diff --git a/CHANGELOG b/CHANGELOG
new file mode 100644
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--- /dev/null
+++ b/CHANGELOG
@@ -0,0 +1,5 @@
+CHANGELOG RobotRemCtrlFW 
+===============================================================================
+
+Initial version 0.1 
+14.10.2011, sw@kaltpost.de
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..4432540
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,676 @@
+
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+		       Version 3, 29 June 2007
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+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+		     END OF TERMS AND CONDITIONS
+
+	    How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
+
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..4681ccd
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,86 @@
+##
+# Toplevel Makefile RobotRemCtrlFW
+#
+# Stefan Wendler, sw@kaltpost.de 
+##
+
+BASEDIR 	= .
+SRCDIR  	= src
+BINDIR		= bin
+TESTBINDIR	= test-bin
+FIRMWARE	= firmware.elf
+OOCD_IF		= interface/openocd-usb.cfg 
+OOCD_BOARD	= board/stm32100b_eval.cfg
+TESTSRCDIR 	= test-src
+DEPLOYDIR	= deploy
+TMPDIR		= /tmp
+VERSION		= 0.1
+TARGET		= RobotControlFW_v$(VERSION)
+
+all: target
+
+world: target target-test gen-docs
+
+target: 
+	make -C $(SRCDIR)
+
+target-test: target
+	make -C $(TESTSRCDIR)
+
+gen-docs: target
+	cd $(SRCDIR) && make gen-docs 
+
+style:
+	cd $(SRCDIR) && make style
+	cd $(TESTSRCDIR) && make style
+
+check: 
+	make -C $(SRCDIR) check
+# We do not check the tests	
+#	make -C $(TESTSRCDIR) check 
+
+flash-target: target
+	openocd -f $(OOCD_IF) -f $(OOCD_BOARD) \
+		-c init -c targets -c "halt" \
+		-c "flash write_image erase $(BINDIR)/$(FIRMWARE)" \
+		-c "verify_image $(BINDIR)/$(FIRMWARE)" \
+		-c "reset run" -c shutdown
+
+flash-target-test: target-test
+	openocd -f $(OOCD_IF) -f $(OOCD_BOARD) \
+		-c init -c targets -c "halt" \
+		-c "flash write_image erase $(TESTBINDIR)/firmware.elf" \
+		-c "verify_image $(TESTBINDIR)/$(FIRMWARE)" \
+		-c "reset run" -c shutdown
+
+deploy-src: target-test check style clean gen-docs
+	rm -fr $(TMPDIR)/$(TARGET)_src
+	mkdir $(TMPDIR)/$(TARGET)_src
+	cp -a ./* $(TMPDIR)/$(TARGET)_src/.
+	rm -fr $(TMPDIR)/$(TARGET)_src/deploy
+	rm -fr $(TMPDIR)/$(TARGET)_src/tools
+	mkdir $(TMPDIR)/$(TARGET)_src/deploy
+	(cd $(TMPDIR); tar --exclude=".svn" -jcvf $(TARGET)_src.tar.bz2  $(TARGET)_src)
+	mv $(TMPDIR)/$(TARGET)_src.tar.bz2 $(DEPLOYDIR)/. 
+
+deploy-bin: clean target-test 
+	rm -fr $(TMPDIR)/$(TARGET)_bin
+	mkdir $(TMPDIR)/$(TARGET)_bin
+	cp CHANGELOG LICENSE README $(TMPDIR)/$(TARGET)_bin/.
+	cp -a ./bin $(TMPDIR)/$(TARGET)_bin/.
+	cp -a ./doc $(TMPDIR)/$(TARGET)_bin/.
+	cp -a ./test-bin $(TMPDIR)/$(TARGET)_bin/.
+	(cd $(TMPDIR); tar --exclude=".svn" -jcvf $(TARGET)_bin.tar.bz2  $(TARGET)_bin)
+	mv $(TMPDIR)/$(TARGET)_bin.tar.bz2 $(DEPLOYDIR)/. 
+	
+deploy: deploy-src deploy-bin
+
+tags: target
+	ctags -R --c++-kinds=+p --fields=+iaS --extra=+q $(SRCDIR) 
+
+clean: 
+	make -C $(SRCDIR) clean
+	make -C $(TESTSRCDIR) clean
+	rm -fr doc/gen	
+	rm -f bin/*
+	rm -f test-bin/*
diff --git a/bin/emptyfile.txt b/bin/emptyfile.txt
new file mode 100644
index 0000000..e69de29
diff --git a/common.mk b/common.mk
new file mode 100644
index 0000000..14bf139
--- /dev/null
+++ b/common.mk
@@ -0,0 +1,105 @@
+##
+# Common settings for Makefiles
+#
+# Stefan Wendler, sw@kaltpost.de
+##
+
+# compiler prefix
+PREFIX	?= arm-none-eabi-
+# PREFIX	?= arm-elf-
+
+CC		 = $(PREFIX)gcc
+LD		 = $(PREFIX)gcc
+OBJCOPY		 = $(PREFIX)objcopy
+OBJDUMP		 = $(PREFIX)objdump
+
+INCDIR		+= -I./include -I$(HONE)/sat/arm-none-eabi/include 
+CFLAGS		+= -Os -g -Wall -Wextra -fno-common -mcpu=cortex-m3 -mthumb -msoft-float 
+CFLAGS		+= -MD $(INCDIR) -DSTM32F1
+
+LDSCRIPT	 = $(BINARY).ld
+LIBDIR		 = -L$(HOME)/sat/arm-none-eabi/lib 
+LIBS		 = -lopencm3_stm32f1 
+LDFLAGS		+= $(LIBDIR) $(LIBS) -T$(LDSCRIPT) -nostartfiles -Wall,--gc-sections 
+LDFLAGS		+= -mthumb -march=armv7 -mfix-cortex-m3-ldrd -msoft-float 
+
+# where to put generated binaries to 
+BINDIR		?= ../bin
+
+# doxygen executable
+DOXYGEN = doxygen
+
+# doxygen flags
+DOXYGENFLAGS = ../doxygen.conf
+
+# styler to use
+STYLER = astyle
+
+# which c-style to use
+# - see man astyle
+STYLERFLAGS = --style=stroustrup
+
+# cpp checker
+CHECKER = cppcheck
+
+# flags for checker
+# CHECKERFLAGS = --error-exitcode=1 --enable=all
+
+.SUFFIXES: .elf .bin .hex .srec .list .images
+.SECONDEXPANSION:
+.SECONDARY:
+
+all: images
+
+images: $(BINARY).images
+
+%.images: %.bin %.hex %.srec %.list
+	@#echo "*** $* images generated ***"
+
+%.bin: %.elf
+	@#printf "  OBJCOPY $(*).bin\n"
+	$(OBJCOPY) -Obinary $(*).elf $(*).bin && cp $(*).bin $(BINDIR)/.
+
+%.hex: %.elf
+	@#printf "  OBJCOPY $(*).hex\n"
+	$(OBJCOPY) -Oihex $(*).elf $(*).hex && cp $(*).hex $(BINDIR)/.
+
+%.srec: %.elf
+	@#printf "  OBJCOPY $(*).srec\n"
+	$(OBJCOPY) -Osrec $(*).elf $(*).srec && cp $(*).srec $(BINDIR)/.
+
+%.list: %.elf
+	@#printf "  OBJDUMP $(*).list\n"
+	$(OBJDUMP) -S $(*).elf > $(*).list && cp $(*).list $(BINDIR)/.
+
+%.elf: $(OBJS) $(LDSCRIPT)
+	@#printf "  LD      $(subst $(shell pwd)/,,$(@))\n"
+	$(LD) $(OBJS) $(LDFLAGS) -o $(*).elf && cp $(*).elf $(BINDIR)/.
+
+%.o: %.c Makefile
+	@#printf "  CC      $(subst $(shell pwd)/,,$(@))\n"
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+%.o: %.cpp Makefile
+	@#printf "  CC      $(subst $(shell pwd)/,,$(@))\n"
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+SRC = $(wildcard *.c)
+HDR = $(wildcard include/*.h)
+
+style: 
+	$(STYLER) $(STYLERFLAGS) $(SRC) 
+	$(STYLER) $(STYLERFLAGS) $(HDR) 
+	
+clean:
+	rm -f *.o
+	rm -f *.d
+	rm -f *.elf
+	rm -f *.bin
+	rm -f *.hex
+	rm -f *.srec
+	rm -f *.list
+	rm -f *.orig
+
+.PHONY: images clean
+
diff --git a/deploy/emptyfile.txt b/deploy/emptyfile.txt
new file mode 100644
index 0000000..e69de29
diff --git a/doc/project_rob01.txt b/doc/project_rob01.txt
new file mode 100644
index 0000000..53594b2
--- /dev/null
+++ b/doc/project_rob01.txt
@@ -0,0 +1,350 @@
+<h2>Introduction</h2>
+
+This article gives a brief overview of my first robot project. Primary goal of the project was to build a small robot which is able to drive autonomous as well as remote controlled by a human. The result is rob01 which currently has the following features: 
+
+Drives autonomously, tries to avoid obstacles. To detect obstacles, two distance sensors are used. Also the average wheel turns are measured continously to detect if the robot is stuck. The robot also provides a shell to which one could log in through a wireless connection. On the shell a bunch of parameters could be monitored or set, and the robot could be driven remote controlled. 
+
+Programming of the robots firmware was done completely by using open source tools. For compiling, the ARM gcc form the "Summon ARM Toolchain" [TODO link] is used, and as a kick start for accessing the hardware functionality, "libopencm3" [TODO link] is used. 
+
+<h2>Parts Used</h2>
+
+The following table shows a more or less complete list of the parts used to build rob01:
+
+<table>
+<tr><td>Part</td><td>Ref.</td><td>Quantity</td></tr>
+<tr><td>MCU</td><td>STM32 Discovery</td><td>1</td></tr>
+<tr><td>Chassis</td><td>Arexx ARX-CH09</td><td>1</td></tr>
+<tr><td>Battery</td><td>9V</td><td>2</td></tr>
+<tr><td>Battery holder</td><td>9V</td><td>2</td></tr>
+<tr><td>Reflectance sensor</td><td>Pololu QTR-1RC</td><td>2</td></tr>
+<tr><td>Distance sensor</td><td>Pololu GP2Y</td><td>2</td></tr>
+<tr><td>Dual motor driver</td><td>Toshiba TB6612FNG</td><td>1</td></tr>
+<tr><td>Wireless</td><td>XBee PRO Znet 2.5</td><td>2</td></tr>
+<tr><td>XBee sheeld to USB</td><td>Make XBee conctable to PC</td><td>1</td></tr>
+<tr><td>XBee sheeld for breadboard</td><td>Make XBee conectable to 2,52 grid.</td><td>1</td></tr>
+<tr><td>Voltage Regulator</td><td>5V 7805</td><td>1</td></tr>
+<tr><td>Voltage Regulator</td><td>3.3V 1086</td><td>1</td></tr>
+<tr><td>Capacaitor C1</td><td>0.33uF</td><td>1</td></tr>
+<tr><td>Capacitor C2</td><td> 0.1uF</td><td>1</td></tr>
+<tr><td>Capacitor C3+C4</td><td> 10uF</td><td>2</td></tr>
+<tr><td>LED PWR_LED1+PWR_LED2</td><td>3mm blue</td><td>2</td></tr>
+<tr><td>Resistor R1</td><td> 68 Ohm</td><td>1</td></tr>
+<tr><td>Power Switches S1+S2</td><td>Two State Power Switches</td><td>2</td></tr>
+<tr><td>Female connectors</td><td> for STM32, XBee, TB6612FNG</td><td>many</td></tr>
+</table>
+
+<h3>MCU</h3>
+
+As an MCU, the STM32 Discovery [TODO link],an ARM Cortex-M3 based CPU was used.The STM32 Discovery is available for a few bucks (about 12USD/Euro). It is way overkill for the purpose of building a small robot like this, but the intension was to learn more about the Cortex-M3. As a core library to access the STM32 hardware, the libopencm3 [TODO: link] was used. 
+
+<h3>Chasis</h3>
+
+As a bsae for the chasis, the Arexx ARX-CH09 was used. It has two wheels, each with its own geared DC motor.Also a small extension plate to solder your own stuff on could be mounted. I did not use this plate since it is way to small to hold the STM32 plus the wireless XBee module puls the motor controller. Instead, I mounted a standard 160x100 plate on top of the chasis. 
+
+<h3>Batteries and Batterie Holders</h3>
+
+The ARX-CH09 also comes with a battery holder for four AA bateries. I decided not to use this because of two reasons: First I wanted to use separete power for MCU and motors (since the motors are likely to producre noise on the power supply). And secondly I wanted to use a regulator for the power supply to avoid the motors becoming slower when then battery voltage decreases. Thus, I replaced the Arexx battery holder with two holders for 9V battery packs, which barely fit on the lower level of the chasis. 
+
+<h3>Sensors for Obstacle Detection</h3>
+ 
+For obstacle detected, two bumper sensors (Pololu GP2Y) are used. They use IR reflection to detect an obstacle in the range of approximately 10cm. When an obstacle is detected, the data line is set to high. It is not possible to measure the distance with this sensors. The sensors are mouted on the chasis base plate on the left and right front. 
+
+<h3>Sesnsors for Odometrie</h3>
+
+To be able to count the wheel turns, two more reflectance sensors are used (Pololu QTR-1RC). They use IR light to detecte how much the surface of an object in the range between 0.2cm and 3cm reflects the light. By having one of the gears black colored markers, the transitions between balck-white and white-black could be counted.
+
+<h3>Dual Motor Driver</h3>
+
+To control the two DC motors, the TB6612FNG dual motor controller form Toshiba is used.
+
+<h3>Wireless</h3>
+
+To remotely get informations from the robot and control it, I decided to equipe the robot with a XBee module from Digi.  On the PC side, an other Xbee module is needed. Basically the XBee is useed to set up an over the air USART connection, which could be achived very easlily through XBee. Also it has to be mentioned, that XBee is again overkill for this purpose. 
+
+<h3>Voltage Regulators</h3>
+
+Two voltage regulators are needed. One for the MCU power supply, and an other one for the motor power supply. The STM32 MCU gets powerde by 5V, thus, the 7805 is used to regulate the 9V batery power. The motors need something about 3V, thus the 1086 is used to regulate an other 9V batery down to 3.3V. For decoupeling [TODO link], also some capacitors (C1-C4) are needed. To get feedback if the power is switched on, two blue LEDs (PWR_LED1, PWR_LED2) are used. On the 5V power supply, also a resistor (R1) needs to be set in front of the LED. 
+
+<h3>Female Connectors</h3>
+
+For not directely soldering the MCU, the XBee and the motor driver, I decided to use a bunch of female connectors to make them pluggable. Also I used a connector to make the motors and sensors pluggable (since I want the top level to be detachable, and the sensors reside on the lower level of the robot).
+
+
+<h2>Building the Robot</h2>
+
+<h3>The Hardware</h3>
+
+I tried to start step by step when building the robot (which is always a good approach). I took the single componets, an tried to get them working on a bread-board. First without the MCU (e.g. for the motor driver), then with the MCU (e.g. for the motor driver). By doing so, it is more easy to tell where the problem resides if something goes wrong. If the setup without the MCU works, the failure may be in the connection to the MCU, ore in the software. On the other hand, one needs not to star writing software, if the hardware by itself doesn't work properly. 
+
+[TODO: add bread-board-images, odometrie etc.]
+
+After a while I ended up with the whole robot setup on two bread-boards, and a rough scetch of the firmware which let me control the basic driving functions remoteley. I managed to put the bread-boards on the robots back, and then haed a bread-board which I could drive around. With this bread-board robot, I developed the basic firmware for the autonomous mode. The bread-board intermediate allowed me to easily make fixes and changes to the hardware in an early stage. At the moment when I realized, that things seem to stabilize, I soldered the hardware stuff to a 160x100 plate.   
+
+<h3>Schematic</h3>
+
+The picture below shows the whole schematic for rob01. It also includes an JTAG connector, since I prefer JTAG over ST-Link for programming the STM32 Discovery. 
+
+[TODO: add schematic ]
+
+<h3>The Software</h3>
+
+The firmware for the robot is roughly build up by the layers shown blow:
+
+<pre>
+ +--------------------------------+
+ | Shell                          |
+ +-----------------------------+  |
+ +---------------------------+ |  |
+ | Drive Control             | |  |
+ +---------------------------+ |  |      
+ +---------+ +----------+ +----+  |
+ | Sensors | | Actors   | | Shell |
+ +---------+ +----------+ +-------+
+ +--------------------------------+ 
+ | Devices                        |
+ +--------------------------------+
+ +--------------------------------+
+ | Hardware / libopencm3          |
+ +--------------------------------+
+</pre>
+
+<h4>Hardware / libopencm3</h4>
+
+To access basic functions, like GPIO, USART etc., of the STM32 hardware, libopencm3 is used. 
+ 
+<h4>Devices</h4>
+
+Each device provided by the hardware is represented by it own device implementation. Currently the following devices are defined:
+
+<table>
+<tr><td>Device</td><td>Description</td></tr>
+<tr><td>bumpersensor</td><td>The GP2Y bumersensors for obstacle detection.</td></tr>
+<tr><td>button</td><td>The (build in) push button to switch btw. autonomous and RC mode.</td></tr>
+<tr><td>dcmotor</td><td>The DC motors driven by the TB6612FNG</td></tr>
+<tr><td>led</td><td>The (build in) status LEDs (currently not used).</td></tr>
+<tr><td>refsensor</td><td>The QTR reflection sensors used to count wheel turns.</td></tr>
+<tr><td>serial</td><td>The USART used for the shell.</td></tr>
+</table>
+
+Each device defines a C structure which holds all the needed informations to initialize and operate a device. E.g. the structure for the DC motor looks like this:
+
+<pre>
+typedef struct {
+     /**
+      * Port 1 for motor control. E.g. GPIOC.
+      */
+     uint32_t   port_ctrl1;
+
+     /**
+      * Pin 1 for motor control. E.g. GPIO4.
+      */
+     uint16_t    pin_ctrl1;
+
+     /**
+      * Port 2 for motor control. E.g. GPIOC.
+      */
+     uint32_t   port_ctrl2;
+
+     /**
+      * Pin 2 for motor control. E.g. GPIO5.
+      */
+     uint16_t    pin_ctrl2;
+
+     /**
+      * Port on which PWM for speed control is connected to H-Bridge. E.g. GPIOC.
+      */
+     uint32_t   port_pwm;
+
+     /**
+      * Pin on which PWM for speed control is connected to H-Bridge. E.g. GPIO6.
+      */
+     uint16_t    pin_pwm;
+} device_data_dcmotor;
+</pre>
+
+Also the operations to perform on a device are defined. Again for the DC motor it looks like so:
+
+<pre>
+/**
+ * Make the DC motor turn clock-wise.
+ *
+ * @param[in]   *dev    device representing the DC motor
+ */
+void dcmotor_cw(device *dev);
+
+/**
+ * Make the DC motor turn counter-clock-wise.
+ *
+ * @param[in]   *dev    device representing the DC motor
+ */
+void dcmotor_ccw(device *dev);
+
+/**
+ * Make the DC motor break (by shortening the moters power supply).
+ *
+ * @param[in]   *dev    device representing the DC motor
+ */
+void dcmotor_break(device *dev);
+
+/**
+ * Make the DC motor float.
