push	r18
- 278:	3f 93       	push	r19
- 27a:	8f 93       	push	r24
- 27c:	9f 93       	push	r25
+ISR(TIMER0_OVF_vect) {
+ 2e0:	1f 92       	push	r1
+ 2e2:	0f 92       	push	r0
+ 2e4:	0f b6       	in	r0, 0x3f	; 63
+ 2e6:	0f 92       	push	r0
+ 2e8:	11 24       	eor	r1, r1
+ 2ea:	2f 93       	push	r18
+ 2ec:	3f 93       	push	r19
+ 2ee:	8f 93       	push	r24
+ 2f0:	9f 93       	push	r25
 	// Reinitialize Timer 0 value
 	TCNT0 = 0x58;
- 27e:	88 e5       	ldi	r24, 0x58	; 88
- 280:	82 bf       	out	0x32, r24	; 50
+ 2f2:	88 e5       	ldi	r24, 0x58	; 88
+ 2f4:	86 bd       	out	0x26, r24	; 38
 	
 	if(status == SLEEP) {
- 282:	80 91 62 00 	lds	r24, 0x0062
- 286:	90 91 63 00 	lds	r25, 0x0063
- 28a:	02 97       	sbiw	r24, 0x02	; 2
- 28c:	79 f4       	brne	.+30     	; 0x2ac <__vector_11+0x40>
+ 2f6:	80 91 02 01 	lds	r24, 0x0102
+ 2fa:	90 91 03 01 	lds	r25, 0x0103
+ 2fe:	02 97       	sbiw	r24, 0x02	; 2
+ 300:	79 f4       	brne	.+30     	; 0x320 <__vector_16+0x40>
 		if(pwm_led > 50) {
- 28e:	80 91 64 00 	lds	r24, 0x0064
- 292:	90 91 65 00 	lds	r25, 0x0065
- 296:	c3 97       	sbiw	r24, 0x33	; 51
- 298:	94 f1       	brlt	.+100    	; 0x2fe <__vector_11+0x92>
-			PORTB ^= (1<<PINB1);
- 29a:	98 b3       	in	r25, 0x18	; 24
- 29c:	82 e0       	ldi	r24, 0x02	; 2
- 29e:	89 27       	eor	r24, r25
- 2a0:	88 bb       	out	0x18, r24	; 24
+ 302:	80 91 04 01 	lds	r24, 0x0104
+ 306:	90 91 05 01 	lds	r25, 0x0105
+ 30a:	c3 97       	sbiw	r24, 0x33	; 51
+ 30c:	94 f1       	brlt	.+100    	; 0x372 <__vector_16+0x92>
+			PORTD ^= (1<<PIND6);
+ 30e:	9b b1       	in	r25, 0x0b	; 11
+ 310:	80 e4       	ldi	r24, 0x40	; 64
+ 312:	89 27       	eor	r24, r25
+ 314:	8b b9       	out	0x0b, r24	; 11
 			pwm_led = 0;
- 2a2:	10 92 65 00 	sts	0x0065, r1
- 2a6:	10 92 64 00 	sts	0x0064, r1
- 2aa:	29 c0       	rjmp	.+82     	; 0x2fe <__vector_11+0x92>
+ 316:	10 92 05 01 	sts	0x0105, r1
+ 31a:	10 92 04 01 	sts	0x0104, r1
+ 31e:	29 c0       	rjmp	.+82     	; 0x372 <__vector_16+0x92>
 		}					
 	} else if(status == ACTIVE) {
- 2ac:	80 91 62 00 	lds	r24, 0x0062
- 2b0:	90 91 63 00 	lds	r25, 0x0063
- 2b4:	03 97       	sbiw	r24, 0x03	; 3
- 2b6:	79 f4       	brne	.+30     	; 0x2d6 <__vector_11+0x6a>
+ 320:	80 91 02 01 	lds	r24, 0x0102
+ 324:	90 91 03 01 	lds	r25, 0x0103
+ 328:	03 97       	sbiw	r24, 0x03	; 3
+ 32a:	79 f4       	brne	.+30     	; 0x34a <__vector_16+0x6a>
 		if(pwm_led > 5) {
- 2b8:	80 91 64 00 	lds	r24, 0x0064
- 2bc:	90 91 65 00 	lds	r25, 0x0065
- 2c0:	06 97       	sbiw	r24, 0x06	; 6
- 2c2:	ec f0       	brlt	.+58     	; 0x2fe <__vector_11+0x92>
-			PORTB ^= (1<<PINB1);
- 2c4:	98 b3       	in	r25, 0x18	; 24
- 2c6:	82 e0       	ldi	r24, 0x02	; 2
- 2c8:	89 27       	eor	r24, r25
- 2ca:	88 bb       	out	0x18, r24	; 24
+ 32c:	80 91 04 01 	lds	r24, 0x0104
+ 330:	90 91 05 01 	lds	r25, 0x0105
+ 334:	06 97       	sbiw	r24, 0x06	; 6
+ 336:	ec f0       	brlt	.+58     	; 0x372 <__vector_16+0x92>
+			PORTD ^= (1<<PIND6);
+ 338:	9b b1       	in	r25, 0x0b	; 11
+ 33a:	80 e4       	ldi	r24, 0x40	; 64
+ 33c:	89 27       	eor	r24, r25
+ 33e:	8b b9       	out	0x0b, r24	; 11
 			pwm_led = 0;
- 2cc:	10 92 65 00 	sts	0x0065, r1
- 2d0:	10 92 64 00 	sts	0x0064, r1
- 2d4:	14 c0       	rjmp	.+40     	; 0x2fe <__vector_11+0x92>
+ 340:	10 92 05 01 	sts	0x0105, r1
+ 344:	10 92 04 01 	sts	0x0104, r1
+ 348:	14 c0       	rjmp	.+40     	; 0x372 <__vector_16+0x92>
 		}
 	} else if(status == RUN) {
- 2d6:	80 91 62 00 	lds	r24, 0x0062
- 2da:	90 91 63 00 	lds	r25, 0x0063
- 2de:	06 97       	sbiw	r24, 0x06	; 6
- 2e0:	71 f4       	brne	.+28     	; 0x2fe <__vector_11+0x92>
+ 34a:	80 91 02 01 	lds	r24, 0x0102
+ 34e:	90 91 03 01 	lds	r25, 0x0103
+ 352:	06 97       	sbiw	r24, 0x06	; 6
+ 354:	71 f4       	brne	.+28     	; 0x372 <__vector_16+0x92>
 		if(pwm_led > 1) {
- 2e2:	80 91 64 00 	lds	r24, 0x0064
- 2e6:	90 91 65 00 	lds	r25, 0x0065
- 2ea:	02 97       	sbiw	r24, 0x02	; 2
- 2ec:	44 f0       	brlt	.+16     	; 0x2fe <__vector_11+0x92>
-			PORTB ^= (1<<PINB1);
- 2ee:	98 b3       	in	r25, 0x18	; 24
- 2f0:	82 e0       	ldi	r24, 0x02	; 2
- 2f2:	89 27       	eor	r24, r25
- 2f4:	88 bb       	out	0x18, r24	; 24
+ 356:	80 91 04 01 	lds	r24, 0x0104
+ 35a:	90 91 05 01 	lds	r25, 0x0105
+ 35e:	02 97       	sbiw	r24, 0x02	; 2
+ 360:	44 f0       	brlt	.+16     	; 0x372 <__vector_16+0x92>
+			PORTD ^= (1<<PIND6);
+ 362:	9b b1       	in	r25, 0x0b	; 11
+ 364:	80 e4       	ldi	r24, 0x40	; 64
+ 366:	89 27       	eor	r24, r25
+ 368:	8b b9       	out	0x0b, r24	; 11
 			pwm_led = 0;
- 2f6:	10 92 65 00 	sts	0x0065, r1
- 2fa:	10 92 64 00 	sts	0x0064, r1
+ 36a:	10 92 05 01 	sts	0x0105, r1
+ 36e:	10 92 04 01 	sts	0x0104, r1
 		}
 	}
 	pwm_led++;	
- 2fe:	80 91 64 00 	lds	r24, 0x0064
- 302:	90 91 65 00 	lds	r25, 0x0065
- 306:	01 96       	adiw	r24, 0x01	; 1
- 308:	90 93 65 00 	sts	0x0065, r25
- 30c:	80 93 64 00 	sts	0x0064, r24
+ 372:	80 91 04 01 	lds	r24, 0x0104
+ 376:	90 91 05 01 	lds	r25, 0x0105
+ 37a:	01 96       	adiw	r24, 0x01	; 1
+ 37c:	90 93 05 01 	sts	0x0105, r25
+ 380:	80 93 04 01 	sts	0x0104, r24
 	
 	DDRB |= (1<<PINB0);
- 310:	b8 9a       	sbi	0x17, 0	; 23
+ 384:	20 9a       	sbi	0x04, 0	; 4
 	PORTB |= (1<<PINB0);
- 312:	c0 9a       	sbi	0x18, 0	; 24
- 314:	8f ea       	ldi	r24, 0xAF	; 175
- 316:	94 e0       	ldi	r25, 0x04	; 4
- 318:	01 97       	sbiw	r24, 0x01	; 1
- 31a:	f1 f7       	brne	.-4      	; 0x318 <__vector_11+0xac>
- 31c:	00 c0       	rjmp	.+0      	; 0x31e <__vector_11+0xb2>
- 31e:	00 00       	nop
+ 386:	28 9a       	sbi	0x05, 0	; 5
+ 388:	8f ea       	ldi	r24, 0xAF	; 175
+ 38a:	94 e0       	ldi	r25, 0x04	; 4
+ 38c:	01 97       	sbiw	r24, 0x01	; 1
+ 38e:	f1 f7       	brne	.-4      	; 0x38c <__vector_16+0xac>
+ 390:	00 c0       	rjmp	.+0      	; 0x392 <__vector_16+0xb2>
+ 392:	00 00       	nop
 	_delay_us(LEFT);
 	for(int i=0;i<servopos;i++) {
- 320:	80 91 60 00 	lds	r24, 0x0060
- 324:	90 91 61 00 	lds	r25, 0x0061
- 328:	18 16       	cp	r1, r24
- 32a:	19 06       	cpc	r1, r25
- 32c:	74 f4       	brge	.+28     	; 0x34a <__vector_11+0xde>
- 32e:	80 e0       	ldi	r24, 0x00	; 0
- 330:	90 e0       	ldi	r25, 0x00	; 0
- 332:	25 e1       	ldi	r18, 0x15	; 21
- 334:	2a 95       	dec	r18
- 336:	f1 f7       	brne	.-4      	; 0x334 <__vector_11+0xc8>
- 338:	00 00       	nop
- 33a:	01 96       	adiw	r24, 0x01	; 1
- 33c:	20 91 60 00 	lds	r18, 0x0060
- 340:	30 91 61 00 	lds	r19, 0x0061
- 344:	82 17       	cp	r24, r18
- 346:	93 07       	cpc	r25, r19
- 348:	a4 f3       	brlt	.-24     	; 0x332 <__vector_11+0xc6>
+ 394:	80 91 00 01 	lds	r24, 0x0100
+ 398:	90 91 01 01 	lds	r25, 0x0101
+ 39c:	18 16       	cp	r1, r24
+ 39e:	19 06       	cpc	r1, r25
+ 3a0:	74 f4       	brge	.+28     	; 0x3be <__vector_16+0xde>
+ 3a2:	80 e0       	ldi	r24, 0x00	; 0
+ 3a4:	90 e0       	ldi	r25, 0x00	; 0
+ 3a6:	25 e1       	ldi	r18, 0x15	; 21
+ 3a8:	2a 95       	dec	r18
+ 3aa:	f1 f7       	brne	.-4      	; 0x3a8 <__vector_16+0xc8>
+ 3ac:	00 00       	nop
+ 3ae:	01 96       	adiw	r24, 0x01	; 1
+ 3b0:	20 91 00 01 	lds	r18, 0x0100
+ 3b4:	30 91 01 01 	lds	r19, 0x0101
+ 3b8:	82 17       	cp	r24, r18
+ 3ba:	93 07       	cpc	r25, r19
+ 3bc:	a4 f3       	brlt	.-24     	; 0x3a6 <__vector_16+0xc6>
 		_delay_us(STEP);
 	}
 	PORTB &= ~(1<<PINB0);
- 34a:	c0 98       	cbi	0x18, 0	; 24
+ 3be:	28 98       	cbi	0x05, 0	; 5
 }
- 34c:	9f 91       	pop	r25
- 34e:	8f 91       	pop	r24
- 350:	3f 91       	pop	r19
- 352:	2f 91       	pop	r18
- 354:	0f 90       	pop	r0
- 356:	0f be       	out	0x3f, r0	; 63
- 358:	0f 90       	pop	r0
- 35a:	1f 90       	pop	r1
- 35c:	18 95       	reti
+ 3c0:	9f 91       	pop	r25
+ 3c2:	8f 91       	pop	r24
+ 3c4:	3f 91       	pop	r19
+ 3c6:	2f 91       	pop	r18
+ 3c8:	0f 90       	pop	r0
+ 3ca:	0f be       	out	0x3f, r0	; 63
+ 3cc:	0f 90       	pop	r0
+ 3ce:	1f 90       	pop	r1
+ 3d0:	18 95       	reti
 
-0000035e <main>:
+000003d2 <main>:
 
 int main(void)
 {
 	
 	rf12_init();					// ein paar Register setzen (z.B. CLK auf 10MHz)
- 35e:	2f d0       	rcall	.+94     	; 0x3be <rf12_init>
+ 3d2:	0e 94 1e 02 	call	0x43c	; 0x43c <rf12_init>
 	rf12_setfreq(RF12FREQ(433.92));	// Sende/Empfangsfrequenz auf 433,92MHz einstellen
- 360:	80 e2       	ldi	r24, 0x20	; 32
- 362:	96 e0       	ldi	r25, 0x06	; 6
- 364:	6b d0       	rcall	.+214    	; 0x43c <rf12_setfreq>
+ 3d6:	80 e2       	ldi	r24, 0x20	; 32
+ 3d8:	96 e0       	ldi	r25, 0x06	; 6
+ 3da:	0e 94 5f 02 	call	0x4be	; 0x4be <rf12_setfreq>
 	rf12_setbandwidth(1, 0, 7);		// 400kHz Bandbreite, 0dB Verstärkung, DRSSI threshold: -61dBm
- 366:	47 e0       	ldi	r20, 0x07	; 7
- 368:	60 e0       	ldi	r22, 0x00	; 0
- 36a:	81 e0       	ldi	r24, 0x01	; 1
- 36c:	4b d0       	rcall	.+150    	; 0x404 <rf12_setbandwidth>
+ 3de:	47 e0       	ldi	r20, 0x07	; 7
+ 3e0:	60 e0       	ldi	r22, 0x00	; 0
+ 3e2:	81 e0       	ldi	r24, 0x01	; 1
+ 3e4:	0e 94 48 02 	call	0x490	; 0x490 <rf12_setbandwidth>
 	rf12_setbaud(9600);				// 19200 baud
- 36e:	80 e8       	ldi	r24, 0x80	; 128
- 370:	95 e2       	ldi	r25, 0x25	; 37
- 372:	73 d0       	rcall	.+230    	; 0x45a <rf12_setbaud>
+ 3e8:	80 e8       	ldi	r24, 0x80	; 128
+ 3ea:	95 e2       	ldi	r25, 0x25	; 37
+ 3ec:	0e 94 6f 02 	call	0x4de	; 0x4de <rf12_setbaud>
 	rf12_setpower(0, 6);			// 1mW Ausgangsleistung, 120kHz Frequenzshift
- 374:	66 e0       	ldi	r22, 0x06	; 6
- 376:	80 e0       	ldi	r24, 0x00	; 0
- 378:	93 d0       	rcall	.+294    	; 0x4a0 <rf12_setpower>
+ 3f0:	66 e0       	ldi	r22, 0x06	; 6
+ 3f2:	80 e0       	ldi	r24, 0x00	; 0
+ 3f4:	0e 94 96 02 	call	0x52c	; 0x52c <rf12_setpower>
 		
 	init_timer();
- 37a:	52 df       	rcall	.-348    	; 0x220 <init_timer>
-	DDRB |= (1<<PINB1); //Led Auf Ausgang
- 37c:	b9 9a       	sbi	0x17, 1	; 23
-	DDRA &= ~(1<<PINA4); //SCK Eingang
- 37e:	d4 98       	cbi	0x1a, 4	; 26
-	PORTA |= (1<<PINA4); //SCK Pullup
- 380:	dc 9a       	sbi	0x1b, 4	; 27
-	DDRA |= (1<<PINA6); //MOSI Ausgang
- 382:	d6 9a       	sbi	0x1a, 6	; 26
-	PORTA &= ~(1<<PINA6); //MOSI 0
- 384:	de 98       	cbi	0x1b, 6	; 27
+ 3f8:	0e 94 49 01 	call	0x292	; 0x292 <init_timer>
+	DDRD |= (1<<PIND6); //Led Auf Ausgang
+ 3fc:	56 9a       	sbi	0x0a, 6	; 10
+	DDRD &= ~(1<<PIND3); //SCK Eingang
+ 3fe:	53 98       	cbi	0x0a, 3	; 10
+	PORTD |= (1<<PIND3); //SCK Pullup
+ 400:	5b 9a       	sbi	0x0b, 3	; 11
+//	DDRA |= (1<<PINA6); //MOSI Ausgang
+//	PORTA &= ~(1<<PINA6); //MOSI 0
 	sei();
- 386:	78 94       	sei
+ 402:	78 94       	sei
 	
 	//DDRB |= (1<<PINB1);
     while(1)
     {
 		recive();
- 388:	fb de       	rcall	.-522    	; 0x180 <recive>
- 38a:	fe cf       	rjmp	.-4      	; 0x388 <main+0x2a>
+ 404:	0e 94 ec 00 	call	0x1d8	; 0x1d8 <recive>
+ 408:	fd cf       	rjmp	.-6      	; 0x404 <main+0x32>
 
-0000038c <rf12_trans>:
+0000040a <rf12_trans>:
 unsigned short rf12_trans(unsigned short wert)
 {	
 	unsigned short werti = 0;
 	unsigned char i;
 	
 	RF_PORT &= ~(1<<CS);
- 38c:	d9 98       	cbi	0x1b, 1	; 27
- 38e:	40 e1       	ldi	r20, 0x10	; 16
+ 40a:	44 98       	cbi	0x08, 4	; 8
+ 40c:	40 e1       	ldi	r20, 0x10	; 16
 #include "rf12.h"
 #include <util/delay.h>
 
 unsigned short rf12_trans(unsigned short wert)
 {	
 	unsigned short werti = 0;
- 390:	20 e0       	ldi	r18, 0x00	; 0
- 392:	30 e0       	ldi	r19, 0x00	; 0
+ 40e:	20 e0       	ldi	r18, 0x00	; 0
+ 410:	30 e0       	ldi	r19, 0x00	; 0
 	unsigned char i;
 	
 	RF_PORT &= ~(1<<CS);
 	for (i=0; i<16; i++)
 	{	
 		if (wert&32768) {
- 394:	99 23       	and	r25, r25
- 396:	14 f4       	brge	.+4      	; 0x39c <rf12_trans+0x10>
+ 412:	99 23       	and	r25, r25
+ 414:	14 f4       	brge	.+4      	; 0x41a <rf12_trans+0x10>
 			RF_PORT |= (1<<SDI);
- 398:	db 9a       	sbi	0x1b, 3	; 27
- 39a:	01 c0       	rjmp	.+2      	; 0x39e <rf12_trans+0x12>
+ 416:	40 9a       	sbi	0x08, 0	; 8
+ 418:	01 c0       	rjmp	.+2      	; 0x41c <rf12_trans+0x12>
 		}		
 		else {
 			RF_PORT &= ~(1<<SDI);
- 39c:	db 98       	cbi	0x1b, 3	; 27
+ 41a:	40 98       	cbi	0x08, 0	; 8
 		}			
 		werti<<=1;
- 39e:	22 0f       	add	r18, r18
- 3a0:	33 1f       	adc	r19, r19
+ 41c:	22 0f       	add	r18, r18
+ 41e:	33 1f       	adc	r19, r19
 		if (RF_PIN & (1<<SDO)) {
- 3a2:	c8 99       	sbic	0x19, 0	; 25
+ 420:	33 99       	sbic	0x06, 3	; 6
 			werti|=1;
- 3a4:	21 60       	ori	r18, 0x01	; 1
+ 422:	21 60       	ori	r18, 0x01	; 1
 		}		
 		RF_PORT |= (1<<SCK);
- 3a6:	da 9a       	sbi	0x1b, 2	; 27
+ 424:	41 9a       	sbi	0x08, 1	; 8
 		wert<<=1;
- 3a8:	88 0f       	add	r24, r24
- 3aa:	99 1f       	adc	r25, r25
- 3ac:	00 c0       	rjmp	.+0      	; 0x3ae <rf12_trans+0x22>
- 3ae:	00 00       	nop
+ 426:	88 0f       	add	r24, r24
+ 428:	99 1f       	adc	r25, r25
+ 42a:	00 c0       	rjmp	.+0      	; 0x42c <rf12_trans+0x22>
+ 42c:	00 00       	nop
 		_delay_us(0.3);
 		RF_PORT &= ~(1<<SCK);
- 3b0:	da 98       	cbi	0x1b, 2	; 27
- 3b2:	41 50       	subi	r20, 0x01	; 1
+ 42e:	41 98       	cbi	0x08, 1	; 8
+ 430:	41 50       	subi	r20, 0x01	; 1
 {	
 	unsigned short werti = 0;
 	unsigned char i;
 	
 	RF_PORT &= ~(1<<CS);
 	for (i=0; i<16; i++)
- 3b4:	79 f7       	brne	.-34     	; 0x394 <rf12_trans+0x8>
+ 432:	79 f7       	brne	.-34     	; 0x412 <rf12_trans+0x8>
 		RF_PORT |= (1<<SCK);
 		wert<<=1;
 		_delay_us(0.3);
 		RF_PORT &= ~(1<<SCK);
 	}
 	RF_PORT |= (1<<CS);
- 3b6:	d9 9a       	sbi	0x1b, 1	; 27
+ 434:	44 9a       	sbi	0x08, 4	; 8
 	return werti;
 }
- 3b8:	82 2f       	mov	r24, r18
- 3ba:	93 2f       	mov	r25, r19
- 3bc:	08 95       	ret
+ 436:	82 2f       	mov	r24, r18
+ 438:	93 2f       	mov	r25, r19
+ 43a:	08 95       	ret
 
-000003be <rf12_init>:
+0000043c <rf12_init>:
 
 void rf12_init(void)
 {
 	RF_DDR |= (1<<SDI) | (1<<SCK) | (1<<CS);
- 3be:	8a b3       	in	r24, 0x1a	; 26
- 3c0:	8e 60       	ori	r24, 0x0E	; 14
- 3c2:	8a bb       	out	0x1a, r24	; 26
+ 43c:	87 b1       	in	r24, 0x07	; 7
+ 43e:	83 61       	ori	r24, 0x13	; 19
+ 440:	87 b9       	out	0x07, r24	; 7
 	RF_PORT |= (1<<CS);
- 3c4:	d9 9a       	sbi	0x1b, 1	; 27
+ 442:	44 9a       	sbi	0x08, 4	; 8
 	#else
 		//round up by default
 		__ticks_dc = (uint32_t)(ceil(fabs(__tmp)));
 	#endif
 
 	__builtin_avr_delay_cycles(__ticks_dc);
- 3c6:	2f ef       	ldi	r18, 0xFF	; 255
- 3c8:	80 e7       	ldi	r24, 0x70	; 112
- 3ca:	92 e0       	ldi	r25, 0x02	; 2
- 3cc:	21 50       	subi	r18, 0x01	; 1
- 3ce:	80 40       	sbci	r24, 0x00	; 0
- 3d0:	90 40       	sbci	r25, 0x00	; 0
- 3d2:	e1 f7       	brne	.-8      	; 0x3cc <rf12_init+0xe>
- 3d4:	00 c0       	rjmp	.+0      	; 0x3d6 <rf12_init+0x18>
- 3d6:	00 00       	nop
+ 444:	2f ef       	ldi	r18, 0xFF	; 255
+ 446:	80 e7       	ldi	r24, 0x70	; 112
+ 448:	92 e0       	ldi	r25, 0x02	; 2
+ 44a:	21 50       	subi	r18, 0x01	; 1
+ 44c:	80 40       	sbci	r24, 0x00	; 0
+ 44e:	90 40       	sbci	r25, 0x00	; 0
+ 450:	e1 f7       	brne	.-8      	; 0x44a <rf12_init+0xe>
+ 452:	00 c0       	rjmp	.+0      	; 0x454 <rf12_init+0x18>
+ 454:	00 00       	nop
 
