Hilfe~~

[Drogenfly]

Ich habe folgende programier teil, um ein robort zu steurung, jetzt möchte ich ein Infrarot Signa 'Drogenfly' mit 36 khz senden, ich bin nicht so sicher, wie ich diese Teil ändern,können jemande einmal kuken und mir helfen? Für ihre antwort wäre ich sehr dankbar.
Das Programmierteil:(ich meine, in unterprogramm void SerWrite und void SerRead ändern muss)

SIGNAL (SIG_OUTPUT_COMPARE2)
{
count72kHz ++;
}

/* Init function Processor will be initalized to work correctly */
void Init (void)
{
//-------- seriell interface programmed in boot routine and already running -------
// prepare 36kHz for IR - Communication
TCCR2 = (1 << WGM21) | (1 << COM20) | (1 << CS20);
OCR2 = 0x6E; // 36kHz @8MHz
TIMSK |= (1 << OCIE2); // 36kHz counter for sleep

// prepare RS232
UCSRA = 0x00;
UCSRB = 0x00;
UCSRC = 0x86; // No Parity | 1 Stop Bit | 8 Data Bit
UBRRL = 0xCF; // 2400bps @ 8.00MHz

// I/O Ports
DDRB = IRTX | LEFT_DIR | PWM | GREEN_LED;
DDRD = RIGHT_DIR | RED_LED;
DDRC = RELAY;

// for PWM (8-Bit PWM) on OC1A & OC1B
TCCR1A = (1 << WGM10) | (1 << COM1A1) | (1 << COM1B1);
// tmr1 running on MCU clock/8
TCCR1B = (1 << CS11);

StatusLED(GREEN);

MotorDir(FWD,FWD);
MotorSpeed(0,0);
sei();
}

/* Set motor speed */
inline void MotorSpeed(unsigned char left_speed, unsigned char right_speed)
{
OCR1A = left_speed;
OCR1B = right_speed;
}

/* Set motor direction */
inline void MotorDir(unsigned char left_dir, unsigned char right_dir)
{
PORTD = (PORTD &~ ((1 << PD4) | (1 << PD5))) | left_dir;
PORTB = (PORTB &~ ((1 << PB4) | (1 << PB5))) | right_dir;
}

/* Status LED (OFF,GREEN,YELLOW,RED)*/
/* example code set StatusLED GREEN */
/* StatusLED(GREEN); */
inline void StatusLED(unsigned char color)
{
if (color == OFF) {GREEN_LED_OFF; RED_LED_OFF;}
if (color == GREEN) {GREEN_LED_ON; RED_LED_OFF;}
if (color == YELLOW) {GREEN_LED_ON; RED_LED_ON;}
if (color == RED) {GREEN_LED_OFF; RED_LED_ON;}
}


/*Relay (OFF,ON)*/
inline void Relay(unsigned char status)
{
PORTC = (PORTC &~(1 << PC2)) | (status << PC2);
}

/* function for serial communication */
void SerWrite(unsigned char *data,unsigned char length)
{
unsigned char i = 0;
UCSRB = 0x08; // enable transmitter
while (length > 0) {
if (UCSRA & 0x20) { // wait for empty transmit buffer
UDR = data[i++];
length --;
}
}
while (!(UCSRA & 0x40));
for (i = 0; i < 0xFE; i++)
for(length = 0; length < 0xFE; length++);
}

void SerRead(unsigned char *data, unsigned char length,unsigned int timeout)
{
unsigned char i = 0;
unsigned int time = 0;
UCSRB = 0x10; // enable receiver
/* non blocking */
if (timeout != 0) {
while (i < length && time++ < timeout) {
if (UCSRA & 0x80) {
data[i++] = UDR;
time = 0;
}
}
if (time > timeout) data[0] = 'T';
}
/* blocking */
else {
while (i < length) {
if (UCSRA & 0x80)
data[i++] = UDR;
}
}
}

/* function to read out switches */
unsigned char PollSwitch (void)
{
unsigned int i;

DDRD |= SWITCHES; // Switches as Output
SWITCH_ON; // Output HIGH for measurement
ADMUX = (1 << REFS0) | SWITCH; // AVCC reference with external capacitor
Sleep(10);

ADCSRA |= (1 << ADSC); // Start conversion
while (!(ADCSRA & (1 << ADIF)));// wait for conversion complete
ADCSRA |= (1 << ADIF); // clear ADCIF
i = ADCL + (ADCH << 8);

SWITCH_OFF;

return ((unsigned char) ((( 1024.0/(float)i - 1.0)) * 63.0 + 0.5));
}

/* for working with Interrupt */
void StartSwitch(void)
{
SWITCH_OFF;
DDRD &= ~SWITCHES; // Switches as Input => ext. Int 1
MCUCR &= ~((1 << ISC11) | (1 << ISC10));// Low level generates interrupt
GICR |= (1 << INT1); // Enable external Interrupt 1
}

void StopSwitch(void)
{
GICR &= ~(1 << INT1);
}

/* uses 72kHz timer => Sleep(x) = x/72kHz [sec] */
void Sleep(unsigned char time72kHz)
{
count72kHz = 0;
while (count72kHz < time72kHz);
}