+ *
+ * @param[in]   *dev    device representing the DC motor
+ */
+void dcmotor_float(device *dev);
+</pre>
+
+Then within a board definition those structs are filled with concrete values, and passed to the board init function. This function calls for each device the corresponding init function. Thus it is possible to easily support different ports where the devices may be connected to different PINs. For the DC motors, connected to the STM32 board, this looks like shown below:
+
+<pre>
+// Define the DC motors
+device_data_dcmotor dcmotor_left_data = {
+     .port_ctrl1        = GPIOB,        // AIN1 @ PA5
+     .pin_ctrl1         = GPIO5,
+     .port_ctrl2        = GPIOC,        // AIN2 @ PC12
+     .pin_ctrl2         = GPIO12,
+     .port_pwm          = GPIOC,        // PWMA @ PC11
+     .pin_pwm           = GPIO11,
+};
+
+device_data_dcmotor dcmotor_right_data = {
+     .port_ctrl1        = GPIOB,        // BIN1 @ PB7
+     .pin_ctrl1         = GPIO7,
+     .port_ctrl2        = GPIOB,        // BIN2 @ PB8
+     .pin_ctrl2         = GPIO8,
+     .port_pwm          = GPIOB,        // PWMB @ PB9
+     .pin_pwm           = GPIO9,
+};
+
+device dcmotor_left = {
+     .id        = "DC_MOT_LEFT",
+     .rcc_reg   = &RCC_APB2ENR,
+     .rcc_en    = RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN,
+     .data      = (device_data *)&dcmotor_left_data,
+     .init      = dcmotor_init,
+};
+
+device dcmotor_right = {
+     .id        = "DC_MOT_RIGHT",
+     .rcc_reg   = &RCC_APB2ENR,
+     .rcc_en    = RCC_APB2ENR_IOPBEN,
+     .data      = (device_data *)&dcmotor_right_data,
+     .init      = dcmotor_init,
+};
+</pre>
+
+All devices are then "collected" in the board device struct, so they could be passed to the board init function later on:
+
+<pre>
+// All my board devcies
+board_devices my_devices = {
+     .size = 10,
+     .device_array = {
+          &serial,
+          &status_led1,
+          &status_led2,
+          &dcmotor_left,
+          &dcmotor_right,
+          &bumpersensor_left,
+          &bumpersensor_right,
+          &refsensor_left,
+          &refsensor_right,
+          &button_user1,
+     },
+};
+</pre>
+
+It is intended to later on expand that concept, and use the firmware to not only support one specific robot, but many (yes, work for rob02 is already in progress)
+
+<h4>Sensors</h4>
+
+Obove the device layer, the sensors layer is located. This layer further more abstracts form the underlaying hardware to a "business" function. The following sensors are currently known by the firmware:
+
+<table>
+<tr><td>Sensor</td><td>Description</td></tr>
+<tr><td>bumper</td><td>The front left/right bumper sensors. The bumper devices are used here.</td></tr>
+<tr><td>odometer</td><td>The odometric sensors for counting wheel turns. The refsensor devices are used here.</td></tr>
+</table>
+
+The values for the sensors are aquired within the systick interrupt, and then written into a global sensor values struct. They are used later on by the drive control layer. For the odometric sensors also the PPM is calculeted. PPM stands for "Pulses-Per-Minute". Each transition form the balck to the white area and vice versa on the gear gives a "pulse". By calculating the PPM, the drive control later on could determine, if a wheel is getting slugish or stuck. Since aquiring of the sensor values is done within the systick interrupt, the main application needs not to care about driving the sensors.
+ 
+<h4>Actors</h4>
+
+Beside the sensors, there is one actor: the vehicle. This actor is made up by the two DC motor devices. The vehicle actor has operations to move into its various directions, turn around or break. By introducing a vehicle actor, which takes directions, the drive control layer later on has not to care if the vehicle uses two DC motors, four DC motors, servos etc. 
+
+<h4>Drive Control</h4>
+
+The drive control layer brings together the sensors and actors, and implements the autonomous mode for the robot. It consists of two main routines: "find path" and "follow path". The first one decides based on the aggregsted sensor values which direction to follow next (and for how many wheel turns). The second one then tries to execute that path. Follwing a path could be aborted at any time when a new obstacle is detected within the path currently followed. If path executing is aborted, "find path" is called again to determine a new direction to follow. The very simple path finding algorithim looks like this:
+
+<pre>
+void drive_control_find_path(path_segment *ps)
+{
+     ps->count = 2;
+
+     int stat = drive_control_agregate_sensors(1);
+
+     switch(stat) {
+     case DRIVE_CTRL_OBST_ALL:
+          ps->direction = VEHICLE_DIR_NONE;
+          break;
+     case DRIVE_CTRL_OBST_FRONT_BOTH:
+          ps->direction = VEHICLE_DIR_BACKWARD;
+          ps->count = 3;
+          break;
+     case DRIVE_CTRL_OBST_BACK_BOTH:
+          ps->direction = VEHICLE_DIR_FORWARD;
+          ps->count = 0;
+          break;
+     case DRIVE_CTRL_OBST_FRONT_LEFT:
+          ps->direction = VEHICLE_DIR_TURN_RIGHT;
+          break;
+     case DRIVE_CTRL_OBST_FRONT_RIGHT:
+          ps->direction = VEHICLE_DIR_TURN_LEFT;
+          break;
+     case DRIVE_CTRL_OBST_BACK_LEFT:
+          ps->direction = VEHICLE_DIR_TURN_RIGHT;
+     case DRIVE_CTRL_OBST_BACK_RIGHT:
+          ps->direction = VEHICLE_DIR_TURN_LEFT;
+          break;
+     case DRIVE_CTRL_OBST_NONE:
+          ps->direction = VEHICLE_DIR_FORWARD;
+          ps->count = 0;
+          break;
+     };
+}
+</pre>
+
+Note: "ps" is the path segment structure which defines the next path segment to follow. It consists of a direction, and a wheel count value. A count of zero means: follow this directin until an obstacle is detected. 
+
+The sesnsor aggregatino takes the current values of the bumper sensors, and the PPM of the wheels and tries to fill an integer with flags for each direction an obstacle is detected. E.g. if the right bumber sensor sees an obstacle, and the left wheels PPM is below the minimum PPM (it is stuck), the flags for "obstacle right" and "obstacle left" are set. 
+
+By using the PPM, it is possible to detect, if the vehicle crashed on an obstacle not seen by the bumper sensors (e.g. while driving backwards). 
+
+<h4>Shell</h4>
+
+The topmost layer is the shell. The shell could be reached through a serial line. In the case of rob01 the serial line is "arifiyed" by a XBee module. Thus, one could log into the robot at any time by using a simple serial terminal. The shell offers some commands to drive the robot manually, to query the sensor values or to switch from/to autonomous mode. Since the USART receiving is done interrupt driven, the main application loop needs not to care about handling shell events. I also started to build a counter part for the shell, the ncurses based "RobotControlRC", which allowed one to e.g. use the arrow keys to move the robot, but the firmware advanced, while the "RobotControlRC" did not (eventually I will update RC one day). 
+
+[TODO: add screenshots of shell and NC]
+
+Beside the "normal" firmware I build a special test firmware which includes a test shell. This tesht shell includes commands to check the functionality of all the build in hardware, and software. It comes in handy, when plugging together the hartware, and one wants to make sure, the left bumper is really the left bumper, and clock-wise really turns the motor clock-wise. 
+
+<h2>Conclusions</h2>
+
+Buling a robot for sure is one of the most fun ways to learn more about microcontrollers and electronics. A fairly functional autonomous robot could be build up from widely avilable and cheap parts. There is no need to by a complete (build up) kid for more (beside it would take out most of the fun). 
+
+The only really expensive part on rob01 are the XBee modules. They are easy to use, but overkill (no mesh networking, no device profiles etc. are needed). I definitely will replace XBee with somethings cheaper (e.g. one of this Nordic 2.4 GHz receivers) next time. 
+
+Also the Arexx platform is a great starter, one should not expect to much from it. The motors and gears are not very accurate, the vehicle barely manages to follow a straight line. The bumper sensors used are very easy to handle, but with a range of only 10 cms they really do not "see" much. Thus using a ultrasonic range finder on a pan-tilt unit would be definitely the better choice. 
+
+Trying to detect if the wheels are stuck turned out to be not that easy and releayable. I got it working for a certion floor surface, but I thing on an other surface it may fail. This concept really has to be thought over. 
+
+Working with libopencm3 turned out to be a very usable open source alternative to the STM standard library. It is fairly easy to use, and lightweight. The library comes with a bunch of more or less good examples. The only down-side about the libopencm3 is, that there is not much documentaiton available on the net. 
+
+So, on to rob02 :-)
+
+<h2>Downloads</h2>
+
+<ul>
+<li>Schematics (gschem)</li>
+<li>Firmware Sources</li>
+</ul>
diff --git a/doc/schem/robot.sch b/doc/schem/robot.sch
new file mode 100644
index 0000000..6f0888b
--- /dev/null
+++ b/doc/schem/robot.sch
@@ -0,0 +1,1544 @@
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+T 47400 55000 5 8 0 0 270 0 1
+device=CAPACITOR
+T 47400 55900 5 10 1 1 270 0 1
+refdes=C2
+T 47400 55400 5 10 1 1 270 0 1
+value=0.1u
+}
+C 50600 54500 1 270 0 9V-plus-1.sym
+N 49600 54300 48900 54300 4
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+C 46800 54300 1 90 0 led-2.sym
+{
+T 46300 55100 5 10 1 1 90 0 1
+refdes=PWR_LED1
+T 46200 54400 5 10 0 0 90 0 1
+device=LED
+}
+C 46600 56200 1 270 0 resistor-2.sym
+{
+T 46950 55800 5 10 0 0 270 0 1
+device=RESISTOR
+T 46900 56000 5 10 1 1 270 0 1
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+}
+N 46700 55200 46700 55300 4
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+C 48200 56900 1 180 0 gnd-1.sym
+C 48900 54900 1 180 0 lm7805-1.sym
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+T 47300 53600 5 10 0 0 180 0 1
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+}
+N 46700 56300 46700 56200 4
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+T 55200 52600 5 10 1 1 270 0 1
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+}
+C 52800 52700 1 270 0 asic-cap-2.sym
+{
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+T 53200 52600 5 10 1 1 270 0 1
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+T 53200 52100 5 10 1 1 270 0 1
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+}
+C 56200 51200 1 270 0 9V-plus-1.sym
+N 55300 51000 54800 51000 4
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+T 52000 51900 5 10 0 0 90 0 1
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+}
+N 52500 52700 52500 53000 4
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+T 54105 51550 5 10 1 1 180 0 1
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+}
+P 53000 51000 53400 51000 1 0 0
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+{
+T 42400 59200 5 10 1 1 90 6 1
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+T 42450 58800 5 10 0 0 90 0 1
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+T 42250 58800 5 10 0 0 90 0 1
+footprint=SIP7N
+}
+N 42900 58500 42900 58000 4
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+T 43000 59300 9 10 1 0 0 0 1
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+T 43400 59000 9 10 1 0 0 0 1
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+T 43900 59300 9 10 1 0 0 0 1
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+T 44300 59000 9 10 1 0 0 0 1
+TDO
+T 44700 59300 9 10 1 0 0 0 1
+TDI
+T 45000 59000 9 10 1 0 0 0 1
+TCK
+C 49600 54300 1 0 0 switch-spst-1.sym
+{
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+T 49900 54600 5 10 1 1 0 0 1
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+}
+C 55300 51000 1 0 0 switch-spst-1.sym
+{
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+}
+N 50600 54300 50400 54300 4
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diff --git a/doxygen.conf b/doxygen.conf
new file mode 100644
index 0000000..de43d36
--- /dev/null
+++ b/doxygen.conf
@@ -0,0 +1,1551 @@
+# Doxyfile 1.6.3
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project
+#
+# All text after a hash (#) is considered a comment and will be ignored
+# The format is:
+#       TAG = value [value, ...]
+# For lists items can also be appended using:
+#       TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (" ")
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the config file
+# that follow. The default is UTF-8 which is also the encoding used for all
+# text before the first occurrence of this tag. Doxygen uses libiconv (or the
+# iconv built into libc) for the transcoding. See
+# http://www.gnu.org/software/libiconv for the list of possible encodings.
+
+DOXYFILE_ENCODING      = UTF-8
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
+# by quotes) that should identify the project.
+
+PROJECT_NAME           = RobotCtrlFW 
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number.
+# This could be handy for archiving the generated documentation or
+# if some version control system is used.
+
+PROJECT_NUMBER         =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
+# base path where the generated documentation will be put.
+# If a relative path is entered, it will be relative to the location
+# where doxygen was started. If left blank the current directory will be used.
+
+OUTPUT_DIRECTORY       = ../doc/gen
+
+# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
+# 4096 sub-directories (in 2 levels) under the output directory of each output
+# format and will distribute the generated files over these directories.
+# Enabling this option can be useful when feeding doxygen a huge amount of
+# source files, where putting all generated files in the same directory would
+# otherwise cause performance problems for the file system.
+
+CREATE_SUBDIRS         = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# The default language is English, other supported languages are:
+# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional,
+# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German,
+# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English
+# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian,
+# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrilic, Slovak,
+# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese.
+
+OUTPUT_LANGUAGE        = English
+
+# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
+# include brief member descriptions after the members that are listed in
+# the file and class documentation (similar to JavaDoc).
+# Set to NO to disable this.
+
+BRIEF_MEMBER_DESC      = YES
+
+# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
+# the brief description of a member or function before the detailed description.
+# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+
+REPEAT_BRIEF           = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator
+# that is used to form the text in various listings. Each string
+# in this list, if found as the leading text of the brief description, will be
+# stripped from the text and the result after processing the whole list, is
+# used as the annotated text. Otherwise, the brief description is used as-is.
+# If left blank, the following values are used ("$name" is automatically
+# replaced with the name of the entity): "The $name class" "The $name widget"
+# "The $name file" "is" "provides" "specifies" "contains"
+# "represents" "a" "an" "the"
+
+ABBREVIATE_BRIEF       =
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# Doxygen will generate a detailed section even if there is only a brief
+# description.
+
+ALWAYS_DETAILED_SEC    = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+
+INLINE_INHERITED_MEMB  = NO
+
+# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
+# path before files name in the file list and in the header files. If set
+# to NO the shortest path that makes the file name unique will be used.
+
+FULL_PATH_NAMES        = YES
+
+# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
+# can be used to strip a user-defined part of the path. Stripping is
+# only done if one of the specified strings matches the left-hand part of
+# the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the
+# path to strip.
+
+STRIP_FROM_PATH        =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
+# the path mentioned in the documentation of a class, which tells
+# the reader which header file to include in order to use a class.
+# If left blank only the name of the header file containing the class
+# definition is used. Otherwise one should specify the include paths that
+# are normally passed to the compiler using the -I flag.
+
+STRIP_FROM_INC_PATH    =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
+# (but less readable) file names. This can be useful is your file systems
+# doesn't support long names like on DOS, Mac, or CD-ROM.
+
+SHORT_NAMES            = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
+# will interpret the first line (until the first dot) of a JavaDoc-style
+# comment as the brief description. If set to NO, the JavaDoc
+# comments will behave just like regular Qt-style comments
+# (thus requiring an explicit @brief command for a brief description.)
+
+JAVADOC_AUTOBRIEF      = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then Doxygen will
+# interpret the first line (until the first dot) of a Qt-style
+# comment as the brief description. If set to NO, the comments
+# will behave just like regular Qt-style comments (thus requiring
+# an explicit \brief command for a brief description.)
+
+QT_AUTOBRIEF           = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
+# treat a multi-line C++ special comment block (i.e. a block of //! or ///
+# comments) as a brief description. This used to be the default behaviour.
+# The new default is to treat a multi-line C++ comment block as a detailed
+# description. Set this tag to YES if you prefer the old behaviour instead.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
+# member inherits the documentation from any documented member that it
+# re-implements.
+
+INHERIT_DOCS           = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce
+# a new page for each member. If set to NO, the documentation of a member will
+# be part of the file/class/namespace that contains it.
+
+SEPARATE_MEMBER_PAGES  = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab.
+# Doxygen uses this value to replace tabs by spaces in code fragments.
+
+TAB_SIZE               = 4
+
+# This tag can be used to specify a number of aliases that acts
+# as commands in the documentation. An alias has the form "name=value".
+# For example adding "sideeffect=\par Side Effects:\n" will allow you to
+# put the command \sideeffect (or @sideeffect) in the documentation, which
+# will result in a user-defined paragraph with heading "Side Effects:".
+# You can put \n's in the value part of an alias to insert newlines.
+
+ALIASES                =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
+# sources only. Doxygen will then generate output that is more tailored for C.
+# For instance, some of the names that are used will be different. The list
+# of all members will be omitted, etc.
+
+OPTIMIZE_OUTPUT_FOR_C  = YES
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java
+# sources only. Doxygen will then generate output that is more tailored for
+# Java. For instance, namespaces will be presented as packages, qualified
+# scopes will look different, etc.
+
+OPTIMIZE_OUTPUT_JAVA   = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources only. Doxygen will then generate output that is more tailored for
+# Fortran.
+
+OPTIMIZE_FOR_FORTRAN   = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for
+# VHDL.
+
+OPTIMIZE_OUTPUT_VHDL   = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it parses.
+# With this tag you can assign which parser to use for a given extension.
+# Doxygen has a built-in mapping, but you can override or extend it using this tag.
+# The format is ext=language, where ext is a file extension, and language is one of
+# the parsers supported by doxygen: IDL, Java, Javascript, C#, C, C++, D, PHP,
+# Objective-C, Python, Fortran, VHDL, C, C++. For instance to make doxygen treat
+# .inc files as Fortran files (default is PHP), and .f files as C (default is Fortran),
+# use: inc=Fortran f=C. Note that for custom extensions you also need to set FILE_PATTERNS otherwise the files are not read by doxygen.
+
+EXTENSION_MAPPING      =
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should
+# set this tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string); v.s.
+# func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+
+BUILTIN_STL_SUPPORT    = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+
+CPP_CLI_SUPPORT        = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only.
+# Doxygen will parse them like normal C++ but will assume all classes use public
+# instead of private inheritance when no explicit protection keyword is present.
+
+SIP_SUPPORT            = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate getter
+# and setter methods for a property. Setting this option to YES (the default)
+# will make doxygen to replace the get and set methods by a property in the
+# documentation. This will only work if the methods are indeed getting or
+# setting a simple type. If this is not the case, or you want to show the
+# methods anyway, you should set this option to NO.
+
+IDL_PROPERTY_SUPPORT   = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES, then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+
+DISTRIBUTE_GROUP_DOC   = NO
+
+# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
+# the same type (for instance a group of public functions) to be put as a
+# subgroup of that type (e.g. under the Public Functions section). Set it to
+# NO to prevent subgrouping. Alternatively, this can be done per class using
+# the \nosubgrouping command.
+
+SUBGROUPING            = YES
+
+# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
+# is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically
+# be useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+
+TYPEDEF_HIDES_STRUCT   = NO
+
+# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to
+# determine which symbols to keep in memory and which to flush to disk.
+# When the cache is full, less often used symbols will be written to disk.
+# For small to medium size projects (<1000 input files) the default value is
+# probably good enough. For larger projects a too small cache size can cause
+# doxygen to be busy swapping symbols to and from disk most of the time
+# causing a significant performance penality.
+# If the system has enough physical memory increasing the cache will improve the
+# performance by keeping more symbols in memory. Note that the value works on
+# a logarithmic scale so increasing the size by one will rougly double the
+# memory usage. The cache size is given by this formula:
+# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
+# corresponding to a cache size of 2^16 = 65536 symbols
+
+SYMBOL_CACHE_SIZE      = 0
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
+# documentation are documented, even if no documentation was available.
+# Private class members and static file members will be hidden unless
+# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
+
+EXTRACT_ALL            = YES 
+
+# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
+# will be included in the documentation.
+
+EXTRACT_PRIVATE        = NO
+
+# If the EXTRACT_STATIC tag is set to YES all static members of a file
+# will be included in the documentation.
+
+EXTRACT_STATIC         = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
+# defined locally in source files will be included in the documentation.
+# If set to NO only classes defined in header files are included.
+
+EXTRACT_LOCAL_CLASSES  = YES
+
+# This flag is only useful for Objective-C code. When set to YES local
+# methods, which are defined in the implementation section but not in
+# the interface are included in the documentation.
+# If set to NO (the default) only methods in the interface are included.
+
+EXTRACT_LOCAL_METHODS  = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base
+# name of the file that contains the anonymous namespace. By default
+# anonymous namespace are hidden.
+
+EXTRACT_ANON_NSPACES   = YES
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
+# undocumented members of documented classes, files or namespaces.
+# If set to NO (the default) these members will be included in the
+# various overviews, but no documentation section is generated.
+# This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_MEMBERS     = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy.
+# If set to NO (the default) these classes will be included in the various
+# overviews. This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_CLASSES     = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
+# friend (class|struct|union) declarations.
+# If set to NO (the default) these declarations will be included in the
+# documentation.
+
+HIDE_FRIEND_COMPOUNDS  = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
+# documentation blocks found inside the body of a function.
+# If set to NO (the default) these blocks will be appended to the
+# function's detailed documentation block.
+
+HIDE_IN_BODY_DOCS      = NO
+
+# The INTERNAL_DOCS tag determines if documentation
+# that is typed after a \internal command is included. If the tag is set
+# to NO (the default) then the documentation will be excluded.
+# Set it to YES to include the internal documentation.
+
+INTERNAL_DOCS          = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
+# file names in lower-case letters. If set to YES upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+
+CASE_SENSE_NAMES       = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
+# will show members with their full class and namespace scopes in the
+# documentation. If set to YES the scope will be hidden.
+
+HIDE_SCOPE_NAMES       = NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
+# will put a list of the files that are included by a file in the documentation
+# of that file.
+
+SHOW_INCLUDE_FILES     = YES
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen
+# will list include files with double quotes in the documentation
+# rather than with sharp brackets.
+
+FORCE_LOCAL_INCLUDES   = NO
+
+# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
+# is inserted in the documentation for inline members.
+
+INLINE_INFO            = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
+# will sort the (detailed) documentation of file and class members
+# alphabetically by member name. If set to NO the members will appear in
+# declaration order.
+
+SORT_MEMBER_DOCS       = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
+# brief documentation of file, namespace and class members alphabetically
+# by member name. If set to NO (the default) the members will appear in
+# declaration order.