 	_delay_ms(100);
 
 	rf12_trans(0xC0E0);			// AVR CLK: 10MHz
- 3d8:	80 ee       	ldi	r24, 0xE0	; 224
- 3da:	90 ec       	ldi	r25, 0xC0	; 192
- 3dc:	d7 df       	rcall	.-82     	; 0x38c <rf12_trans>
+ 456:	80 ee       	ldi	r24, 0xE0	; 224
+ 458:	90 ec       	ldi	r25, 0xC0	; 192
+ 45a:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_trans(0x80D7);			// Enable FIFO
- 3de:	87 ed       	ldi	r24, 0xD7	; 215
- 3e0:	90 e8       	ldi	r25, 0x80	; 128
- 3e2:	d4 df       	rcall	.-88     	; 0x38c <rf12_trans>
+ 45e:	87 ed       	ldi	r24, 0xD7	; 215
+ 460:	90 e8       	ldi	r25, 0x80	; 128
+ 462:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_trans(0xC2AB);			// Data Filter: internal
- 3e4:	8b ea       	ldi	r24, 0xAB	; 171
- 3e6:	92 ec       	ldi	r25, 0xC2	; 194
- 3e8:	d1 df       	rcall	.-94     	; 0x38c <rf12_trans>
+ 466:	8b ea       	ldi	r24, 0xAB	; 171
+ 468:	92 ec       	ldi	r25, 0xC2	; 194
+ 46a:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_trans(0xCA81);			// Set FIFO mode
- 3ea:	81 e8       	ldi	r24, 0x81	; 129
- 3ec:	9a ec       	ldi	r25, 0xCA	; 202
- 3ee:	ce df       	rcall	.-100    	; 0x38c <rf12_trans>
+ 46e:	81 e8       	ldi	r24, 0x81	; 129
+ 470:	9a ec       	ldi	r25, 0xCA	; 202
+ 472:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_trans(0xE000);			// disable wakeuptimer
- 3f0:	80 e0       	ldi	r24, 0x00	; 0
- 3f2:	90 ee       	ldi	r25, 0xE0	; 224
- 3f4:	cb df       	rcall	.-106    	; 0x38c <rf12_trans>
+ 476:	80 e0       	ldi	r24, 0x00	; 0
+ 478:	90 ee       	ldi	r25, 0xE0	; 224
+ 47a:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_trans(0xC800);			// disable low duty cycle
- 3f6:	80 e0       	ldi	r24, 0x00	; 0
- 3f8:	98 ec       	ldi	r25, 0xC8	; 200
- 3fa:	c8 df       	rcall	.-112    	; 0x38c <rf12_trans>
+ 47e:	80 e0       	ldi	r24, 0x00	; 0
+ 480:	98 ec       	ldi	r25, 0xC8	; 200
+ 482:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_trans(0xC4F7);			// AFC settings: autotuning: -10kHz...+7,5kHz
- 3fc:	87 ef       	ldi	r24, 0xF7	; 247
- 3fe:	94 ec       	ldi	r25, 0xC4	; 196
- 400:	c5 df       	rcall	.-118    	; 0x38c <rf12_trans>
- 402:	08 95       	ret
+ 486:	87 ef       	ldi	r24, 0xF7	; 247
+ 488:	94 ec       	ldi	r25, 0xC4	; 196
+ 48a:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
+ 48e:	08 95       	ret
 
-00000404 <rf12_setbandwidth>:
+00000490 <rf12_setbandwidth>:
 }
 
 void rf12_setbandwidth(unsigned char bandwidth, unsigned char gain, unsigned char drssi)
 {
 	rf12_trans(0x9400|((bandwidth&7)<<5)|((gain&3)<<3)|(drssi&7));
- 404:	47 70       	andi	r20, 0x07	; 7
- 406:	50 e0       	ldi	r21, 0x00	; 0
- 408:	54 69       	ori	r21, 0x94	; 148
- 40a:	63 70       	andi	r22, 0x03	; 3
- 40c:	26 2f       	mov	r18, r22
- 40e:	30 e0       	ldi	r19, 0x00	; 0
- 410:	22 0f       	add	r18, r18
- 412:	33 1f       	adc	r19, r19
- 414:	22 0f       	add	r18, r18
- 416:	33 1f       	adc	r19, r19
- 418:	22 0f       	add	r18, r18
- 41a:	33 1f       	adc	r19, r19
- 41c:	90 e0       	ldi	r25, 0x00	; 0
- 41e:	88 0f       	add	r24, r24
- 420:	99 1f       	adc	r25, r25
- 422:	82 95       	swap	r24
- 424:	92 95       	swap	r25
- 426:	90 7f       	andi	r25, 0xF0	; 240
- 428:	98 27       	eor	r25, r24
- 42a:	80 7f       	andi	r24, 0xF0	; 240
- 42c:	98 27       	eor	r25, r24
- 42e:	99 27       	eor	r25, r25
- 430:	82 2b       	or	r24, r18
- 432:	93 2b       	or	r25, r19
- 434:	84 2b       	or	r24, r20
- 436:	95 2b       	or	r25, r21
- 438:	a9 df       	rcall	.-174    	; 0x38c <rf12_trans>
- 43a:	08 95       	ret
+ 490:	47 70       	andi	r20, 0x07	; 7
+ 492:	50 e0       	ldi	r21, 0x00	; 0
+ 494:	54 69       	ori	r21, 0x94	; 148
+ 496:	63 70       	andi	r22, 0x03	; 3
+ 498:	70 e0       	ldi	r23, 0x00	; 0
+ 49a:	66 0f       	add	r22, r22
+ 49c:	77 1f       	adc	r23, r23
+ 49e:	66 0f       	add	r22, r22
+ 4a0:	77 1f       	adc	r23, r23
+ 4a2:	66 0f       	add	r22, r22
+ 4a4:	77 1f       	adc	r23, r23
+ 4a6:	20 e2       	ldi	r18, 0x20	; 32
+ 4a8:	82 9f       	mul	r24, r18
+ 4aa:	c0 01       	movw	r24, r0
+ 4ac:	11 24       	eor	r1, r1
+ 4ae:	99 27       	eor	r25, r25
+ 4b0:	86 2b       	or	r24, r22
+ 4b2:	97 2b       	or	r25, r23
+ 4b4:	84 2b       	or	r24, r20
+ 4b6:	95 2b       	or	r25, r21
+ 4b8:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
+ 4bc:	08 95       	ret
 
-0000043c <rf12_setfreq>:
+000004be <rf12_setfreq>:
 }
 
 void rf12_setfreq(unsigned short freq)
 {	
 	if (freq<96) {				// 430,2400MHz
- 43c:	80 36       	cpi	r24, 0x60	; 96
- 43e:	91 05       	cpc	r25, r1
- 440:	38 f0       	brcs	.+14     	; 0x450 <rf12_setfreq+0x14>
- 442:	80 34       	cpi	r24, 0x40	; 64
- 444:	2f e0       	ldi	r18, 0x0F	; 15
- 446:	92 07       	cpc	r25, r18
- 448:	28 f0       	brcs	.+10     	; 0x454 <rf12_setfreq+0x18>
- 44a:	8f e3       	ldi	r24, 0x3F	; 63
- 44c:	9f e0       	ldi	r25, 0x0F	; 15
- 44e:	02 c0       	rjmp	.+4      	; 0x454 <rf12_setfreq+0x18>
+ 4be:	80 36       	cpi	r24, 0x60	; 96
+ 4c0:	91 05       	cpc	r25, r1
+ 4c2:	38 f0       	brcs	.+14     	; 0x4d2 <rf12_setfreq+0x14>
+ 4c4:	80 34       	cpi	r24, 0x40	; 64
+ 4c6:	2f e0       	ldi	r18, 0x0F	; 15
+ 4c8:	92 07       	cpc	r25, r18
+ 4ca:	28 f0       	brcs	.+10     	; 0x4d6 <rf12_setfreq+0x18>
+ 4cc:	8f e3       	ldi	r24, 0x3F	; 63
+ 4ce:	9f e0       	ldi	r25, 0x0F	; 15
+ 4d0:	02 c0       	rjmp	.+4      	; 0x4d6 <rf12_setfreq+0x18>
 		freq=96;
- 450:	80 e6       	ldi	r24, 0x60	; 96
- 452:	90 e0       	ldi	r25, 0x00	; 0
+ 4d2:	80 e6       	ldi	r24, 0x60	; 96
+ 4d4:	90 e0       	ldi	r25, 0x00	; 0
 	} else if (freq>3903) {		// 439,7575MHz
 		freq=3903;
 	}	
 	rf12_trans(0xA000|freq);
- 454:	90 6a       	ori	r25, 0xA0	; 160
- 456:	9a df       	rcall	.-204    	; 0x38c <rf12_trans>
- 458:	08 95       	ret
+ 4d6:	90 6a       	ori	r25, 0xA0	; 160
+ 4d8:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
+ 4dc:	08 95       	ret
 
-0000045a <rf12_setbaud>:
+000004de <rf12_setbaud>:
 }
 
 void rf12_setbaud(unsigned short baud)
 {
 	if (baud<663) {
- 45a:	87 39       	cpi	r24, 0x97	; 151
- 45c:	22 e0       	ldi	r18, 0x02	; 2
- 45e:	92 07       	cpc	r25, r18
- 460:	f0 f0       	brcs	.+60     	; 0x49e <rf12_setbaud+0x44>
+ 4de:	87 39       	cpi	r24, 0x97	; 151
+ 4e0:	22 e0       	ldi	r18, 0x02	; 2
+ 4e2:	92 07       	cpc	r25, r18
+ 4e4:	10 f1       	brcs	.+68     	; 0x52a <__stack+0x2b>
 		return;
 	}	
 	if (baud<5400) {				// Baudrate= 344827,58621/(R+1)/(1+CS*7)
- 462:	88 31       	cpi	r24, 0x18	; 24
- 464:	25 e1       	ldi	r18, 0x15	; 21
- 466:	92 07       	cpc	r25, r18
- 468:	70 f4       	brcc	.+28     	; 0x486 <rf12_setbaud+0x2c>
+ 4e6:	88 31       	cpi	r24, 0x18	; 24
+ 4e8:	25 e1       	ldi	r18, 0x15	; 21
+ 4ea:	92 07       	cpc	r25, r18
+ 4ec:	80 f4       	brcc	.+32     	; 0x50e <__stack+0xf>
 		rf12_trans(0xC680|((43104/baud)-1));
- 46a:	9c 01       	movw	r18, r24
- 46c:	40 e0       	ldi	r20, 0x00	; 0
- 46e:	50 e0       	ldi	r21, 0x00	; 0
- 470:	60 e6       	ldi	r22, 0x60	; 96
- 472:	78 ea       	ldi	r23, 0xA8	; 168
- 474:	80 e0       	ldi	r24, 0x00	; 0
- 476:	90 e0       	ldi	r25, 0x00	; 0
- 478:	a0 d0       	rcall	.+320    	; 0x5ba <__divmodsi4>
- 47a:	c9 01       	movw	r24, r18
- 47c:	01 97       	sbiw	r24, 0x01	; 1
- 47e:	80 68       	ori	r24, 0x80	; 128
- 480:	96 6c       	ori	r25, 0xC6	; 198
- 482:	84 df       	rcall	.-248    	; 0x38c <rf12_trans>
- 484:	08 95       	ret
+ 4ee:	9c 01       	movw	r18, r24
+ 4f0:	40 e0       	ldi	r20, 0x00	; 0
+ 4f2:	50 e0       	ldi	r21, 0x00	; 0
+ 4f4:	60 e6       	ldi	r22, 0x60	; 96
+ 4f6:	78 ea       	ldi	r23, 0xA8	; 168
+ 4f8:	80 e0       	ldi	r24, 0x00	; 0
+ 4fa:	90 e0       	ldi	r25, 0x00	; 0
+ 4fc:	0e 94 3e 03 	call	0x67c	; 0x67c <__divmodsi4>
+ 500:	c9 01       	movw	r24, r18
+ 502:	01 97       	sbiw	r24, 0x01	; 1
+ 504:	80 68       	ori	r24, 0x80	; 128
+ 506:	96 6c       	ori	r25, 0xC6	; 198
+ 508:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
+ 50c:	08 95       	ret
 	} else {
 		rf12_trans(0xC600|((344828UL/baud)-1));
- 486:	9c 01       	movw	r18, r24
- 488:	40 e0       	ldi	r20, 0x00	; 0
- 48a:	50 e0       	ldi	r21, 0x00	; 0
- 48c:	6c ef       	ldi	r22, 0xFC	; 252
- 48e:	72 e4       	ldi	r23, 0x42	; 66
- 490:	85 e0       	ldi	r24, 0x05	; 5
- 492:	90 e0       	ldi	r25, 0x00	; 0
- 494:	70 d0       	rcall	.+224    	; 0x576 <__udivmodsi4>
- 496:	c9 01       	movw	r24, r18
- 498:	01 97       	sbiw	r24, 0x01	; 1
- 49a:	96 6c       	ori	r25, 0xC6	; 198
- 49c:	77 df       	rcall	.-274    	; 0x38c <rf12_trans>
- 49e:	08 95       	ret
+ 50e:	9c 01       	movw	r18, r24
+ 510:	40 e0       	ldi	r20, 0x00	; 0
+ 512:	50 e0       	ldi	r21, 0x00	; 0
+ 514:	6c ef       	ldi	r22, 0xFC	; 252
+ 516:	72 e4       	ldi	r23, 0x42	; 66
+ 518:	85 e0       	ldi	r24, 0x05	; 5
+ 51a:	90 e0       	ldi	r25, 0x00	; 0
+ 51c:	0e 94 1c 03 	call	0x638	; 0x638 <__udivmodsi4>
+ 520:	c9 01       	movw	r24, r18
+ 522:	01 97       	sbiw	r24, 0x01	; 1
+ 524:	96 6c       	ori	r25, 0xC6	; 198
+ 526:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
+ 52a:	08 95       	ret
 
-000004a0 <rf12_setpower>:
+0000052c <rf12_setpower>:
 	}	
 }
 
 void rf12_setpower(unsigned char power, unsigned char mod)
 {
 	rf12_trans(0x9800|(power&7)|((mod&15)<<4));
- 4a0:	87 70       	andi	r24, 0x07	; 7
- 4a2:	90 e0       	ldi	r25, 0x00	; 0
- 4a4:	98 69       	ori	r25, 0x98	; 152
- 4a6:	70 e0       	ldi	r23, 0x00	; 0
- 4a8:	62 95       	swap	r22
- 4aa:	72 95       	swap	r23
- 4ac:	70 7f       	andi	r23, 0xF0	; 240
- 4ae:	76 27       	eor	r23, r22
- 4b0:	60 7f       	andi	r22, 0xF0	; 240
- 4b2:	76 27       	eor	r23, r22
- 4b4:	77 27       	eor	r23, r23
- 4b6:	86 2b       	or	r24, r22
- 4b8:	97 2b       	or	r25, r23
- 4ba:	68 df       	rcall	.-304    	; 0x38c <rf12_trans>
- 4bc:	08 95       	ret
+ 52c:	87 70       	andi	r24, 0x07	; 7
+ 52e:	90 e0       	ldi	r25, 0x00	; 0
+ 530:	98 69       	ori	r25, 0x98	; 152
+ 532:	20 e1       	ldi	r18, 0x10	; 16
+ 534:	62 9f       	mul	r22, r18
+ 536:	b0 01       	movw	r22, r0
+ 538:	11 24       	eor	r1, r1
+ 53a:	77 27       	eor	r23, r23
+ 53c:	86 2b       	or	r24, r22
+ 53e:	97 2b       	or	r25, r23
+ 540:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
+ 544:	08 95       	ret
 
-000004be <rf12_ready>:
+00000546 <rf12_ready>:
 }
 
 void rf12_ready(void)
 {	
 	RF_PORT &= ~(1<<CS);
- 4be:	d9 98       	cbi	0x1b, 1	; 27
+ 546:	44 98       	cbi	0x08, 4	; 8
 	while (!(RF_PIN & (1<<SDO))); // wait until FIFO ready
- 4c0:	c8 9b       	sbis	0x19, 0	; 25
- 4c2:	fe cf       	rjmp	.-4      	; 0x4c0 <rf12_ready+0x2>
+ 548:	33 9b       	sbis	0x06, 3	; 6
+ 54a:	fe cf       	rjmp	.-4      	; 0x548 <rf12_ready+0x2>
 }
- 4c4:	08 95       	ret
+ 54c:	08 95       	ret
 
-000004c6 <rf12_beginasyncrx>:
+0000054e <rf12_beginasyncrx>:
 
 void rf12_beginasyncrx() {
 	rf12_trans(0x82C8);			// RX on
- 4c6:	88 ec       	ldi	r24, 0xC8	; 200
- 4c8:	92 e8       	ldi	r25, 0x82	; 130
- 4ca:	60 df       	rcall	.-320    	; 0x38c <rf12_trans>
+ 54e:	88 ec       	ldi	r24, 0xC8	; 200
+ 550:	92 e8       	ldi	r25, 0x82	; 130
+ 552:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_trans(0xCA81);			// set FIFO mode
- 4cc:	81 e8       	ldi	r24, 0x81	; 129
- 4ce:	9a ec       	ldi	r25, 0xCA	; 202
- 4d0:	5d df       	rcall	.-326    	; 0x38c <rf12_trans>
+ 556:	81 e8       	ldi	r24, 0x81	; 129
+ 558:	9a ec       	ldi	r25, 0xCA	; 202
+ 55a:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_trans(0xCA83);			// enable FIFO
- 4d2:	83 e8       	ldi	r24, 0x83	; 131
- 4d4:	9a ec       	ldi	r25, 0xCA	; 202
- 4d6:	5a df       	rcall	.-332    	; 0x38c <rf12_trans>
- 4d8:	08 95       	ret
+ 55e:	83 e8       	ldi	r24, 0x83	; 131
+ 560:	9a ec       	ldi	r25, 0xCA	; 202
+ 562:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
+ 566:	08 95       	ret
 
-000004da <rf12_hasdata>:
+00000568 <rf12_hasdata>:
 }
 uint8_t rf12_hasdata() {
 	RF_PORT &= ~(1<<CS);
- 4da:	d9 98       	cbi	0x1b, 1	; 27
+ 568:	44 98       	cbi	0x08, 4	; 8
 	return !(RF_PIN & (1<<SDO));
- 4dc:	89 b3       	in	r24, 0x19	; 25
- 4de:	80 95       	com	r24
+ 56a:	86 b1       	in	r24, 0x06	; 6
+ 56c:	83 fb       	bst	r24, 3
+ 56e:	88 27       	eor	r24, r24
+ 570:	80 f9       	bld	r24, 0
 }
- 4e0:	81 70       	andi	r24, 0x01	; 1
- 4e2:	08 95       	ret
+ 572:	91 e0       	ldi	r25, 0x01	; 1
+ 574:	89 27       	eor	r24, r25
+ 576:	08 95       	ret
 
-000004e4 <rf12_rxbyte>:
+00000578 <rf12_rxbyte>:
 uint8_t rf12_rxbyte() {
 	return rf12_trans(0xB000);
- 4e4:	80 e0       	ldi	r24, 0x00	; 0
- 4e6:	90 eb       	ldi	r25, 0xB0	; 176
- 4e8:	51 df       	rcall	.-350    	; 0x38c <rf12_trans>
+ 578:	80 e0       	ldi	r24, 0x00	; 0
+ 57a:	90 eb       	ldi	r25, 0xB0	; 176
+ 57c:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 }
- 4ea:	08 95       	ret
+ 580:	08 95       	ret
 
-000004ec <rf12_endasyncrx>:
+00000582 <rf12_endasyncrx>:
 void rf12_endasyncrx() {
 	rf12_trans(0x8208);			// RX off
- 4ec:	88 e0       	ldi	r24, 0x08	; 8
- 4ee:	92 e8       	ldi	r25, 0x82	; 130
- 4f0:	4d df       	rcall	.-358    	; 0x38c <rf12_trans>
- 4f2:	08 95       	ret
+ 582:	88 e0       	ldi	r24, 0x08	; 8
+ 584:	92 e8       	ldi	r25, 0x82	; 130
+ 586:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
+ 58a:	08 95       	ret
 
-000004f4 <rf12_txpacket>:
+0000058c <rf12_txpacket>:
 		*data++=rf12_trans(0xB000);
 	}
 	rf12_trans(0x8208);			// RX off
 }
 
 void rf12_txpacket(uint8_t addr, uint8_t from, uint8_t data) {
- 4f4:	1f 93       	push	r17
- 4f6:	cf 93       	push	r28
- 4f8:	df 93       	push	r29
- 4fa:	18 2f       	mov	r17, r24
- 4fc:	d6 2f       	mov	r29, r22
- 4fe:	c4 2f       	mov	r28, r20
+ 58c:	1f 93       	push	r17
+ 58e:	cf 93       	push	r28
+ 590:	df 93       	push	r29
+ 592:	18 2f       	mov	r17, r24
+ 594:	d6 2f       	mov	r29, r22
+ 596:	c4 2f       	mov	r28, r20
 	rf12_trans(0x8238);			// TX on
- 500:	88 e3       	ldi	r24, 0x38	; 56
- 502:	92 e8       	ldi	r25, 0x82	; 130
- 504:	43 df       	rcall	.-378    	; 0x38c <rf12_trans>
+ 598:	88 e3       	ldi	r24, 0x38	; 56
+ 59a:	92 e8       	ldi	r25, 0x82	; 130
+ 59c:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_ready();
- 506:	db df       	rcall	.-74     	; 0x4be <rf12_ready>
+ 5a0:	0e 94 a3 02 	call	0x546	; 0x546 <rf12_ready>
 	rf12_trans(0xB8AA);
- 508:	8a ea       	ldi	r24, 0xAA	; 170
- 50a:	98 eb       	ldi	r25, 0xB8	; 184
- 50c:	3f df       	rcall	.-386    	; 0x38c <rf12_trans>
+ 5a4:	8a ea       	ldi	r24, 0xAA	; 170
+ 5a6:	98 eb       	ldi	r25, 0xB8	; 184
+ 5a8:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_ready();
- 50e:	d7 df       	rcall	.-82     	; 0x4be <rf12_ready>
+ 5ac:	0e 94 a3 02 	call	0x546	; 0x546 <rf12_ready>
 	rf12_trans(0xB8AA);
- 510:	8a ea       	ldi	r24, 0xAA	; 170
- 512:	98 eb       	ldi	r25, 0xB8	; 184
- 514:	3b df       	rcall	.-394    	; 0x38c <rf12_trans>
+ 5b0:	8a ea       	ldi	r24, 0xAA	; 170
+ 5b2:	98 eb       	ldi	r25, 0xB8	; 184
+ 5b4:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_ready();
- 516:	d3 df       	rcall	.-90     	; 0x4be <rf12_ready>
+ 5b8:	0e 94 a3 02 	call	0x546	; 0x546 <rf12_ready>
 	rf12_trans(0xB8AA);
- 518:	8a ea       	ldi	r24, 0xAA	; 170
- 51a:	98 eb       	ldi	r25, 0xB8	; 184
- 51c:	37 df       	rcall	.-402    	; 0x38c <rf12_trans>
+ 5bc:	8a ea       	ldi	r24, 0xAA	; 170
+ 5be:	98 eb       	ldi	r25, 0xB8	; 184
+ 5c0:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_ready();
- 51e:	cf df       	rcall	.-98     	; 0x4be <rf12_ready>
+ 5c4:	0e 94 a3 02 	call	0x546	; 0x546 <rf12_ready>
 	rf12_trans(0xB82D);
- 520:	8d e2       	ldi	r24, 0x2D	; 45
- 522:	98 eb       	ldi	r25, 0xB8	; 184
- 524:	33 df       	rcall	.-410    	; 0x38c <rf12_trans>
+ 5c8:	8d e2       	ldi	r24, 0x2D	; 45
+ 5ca:	98 eb       	ldi	r25, 0xB8	; 184
+ 5cc:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_ready();
- 526:	cb df       	rcall	.-106    	; 0x4be <rf12_ready>
+ 5d0:	0e 94 a3 02 	call	0x546	; 0x546 <rf12_ready>
 	rf12_trans(0xB8D4);
- 528:	84 ed       	ldi	r24, 0xD4	; 212
- 52a:	98 eb       	ldi	r25, 0xB8	; 184
- 52c:	2f df       	rcall	.-418    	; 0x38c <rf12_trans>
+ 5d4:	84 ed       	ldi	r24, 0xD4	; 212
+ 5d6:	98 eb       	ldi	r25, 0xB8	; 184
+ 5d8:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_ready();
- 52e:	c7 df       	rcall	.-114    	; 0x4be <rf12_ready>
+ 5dc:	0e 94 a3 02 	call	0x546	; 0x546 <rf12_ready>
 	rf12_trans(0xB800|addr);
- 530:	81 2f       	mov	r24, r17
- 532:	90 e0       	ldi	r25, 0x00	; 0
- 534:	98 6b       	ori	r25, 0xB8	; 184
- 536:	2a df       	rcall	.-428    	; 0x38c <rf12_trans>
+ 5e0:	81 2f       	mov	r24, r17
+ 5e2:	90 e0       	ldi	r25, 0x00	; 0
+ 5e4:	98 6b       	ori	r25, 0xB8	; 184
+ 5e6:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_ready();
- 538:	c2 df       	rcall	.-124    	; 0x4be <rf12_ready>
+ 5ea:	0e 94 a3 02 	call	0x546	; 0x546 <rf12_ready>
 	rf12_trans(0xB800|from);
- 53a:	8d 2f       	mov	r24, r29
- 53c:	90 e0       	ldi	r25, 0x00	; 0
- 53e:	98 6b       	ori	r25, 0xB8	; 184
- 540:	25 df       	rcall	.-438    	; 0x38c <rf12_trans>
+ 5ee:	8d 2f       	mov	r24, r29
+ 5f0:	90 e0       	ldi	r25, 0x00	; 0
+ 5f2:	98 6b       	ori	r25, 0xB8	; 184
+ 5f4:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_ready();
- 542:	bd df       	rcall	.-134    	; 0x4be <rf12_ready>
+ 5f8:	0e 94 a3 02 	call	0x546	; 0x546 <rf12_ready>
 	rf12_trans(0xB800|data);
- 544:	8c 2f       	mov	r24, r28
- 546:	90 e0       	ldi	r25, 0x00	; 0
- 548:	98 6b       	ori	r25, 0xB8	; 184
- 54a:	20 df       	rcall	.-448    	; 0x38c <rf12_trans>
+ 5fc:	8c 2f       	mov	r24, r28
+ 5fe:	90 e0       	ldi	r25, 0x00	; 0
+ 600:	98 6b       	ori	r25, 0xB8	; 184
+ 602:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_ready();
- 54c:	b8 df       	rcall	.-144    	; 0x4be <rf12_ready>
+ 606:	0e 94 a3 02 	call	0x546	; 0x546 <rf12_ready>
 	rf12_trans(0xB800);
- 54e:	80 e0       	ldi	r24, 0x00	; 0
- 550:	98 eb       	ldi	r25, 0xB8	; 184
- 552:	1c df       	rcall	.-456    	; 0x38c <rf12_trans>
+ 60a:	80 e0       	ldi	r24, 0x00	; 0
+ 60c:	98 eb       	ldi	r25, 0xB8	; 184
+ 60e:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
 	rf12_ready();
- 554:	b4 df       	rcall	.-152    	; 0x4be <rf12_ready>
+ 612:	0e 94 a3 02 	call	0x546	; 0x546 <rf12_ready>
 	rf12_trans(0x8208); // TX off
- 556:	88 e0       	ldi	r24, 0x08	; 8
- 558:	92 e8       	ldi	r25, 0x82	; 130
- 55a:	18 df       	rcall	.-464    	; 0x38c <rf12_trans>
- 55c:	2f ef       	ldi	r18, 0xFF	; 255
- 55e:	80 e7       	ldi	r24, 0x70	; 112
- 560:	92 e0       	ldi	r25, 0x02	; 2
- 562:	21 50       	subi	r18, 0x01	; 1
- 564:	80 40       	sbci	r24, 0x00	; 0
- 566:	90 40       	sbci	r25, 0x00	; 0
- 568:	e1 f7       	brne	.-8      	; 0x562 <rf12_txpacket+0x6e>
- 56a:	00 c0       	rjmp	.+0      	; 0x56c <rf12_txpacket+0x78>
- 56c:	00 00       	nop
+ 616:	88 e0       	ldi	r24, 0x08	; 8
+ 618:	92 e8       	ldi	r25, 0x82	; 130
+ 61a:	0e 94 05 02 	call	0x40a	; 0x40a <rf12_trans>
+ 61e:	2f ef       	ldi	r18, 0xFF	; 255
+ 620:	80 e7       	ldi	r24, 0x70	; 112
+ 622:	92 e0       	ldi	r25, 0x02	; 2
+ 624:	21 50       	subi	r18, 0x01	; 1
+ 626:	80 40       	sbci	r24, 0x00	; 0
+ 628:	90 40       	sbci	r25, 0x00	; 0
+ 62a:	e1 f7       	brne	.-8      	; 0x624 <rf12_txpacket+0x98>
+ 62c:	00 c0       	rjmp	.+0      	; 0x62e <rf12_txpacket+0xa2>
+ 62e:	00 00       	nop
 	_delay_ms(100);
- 56e:	df 91       	pop	r29
- 570:	cf 91       	pop	r28
- 572:	1f 91       	pop	r17
- 574:	08 95       	ret
+ 630:	df 91       	pop	r29
+ 632:	cf 91       	pop	r28
+ 634:	1f 91       	pop	r17
+ 636:	08 95       	ret
 