+
+SORT_BRIEF_DOCS        = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the (brief and detailed) documentation of class members so that constructors and destructors are listed first. If set to NO (the default) the constructors will appear in the respective orders defined by SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the
+# hierarchy of group names into alphabetical order. If set to NO (the default)
+# the group names will appear in their defined order.
+
+SORT_GROUP_NAMES       = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
+# sorted by fully-qualified names, including namespaces. If set to
+# NO (the default), the class list will be sorted only by class name,
+# not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the
+# alphabetical list.
+
+SORT_BY_SCOPE_NAME     = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or
+# disable (NO) the todo list. This list is created by putting \todo
+# commands in the documentation.
+
+GENERATE_TODOLIST      = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or
+# disable (NO) the test list. This list is created by putting \test
+# commands in the documentation.
+
+GENERATE_TESTLIST      = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or
+# disable (NO) the bug list. This list is created by putting \bug
+# commands in the documentation.
+
+GENERATE_BUGLIST       = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
+# disable (NO) the deprecated list. This list is created by putting
+# \deprecated commands in the documentation.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional
+# documentation sections, marked by \if sectionname ... \endif.
+
+ENABLED_SECTIONS       =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
+# the initial value of a variable or define consists of for it to appear in
+# the documentation. If the initializer consists of more lines than specified
+# here it will be hidden. Use a value of 0 to hide initializers completely.
+# The appearance of the initializer of individual variables and defines in the
+# documentation can be controlled using \showinitializer or \hideinitializer
+# command in the documentation regardless of this setting.
+
+MAX_INITIALIZER_LINES  = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
+# at the bottom of the documentation of classes and structs. If set to YES the
+# list will mention the files that were used to generate the documentation.
+
+SHOW_USED_FILES        = YES
+
+# If the sources in your project are distributed over multiple directories
+# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy
+# in the documentation. The default is NO.
+
+SHOW_DIRECTORIES       = NO
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page.
+# This will remove the Files entry from the Quick Index and from the
+# Folder Tree View (if specified). The default is YES.
+
+SHOW_FILES             = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the
+# Namespaces page.
+# This will remove the Namespaces entry from the Quick Index
+# and from the Folder Tree View (if specified). The default is YES.
+
+SHOW_NAMESPACES        = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command <command> <input-file>, where <command> is the value of
+# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
+# provided by doxygen. Whatever the program writes to standard output
+# is used as the file version. See the manual for examples.
+
+FILE_VERSION_FILTER    =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed by
+# doxygen. The layout file controls the global structure of the generated output files
+# in an output format independent way. The create the layout file that represents
+# doxygen's defaults, run doxygen with the -l option. You can optionally specify a
+# file name after the option, if omitted DoxygenLayout.xml will be used as the name
+# of the layout file.
+
+LAYOUT_FILE            =
+
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated
+# by doxygen. Possible values are YES and NO. If left blank NO is used.
+
+QUIET                  = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated by doxygen. Possible values are YES and NO. If left blank
+# NO is used.
+
+WARNINGS               = YES
+
+# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
+# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
+# automatically be disabled.
+
+WARN_IF_UNDOCUMENTED   = YES
+
+# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some
+# parameters in a documented function, or documenting parameters that
+# don't exist or using markup commands wrongly.
+
+WARN_IF_DOC_ERROR      = YES
+
+# This WARN_NO_PARAMDOC option can be abled to get warnings for
+# functions that are documented, but have no documentation for their parameters
+# or return value. If set to NO (the default) doxygen will only warn about
+# wrong or incomplete parameter documentation, but not about the absence of
+# documentation.
+
+WARN_NO_PARAMDOC       = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that
+# doxygen can produce. The string should contain the $file, $line, and $text
+# tags, which will be replaced by the file and line number from which the
+# warning originated and the warning text. Optionally the format may contain
+# $version, which will be replaced by the version of the file (if it could
+# be obtained via FILE_VERSION_FILTER)
+
+WARN_FORMAT            = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning
+# and error messages should be written. If left blank the output is written
+# to stderr.
+
+WARN_LOGFILE           =
+
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag can be used to specify the files and/or directories that contain
+# documented source files. You may enter file names like "myfile.cpp" or
+# directories like "/usr/src/myproject". Separate the files or directories
+# with spaces.
+
+INPUT                  =
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
+# also the default input encoding. Doxygen uses libiconv (or the iconv built
+# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
+# the list of possible encodings.
+
+INPUT_ENCODING         = UTF-8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank the following patterns are tested:
+# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx
+# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90
+
+FILE_PATTERNS          = *.h *.c
+
+# The RECURSIVE tag can be used to turn specify whether or not subdirectories
+# should be searched for input files as well. Possible values are YES and NO.
+# If left blank NO is used.
+
+RECURSIVE              = YES 
+
+# The EXCLUDE tag can be used to specify files and/or directories that should
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+
+EXCLUDE                =
+
+# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
+# directories that are symbolic links (a Unix filesystem feature) are excluded
+# from the input.
+
+EXCLUDE_SYMLINKS       = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories. Note that the wildcards are matched
+# against the file with absolute path, so to exclude all test directories
+# for example use the pattern */test/*
+
+EXCLUDE_PATTERNS       =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+
+EXCLUDE_SYMBOLS        =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or
+# directories that contain example code fragments that are included (see
+# the \include command).
+
+EXAMPLE_PATH           =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank all files are included.
+
+EXAMPLE_PATTERNS       =
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude
+# commands irrespective of the value of the RECURSIVE tag.
+# Possible values are YES and NO. If left blank NO is used.
+
+EXAMPLE_RECURSIVE      = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or
+# directories that contain image that are included in the documentation (see
+# the \image command).
+
+IMAGE_PATH             =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command <filter> <input-file>, where <filter>
+# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
+# input file. Doxygen will then use the output that the filter program writes
+# to standard output.
+# If FILTER_PATTERNS is specified, this tag will be
+# ignored.
+
+INPUT_FILTER           =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis.
+# Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match.
+# The filters are a list of the form:
+# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
+# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER
+# is applied to all files.
+
+FILTER_PATTERNS        =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will be used to filter the input files when producing source
+# files to browse (i.e. when SOURCE_BROWSER is set to YES).
+
+FILTER_SOURCE_FILES    = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will
+# be generated. Documented entities will be cross-referenced with these sources.
+# Note: To get rid of all source code in the generated output, make sure also
+# VERBATIM_HEADERS is set to NO.
+
+SOURCE_BROWSER         = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body
+# of functions and classes directly in the documentation.
+
+INLINE_SOURCES         = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
+# doxygen to hide any special comment blocks from generated source code
+# fragments. Normal C and C++ comments will always remain visible.
+
+STRIP_CODE_COMMENTS    = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES
+# then for each documented function all documented
+# functions referencing it will be listed.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES
+# then for each documented function all documented entities
+# called/used by that function will be listed.
+
+REFERENCES_RELATION    = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
+# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from
+# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will
+# link to the source code.
+# Otherwise they will link to the documentation.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code
+# will point to the HTML generated by the htags(1) tool instead of doxygen
+# built-in source browser. The htags tool is part of GNU's global source
+# tagging system (see http://www.gnu.org/software/global/global.html). You
+# will need version 4.8.6 or higher.
+
+USE_HTAGS              = NO
+
+# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
+# will generate a verbatim copy of the header file for each class for
+# which an include is specified. Set to NO to disable this.
+
+VERBATIM_HEADERS       = YES
+
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
+# of all compounds will be generated. Enable this if the project
+# contains a lot of classes, structs, unions or interfaces.
+
+ALPHABETICAL_INDEX     = NO
+
+# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
+# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
+# in which this list will be split (can be a number in the range [1..20])
+
+COLS_IN_ALPHA_INDEX    = 5
+
+# In case all classes in a project start with a common prefix, all
+# classes will be put under the same header in the alphabetical index.
+# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
+# should be ignored while generating the index headers.
+
+IGNORE_PREFIX          =
+
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
+# generate HTML output.
+
+GENERATE_HTML          = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `html' will be used as the default path.
+
+HTML_OUTPUT            = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
+# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
+# doxygen will generate files with .html extension.
+
+HTML_FILE_EXTENSION    = .html
+
+# The HTML_HEADER tag can be used to specify a personal HTML header for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard header.
+
+HTML_HEADER            =
+
+# The HTML_FOOTER tag can be used to specify a personal HTML footer for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard footer.
+
+HTML_FOOTER            =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
+# style sheet that is used by each HTML page. It can be used to
+# fine-tune the look of the HTML output. If the tag is left blank doxygen
+# will generate a default style sheet. Note that doxygen will try to copy
+# the style sheet file to the HTML output directory, so don't put your own
+# stylesheet in the HTML output directory as well, or it will be erased!
+
+HTML_STYLESHEET        =
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting
+# this to NO can help when comparing the output of multiple runs.
+
+HTML_TIMESTAMP         = YES
+
+# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
+# files or namespaces will be aligned in HTML using tables. If set to
+# NO a bullet list will be used.
+
+HTML_ALIGN_MEMBERS     = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded. For this to work a browser that supports
+# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox
+# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari).
+
+HTML_DYNAMIC_SECTIONS  = NO
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files
+# will be generated that can be used as input for Apple's Xcode 3
+# integrated development environment, introduced with OSX 10.5 (Leopard).
+# To create a documentation set, doxygen will generate a Makefile in the
+# HTML output directory. Running make will produce the docset in that
+# directory and running "make install" will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
+# it at startup.
+# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html for more information.
+
+GENERATE_DOCSET        = NO
+
+# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the
+# feed. A documentation feed provides an umbrella under which multiple
+# documentation sets from a single provider (such as a company or product suite)
+# can be grouped.
+
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+
+# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
+# should uniquely identify the documentation set bundle. This should be a
+# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
+# will append .docset to the name.
+
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+
+# If the GENERATE_HTMLHELP tag is set to YES, additional index files
+# will be generated that can be used as input for tools like the
+# Microsoft HTML help workshop to generate a compiled HTML help file (.chm)
+# of the generated HTML documentation.
+
+GENERATE_HTMLHELP      = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
+# be used to specify the file name of the resulting .chm file. You
+# can add a path in front of the file if the result should not be
+# written to the html output directory.
+
+CHM_FILE               =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
+# be used to specify the location (absolute path including file name) of
+# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
+# the HTML help compiler on the generated index.hhp.
+
+HHC_LOCATION           =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
+# controls if a separate .chi index file is generated (YES) or that
+# it should be included in the master .chm file (NO).
+
+GENERATE_CHI           = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING
+# is used to encode HtmlHelp index (hhk), content (hhc) and project file
+# content.
+
+CHM_INDEX_ENCODING     =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
+# controls whether a binary table of contents is generated (YES) or a
+# normal table of contents (NO) in the .chm file.
+
+BINARY_TOC             = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members
+# to the contents of the HTML help documentation and to the tree view.
+
+TOC_EXPAND             = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and QHP_VIRTUAL_FOLDER
+# are set, an additional index file will be generated that can be used as input for
+# Qt's qhelpgenerator to generate a Qt Compressed Help (.qch) of the generated
+# HTML documentation.
+
+GENERATE_QHP           = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can
+# be used to specify the file name of the resulting .qch file.
+# The path specified is relative to the HTML output folder.
+
+QCH_FILE               =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating
+# Qt Help Project output. For more information please see
+# http://doc.trolltech.com/qthelpproject.html#namespace
+
+QHP_NAMESPACE          = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating
+# Qt Help Project output. For more information please see
+# http://doc.trolltech.com/qthelpproject.html#virtual-folders
+
+QHP_VIRTUAL_FOLDER     = doc
+
+# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to add.
+# For more information please see
+# http://doc.trolltech.com/qthelpproject.html#custom-filters
+
+QHP_CUST_FILTER_NAME   =
+
+# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the custom filter to add.For more information please see
+# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">Qt Help Project / Custom Filters</a>.
+
+QHP_CUST_FILTER_ATTRS  =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this project's
+# filter section matches.
+# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">Qt Help Project / Filter Attributes</a>.
+
+QHP_SECT_FILTER_ATTRS  =
+
+# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can
+# be used to specify the location of Qt's qhelpgenerator.
+# If non-empty doxygen will try to run qhelpgenerator on the generated
+# .qhp file.
+
+QHG_LOCATION           =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files
+#  will be generated, which together with the HTML files, form an Eclipse help
+#  plugin. To install this plugin and make it available under the help contents
+# menu in Eclipse, the contents of the directory containing the HTML and XML
+# files needs to be copied into the plugins directory of eclipse. The name of
+# the directory within the plugins directory should be the same as
+# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before the help appears.
+
+GENERATE_ECLIPSEHELP   = NO
+
+# A unique identifier for the eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have
+# this name.
+
+ECLIPSE_DOC_ID         = org.doxygen.Project
+
+# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
+# top of each HTML page. The value NO (the default) enables the index and
+# the value YES disables it.
+
+DISABLE_INDEX          = NO
+
+# This tag can be used to set the number of enum values (range [1..20])
+# that doxygen will group on one line in the generated HTML documentation.
+
+ENUM_VALUES_PER_LINE   = 4
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information.
+# If the tag value is set to YES, a side panel will be generated
+# containing a tree-like index structure (just like the one that
+# is generated for HTML Help). For this to work a browser that supports
+# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser).
+# Windows users are probably better off using the HTML help feature.
+
+GENERATE_TREEVIEW      = NO
+
+# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories,
+# and Class Hierarchy pages using a tree view instead of an ordered list.
+
+USE_INLINE_TREES       = NO
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
+# used to set the initial width (in pixels) of the frame in which the tree
+# is shown.
+
+TREEVIEW_WIDTH         = 250
+
+# Use this tag to change the font size of Latex formulas included
+# as images in the HTML documentation. The default is 10. Note that
+# when you change the font size after a successful doxygen run you need
+# to manually remove any form_*.png images from the HTML output directory
+# to force them to be regenerated.
+
+FORMULA_FONTSIZE       = 10
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for the HTML output. The underlying search engine uses javascript
+# and DHTML and should work on any modern browser. Note that when using HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) there is already a search function so this one should
+# typically be disabled. For large projects the javascript based search engine
+# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution.
+
+SEARCHENGINE           = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be implemented using a PHP enabled web server instead of at the web client using Javascript. Doxygen will generate the search PHP script and index
+# file to put on the web server. The advantage of the server based approach is that it scales better to large projects and allows full text search. The disadvances is that it is more difficult to setup
+# and does not have live searching capabilities.
+
+SERVER_BASED_SEARCH    = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
+# generate Latex output.
+
+GENERATE_LATEX         = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `latex' will be used as the default path.
+
+LATEX_OUTPUT           = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked. If left blank `latex' will be used as the default command name.
+# Note that when enabling USE_PDFLATEX this option is only used for
+# generating bitmaps for formulas in the HTML output, but not in the
+# Makefile that is written to the output directory.
+
+LATEX_CMD_NAME         = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
+# generate index for LaTeX. If left blank `makeindex' will be used as the
+# default command name.
+
+MAKEINDEX_CMD_NAME     = makeindex
+
+# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
+# LaTeX documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_LATEX          = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used
+# by the printer. Possible values are: a4, a4wide, letter, legal and
+# executive. If left blank a4wide will be used.
+
+PAPER_TYPE             = a4wide
+
+# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
+# packages that should be included in the LaTeX output.
+
+EXTRA_PACKAGES         =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
+# the generated latex document. The header should contain everything until
+# the first chapter. If it is left blank doxygen will generate a
+# standard header. Notice: only use this tag if you know what you are doing!
+
+LATEX_HEADER           =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
+# is prepared for conversion to pdf (using ps2pdf). The pdf file will
+# contain links (just like the HTML output) instead of page references
+# This makes the output suitable for online browsing using a pdf viewer.
+
+PDF_HYPERLINKS         = YES
+
+# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
+# plain latex in the generated Makefile. Set this option to YES to get a
+# higher quality PDF documentation.
+
+USE_PDFLATEX           = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
+# command to the generated LaTeX files. This will instruct LaTeX to keep
+# running if errors occur, instead of asking the user for help.
+# This option is also used when generating formulas in HTML.
+
+LATEX_BATCHMODE        = NO
+
+# If LATEX_HIDE_INDICES is set to YES then doxygen will not
+# include the index chapters (such as File Index, Compound Index, etc.)
+# in the output.
+
+LATEX_HIDE_INDICES     = NO
+
+# If LATEX_SOURCE_CODE is set to YES then doxygen will include source code with syntax highlighting in the LaTeX output. Note that which sources are shown also depends on other settings such as SOURCE_BROWSER.
+
+LATEX_SOURCE_CODE      = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
+# The RTF output is optimized for Word 97 and may not look very pretty with
+# other RTF readers or editors.
+
+GENERATE_RTF           = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `rtf' will be used as the default path.
+
+RTF_OUTPUT             = rtf
+
+# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
+# RTF documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_RTF            = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
+# will contain hyperlink fields. The RTF file will
+# contain links (just like the HTML output) instead of page references.
+# This makes the output suitable for online browsing using WORD or other
+# programs which support those fields.
+# Note: wordpad (write) and others do not support links.
+
+RTF_HYPERLINKS         = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# config file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+
+RTF_STYLESHEET_FILE    =
+
+# Set optional variables used in the generation of an rtf document.
+# Syntax is similar to doxygen's config file.
+
+RTF_EXTENSIONS_FILE    =
+
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
+# generate man pages
+
+GENERATE_MAN           = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `man' will be used as the default path.
+
+MAN_OUTPUT             = man
+
+# The MAN_EXTENSION tag determines the extension that is added to
+# the generated man pages (default is the subroutine's section .3)
+
+MAN_EXTENSION          = .3
+
+# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
+# then it will generate one additional man file for each entity
+# documented in the real man page(s). These additional files
+# only source the real man page, but without them the man command
+# would be unable to find the correct page. The default is NO.
+
+MAN_LINKS              = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES Doxygen will
+# generate an XML file that captures the structure of
+# the code including all documentation.
+
+GENERATE_XML           = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `xml' will be used as the default path.
+
+XML_OUTPUT             = xml
+
+# The XML_SCHEMA tag can be used to specify an XML schema,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_SCHEMA             =
+
+# The XML_DTD tag can be used to specify an XML DTD,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_DTD                =
+
+# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
+# dump the program listings (including syntax highlighting
+# and cross-referencing information) to the XML output. Note that
+# enabling this will significantly increase the size of the XML output.
+
+XML_PROGRAMLISTING     = YES
+
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
+# generate an AutoGen Definitions (see autogen.sf.net) file
+# that captures the structure of the code including all
+# documentation. Note that this feature is still experimental
+# and incomplete at the moment.
+
+GENERATE_AUTOGEN_DEF   = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES Doxygen will
+# generate a Perl module file that captures the structure of
+# the code including all documentation. Note that this
+# feature is still experimental and incomplete at the
+# moment.
+
+GENERATE_PERLMOD       = NO
+
+# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
+# the necessary Makefile rules, Perl scripts and LaTeX code to be able
+# to generate PDF and DVI output from the Perl module output.
+
+PERLMOD_LATEX          = NO
+
+# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
+# nicely formatted so it can be parsed by a human reader.
+# This is useful
+# if you want to understand what is going on.
+# On the other hand, if this
+# tag is set to NO the size of the Perl module output will be much smaller
+# and Perl will parse it just the same.
+
+PERLMOD_PRETTY         = YES
+
+# The names of the make variables in the generated doxyrules.make file
+# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
+# This is useful so different doxyrules.make files included by the same
+# Makefile don't overwrite each other's variables.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
+# evaluate all C-preprocessor directives found in the sources and include
+# files.
+
+ENABLE_PREPROCESSING   = YES
+
+# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
+# names in the source code. If set to NO (the default) only conditional
+# compilation will be performed. Macro expansion can be done in a controlled
+# way by setting EXPAND_ONLY_PREDEF to YES.
+
+MACRO_EXPANSION        = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
+# then the macro expansion is limited to the macros specified with the
+# PREDEFINED and EXPAND_AS_DEFINED tags.
+
+EXPAND_ONLY_PREDEF     = NO
+
+# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
+# in the INCLUDE_PATH (see below) will be search if a #include is found.
+
+SEARCH_INCLUDES        = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by
+# the preprocessor.
+
+INCLUDE_PATH           =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will
+# be used.
+
+INCLUDE_FILE_PATTERNS  =
+
+# The PREDEFINED tag can be used to specify one or more macro names that
+# are defined before the preprocessor is started (similar to the -D option of
+# gcc). The argument of the tag is a list of macros of the form: name
+# or name=definition (no spaces). If the definition and the = are
+# omitted =1 is assumed. To prevent a macro definition from being
+# undefined via #undef or recursively expanded use the := operator
+# instead of the = operator.
+
+PREDEFINED             =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
+# this tag can be used to specify a list of macro names that should be expanded.
+# The macro definition that is found in the sources will be used.
+# Use the PREDEFINED tag if you want to use a different macro definition.
+
+EXPAND_AS_DEFINED      =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
+# doxygen's preprocessor will remove all function-like macros that are alone
+# on a line, have an all uppercase name, and do not end with a semicolon. Such
+# function macros are typically used for boiler-plate code, and will confuse
+# the parser if not removed.
+
+SKIP_FUNCTION_MACROS   = YES
+
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES option can be used to specify one or more tagfiles.
+# Optionally an initial location of the external documentation
+# can be added for each tagfile. The format of a tag file without
+# this location is as follows:
+#
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+#
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where "loc1" and "loc2" can be relative or absolute paths or
+# URLs. If a location is present for each tag, the installdox tool
+# does not have to be run to correct the links.
+# Note that each tag file must have a unique name
+# (where the name does NOT include the path)
+# If a tag file is not located in the directory in which doxygen
+# is run, you must also specify the path to the tagfile here.
+
+TAGFILES               =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create
+# a tag file that is based on the input files it reads.
+
+GENERATE_TAGFILE       =
+
+# If the ALLEXTERNALS tag is set to YES all external classes will be listed
+# in the class index. If set to NO only the inherited external classes
+# will be listed.
+
+ALLEXTERNALS           = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will
+# be listed.
+
+EXTERNAL_GROUPS        = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of `which perl').
+
+PERL_PATH              = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
+# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
+# or super classes. Setting the tag to NO turns the diagrams off. Note that
+# this option is superseded by the HAVE_DOT option below. This is only a
+# fallback. It is recommended to install and use dot, since it yields more
+# powerful graphs.
+
+CLASS_DIAGRAMS         = YES
+
+# You can define message sequence charts within doxygen comments using the \msc
+# command. Doxygen will then run the mscgen tool (see
+# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the
+# documentation. The MSCGEN_PATH tag allows you to specify the directory where
+# the mscgen tool resides. If left empty the tool is assumed to be found in the
+# default search path.
+
+MSCGEN_PATH            =
+
+# If set to YES, the inheritance and collaboration graphs will hide
+# inheritance and usage relations if the target is undocumented
+# or is not a class.
+
+HIDE_UNDOC_RELATIONS   = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz, a graph visualization
+# toolkit from AT&T and Lucent Bell Labs. The other options in this section
+# have no effect if this option is set to NO (the default)
+
+HAVE_DOT               = NO
+
+# By default doxygen will write a font called FreeSans.ttf to the output
+# directory and reference it in all dot files that doxygen generates. This
+# font does not include all possible unicode characters however, so when you need
+# these (or just want a differently looking font) you can specify the font name
+# using DOT_FONTNAME. You need need to make sure dot is able to find the font,
+# which can be done by putting it in a standard location or by setting the
+# DOTFONTPATH environment variable or by setting DOT_FONTPATH to the directory
+# containing the font.
+
+DOT_FONTNAME           = FreeSans
+
+# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs.
+# The default size is 10pt.
+
+DOT_FONTSIZE           = 10
+
+# By default doxygen will tell dot to use the output directory to look for the
+# FreeSans.ttf font (which doxygen will put there itself). If you specify a
+# different font using DOT_FONTNAME you can set the path where dot
+# can find it using this tag.
+
+DOT_FONTPATH           =
+
+# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect inheritance relations. Setting this tag to YES will force the
+# the CLASS_DIAGRAMS tag to NO.
+
+CLASS_GRAPH            = YES
+
+# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect implementation dependencies (inheritance, containment, and
+# class references variables) of the class with other documented classes.
+
+COLLABORATION_GRAPH    = YES
+
+# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for groups, showing the direct groups dependencies
+
+GROUP_GRAPHS           = YES
+
+# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+
+UML_LOOK               = NO
+
+# If set to YES, the inheritance and collaboration graphs will show the
+# relations between templates and their instances.
+
+TEMPLATE_RELATIONS     = NO
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
+# tags are set to YES then doxygen will generate a graph for each documented
+# file showing the direct and indirect include dependencies of the file with
+# other documented files.
+
+INCLUDE_GRAPH          = YES
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
+# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
+# documented header file showing the documented files that directly or
+# indirectly include this file.
+
+INCLUDED_BY_GRAPH      = YES
+
+# If the CALL_GRAPH and HAVE_DOT options are set to YES then
+# doxygen will generate a call dependency graph for every global function
+# or class method. Note that enabling this option will significantly increase
+# the time of a run. So in most cases it will be better to enable call graphs
+# for selected functions only using the \callgraph command.
+
+CALL_GRAPH             = NO
+
+# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then
+# doxygen will generate a caller dependency graph for every global function
+# or class method. Note that enabling this option will significantly increase
+# the time of a run. So in most cases it will be better to enable caller
+# graphs for selected functions only using the \callergraph command.
+
+CALLER_GRAPH           = NO
+
+# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
+# will graphical hierarchy of all classes instead of a textual one.
+
+GRAPHICAL_HIERARCHY    = YES
+
+# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES
+# then doxygen will show the dependencies a directory has on other directories
+# in a graphical way. The dependency relations are determined by the #include
+# relations between the files in the directories.
+
+DIRECTORY_GRAPH        = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. Possible values are png, jpg, or gif
+# If left blank png will be used.
+
+DOT_IMAGE_FORMAT       = png
+
+# The tag DOT_PATH can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+
+DOT_PATH               =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the
+# \dotfile command).
+
+DOTFILE_DIRS           =
+
+# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of
+# nodes that will be shown in the graph. If the number of nodes in a graph
+# becomes larger than this value, doxygen will truncate the graph, which is
+# visualized by representing a node as a red box. Note that doxygen if the
+# number of direct children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note
+# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+
+DOT_GRAPH_MAX_NODES    = 50
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
+# graphs generated by dot. A depth value of 3 means that only nodes reachable
+# from the root by following a path via at most 3 edges will be shown. Nodes
+# that lay further from the root node will be omitted. Note that setting this
+# option to 1 or 2 may greatly reduce the computation time needed for large
+# code bases. Also note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+
+MAX_DOT_GRAPH_DEPTH    = 0
+
+# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
+# background. This is disabled by default, because dot on Windows does not
+# seem to support this out of the box. Warning: Depending on the platform used,
+# enabling this option may lead to badly anti-aliased labels on the edges of
+# a graph (i.e. they become hard to read).
+
+DOT_TRANSPARENT        = NO
+
+# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10)
+# support this, this feature is disabled by default.
+
+DOT_MULTI_TARGETS      = YES
+
+# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
+# generate a legend page explaining the meaning of the various boxes and
+# arrows in the dot generated graphs.
+
+GENERATE_LEGEND        = YES
+
+# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
+# remove the intermediate dot files that are used to generate
+# the various graphs.
+
+DOT_CLEANUP            = YES
diff --git a/src/Makefile b/src/Makefile
new file mode 100644
index 0000000..3bbcd41
--- /dev/null
+++ b/src/Makefile
@@ -0,0 +1,11 @@
+BINARY		 = firmware
+OBJS			+= main.o board_stm32.o device_serial.o device_led.o device_dcmotor.o device_bumpersensor.o device_refsensor.o device_button.o
+OBJS			+= shell.o shell_serial.o delay.o sensors.o actors.o drive_control.o shell_m2m.o config.o
+
+include ../common.mk
+
+check: $(SRC)
+	$(CHECKER) $(CHECKERFLAGS) $(SRC)
+
+gen-docs: $(HDR) $(SRC) 
+	$(DOXYGEN) $(DOXYGENFLAGS)
diff --git a/src/actors.c b/src/actors.c
new file mode 100644
index 0000000..fae2591
--- /dev/null
+++ b/src/actors.c
@@ -0,0 +1,101 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "actors.h"
+#include "board.h"
+#include "device_dcmotor.h"
+
+actor_states actors = {
+     .vehicle = {
+          .direction = VEHICLE_DIR_NONE,
+     },
+};
+
+void actor_vehicle_break()
+{
+     actors.vehicle.direction = VEHICLE_DIR_NONE;
+
+     dcmotor_break(&dcmotor_left);
+     dcmotor_break(&dcmotor_right);
+}
+
+void actor_vehicle_forward()
+{
+     actors.vehicle.direction = VEHICLE_DIR_FORWARD;
+
+     dcmotor_ccw(&dcmotor_left);
+     dcmotor_ccw(&dcmotor_right);
+}
+
+void actor_vehicle_forward_left()
+{
+     actors.vehicle.direction = VEHICLE_DIR_FORWARD_LEFT;
+
+     dcmotor_break(&dcmotor_left);
+     dcmotor_ccw(&dcmotor_right);
+}
+
+void actor_vehicle_forward_right()
+{
+     actors.vehicle.direction = VEHICLE_DIR_FORWARD_RIGHT;
+
+     dcmotor_ccw(&dcmotor_left);
+     dcmotor_break(&dcmotor_right);
+}
+
+void actor_vehicle_backward()
+{
+     actors.vehicle.direction = VEHICLE_DIR_BACKWARD;
+
+     dcmotor_cw(&dcmotor_left);
+     dcmotor_cw(&dcmotor_right);
+}
+
+void actor_vehicle_backward_left()
+{
+     actors.vehicle.direction = VEHICLE_DIR_BACKWARD_LEFT;
+
+     dcmotor_break(&dcmotor_left);
+     dcmotor_cw(&dcmotor_right);
+}
+
+void actor_vehicle_backward_right()
+{
+     actors.vehicle.direction = VEHICLE_DIR_BACKWARD_RIGHT;
+
+     dcmotor_cw(&dcmotor_left);
+     dcmotor_break(&dcmotor_right);
+}
+
+void actor_vehicle_turn_left()
+{
+     actors.vehicle.direction = VEHICLE_DIR_TURN_LEFT;
+
+     dcmotor_cw(&dcmotor_left);
+     dcmotor_ccw(&dcmotor_right);
+}
+
+void actor_vehicle_turn_right()
+{
+     actors.vehicle.direction = VEHICLE_DIR_TURN_RIGHT;
+
+     dcmotor_ccw(&dcmotor_left);
+     dcmotor_cw(&dcmotor_right);
+}
+
diff --git a/src/board_stm32.c b/src/board_stm32.c
new file mode 100644
index 0000000..592a4d6
--- /dev/null
+++ b/src/board_stm32.c
@@ -0,0 +1,250 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/usart.h>
+
+#include "board.h"
+#include "device_serial.h"
+#include "device_led.h"
+#include "device_dcmotor.h"
+#include "device_bumpersensor.h"
+#include "device_refsensor.h"
+#include "device_button.h"
+
+// Define serial port
+device_data_serial serial_data = {
+     .usart	= USART1,
+     .port	= GPIOA,
+     .pin_tx	= GPIO_USART1_TX,
+     .pin_rx	= GPIO_USART1_RX,
+     .baud	= 38400,
+     .irq_en	= USART_CR1_RXNEIE,
+};
+
+device serial = {
+     .id 		= "SERIAL",
+     .rcc_reg 	= &RCC_APB2ENR,
+     .rcc_en  	= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_USART1EN,
+     .data	= (device_data *)&serial_data,
+     .init 	= serial_init,
+};
+
+// Define starus LEDs
+device_data_led status_led1_data = {
+     .port 	= GPIOC,
+     .pin 	= GPIO8,
+};
+
+device_data_led status_led2_data = {
+     .port 	= GPIOC,
+     .pin 	= GPIO9,
+};
+
+device status_led1 = {
+     .id 		= "LED1",
+     .rcc_reg 	= &RCC_APB2ENR,
+     .rcc_en  	= RCC_APB2ENR_IOPCEN,
+     .data	= (device_data *)&status_led1_data,
+     .init 	= led_init,
+};
+
+device status_led2 = {
+     .id 		= "LED2",
+     .rcc_reg 	= &RCC_APB2ENR,
+     .rcc_en  	= RCC_APB2ENR_IOPCEN,
+     .data	= (device_data *)&status_led2_data,
+     .init 	= led_init,
+};
+
+// Define the DC motors
+device_data_dcmotor dcmotor_left_data = {
+     .port_ctrl1	= GPIOB,	// AIN1 @ PA5
+     .pin_ctrl1	= GPIO5,
+     .port_ctrl2	= GPIOC,	// AIN2 @ PC12
+     .pin_ctrl2	= GPIO12,
+     .port_pwm		= GPIOC,	// PWMA @ PC11
+     .pin_pwm		= GPIO11,
+};
+
+device_data_dcmotor dcmotor_right_data = {
+     .port_ctrl1	= GPIOB,	// BIN1 @ PB7
+     .pin_ctrl1	= GPIO7,
+     .port_ctrl2	= GPIOB,	// BIN2 @ PB8
+     .pin_ctrl2	= GPIO8,
+     .port_pwm		= GPIOB,	// PWMB @ PB9
+     .pin_pwm		= GPIO9,
+};
+
+device dcmotor_left = {
+     .id 		= "DC_MOT_LEFT",
+     .rcc_reg 	= &RCC_APB2ENR,
+     .rcc_en  	= RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN,
+     .data	= (device_data *)&dcmotor_left_data,
+     .init 	= dcmotor_init,
+};
+
+device dcmotor_right = {
+     .id 		= "DC_MOT_RIGHT",
+     .rcc_reg 	= &RCC_APB2ENR,
+     .rcc_en  	= RCC_APB2ENR_IOPBEN,
+     .data	= (device_data *)&dcmotor_right_data,
+     .init 	= dcmotor_init,
+};
+
+// Define the bumper sensors
+device_data_bumpersensor bumpersensor_left_data = {
+     .port 	= GPIOA,		// Left bumper @ PA1
+     .pin 	= GPIO1,
+};
+
+device_data_bumpersensor bumpersensor_right_data = {
+     .port 	= GPIOA,		// Right bumper @ PA2
+     .pin 	= GPIO2,
+};
+
+device bumpersensor_left = {
+     .id 		= "BUMPER_LEFT",
+     .rcc_reg 	= &RCC_APB2ENR,
+     .rcc_en  	= RCC_APB2ENR_IOPAEN,
+     .data	= (device_data *)&bumpersensor_left_data,
+     .init 	= bumpersensor_init,
+};
+
+device bumpersensor_right = {
+     .id 		= "BUMPER_RIGHT",
+     .rcc_reg 	= &RCC_APB2ENR,
+     .rcc_en  	= RCC_APB2ENR_IOPAEN,
+     .data	= (device_data *)&bumpersensor_right_data,
+     .init 	= bumpersensor_init,
+};
+
+// Define the reflection sensors
+device_data_refsensor refsensor_left_data = {
+     .port 	= GPIOA,		// Left refsensor @ PA3
+     .pin 	= GPIO3,
+};
+
+device_data_refsensor refsensor_right_data = {
+     .port 	= GPIOA,		// Right refsensor @ PA4
+     .pin 	= GPIO4,
+};
+
+device refsensor_left = {
+     .id 		= "REF_LEFT",
+     .rcc_reg 	= &RCC_APB2ENR,
+     .rcc_en  	= RCC_APB2ENR_IOPAEN,
+     .data	= (device_data *)&refsensor_left_data,
+     .init 	= refsensor_init,
+};
+
+device refsensor_right = {
+     .id 		= "REF_RIGHT",
+     .rcc_reg 	= &RCC_APB2ENR,
+     .rcc_en  	= RCC_APB2ENR_IOPAEN,
+     .data	= (device_data *)&refsensor_right_data,
+     .init 	= refsensor_init,
+};
+
+// Define the user button
+device_data_button button_user1_data = {
+     .port 	= GPIOA,		// user button 1 @ PA0
+     .pin 	= GPIO0,
+};
+
+device button_user1 = {
+     .id 		= "BUTT_USER1",
+     .rcc_reg 	= &RCC_APB2ENR,
+     .rcc_en  	= RCC_APB2ENR_IOPAEN,
+     .data	= (device_data *)&button_user1_data,
+     .init 	= button_init,
+};
+
+// All my board devcies
+board_devices my_devices = {
+     .size = 10,
+     .device_array = {
+          &serial,
+          &status_led1,
+          &status_led2,
+          &dcmotor_left,
+          &dcmotor_right,
+          &bumpersensor_left,
+          &bumpersensor_right,
+          &refsensor_left,
+          &refsensor_right,
+          &button_user1,
+     },
+};
+
+void board_init_rcc(board_devices *devs)
+{
+     int i;
+
+     uint32_t apb1en = 0;
+     uint32_t apb2en = 0;
+
+     for(i = 0; i < devs->size; i++) {
+          if(devs->device_array[i]->rcc_reg == &RCC_APB1ENR) {
+               apb1en |= devs->device_array[i]->rcc_en;
+          } else if(devs->device_array[i]->rcc_reg == &RCC_APB2ENR) {
+               apb2en |= devs->device_array[i]->rcc_en;
+          }
+     }
+
+     rcc_clock_setup_in_hse_8mhz_out_24mhz();
+     // rcc_clock_setup_in_hse_8mhz_out_72mhz();
+
+     if(apb1en != 0) {
+          rcc_peripheral_enable_clock(&RCC_APB1ENR, apb1en);
+     }
+     if(apb2en != 0) {
+          rcc_peripheral_enable_clock(&RCC_APB2ENR, apb2en);
+     }
+}
+
+void board_init_devices(board_devices *devs)
+{
+     int i;
+
+     for(i = 0; i < devs->size; i++) {
+          (devs->device_array[i]->init)(devs->device_array[i]->data);
+     }
+}
+
+void board_init()
+{
+     board_init_rcc(&my_devices);
+     board_init_devices(&my_devices);
+}
+
+void board_init_systick(uint8_t clocksource, uint32_t reload)
+{
+
+     systick_set_clocksource(clocksource);
+     systick_set_reload(reload);
+     systick_interrupt_enable();
+     systick_counter_enable();
+}
+
+void board_init_rtc()
+{
+     rtc_auto_awake(LSE, 0x7fff);
+}
diff --git a/src/config.c b/src/config.c
new file mode 100644
index 0000000..cc8b0c6
--- /dev/null
+++ b/src/config.c
@@ -0,0 +1,28 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "config.h"
+
+app_config config = {
+     .shell_do_echo = 0,
+     .shell_do_prompt = 0,
+     .drive_control_auto = 0,
+     .enable_events = 1,
+};
+
diff --git a/src/delay.c b/src/delay.c
new file mode 100644
index 0000000..8eb7060
--- /dev/null
+++ b/src/delay.c
@@ -0,0 +1,27 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "delay.h"
+
+void delay(int cnt)
+{
+     int i;
+
+     for (i = 0; i < cnt; i++) __asm__("nop");
+}
diff --git a/src/device_bumpersensor.c b/src/device_bumpersensor.c
new file mode 100644
index 0000000..f5ca5b7
--- /dev/null
+++ b/src/device_bumpersensor.c
@@ -0,0 +1,45 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/gpio.h>
+
+#include "device_bumpersensor.h"
+
+void bumpersensor_init(device_data *data)
+{
+     device_data_bumpersensor *dd = (device_data_bumpersensor *)data;
+
+     gpio_set_mode(dd->port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, dd->pin);
+}
+
+int bumpersensor_obstacle_detected(device *dev)
+{
+     device_data_bumpersensor *dd = (device_data_bumpersensor *)dev->data;
+
+     return ((GPIO_IDR(dd->port) & dd->pin) == 0);
+}
+
+void bumpersensor_obstacle_detected_multi(device_ref devices[], int values[], int num_devices)
+{
+     int i;
+
+     for(i = 0; i < num_devices; i++) {
+          values[i] = bumpersensor_obstacle_detected(devices[i]);
+     }
+}