-00000576 <__udivmodsi4>:
- 576:	a1 e2       	ldi	r26, 0x21	; 33
- 578:	1a 2e       	mov	r1, r26
- 57a:	aa 1b       	sub	r26, r26
- 57c:	bb 1b       	sub	r27, r27
- 57e:	fd 01       	movw	r30, r26
- 580:	0d c0       	rjmp	.+26     	; 0x59c <__udivmodsi4_ep>
+00000638 <__udivmodsi4>:
+ 638:	a1 e2       	ldi	r26, 0x21	; 33
+ 63a:	1a 2e       	mov	r1, r26
+ 63c:	aa 1b       	sub	r26, r26
+ 63e:	bb 1b       	sub	r27, r27
+ 640:	fd 01       	movw	r30, r26
+ 642:	0d c0       	rjmp	.+26     	; 0x65e <__udivmodsi4_ep>
 
-00000582 <__udivmodsi4_loop>:
- 582:	aa 1f       	adc	r26, r26
- 584:	bb 1f       	adc	r27, r27
- 586:	ee 1f       	adc	r30, r30
- 588:	ff 1f       	adc	r31, r31
- 58a:	a2 17       	cp	r26, r18
- 58c:	b3 07       	cpc	r27, r19
- 58e:	e4 07       	cpc	r30, r20
- 590:	f5 07       	cpc	r31, r21
- 592:	20 f0       	brcs	.+8      	; 0x59c <__udivmodsi4_ep>
- 594:	a2 1b       	sub	r26, r18
- 596:	b3 0b       	sbc	r27, r19
- 598:	e4 0b       	sbc	r30, r20
- 59a:	f5 0b       	sbc	r31, r21
+00000644 <__udivmodsi4_loop>:
+ 644:	aa 1f       	adc	r26, r26
+ 646:	bb 1f       	adc	r27, r27
+ 648:	ee 1f       	adc	r30, r30
+ 64a:	ff 1f       	adc	r31, r31
+ 64c:	a2 17       	cp	r26, r18
+ 64e:	b3 07       	cpc	r27, r19
+ 650:	e4 07       	cpc	r30, r20
+ 652:	f5 07       	cpc	r31, r21
+ 654:	20 f0       	brcs	.+8      	; 0x65e <__udivmodsi4_ep>
+ 656:	a2 1b       	sub	r26, r18
+ 658:	b3 0b       	sbc	r27, r19
+ 65a:	e4 0b       	sbc	r30, r20
+ 65c:	f5 0b       	sbc	r31, r21
 
-0000059c <__udivmodsi4_ep>:
- 59c:	66 1f       	adc	r22, r22
- 59e:	77 1f       	adc	r23, r23
- 5a0:	88 1f       	adc	r24, r24
- 5a2:	99 1f       	adc	r25, r25
- 5a4:	1a 94       	dec	r1
- 5a6:	69 f7       	brne	.-38     	; 0x582 <__udivmodsi4_loop>
- 5a8:	60 95       	com	r22
- 5aa:	70 95       	com	r23
- 5ac:	80 95       	com	r24
- 5ae:	90 95       	com	r25
- 5b0:	9b 01       	movw	r18, r22
- 5b2:	ac 01       	movw	r20, r24
- 5b4:	bd 01       	movw	r22, r26
- 5b6:	cf 01       	movw	r24, r30
- 5b8:	08 95       	ret
+0000065e <__udivmodsi4_ep>:
+ 65e:	66 1f       	adc	r22, r22
+ 660:	77 1f       	adc	r23, r23
+ 662:	88 1f       	adc	r24, r24
+ 664:	99 1f       	adc	r25, r25
+ 666:	1a 94       	dec	r1
+ 668:	69 f7       	brne	.-38     	; 0x644 <__udivmodsi4_loop>
+ 66a:	60 95       	com	r22
+ 66c:	70 95       	com	r23
+ 66e:	80 95       	com	r24
+ 670:	90 95       	com	r25
+ 672:	9b 01       	movw	r18, r22
+ 674:	ac 01       	movw	r20, r24
+ 676:	bd 01       	movw	r22, r26
+ 678:	cf 01       	movw	r24, r30
+ 67a:	08 95       	ret
 
-000005ba <__divmodsi4>:
- 5ba:	05 2e       	mov	r0, r21
- 5bc:	97 fb       	bst	r25, 7
- 5be:	16 f4       	brtc	.+4      	; 0x5c4 <__divmodsi4+0xa>
- 5c0:	00 94       	com	r0
- 5c2:	06 d0       	rcall	.+12     	; 0x5d0 <__divmodsi4_neg1>
- 5c4:	57 fd       	sbrc	r21, 7
- 5c6:	0c d0       	rcall	.+24     	; 0x5e0 <__divmodsi4_neg2>
- 5c8:	d6 df       	rcall	.-84     	; 0x576 <__udivmodsi4>
- 5ca:	07 fc       	sbrc	r0, 7
- 5cc:	09 d0       	rcall	.+18     	; 0x5e0 <__divmodsi4_neg2>
- 5ce:	7e f4       	brtc	.+30     	; 0x5ee <__divmodsi4_exit>
+0000067c <__divmodsi4>:
+ 67c:	05 2e       	mov	r0, r21
+ 67e:	97 fb       	bst	r25, 7
+ 680:	16 f4       	brtc	.+4      	; 0x686 <__divmodsi4+0xa>
+ 682:	00 94       	com	r0
+ 684:	07 d0       	rcall	.+14     	; 0x694 <__divmodsi4_neg1>
+ 686:	57 fd       	sbrc	r21, 7
+ 688:	0d d0       	rcall	.+26     	; 0x6a4 <__divmodsi4_neg2>
+ 68a:	0e 94 1c 03 	call	0x638	; 0x638 <__udivmodsi4>
+ 68e:	07 fc       	sbrc	r0, 7
+ 690:	09 d0       	rcall	.+18     	; 0x6a4 <__divmodsi4_neg2>
+ 692:	7e f4       	brtc	.+30     	; 0x6b2 <__divmodsi4_exit>
 
-000005d0 <__divmodsi4_neg1>:
- 5d0:	90 95       	com	r25
- 5d2:	80 95       	com	r24
- 5d4:	70 95       	com	r23
- 5d6:	61 95       	neg	r22
- 5d8:	7f 4f       	sbci	r23, 0xFF	; 255
- 5da:	8f 4f       	sbci	r24, 0xFF	; 255
- 5dc:	9f 4f       	sbci	r25, 0xFF	; 255
- 5de:	08 95       	ret
+00000694 <__divmodsi4_neg1>:
+ 694:	90 95       	com	r25
+ 696:	80 95       	com	r24
+ 698:	70 95       	com	r23
+ 69a:	61 95       	neg	r22
+ 69c:	7f 4f       	sbci	r23, 0xFF	; 255
+ 69e:	8f 4f       	sbci	r24, 0xFF	; 255
+ 6a0:	9f 4f       	sbci	r25, 0xFF	; 255
+ 6a2:	08 95       	ret
 
-000005e0 <__divmodsi4_neg2>:
- 5e0:	50 95       	com	r21
- 5e2:	40 95       	com	r20
- 5e4:	30 95       	com	r19
- 5e6:	21 95       	neg	r18
- 5e8:	3f 4f       	sbci	r19, 0xFF	; 255
- 5ea:	4f 4f       	sbci	r20, 0xFF	; 255
- 5ec:	5f 4f       	sbci	r21, 0xFF	; 255
+000006a4 <__divmodsi4_neg2>:
+ 6a4:	50 95       	com	r21
+ 6a6:	40 95       	com	r20
+ 6a8:	30 95       	com	r19
+ 6aa:	21 95       	neg	r18
+ 6ac:	3f 4f       	sbci	r19, 0xFF	; 255
+ 6ae:	4f 4f       	sbci	r20, 0xFF	; 255
+ 6b0:	5f 4f       	sbci	r21, 0xFF	; 255
 
-000005ee <__divmodsi4_exit>:
- 5ee:	08 95       	ret
+000006b2 <__divmodsi4_exit>:
+ 6b2:	08 95       	ret
 
-000005f0 <_exit>:
- 5f0:	f8 94       	cli
+000006b4 <_exit>:
+ 6b4:	f8 94       	cli
 
-000005f2 <__stop_program>:
- 5f2:	ff cf       	rjmp	.-2      	; 0x5f2 <__stop_program>
+000006b6 <__stop_program>:
+ 6b6:	ff cf       	rjmp	.-2      	; 0x6b6 <__stop_program>
diff --git a/V5B/Reciver/Reciver/Debug/Reciver.map b/V5B/Reciver/Reciver/Debug/Reciver.map
index ca0b574..7f15f61 100644
--- a/V5B/Reciver/Reciver/Debug/Reciver.map
+++ b/V5B/Reciver/Reciver/Debug/Reciver.map
@@ -1,92 +1,92 @@
 Archive member included because of file (symbol)
 
-c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_udivmodsi4.o)
+c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_udivmodsi4.o)
                               rf12.o (__udivmodsi4)
-c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_divmodsi4.o)
+c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_divmodsi4.o)
                               rf12.o (__divmodsi4)
-c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_exit.o)
-                              c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr25/tiny-stack/crttn24a.o (exit)
-c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_copy_data.o)
+c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
+                              c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o (exit)
+c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
                               Reciver.o (__do_copy_data)
-c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_clear_bss.o)
+c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_clear_bss.o)
                               Reciver.o (__do_clear_bss)
 
 Discarded input sections
 
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 Linker script and memory map
 
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+Address of section .data set to 0x800100
+LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
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+LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5\libm.a
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+LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a
+LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5\libc.a
+LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a
 
 .hash
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@@ -197,48 +198,48 @@ LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8
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+.text           0x00000000      0x6b8
  *(.vectors)
- .vectors       0x00000000       0x22 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr25/tiny-stack/crttn24a.o
+ .vectors       0x00000000       0x68 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
                 0x00000000                __vector_default
                 0x00000000                __vectors
  *(.vectors)
  *(.progmem.gcc*)
  *(.progmem*)
-                0x00000022                . = ALIGN (0x2)
-                0x00000022                __trampolines_start = .
+                0x00000068                . = ALIGN (0x2)
+                0x00000068                __trampolines_start = .
  *(.trampolines)
- .trampolines   0x00000022        0x0 linker stubs
+ .trampolines   0x00000068        0x0 linker stubs
  *(.trampolines*)
-                0x00000022                __trampolines_end = .
+                0x00000068                __trampolines_end = .
  *(.jumptables)
  *(.jumptables*)
  *(.lowtext)
  *(.lowtext*)
-                0x00000022                __ctors_start = .
+                0x00000068                __ctors_start = .
  *(.ctors)
-                0x00000022                __ctors_end = .
-                0x00000022                __dtors_start = .
+                0x00000068                __ctors_end = .
+                0x00000068                __dtors_start = .
  *(.dtors)
-                0x00000022                __dtors_end = .
+                0x00000068                __dtors_end = .
  SORT(*)(.ctors)
  SORT(*)(.dtors)
  *(.init0)
- .init0         0x00000022        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr25/tiny-stack/crttn24a.o
-                0x00000022                __init
+ .init0         0x00000068        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
+                0x00000068                __init
  *(.init0)
  *(.init1)
  *(.init1)
  *(.init2)
- .init2         0x00000022        0x8 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr25/tiny-stack/crttn24a.o
+ .init2         0x00000068        0xc c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
  *(.init2)
  *(.init3)
  *(.init3)
  *(.init4)
- .init4         0x0000002a       0x16 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_copy_data.o)
-                0x0000002a                __do_copy_data
- .init4         0x00000040       0x10 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_clear_bss.o)
-                0x00000040                __do_clear_bss
+ .init4         0x00000074       0x16 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
+                0x00000074                __do_copy_data
+ .init4         0x0000008a       0x10 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_clear_bss.o)
+                0x0000008a                __do_clear_bss
  *(.init4)
  *(.init5)
  *(.init5)
@@ -249,89 +250,98 @@ LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8
  *(.init8)
  *(.init8)
  *(.init9)
- .init9         0x00000050        0x4 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr25/tiny-stack/crttn24a.o
+ .init9         0x0000009a        0x8 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
  *(.init9)
  *(.text)
- .text          0x00000054        0x2 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr25/tiny-stack/crttn24a.o
-                0x00000054                __vector_1
-                0x00000054                __vector_12
-                0x00000054                __bad_interrupt
-                0x00000054                __vector_6
-                0x00000054                __vector_3
-                0x00000054                __vector_13
-                0x00000054                __vector_7
-                0x00000054                __vector_5
-                0x00000054                __vector_4
-                0x00000054                __vector_9
-                0x00000054                __vector_2
-                0x00000054                __vector_15
-                0x00000054                __vector_8
-                0x00000054                __vector_14
-                0x00000054                __vector_10
-                0x00000054                __vector_16
-                0x00000056                . = ALIGN (0x2)
+ .text          0x000000a2        0x4 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
+                0x000000a2                __vector_22
+                0x000000a2                __vector_1
+                0x000000a2                __vector_24
+                0x000000a2                __vector_12
+                0x000000a2                __bad_interrupt
+                0x000000a2                __vector_6
+                0x000000a2                __vector_3
+                0x000000a2                __vector_23
+                0x000000a2                __vector_25
+                0x000000a2                __vector_11
+                0x000000a2                __vector_13
+                0x000000a2                __vector_17
+                0x000000a2                __vector_19
+                0x000000a2                __vector_7
+                0x000000a2                __vector_5
+                0x000000a2                __vector_4
+                0x000000a2                __vector_9
+                0x000000a2                __vector_2
+                0x000000a2                __vector_21
+                0x000000a2                __vector_15
+                0x000000a2                __vector_8
+                0x000000a2                __vector_14
+                0x000000a2                __vector_10
+                0x000000a2                __vector_18
+                0x000000a2                __vector_20
+                0x000000a6                . = ALIGN (0x2)
  *(.text.*)
- .text.turn     0x00000056       0x96 Reciver.o
-                0x00000056                turn
- .text.poll     0x000000ec       0x94 Reciver.o
-                0x000000ec                poll
- .text.recive   0x00000180       0xa0 Reciver.o
-                0x00000180                recive
+ .text.turn     0x000000a6       0x92 Reciver.o
+                0x000000a6                turn
+ .text.poll     0x00000138       0xa0 Reciver.o
+                0x00000138                poll
+ .text.recive   0x000001d8       0xba Reciver.o
+                0x000001d8                recive
  .text.init_timer
-                0x00000220       0x4c Reciver.o
-                0x00000220                init_timer
- .text.__vector_11
-                0x0000026c       0xf2 Reciver.o
-                0x0000026c                __vector_11
- .text.main     0x0000035e       0x2e Reciver.o
-                0x0000035e                main
+                0x00000292       0x4e Reciver.o
+                0x00000292                init_timer
+ .text.__vector_16
+                0x000002e0       0xf2 Reciver.o
+                0x000002e0                __vector_16
+ .text.main     0x000003d2       0x38 Reciver.o
+                0x000003d2                main
  .text.rf12_trans
-                0x0000038c       0x32 rf12.o
-                0x0000038c                rf12_trans
+                0x0000040a       0x32 rf12.o
+                0x0000040a                rf12_trans
  .text.rf12_init
-                0x000003be       0x46 rf12.o
-                0x000003be                rf12_init
+                0x0000043c       0x54 rf12.o
+                0x0000043c                rf12_init
  .text.rf12_setbandwidth
-                0x00000404       0x38 rf12.o
-                0x00000404                rf12_setbandwidth
+                0x00000490       0x2e rf12.o
+                0x00000490                rf12_setbandwidth
  .text.rf12_setfreq
-                0x0000043c       0x1e rf12.o
-                0x0000043c                rf12_setfreq
+                0x000004be       0x20 rf12.o
+                0x000004be                rf12_setfreq
  .text.rf12_setbaud
-                0x0000045a       0x46 rf12.o
-                0x0000045a                rf12_setbaud
+                0x000004de       0x4e rf12.o
+                0x000004de                rf12_setbaud
  .text.rf12_setpower
-                0x000004a0       0x1e rf12.o
-                0x000004a0                rf12_setpower
+                0x0000052c       0x1a rf12.o
+                0x0000052c                rf12_setpower
  .text.rf12_ready
-                0x000004be        0x8 rf12.o
-                0x000004be                rf12_ready
+                0x00000546        0x8 rf12.o
+                0x00000546                rf12_ready
  .text.rf12_beginasyncrx
-                0x000004c6       0x14 rf12.o
-                0x000004c6                rf12_beginasyncrx
+                0x0000054e       0x1a rf12.o
+                0x0000054e                rf12_beginasyncrx
  .text.rf12_hasdata
-                0x000004da        0xa rf12.o
-                0x000004da                rf12_hasdata
+                0x00000568       0x10 rf12.o
+                0x00000568                rf12_hasdata
  .text.rf12_rxbyte
-                0x000004e4        0x8 rf12.o
-                0x000004e4                rf12_rxbyte
+                0x00000578        0xa rf12.o
+                0x00000578                rf12_rxbyte
  .text.rf12_endasyncrx
-                0x000004ec        0x8 rf12.o
-                0x000004ec                rf12_endasyncrx
+                0x00000582        0xa rf12.o
+                0x00000582                rf12_endasyncrx
  .text.rf12_txpacket
-                0x000004f4       0x82 rf12.o
-                0x000004f4                rf12_txpacket
+                0x0000058c       0xac rf12.o
+                0x0000058c                rf12_txpacket
  .text.libgcc.div
-                0x00000576       0x44 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_udivmodsi4.o)
-                0x00000576                __udivmodsi4
+                0x00000638       0x44 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_udivmodsi4.o)
+                0x00000638                __udivmodsi4
  .text.libgcc.div
-                0x000005ba       0x36 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_divmodsi4.o)
-                0x000005ba                __divmodsi4
-                0x000005f0                . = ALIGN (0x2)
+                0x0000067c       0x38 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_divmodsi4.o)
+                0x0000067c                __divmodsi4
+                0x000006b4                . = ALIGN (0x2)
  *(.fini9)
- .fini9         0x000005f0        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_exit.o)
-                0x000005f0                _exit
-                0x000005f0                exit
+ .fini9         0x000006b4        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
+                0x000006b4                _exit
+                0x000006b4                exit
  *(.fini9)
  *(.fini8)
  *(.fini8)
@@ -350,48 +360,48 @@ LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8
  *(.fini1)
  *(.fini1)
  *(.fini0)
- .fini0         0x000005f0        0x4 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_exit.o)
+ .fini0         0x000006b4        0x4 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
  *(.fini0)
-                0x000005f4                _etext = .
+                0x000006b8                _etext = .
 
-.data           0x00800060        0x4 load address 0x000005f4
-                0x00800060                PROVIDE (__data_start, .)
+.data           0x00800100        0x4 load address 0x000006b8
+                0x00800100                PROVIDE (__data_start, .)
  *(.data)
- .data          0x00800060        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr25/tiny-stack/crttn24a.o
- .data          0x00800060        0x4 Reciver.o
-                0x00800060                servopos
-                0x00800062                status
- .data          0x00800064        0x0 rf12.o
- .data          0x00800064        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_udivmodsi4.o)
- .data          0x00800064        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_divmodsi4.o)
- .data          0x00800064        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_exit.o)
- .data          0x00800064        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_copy_data.o)
- .data          0x00800064        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr25/tiny-stack\libgcc.a(_clear_bss.o)
+ .data          0x00800100        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
+ .data          0x00800100        0x4 Reciver.o
+                0x00800100                servopos
+                0x00800102                status
+ .data          0x00800104        0x0 rf12.o
+ .data          0x00800104        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_udivmodsi4.o)
+ .data          0x00800104        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_divmodsi4.o)
+ .data          0x00800104        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
+ .data          0x00800104        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
+ .data          0x00800104        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_clear_bss.o)
  *(.data*)
  *(.rodata)
  *(.rodata*)
  *(.gnu.linkonce.d*)
-                0x00800064                . = ALIGN (0x2)
-                0x00800064                _edata = .
-                0x00800064                PROVIDE (__data_end, .)
+                0x00800104                . = ALIGN (0x2)
+                0x00800104                _edata = .
+                0x00800104                PROVIDE (__data_end, .)
 
-.bss            0x00800064        0x2
-                0x00800064                PROVIDE (__bss_start, .)
+.bss            0x00800104        0x2
+                0x00800104                PROVIDE (__bss_start, .)
  *(.bss)
- .bss           0x00800064        0x2 Reciver.o
-                0x00800064                pwm_led
+ .bss           0x00800104        0x2 Reciver.o
+                0x00800104                pwm_led
  *(.bss*)
  *(COMMON)
-                0x00800066                PROVIDE (__bss_end, .)
-                0x000005f4                __data_load_start = LOADADDR (.data)
-                0x000005f8                __data_load_end = (__data_load_start + SIZEOF (.data))
+                0x00800106                PROVIDE (__bss_end, .)
+                0x000006b8                __data_load_start = LOADADDR (.data)
+                0x000006bc                __data_load_end = (__data_load_start + SIZEOF (.data))
 
-.noinit         0x00800066        0x0
-                0x00800066                PROVIDE (__noinit_start, .)
+.noinit         0x00800106        0x0
+                0x00800106                PROVIDE (__noinit_start, .)
  *(.noinit*)
-                0x00800066                PROVIDE (__noinit_end, .)
-                0x00800066                _end = .
-                0x00800066                PROVIDE (__heap_start, .)
+                0x00800106                PROVIDE (__noinit_end, .)
+                0x00800106                _end = .
+                0x00800106                PROVIDE (__heap_start, .)
 