diff --git a/src/device_button.c b/src/device_button.c
new file mode 100644
index 0000000..35b5928
--- /dev/null
+++ b/src/device_button.c
@@ -0,0 +1,53 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/gpio.h>
+
+#include "device_button.h"
+
+void button_init(device_data *data)
+{
+     device_data_button *dd = (device_data_button *)data;
+
+     gpio_set_mode(dd->port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, dd->pin);
+}
+
+void button_init_pullup(device_data *data)
+{
+     device_data_button *dd = (device_data_button *)data;
+
+     gpio_set_mode(dd->port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, dd->pin);
+     gpio_set(dd->port, dd->pin);
+}
+
+void button_init_pulldown(device_data *data)
+{
+     device_data_button *dd = (device_data_button *)data;
+
+     gpio_set_mode(dd->port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, dd->pin);
+     gpio_clear(dd->port, dd->pin);
+}
+
+int button_is_pressed(device *dev)
+{
+     device_data_button *dd = (device_data_button *)dev->data;
+
+     return !((GPIO_IDR(dd->port) & dd->pin) == 0);
+}
+
diff --git a/src/device_dcmotor.c b/src/device_dcmotor.c
new file mode 100644
index 0000000..f5408d2
--- /dev/null
+++ b/src/device_dcmotor.c
@@ -0,0 +1,66 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/gpio.h>
+
+#include "device_dcmotor.h"
+
+void dcmotor_init(device_data *data)
+{
+     device_data_dcmotor *dd = (device_data_dcmotor *)data;
+
+     gpio_set_mode(dd->port_ctrl1, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, dd->pin_ctrl1);
+     gpio_set_mode(dd->port_ctrl2, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, dd->pin_ctrl2);
+     gpio_set_mode(dd->port_pwm, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, dd->pin_pwm);
+
+     // set PWM by default to high (full motor speed)
+     gpio_set(dd->port_pwm, dd->pin_pwm);
+}
+
+void dcmotor_cw(device *dev)
+{
+     device_data_dcmotor *dd = (device_data_dcmotor *)dev->data;
+
+     gpio_set(dd->port_ctrl1, dd->pin_ctrl1);
+     gpio_clear(dd->port_ctrl2, dd->pin_ctrl2);
+}
+
+void dcmotor_ccw(device *dev)
+{
+     device_data_dcmotor *dd = (device_data_dcmotor *)dev->data;
+
+     gpio_clear(dd->port_ctrl1, dd->pin_ctrl1);
+     gpio_set(dd->port_ctrl2, dd->pin_ctrl2);
+}
+
+void dcmotor_break(device *dev)
+{
+     device_data_dcmotor *dd = (device_data_dcmotor *)dev->data;
+
+     gpio_set(dd->port_ctrl1, dd->pin_ctrl1);
+     gpio_set(dd->port_ctrl2, dd->pin_ctrl2);
+}
+
+void dcmotor_float(device *dev)
+{
+     device_data_dcmotor *dd = (device_data_dcmotor *)dev->data;
+
+     gpio_clear(dd->port_ctrl1, dd->pin_ctrl1);
+     gpio_clear(dd->port_ctrl2, dd->pin_ctrl2);
+}
diff --git a/src/device_led.c b/src/device_led.c
new file mode 100644
index 0000000..bc636a8
--- /dev/null
+++ b/src/device_led.c
@@ -0,0 +1,49 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/gpio.h>
+
+#include "device_led.h"
+
+void led_init(device_data *data)
+{
+     device_data_led *dd = (device_data_led *)data;
+
+     gpio_set_mode(dd->port, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, dd->pin);
+}
+
+void led_on(device *dev)
+{
+     device_data_led *dd = (device_data_led *)dev->data;
+
+     gpio_set(dd->port, dd->pin);
+}
+
+void led_off(device *dev)
+{
+     device_data_led *dd = (device_data_led *)dev->data;
+     gpio_clear(dd->port, dd->pin);
+}
+
+void led_toggle(device *dev)
+{
+     device_data_led *dd = (device_data_led *)dev->data;
+
+     gpio_toggle(dd->port, dd->pin);
+}
diff --git a/src/device_refsensor.c b/src/device_refsensor.c
new file mode 100644
index 0000000..f07221d
--- /dev/null
+++ b/src/device_refsensor.c
@@ -0,0 +1,93 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/gpio.h>
+
+#include "device_refsensor.h"
+
+void refsensor_init(device_data *data)
+{
+     device_data_refsensor *dd = (device_data_refsensor *)data;
+
+     gpio_set_mode(dd->port, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, dd->pin);
+     gpio_set(dd->port, dd->pin);
+}
+
+void refsensor_start_charge(device *dev)
+{
+     device_data_refsensor *dd = (device_data_refsensor *)dev->data;
+
+     gpio_set_mode(dd->port, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, dd->pin);
+     gpio_set(dd->port, dd->pin);
+}
+
+void refsensor_start_charge_multi(device_ref devices[], int num_devices)
+{
+
+     int i;
+
+     for(i = 0; i < num_devices; i++) {
+          refsensor_start_charge(devices[i]);
+     }
+}
+
+int refsensor_measure(device *dev)
+{
+
+     int value = 0;
+     device_data_refsensor *dd = (device_data_refsensor *)dev->data;
+
+     gpio_set_mode(dd->port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, dd->pin);
+
+     while(!((GPIO_IDR(dd->port) & dd->pin) == 0) && value < REFSENSOR_MAX_VALUE) {
+          value++;
+     }
+
+     return value;
+}
+
+void refsensor_measure_multi(device_ref devices[], int values[], int num_devices)
+{
+
+     int i;
+     int num_measured;
+     device_data_refsensor *dd;
+
+     // start discharge
+     for(i = 0; i < num_devices; i++) {
+          dd = (device_data_refsensor *)devices[i]->data;
+          gpio_set_mode(dd->port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, dd->pin);
+          values[i] = 0;
+     }
+
+     // measure discharging time
+     do {
+          num_measured = 0;
+
+          for(i = 0; i < num_devices; i++) {
+               dd = (device_data_refsensor *)devices[i]->data;
+
+               if(!((GPIO_IDR(dd->port) & dd->pin) == 0) && values[i] < REFSENSOR_MAX_VALUE) {
+                    values[i]++;
+                    num_measured++;
+               }
+          }
+     } while(num_measured > 0);
+}
+
diff --git a/src/device_serial.c b/src/device_serial.c
new file mode 100644
index 0000000..8aa17b9
--- /dev/null
+++ b/src/device_serial.c
@@ -0,0 +1,91 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/stm32/nvic.h>
+
+#include "board.h"
+#include "device_serial.h"
+
+void serial_init(device_data *data)
+{
+     device_data_serial *dd = (device_data_serial *)data;
+
+     gpio_set_mode(dd->port, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, dd->pin_tx);
+     gpio_set_mode(dd->port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, dd->pin_rx);
+
+     USART_BRR(dd->usart) = (uint16_t)((BOARD_SPEED_IN_MHZ  * 1000000 << 4) / (dd->baud * 16));
+
+     usart_set_databits(dd->usart, 8);
+     usart_set_stopbits(dd->usart, USART_STOPBITS_1);
+     usart_set_mode(dd->usart, USART_MODE_TX_RX);
+     usart_set_parity(dd->usart, USART_PARITY_NONE);
+     usart_set_flow_control(dd->usart, USART_FLOWCONTROL_NONE);
+
+     if(dd->irq_en) {
+          USART_CR1(dd->usart) |= dd->irq_en;
+
+          switch(dd->usart) {
+          case USART1:
+               nvic_enable_irq(NVIC_USART1_IRQ);
+               break;
+          case USART2:
+               nvic_enable_irq(NVIC_USART2_IRQ);
+               break;
+          case USART3:
+               nvic_enable_irq(NVIC_USART3_IRQ);
+               break;
+               /*
+               			case USART4:
+               				nvic_enable_irq(NVIC_USART4_IRQ);
+               			break;
+               			case USART5:
+               				nvic_enable_irq(NVIC_USART5_IRQ);
+               			break;
+               */
+          }
+     }
+
+     usart_enable(dd->usart);
+}
+
+void serial_send(device *dev, uint16_t data)
+{
+     device_data_serial *dd = (device_data_serial *)dev->data;
+     usart_send(dd->usart, data);
+}
+
+uint16_t serial_recv(device *dev)
+{
+     device_data_serial *dd = (device_data_serial *)dev->data;
+     return usart_recv(dd->usart);
+}
+
+void serial_send_blocking(device *dev, uint16_t data)
+{
+     device_data_serial *dd = (device_data_serial *)dev->data;
+     usart_send_blocking(dd->usart,data);
+}
+
+uint16_t serial_recv_blocking(device *dev)
+{
+     device_data_serial *dd = (device_data_serial *)dev->data;
+     return usart_recv_blocking(dd->usart);
+}
diff --git a/src/drive_control.c b/src/drive_control.c
new file mode 100644
index 0000000..94d0627
--- /dev/null
+++ b/src/drive_control.c
@@ -0,0 +1,298 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/rtc.h>
+
+#include "sensors.h"
+#include "actors.h"
+#include "drive_control.h"
+
+#include "shell.h"
+
+/**
+ * If the PPM (pulses-per-minute) of the wheels goes below this
+ * threshold, the wheel is considered to be stuck.
+ */
+#define DRIVE_CTRL_PPM_LOW			 	 190
+
+/**
+ * If the PPM (pulses-per-minute) of the wheels goes above this
+ * threshold, the whill is considered to have no traction anay more.
+ */
+#define DRIVE_CTRL_PPM_HIGH				 320
+
+/**
+ * Sensors detected NO obstacle at all.
+ */
+#define DRIVE_CTRL_OBST_NONE			 0
+
+/**
+ * Sensors detected obstacle on FRONT LEFT.
+ */
+#define DRIVE_CTRL_OBST_FRONT_LEFT		 1
+
+/**
+ * Sensors detected obstacle on FRONT RIGHT.
+ */
+#define DRIVE_CTRL_OBST_FRONT_RIGHT	 	 2
+
+/**
+ * Sensors detected obstacle on FRONT LEFT + RIGHT.
+ */
+#define DRIVE_CTRL_OBST_FRONT_BOTH		 3
+
+/**
+ * Sensors detected obstacle on BACK LEFT.
+ */
+#define DRIVE_CTRL_OBST_BACK_LEFT		 4
+
+/**
+ * Sensors detected obstacle on BACK RIGHT.
+ */
+#define DRIVE_CTRL_OBST_BACK_RIGHT		 8
+
+/**
+ * Sensors detected obstacle on BACK LEFT+RIGHT.
+ */
+#define DRIVE_CTRL_OBST_BACK_BOTH		12
+
+/**
+ * Sensors detected obstacle on FRONT+BACK LEFT+RIGHT.
+ */
+#define DRIVE_CTRL_OBST_ALL				15
+
+/**
+ * Timestsmp holding the start time for following a path segment.
+ */
+int fps_start;
+
+/**
+ * Check all sensors, and agregate the result. A flag will be returned
+ * indicating, where an obstacle was detected.
+ *
+ * @param[in]	with_bumpers	set to 1 if bumper sensors should be taken into account
+ * @return		the obstacle flag, made up from the DRIVE_CTRL_OBST_x constants.
+ */
+int drive_control_agregate_sensors(int with_bumpers)
+{
+     int stat = DRIVE_CTRL_OBST_NONE;
+
+     int stuck_left  = 0;
+     int stuck_right = 0;
+
+     /**
+      * checking the PPM has to bedelayed, since it takes some time
+      * after starting moving the vehicle until a valid PPM value is
+      * available.
+      */
+     int now = rtc_get_counter_val();
+
+     if((now - fps_start >= 2) && (
+                    sensors.odometer_left.ppm < DRIVE_CTRL_PPM_LOW ||
+                    sensors.odometer_left.ppm > DRIVE_CTRL_PPM_HIGH)) {
+          stuck_left = 1;
+     }
+     if((now - fps_start >= 2) && (
+                    sensors.odometer_right.ppm < DRIVE_CTRL_PPM_LOW ||
+                    sensors.odometer_right.ppm >  DRIVE_CTRL_PPM_HIGH)) {
+          stuck_right = 1;
+     }
+
+     if(with_bumpers) {
+          if(sensors.bumper_left.hit) {
+               stat |= DRIVE_CTRL_OBST_FRONT_LEFT;
+          }
+          if(sensors.bumper_right.hit) {
+               stat |= DRIVE_CTRL_OBST_FRONT_RIGHT;
+          }
+     }
+
+     if(actors.vehicle.direction == VEHICLE_DIR_FORWARD) {
+          if(stuck_left) {
+               stat |= DRIVE_CTRL_OBST_FRONT_LEFT;
+          }
+          if(stuck_right) {
+               stat |= DRIVE_CTRL_OBST_FRONT_RIGHT;
+          }
+     } else if(actors.vehicle.direction == VEHICLE_DIR_BACKWARD) {
+          if(stuck_left) {
+               stat |= DRIVE_CTRL_OBST_BACK_LEFT;
+          }
+          if(stuck_right) {
+               stat |= DRIVE_CTRL_OBST_BACK_RIGHT;
+          }
+     } else if(actors.vehicle.direction == VEHICLE_DIR_FORWARD_LEFT && stuck_right) {
+          stat |= DRIVE_CTRL_OBST_FRONT_LEFT;
+     } else if(actors.vehicle.direction == VEHICLE_DIR_FORWARD_RIGHT && stuck_left) {
+          stat |= DRIVE_CTRL_OBST_FRONT_RIGHT;
+     } else if(actors.vehicle.direction == VEHICLE_DIR_BACKWARD_LEFT && stuck_right) {
+          stat |= DRIVE_CTRL_OBST_BACK_LEFT;
+     } else if(actors.vehicle.direction == VEHICLE_DIR_BACKWARD_RIGHT && stuck_left) {
+          stat |= DRIVE_CTRL_OBST_BACK_RIGHT;
+     }
+
+     return stat;
+}
+
+/**
+ * This function checks if an "emergency condition" is reached while drigin the vehicle.
+ * It will return 1 if the bumpers detected an obstacle, or if the wheels are considered
+ * to be stuck. Checking the bumpers could be disabled by setting "with_bumpers" to 0.
+ *
+ * @param[in]	with_bumpers	check bumpers = 1, ignore bumpers = 0
+ * @return 	1 on emergency conditon, 0 otherwise
+ */
+int drive_control_ems(int with_bumpers)
+{
+     int obst = drive_control_agregate_sensors(with_bumpers);
+
+     if(obst != DRIVE_CTRL_OBST_NONE) {
+          actor_vehicle_break();
+          shell_print("obstacle detected: ");
+          shell_println_int(obst);
+          return 1;
+     }
+
+     return 0;
+}
+
+/**
+ * Used in auto mode to decide which path segement to follow next.
+ *
+ * param[inioout]	*ps
+ */
+void drive_control_find_path(path_segment *ps)
+{
+     ps->count = 2;
+
+     int stat = drive_control_agregate_sensors(1);
+
+     switch(stat) {
+     case DRIVE_CTRL_OBST_ALL:
+//          shell_println("Completely stuck - giving up");
+          ps->direction = VEHICLE_DIR_NONE;
+          break;
+     case DRIVE_CTRL_OBST_FRONT_BOTH:
+//          shell_println("Obstacle left+right front");
+          ps->direction = VEHICLE_DIR_BACKWARD;
+          ps->count = 3;
+          break;
+     case DRIVE_CTRL_OBST_BACK_BOTH:
+//          shell_println("Obstacle left+right back");
+          ps->direction = VEHICLE_DIR_FORWARD;
+          ps->count = 0;
+          break;
+     case DRIVE_CTRL_OBST_FRONT_LEFT:
+//          shell_println("Obstacle left front");
+          ps->direction = VEHICLE_DIR_TURN_RIGHT;
+          break;
+     case DRIVE_CTRL_OBST_FRONT_RIGHT:
+//          shell_println("Obstacle right front");
+          ps->direction = VEHICLE_DIR_TURN_LEFT;
+          break;
+     case DRIVE_CTRL_OBST_BACK_LEFT:
+//          shell_println("Obstacle left back");
+          ps->direction = VEHICLE_DIR_TURN_RIGHT;
+          break;
+     case DRIVE_CTRL_OBST_BACK_RIGHT:
+//          shell_println("Obstacle right back");
+          ps->direction = VEHICLE_DIR_TURN_LEFT;
+          break;
+     case DRIVE_CTRL_OBST_NONE:
+//          shell_println("Obstacle none");
+          ps->direction = VEHICLE_DIR_FORWARD;
+          ps->count = 0;
+          break;
+     };
+}
+
+void drive_control_follow_path(path_segment *ps)
+{
+     fps_start = rtc_get_counter_val();
+
+     int b = 0;
+     int l = 0;
+     int r = 0;
+
+     int ol = sensors.odometer_left.count  + ps->count;
+     int or = sensors.odometer_right.count + ps->count;
+
+     switch(ps->direction) {
+     case VEHICLE_DIR_NONE:
+          actor_vehicle_break();
+          break;
+     case VEHICLE_DIR_FORWARD:
+          actor_vehicle_forward();
+          b = l = r = 1;
+          break;
+     case VEHICLE_DIR_BACKWARD:
+          actor_vehicle_backward();
+          l = r = 1;
+          break;
+     case VEHICLE_DIR_FORWARD_LEFT:
+          actor_vehicle_forward_left();
+          r = 1;
+          break;
+     case VEHICLE_DIR_FORWARD_RIGHT:
+          actor_vehicle_forward_right();
+          l = 1;
+          break;
+     case VEHICLE_DIR_BACKWARD_LEFT:
+          actor_vehicle_backward_left();
+          r = 1;
+          break;
+     case VEHICLE_DIR_BACKWARD_RIGHT:
+          actor_vehicle_backward_right();
+          l = 1;
+          break;
+     case VEHICLE_DIR_TURN_LEFT:
+          actor_vehicle_turn_left();
+          l = r = 1;
+          break;
+     case VEHICLE_DIR_TURN_RIGHT:
+          actor_vehicle_turn_right();
+          l = r = 1;
+          break;
+     }
+
+     if(ps->count > 0) {
+          while(!drive_control_ems(b) && actors.vehicle.direction != VEHICLE_DIR_NONE) {
+               if((l && sensors.odometer_left.count  >= ol) ||
+                         (r && sensors.odometer_right.count >= or)) {
+                    actor_vehicle_break();
+               }
+          }
+     }
+}
+
+void drive_control_auto()
+{
+     static path_segment ps = {
+          .count = 0,
+          .direction = VEHICLE_DIR_NONE,
+     };
+
+     // find path
+     drive_control_find_path(&ps);
+
+     // adapt move
+     drive_control_follow_path(&ps);
+}
+
diff --git a/src/firmware.ld b/src/firmware.ld
new file mode 100644
index 0000000..dab80aa
--- /dev/null
+++ b/src/firmware.ld
@@ -0,0 +1,30 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for ST STM32VLDISCOVERY (STM32F100RB, 128K flash, 8K RAM). */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
diff --git a/src/include/actors.h b/src/include/actors.h
new file mode 100644
index 0000000..57f877c
--- /dev/null
+++ b/src/include/actors.h
@@ -0,0 +1,138 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __ACTORS_H_
+#define __ACTORS_H_
+
+/**
+ * Vehicle is not moving at all.
+ */
+#define VEHICLE_DIR_NONE			0
+
+/**
+ * Vehicle is moving forward.
+ */
+#define VEHICLE_DIR_FORWARD		1
+
+/**
+ * Vehicle is moving backward.
+ */
+#define VEHICLE_DIR_BACKWARD		2
+
+/**
+ * Vehicle is moving forward-left.
+ */
+#define VEHICLE_DIR_FORWARD_LEFT	3
+
+/**
+ * Vehicle is moving forward-right.
+ */
+#define VEHICLE_DIR_FORWARD_RIGHT	4
+
+/**
+ * Vehicle is moving backward-left.
+ */
+#define VEHICLE_DIR_BACKWARD_LEFT	5
+
+/**
+ * Vehicle is moving backward-right.
+ */
+#define VEHICLE_DIR_BACKWARD_RIGHT	6
+
+/**
+ * Vehicle is turning left.
+ */
+#define VEHICLE_DIR_TURN_LEFT		7
+
+/**
+ * Vehicle is turning right.
+ */
+#define VEHICLE_DIR_TURN_RIGHT	8
+
+/**
+ * State of the actor "vehicle".
+ */
+typedef struct {
+     /**
+      * The direction in which the vehicle is currently moving (one of VEHICLE_DIR_xx).
+      */
+     int	direction;
+} actor_state_vehicle;
+
+/**
+ * The states of all actors.
+ */
+typedef struct {
+     /**
+      * The state of the actor "vehicle"
+      */
+     actor_state_vehicle	vehicle;
+} actor_states;
+
+/**
+ * Global variable holding the state of all actors.
+ */
+extern actor_states actors;
+
+/**
+ * Tell actor "vehicle" to break (stop).
+ */
+void actor_vehicle_break();
+
+/**
+ * Tell actor "vehicle" to move forward.
+ */
+void actor_vehicle_forward();
+
+/**
+ * Tell actor "vehicle" to move forward-left.
+ */
+void actor_vehicle_forward_left();
+
+/**
+ * Tell actor "vehicle" to move forward-right.
+ */
+void actor_vehicle_forward_right();
+
+/**
+ * Tell actor "vehicle" to move backward.
+ */
+void actor_vehicle_backward();
+
+/**
+ * Tell actor "vehicle" to move backward-left.
+ */
+void actor_vehicle_backward_left();
+
+/**
+ * Tell actor "vehicle" to move backward-right.
+ */
+void actor_vehicle_backward_right();
+
+/**
+ * Tell actor "vehicle" to turn left.
+ */
+void actor_vehicle_turn_left();
+
+/**
+ * Tell actor "vehicle" to turn right.