 .eeprom         0x00810000        0x0
  *(.eeprom*)
@@ -412,13 +422,13 @@ LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8
 .user_signatures
  *(.user_signatures*)
 
-.stab           0x00000000      0x6b4
+.stab           0x00000000      0x6cc
  *(.stab)
- .stab          0x00000000      0x6b4 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr25/tiny-stack/crttn24a.o
+ .stab          0x00000000      0x6cc c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
 
 .stabstr        0x00000000       0x82
  *(.stabstr)
- .stabstr       0x00000000       0x82 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr25/tiny-stack/crttn24a.o
+ .stabstr       0x00000000       0x82 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
 
 .stab.excl
  *(.stab.excl)
@@ -460,10 +470,10 @@ LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8
 .debug_pubnames
  *(.debug_pubnames)
 
-.debug_info     0x00000000     0x1026
+.debug_info     0x00000000     0x1023
  *(.debug_info)
- .debug_info    0x00000000      0x7a0 Reciver.o
- .debug_info    0x000007a0      0x886 rf12.o
+ .debug_info    0x00000000      0x79d Reciver.o
+ .debug_info    0x0000079d      0x886 rf12.o
  *(.gnu.linkonce.wi.*)
 
 .debug_abbrev   0x00000000      0x40a
@@ -471,10 +481,10 @@ LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8
  .debug_abbrev  0x00000000      0x1fc Reciver.o
  .debug_abbrev  0x000001fc      0x20e rf12.o
 
-.debug_line     0x00000000      0x56e
+.debug_line     0x00000000      0x56c
  *(.debug_line)
- .debug_line    0x00000000      0x29f Reciver.o
- .debug_line    0x0000029f      0x2cf rf12.o
+ .debug_line    0x00000000      0x29d Reciver.o
+ .debug_line    0x0000029d      0x2cf rf12.o
 
 .debug_frame    0x00000000      0x1c8
  *(.debug_frame)
diff --git a/V5B/Reciver/Reciver/Debug/Reciver.srec b/V5B/Reciver/Reciver/Debug/Reciver.srec
index b6f786d..2469326 100644
--- a/V5B/Reciver/Reciver/Debug/Reciver.srec
+++ b/V5B/Reciver/Reciver/Debug/Reciver.srec
@@ -1,99 +1,111 @@
 S00F0000526563697665722E7372656345
-S113000010C028C027C026C025C024C023C022C0D9
-S113001021C020C01FC02AC11DC01CC01BC01AC0E3
-S113002019C011241FBECFEDCDBF10E0A0E6B0E093
-S1130030E4EFF5E002C005900D92A436B107D9F7BC
-S113004020E0A4E6B0E001C01D92A636B207E1F7B5
-S113005086D1CEC2D5CF809162009091630006977D
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 S9030000FC
diff --git a/V5B/Reciver/Reciver/Debug/rf12.d b/V5B/Reciver/Reciver/Debug/rf12.d
index d57cdb9..166bdbc 100644
--- a/V5B/Reciver/Reciver/Debug/rf12.d
+++ b/V5B/Reciver/Reciver/Debug/rf12.d
@@ -4,7 +4,9 @@ rf12.d rf12.o: .././rf12.c \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/inttypes.h \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/include/stdint.h \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/stdint.h \
- c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iotn24a.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iom168a.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iom168.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iomx8.h \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/portpins.h \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/common.h \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/version.h \
@@ -25,7 +27,11 @@ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-
 
 c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/stdint.h:
 
-c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iotn24a.h:
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iom168a.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iom168.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iomx8.h:
 
 c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/portpins.h:
 
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6.atsuo b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6.atsuo
index 4457a45..c13376e 100644
Binary files a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6.atsuo and b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6.atsuo differ
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Makefile b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Makefile
index eda825a..d8f6564 100644
--- a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Makefile
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Makefile
@@ -80,7 +80,7 @@ LIB_DEP+=
 ./%.o: .././%.cpp
 	@echo Building file: $<
 	@echo Invoking: AVR8/GNU C++ Compiler : 
-	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.2.876\avr8-gnu-toolchain\bin\avr-g++.exe$(QUOTE) -funsigned-char -funsigned-bitfields -DDEBUG  -O1 -ffunction-sections -fpack-struct -fshort-enums -g2 -Wall -mmcu=atmega168a -c -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"   -o"$@" "$<" 
+	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.2.876\avr8-gnu-toolchain\bin\avr-g++.exe$(QUOTE) -funsigned-char -funsigned-bitfields -DDEBUG  -Os -ffunction-sections -fpack-struct -fshort-enums -g2 -Wall -mmcu=atmega168a -c -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"   -o"$@" "$<" 
 	@echo Finished building: $<
 
 
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.d b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.d
index 5e2aa66..e6e4042 100644
--- a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.d
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.d
@@ -19,7 +19,8 @@ Zeitschaltung_V6.d Zeitschaltung_V6.o: .././Zeitschaltung_V6.cpp \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/util/delay.h \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/util/delay_basic.h \
  c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/math.h \
- .././io/Start.hpp .././io/Spi.hpp .././io/../config.h .././io/rfm12.hpp
+ .././io/Input.hpp .././io/Spi.hpp .././io/../config.h .././rf12.hpp \
+ .././codes.h
 
 .././config.h:
 
@@ -71,10 +72,12 @@ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-
 
 c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/math.h:
 
-.././io/Start.hpp:
+.././io/Input.hpp:
 
 .././io/Spi.hpp:
 
 .././io/../config.h:
 
-.././io/rfm12.hpp:
+.././rf12.hpp:
+
+.././codes.h:
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.elf b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.elf
index 890116d..334223e 100644
Binary files a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.elf and b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.elf differ
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.hex b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.hex
index 62c8783..f26dfd7 100644
--- a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.hex
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.hex
@@ -1,24 +1,93 @@
-:100000000C9435000C9452000C9452000C94520045
-:100010000C9452000C9452000C9452000C94520018
-:100020000C9452000C9452000C9452000C94520008
-:100030000C9452000C9452000C9452000C945200F8
-:100040000C945F000C9452000C9452000C945200DB
-:100050000C9452000C9452000C9452000C945200D8
-:100060000C9452000C945200950011241FBECFEF47
-:10007000D4E0DEBFCDBF21E0A0E0B1E001C01D9221
-:10008000A330B207E1F710E0CAE6D0E004C022973F
-:10009000FE010E94B000C836D107C9F70E94540083
-:1000A0000C94B4000C9400005E98569A5F98579A8E
-:1000B0004B99FACF5E9A569A5F98579AF5CF1F924E
-:1000C0000F920FB60F9211242F933F938F939F930C
-:1000D00084E686BD2A9A229A8FEF94E00197F1F781
-:1000E00000C0000080910101882369F080E090E069
-:1000F00025E12A95F1F7000001962091010130E0F9
-:1001000082179307A8F32A98229A9F918F913F9183
-:100110002F910F900FBE0F901F901895579A569AD7
-:100120005E98569A5F98579A089582E091E00E94EF
-:100130008E0010920101219A2998219A229A14BCCA
-:1001400085E085BD84E686BD17BC18BC81E0809340
-:100150006E00789453985B985B9A0895EE0FFF1F9A
-:0C0160000590F491E02D0994F894FFCF75
+:100000000C9435000C945D000C945D000C945D0024
+:100010000C945D000C945D000C945D000C945D00EC
+:100020000C945D000C945D000C945D000C945D00DC
+:100030000C945D000C945D000C945D000C945D00CC
+:100040000C9484000C945D000C945D000C945D0095
+:100050000C945D000C945D000C945D000C945D00AC
+:100060000C945D000C945D00700211241FBECFEF54
+:10007000D4E0DEBFCDBF11E0A0E0B1E0E6EAF5E0FC
+:1000800002C005900D92A230B107D9F721E0A2E09D
+:10009000B1E001C01D92A730B207E1F710E0CAE657
+:1000A000D0E004C02297FE010E94CD02C836D107DD
+:1000B000C9F70E946A020C94D1020C940000219AA4
+:1000C0000895282F98E080E027FF02C0409A01C0E1
+:1000D0004098389A880F33998160419A399A220F53
+:1000E00000C000004198399A915071F7089580FF3F
+:1000F00002C05E9A01C05E98569A81FF02C05F9A64
+:1001000001C05F98579A08951F920F920FB60F92F1
+:1001100011242F933F934F935F936F937F938F930C
+:100120009F93AF93BF93EF93FF93809100019091C2
+:100130000101029711F481E00FC0809100019091BC
+:100140000101039711F482E007C0809100019091B2
+:100150000101069719F483E00E94770084E686BDCA
+:100160002A9A229A8FEF94E00197F1F700C00000DD
+:1001700080E090E005C025E12A95F1F700000196A6
+:100180002091050130E082179307A8F32A98229A5C
+:10019000FF91EF91BF91AF919F918F917F916F915F
+:1001A0005F914F913F912F910F900FBE0F901F9035
+:1001B000189544983C9A08950E94D900339BFECF2D
+:1001C0000895EF92FF921F93CF93DF931F92CDB7C5
+:1001D000DEB7182F99830E94D90089810E9461009F
+:1001E000F82EE12C812F0E946100449A3C9A9701DD
+:1001F000282BC9010F90DF91CF911F91FF90EF90B5
+:10020000089588EC92E80E94E10081E89AEC0E944F
+:10021000E10083E89AEC0C94E100CF93DF9300D0E7
+:100220001F92CDB7DEB788E392E82B834A836983B8
+:100230000E94E1000E94DC008AEA98EB0E94E10043
+:100240000E94DC008AEA98EB0E94E1000E94DC0038
+:100250008AEA98EB0E94E1000E94DC008DE298EBB4
+:100260000E94E1000E94DC0084ED98EB0E94E10016
+:100270000E94DC006981862F90E0986B0E94E1006B
+:100280000E94DC004A81842F90E0986B0E94E1007C
+:100290000E94DC002B81822F90E0986B0E94E1008D
+:1002A0000E94DC0080E098EB0E94E1000E94DC00EC
+:1002B00088E092E80E94E1002FEF80E792E0215071
+:1002C00080409040E1F700C000000F900F900F9029
+:1002D000DF91CF91089580910001909101010697DF
+:1002E00009F442C086E090E0909301018093000100
+:1002F000299A0E945F00109205012FEF89EF90E08C
+:10030000215080409040E1F700C0000020910001A2
+:10031000309101014EE161E082E091E00E940D0127
+:100320002FEF83EC99E0215080409040E1F700C02E
+:10033000000089E6809305012FEF82E597E02150C8
+:1003400080409040E1F700C0000082ED80930501FD
+:100350002FEF86E191E1215080409040E1F700C00D
+:10036000000029980C945F000895809100019091FD
+:100370000101039751F44A9908C088E092E80E946D
+:10038000E1000E946B010E940101809100019091A7
+:100390000101029779F44A990DC088E092E80E9421
+:1003A000E10028E04EE161E082E091E00E940D0171
+:1003B0000E9401014B9921C080910001909101019F
+:1003C0000297D9F483E00E94770086E090E0909352
+:1003D0000101809300012FEF81E19AE721508040D5
+:1003E0009040E1F700C0000083E090E090930101AD
+:1003F0008093000180E00C9477000895CF930E94D1
+:10040000010102C00E94B5010E94D900339BFACFBE
+:1004100080E090EB0E94E100882341F08E3131F0C2
+:10042000803F09F055C002C00E94B5010E94D9006A
+:10043000339BFACF80E090EB0E94E100C82F02C00E
+:100440000E94B5010E94D900339BFACFC13009F058
+:100450003FC080E090EB0E94E100843049F018F446
+:100460008130C9F41DC0853031F08730A1F40AC055
+:1004700082E090E002C083E090E0909301018093DD
+:1004800000010EC088E092E80E94E1000E946B012A
+:10049000CF910C94010188E092E8CF910C94E10097
+:1004A00088E092E80E94E1002FEF89EF90E0215070
+:1004B00080409040E1F700C00000209100013091A1
+:1004C00001014EE161E082E091E0CF910C940D01D9
+:1004D000CF91089582E00E9477000E94FE01FDCF37
+:1004E000579A569A80E00E947700109205010E9468
+:1004F0005F0029980E945F00229A14BC85E085BDA8
+:1005000084E686BD17BC18BC81E080936E007894A9
+:1005100053985B985B9A52985A985A9A4098389A8E
+:100520004198399A449A3C9A3B9843982FEF80E738
+:1005300092E0215080409040E1F700C0000080EE42
+:1005400090EC0E94E10087ED90E80E94E1008BEAC8
+:1005500092EC0E94E10081E89AEC0E94E10080E0C8
+:1005600090EE0E94E10080E098EC0E94E10087EFAD
+:1005700094EC0E94E10080E296EA0E94E10087E2AA
+:1005800094E90E94E10082E296EC0E94E10080E69C
+:1005900098E90C94E100EE0FFF1F0590F491E02D17
+:0605A0000994F894FFCF5E
+:0205A600020051
 :00000001FF
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.lss b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.lss
index 8143a75..7c9fb92 100644
--- a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.lss
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.lss
@@ -3,67 +3,67 @@ Zeitschaltung_V6.elf:     file format elf32-avr
 
 Sections:
 Idx Name          Size      VMA       LMA       File off  Algn
-  0 .data         00000000  00800100  0000016c  00000200  2**0
+  0 .data         00000002  00800100  000005a6  0000063a  2**0
                   CONTENTS, ALLOC, LOAD, DATA
-  1 .text         0000016c  00000000  00000000  00000094  2**1
+  1 .text         000005a6  00000000  00000000  00000094  2**1
                   CONTENTS, ALLOC, LOAD, READONLY, CODE
-  2 .bss          00000003  00800100  00800100  00000200  2**0
+  2 .bss          00000005  00800102  00800102  0000063c  2**0
                   ALLOC
-  3 .stab         000006cc  00000000  00000000  00000200  2**2
+  3 .stab         000006cc  00000000  00000000  0000063c  2**2
                   CONTENTS, READONLY, DEBUGGING
-  4 .stabstr      00000082  00000000  00000000  000008cc  2**0
+  4 .stabstr      00000082  00000000  00000000  00000d08  2**0
                   CONTENTS, READONLY, DEBUGGING
-  5 .comment      0000002f  00000000  00000000  0000094e  2**0
+  5 .comment      0000002f  00000000  00000000  00000d8a  2**0
                   CONTENTS, READONLY
-  6 .debug_aranges 00000038  00000000  00000000  0000097d  2**0
+  6 .debug_aranges 00000088  00000000  00000000  00000db9  2**0
                   CONTENTS, READONLY, DEBUGGING
-  7 .debug_info   0000136b  00000000  00000000  000009b5  2**0
+  7 .debug_info   00003671  00000000  00000000  00000e41  2**0
                   CONTENTS, READONLY, DEBUGGING
-  8 .debug_abbrev 0000038d  00000000  00000000  00001d20  2**0
+  8 .debug_abbrev 000004ef  00000000  00000000  000044b2  2**0
                   CONTENTS, READONLY, DEBUGGING
-  9 .debug_line   00000290  00000000  00000000  000020ad  2**0
+  9 .debug_line   00000515  00000000  00000000  000049a1  2**0
                   CONTENTS, READONLY, DEBUGGING
- 10 .debug_frame  00000074  00000000  00000000  00002340  2**2
+ 10 .debug_frame  00000174  00000000  00000000  00004eb8  2**2
                   CONTENTS, READONLY, DEBUGGING
- 11 .debug_str    00000c3b  00000000  00000000  000023b4  2**0
+ 11 .debug_str    00001ba0  00000000  00000000  0000502c  2**0
                   CONTENTS, READONLY, DEBUGGING
- 12 .debug_loc    000000cc  00000000  00000000  00002fef  2**0
+ 12 .debug_loc    000005d9  00000000  00000000  00006bcc  2**0
                   CONTENTS, READONLY, DEBUGGING
- 13 .debug_ranges 00000028  00000000  00000000  000030bb  2**0
+ 13 .debug_ranges 00000120  00000000  00000000  000071a5  2**0
                   CONTENTS, READONLY, DEBUGGING
 
 Disassembly of section .text:
 
 00000000 <__vectors>:
    0:	0c 94 35 00 	jmp	0x6a	; 0x6a <__ctors_end>
-   4:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-   8:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-   c:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  10:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  14:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  18:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  1c:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  20:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  24:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  28:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  2c:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  30:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  34:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  38:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  3c:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  40:	0c 94 5f 00 	jmp	0xbe	; 0xbe <__vector_16>
-  44:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  48:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  4c:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  50:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  54:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  58:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  5c:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  60:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
-  64:	0c 94 52 00 	jmp	0xa4	; 0xa4 <__bad_interrupt>
+   4:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+   8:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+   c:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  10:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  14:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  18:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  1c:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  20:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  24:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  28:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  2c:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  30:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  34:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  38:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  3c:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  40:	0c 94 84 00 	jmp	0x108	; 0x108 <__vector_16>
+  44:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  48:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  4c:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  50:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  54:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  58:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  5c:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  60:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
+  64:	0c 94 5d 00 	jmp	0xba	; 0xba <__bad_interrupt>
 
 00000068 <__ctors_start>:
-  68:	95 00       	.word	0x0095	; ????
+  68:	70 02       	muls	r23, r16
 
 0000006a <__ctors_end>:
   6a:	11 24       	eor	r1, r1
@@ -73,315 +73,1167 @@ Disassembly of section .text:
   72:	de bf       	out	0x3e, r29	; 62
   74:	cd bf       	out	0x3d, r28	; 61
 
-00000076 <__do_clear_bss>:
-  76:	21 e0       	ldi	r18, 0x01	; 1
+00000076 <__do_copy_data>:
+  76:	11 e0       	ldi	r17, 0x01	; 1
   78:	a0 e0       	ldi	r26, 0x00	; 0
   7a:	b1 e0       	ldi	r27, 0x01	; 1
-  7c:	01 c0       	rjmp	.+2      	; 0x80 <.do_clear_bss_start>
+  7c:	e6 ea       	ldi	r30, 0xA6	; 166
+  7e:	f5 e0       	ldi	r31, 0x05	; 5
+  80:	02 c0       	rjmp	.+4      	; 0x86 <__do_copy_data+0x10>
+  82:	05 90       	lpm	r0, Z+
+  84:	0d 92       	st	X+, r0
+  86:	a2 30       	cpi	r26, 0x02	; 2
+  88:	b1 07       	cpc	r27, r17
+  8a:	d9 f7       	brne	.-10     	; 0x82 <__do_copy_data+0xc>
 
-0000007e <.do_clear_bss_loop>:
-  7e:	1d 92       	st	X+, r1
+0000008c <__do_clear_bss>:
+  8c:	21 e0       	ldi	r18, 0x01	; 1
+  8e:	a2 e0       	ldi	r26, 0x02	; 2
+  90:	b1 e0       	ldi	r27, 0x01	; 1
+  92:	01 c0       	rjmp	.+2      	; 0x96 <.do_clear_bss_start>
 
-00000080 <.do_clear_bss_start>:
-  80:	a3 30       	cpi	r26, 0x03	; 3
-  82:	b2 07       	cpc	r27, r18
-  84:	e1 f7       	brne	.-8      	; 0x7e <.do_clear_bss_loop>
+00000094 <.do_clear_bss_loop>:
+  94:	1d 92       	st	X+, r1
 
-00000086 <__do_global_ctors>:
-  86:	10 e0       	ldi	r17, 0x00	; 0
-  88:	ca e6       	ldi	r28, 0x6A	; 106
-  8a:	d0 e0       	ldi	r29, 0x00	; 0
-  8c:	04 c0       	rjmp	.+8      	; 0x96 <__do_global_ctors+0x10>
-  8e:	22 97       	sbiw	r28, 0x02	; 2
-  90:	fe 01       	movw	r30, r28
-  92:	0e 94 b0 00 	call	0x160	; 0x160 <__tablejump__>
-  96:	c8 36       	cpi	r28, 0x68	; 104
-  98:	d1 07       	cpc	r29, r17
-  9a:	c9 f7       	brne	.-14     	; 0x8e <__do_global_ctors+0x8>
-  9c:	0e 94 54 00 	call	0xa8	; 0xa8 <main>
-  a0:	0c 94 b4 00 	jmp	0x168	; 0x168 <_exit>
+00000096 <.do_clear_bss_start>:
+  96:	a7 30       	cpi	r26, 0x07	; 7
+  98:	b2 07       	cpc	r27, r18
+  9a:	e1 f7       	brne	.-8      	; 0x94 <.do_clear_bss_loop>
 
-000000a4 <__bad_interrupt>:
-  a4:	0c 94 00 00 	jmp	0	; 0x0 <__vectors>
+0000009c <__do_global_ctors>:
+  9c:	10 e0       	ldi	r17, 0x00	; 0
+  9e:	ca e6       	ldi	r28, 0x6A	; 106
+  a0:	d0 e0       	ldi	r29, 0x00	; 0
+  a2:	04 c0       	rjmp	.+8      	; 0xac <__do_global_ctors+0x10>
+  a4:	22 97       	sbiw	r28, 0x02	; 2
+  a6:	fe 01       	movw	r30, r28
+  a8:	0e 94 cd 02 	call	0x59a	; 0x59a <__tablejump__>
+  ac:	c8 36       	cpi	r28, 0x68	; 104
+  ae:	d1 07       	cpc	r29, r17
+  b0:	c9 f7       	brne	.-14     	; 0xa4 <__do_global_ctors+0x8>
+  b2:	0e 94 6a 02 	call	0x4d4	; 0x4d4 <main>
+  b6:	0c 94 d1 02 	jmp	0x5a2	; 0x5a2 <_exit>
 
-000000a8 <main>:
-namespace avrlib {
+000000ba <__bad_interrupt>:
+  ba:	0c 94 00 00 	jmp	0	; 0x0 <__vectors>
 
-	struct portd
-	{
-		static uint8_t port() { return PORTD; }
-		static void port(uint8_t v) { PORTD = v; }
-  a8:	5e 98       	cbi	0x0b, 6	; 11
-
-		static uint8_t pin() { return PIND; }
-		static void pin(uint8_t v) { PIND = v; }
-
-		static uint8_t dir() { return DDRD; }
-		static void dir(uint8_t v) { DDRD = v; }
-  aa:	56 9a       	sbi	0x0a, 6	; 10
-namespace avrlib {
-
-	struct portd
-	{
-		static uint8_t port() { return PORTD; }
-		static void port(uint8_t v) { PORTD = v; }
-  ac:	5f 98       	cbi	0x0b, 7	; 11
-
-		static uint8_t pin() { return PIND; }
-		static void pin(uint8_t v) { PIND = v; }
-
-		static uint8_t dir() { return DDRD; }
-		static void dir(uint8_t v) { DDRD = v; }
-  ae:	57 9a       	sbi	0x0a, 7	; 10
-{
-	
-    while(1)
-    {
-		l.color(l.BLACK);
-		if(st.is_pressed()) {
-  b0:	4b 99       	sbic	0x09, 3	; 9
-  b2:	fa cf       	rjmp	.-12     	; 0xa8 <main>
-namespace avrlib {
-
-	struct portd
-	{
-		static uint8_t port() { return PORTD; }
-		static void port(uint8_t v) { PORTD = v; }
-  b4:	5e 9a       	sbi	0x0b, 6	; 11
-
-		static uint8_t pin() { return PIND; }
-		static void pin(uint8_t v) { PIND = v; }
-
-		static uint8_t dir() { return DDRD; }
-		static void dir(uint8_t v) { DDRD = v; }
-  b6:	56 9a       	sbi	0x0a, 6	; 10
-namespace avrlib {
-
-	struct portd
-	{
-		static uint8_t port() { return PORTD; }
-		static void port(uint8_t v) { PORTD = v; }
-  b8:	5f 98       	cbi	0x0b, 7	; 11
-
-		static uint8_t pin() { return PIND; }
-		static void pin(uint8_t v) { PIND = v; }
-
-		static uint8_t dir() { return DDRD; }
-		static void dir(uint8_t v) { DDRD = v; }
-  ba:	57 9a       	sbi	0x0a, 7	; 10
-  bc:	f5 cf       	rjmp	.-22     	; 0xa8 <main>
-
-000000be <__vector_16>:
-			l.color(l.GREEN);
-		}		
-    }
-}
-
-ISR(TIMER0_OVF_vect) {
-  be:	1f 92       	push	r1
-  c0:	0f 92       	push	r0
-  c2:	0f b6       	in	r0, 0x3f	; 63
-  c4:	0f 92       	push	r0
-  c6:	11 24       	eor	r1, r1
-  c8:	2f 93       	push	r18
-  ca:	3f 93       	push	r19
-  cc:	8f 93       	push	r24
-  ce:	9f 93       	push	r25
-		}
-		void off() {
-			servo_act::make_low();
-		}
-		void timer() {
-			TCNT0 = 0x64; // Reinitialize Timer 0 value
-  d0:	84 e6       	ldi	r24, 0x64	; 100
-  d2:	86 bd       	out	0x26, r24	; 38
-namespace avrlib {
-
-	struct portb
-	{
-		static uint8_t port() { return PORTB; }
-		static void port(uint8_t v) { PORTB = v; }
-  d4:	2a 9a       	sbi	0x05, 2	; 5
+000000be <_ZN6avrlib3pinINS_5portbELh1EE6outputEb.part.2>:
 
 		static uint8_t pin() { return PINB; }
 		static void pin(uint8_t v) { PINB = v; }
 
 		static uint8_t dir() { return DDRB; }
 		static void dir(uint8_t v) { DDRB = v; }
-  d6:	22 9a       	sbi	0x04, 2	; 4
+  be:	21 9a       	sbi	0x04, 1	; 4
+  c0:	08 95       	ret
+
+000000c2 <_ZN3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EE9send_softEh.isra.30>:
+		}
+		void init_spi() {
+			SPCR = (1<<SPE) | (1<<MSTR);
+			SPSR = (1<<SPI2X);
+		}
+		uint8_t send_soft(uint8_t data) {
+  c2:	28 2f       	mov	r18, r24
+  c4:	98 e0       	ldi	r25, 0x08	; 8
+			uint8_t datain=0;
+  c6:	80 e0       	ldi	r24, 0x00	; 0
+			for (uint8_t i=0; i<8; i++)
+			{
+				if (data & 0x80) {
+  c8:	27 ff       	sbrs	r18, 7
+  ca:	02 c0       	rjmp	.+4      	; 0xd0 <_ZN3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EE9send_softEh.isra.30+0xe>
+namespace avrlib {
+
+	struct portc
+	{
+		static uint8_t port() { return PORTC; }
+		static void port(uint8_t v) { PORTC = v; }
+  cc:	40 9a       	sbi	0x08, 0	; 8
+  ce:	01 c0       	rjmp	.+2      	; 0xd2 <_ZN3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EE9send_softEh.isra.30+0x10>
+  d0:	40 98       	cbi	0x08, 0	; 8
+
+		static uint8_t pin() { return PINC; }
+		static void pin(uint8_t v) { PINC = v; }
+
+		static uint8_t dir() { return DDRC; }
+		static void dir(uint8_t v) { DDRC = v; }
+  d2:	38 9a       	sbi	0x07, 0	; 7
+					mosi::make_high();
+				}
+				else {
+					mosi::make_low();
+				}
+				datain <<= 1;
+  d4:	88 0f       	add	r24, r24
+				if(miso::read()) {
+  d6:	33 99       	sbic	0x06, 3	; 6
+					datain |= 1;
+  d8:	81 60       	ori	r24, 0x01	; 1
+namespace avrlib {
+
+	struct portc
+	{
+		static uint8_t port() { return PORTC; }
+		static void port(uint8_t v) { PORTC = v; }
+  da:	41 9a       	sbi	0x08, 1	; 8
+
+		static uint8_t pin() { return PINC; }
+		static void pin(uint8_t v) { PINC = v; }
+
+		static uint8_t dir() { return DDRC; }
+		static void dir(uint8_t v) { DDRC = v; }
+  dc:	39 9a       	sbi	0x07, 1	; 7
+				}
+				sck::make_high();
+				data<<=1;
+  de:	22 0f       	add	r18, r18
 	#else
 		//round up by default
 		__ticks_dc = (uint32_t)(ceil(fabs(__tmp)));
 	#endif
 