+ */
+void actor_vehicle_turn_right();
+
+#endif
diff --git a/src/include/board.h b/src/include/board.h
new file mode 100644
index 0000000..2a249fd
--- /dev/null
+++ b/src/include/board.h
@@ -0,0 +1,118 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __BOARD_H_
+#define __BOARD_H_
+
+#include <libopencm3/stm32/systick.h>
+
+#include <stdint.h>
+
+#include "device.h"
+
+/**
+ * Define the board speed in MHz (needed to clac baudrate for USARTs)
+ */
+#define BOARD_SPEED_IN_MHZ		24
+
+/**
+ * The serial USART device
+ */
+extern device serial;
+
+/**
+ * The 1st status LED
+ */
+extern device status_led1;
+
+/**
+ * The 2nd status LED
+ */
+extern device status_led2;
+
+/**
+ * The left DC motor
+ */
+extern device dcmotor_left;
+
+/**
+ * The right DC motor
+ */
+extern device dcmotor_right;
+
+/**
+ * The left bumper sensor
+ */
+extern device bumpersensor_left;
+
+/**
+ * The right bumper sensor
+ */
+extern device bumpersensor_right;
+
+/**
+ * The left reflection sensor
+ */
+extern device refsensor_left;
+
+/**
+ * The right reflection sensor
+ */
+extern device refsensor_right;
+
+/**
+ * The 1st user button
+ */
+extern device button_user1;
+
+/**
+ * Holds all the devices available for the board.
+ */
+typedef struct {
+     /**
+      * Number of devices in the array
+      */
+     int size;
+
+     /**
+      * Array with device definitions. The array size
+      * is given through the equally named member variable of this struct.
+      */
+     device_ref device_array[];
+} board_devices;
+
+/**
+ * Initialize the board and the assigned hardware. See {@link board_stm32.c}.
+ */
+void board_init();
+
+/**
+ * Init the systick interrupt. Calls {@link sys_tick_handler}.
+ *
+ * @param[in]	clocksource	the clock source devider
+ * @param[in]	reload		reload intervall
+ */
+void board_init_systick(uint8_t clocksource, uint32_t reload);
+
+/**
+ * Enable RTC. THe RTC gets updated every second.
+ */
+void board_init_rtc();
+
+#endif
diff --git a/src/include/config.h b/src/include/config.h
new file mode 100644
index 0000000..b4a9172
--- /dev/null
+++ b/src/include/config.h
@@ -0,0 +1,69 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __CONFIG_H_
+#define __CONFIG_H_
+
+/**
+ * Name of the application
+ */
+#define APP_NAME		"RobotControlFW"
+
+
+/**
+ * Version of the application
+ */
+#define APP_VERSION		"0.1"
+
+/**
+ * Shell prompt to dispaly (if enabled)
+ */
+#define SHELL_PROMPT	"rc> "
+
+/**
+ * Application configuration setable through shell etc.
+ */
+typedef struct {
+     /**
+      * Enable/disable echo of characters received on shell
+      */
+     int shell_do_echo;
+
+     /**
+      * Enable/disable displaying of shell prompt
+      */
+     int shell_do_prompt;
+
+     /**
+      * Enable/disable auto drive control
+      */
+     int drive_control_auto;
+
+     /**
+      * Enable/disable events dispalyed on the shell
+      */
+     int enable_events;
+} app_config;
+
+/**
+ * The global {@link app_config} instance
+ */
+extern app_config config;
+
+#endif
diff --git a/src/include/delay.h b/src/include/delay.h
new file mode 100644
index 0000000..f8ab1ee
--- /dev/null
+++ b/src/include/delay.h
@@ -0,0 +1,30 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __DELAY_H_
+#define __DELAY_H_
+
+/**
+ * Delay execution for cnt "nop" cycles.
+ *
+ * @param[in]	number of "nop" cycles to perform
+ */
+void delay(int cnt);
+
+#endif
diff --git a/src/include/device.h b/src/include/device.h
new file mode 100644
index 0000000..c7986db
--- /dev/null
+++ b/src/include/device.h
@@ -0,0 +1,74 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __DEVICE_H_
+#define __DEVICE_H_
+
+#include <stdint.h>
+
+#include "device.h"
+
+/**
+ * Stub type for device data. A concrte device has to define
+ * it's particular data.
+ */
+typedef struct {
+} device_data;
+
+/**
+ * Defines a device.
+ */
+typedef struct {
+     /**
+      * Unique device ID
+      */
+     const char 		*id;
+
+     /**
+      * The RCC register to enable fot this device (e.g. RCC_APB2ENR).
+      * The clock for this reg. will be enabled automitically on board
+      * initialization.
+      */
+     volatile uint32_t 	*rcc_reg;
+
+     /**
+      * The port to enable on the given register (rcc_reg).
+      * This enables the clock for the port on board initialization.
+      * E.g.  RCC_APB2ENR_IOPAEN.
+      */
+     uint16_t  		 rcc_en;
+
+     /**
+      * Device specific initialization data passed to the device specific
+      * init function.
+      */
+     device_data 		*data;
+
+     /**
+      * Function callback to the device specific init function.
+      */
+     void (*init)(device_data *data);
+} device;
+
+/**
+ * Device reference.
+ */
+typedef device* device_ref;
+
+#endif
diff --git a/src/include/device_bumpersensor.h b/src/include/device_bumpersensor.h
new file mode 100644
index 0000000..04a4329
--- /dev/null
+++ b/src/include/device_bumpersensor.h
@@ -0,0 +1,66 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __DEVICE_BUMPERSENSOR_H_
+#define __DEVICE_BUMPERSENSOR_H_
+
+#include <stdint.h>
+
+#include "device.h"
+
+/**
+ * Initialization data for a bumper sensro.
+ */
+typedef struct {
+     /**
+      * Port on which the output of the bumper sensor is connected to (e.g GPIOA).
+      */
+     uint32_t   port;
+
+     /**
+      * Pin to which the output of the bumper sensor is connected to (e.g GPIO9).
+      */
+     uint16_t	 pin;
+} device_data_bumpersensor;
+
+/**
+ * Device init function for the bumper sensor.
+ *
+ * @param[in]	*data	the device data for the device to initialize
+ */
+void bumpersensor_init(device_data *data);
+
+/**
+ * Ask given bumper device if it detected an obstscle.
+ *
+ * @param[in]	*dev	the bumper device to query
+ * @return		1 if obstacle detected, 0 otherwise
+ */
+int bumpersensor_obstacle_detected(device *dev);
+
+/**
+ * Check multible bumber sensors for their current state.
+ *
+ * @param[in]	devices		arry of bumper devices to check
+ * @param[out]	values		value for each device (1 = obstacle, 0 = no obstacle)
+ * @param[in]	num_devices	number of devices in array, as well as size of values array
+ */
+void bumpersensor_obstacle_detected_multi(device_ref devices[], int values[], int num_devices);
+
+#endif
diff --git a/src/include/device_button.h b/src/include/device_button.h
new file mode 100644
index 0000000..f9ab53c
--- /dev/null
+++ b/src/include/device_button.h
@@ -0,0 +1,71 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __DEVICE_BUTTON_H_
+#define __DEVICE_BUTTON_H_
+
+#include <stdint.h>
+
+#include "device.h"
+
+/**
+ * Initialization data for a button.
+ */
+typedef struct {
+     /**
+      * Port on which the output of the button is connected to (e.g GPIOA).
+      */
+     uint32_t   port;
+
+     /**
+      * Pin to which the output of the button is connected to (e.g GPIO9).
+      */
+     uint16_t	 pin;
+} device_data_button;
+
+/**
+ * Device init function for the button. Initializes the port as "floating"
+ *
+ * @param[in]	*data	the device data for the device to initialize
+ */
+void button_init(device_data *data);
+
+/**
+ * Device init function for the button. Initializes the port with "pullup"
+ *
+ * @param[in]	*data	the device data for the device to initialize
+ */
+void button_init_pullup(device_data *data);
+
+/**
+ * Device init function for the button. Initializes the port with "pulldown"
+ *
+ * @param[in]	*data	the device data for the device to initialize
+ */
+void button_init_pulldown(device_data *data);
+
+/**
+ * Ask given button device if it is pressed.
+ *
+ * @param[in]	*dev	the button device to query
+ * @return		1 pressed, 0 released
+ */
+int button_is_pressed(device *dev);
+
+#endif
diff --git a/src/include/device_dcmotor.h b/src/include/device_dcmotor.h
new file mode 100644
index 0000000..1d48b20
--- /dev/null
+++ b/src/include/device_dcmotor.h
@@ -0,0 +1,100 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __DEVICE_DCMOTOR_H_
+#define __DEVICE_DCMOTOR_H_
+
+#include <stdint.h>
+
+#include "device.h"
+
+/**
+ * Initialization data for a DC motor connected through a typical H-Bridge.
+ */
+typedef struct {
+     /**
+      * Port 1 for motor control. E.g. GPIOC.
+      */
+     uint32_t   port_ctrl1;
+
+     /**
+      * Pin 1 for motor control. E.g. GPIO4.
+      */
+     uint16_t	 pin_ctrl1;
+
+     /**
+      * Port 2 for motor control. E.g. GPIOC.
+      */
+     uint32_t   port_ctrl2;
+
+     /**
+      * Pin 2 for motor control. E.g. GPIO5.
+      */
+     uint16_t	 pin_ctrl2;
+
+     /**
+      * Port on which PWM for speed control is connected to H-Bridge. E.g. GPIOC.
+      */
+     uint32_t   port_pwm;
+
+     /**
+      * Pin on which PWM for speed control is connected to H-Bridge. E.g. GPIO6.
+      */
+     uint16_t	 pin_pwm;
+} device_data_dcmotor;
+
+/**
+ * Device init function for the DC motor.
+ * Note: currently the PWM is not supported.
+ * PWM is always set to high (max speed)
+ * on initialization.
+ *
+ * @param[in]	*data	the device data for the device to initialize
+ */
+void dcmotor_init(device_data *data);
+
+/**
+ * Make the DC motor turn clock-wise.
+ *
+ * @param[in]	*dev	device representing the DC motor
+ */
+void dcmotor_cw(device *dev);
+
+/**
+ * Make the DC motor turn counter-clock-wise.
+ *
+ * @param[in]	*dev	device representing the DC motor
+ */
+void dcmotor_ccw(device *dev);
+
+/**
+ * Make the DC motor break (by shortening the moters power supply).
+ *
+ * @param[in]	*dev	device representing the DC motor
+ */
+void dcmotor_break(device *dev);
+
+/**
+ * Make the DC motor float.
+ *
+ * @param[in]	*dev	device representing the DC motor
+ */
+void dcmotor_float(device *dev);
+
+#endif
diff --git a/src/include/device_led.h b/src/include/device_led.h
new file mode 100644
index 0000000..1f54ea1
--- /dev/null
+++ b/src/include/device_led.h
@@ -0,0 +1,71 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __DEVICE_LED_H_
+#define __DEVICE_LED_H_
+
+#include <stdint.h>
+
+#include "device.h"
+
+/**
+ * Initialization data for a LED.
+ */
+typedef struct {
+     /**
+      * Port for the LED. E.g. GPIOC.
+      */
+     uint32_t   port;
+
+     /**
+      * Pin for the LED. E.g. GPIO7.
+      */
+     uint16_t	 pin;
+
+} device_data_led;
+
+/**
+ * Device init function for the LED.
+ *
+ * @param[in]	*data	the device data for the device to initialize
+ */
+void led_init(device_data *data);
+
+/**
+ * Turn the given LED device on.
+ *
+ * @param[in]	*dev	the device to work on
+ */
+void led_on(device *dev);
+
+/**
+ * Turn the given LED device off.
+ *
+ * @param[in]	*dev	the device to work on
+ */
+void led_off(device *dev);
+
+/**
+ * Toggle the given LED device.
+ *
+ * @param[in]	*dev	the device to work on
+ */
+void led_toggle(device *dev);
+
+#endif
diff --git a/src/include/device_refsensor.h b/src/include/device_refsensor.h
new file mode 100644
index 0000000..2a3b963
--- /dev/null
+++ b/src/include/device_refsensor.h
@@ -0,0 +1,87 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __DEVICE_REFSENSOR_H_
+#define __DEVICE_REFSENSOR_H_
+
+#include <stdint.h>
+
+#include "device.h"
+
+/**
+ * The max value to which to count when measuring the refsensor.
+ * This value is mainly to make sure, that the measurement loop
+ * surely terminaters.
+ */
+#define	REFSENSOR_MAX_VALUE		20000
+
+/**
+ * Initialization data for a reflection sensor.
+ */
+typedef struct {
+     /**
+      * The port on which the reflection sensor is connected. E.g. GPIOB.
+      */
+     uint32_t   port;
+
+     /**
+      * The pin on which the reflection sensor is connected. E.g. GPIO11.
+      */
+     uint16_t	 pin;
+} device_data_refsensor;
+
+/**
+ * Device init function for the reflection sensor.
+ *
+ * @param[in]	*data	the device data for the device to initialize
+ */
+void refsensor_init(device_data *data);
+
+/**
+ * Starte charging of the capacitor of a given reflection sensor.
+ *
+ * @param[in]	*dev	the device to work on
+ */
+void refsensor_start_charge(device *dev);
+
+/**
+ * Starte charging of the capacitor of a given array of reflection sensors.
+ *
+ * @param[in]	devices		the arry of references to multible reflection sensors
+ * @param[in]	num_devices	number of device references in the array
+ */
+void refsensor_start_charge_multi(device_ref devices[], int num_devices);
+
+/**
+ * Measure the reflection for a given device.
+ *
+ * @param[in]	*dev	the device to work on
+ */
+int refsensor_measure(device *dev);
+
+/**
+ * Measure the reflection for a given array of reflection sensors.
+ *
+ * @param[in]	devices		the arry of references to multible reflection sensors
+ * @param[out]	values		the values measured for the given sensors
+ * @param[in]	num_devices	number of device referencesi and values in the arrays
+ */
+void refsensor_measure_multi(device_ref devices[], int values[], int num_devices);
+
+#endif
diff --git a/src/include/device_serial.h b/src/include/device_serial.h
new file mode 100644
index 0000000..7798b9f
--- /dev/null
+++ b/src/include/device_serial.h
@@ -0,0 +1,104 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __DEVICE_SERIAL_H_
+#define __DEVICE_SERIAL_H_
+
+#include <stdint.h>
+
+#include "device.h"
+
+/**
+ * Initialization data for a serial (USART)  port.
+ */
+typedef struct {
+     /**
+      * The USART to use for this serial device. E.g. USART1.
+      */
+     uint32_t	usart;
+
+     /**
+      * The port to use for this serial device. E.g. GPIOA.
+      */
+     uint32_t  port;
+
+     /**
+      * The pin which is used for TX. E.g. GPIO_USART1_TX.
+      */
+     uint16_t	pin_tx;
+
+     /**
+      * The pin which is used for RX. E.g. GPIO_USART1_RX.
+      */
+     uint16_t	pin_rx;
+
+     /**
+      * The baud rate to use for communication. E.g. 38400.
+      */
+     uint32_t	baud;
+
+     /**
+      * Enable the IRQ for this serial device.
+      * 1 = enable, 0 = disable. If enabled, the IRQ handler
+      * function has to be defiend somewhere in the code
+      * (usart1_isr, usart2_isr, ...).
+      */
+     uint32_t	irq_en;
+} device_data_serial;
+
+/**
+ * Device init function for the serial port.
+ *
+ * @param[in]	*data	the device data for the device to initialize
+ */
+void serial_init(device_data *data);
+
+/**
+ * Send data non-blocking.
+ *
+ * @param	*dev	the device to work on
+ * @param	data	data to send to the serial port
+ */
+void serial_send(device *dev, uint16_t data);
+
+/**
+ * Receive data non-blocking.
+ *
+ * @param	*dev	the device to work on
+ * @return	data received, may be -1 if no data was available
+ */
+uint16_t serial_recv(device *dev);
+
+/**
+ * Send data blocking.
+ *
+ * @param	*dev	the device to work on
+ * @param	data	data to send to the serial port
+ */
+void serial_send_blocking(device *dev, uint16_t data);
+
+/**
+ * Receive data blocking.
+ *
+ * @param	*dev	the device to work on
+ * @return	data received
+ */
+uint16_t serial_recv_blocking(device *dev);
+
+#endif
diff --git a/src/include/drive_control.h b/src/include/drive_control.h
new file mode 100644
index 0000000..8be000d
--- /dev/null
+++ b/src/include/drive_control.h
@@ -0,0 +1,61 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __DRIVECONTROL_H_
+#define __DRIVECONTROL_H_
+
+/**
+ * Definition of a path segment. A path segment describes a single movment action the
+ * vehicle is able to perform. It consits of a direction, the number of wheel turns and
+ * an optional reason which states whay this move was choosen.
+ */
+typedef struct {
+     /**
+      * The direction as defined by the constants VEHICLE_DIR_n in {@link actors.h}.
+      */
+     int	direction;
+
+     /**
+      * The number of wheel turn counts as measured by the odometric sensors.
+      */
+     int	count;
+
+     /**
+      * Reason why this move was choosen.
+      */
+     int	reason;
+} path_segment;
+
+/**
+ * Perform the auto control. This method should be called in the applictions main loop.
+ * It then tries to auto navigate the vhicle by using the sensors input. Thus, the sensors
+ * must be enabled for auto control to work properly.
+ */
+void drive_control_auto();
+
+/**
+ * Make the vehicle follow the given path segment. There is no guarnty, thet the vehicle was
+ * able to follow the given path. It may stop following the path, if an obstacle was detected
+ * by the bumper sensors, or if the vehicle is considered to be stuck.
+ *
+ * @param[in]	*ps	the path segment to execute
+ */
+void drive_control_follow_path(path_segment *ps);
+
+#endif
diff --git a/src/include/sensors.h b/src/include/sensors.h
new file mode 100644
index 0000000..c9679d5
--- /dev/null
+++ b/src/include/sensors.h
@@ -0,0 +1,152 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __SENSORS_H_
+#define __SENSORS_H_
+
+#define SENSORS_ODO_MIN_REFL		400
+
+/**
+ * Sensor values aquired form a bumper sensor.
+ */
+typedef struct {
+     /**
+      * Indicates if the sensor was hit (by detecting an obstacle).
+      * 1 = hit, 0 = no hit
+      */
+     int	hit;
+} sensor_value_bumper;
+
+/**
+ * Sensor values aquired from an odometric sensor.
+ */
+typedef struct {
+     /**
+      * Total count of black/white changes on this sensor (since last reset)
+      */
+     int	count;
+
+     /**
+      * The puls changes per minute
+      */
+     int	ppm;
+
+     /**
+      * The timestamp when this sensor was last checked and the ppm was calculated
+      */
+     int	lp;
+} sensor_value_odometer;
+
+/**
+ * Sensor values aquired form an input button.
+ */
+typedef struct {
+     /**
+      * The button state
+      * 1 = pressed, 0 = released
+      */
+     int	state;
+} sensor_value_inputbutton;
+
+/**
+ * All sensor values available in this system.
+ */
+typedef struct {
+     /**
+      * The left bumper sensor
+      */
+     sensor_value_bumper		bumper_left;
+
+     /**
+      * The right bumper sensor
+      */
+     sensor_value_bumper		bumper_right;
+
+     /**
+      * The left odometer
+      */
+     sensor_value_odometer	odometer_left;
+
+     /**
+      * The right odometer
+      */
+     sensor_value_odometer	odometer_right;
+
+     /**
+      * The input button
+      */
+     sensor_value_inputbutton	inputbutton;
+} sensor_values;
+
+/**
+ * Struct do enable/disable measurement of defined sensor-blocks.
+ */
+typedef struct {
+     /**
+      * Enable measurement of bumper sensors (left+right).
+      * 1 = enable, 0 = disable
+      */
+     int bumper;
+
+     /**
+      * Enable measurement of odometric sensors (left+right).
+      * 1 = enable, 0 = disable
+      */
+     int odometer;
+
+     /**
+      * Enable measurement of button.
+      * 1 = enable, 0 = disable
+      */
+     int inputbutton;
+} sensors_enabled;
+
+/**
+ * Global struct for enabling/disabling sensor-blocks.
+ */
+extern sensors_enabled sensors_en;
+
+/**
+ * Global struct holding all available sensor values of the system.
+ */
+extern sensor_values sensors;
+
+/**
+ * Aquire the values for all sensors which are enables (see {@link sensors_en}).
+ * This operation is normaly called within the systick handler or somthing similar which
+ * is called regularly.
+ */
+void sensors_aquire();
+
+/**
+ * Reset (to 0) the sensor values for the bumpers (left+right).
+ */
+void sensor_reset_bumper();
+
+/**
+ * Reset (to 0) the sensor values for the odometers (left+right).
+ */
+void sensor_reset_odometer();
+
+/**
+ * Reset (to 0) the sensor values for the button.