 	__builtin_avr_delay_cycles(__ticks_dc);
-  d8:	8f ef       	ldi	r24, 0xFF	; 255
-  da:	94 e0       	ldi	r25, 0x04	; 4
-  dc:	01 97       	sbiw	r24, 0x01	; 1
-  de:	f1 f7       	brne	.-4      	; 0xdc <__vector_16+0x1e>
-  e0:	00 c0       	rjmp	.+0      	; 0xe2 <__vector_16+0x24>
+  e0:	00 c0       	rjmp	.+0      	; 0xe2 <_ZN3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EE9send_softEh.isra.30+0x20>
   e2:	00 00       	nop
-			servo_io::make_high();
-			_delay_us(s_left);
-			for(uint16_t i = 0; i < servopos; i++) {
-  e4:	80 91 01 01 	lds	r24, 0x0101
-  e8:	88 23       	and	r24, r24
-  ea:	69 f0       	breq	.+26     	; 0x106 <__vector_16+0x48>
-  ec:	80 e0       	ldi	r24, 0x00	; 0
-  ee:	90 e0       	ldi	r25, 0x00	; 0
-  f0:	25 e1       	ldi	r18, 0x15	; 21
-  f2:	2a 95       	dec	r18
-  f4:	f1 f7       	brne	.-4      	; 0xf2 <__vector_16+0x34>
-  f6:	00 00       	nop
-  f8:	01 96       	adiw	r24, 0x01	; 1
-  fa:	20 91 01 01 	lds	r18, 0x0101
-  fe:	30 e0       	ldi	r19, 0x00	; 0
- 100:	82 17       	cp	r24, r18
- 102:	93 07       	cpc	r25, r19
- 104:	a8 f3       	brcs	.-22     	; 0xf0 <__vector_16+0x32>
+namespace avrlib {
+
+	struct portc
+	{
+		static uint8_t port() { return PORTC; }
+		static void port(uint8_t v) { PORTC = v; }
+  e4:	41 98       	cbi	0x08, 1	; 8
+
+		static uint8_t pin() { return PINC; }
+		static void pin(uint8_t v) { PINC = v; }
+
+		static uint8_t dir() { return DDRC; }
+		static void dir(uint8_t v) { DDRC = v; }
+  e6:	39 9a       	sbi	0x07, 1	; 7
+  e8:	91 50       	subi	r25, 0x01	; 1
+			SPCR = (1<<SPE) | (1<<MSTR);
+			SPSR = (1<<SPI2X);
+		}
+		uint8_t send_soft(uint8_t data) {
+			uint8_t datain=0;
+			for (uint8_t i=0; i<8; i++)
+  ea:	71 f7       	brne	.-36     	; 0xc8 <_ZN3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EE9send_softEh.isra.30+0x6>
+				data<<=1;
+				_delay_us(0.3);
+				sck::make_low();
+			}
+			return datain;
+		}
+  ec:	08 95       	ret
+
+000000ee <_ZN3LedIN6avrlib5portdELi7ELi6EE5colorEh.isra.11>:
+	public:
+		Led() {
+			init();
+		}
+		void color(uint8_t mask) {
+			(mask & (1<<0)) ? green::make_high() : green::make_low();
+  ee:	80 ff       	sbrs	r24, 0
+  f0:	02 c0       	rjmp	.+4      	; 0xf6 <_ZN3LedIN6avrlib5portdELi7ELi6EE5colorEh.isra.11+0x8>
+namespace avrlib {
+
+	struct portd
+	{
+		static uint8_t port() { return PORTD; }
+		static void port(uint8_t v) { PORTD = v; }
+  f2:	5e 9a       	sbi	0x0b, 6	; 11
+  f4:	01 c0       	rjmp	.+2      	; 0xf8 <_ZN3LedIN6avrlib5portdELi7ELi6EE5colorEh.isra.11+0xa>
+  f6:	5e 98       	cbi	0x0b, 6	; 11
+
+		static uint8_t pin() { return PIND; }
+		static void pin(uint8_t v) { PIND = v; }
+
+		static uint8_t dir() { return DDRD; }
+		static void dir(uint8_t v) { DDRD = v; }
+  f8:	56 9a       	sbi	0x0a, 6	; 10
+			(mask & (1<<1)) ? red::make_high() : red::make_low();
+  fa:	81 ff       	sbrs	r24, 1
+  fc:	02 c0       	rjmp	.+4      	; 0x102 <_ZN3LedIN6avrlib5portdELi7ELi6EE5colorEh.isra.11+0x14>
+namespace avrlib {
+
+	struct portd
+	{
+		static uint8_t port() { return PORTD; }
+		static void port(uint8_t v) { PORTD = v; }
+  fe:	5f 9a       	sbi	0x0b, 7	; 11
+ 100:	01 c0       	rjmp	.+2      	; 0x104 <_ZN3LedIN6avrlib5portdELi7ELi6EE5colorEh.isra.11+0x16>
+ 102:	5f 98       	cbi	0x0b, 7	; 11
+
+		static uint8_t pin() { return PIND; }
+		static void pin(uint8_t v) { PIND = v; }
+
+		static uint8_t dir() { return DDRD; }
+		static void dir(uint8_t v) { DDRD = v; }
+ 104:	57 9a       	sbi	0x0a, 7	; 10
+ 106:	08 95       	ret
+
+00000108 <__vector_16>:
+    {
+		recive();		
+    }
+}
+
+ISR(TIMER0_OVF_vect) {
+ 108:	1f 92       	push	r1
+ 10a:	0f 92       	push	r0
+ 10c:	0f b6       	in	r0, 0x3f	; 63
+ 10e:	0f 92       	push	r0
+ 110:	11 24       	eor	r1, r1
+ 112:	2f 93       	push	r18
+ 114:	3f 93       	push	r19
+ 116:	4f 93       	push	r20
+ 118:	5f 93       	push	r21
+ 11a:	6f 93       	push	r22
+ 11c:	7f 93       	push	r23
+ 11e:	8f 93       	push	r24
+ 120:	9f 93       	push	r25
+ 122:	af 93       	push	r26
+ 124:	bf 93       	push	r27
+ 126:	ef 93       	push	r30
+ 128:	ff 93       	push	r31
+	if(status == SLEEP) {
+ 12a:	80 91 00 01 	lds	r24, 0x0100
+ 12e:	90 91 01 01 	lds	r25, 0x0101
+ 132:	02 97       	sbiw	r24, 0x02	; 2
+ 134:	11 f4       	brne	.+4      	; 0x13a <__vector_16+0x32>
+		l.color(l.GREEN);
+ 136:	81 e0       	ldi	r24, 0x01	; 1
+ 138:	0f c0       	rjmp	.+30     	; 0x158 <__vector_16+0x50>
+	} else if(status == ACTIVE) {
+ 13a:	80 91 00 01 	lds	r24, 0x0100
+ 13e:	90 91 01 01 	lds	r25, 0x0101
+ 142:	03 97       	sbiw	r24, 0x03	; 3
+ 144:	11 f4       	brne	.+4      	; 0x14a <__vector_16+0x42>
+		l.color(l.RED);
+ 146:	82 e0       	ldi	r24, 0x02	; 2
+ 148:	07 c0       	rjmp	.+14     	; 0x158 <__vector_16+0x50>
+	} else if(status == RUN) {
+ 14a:	80 91 00 01 	lds	r24, 0x0100
+ 14e:	90 91 01 01 	lds	r25, 0x0101
+ 152:	06 97       	sbiw	r24, 0x06	; 6
+ 154:	19 f4       	brne	.+6      	; 0x15c <__vector_16+0x54>
+		l.color(l.YELLOW);
+ 156:	83 e0       	ldi	r24, 0x03	; 3
+ 158:	0e 94 77 00 	call	0xee	; 0xee <_ZN3LedIN6avrlib5portdELi7ELi6EE5colorEh.isra.11>
+		}
+		void off() {
+			servo_act::make_low();
+		}
+		void timer() {
+			TCNT0 = 0x64; // Reinitialize Timer 0 value
+ 15c:	84 e6       	ldi	r24, 0x64	; 100
+ 15e:	86 bd       	out	0x26, r24	; 38
 namespace avrlib {
 
 	struct portb
 	{
 		static uint8_t port() { return PORTB; }
 		static void port(uint8_t v) { PORTB = v; }
- 106:	2a 98       	cbi	0x05, 2	; 5
+ 160:	2a 9a       	sbi	0x05, 2	; 5
 
 		static uint8_t pin() { return PINB; }
 		static void pin(uint8_t v) { PINB = v; }
 
 		static uint8_t dir() { return DDRB; }
 		static void dir(uint8_t v) { DDRB = v; }
- 108:	22 9a       	sbi	0x04, 2	; 4
-	s.timer();
- 10a:	9f 91       	pop	r25
- 10c:	8f 91       	pop	r24
- 10e:	3f 91       	pop	r19
- 110:	2f 91       	pop	r18
- 112:	0f 90       	pop	r0
- 114:	0f be       	out	0x3f, r0	; 63
- 116:	0f 90       	pop	r0
- 118:	1f 90       	pop	r1
- 11a:	18 95       	reti
-
-0000011c <_ZN3LedIN6avrlib5portdELi7ELi6EE4initEv>:
- 11c:	57 9a       	sbi	0x0a, 7	; 10
- 11e:	56 9a       	sbi	0x0a, 6	; 10
+ 162:	22 9a       	sbi	0x04, 2	; 4
+ 164:	8f ef       	ldi	r24, 0xFF	; 255
+ 166:	94 e0       	ldi	r25, 0x04	; 4
+ 168:	01 97       	sbiw	r24, 0x01	; 1
+ 16a:	f1 f7       	brne	.-4      	; 0x168 <__vector_16+0x60>
+ 16c:	00 c0       	rjmp	.+0      	; 0x16e <__vector_16+0x66>
+ 16e:	00 00       	nop
+			servo_io::make_high();
+			_delay_us(s_left);
+			for(uint16_t i = 0; i < servopos; i++) {
+ 170:	80 e0       	ldi	r24, 0x00	; 0
+ 172:	90 e0       	ldi	r25, 0x00	; 0
+ 174:	05 c0       	rjmp	.+10     	; 0x180 <__vector_16+0x78>
+ 176:	25 e1       	ldi	r18, 0x15	; 21
+ 178:	2a 95       	dec	r18
+ 17a:	f1 f7       	brne	.-4      	; 0x178 <__vector_16+0x70>
+ 17c:	00 00       	nop
+ 17e:	01 96       	adiw	r24, 0x01	; 1
+ 180:	20 91 05 01 	lds	r18, 0x0105
+ 184:	30 e0       	ldi	r19, 0x00	; 0
+ 186:	82 17       	cp	r24, r18
+ 188:	93 07       	cpc	r25, r19
+ 18a:	a8 f3       	brcs	.-22     	; 0x176 <__vector_16+0x6e>
 namespace avrlib {
 
-	struct portd
+	struct portb
 	{
-		static uint8_t port() { return PORTD; }
-		static void port(uint8_t v) { PORTD = v; }
- 120:	5e 98       	cbi	0x0b, 6	; 11
+		static uint8_t port() { return PORTB; }
+		static void port(uint8_t v) { PORTB = v; }
+ 18c:	2a 98       	cbi	0x05, 2	; 5
 
-		static uint8_t pin() { return PIND; }
-		static void pin(uint8_t v) { PIND = v; }
+		static uint8_t pin() { return PINB; }
+		static void pin(uint8_t v) { PINB = v; }
 
-		static uint8_t dir() { return DDRD; }
-		static void dir(uint8_t v) { DDRD = v; }
- 122:	56 9a       	sbi	0x0a, 6	; 10
+		static uint8_t dir() { return DDRB; }
+		static void dir(uint8_t v) { DDRB = v; }
+ 18e:	22 9a       	sbi	0x04, 2	; 4
+	}
+	se.timer();
+ 190:	ff 91       	pop	r31
+ 192:	ef 91       	pop	r30
+ 194:	bf 91       	pop	r27
+ 196:	af 91       	pop	r26
+ 198:	9f 91       	pop	r25
+ 19a:	8f 91       	pop	r24
+ 19c:	7f 91       	pop	r23
+ 19e:	6f 91       	pop	r22
+ 1a0:	5f 91       	pop	r21
+ 1a2:	4f 91       	pop	r20
+ 1a4:	3f 91       	pop	r19
+ 1a6:	2f 91       	pop	r18
+ 1a8:	0f 90       	pop	r0
+ 1aa:	0f be       	out	0x3f, r0	; 63
+ 1ac:	0f 90       	pop	r0
+ 1ae:	1f 90       	pop	r1
+ 1b0:	18 95       	reti
+
+000001b2 <_ZN6avrlib3pinINS_5portcELh4EE8make_lowEv>:
 namespace avrlib {
 
-	struct portd
+	struct portc
 	{
-		static uint8_t port() { return PORTD; }
-		static void port(uint8_t v) { PORTD = v; }
- 124:	5f 98       	cbi	0x0b, 7	; 11
+		static uint8_t port() { return PORTC; }
+		static void port(uint8_t v) { PORTC = v; }
+ 1b2:	44 98       	cbi	0x08, 4	; 8
 
-		static uint8_t pin() { return PIND; }
-		static void pin(uint8_t v) { PIND = v; }
+		static uint8_t pin() { return PINC; }
+		static void pin(uint8_t v) { PINC = v; }
 
-		static uint8_t dir() { return DDRD; }
-		static void dir(uint8_t v) { DDRD = v; }
- 126:	57 9a       	sbi	0x0a, 7	; 10
- 128:	08 95       	ret
+		static uint8_t dir() { return DDRC; }
+		static void dir(uint8_t v) { DDRC = v; }
+ 1b4:	3c 9a       	sbi	0x07, 4	; 7
+ 1b6:	08 95       	ret
 
-0000012a <_GLOBAL__sub_I_l>:
-
-template <typename Port, int pin_red, int pin_green>
-class Led {
+000001b8 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE10rf12_readyEv.isra.25>:
 	public:
-		Led() {
+		Spi() {
+			this->init();
+		}
+		void CSOn() {
+			cs::make_low();
+ 1b8:	0e 94 d9 00 	call	0x1b2	; 0x1b2 <_ZN6avrlib3pinINS_5portcELh4EE8make_lowEv>
+		}
+
+		void rf12_ready(void)
+		{	
+			s.CSOn();
+			while(s.has_data()); // wait until FIFO ready
+ 1bc:	33 9b       	sbis	0x06, 3	; 6
+ 1be:	fe cf       	rjmp	.-4      	; 0x1bc <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE10rf12_readyEv.isra.25+0x4>
+		}
+ 1c0:	08 95       	ret
+
+000001c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>:
+			this->send(0x8208); // TX off
+			_delay_ms(100);
+		}
+	private:
+		Spi s;
+		uint16_t send(uint16_t wert) {
+ 1c2:	ef 92       	push	r14
+ 1c4:	ff 92       	push	r15
+ 1c6:	1f 93       	push	r17
+ 1c8:	cf 93       	push	r28
+ 1ca:	df 93       	push	r29
+ 1cc:	1f 92       	push	r1
+ 1ce:	cd b7       	in	r28, 0x3d	; 61
+ 1d0:	de b7       	in	r29, 0x3e	; 62
+ 1d2:	18 2f       	mov	r17, r24
+ 1d4:	99 83       	std	Y+1, r25	; 0x01
+ 1d6:	0e 94 d9 00 	call	0x1b2	; 0x1b2 <_ZN6avrlib3pinINS_5portcELh4EE8make_lowEv>
+		}
+		uint8_t send(uint8_t data) {
+			if(mode == 0) {
+				return this->send_hard(data);
+			} 
+			return this->send_soft(data);
+ 1da:	89 81       	ldd	r24, Y+1	; 0x01
+ 1dc:	0e 94 61 00 	call	0xc2	; 0xc2 <_ZN3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EE9send_softEh.isra.30>
+			s.CSOn();
+			uint16_t werti = s.send((uint8_t)(wert >> 8)) << 8;
+ 1e0:	f8 2e       	mov	r15, r24
+ 1e2:	e1 2c       	mov	r14, r1
+ 1e4:	81 2f       	mov	r24, r17
+ 1e6:	0e 94 61 00 	call	0xc2	; 0xc2 <_ZN3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EE9send_softEh.isra.30>
+namespace avrlib {
+
+	struct portc
+	{
+		static uint8_t port() { return PORTC; }
+		static void port(uint8_t v) { PORTC = v; }
+ 1ea:	44 9a       	sbi	0x08, 4	; 8
+
+		static uint8_t pin() { return PINC; }
+		static void pin(uint8_t v) { PINC = v; }
+
+		static uint8_t dir() { return DDRC; }
+		static void dir(uint8_t v) { DDRC = v; }
+ 1ec:	3c 9a       	sbi	0x07, 4	; 7
+			werti |= s.send((uint8_t)wert);
+ 1ee:	97 01       	movw	r18, r14
+ 1f0:	28 2b       	or	r18, r24
+ 1f2:	c9 01       	movw	r24, r18
+			s.CSOff();
+			return werti;
+		}
+ 1f4:	0f 90       	pop	r0
+ 1f6:	df 91       	pop	r29
+ 1f8:	cf 91       	pop	r28
+ 1fa:	1f 91       	pop	r17
+ 1fc:	ff 90       	pop	r15
+ 1fe:	ef 90       	pop	r14
+ 200:	08 95       	ret
+
+00000202 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE17rf12_beginasyncrxEv.isra.39>:
+			s.CSOn();
+			while(s.has_data()); // wait until FIFO ready
+		}
+
+		void rf12_beginasyncrx() {
+			this->send(0x82C8);			// RX on
+ 202:	88 ec       	ldi	r24, 0xC8	; 200
+ 204:	92 e8       	ldi	r25, 0x82	; 130
+ 206:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			this->send(0xCA81);			// set FIFO mode
+ 20a:	81 e8       	ldi	r24, 0x81	; 129
+ 20c:	9a ec       	ldi	r25, 0xCA	; 202
+ 20e:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			this->send(0xCA83);			// enable FIFO
+ 212:	83 e8       	ldi	r24, 0x83	; 131
+ 214:	9a ec       	ldi	r25, 0xCA	; 202
+ 216:	0c 94 e1 00 	jmp	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+
+0000021a <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE13rf12_txpacketEhhh>:
+				*data++=this->send(0xB000);
+			}
+			this->send(0x8208);			// RX off
+		}
+
+		void rf12_txpacket(uint8_t addr, uint8_t from, uint8_t data) {
+ 21a:	cf 93       	push	r28
+ 21c:	df 93       	push	r29
+ 21e:	00 d0       	rcall	.+0      	; 0x220 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE13rf12_txpacketEhhh+0x6>
+ 220:	1f 92       	push	r1
+ 222:	cd b7       	in	r28, 0x3d	; 61
+ 224:	de b7       	in	r29, 0x3e	; 62
+			this->send(0x8238);			// TX on
+ 226:	88 e3       	ldi	r24, 0x38	; 56
+ 228:	92 e8       	ldi	r25, 0x82	; 130
+ 22a:	2b 83       	std	Y+3, r18	; 0x03
+ 22c:	4a 83       	std	Y+2, r20	; 0x02
+ 22e:	69 83       	std	Y+1, r22	; 0x01
+ 230:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			rf12_ready();
+ 234:	0e 94 dc 00 	call	0x1b8	; 0x1b8 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE10rf12_readyEv.isra.25>
+			this->send(0xB8AA);
+ 238:	8a ea       	ldi	r24, 0xAA	; 170
+ 23a:	98 eb       	ldi	r25, 0xB8	; 184
+ 23c:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			rf12_ready();
+ 240:	0e 94 dc 00 	call	0x1b8	; 0x1b8 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE10rf12_readyEv.isra.25>
+			this->send(0xB8AA);
+ 244:	8a ea       	ldi	r24, 0xAA	; 170
+ 246:	98 eb       	ldi	r25, 0xB8	; 184
+ 248:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			rf12_ready();
+ 24c:	0e 94 dc 00 	call	0x1b8	; 0x1b8 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE10rf12_readyEv.isra.25>
+			this->send(0xB8AA);
+ 250:	8a ea       	ldi	r24, 0xAA	; 170
+ 252:	98 eb       	ldi	r25, 0xB8	; 184
+ 254:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			rf12_ready();
+ 258:	0e 94 dc 00 	call	0x1b8	; 0x1b8 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE10rf12_readyEv.isra.25>
+			this->send(0xB82D);
+ 25c:	8d e2       	ldi	r24, 0x2D	; 45
+ 25e:	98 eb       	ldi	r25, 0xB8	; 184
+ 260:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			rf12_ready();
+ 264:	0e 94 dc 00 	call	0x1b8	; 0x1b8 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE10rf12_readyEv.isra.25>
+			this->send(0xB8D4);
+ 268:	84 ed       	ldi	r24, 0xD4	; 212
+ 26a:	98 eb       	ldi	r25, 0xB8	; 184
+ 26c:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			rf12_ready();
+ 270:	0e 94 dc 00 	call	0x1b8	; 0x1b8 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE10rf12_readyEv.isra.25>
+			this->send(0xB800|addr);
+ 274:	69 81       	ldd	r22, Y+1	; 0x01
+ 276:	86 2f       	mov	r24, r22
+ 278:	90 e0       	ldi	r25, 0x00	; 0
+ 27a:	98 6b       	ori	r25, 0xB8	; 184
+ 27c:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			rf12_ready();
+ 280:	0e 94 dc 00 	call	0x1b8	; 0x1b8 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE10rf12_readyEv.isra.25>
+			this->send(0xB800|from);
+ 284:	4a 81       	ldd	r20, Y+2	; 0x02
+ 286:	84 2f       	mov	r24, r20
+ 288:	90 e0       	ldi	r25, 0x00	; 0
+ 28a:	98 6b       	ori	r25, 0xB8	; 184
+ 28c:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			rf12_ready();
+ 290:	0e 94 dc 00 	call	0x1b8	; 0x1b8 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE10rf12_readyEv.isra.25>
+			this->send(0xB800|data);
+ 294:	2b 81       	ldd	r18, Y+3	; 0x03
+ 296:	82 2f       	mov	r24, r18
+ 298:	90 e0       	ldi	r25, 0x00	; 0
+ 29a:	98 6b       	ori	r25, 0xB8	; 184
+ 29c:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			rf12_ready();
+ 2a0:	0e 94 dc 00 	call	0x1b8	; 0x1b8 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE10rf12_readyEv.isra.25>
+			this->send(0xB800);
+ 2a4:	80 e0       	ldi	r24, 0x00	; 0
+ 2a6:	98 eb       	ldi	r25, 0xB8	; 184
+ 2a8:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			rf12_ready();
+ 2ac:	0e 94 dc 00 	call	0x1b8	; 0x1b8 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE10rf12_readyEv.isra.25>
+			this->send(0x8208); // TX off
+ 2b0:	88 e0       	ldi	r24, 0x08	; 8
+ 2b2:	92 e8       	ldi	r25, 0x82	; 130
+ 2b4:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+	#else
+		//round up by default
+		__ticks_dc = (uint32_t)(ceil(fabs(__tmp)));
+	#endif
+
+	__builtin_avr_delay_cycles(__ticks_dc);
+ 2b8:	2f ef       	ldi	r18, 0xFF	; 255
+ 2ba:	80 e7       	ldi	r24, 0x70	; 112
+ 2bc:	92 e0       	ldi	r25, 0x02	; 2
+ 2be:	21 50       	subi	r18, 0x01	; 1
+ 2c0:	80 40       	sbci	r24, 0x00	; 0
+ 2c2:	90 40       	sbci	r25, 0x00	; 0
+ 2c4:	e1 f7       	brne	.-8      	; 0x2be <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE13rf12_txpacketEhhh+0xa4>
+ 2c6:	00 c0       	rjmp	.+0      	; 0x2c8 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE13rf12_txpacketEhhh+0xae>
+ 2c8:	00 00       	nop
+			_delay_ms(100);
+		}
+ 2ca:	0f 90       	pop	r0
+ 2cc:	0f 90       	pop	r0
+ 2ce:	0f 90       	pop	r0
+ 2d0:	df 91       	pop	r29
+ 2d2:	cf 91       	pop	r28
+ 2d4:	08 95       	ret
+
+000002d6 <_Z4turnv>:
+
+volatile int status = SLEEP;
+
+void turn() 
+{
+	if(status == RUN)
+ 2d6:	80 91 00 01 	lds	r24, 0x0100
+ 2da:	90 91 01 01 	lds	r25, 0x0101
+ 2de:	06 97       	sbiw	r24, 0x06	; 6
+ 2e0:	09 f4       	brne	.+2      	; 0x2e4 <_Z4turnv+0xe>
+ 2e2:	42 c0       	rjmp	.+132    	; 0x368 <_Z4turnv+0x92>
+		return;
+	status = RUN;
+ 2e4:	86 e0       	ldi	r24, 0x06	; 6
+ 2e6:	90 e0       	ldi	r25, 0x00	; 0
+ 2e8:	90 93 01 01 	sts	0x0101, r25
+ 2ec:	80 93 00 01 	sts	0x0100, r24
+namespace avrlib {
+
+	struct portb
+	{
+		static uint8_t port() { return PORTB; }
+		static void port(uint8_t v) { PORTB = v; }
+ 2f0:	29 9a       	sbi	0x05, 1	; 5
+ 2f2:	0e 94 5f 00 	call	0xbe	; 0xbe <_ZN6avrlib3pinINS_5portbELh1EE6outputEb.part.2>
+	public:
+		Servo() {
 			init();
- 12a:	82 e0       	ldi	r24, 0x02	; 2
- 12c:	91 e0       	ldi	r25, 0x01	; 1
- 12e:	0e 94 8e 00 	call	0x11c	; 0x11c <_ZN3LedIN6avrlib5portdELi7ELi6EE4initEv>
+		}
+		void turn(uint16_t mask) {
+			this->servopos = mask;
+ 2f6:	10 92 05 01 	sts	0x0105, r1
+ 2fa:	2f ef       	ldi	r18, 0xFF	; 255
+ 2fc:	89 ef       	ldi	r24, 0xF9	; 249
+ 2fe:	90 e0       	ldi	r25, 0x00	; 0
+ 300:	21 50       	subi	r18, 0x01	; 1
+ 302:	80 40       	sbci	r24, 0x00	; 0
+ 304:	90 40       	sbci	r25, 0x00	; 0
+ 306:	e1 f7       	brne	.-8      	; 0x300 <_Z4turnv+0x2a>
+ 308:	00 c0       	rjmp	.+0      	; 0x30a <_Z4turnv+0x34>
+ 30a:	00 00       	nop
+	se.on();
+	se.turn(se.LEFT);
+	_delay_ms(10+DEVICE);
+	r.rf12_txpacket(MASTER, DEVICE, status); //r.txpacket(MASTER, DEVICE, status);
+ 30c:	20 91 00 01 	lds	r18, 0x0100
+ 310:	30 91 01 01 	lds	r19, 0x0101
+ 314:	4e e1       	ldi	r20, 0x1E	; 30
+ 316:	61 e0       	ldi	r22, 0x01	; 1
+ 318:	82 e0       	ldi	r24, 0x02	; 2
+ 31a:	91 e0       	ldi	r25, 0x01	; 1
+ 31c:	0e 94 0d 01 	call	0x21a	; 0x21a <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE13rf12_txpacketEhhh>
+ 320:	2f ef       	ldi	r18, 0xFF	; 255
+ 322:	83 ec       	ldi	r24, 0xC3	; 195
+ 324:	99 e0       	ldi	r25, 0x09	; 9
+ 326:	21 50       	subi	r18, 0x01	; 1
+ 328:	80 40       	sbci	r24, 0x00	; 0
+ 32a:	90 40       	sbci	r25, 0x00	; 0
+ 32c:	e1 f7       	brne	.-8      	; 0x326 <_Z4turnv+0x50>
+ 32e:	00 c0       	rjmp	.+0      	; 0x330 <_Z4turnv+0x5a>
+ 330:	00 00       	nop
+ 332:	89 e6       	ldi	r24, 0x69	; 105
+ 334:	80 93 05 01 	sts	0x0105, r24
+ 338:	2f ef       	ldi	r18, 0xFF	; 255
+ 33a:	82 e5       	ldi	r24, 0x52	; 82
+ 33c:	97 e0       	ldi	r25, 0x07	; 7
+ 33e:	21 50       	subi	r18, 0x01	; 1
+ 340:	80 40       	sbci	r24, 0x00	; 0
+ 342:	90 40       	sbci	r25, 0x00	; 0
+ 344:	e1 f7       	brne	.-8      	; 0x33e <_Z4turnv+0x68>
+ 346:	00 c0       	rjmp	.+0      	; 0x348 <_Z4turnv+0x72>
+ 348:	00 00       	nop
+ 34a:	82 ed       	ldi	r24, 0xD2	; 210
+ 34c:	80 93 05 01 	sts	0x0105, r24
+ 350:	2f ef       	ldi	r18, 0xFF	; 255
+ 352:	86 e1       	ldi	r24, 0x16	; 22
+ 354:	91 e1       	ldi	r25, 0x11	; 17
+ 356:	21 50       	subi	r18, 0x01	; 1
+ 358:	80 40       	sbci	r24, 0x00	; 0
+ 35a:	90 40       	sbci	r25, 0x00	; 0
+ 35c:	e1 f7       	brne	.-8      	; 0x356 <_Z4turnv+0x80>
+ 35e:	00 c0       	rjmp	.+0      	; 0x360 <_Z4turnv+0x8a>
+ 360:	00 00       	nop
+ 362:	29 98       	cbi	0x05, 1	; 5
+ 364:	0c 94 5f 00 	jmp	0xbe	; 0xbe <_ZN6avrlib3pinINS_5portbELh1EE6outputEb.part.2>
+ 368:	08 95       	ret
+
+0000036a <_Z4pollv>:
+	se.off();
+}
+
+void poll() 
+{
+	if(status == ACTIVE) {
+ 36a:	80 91 00 01 	lds	r24, 0x0100
+ 36e:	90 91 01 01 	lds	r25, 0x0101
+ 372:	03 97       	sbiw	r24, 0x03	; 3
+ 374:	51 f4       	brne	.+20     	; 0x38a <_Z4pollv+0x20>
+		if(mc.is_pressed()) {
+ 376:	4a 99       	sbic	0x09, 2	; 9
+ 378:	08 c0       	rjmp	.+16     	; 0x38a <_Z4pollv+0x20>
+		uint8_t rf12_rxbyte() {
+			return this->send(0xB000);
+		}
+
+		void rf12_endasyncrx() {
+			this->send(0x8208);			// RX off
+ 37a:	88 e0       	ldi	r24, 0x08	; 8
+ 37c:	92 e8       	ldi	r25, 0x82	; 130
+ 37e:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			r.rf12_endasyncrx(); //r.endasyncrx();
+			turn();
+ 382:	0e 94 6b 01 	call	0x2d6	; 0x2d6 <_Z4turnv>
+			r.rf12_beginasyncrx(); //r.beginasyncrx();
+ 386:	0e 94 01 01 	call	0x202	; 0x202 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE17rf12_beginasyncrxEv.isra.39>
+		}
+	}
+	if(status == SLEEP) {
+ 38a:	80 91 00 01 	lds	r24, 0x0100
+ 38e:	90 91 01 01 	lds	r25, 0x0101
+ 392:	02 97       	sbiw	r24, 0x02	; 2
+ 394:	79 f4       	brne	.+30     	; 0x3b4 <_Z4pollv+0x4a>
+		if(mc.is_pressed()) {
+ 396:	4a 99       	sbic	0x09, 2	; 9
+ 398:	0d c0       	rjmp	.+26     	; 0x3b4 <_Z4pollv+0x4a>
+ 39a:	88 e0       	ldi	r24, 0x08	; 8
+ 39c:	92 e8       	ldi	r25, 0x82	; 130
+ 39e:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			r.rf12_endasyncrx(); //r.endasyncrx();
+			r.rf12_txpacket(MASTER, DEVICE, DEDECT); //r.txpacket(MASTER, DEVICE, DEDECT);
+ 3a2:	28 e0       	ldi	r18, 0x08	; 8
+ 3a4:	4e e1       	ldi	r20, 0x1E	; 30
+ 3a6:	61 e0       	ldi	r22, 0x01	; 1
+ 3a8:	82 e0       	ldi	r24, 0x02	; 2
+ 3aa:	91 e0       	ldi	r25, 0x01	; 1
+ 3ac:	0e 94 0d 01 	call	0x21a	; 0x21a <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE13rf12_txpacketEhhh>
+			r.rf12_beginasyncrx(); //r.beginasyncrx();
+ 3b0:	0e 94 01 01 	call	0x202	; 0x202 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE17rf12_beginasyncrxEv.isra.39>
+		}
+	}
+	if(st.is_pressed()) {
+ 3b4:	4b 99       	sbic	0x09, 3	; 9
+ 3b6:	21 c0       	rjmp	.+66     	; 0x3fa <_Z4pollv+0x90>
+		if(status == SLEEP) {
+ 3b8:	80 91 00 01 	lds	r24, 0x0100
+ 3bc:	90 91 01 01 	lds	r25, 0x0101
+ 3c0:	02 97       	sbiw	r24, 0x02	; 2
+ 3c2:	d9 f4       	brne	.+54     	; 0x3fa <_Z4pollv+0x90>
+			l.color(l.YELLOW);
+ 3c4:	83 e0       	ldi	r24, 0x03	; 3
+ 3c6:	0e 94 77 00 	call	0xee	; 0xee <_ZN3LedIN6avrlib5portdELi7ELi6EE5colorEh.isra.11>
+			status = RUN;
+ 3ca:	86 e0       	ldi	r24, 0x06	; 6
+ 3cc:	90 e0       	ldi	r25, 0x00	; 0
+ 3ce:	90 93 01 01 	sts	0x0101, r25
+ 3d2:	80 93 00 01 	sts	0x0100, r24
+ 3d6:	2f ef       	ldi	r18, 0xFF	; 255
+ 3d8:	81 e1       	ldi	r24, 0x11	; 17
+ 3da:	9a e7       	ldi	r25, 0x7A	; 122
+ 3dc:	21 50       	subi	r18, 0x01	; 1
+ 3de:	80 40       	sbci	r24, 0x00	; 0
+ 3e0:	90 40       	sbci	r25, 0x00	; 0
+ 3e2:	e1 f7       	brne	.-8      	; 0x3dc <_Z4pollv+0x72>
+ 3e4:	00 c0       	rjmp	.+0      	; 0x3e6 <_Z4pollv+0x7c>
+ 3e6:	00 00       	nop
+			_delay_ms(5000);
+			status = ACTIVE;
+ 3e8:	83 e0       	ldi	r24, 0x03	; 3
+ 3ea:	90 e0       	ldi	r25, 0x00	; 0
+ 3ec:	90 93 01 01 	sts	0x0101, r25
+ 3f0:	80 93 00 01 	sts	0x0100, r24
+			l.color(l.BLACK);
+ 3f4:	80 e0       	ldi	r24, 0x00	; 0
+ 3f6:	0c 94 77 00 	jmp	0xee	; 0xee <_ZN3LedIN6avrlib5portdELi7ELi6EE5colorEh.isra.11>
+ 3fa:	08 95       	ret
+
+000003fc <_Z6recivev>:
+		rf12_beginasyncrx(); //r.beginasyncrx();
+	}
+	l.color(l.GREEN);
+}*/
+
+void recive() {
+ 3fc:	cf 93       	push	r28
+	r.rf12_beginasyncrx();
+ 3fe:	0e 94 01 01 	call	0x202	; 0x202 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE17rf12_beginasyncrxEv.isra.39>
+	while(r.rf12_hasdata()) {
+ 402:	02 c0       	rjmp	.+4      	; 0x408 <_Z6recivev+0xc>
+		poll();
+ 404:	0e 94 b5 01 	call	0x36a	; 0x36a <_Z4pollv>
+	public:
+		Spi() {
+			this->init();
+		}
+		void CSOn() {
+			cs::make_low();
+ 408:	0e 94 d9 00 	call	0x1b2	; 0x1b2 <_ZN6avrlib3pinINS_5portcELh4EE8make_lowEv>
+	l.color(l.GREEN);
+}*/
+
+void recive() {
+	r.rf12_beginasyncrx();
+	while(r.rf12_hasdata()) {
+ 40c:	33 9b       	sbis	0x06, 3	; 6
+ 40e:	fa cf       	rjmp	.-12     	; 0x404 <_Z6recivev+0x8>
+			s.CSOn();
+			return s.has_data();
+		}
+		
+		uint8_t rf12_rxbyte() {
+			return this->send(0xB000);
+ 410:	80 e0       	ldi	r24, 0x00	; 0
+ 412:	90 eb       	ldi	r25, 0xB0	; 176
+ 414:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+		poll();
+	}
+	uint8_t addr = r.rf12_rxbyte();
+	if(addr == ALL || addr == DEVICE || addr == GROUP) {
+ 418:	88 23       	and	r24, r24
+ 41a:	41 f0       	breq	.+16     	; 0x42c <_Z6recivev+0x30>
+ 41c:	8e 31       	cpi	r24, 0x1E	; 30
+ 41e:	31 f0       	breq	.+12     	; 0x42c <_Z6recivev+0x30>
+ 420:	80 3f       	cpi	r24, 0xF0	; 240
+ 422:	09 f0       	breq	.+2      	; 0x426 <_Z6recivev+0x2a>
+ 424:	55 c0       	rjmp	.+170    	; 0x4d0 <_Z6recivev+0xd4>
+ 426:	02 c0       	rjmp	.+4      	; 0x42c <_Z6recivev+0x30>
+		while(r.rf12_hasdata()) {
+			poll();
+ 428:	0e 94 b5 01 	call	0x36a	; 0x36a <_Z4pollv>
+ 42c:	0e 94 d9 00 	call	0x1b2	; 0x1b2 <_ZN6avrlib3pinINS_5portcELh4EE8make_lowEv>
+	while(r.rf12_hasdata()) {
+		poll();
+	}
+	uint8_t addr = r.rf12_rxbyte();
+	if(addr == ALL || addr == DEVICE || addr == GROUP) {
+		while(r.rf12_hasdata()) {
+ 430:	33 9b       	sbis	0x06, 3	; 6
+ 432:	fa cf       	rjmp	.-12     	; 0x428 <_Z6recivev+0x2c>
+ 434:	80 e0       	ldi	r24, 0x00	; 0
+ 436:	90 eb       	ldi	r25, 0xB0	; 176
+ 438:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+ 43c:	c8 2f       	mov	r28, r24
+			poll();
+		}
+		uint8_t from = r.rf12_rxbyte();
+		while(r.rf12_hasdata()) {
+ 43e:	02 c0       	rjmp	.+4      	; 0x444 <_Z6recivev+0x48>
+			poll();
+ 440:	0e 94 b5 01 	call	0x36a	; 0x36a <_Z4pollv>
+ 444:	0e 94 d9 00 	call	0x1b2	; 0x1b2 <_ZN6avrlib3pinINS_5portcELh4EE8make_lowEv>
+	if(addr == ALL || addr == DEVICE || addr == GROUP) {
+		while(r.rf12_hasdata()) {
+			poll();
+		}
+		uint8_t from = r.rf12_rxbyte();
+		while(r.rf12_hasdata()) {
+ 448:	33 9b       	sbis	0x06, 3	; 6
+ 44a:	fa cf       	rjmp	.-12     	; 0x440 <_Z6recivev+0x44>
+			poll();
+		}
+		if(from == MASTER) {
+ 44c:	c1 30       	cpi	r28, 0x01	; 1
+ 44e:	09 f0       	breq	.+2      	; 0x452 <_Z6recivev+0x56>
+ 450:	3f c0       	rjmp	.+126    	; 0x4d0 <_Z6recivev+0xd4>
+ 452:	80 e0       	ldi	r24, 0x00	; 0
+ 454:	90 eb       	ldi	r25, 0xB0	; 176
+ 456:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			uint8_t data = r.rf12_rxbyte();
+			switch(data) {
+ 45a:	84 30       	cpi	r24, 0x04	; 4
+ 45c:	49 f0       	breq	.+18     	; 0x470 <_Z6recivev+0x74>
+ 45e:	18 f4       	brcc	.+6      	; 0x466 <_Z6recivev+0x6a>
+ 460:	81 30       	cpi	r24, 0x01	; 1
+ 462:	c9 f4       	brne	.+50     	; 0x496 <_Z6recivev+0x9a>
+ 464:	1d c0       	rjmp	.+58     	; 0x4a0 <_Z6recivev+0xa4>
+ 466:	85 30       	cpi	r24, 0x05	; 5
+ 468:	31 f0       	breq	.+12     	; 0x476 <_Z6recivev+0x7a>
+ 46a:	87 30       	cpi	r24, 0x07	; 7
+ 46c:	a1 f4       	brne	.+40     	; 0x496 <_Z6recivev+0x9a>
+ 46e:	0a c0       	rjmp	.+20     	; 0x484 <_Z6recivev+0x88>
+				case PING: {
+					break;
+				}
+				case SETSLEEP: {
+					status = SLEEP;
+ 470:	82 e0       	ldi	r24, 0x02	; 2
+ 472:	90 e0       	ldi	r25, 0x00	; 0
+ 474:	02 c0       	rjmp	.+4      	; 0x47a <_Z6recivev+0x7e>
+					break;
+				}
+				case SETACTIVE: {
+					status = ACTIVE;
+ 476:	83 e0       	ldi	r24, 0x03	; 3
+ 478:	90 e0       	ldi	r25, 0x00	; 0
+ 47a:	90 93 01 01 	sts	0x0101, r25
+ 47e:	80 93 00 01 	sts	0x0100, r24
+					break;
+ 482:	0e c0       	rjmp	.+28     	; 0x4a0 <_Z6recivev+0xa4>
+		}
+
+		void rf12_endasyncrx() {
+			this->send(0x8208);			// RX off
+ 484:	88 e0       	ldi	r24, 0x08	; 8
+ 486:	92 e8       	ldi	r25, 0x82	; 130
+ 488:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+				}
+				case SETRUN: {
+					r.rf12_endasyncrx();
+					turn();
+ 48c:	0e 94 6b 01 	call	0x2d6	; 0x2d6 <_Z4turnv>
+			_delay_ms(10+DEVICE);
+			r.rf12_txpacket(MASTER, DEVICE, status);
+			return;
+		}
+	}
+}
+ 490:	cf 91       	pop	r28
+					break;
+				}
+				case SETRUN: {
+					r.rf12_endasyncrx();
+					turn();
+					r.rf12_beginasyncrx();
+ 492:	0c 94 01 01 	jmp	0x202	; 0x202 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE17rf12_beginasyncrxEv.isra.39>
+ 496:	88 e0       	ldi	r24, 0x08	; 8
+ 498:	92 e8       	ldi	r25, 0x82	; 130
+			_delay_ms(10+DEVICE);
+			r.rf12_txpacket(MASTER, DEVICE, status);
+			return;
+		}
+	}
+}
+ 49a:	cf 91       	pop	r28
+ 49c:	0c 94 e1 00 	jmp	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+ 4a0:	88 e0       	ldi	r24, 0x08	; 8
+ 4a2:	92 e8       	ldi	r25, 0x82	; 130
+ 4a4:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+ 4a8:	2f ef       	ldi	r18, 0xFF	; 255
+ 4aa:	89 ef       	ldi	r24, 0xF9	; 249
+ 4ac:	90 e0       	ldi	r25, 0x00	; 0
+ 4ae:	21 50       	subi	r18, 0x01	; 1
+ 4b0:	80 40       	sbci	r24, 0x00	; 0
+ 4b2:	90 40       	sbci	r25, 0x00	; 0
+ 4b4:	e1 f7       	brne	.-8      	; 0x4ae <_Z6recivev+0xb2>
+ 4b6:	00 c0       	rjmp	.+0      	; 0x4b8 <_Z6recivev+0xbc>
+ 4b8:	00 00       	nop
+					return;
+				}
+			}
+			r.rf12_endasyncrx();
+			_delay_ms(10+DEVICE);
+			r.rf12_txpacket(MASTER, DEVICE, status);
+ 4ba:	20 91 00 01 	lds	r18, 0x0100
+ 4be:	30 91 01 01 	lds	r19, 0x0101
+ 4c2:	4e e1       	ldi	r20, 0x1E	; 30
+ 4c4:	61 e0       	ldi	r22, 0x01	; 1
+ 4c6:	82 e0       	ldi	r24, 0x02	; 2
+ 4c8:	91 e0       	ldi	r25, 0x01	; 1
+			return;
+		}
+	}
+}
+ 4ca:	cf 91       	pop	r28
+					return;
+				}
+			}
+			r.rf12_endasyncrx();
+			_delay_ms(10+DEVICE);
+			r.rf12_txpacket(MASTER, DEVICE, status);
+ 4cc:	0c 94 0d 01 	jmp	0x21a	; 0x21a <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE13rf12_txpacketEhhh>
+			return;
+		}
+	}
+}
+ 4d0:	cf 91       	pop	r28
+ 4d2:	08 95       	ret
+
+000004d4 <main>:
+
+int main(void) {
+	l.color(l.RED);
+ 4d4:	82 e0       	ldi	r24, 0x02	; 2
+ 4d6:	0e 94 77 00 	call	0xee	; 0xee <_ZN3LedIN6avrlib5portdELi7ELi6EE5colorEh.isra.11>
+    while(1)
+    {
+		recive();		
+ 4da:	0e 94 fe 01 	call	0x3fc	; 0x3fc <_Z6recivev>
+ 4de:	fd cf       	rjmp	.-6      	; 0x4da <main+0x6>
+
+000004e0 <_GLOBAL__sub_I_l>:
+ 4e0:	57 9a       	sbi	0x0a, 7	; 10
+ 4e2:	56 9a       	sbi	0x0a, 6	; 10
+		static const uint8_t YELLOW = 3;
+	private:
+		void init() {
+			red::make_output();
+			green::make_output();
+			color(BLACK);
+ 4e4:	80 e0       	ldi	r24, 0x00	; 0
+ 4e6:	0e 94 77 00 	call	0xee	; 0xee <_ZN3LedIN6avrlib5portdELi7ELi6EE5colorEh.isra.11>
 		static const uint16_t MIDDLE	= s_middle;
 		static const uint16_t RIGHT		= s_right;
 	private:
 		uint8_t servopos;
 		void init() {
 			this->servopos = 0;
- 132:	10 92 01 01 	sts	0x0101, r1
- 136:	21 9a       	sbi	0x04, 1	; 4
-namespace avrlib {
-
-	struct portb
-	{
-		static uint8_t port() { return PORTB; }
-		static void port(uint8_t v) { PORTB = v; }
- 138:	29 98       	cbi	0x05, 1	; 5
+ 4ea:	10 92 05 01 	sts	0x0105, r1
+ 4ee:	0e 94 5f 00 	call	0xbe	; 0xbe <_ZN6avrlib3pinINS_5portbELh1EE6outputEb.part.2>
+ 4f2:	29 98       	cbi	0x05, 1	; 5
+ 4f4:	0e 94 5f 00 	call	0xbe	; 0xbe <_ZN6avrlib3pinINS_5portbELh1EE6outputEb.part.2>
 
 		static uint8_t pin() { return PINB; }
 		static void pin(uint8_t v) { PINB = v; }
 
 		static uint8_t dir() { return DDRB; }
 		static void dir(uint8_t v) { DDRB = v; }
- 13a:	21 9a       	sbi	0x04, 1	; 4
- 13c:	22 9a       	sbi	0x04, 2	; 4
+ 4f8:	22 9a       	sbi	0x04, 2	; 4
 			// Clock value: 7,813 kHz
 			// Mode: Normal top=0xFF
 			// OC0A output: Disconnected
 			// OC0B output: Disconnected
 			// Timer Period: 19,968 ms
 			TCCR0A=(0<<COM0A1) | (0<<COM0A0) | (0<<COM0B1) | (0<<COM0B0) | (0<<WGM01) | (0<<WGM00);
- 13e:	14 bc       	out	0x24, r1	; 36
+ 4fa:	14 bc       	out	0x24, r1	; 36
 			TCCR0B=(0<<WGM02) | (1<<CS02) | (0<<CS01) | (1<<CS00);
- 140:	85 e0       	ldi	r24, 0x05	; 5
- 142:	85 bd       	out	0x25, r24	; 37
+ 4fc:	85 e0       	ldi	r24, 0x05	; 5
+ 4fe:	85 bd       	out	0x25, r24	; 37
 			TCNT0=0x64;
- 144:	84 e6       	ldi	r24, 0x64	; 100
- 146:	86 bd       	out	0x26, r24	; 38
+ 500:	84 e6       	ldi	r24, 0x64	; 100
+ 502:	86 bd       	out	0x26, r24	; 38
 			OCR0A=0x00;
- 148:	17 bc       	out	0x27, r1	; 39
+ 504:	17 bc       	out	0x27, r1	; 39
 			OCR0B=0x00;
- 14a:	18 bc       	out	0x28, r1	; 40
+ 506:	18 bc       	out	0x28, r1	; 40
 
 			// Timer/Counter 0 Interrupt(s) initialization
 			TIMSK0=(0<<OCIE0B) | (0<<OCIE0A) | (1<<TOIE0);
- 14c:	81 e0       	ldi	r24, 0x01	; 1
- 14e:	80 93 6e 00 	sts	0x006E, r24
+ 508:	81 e0       	ldi	r24, 0x01	; 1
+ 50a:	80 93 6e 00 	sts	0x006E, r24
 			this->servopos = 0;
 			servo_act::make_output();
 			servo_act::make_low();
 			servo_io::make_output();
 			this->init_timer();
 			sei();
- 152:	78 94       	sei
- 154:	53 98       	cbi	0x0a, 3	; 10
+ 50e:	78 94       	sei
+ 510:	53 98       	cbi	0x0a, 3	; 10
 namespace avrlib {
 
 	struct portd
 	{
 		static uint8_t port() { return PORTD; }
 		static void port(uint8_t v) { PORTD = v; }
- 156:	5b 98       	cbi	0x0b, 3	; 11
- 158:	5b 9a       	sbi	0x0b, 3	; 11
- 15a:	08 95       	ret
+ 512:	5b 98       	cbi	0x0b, 3	; 11
+ 514:	5b 9a       	sbi	0x0b, 3	; 11
 