+ */
+void sensor_reset_inputbutton();
+
+#endif
diff --git a/src/include/shell.h b/src/include/shell.h
new file mode 100644
index 0000000..ad5fe0c
--- /dev/null
+++ b/src/include/shell.h
@@ -0,0 +1,274 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __SHELL_H_
+#define __SHELL_H_
+
+#include <stdint.h>
+
+#include "device.h"
+
+/**
+ * max number of character for a command line passed to the shell
+ */
+#define SHELL_MAX_CMD_LINE	64
+
+/**
+ * max number of arguments passed with one command to the shell
+ */
+#define SHELL_MAX_ARGS 		 5
+
+/**
+ * max number of character for a single argument form a command line passed to the shell
+ */
+#define SHELL_MAX_ARG_LEN	15
+
+/**
+ * return code given when processing of a command line was OK
+ */
+#define SHELL_PROCESS_OK		 0
+
+/**
+ * ERROR maximum number of arguments was reached
+ */
+#define SHELL_PROCESS_ERR_ARGS_MAX	0xfff0
+
+/**
+ * ERROR maximum number of chars for an argument was reached
+ */
+#define SHELL_PROCESS_ERR_ARGS_LEN	0xfff1
+
+/**
+ * ERROR unknown command
+ */
+#define SHELL_PROCESS_ERR_CMD_UNKN 0xfff2
+
+/**
+ * Single command argument
+ */
+typedef struct {
+     /**
+      * Value representing the argument
+      */
+     char 			val[SHELL_MAX_ARG_LEN];
+} shell_cmd_arg;
+
+/**
+ * All arguments from a single command line
+ */
+typedef struct {
+     /**
+      * Number of arguments
+      */
+     uint16_t			count;
+
+     /**
+      * The arguments
+      */
+     shell_cmd_arg		args[SHELL_MAX_ARGS];
+} shell_cmd_args;
+
+/**
+ * Definition of a single shell command
+ */
+typedef struct {
+     /**
+      * Name of the command
+      */
+     const char 		*cmd;
+
+     /**
+      * Description of the command
+      */
+     const char		*desc;
+
+     /**
+      * Functino called when executing the commmand
+      */
+     int (*func)(shell_cmd_args *args);
+} shell_cmd;
+
+/**
+ * All shell commands knwon by the shell
+ */
+typedef struct {
+     /**
+      * Number of commands
+      */
+     uint16_t			count;
+
+     /**
+      * The commands
+      */
+     shell_cmd			cmds[];
+} shell_cmds;
+
+/**
+ * Return the length of a given string.
+ *
+ * @param[in]	str	string for which to calculate the length
+ * @return		length of str
+ */
+int shell_str_len(char *str);
+
+/**
+ * Comapre str1 with given length len1 to str2 with given length len2.
+ *
+ * @param[in] 	str1	first string
+ * @param[in] 	str2	second string
+ * @param[in] 	len1	length of first string
+ * @param[in] 	len2	length of second string
+ * @return	0 if str1 euqals str2, 1 if len1 > len2, 2 if str1 != str2
+ */
+int shell_str_cmp(char *str1, char *str2, int len1, int len2);
+
+/**
+ * Parse the integer value from str and return it.
+ *
+ * @param[in]	str from which to parse the integer value.
+ * @return	the integer value of str
+ */
+int shell_parse_int(char *str);
+
+/**
+ * Process a command line string given in cmd_line against the
+ * commands given by cmds. If the command form cmd_line matches
+ * against a command string defined in cmds, the function callback
+ * for that command is executet.
+ * <br/>
+ * Note: the arguments form the command line are passed to the command
+ * function, but the command function is responsible for checkeing the arguemts.
+ *
+ * @param[in]	*cmds	pointer to shell commands structure
+ * @param[in]	*cmd_line	pointer to command line string
+ * @return 	SHELL_PROCESS_OK if command and arguments where understood,
+ * 			SHELL_PROCESS_ERR_ARGS_MAX if to many arguments are given,
+ * 			SHELL_PROCESS_ERR_ARGS_LEN if an argument string was too long,
+ * 			SHELL_PROCESS_ERR_CMD_UNK if the command was unknown
+ */
+int shell_process_cmds(shell_cmds *cmds, char *cmd_line);
+
+/**
+ * Process a command line. For details see {@link shell_process_cmds}.
+ * This method has to be implemented by a specific shell. The implementation
+ * must pass a valid {@link shell_cmds} struct to {@link shell_process_cmds}.
+ *
+ * @param[in]	*cmd_line see {@link shell_process_cmds}
+ * @return 	see {@link shell_process_cmds}
+ */
+int shell_process(char *cmd_line);
+
+/**
+ * Print the string given by line to the shell.
+ *
+ * @param[in]	*line	the string to print
+ */
+void shell_print(char *line);
+
+/**
+ * Print the string given by line to the shell.
+ * Add CR/LF (or whatever the shell implementation suggests).
+ *
+ * @param[in]	*line	the string to print
+ */
+void shell_println(char *line);
+
+/**
+ * Print the integer given by n to the shell.
+ *
+ * @param[in]	*n	the integer to print
+ */
+void shell_print_int(int n);
+
+/**
+ * Print the integer given by n to the shell.
+ * Add CR/LF (or whatever the shell implementation suggests).
+ *
+ * @param[in]	*n	the integer to print
+ */
+void shell_println_int(int n);
+
+/**
+ * Print the character given by c to the shell.
+ *
+ * @param[in]	*c	the character to print
+ */
+void shell_print_char(char c);
+
+/**
+ * Print the character given by c to the shell.
+ * Add CR/LF (or whatever the shell implementation suggests).
+ *
+ * @param[in]	*c	the character to print
+ */
+void shell_println_char(char c);
+
+/**
+ * Print the shell promt as defined by the implementor of a concrete shell.
+ */
+void shell_prompt();
+
+/**
+ * Print the shells OK message as defined by the implementor of a concrete shell.
+ * OK must be send as soon, as the shell accepeted the command, and before any
+ * command result data is printed out.
+ * <br/><br/>
+ * Example for a valid sequence:<br/>
+ * <br/>
+ * OK<br/>
+ * DATA ...<br/>
+ * DATA ...<br/>
+ * EOD<br/>
+ */
+void shell_ok();
+
+/**
+ * Print the shells End Of Data  message as defined by the implementor of a concrete shell.
+ * EOC must be send as soon, as the shell has finised printing command results.
+ */
+void shell_eod();
+
+/**
+ * Print the shells ERROR message as defined by the implementor of a concrete shell.
+ * ERROR must be send as soon, as the shell accepeted the command, and before any
+ * command result data is printed out.
+ * <br/><br/>
+ * Example for a valid sequence:<br/>
+ * <br/>
+ * ERROR<br/>
+ * DATA ...<br/>
+ * DATA ...<br/>
+ * EOD<br/>
+  */
+void shell_error();
+
+/**
+ * Print the shells EVENT message as defined by the implementor of a concrete shell.
+ * EVENT must be send bevor any data is printed out.
+ * <br/><br/>
+ * Example for a valid sequence:<br/>
+ * <br/>
+ * EVENT<br/>
+ * DATA ...<br/>
+ * DATA ...<br/>
+ * EOD<br/>
+ */
+void shell_event();
+
+#endif
diff --git a/src/include/shell_m2m.h b/src/include/shell_m2m.h
new file mode 100644
index 0000000..a66a09b
--- /dev/null
+++ b/src/include/shell_m2m.h
@@ -0,0 +1,89 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __SHELLM2M_H_
+#define __SHELLM2M_H_
+
+#include "shell.h"
+
+/**
+ * Shell command which prints out command help.
+ *
+ * @param[in]	*args	the arguments form the commandline
+ * @return			result of the command, one of SHELL_PROCESS_xx
+ */
+int shell_cmd_help(shell_cmd_args *args);
+
+/**
+ * Shell command which prints out firmware version.
+ *
+ * @param[in]	*args	the arguments form the commandline
+ * @return			result of the command, one of SHELL_PROCESS_xx
+ */
+int shell_cmd_version(shell_cmd_args *args);
+
+/**
+ * Shell command to set the shell mode (enable/disable echo and prompt).
+ *
+ * @param[in]	*args	the arguments form the commandline
+ * @return			result of the command, one of SHELL_PROCESS_xx
+ */
+int shell_cmd_shell_mode(shell_cmd_args *args);
+
+/**
+ * Shell command to enable/disable robots autonomous mode.
+ *
+ * @param[in]	*args	the arguments form the commandline
+ * @return			result of the command, one of SHELL_PROCESS_xx
+ */
+int shell_cmd_auto_mode(shell_cmd_args *args);
+
+/**
+ * Shell command to enable/disable printing of events.
+ *
+ * @param[in]	*args	the arguments form the commandline
+ * @return			result of the command, one of SHELL_PROCESS_xx
+ */
+int shell_cmd_events(shell_cmd_args *args);
+
+/**
+ * Shell command to print out sensor status.
+ *
+ * @param[in]	*args	the arguments form the commandline
+ * @return			result of the command, one of SHELL_PROCESS_xx
+ */
+int shell_cmd_sensor_status(shell_cmd_args *args);
+
+/**
+ * Shell command to print out actor status.
+ *
+ * @param[in]	*args	the arguments form the commandline
+ * @return			result of the command, one of SHELL_PROCESS_xx
+ */
+int shell_cmd_actor_status(shell_cmd_args *args);
+
+/**
+ * Shell command to make robot follow path segment.
+ *
+ * @param[in]	*args	the arguments form the commandline
+ * @return			result of the command, one of SHELL_PROCESS_xx
+ */
+int shell_cmd_follow_path_segment(shell_cmd_args *args);
+
+#endif
diff --git a/src/main.c b/src/main.c
new file mode 100644
index 0000000..e369a99
--- /dev/null
+++ b/src/main.c
@@ -0,0 +1,69 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ *
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/rtc.h>
+
+#include "config.h"
+#include "board.h"
+#include "delay.h"
+#include "sensors.h"
+#include "actors.h"
+#include "drive_control.h"
+
+path_segment ps_to_follow;
+
+int follow_path = 0;
+
+int main(void)
+{
+     board_init();
+     board_init_rtc();
+
+     // 24MHz / 8 => 3000000 counts per second
+     // 3000000/3000 = 1000 overflows per second - every 1ms one interrupt
+     board_init_systick(STK_CTRL_CLKSOURCE_AHB_DIV8, 3000);
+
+     while(1) {
+          delay(1000);
+
+          if(sensors.inputbutton.state) {
+               if(config.drive_control_auto == 0) {
+                    config.drive_control_auto = 1;
+               } else {
+                    config.drive_control_auto = 0;
+                    actor_vehicle_break();
+               }
+               while(sensors.inputbutton.state) delay(100);
+          }
+
+          if(follow_path) {
+               follow_path = 0;
+               drive_control_follow_path(&ps_to_follow);
+          } else if(config.drive_control_auto) {
+               drive_control_auto();
+          }
+     }
+
+     return 0;
+}
diff --git a/src/sensors.c b/src/sensors.c
new file mode 100644
index 0000000..d8b2faf
--- /dev/null
+++ b/src/sensors.c
@@ -0,0 +1,207 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/rtc.h>
+
+#include "board.h"
+#include "sensors.h"
+#include "device_button.h"
+#include "device_refsensor.h"
+#include "device_bumpersensor.h"
+
+// holds all currently measured sensor values
+sensor_values sensors = {
+     .bumper_left = {
+          .hit = 0,
+     },
+     .bumper_right = {
+          .hit = 0,
+     },
+     .odometer_left = {
+          .count = 0,
+          .ppm	 = 0,
+          .lp    = 0,
+     },
+     .odometer_right = {
+          .count = 0,
+          .ppm	 = 0,
+          .lp    = 0,
+     },
+     .inputbutton = {
+          .state = 0,
+     },
+};
+
+// sensors could be enabled or disabled
+sensors_enabled sensors_en = {
+     .bumper = 1,
+     .odometer = 1,
+     .inputbutton = 1,
+};
+
+void sensors_aquire_bumper()
+{
+     if(!sensors_en.bumper) return;
+
+     static device_ref bumpersensors[] = {
+          &bumpersensor_left,
+          &bumpersensor_right,
+     };
+
+     static int bumpersensor_values[2];
+     static int bumpersensor_values_prev[2];
+
+     int i;
+
+     bumpersensor_obstacle_detected_multi(bumpersensors, bumpersensor_values, 2);
+
+     for(i = 0; i < 2; i++) {
+          if(bumpersensor_values[i] != bumpersensor_values_prev[i]) {
+
+               bumpersensor_values_prev[i] = bumpersensor_values[i];
+
+               if(i == 0) {
+                    sensors.bumper_left.hit  = bumpersensor_values[i];
+               } else {
+                    sensors.bumper_right.hit = bumpersensor_values[i];
+               }
+          }
+     }
+}
+
+int sensors_check_odo_level(int level, int level_prev)
+{
+     // count white->black and black->white transitions
+     if((level > SENSORS_ODO_MIN_REFL && level_prev < SENSORS_ODO_MIN_REFL) ||
+               (level < SENSORS_ODO_MIN_REFL && level_prev > SENSORS_ODO_MIN_REFL)) {
+          return 1;
+     }
+
+     return 0;
+}
+
+void sensors_aquire_odometer()
+{
+     if(!sensors_en.odometer) return;
+
+     static uint32_t refsensor_ticks = 0;
+
+     static device_ref refsensors[] = {
+          &refsensor_left,
+          &refsensor_right,
+     };
+
+     static int refsensor_values[2];
+     static int refsensor_values_prev[2];
+
+     static int lcl = 0;	// last count left
+     static int lcr = 0;	// last count right
+
+     switch(refsensor_ticks) {
+     case 0:
+          refsensor_start_charge_multi(refsensors, 2);
+          refsensor_ticks++;
+          break;
+     case 100:
+          refsensor_measure_multi(refsensors, refsensor_values, 2);
+
+          int lp  = rtc_get_counter_val();	// time stamp of last poll
+
+          int dlp_left  = lp - sensors.odometer_left.lp;
+          int dlp_right = lp - sensors.odometer_right.lp;
+
+          sensors.odometer_left.count += sensors_check_odo_level(refsensor_values[0],
+                                         refsensor_values_prev[0]);
+
+          refsensor_values_prev[0] = refsensor_values[0];
+
+          sensors.odometer_right.count += sensors_check_odo_level(refsensor_values[1],
+                                          refsensor_values_prev[1]);
+
+          refsensor_values_prev[1] = refsensor_values[1];
+
+          // calc ppm (if time advanced)
+          if(dlp_left >= 1) {
+               sensors.odometer_left.ppm = (60 / dlp_left) * (sensors.odometer_left.count - lcl);
+               sensors.odometer_left.lp  = lp;
+               lcl = sensors.odometer_left.count;
+          }
+          if(dlp_right >= 1) {
+               sensors.odometer_right.ppm = (60 / dlp_right) * (sensors.odometer_right.count - lcr);
+               sensors.odometer_right.lp = lp;
+               lcr = sensors.odometer_right.count;
+          }
+
+          refsensor_ticks = 0;
+
+          break;
+     default:
+          refsensor_ticks++;
+     }
+}
+
+void sensors_aquire_inputbutton()
+{
+     if(!sensors_en.inputbutton) return;
+
+     static int button_pressed = 0;
+
+     if(!button_pressed && button_is_pressed(&button_user1)) {
+          button_pressed = 1;
+     } else if(button_pressed && !button_is_pressed(&button_user1)) {
+          button_pressed = 0;
+     }
+
+     sensors.inputbutton.state = button_pressed;
+}
+
+void sensors_aquire()
+{
+     sensors_aquire_bumper();
+     sensors_aquire_odometer();
+     sensors_aquire_inputbutton();
+}
+
+void sensor_reset_bumper()
+{
+     sensors.bumper_left.hit  = 0;
+     sensors.bumper_right.hit = 0;
+}
+
+void sensor_reset_odometer()
+{
+     sensors.odometer_left.count  	= 0;
+     sensors.odometer_left.ppm  	= 0;
+     sensors.odometer_left.lp  		= 0;
+
+     sensors.odometer_right.count 	= 0;
+     sensors.odometer_right.ppm 	= 0;
+     sensors.odometer_right.lp 		= 0;
+}
+
+void sensor_reset_inputbutton()
+{
+     sensors.inputbutton.state = 0;
+}
+
+void sys_tick_handler()
+{
+     sensors_aquire();
+}
diff --git a/src/shell.c b/src/shell.c
new file mode 100644
index 0000000..a2246f8
--- /dev/null
+++ b/src/shell.c
@@ -0,0 +1,185 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "shell.h"
+
+int shell_str_len(char *str)
+{
+     int i = 0;
+
+     while(str[i++] != 0);
+
+     return i - 1;
+}
+
+int shell_str_cmp(char *str1, char *str2, int len1, int len2)
+{
+     int i;
+
+     if(len1 > len2) return 1;
+
+     for(i = 0; i < len1; i++) {
+          if(str1[i] != str2[i]) return 2;
+     }
+
+     // make sure we matched a whole command, and not only
+     // a containing substring ...
+     if(len2 > len1 && str2[i] != ' ') {
+          return 2;
+     }
+
+     return 0;
+}
+
+int shell_parse_int(char *str)
+{
+
+     int val = 0;
+     int i   = 0;
+
+     char c;
+
+     while((c = str[i++]) != 0) {
+
+          if(c < '0' || c > '9') break;
+
+          val = val * 10 + (c - '0');
+     }
+
+     return val;
+}
+
+int shell_arg_parser(char *cmd_line, int len,  shell_cmd_args *args)
+{
+     int i;
+     int j;
+     int spos = 0;
+     int argc = 0;
+
+     for(i = 0; i < len; i++) {
+          // to many arguments
+          if(argc > SHELL_MAX_ARGS) return 1;
+
+          if(cmd_line[i] == ' ' || i == len - 1) {
+               // catch last argument ...
+               if(i == len - 1) i++;
+
+               // ignore first since it is the cmd itself
+               if(spos == 0) {
+                    spos = i;
+               } else {
+                    // argument value to long
+                    if(i - spos > SHELL_MAX_ARG_LEN) return 2;
+
+                    for(j = 0; j < i - spos - 1; j++) {
+                         args->args[argc].val[j] = cmd_line[spos + 1 + j];
+                    }
+                    args->args[argc++].val[j] = 0;
+                    spos = i;
+               }
+          }
+     }
+
+     args->count = argc;
+
+     return 0;
+}
+
+int shell_process_cmds(shell_cmds *cmds, char *cmd_line)
+{
+     int i;
+     int ret;
+     int cmd_len;
+     int cmd_line_len;
+
+     shell_cmd_args args;
+
+     for(i = 0; i < cmds->count; i++) {
+
+          cmd_line_len 	= shell_str_len(cmd_line);
+          cmd_len 		= shell_str_len((char *)(cmds->cmds[i].cmd));
+
+          if(shell_str_cmp((char *)(cmds->cmds[i].cmd), cmd_line, cmd_len, cmd_line_len) == 0) {
+               ret = shell_arg_parser(cmd_line, cmd_line_len, &args);
+
+               if(ret == 1)
+                    return SHELL_PROCESS_ERR_ARGS_MAX;
+               if(ret == 2)
+                    return SHELL_PROCESS_ERR_ARGS_LEN;
+
+               return (cmds->cmds[i].func)(&args);
+          }
+     }
+
+     return SHELL_PROCESS_ERR_CMD_UNKN;
+}
+
+void shell_print_int(int n)
+{
+     int buffer[5];
+     int i;
+     int j;
+
+     if(n == 0) {
+          shell_print("0");
+          return;
+     }
+
+     for (i = 4; i > 0 && n > 0; i--) {
+          buffer[i] = (n%10)+'0';
+          n /= 10;
+     }
+
+     for(j = i+1; j < 5; j++) {
+          shell_print_char(buffer[j]);
+     }
+}
+
+void shell_println_int(int n)
+{
+     shell_print_int(n);
+     shell_println("");
+}
+
+void shell_println_char(char c)
+{
+     shell_print_char(c);
+     shell_println("");
+}
+
+void shell_ok()
+{
+     shell_println("OK");
+}
+
+void shell_eod()
+{
+     shell_println(".");
+}
+
+void shell_error()
+{
+     shell_println("ERR");
+}
+
+void shell_event()
+{
+     shell_println("EVENT");
+}
+
diff --git a/src/shell_m2m.c b/src/shell_m2m.c
new file mode 100644
index 0000000..389c0d0
--- /dev/null
+++ b/src/shell_m2m.c
@@ -0,0 +1,323 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdio.h>
+#include <libopencm3/stm32/usart.h>
+
+#include "config.h"
+#include "board.h"
+#include "sensors.h"
+#include "actors.h"
+#include "delay.h"
+#include "device_serial.h"
+#include "drive_control.h"
+#include "shell_m2m.h"
+
+/**
+ * Commands for the M2M shell (machine-to-machine).
+ * the description field must have the following format:
+ *
+ * <description>[;<int|str>:arg 1;<int|str>:arg n; ...]