-0000015c <__tablejump2__>:
- 15c:	ee 0f       	add	r30, r30
- 15e:	ff 1f       	adc	r31, r31
+		static uint8_t pin() { return PIND; }
+		static void pin(uint8_t v) { PIND = v; }
 
-00000160 <__tablejump__>:
- 160:	05 90       	lpm	r0, Z+
- 162:	f4 91       	lpm	r31, Z
- 164:	e0 2d       	mov	r30, r0
- 166:	09 94       	ijmp
+		static uint8_t dir() { return DDRD; }
+		static void dir(uint8_t v) { DDRD = v; }
+ 516:	52 98       	cbi	0x0a, 2	; 10
+namespace avrlib {
 
-00000168 <_exit>:
- 168:	f8 94       	cli
+	struct portd
+	{
+		static uint8_t port() { return PORTD; }
+		static void port(uint8_t v) { PORTD = v; }
+ 518:	5a 98       	cbi	0x0b, 2	; 11
+ 51a:	5a 9a       	sbi	0x0b, 2	; 11
+namespace avrlib {
 
-0000016a <__stop_program>:
- 16a:	ff cf       	rjmp	.-2      	; 0x16a <__stop_program>
+	struct portc
+	{
+		static uint8_t port() { return PORTC; }
+		static void port(uint8_t v) { PORTC = v; }
+ 51c:	40 98       	cbi	0x08, 0	; 8
+
+		static uint8_t pin() { return PINC; }
+		static void pin(uint8_t v) { PINC = v; }
+
+		static uint8_t dir() { return DDRC; }
+		static void dir(uint8_t v) { DDRC = v; }
+ 51e:	38 9a       	sbi	0x07, 0	; 7
+namespace avrlib {
+
+	struct portc
+	{
+		static uint8_t port() { return PORTC; }
+		static void port(uint8_t v) { PORTC = v; }
+ 520:	41 98       	cbi	0x08, 1	; 8
+
+		static uint8_t pin() { return PINC; }
+		static void pin(uint8_t v) { PINC = v; }
+
+		static uint8_t dir() { return DDRC; }
+		static void dir(uint8_t v) { DDRC = v; }
+ 522:	39 9a       	sbi	0x07, 1	; 7
+namespace avrlib {
+
+	struct portc
+	{
+		static uint8_t port() { return PORTC; }
+		static void port(uint8_t v) { PORTC = v; }
+ 524:	44 9a       	sbi	0x08, 4	; 8
+
+		static uint8_t pin() { return PINC; }
+		static void pin(uint8_t v) { PINC = v; }
+
+		static uint8_t dir() { return DDRC; }
+		static void dir(uint8_t v) { DDRC = v; }
+ 526:	3c 9a       	sbi	0x07, 4	; 7
+ 528:	3b 98       	cbi	0x07, 3	; 7
+namespace avrlib {
+
+	struct portc
+	{
+		static uint8_t port() { return PORTC; }
+		static void port(uint8_t v) { PORTC = v; }
+ 52a:	43 98       	cbi	0x08, 3	; 8
+ 52c:	2f ef       	ldi	r18, 0xFF	; 255
+ 52e:	80 e7       	ldi	r24, 0x70	; 112
+ 530:	92 e0       	ldi	r25, 0x02	; 2
+ 532:	21 50       	subi	r18, 0x01	; 1
+ 534:	80 40       	sbci	r24, 0x00	; 0
+ 536:	90 40       	sbci	r25, 0x00	; 0
+ 538:	e1 f7       	brne	.-8      	; 0x532 <__stack+0x33>
+ 53a:	00 c0       	rjmp	.+0      	; 0x53c <__stack+0x3d>
+ 53c:	00 00       	nop
+			return werti;
+		}
+		void init(void) {
+			_delay_ms(100);
+
+			this->send(0xC0E0);			// AVR CLK: 10MHz
+ 53e:	80 ee       	ldi	r24, 0xE0	; 224
+ 540:	90 ec       	ldi	r25, 0xC0	; 192
+ 542:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			this->send(0x80D7);			// Enable FIFO
+ 546:	87 ed       	ldi	r24, 0xD7	; 215
+ 548:	90 e8       	ldi	r25, 0x80	; 128
+ 54a:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			this->send(0xC2AB);			// Data Filter: internal
+ 54e:	8b ea       	ldi	r24, 0xAB	; 171
+ 550:	92 ec       	ldi	r25, 0xC2	; 194
+ 552:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			this->send(0xCA81);			// Set FIFO mode
+ 556:	81 e8       	ldi	r24, 0x81	; 129
+ 558:	9a ec       	ldi	r25, 0xCA	; 202
+ 55a:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			this->send(0xE000);			// disable wakeuptimer
+ 55e:	80 e0       	ldi	r24, 0x00	; 0
+ 560:	90 ee       	ldi	r25, 0xE0	; 224
+ 562:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			this->send(0xC800);			// disable low duty cycle
+ 566:	80 e0       	ldi	r24, 0x00	; 0
+ 568:	98 ec       	ldi	r25, 0xC8	; 200
+ 56a:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			this->send(0xC4F7);			// AFC settings: autotuning: -10kHz...+7,5kHz
+ 56e:	87 ef       	ldi	r24, 0xF7	; 247
+ 570:	94 ec       	ldi	r25, 0xC4	; 196
+ 572:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			if( freq < 96 ) {				// 430,2400MHz
+				this->send( 0xA000 | 96 );
+				} else if( freq > 3903 ) {		// 439,7575MHz
+				this->send( 0xA000 | 3903 );
+			}
+			this->send( 0xA000 | freq );
+ 576:	80 e2       	ldi	r24, 0x20	; 32
+ 578:	96 ea       	ldi	r25, 0xA6	; 166
+ 57a:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			this->setbandwidth();	// 400kHz Bandbreite, 0dB Verstärkung, DRSSI threshold: -61dBm
+			this->setbaud();		// 19200 baud
+			this->setpower();		// 1mW Ausgangsleistung, 120kHz Frequenzshift
+		}
+		void setbandwidth() {
+			this->send( 0x9400 | ( ( bandwidth & 7 ) << 5 ) | ( ( gain & 3 ) << 3 ) | ( drssi & 7 ) );
+ 57e:	87 e2       	ldi	r24, 0x27	; 39
+ 580:	94 e9       	ldi	r25, 0x94	; 148
+ 582:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+				return;
+			}
+			if (baud < 5400) {				// Baudrate= 344827,58621/(R+1)/(1+CS*7)
+				this->send(0xC680 | ( ( 43104 / baud ) - 1 ) );
+				} else {
+				this->send(0xC600 | ( ( 344828UL / baud ) - 1 ) );
+ 586:	82 e2       	ldi	r24, 0x22	; 34
+ 588:	96 ec       	ldi	r25, 0xC6	; 198
+ 58a:	0e 94 e1 00 	call	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+			}
+		}
+		void setpower() {
+			this->send( 0x9800 | ( power & 7 ) | ( ( mod & 15 ) << 4 ) );
+ 58e:	80 e6       	ldi	r24, 0x60	; 96
+ 590:	98 e9       	ldi	r25, 0x98	; 152
+ 592:	0c 94 e1 00 	jmp	0x1c2	; 0x1c2 <_ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32>
+
+00000596 <__tablejump2__>:
+ 596:	ee 0f       	add	r30, r30
+ 598:	ff 1f       	adc	r31, r31
+
+0000059a <__tablejump__>:
+ 59a:	05 90       	lpm	r0, Z+
+ 59c:	f4 91       	lpm	r31, Z
+ 59e:	e0 2d       	mov	r30, r0
+ 5a0:	09 94       	ijmp
+
+000005a2 <_exit>:
+ 5a2:	f8 94       	cli
+
+000005a4 <__stop_program>:
+ 5a4:	ff cf       	rjmp	.-2      	; 0x5a4 <__stop_program>
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.map b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.map
index 4b3253d..4705120 100644
--- a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.map
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.map
@@ -2,6 +2,8 @@ Archive member included because of file (symbol)
 
 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
                               c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o (exit)
+c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
+                              Zeitschaltung_V6.o (__do_copy_data)
 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_clear_bss.o)
                               Zeitschaltung_V6.o (__do_clear_bss)
 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_ctors.o)
@@ -13,6 +15,7 @@ Discarded input sections
 
  .bss           0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
  .group         0x00000000        0x8 Zeitschaltung_V6.o
+ .group         0x00000000        0x8 Zeitschaltung_V6.o
  .text          0x00000000        0x0 Zeitschaltung_V6.o
  .text          0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
  .bss           0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
@@ -27,6 +30,19 @@ Discarded input sections
                 0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
  .text.libgcc.fmul
                 0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
+ .text          0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
+ .bss           0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
+ .text.libgcc.mul
+                0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
+ .text.libgcc.div
+                0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
+ .text.libgcc   0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
+ .text.libgcc.prologue
+                0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
+ .text.libgcc.builtins
+                0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
+ .text.libgcc.fmul
+                0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
  .text          0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_clear_bss.o)
  .bss           0x00000000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_clear_bss.o)
  .text.libgcc.mul
@@ -182,7 +198,7 @@ LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8
 .rela.plt
  *(.rela.plt)
 
-.text           0x00000000      0x16c
+.text           0x00000000      0x5a6
  *(.vectors)
  .vectors       0x00000000       0x68 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
                 0x00000000                __vector_default
@@ -221,69 +237,96 @@ LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8
  *(.init3)
  *(.init3)
  *(.init4)
- .init4         0x00000076       0x10 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_clear_bss.o)
-                0x00000076                __do_clear_bss
+ .init4         0x00000076       0x16 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
+                0x00000076                __do_copy_data
+ .init4         0x0000008c       0x10 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_clear_bss.o)
+                0x0000008c                __do_clear_bss
  *(.init4)
  *(.init5)
  *(.init5)
  *(.init6)
- .init6         0x00000086       0x16 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_ctors.o)
-                0x00000086                __do_global_ctors
+ .init6         0x0000009c       0x16 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_ctors.o)
+                0x0000009c                __do_global_ctors
  *(.init6)
  *(.init7)
  *(.init7)
  *(.init8)
  *(.init8)
  *(.init9)
- .init9         0x0000009c        0x8 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
+ .init9         0x000000b2        0x8 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
  *(.init9)
  *(.text)
- .text          0x000000a4        0x4 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
-                0x000000a4                __vector_22
-                0x000000a4                __vector_1
-                0x000000a4                __vector_24
-                0x000000a4                __vector_12
-                0x000000a4                __bad_interrupt
-                0x000000a4                __vector_6
-                0x000000a4                __vector_3
-                0x000000a4                __vector_23
-                0x000000a4                __vector_25
-                0x000000a4                __vector_11
-                0x000000a4                __vector_13
-                0x000000a4                __vector_17
-                0x000000a4                __vector_19
-                0x000000a4                __vector_7
-                0x000000a4                __vector_5
-                0x000000a4                __vector_4
-                0x000000a4                __vector_9
-                0x000000a4                __vector_2
-                0x000000a4                __vector_21
-                0x000000a4                __vector_15
-                0x000000a4                __vector_8
-                0x000000a4                __vector_14
-                0x000000a4                __vector_10
-                0x000000a4                __vector_18
-                0x000000a4                __vector_20
-                0x000000a8                . = ALIGN (0x2)
+ .text          0x000000ba        0x4 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
+                0x000000ba                __vector_22
+                0x000000ba                __vector_1
+                0x000000ba                __vector_24
+                0x000000ba                __vector_12
+                0x000000ba                __bad_interrupt
+                0x000000ba                __vector_6
+                0x000000ba                __vector_3
+                0x000000ba                __vector_23
+                0x000000ba                __vector_25
+                0x000000ba                __vector_11
+                0x000000ba                __vector_13
+                0x000000ba                __vector_17
+                0x000000ba                __vector_19
+                0x000000ba                __vector_7
+                0x000000ba                __vector_5
+                0x000000ba                __vector_4
+                0x000000ba                __vector_9
+                0x000000ba                __vector_2
+                0x000000ba                __vector_21
+                0x000000ba                __vector_15
+                0x000000ba                __vector_8
+                0x000000ba                __vector_14
+                0x000000ba                __vector_10
+                0x000000ba                __vector_18
+                0x000000ba                __vector_20
+                0x000000be                . = ALIGN (0x2)
  *(.text.*)
- .text.main     0x000000a8       0x16 Zeitschaltung_V6.o
-                0x000000a8                main
+ .text._ZN6avrlib3pinINS_5portbELh1EE6outputEb.part.2
+                0x000000be        0x4 Zeitschaltung_V6.o
+ .text._ZN3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EE9send_softEh.isra.30
+                0x000000c2       0x2c Zeitschaltung_V6.o
+ .text._ZN3LedIN6avrlib5portdELi7ELi6EE5colorEh.isra.11
+                0x000000ee       0x1a Zeitschaltung_V6.o
  .text.__vector_16
-                0x000000be       0x5e Zeitschaltung_V6.o
-                0x000000be                __vector_16
- .text._ZN3LedIN6avrlib5portdELi7ELi6EE4initEv
-                0x0000011c        0xe Zeitschaltung_V6.o
-                0x0000011c                _ZN3LedIN6avrlib5portdELi7ELi6EE4initEv
- .text._GLOBAL__sub_I_l
-                0x0000012a       0x32 Zeitschaltung_V6.o
- .text.libgcc   0x0000015c        0xc c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_tablejump.o)
-                0x0000015c                __tablejump2__
-                0x00000160                __tablejump__
-                0x00000168                . = ALIGN (0x2)
+                0x00000108       0xaa Zeitschaltung_V6.o
+                0x00000108                __vector_16
+ .text._ZN6avrlib3pinINS_5portcELh4EE8make_lowEv
+                0x000001b2        0x6 Zeitschaltung_V6.o
+                0x000001b2                _ZN6avrlib3pinINS_5portcELh4EE8make_lowEv
+ .text._ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE10rf12_readyEv.isra.25
+                0x000001b8        0xa Zeitschaltung_V6.o
+ .text._ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE4sendEj.isra.32
+                0x000001c2       0x40 Zeitschaltung_V6.o
+ .text._ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE17rf12_beginasyncrxEv.isra.39
+                0x00000202       0x18 Zeitschaltung_V6.o
+ .text._ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE13rf12_txpacketEhhh
+                0x0000021a       0xbc Zeitschaltung_V6.o
+                0x0000021a                _ZN4Rf12I3SpiIN6avrlib5portcELi4ELi3ELi0ELi1ELi1EELh1ELh0ELh7ELj1568ELj9600ELh0ELh6EE13rf12_txpacketEhhh
+ .text._Z4turnv
+                0x000002d6       0x94 Zeitschaltung_V6.o
+                0x000002d6                _Z4turnv
+ .text._Z4pollv
+                0x0000036a       0x92 Zeitschaltung_V6.o
+                0x0000036a                _Z4pollv
+ .text._Z6recivev
+                0x000003fc       0xd8 Zeitschaltung_V6.o
+                0x000003fc                _Z6recivev
+ .text.startup.main
+                0x000004d4        0xc Zeitschaltung_V6.o
+                0x000004d4                main
+ .text.startup._GLOBAL__sub_I_l
+                0x000004e0       0xb6 Zeitschaltung_V6.o
+ .text.libgcc   0x00000596        0xc c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_tablejump.o)
+                0x00000596                __tablejump2__
+                0x0000059a                __tablejump__
+                0x000005a2                . = ALIGN (0x2)
  *(.fini9)
- .fini9         0x00000168        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
-                0x00000168                _exit
-                0x00000168                exit
+ .fini9         0x000005a2        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
+                0x000005a2                _exit
+                0x000005a2                exit
  *(.fini9)
  *(.fini8)
  *(.fini8)
@@ -302,46 +345,50 @@ LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8
  *(.fini1)
  *(.fini1)
  *(.fini0)
- .fini0         0x00000168        0x4 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
+ .fini0         0x000005a2        0x4 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
  *(.fini0)
-                0x0000016c                _etext = .
+                0x000005a6                _etext = .
 
-.data           0x00800100        0x0 load address 0x0000016c
+.data           0x00800100        0x2 load address 0x000005a6
                 0x00800100                PROVIDE (__data_start, .)
  *(.data)
  .data          0x00800100        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/../../../../avr/lib/avr5/crtm168a.o
- .data          0x00800100        0x0 Zeitschaltung_V6.o
- .data          0x00800100        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
- .data          0x00800100        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_clear_bss.o)
- .data          0x00800100        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_ctors.o)
- .data          0x00800100        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_tablejump.o)
+ .data          0x00800100        0x2 Zeitschaltung_V6.o
+                0x00800100                status
+ .data          0x00800102        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_exit.o)
+ .data          0x00800102        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_copy_data.o)
+ .data          0x00800102        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_clear_bss.o)
+ .data          0x00800102        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_ctors.o)
+ .data          0x00800102        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.7.2/avr5\libgcc.a(_tablejump.o)
  *(.data*)
  *(.rodata)
  *(.rodata*)
  *(.gnu.linkonce.d*)
-                0x00800100                . = ALIGN (0x2)
-                0x00800100                _edata = .
-                0x00800100                PROVIDE (__data_end, .)
+                0x00800102                . = ALIGN (0x2)
+                0x00800102                _edata = .
+                0x00800102                PROVIDE (__data_end, .)
 
-.bss            0x00800100        0x3
-                0x00800100                PROVIDE (__bss_start, .)
+.bss            0x00800102        0x5
+                0x00800102                PROVIDE (__bss_start, .)
  *(.bss)
- .bss           0x00800100        0x3 Zeitschaltung_V6.o
-                0x00800100                st
-                0x00800101                s
-                0x00800102                l
+ .bss           0x00800102        0x5 Zeitschaltung_V6.o
+                0x00800102                r
+                0x00800103                mc
+                0x00800104                st
+                0x00800105                se
+                0x00800106                l
  *(.bss*)
  *(COMMON)
-                0x00800103                PROVIDE (__bss_end, .)
-                0x0000016c                __data_load_start = LOADADDR (.data)
-                0x0000016c                __data_load_end = (__data_load_start + SIZEOF (.data))
+                0x00800107                PROVIDE (__bss_end, .)
+                0x000005a6                __data_load_start = LOADADDR (.data)
+                0x000005a8                __data_load_end = (__data_load_start + SIZEOF (.data))
 
-.noinit         0x00800103        0x0
-                0x00800103                PROVIDE (__noinit_start, .)
+.noinit         0x00800107        0x0
+                0x00800107                PROVIDE (__noinit_start, .)
  *(.noinit*)
-                0x00800103                PROVIDE (__noinit_end, .)
-                0x00800103                _end = .
-                0x00800103                PROVIDE (__heap_start, .)
+                0x00800107                PROVIDE (__noinit_end, .)
+                0x00800107                _end = .
+                0x00800107                PROVIDE (__heap_start, .)
 
 .eeprom         0x00810000        0x0
  *(.eeprom*)
@@ -399,39 +446,39 @@ LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8
 .debug_sfnames
  *(.debug_sfnames)
 
-.debug_aranges  0x00000000       0x38
+.debug_aranges  0x00000000       0x88
  *(.debug_aranges)
  .debug_aranges
-                0x00000000       0x38 Zeitschaltung_V6.o
+                0x00000000       0x88 Zeitschaltung_V6.o
 
 .debug_pubnames
  *(.debug_pubnames)
 
-.debug_info     0x00000000     0x136b
+.debug_info     0x00000000     0x3671
  *(.debug_info)
- .debug_info    0x00000000     0x136b Zeitschaltung_V6.o
+ .debug_info    0x00000000     0x3671 Zeitschaltung_V6.o
  *(.gnu.linkonce.wi.*)
 
-.debug_abbrev   0x00000000      0x38d
+.debug_abbrev   0x00000000      0x4ef
  *(.debug_abbrev)
- .debug_abbrev  0x00000000      0x38d Zeitschaltung_V6.o
+ .debug_abbrev  0x00000000      0x4ef Zeitschaltung_V6.o
 
-.debug_line     0x00000000      0x290
+.debug_line     0x00000000      0x515
  *(.debug_line)
- .debug_line    0x00000000      0x290 Zeitschaltung_V6.o
+ .debug_line    0x00000000      0x515 Zeitschaltung_V6.o
 
-.debug_frame    0x00000000       0x74
+.debug_frame    0x00000000      0x174
  *(.debug_frame)
- .debug_frame   0x00000000       0x74 Zeitschaltung_V6.o
+ .debug_frame   0x00000000      0x174 Zeitschaltung_V6.o
 
-.debug_str      0x00000000      0xc3b
+.debug_str      0x00000000     0x1ba0
  *(.debug_str)
- .debug_str     0x00000000      0xc3b Zeitschaltung_V6.o
-                                0xc81 (size before relaxing)
+ .debug_str     0x00000000     0x1ba0 Zeitschaltung_V6.o
+                               0x1c0a (size before relaxing)
 
-.debug_loc      0x00000000       0xcc
+.debug_loc      0x00000000      0x5d9
  *(.debug_loc)
- .debug_loc     0x00000000       0xcc Zeitschaltung_V6.o
+ .debug_loc     0x00000000      0x5d9 Zeitschaltung_V6.o
 
 .debug_macinfo
  *(.debug_macinfo)
@@ -439,9 +486,9 @@ LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.2.876/avr8
 .debug_pubtypes
  *(.debug_pubtypes)
 
-.debug_ranges   0x00000000       0x28
+.debug_ranges   0x00000000      0x120
  *(.debug_ranges)
- .debug_ranges  0x00000000       0x28 Zeitschaltung_V6.o
+ .debug_ranges  0x00000000      0x120 Zeitschaltung_V6.o
 
 .debug_macro
  *(.debug_macro)
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.srec b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.srec
index abcb4b4..502b87c 100644
--- a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.srec
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/Zeitschaltung_V6.srec
@@ -1,25 +1,94 @@
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+S10505A602004D
 S9030000FC
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/rf12.d b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/rf12.d
new file mode 100644
index 0000000..43ad676
--- /dev/null
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Debug/rf12.d
@@ -0,0 +1,56 @@
+rf12.d rf12.o: .././rf12.c \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/io.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/sfr_defs.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/inttypes.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/include/stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iom168a.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iom168.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iomx8.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/portpins.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/common.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/version.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/fuse.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/lock.h \
+ .././rf12.h .././global.h .././config.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/util/delay.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/util/delay_basic.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/math.h
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/io.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/sfr_defs.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/inttypes.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/include/stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iom168a.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iom168.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/iomx8.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/portpins.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/common.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/version.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/fuse.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/avr/lock.h:
+
+.././rf12.h:
+
+.././global.h:
+
+.././config.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/util/delay.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/util/delay_basic.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.2.876\avr8-gnu-toolchain\bin\../lib/gcc/avr/4.7.2/../../../../avr/include/math.h:
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Zeitschaltung_V6.cpp b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Zeitschaltung_V6.cpp
index a51a312..19ff703 100644
--- a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Zeitschaltung_V6.cpp
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Zeitschaltung_V6.cpp
@@ -7,23 +7,137 @@
 #include "config.h"
 #include "peripheral.h"
 #include <util/delay.h>
+#include "codes.h"
 
-ledclass l;
-servoclass s;
+//ledclass l;
+servoclass se;
 startclass st;
+moveclass mc;
+rf12class r;
 
-int main(void)
+volatile int status = SLEEP;
+
+void turn() 
 {
-	
+	if(status == RUN)
+		return;
+	status = RUN;
+	se.on();
+	se.turn(se.LEFT);
+	_delay_ms(10+DEVICE);
+	r.rf12_txpacket(MASTER, DEVICE, status); //r.txpacket(MASTER, DEVICE, status);
+	_delay_ms(400);
+	se.turn(se.MIDDLE);
+	_delay_ms(300);
+	se.turn(se.RIGHT);
+	_delay_ms(700);
+	se.off();
+}
+
+void poll() 
+{
+	if(status == ACTIVE) {
+		if(mc.is_pressed()) {
+			r.rf12_endasyncrx(); //r.endasyncrx();
+			turn();
+			r.rf12_beginasyncrx(); //r.beginasyncrx();
+		}
+	}
+	if(status == SLEEP) {
+		if(mc.is_pressed()) {
+			r.rf12_endasyncrx(); //r.endasyncrx();
+			r.rf12_txpacket(MASTER, DEVICE, DEDECT); //r.txpacket(MASTER, DEVICE, DEDECT);
+			r.rf12_beginasyncrx(); //r.beginasyncrx();
+		}
+	}
+	if(st.is_pressed()) {
+		if(status == SLEEP) {
+			l.color(l.YELLOW);
+			status = RUN;
+			_delay_ms(5000);
+			status = ACTIVE;
+			l.color(l.BLACK);
+			
+		}
+	}
+}
+
+/*void resieve() 
+{
+	rf12_beginasyncrx(); //r.beginasyncrx();
+	while(rf12_hasdata() /r.hasdata()/) {
+		poll();
+		_delay_ms(1000);
+		rf12_endasyncrx(); //r.endasyncrx();
+		rf12_txpacket(MASTER, DEVICE, DEDECT); //r.txpacket(MASTER, DEVICE, DEDECT);
+		rf12_beginasyncrx(); //r.beginasyncrx();
+	}
+	l.color(l.GREEN);
+}*/
+
+void recive() {
+	r.rf12_beginasyncrx();
+	while(r.rf12_hasdata()) {
+		poll();
+	}
+	uint8_t addr = r.rf12_rxbyte();
+	if(addr == ALL || addr == DEVICE || addr == GROUP) {
+		while(r.rf12_hasdata()) {
+			poll();
+		}
+		uint8_t from = r.rf12_rxbyte();
+		while(r.rf12_hasdata()) {
+			poll();
+		}
+		if(from == MASTER) {
+			uint8_t data = r.rf12_rxbyte();
+			switch(data) {
+				case PING: {
+					break;
+				}
+				case SETSLEEP: {
+					status = SLEEP;
+					break;
+				}
+				case SETACTIVE: {
+					status = ACTIVE;
+					break;
+				}
+				case SETRUN: {
+					r.rf12_endasyncrx();
+					turn();
+					r.rf12_beginasyncrx();
+					return;
+				}
+				default:
+				{
+					r.rf12_endasyncrx();
+					return;
+				}
+			}
+			r.rf12_endasyncrx();
+			_delay_ms(10+DEVICE);
+			r.rf12_txpacket(MASTER, DEVICE, status);
+			return;
+		}
+	}
+}
+
+int main(void) {
+	l.color(l.RED);
     while(1)
     {
-		l.color(l.BLACK);
-		if(st.is_pressed()) {
-			l.color(l.GREEN);
-		}		
+		recive();		
     }
 }
 
 ISR(TIMER0_OVF_vect) {
-	s.timer();
+	if(status == SLEEP) {
+		l.color(l.GREEN);
+	} else if(status == ACTIVE) {
+		l.color(l.RED);
+	} else if(status == RUN) {
+		l.color(l.YELLOW);
+	}
+	se.timer();
 }	
\ No newline at end of file
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Zeitschaltung_V6.cppproj b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Zeitschaltung_V6.cppproj
index 661288c..af3a96d 100644
--- a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Zeitschaltung_V6.cppproj
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/Zeitschaltung_V6.cppproj
@@ -18,7 +18,8 @@
     <ToolchainFlavour>Native</ToolchainFlavour>
     <KeepTimersRunning>true</KeepTimersRunning>
     <OverrideVtor>false</OverrideVtor>
-    <OverrideVtorValue>exception_table</OverrideVtorValue>
+    <OverrideVtorValue>
+    </OverrideVtorValue>
     <eraseonlaunchrule>0</eraseonlaunchrule>
     <ProgFlashFromRam>true</ProgFlashFromRam>
     <RamSnippetAddress>0x20000000</RamSnippetAddress>
@@ -77,43 +78,43 @@
   <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
     <ToolchainSettings>
       <AvrGccCpp>
-  <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
-  <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
-  <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
-  <avrgcc.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
-  <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
-  <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
-  <avrgcc.compiler.symbols.DefSymbols>
-    <ListValues>
-      <Value>NDEBUG</Value>
-    </ListValues>
-  </avrgcc.compiler.symbols.DefSymbols>
-  <avrgcc.compiler.optimization.level>Optimize for size (-Os)</avrgcc.compiler.optimization.level>
-  <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
-  <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
-  <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
-  <avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
-  <avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>
-  <avrgcccpp.compiler.symbols.DefSymbols>
-    <ListValues>
-      <Value>NDEBUG</Value>
-    </ListValues>
-  </avrgcccpp.compiler.symbols.DefSymbols>
-  <avrgcccpp.compiler.optimization.level>Optimize for size (-Os)</avrgcccpp.compiler.optimization.level>
-  <avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
-  <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
-  <avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
-  <avrgcccpp.compiler.warnings.Undefined>True</avrgcccpp.compiler.warnings.Undefined>
-  <avrgcccpp.compiler.warnings.WarningsAsErrors>True</avrgcccpp.compiler.warnings.WarningsAsErrors>
-  <avrgcccpp.compiler.warnings.Pedantic>True</avrgcccpp.compiler.warnings.Pedantic>
-  <avrgcccpp.compiler.warnings.PedanticWarningsAsErrors>True</avrgcccpp.compiler.warnings.PedanticWarningsAsErrors>
-  <avrgcccpp.linker.libraries.Libraries>
-    <ListValues>
-      <Value>libm</Value>
-    </ListValues>
-  </avrgcccpp.linker.libraries.Libraries>
-  <avrgcccpp.linker.memorysettings.Comment>&lt;segmentname&gt;=&lt;address&gt;, for example  .boot=0xff</avrgcccpp.linker.memorysettings.Comment>
-</AvrGccCpp>
+        <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
+        <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
+        <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
+        <avrgcc.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+        <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcc.compiler.symbols.DefSymbols>
+          <ListValues>
+            <Value>NDEBUG</Value>
+          </ListValues>
+        </avrgcc.compiler.symbols.DefSymbols>
+        <avrgcc.compiler.optimization.level>Optimize for size (-Os)</avrgcc.compiler.optimization.level>
+        <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
+        <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
+        <avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcccpp.compiler.symbols.DefSymbols>
+          <ListValues>
+            <Value>NDEBUG</Value>
+          </ListValues>
+        </avrgcccpp.compiler.symbols.DefSymbols>
+        <avrgcccpp.compiler.optimization.level>Optimize for size (-Os)</avrgcccpp.compiler.optimization.level>
+        <avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
+        <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
+        <avrgcccpp.compiler.warnings.Undefined>True</avrgcccpp.compiler.warnings.Undefined>
+        <avrgcccpp.compiler.warnings.WarningsAsErrors>True</avrgcccpp.compiler.warnings.WarningsAsErrors>
+        <avrgcccpp.compiler.warnings.Pedantic>True</avrgcccpp.compiler.warnings.Pedantic>
+        <avrgcccpp.compiler.warnings.PedanticWarningsAsErrors>True</avrgcccpp.compiler.warnings.PedanticWarningsAsErrors>
+        <avrgcccpp.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcccpp.linker.libraries.Libraries>
+        <avrgcccpp.linker.memorysettings.Comment>&lt;segmentname&gt;=&lt;address&gt;, for example  .boot=0xff</avrgcccpp.linker.memorysettings.Comment>
+      </AvrGccCpp>
     </ToolchainSettings>
     <OutputFileName>Zeitschaltung_V6</OutputFileName>
     <OutputFileExtension>.elf</OutputFileExtension>
@@ -145,7 +146,7 @@
             <Value>DEBUG</Value>
           </ListValues>
         </avrgcccpp.compiler.symbols.DefSymbols>
-        <avrgcccpp.compiler.optimization.level>Optimize (-O1)</avrgcccpp.compiler.optimization.level>
+        <avrgcccpp.compiler.optimization.level>Optimize for size (-Os)</avrgcccpp.compiler.optimization.level>
         <avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
         <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
         <avrgcccpp.compiler.optimization.DebugLevel>Default (-g2)</avrgcccpp.compiler.optimization.DebugLevel>
@@ -161,6 +162,9 @@
     </ToolchainSettings>
   </PropertyGroup>
   <ItemGroup>
+    <Compile Include="codes.h">
+      <SubType>compile</SubType>
+    </Compile>
     <Compile Include="config.h">
       <SubType>compile</SubType>
     </Compile>
@@ -188,12 +192,18 @@
     <Compile Include="io\Spi.hpp">
       <SubType>compile</SubType>
     </Compile>
-    <Compile Include="io\Start.hpp">
+    <Compile Include="io\Input.hpp">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="peripheral.h">
       <SubType>compile</SubType>
     </Compile>
+    <Compile Include="rf12.hpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="rf12.h">
+      <SubType>compile</SubType>
+    </Compile>
     <Compile Include="Zeitschaltung_V6.cpp">
       <SubType>compile</SubType>
     </Compile>
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/codes.h b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/codes.h
new file mode 100644
index 0000000..e43f196
--- /dev/null
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/codes.h
@@ -0,0 +1,31 @@
+/*
+ * codes.h
+ *
+ * Created: 29.03.2013 13:58:28
+ *  Author: netz
+ */ 
+
+
+#ifndef CODES_H_
+#define CODES_H_
+
+#ifndef ALL
+#define ALL 0
+#define GROUP 240
+#define DEVICE 30
+#define MASTER 1
+#endif
+
+#ifndef PING
+#define PING 1
+#define SLEEP 2
+#define ACTIVE 3
+#define SETSLEEP 4
+#define SETACTIVE 5
+#define RUN 6
+#define SETRUN 7
+#define DEDECT 8
+#define SETDEDECT 9
+#endif
+
+#endif /* CODES_H_ */
\ No newline at end of file
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/Input.hpp b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/Input.hpp
new file mode 100644
index 0000000..2207bd2
--- /dev/null
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/Input.hpp
@@ -0,0 +1,33 @@
+/*
+ * Start.hpp
+ *
+ * Created: 08.05.2014 17:55:29
+ *  Author: netz
+ */ 
+
+
+#ifndef INPUT_H_
+#define INPUT_H_
+
+
+#include "hardware/pin.hpp"
+
+template <typename Port, int input_pin>
+class Input {
+	public:
+	Input() {
+		init();
+	}
+	uint8_t is_pressed() {
+		return (!input_in::read());
+	}
+	private:
+	void init() {
+		input_in::make_input();
+		input_in::pullup();
+	}
+	const typedef avrlib::pin<Port, input_pin> input_in;
+};
+
+
+#endif /* INPUT_H_ */
\ No newline at end of file
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/Spi.hpp b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/Spi.hpp
index 5b28a48..7a81444 100644
--- a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/Spi.hpp
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/Spi.hpp
@@ -18,7 +18,7 @@ template <typename Port, int cspin, int misopin, int mosipin, int sckpin, int mo
 class Spi {
 	public:
 		Spi() {
-			init();
+			this->init();
 		}
 		void CSOn() {
 			cs::make_low();
@@ -27,13 +27,13 @@ class Spi {
 			cs::make_high();
 		}
 		uint8_t send(uint8_t data) {
-			uint8_t r;
 			if(mode == 0) {
-				r = send_hard(data);
-			} else {
-				r = send_soft(data);
-			}
-			return r;
+				return this->send_hard(data);
+			} 
+			return this->send_soft(data);
+		}
+		uint8_t has_data() {
+			return !miso::read();
 		}
 	private:
 		const typedef avrlib::pin<Port, cspin> cs;
@@ -41,20 +41,16 @@ class Spi {
 		const typedef avrlib::pin<Port, mosipin> mosi;
 		const typedef avrlib::pin<Port, sckpin> sck;
 		void init() {
-			init_port();
+			this->init_port();
 			if(mode == 0) {
-				init_spi();
+				this->init_spi();
 			}
 		}			
 		void init_port() {
-			mosi::make_output();
-			mosi::make_low();
-			sck::make_output();
-			sck::make_low();
-			cs::make_output();
-			cs::make_high();
-			miso::make_input();
-			miso::make_low();
+			mosi::make_low();	//output und low;
+			sck::make_low();	//output und low;
+			cs::make_high();	//output und low;
+			miso::make_input();	//input und low;
 		}
 		void init_spi() {
 			SPCR = (1<<SPE) | (1<<MSTR);
@@ -62,23 +58,22 @@ class Spi {
 		}
 		uint8_t send_soft(uint8_t data) {
 			uint8_t datain=0;
-			for (uint8_t a=8; a>0; a--) {	//das Byte wird Bitweise nacheinander Gesendet MSB zuerst
-				datain <<= 1;				//Schieben um das Richtige Bit zusetzen     
-				sck::make_low();			// Clock auf LOW
-				if (data & 0x80) {			//Ist Bit a in Byte gesetzt  
-					mosi::make_high();		//Set Output High
-				} else {
-					mosi::make_low();		//Set Output Low  
+			for (uint8_t i=0; i<8; i++)
+			{
+				if (data & 0x80) {
+					mosi::make_high();
 				}
-				_delay_us(1);
-				if(miso::read())			//Lesen des Pegels
-				{
+				else {
+					mosi::make_low();
+				}
+				datain <<= 1;
+				if(miso::read()) {
 					datain |= 1;
 				}
-				_delay_us(1);
-				sck::make_high();			// Clock auf High    
-				_delay_us(2);
-				data<<=1;					//Schiebe um nächstes Bit zusenden
+				sck::make_high();
+				data<<=1;
+				_delay_us(0.3);
+				sck::make_low();
 			}
 			return datain;
 		}
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/Start.hpp b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/Start.hpp
deleted file mode 100644
index b05d35c..0000000
--- a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/Start.hpp
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * Start.hpp
- *
- * Created: 08.05.2014 17:55:29
- *  Author: netz
- */ 
-
-
-#ifndef START_H_
-#define START_H_
-
-
-#include "hardware/pin.hpp"
-
-template <typename Port, int start_pin>
-class Start {
-	public:
-	Start() {
-		init();
-	}
-	uint8_t is_pressed() {
-		return (!start_in::read());
-	}
-	private:
-	void init() {
-		start_in::make_input();
-		start_in::pullup();
-	}
-	const typedef avrlib::pin<Port, start_pin> start_in;
-};
-
-
-#endif /* START_H_ */
\ No newline at end of file
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/rfm12.hpp b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/rfm12.hpp
index e8ea746..0d20dc8 100644
--- a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/rfm12.hpp
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/io/rfm12.hpp
@@ -9,22 +9,66 @@
 #ifndef RFM12_H_
 #define RFM12_H_
 
-#define RF12FREQ(freq)	((freq-430.0)/0.0025)
+//#define RF12FREQ(frequenz)	((frequenz-430.0)/0.0025)
 
-template <typename spi, uint8_t bandwidth, uint8_t gain, uint8_t drssi, uint16_t freq, uint16_t baud, uint8_t power, uint8_t mod>
+template <typename Spi, uint8_t bandwidth, uint8_t gain, uint8_t drssi, uint32_t freq, uint16_t baud, uint8_t power, uint8_t mod>
 class Rfm12 {
 	public:
 		Rfm12() {
-			this->init();
+			init();
 		}
-		void send(uint16_t t) {
+		void send(uint16_t data) {
 			s.CSOn();
-			s.send((uint8_t)t>>8);
-			s.send((uint8_t)t);
+			s.send_16(data);
+	//		s.send((uint8_t)(t >> 8));
+	//		s.send((uint8_t)t);
 			s.CSOff();
 		}
+		void beginasyncrx() {
+			this->send(0x82C8);			// RX on
+			this->send(0xCA81);			// set FIFO mode
+			this->send(0xCA83);			// enable FIFO
+		}
+		uint8_t hasdata() {
+			s.CSOn();
+			uint8_t ret = s.has_data();
+			s.CSOff();
+			return ret;
+		}
+		void ready(void)
+		{
+			s.CSOn();
+			while (!s.has_data()); // wait until FIFO ready
+		}
+		void endasyncrx() {
+			this->send(0x8208);			// RX off
+		}
+		void txpacket(uint8_t addr, uint8_t from, uint8_t data) {
+			this->send(0x8238);			// TX on
+			this->ready();
+			this->send(0xB8AA);
+			this->ready();
+			this->send(0xB8AA);
+			this->ready();
+			this->send(0xB8AA);
+			this->ready();
+			this->send(0xB82D);
+			this->ready();
+			this->send(0xB8D4);
+			this->ready();
+			this->send(0xB800|addr);
+			this->ready();
+			this->send(0xB800|from);
+			this->ready();
+			this->send(0xB800|data);
+			this->ready();
+			this->send(0xB800);
+			this->ready();
+			this->send(0x8208); // TX off
+			_delay_ms(100);
+		}
 	private:
-		spi s;
+		Spi s;
 		void init() {
 			this->send(0xC0E0);			// AVR CLK: 10MHz
 			this->send(0x80D7);			// Enable FIFO
@@ -43,12 +87,13 @@ class Rfm12 {
 			this->send(0x9400|((bandwidth&7)<<5)|((gain&3)<<3)|(drssi&7));
 		}
 		void setfreq() {
-			if (freq<96) {				// 430,2400MHz
-				freq=96;
-			} else if (freq>3903) {		// 439,7575MHz
-				freq=3903;
+			uint16_t frequenz = (uint16_t)((freq-430000)/0.0025);
+			if (frequenz<96) {				// 430,2400MHz
+				this->send(0xA000|96);
+			} else if (frequenz>3903) {		// 439,7575MHz
+				this->send(0xA000|3903);
 			}
-			this->send(0xA000|freq);
+			this->send(0xA000|frequenz);
 		}
 		void setbaud() {
 			if (baud<663) {
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/peripheral.h b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/peripheral.h
index 9646acd..9e52e2e 100644
--- a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/peripheral.h
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/peripheral.h
@@ -32,25 +32,42 @@ typedef Servo< //640, 105, 210, 8 Blaue Servos
 	8 //Schrittweite
 > servoclass;
 
-#include "io/Start.hpp"
-typedef Start<
+#include "io/Input.hpp"
+typedef Input<
 	avrlib::portd, //Startknopf an PORTD
 	PIND3 //Pin an dem der Startknopf hängt
 > startclass;
+typedef Input<
+	avrlib::portd, //Bewegungsmelder an PORTD
+	PIND2 //Pin an dem der Bewegungsmelder hängt
+> moveclass;
 
 #include "io/Spi.hpp"
-typedef Spi<
+typedef Spi< //<typename Port, int cspin, int misopin, int mosipin, int sckpin, int mode>
 	avrlib::portc, //Funkmodul an PORTC
 	PINC4, //CS Pin (nSEL)
-	PINC3, //MOSI Pin (SDO) 
-	PINC0, //MISO Pin (SDI)
-	PINC1, //SCK Pin 
+	PINC3, //MISO Pin (SDO)
+	PINC0, //MOSI Pin (SDI)
+	PINC1, //SCK Pin
 	1 //0 Hardware, 1 Software
 > spiclass;
 
-#include "io/rfm12.hpp"
+ledclass l;
 
+/*#include "io/rfm12.hpp"
 typedef Rfm12<
+	spiclass, //SPI Hardware
+	1, //Bandwidth				// 400kHz Bandbreite, 0dB Verstärkung, DRSSI threshold: -61dBm
+	0, //Gain 
+	7, //DRRSI 
+	433920,//(uint16_t)RF12FREQ(433.92), // Sende/Empfangsfrequenz auf 433,92MHz einstellen
+	9600, //Baudrate			// 9600 baud
+	0, //Power					// 1mW Ausgangsleistung, 120kHz Frequenzshift
+	6 //Mod
+> rfm12class;*/
+
+#include "rf12.hpp"
+typedef Rf12<
 	spiclass, //SPI Hardware
 	1, //Bandwidth				// 400kHz Bandbreite, 0dB Verstärkung, DRSSI threshold: -61dBm
 	0, //Gain 
@@ -59,6 +76,10 @@ typedef Rfm12<
 	9600, //Baudrate			// 9600 baud
 	0, //Power					// 1mW Ausgangsleistung, 120kHz Frequenzshift
 	6 //Mod
-> rfm12class;
+> rf12class;
+
+/*extern "C" {
+	#include "rf12.h"
+};*/
 
 #endif /* PERIPHERAL_H_ */
\ No newline at end of file
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/rf12.h b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/rf12.h
new file mode 100644
index 0000000..0ddb4a4
--- /dev/null
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/rf12.h
@@ -0,0 +1,32 @@
+/*
+ * rf12.h
+ *
+ * Created: 25.03.2013 00:25:08
+ *  Author: netz
+ */ 
+
+
+#ifndef RF12_H_
+#define RF12_H_
+
+extern uint16_t rf12_trans(uint16_t wert);					// transfer 1 word to/from module
+extern void rf12_init(void);											// initialize module
+extern void rf12_setfreq(uint16_t freq);							// set center frequency
+extern void rf12_setbaud(uint16_t baud);							// set baudrate
+extern void rf12_setpower(uint8_t power, uint8_t mod);		// set transmission settings
+extern void rf12_setbandwidth(uint8_t bandwidth, uint8_t gain, uint8_t drssi);	// set receiver settings
+extern void rf12_txdata(uint8_t *data, uint8_t number);		// transmit number of bytes from array
+extern void rf12_rxdata(uint8_t *data, uint8_t number);		// receive number of bytes into array
+extern void rf12_ready(void);											// wait until FIFO ready (to transmit/read data)
+extern void rf12_txpacket(uint8_t addr, uint8_t from, uint8_t data);	// Send two bytes over the air
+extern void rf12_beginasyncrx();												// Init RX of Bytes
+extern uint8_t rf12_hasdata();													// Returns 0 if Bytes are there
+extern uint8_t rf12_rxbyte();													// Rx one Byte
+extern void rf12_endasyncrx();													// End RX of Bytes
+
+#define RF12FREQ(freq)	((freq-430.0)/0.0025)							// macro for calculating frequency value out of frequency in MHz
+
+#include "global.h"
+#include "config.h"
+
+#endif /* RF12_H_ */
\ No newline at end of file
diff --git a/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/rf12.hpp b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/rf12.hpp
new file mode 100644
index 0000000..7ddd988
--- /dev/null
+++ b/V6/Program/Zeitschaltung_V6/Zeitschaltung_V6/rf12.hpp
@@ -0,0 +1,161 @@
+/*
+ * rf12.hpp
+ *
+ * Created: 24.03.2013 23:52:52
+ *  Author: netz
+ */
+
+#ifndef RF12_H_
+#define RF12_H_
+
+#include <avr/io.h>
+//#include "rf12.h"
+#include <util/delay.h>
+
+#define RF12FREQ(freq)	((freq-430.0)/0.0025)							// macro for calculating frequency value out of frequency in MHz
+
+#include "config.h"
+
+template <typename Spi, uint8_t bandwidth, uint8_t gain, uint8_t drssi, uint16_t freq, uint16_t baud, uint8_t power, uint8_t mod>
+class Rf12 {
+	public:
+		Rf12() {
+			this->init();
+		}
+
+		void ready(void) {	
+			s.CSOn();
+			while(s.has_data()); // wait until FIFO ready
+		}
+
+		void beginasyncrx() {
+			this->send(0x82C8);			// RX on
+			this->send(0xCA81);			// set FIFO mode
+			this->send(0xCA83);			// enable FIFO
+		}
+		
+		uint8_t hasdata() {
+			s.CSOn();
+			return s.has_data();
+		}
+		
+		uint8_t rxbyte() {
+			return this->send(0xB000);
+		}
+
+		void endasyncrx() {
+			this->send(0x8208);			// RX off
+		}
+
+		void rf12_txdata(uint8_t *data, uint8_t number) {	
+			uint8_t i;
+			this->send(0x8238);			// TX on
+			rf12_ready();
+			this->send(0xB8AA);
+			rf12_ready();
+			this->send(0xB8AA);
+			rf12_ready();
+			this->send(0xB8AA);
+			rf12_ready();
+			this->send(0xB82D);
+			rf12_ready();
+			this->send(0xB8D4);
+			for (i=0; i<number; i++)
+			{		
+				rf12_ready();
+				this->send(0xB800|(*data++));
+			}
+			rf12_ready();
+			this->send(0x8208);			// TX off
+		}
+
+		void rf12_rxdata(uint8_t *data, uint8_t number) {	
+			uint8_t i;
+			this->send(0x82C8);			// RX on
+			this->send(0xCA81);			// set FIFO mode
+			this->send(0xCA83);			// enable FIFO
+			for (i=0; i<number; i++)
+			{	
+				rf12_ready();
+				*data++=this->send(0xB000);
+			}
+			this->send(0x8208);			// RX off
+		}
+
+		void rf12_txpacket(uint8_t addr, uint8_t from, uint8_t data) {
+			this->send(0x8238);			// TX on
+			rf12_ready();
+			this->send(0xB8AA);
+			rf12_ready();
+			this->send(0xB8AA);
+			rf12_ready();
+			this->send(0xB8AA);
+			rf12_ready();
+			this->send(0xB82D);
+			rf12_ready();
+			this->send(0xB8D4);
+			rf12_ready();
+			this->send(0xB800|addr);
+			rf12_ready();
+			this->send(0xB800|from);
+			rf12_ready();
+			this->send(0xB800|data);
+			rf12_ready();
+			this->send(0xB800);
+			rf12_ready();
+			this->send(0x8208); // TX off
+			_delay_ms(100);
+		}
+	private:
+		Spi s;
+		uint16_t send(uint16_t wert) {
+			s.CSOn();
+			uint16_t werti = s.send((uint8_t)(wert >> 8)) << 8;
+			werti |= s.send((uint8_t)wert);
+			s.CSOff();
+			return werti;
+		}
+		void init(void) {
+			_delay_ms(100);
+
+			this->send(0xC0E0);			// AVR CLK: 10MHz
+			this->send(0x80D7);			// Enable FIFO
+			this->send(0xC2AB);			// Data Filter: internal
+			this->send(0xCA81);			// Set FIFO mode
+			this->send(0xE000);			// disable wakeuptimer
+			this->send(0xC800);			// disable low duty cycle
+			this->send(0xC4F7);			// AFC settings: autotuning: -10kHz...+7,5kHz
+		
+			this->setfreq();		// Sende/Empfangsfrequenz auf 433,92MHz einstellen
+			this->setbandwidth();	// 400kHz Bandbreite, 0dB Verstärkung, DRSSI threshold: -61dBm
+			this->setbaud();		// 19200 baud
+			this->setpower();		// 1mW Ausgangsleistung, 120kHz Frequenzshift
+		}
+		void setbandwidth() {
+			this->send( 0x9400 | ( ( bandwidth & 7 ) << 5 ) | ( ( gain & 3 ) << 3 ) | ( drssi & 7 ) );
+		}
+		void setfreq() {
+			if( freq < 96 ) {				// 430,2400MHz
+				this->send( 0xA000 | 96 );
+				} else if( freq > 3903 ) {		// 439,7575MHz
+				this->send( 0xA000 | 3903 );
+			}
+			this->send( 0xA000 | freq );
+		}
+		void setbaud() {
+			if (baud < 663) {
+				return;
+			}
+			if (baud < 5400) {				// Baudrate= 344827,58621/(R+1)/(1+CS*7)
+				this->send(0xC680 | ( ( 43104 / baud ) - 1 ) );
+				} else {
+				this->send(0xC600 | ( ( 344828UL / baud ) - 1 ) );
+			}
+		}
+		void setpower() {
+			this->send( 0x9800 | ( power & 7 ) | ( ( mod & 15 ) << 4 ) );
+		}
+
+};
+
+#endif /* RF12_H_ */
\ No newline at end of file