+ *
+ */
+shell_cmds m2m_shell_cmds = {
+     .count 	= 8,
+     .cmds	= {
+          {
+               .cmd		= "h",
+               .desc	= "available commands;command:str,parameters:str",
+               .func 	= shell_cmd_help,
+          },
+          {
+               .cmd		= "v",
+               .desc	= "firmware version;name:str,version:str",
+               .func 	= shell_cmd_version,
+          },
+          {
+               .cmd		= "sm",
+               .desc	= "shell mode;;echo:int<0|1>,prompt:int<0|1>",
+               .func 	= shell_cmd_shell_mode,
+          },
+          {
+               .cmd		= "am",
+               .desc	= "disable/enable auto mode;;enable:int<0|1>",
+               .func 	= shell_cmd_auto_mode,
+          },
+          {
+               .cmd		= "ev",
+               .desc	= "disable/enable events;;enable:int<0|1>",
+               .func 	= shell_cmd_events,
+          },
+          {
+               .cmd		= "s",
+               .desc	= "sensor status;sensor:str,status:str",
+               .func 	= shell_cmd_sensor_status,
+          },
+          {
+               .cmd		= "a",
+               .desc	= "actor status;actor:str,status:str",
+               .func 	= shell_cmd_actor_status,
+          },
+          {
+               .cmd		= "fps",
+               .desc	= "follow path segment;direction:str,wheelcount:int;direction:str<fw|bw|fl|fr|bl|br|tr|tl|br>,wheelcount:int",
+               .func 	= shell_cmd_follow_path_segment,
+          },
+     },
+};
+
+extern path_segment ps_to_follow;
+
+extern int follow_path;
+
+
+int shell_error_param(int count, int expected_count)
+{
+     if(count != expected_count) {
+          shell_error();
+          shell_println("wrong number of arguments");
+          shell_eod();
+          return 1;
+     }
+
+     return 0;
+}
+
+int shell_get_bool_param(char *str)
+{
+     int val = 1;
+
+     if(shell_str_cmp("0", str, 1, shell_str_len(str)) == 0) {
+          val = 0;
+     }
+
+     return val;
+}
+
+int shell_cmd_help(shell_cmd_args *args)
+{
+     int i;
+
+     shell_ok();
+
+     for(i = 0; i < m2m_shell_cmds.count; i++) {
+          shell_print((char *)m2m_shell_cmds.cmds[i].cmd);
+          shell_print(",");
+          shell_println((char *)m2m_shell_cmds.cmds[i].desc);
+
+          // XBee seams not to be fast enough when it gets send a lot of data at once ...
+          delay(10000);
+     }
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_version(shell_cmd_args *args)
+{
+     shell_ok();
+     shell_print(APP_NAME);
+     shell_print(",");
+     shell_println(APP_VERSION);
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_shell_mode(shell_cmd_args *args)
+{
+     if(shell_error_param(args->count, 2)) return 1;
+
+     config.shell_do_echo 	= shell_get_bool_param(args->args[0].val);
+     config.shell_do_prompt 	= shell_get_bool_param(args->args[1].val);
+
+     shell_ok();
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_auto_mode(shell_cmd_args *args)
+{
+     if(shell_error_param(args->count, 1)) return 1;
+
+     config.drive_control_auto = shell_get_bool_param(args->args[0].val);
+
+
+     if(!config.drive_control_auto) {
+          actor_vehicle_break();
+     }
+
+     shell_ok();
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_events(shell_cmd_args *args)
+{
+     if(shell_error_param(args->count, 1)) return 1;
+
+     config.enable_events = shell_get_bool_param(args->args[0].val);
+
+     shell_ok();
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_sensor_status(shell_cmd_args *args)
+{
+     shell_ok();
+     shell_print("bumper_left.hit,");
+     shell_println_int(sensors.bumper_left.hit);
+     shell_print("bumper_right.hit,");
+     shell_println_int(sensors.bumper_right.hit);
+     shell_print("input_button.state,");
+     shell_println_int(sensors.inputbutton.state);
+
+     delay(10000);
+
+     shell_print("odo_left.count,");
+     shell_println_int(sensors.odometer_left.count);
+     shell_print("odo_left.ppm,");
+     shell_println_int(sensors.odometer_left.ppm);
+     shell_print("odo_left.lp,");
+     shell_println_int(sensors.odometer_left.lp);
+
+     delay(10000);
+
+     shell_print("odo_right.count,");
+     shell_println_int(sensors.odometer_right.count);
+     shell_print("odo_right.ppm,");
+     shell_println_int(sensors.odometer_right.ppm);
+     shell_print("odo_right.lp,");
+     shell_println_int(sensors.odometer_right.lp);
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_actor_status(shell_cmd_args *args)
+{
+     shell_ok();
+     shell_print("vehicle_direction,");
+     shell_println_int(actors.vehicle.direction);
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_follow_path_segment(shell_cmd_args *args)
+{
+     int len;
+
+     ps_to_follow.direction 	= VEHICLE_DIR_NONE;
+     ps_to_follow.count	 	= 0;
+
+     if(shell_error_param(args->count, 2)) return 1;
+
+     len = shell_str_len(args->args[0].val);
+
+     if(shell_str_cmp("fw", args->args[0].val, 2, len) == 0) {
+          ps_to_follow.direction = VEHICLE_DIR_FORWARD;
+     } else if(shell_str_cmp("bw", args->args[0].val, 2, len) == 0) {
+          ps_to_follow.direction = VEHICLE_DIR_BACKWARD;
+     } else if(shell_str_cmp("fl", args->args[0].val, 2, len) == 0) {
+          ps_to_follow.direction = VEHICLE_DIR_FORWARD_LEFT;
+     } else if(shell_str_cmp("fr", args->args[0].val, 2, len) == 0) {
+          ps_to_follow.direction = VEHICLE_DIR_FORWARD_RIGHT;
+     } else if(shell_str_cmp("bl", args->args[0].val, 2, len) == 0) {
+          ps_to_follow.direction = VEHICLE_DIR_BACKWARD_LEFT;
+     } else if(shell_str_cmp("br", args->args[0].val, 2, len) == 0) {
+          ps_to_follow.direction = VEHICLE_DIR_BACKWARD_RIGHT;
+     } else if(shell_str_cmp("tl", args->args[0].val, 2, len) == 0) {
+          ps_to_follow.direction = VEHICLE_DIR_TURN_LEFT;
+     } else if(shell_str_cmp("tr", args->args[0].val, 2, len) == 0) {
+          ps_to_follow.direction = VEHICLE_DIR_TURN_RIGHT;
+     } else if(shell_str_cmp("st", args->args[0].val, 2, len) == 0) {
+          ps_to_follow.direction = VEHICLE_DIR_NONE;
+     } else {
+          shell_error();
+          shell_eod();
+          return 1;
+     }
+
+     ps_to_follow.count = shell_parse_int(args->args[1].val);
+
+     while(follow_path) delay(100);
+
+     follow_path = 1;
+
+     shell_ok();
+     shell_eod();
+
+     return 0;
+}
+
+void shell_prompt()
+{
+     if(config.shell_do_prompt) {
+          shell_print(SHELL_PROMPT);
+     };
+}
+
+int shell_process(char *cmd_line)
+{
+     return shell_process_cmds(&m2m_shell_cmds, cmd_line);
+}
+
+void usart1_isr(void)
+{
+     static char cmd_line[SHELL_MAX_CMD_LINE];
+     static int  i = 0;
+
+     /* Check if we were called because of RXNE. */
+     if (((USART_CR1(USART1) & USART_CR1_RXNEIE) != 0) &&
+               ((USART_SR(USART1) & USART_SR_RXNE) != 0)) {
+
+          // empty rx reg.
+          int c = serial_recv(&serial);
+
+          if(config.shell_do_echo) {
+               serial_send_blocking(&serial, c);
+          }
+
+          if(c == '\r') {
+               shell_println("");
+               if(i > 0) {
+                    cmd_line[i] = 0;
+
+                    if(shell_process(cmd_line) != SHELL_PROCESS_OK) {
+                         shell_error();
+                         shell_eod();
+                    }
+               }
+               i = 0;
+
+               shell_prompt();
+
+          } else if( c != '\n') {
+               cmd_line[i++] = (char )(c);
+          }
+
+          if(i > SHELL_MAX_CMD_LINE - 1) i = 0;
+     }
+}
diff --git a/src/shell_serial.c b/src/shell_serial.c
new file mode 100644
index 0000000..48eb25b
--- /dev/null
+++ b/src/shell_serial.c
@@ -0,0 +1,42 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "board.h"
+#include "device_serial.h"
+#include "shell.h"
+
+void shell_println(char *line)
+{
+     shell_print(line);
+     shell_print("\n\r");
+}
+
+void shell_print(char *line)
+{
+     int   i = 0;
+
+     while(line[i] != 0) {
+          serial_send_blocking(&serial, line[i++]);
+     }
+}
+
+void shell_print_char(char c)
+{
+     serial_send_blocking(&serial, c);
+}
diff --git a/test-src/Makefile b/test-src/Makefile
new file mode 100644
index 0000000..87858ea
--- /dev/null
+++ b/test-src/Makefile
@@ -0,0 +1,15 @@
+BINARY		 = firmware
+OBJS			 = main.o test_shell.o 
+OBJS			+= ../src/board_stm32.o ../src/device_serial.o ../src/device_led.o ../src/device_dcmotor.o 
+OBJS			+= ../src/device_bumpersensor.o ../src/device_refsensor.o ../src/device_button.o ../src/shell.o ../src/shell_serial.o
+OBJS			+= ../src/delay.o ../src/sensors.o ../src/actors.o ../src/drive_control.o
+
+BINDIR		 = ../test-bin
+INCDIR		 = -I../src/include
+
+include ../common.mk
+
+all:	project images
+
+project:
+	make -C ../src
diff --git a/test-src/firmware.ld b/test-src/firmware.ld
new file mode 100644
index 0000000..dab80aa
--- /dev/null
+++ b/test-src/firmware.ld
@@ -0,0 +1,30 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for ST STM32VLDISCOVERY (STM32F100RB, 128K flash, 8K RAM). */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
diff --git a/test-src/include/test_shell.h b/test-src/include/test_shell.h
new file mode 100644
index 0000000..d0dc8ad
--- /dev/null
+++ b/test-src/include/test_shell.h
@@ -0,0 +1,62 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __TESTSHELL_H_
+#define __TESTSHELL_H_
+
+#include "shell.h"
+#include "drive_control.h"
+
+int shell_cmd_help(shell_cmd_args *args);
+
+int shell_cmd_argt(shell_cmd_args *args);
+
+int shell_cmd_eon(shell_cmd_args *args);
+
+int shell_cmd_eoff(shell_cmd_args *args);
+
+int shell_cmd_blink(shell_cmd_args *args);
+
+int shell_cmd_mot(shell_cmd_args *args);
+
+int shell_cmd_bump(shell_cmd_args *args);
+
+int shell_cmd_sensh(shell_cmd_args *args);
+
+int shell_cmd_senen(shell_cmd_args *args);
+
+int shell_cmd_senre(shell_cmd_args *args);
+
+int shell_cmd_but(shell_cmd_args *args);
+
+int shell_cmd_veh(shell_cmd_args *args);
+
+int shell_cmd_actsh(shell_cmd_args *args);
+
+int shell_cmd_fp(shell_cmd_args *args);
+
+int shell_cmd_auto(shell_cmd_args *args);
+
+extern path_segment ps;
+
+extern int follow_path;
+
+extern int mode_auto;
+
+#endif
diff --git a/test-src/main.c b/test-src/main.c
new file mode 100644
index 0000000..ace544c
--- /dev/null
+++ b/test-src/main.c
@@ -0,0 +1,75 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ *
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/rtc.h>
+
+#include "board.h"
+#include "delay.h"
+#include "sensors.h"
+#include "actors.h"
+#include "test_shell.h"
+#include "drive_control.h"
+
+int main(void)
+{
+     board_init();
+     board_init_rtc();
+
+     shell_println("");
+     shell_println("RobotControl FW Test Shell - use help for available commands");
+     shell_println("");
+
+     // 24MHz / 8 => 3000000 counts per second
+     // 3000000/3000 = 1000 overflows per second - every 1ms one interrupt
+     board_init_systick(STK_CTRL_CLKSOURCE_AHB_DIV8, 3000);
+
+     follow_path = 0;
+
+     while(1) {
+          // delay(10000);
+          delay(1000);
+
+          if(sensors.inputbutton.state) {
+               if(mode_auto == 0) {
+                    mode_auto = 1;
+               } else {
+                    mode_auto = 0;
+                    actor_vehicle_break();
+               }
+               while(sensors.inputbutton.state) delay(100);
+          }
+
+          if(follow_path) {
+
+               // shell_println_int(rtc_get_counter_val());
+
+               drive_control_follow_path(&ps);
+               follow_path = 0;
+          } else if(mode_auto) {
+               drive_control_auto();
+          }
+     }
+
+     return 0;
+}
diff --git a/test-src/test_shell.c b/test-src/test_shell.c
new file mode 100644
index 0000000..0521232
--- /dev/null
+++ b/test-src/test_shell.c
@@ -0,0 +1,646 @@
+/*
+ * This file is part of the RobotRemCtrlFW project.
+ *
+ * Copyright (C) 2011 Stefan Wendler <sw@kaltpost.de>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdio.h>
+#include <libopencm3/stm32/usart.h>
+
+#include "board.h"
+#include "delay.h"
+#include "sensors.h"
+#include "actors.h"
+#include "drive_control.h"
+#include "device_serial.h"
+#include "device_led.h"
+#include "device_dcmotor.h"
+#include "device_button.h"
+#include "device_bumpersensor.h"
+#include "test_shell.h"
+
+shell_cmds test_shell_cmds = {
+     .count 	= 15,
+     .cmds	= {
+          {
+               .cmd		= "help",
+               .desc	= " Print available shell commands",
+               .func 	= shell_cmd_help,
+          },
+          {
+               .cmd		= "eon",
+               .desc	= "  Turn echo on",
+               .func 	= shell_cmd_eon,
+          },
+          {
+               .cmd		= "eoff",
+               .desc	= " Turn echo off",
+               .func 	= shell_cmd_eoff,
+          },
+          {
+               .cmd		= "argt",
+               .desc	= " Print out given arguments",
+               .func 	= shell_cmd_argt,
+          },
+          {
+               .cmd		= "blink",
+               .desc	= "Blink the on-board LEDs",
+               .func 	= shell_cmd_blink,
+          },
+          {
+               .cmd		= "mot",
+               .desc	= "  Control the DC motor. Takes 2 arguments: <motor l|r> <mode cw|ccw|f|b>",
+               .func 	= shell_cmd_mot,
+          },
+          {
+               .cmd		= "bump",
+               .desc	= " Check bumper sensors. Takes 1 argument: <sensor l|r>",
+               .func 	= shell_cmd_bump,
+          },
+          {
+               .cmd		= "sensh",
+               .desc	= "Show current sensor states",
+               .func 	= shell_cmd_sensh,
+          },
+          {
+               .cmd		= "senen",
+               .desc	= "Enable/disable sensor measurement. Takes 1 argument: <enable 0|1>",
+               .func 	= shell_cmd_senen,
+          },
+          {
+               .cmd		= "senre",
+               .desc	= "Reset sensor values to zero",
+               .func 	= shell_cmd_senre,
+          },
+          {
+               .cmd		= "but",
+               .desc	= "  Check input button",
+               .func 	= shell_cmd_but,
+          },
+          {
+               .cmd		= "veh",
+               .desc	= "  Drive vehicle. Takes 1 argument: <direction fw|bw|fl|fr|bl|br|tl|tr|st>",
+               .func 	= shell_cmd_veh,
+          },
+          {
+               .cmd		= "actsh",
+               .desc	= "Show current actor states.",
+               .func 	= shell_cmd_actsh,
+          },
+          {
+               .cmd		= "fp",
+               .desc	= "   Follow path segment. Takes 2 arguments: <direction fw|biw|fl|fr|bl|br|tl|tr|st> <count n>",
+               .func 	= shell_cmd_fp,
+          },
+          {
+               .cmd		= "auto",
+               .desc	= "   Enable/disable auto mode. Takes 1 arguments: <enable 0|1>",
+               .func 	= shell_cmd_auto,
+          },
+     },
+};
+
+int do_echo = 1;
+
+path_segment ps = {
+     .direction = VEHICLE_DIR_NONE,
+     .count     = 0,
+};
+
+int follow_path = 0;
+
+int mode_auto = 0;
+
+int shell_cmd_help(shell_cmd_args *args)
+{
+     int i;
+
+     shell_ok();
+
+     shell_println("RoborControlFW - Test Shell Commads");
+
+     for(i = 0; i < test_shell_cmds.count; i++) {
+          shell_print("- ");
+          shell_print((char *)test_shell_cmds.cmds[i].cmd);
+          shell_print("  ");
+          shell_println((char *)test_shell_cmds.cmds[i].desc);
+
+          // XBee seams not to be fast enough when it gets send a lot of data at once ...
+          delay(1000);
+     }
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_eon(shell_cmd_args *args)
+{
+     shell_ok();
+
+     shell_println("echo on");
+
+     do_echo = 1;
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_eoff(shell_cmd_args *args)
+{
+     shell_ok();
+
+     shell_println("echo off");
+
+     do_echo = 0;
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_argt(shell_cmd_args *args)
+{
+     int i;
+
+     shell_ok();
+
+     shell_print_int(args->count);
+     shell_println(" args given:");
+
+     for(i = 0; i < args->count; i++) {
+          shell_print_int(i);
+          shell_print("  ");
+          shell_println(args->args[i].val);
+     }
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_blink(shell_cmd_args *args)
+{
+     int i;
+
+     shell_ok();
+
+     shell_println("Blink LEDs");
+
+     for(i = 0; i < 10; i++) {
+          led_toggle(&status_led1);
+          led_toggle(&status_led2);
+          delay(800000);
+     }
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_mot(shell_cmd_args *args)
+{
+     int len;
+
+     device *dcmotor;
+
+     if(args->count != 2) {
+          shell_error();
+          shell_println("cmd mot takes 2 arguments: <motor l|r> <mode cw|ccw|f|b>");
+          shell_eod();
+          return 1;
+     }
+
+     len = shell_str_len(args->args[0].val);
+
+     if(shell_str_cmp("l", args->args[0].val, 1, len) == 0) {
+          dcmotor = &dcmotor_left;
+     } else if(shell_str_cmp("r", args->args[0].val, 1, len) == 0) {
+          dcmotor = &dcmotor_right;
+     } else {
+          shell_error();
+          shell_println("cmd mot takes 2 arguments: <motor l|r> <mode cw|ccw|f|b>");
+          shell_eod();
+          return 1;
+     }
+
+     len = shell_str_len(args->args[1].val);
+
+     if(shell_str_cmp("cw", args->args[1].val, 2, len) == 0) {
+          dcmotor_cw(dcmotor);
+     } else if(shell_str_cmp("ccw", args->args[1].val, 3, len) == 0) {
+          dcmotor_ccw(dcmotor);
+     } else if(shell_str_cmp("f", args->args[1].val, 1, len) == 0) {
+          dcmotor_float(dcmotor);
+     } else if(shell_str_cmp("b", args->args[1].val, 1, len) == 0) {
+          dcmotor_break(dcmotor);
+     } else {
+          shell_error();
+          shell_println("cmd mot takes 2 arguments: <motor l|r> <mode cw|ccw|f|b>");
+          shell_eod();
+          return 1;
+     }
+
+     shell_ok();
+
+     shell_print("Setting mode of DC motor ");
+     shell_print(args->args[0].val);
+     shell_print(" to ");
+     shell_println(args->args[1].val);
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_bump(shell_cmd_args *args)
+{
+     int max_wait = 5000000;
+     int len;
+
+     device *bumpersensor;
+
+     if(args->count != 1) {
+          shell_error();
+          shell_println("cmd bump takes 1 argument: <sensor l|r>");
+          shell_eod();
+          return 1;
+     }
+
+     len = shell_str_len(args->args[0].val);
+
+     if(shell_str_cmp("l", args->args[0].val, 1, len) == 0) {
+          bumpersensor = &bumpersensor_left;
+     } else if(shell_str_cmp("r", args->args[0].val, 1, len) == 0) {
+          bumpersensor = &bumpersensor_right;
+     } else {
+          shell_error();
+          shell_println("cmd bump takes 1 argument: <sensor l|r>");
+          shell_eod();
+          return 1;
+     }
+
+     shell_ok();
+
+     shell_print("Waiting for obstacle on bumpersensor ");
+     shell_println(args->args[0].val);
+
+     while(!bumpersensor_obstacle_detected(bumpersensor) && max_wait-- > 0);
+
+     if(max_wait > 0) {
+          shell_println("obstacle detected successfully");
+     } else {
+          shell_println("timted out while waiting for bumpersensor");
+     }
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_sensh(shell_cmd_args *args)
+{
+     shell_ok();
+
+     shell_println("Current sensor sates:");
+
+     shell_println("- Bumper Sensors");
+     shell_print("  * hit left : ");
+     shell_println_int(sensors.bumper_left.hit);
+     shell_print("  * hit right: ");
+     shell_println_int(sensors.bumper_right.hit);
+
+     delay(1000);
+
+     shell_println("- Odometrie Sensors");
+     shell_print("  * count left : ");
+     shell_println_int(sensors.odometer_left.count);
+     shell_print("  * ppm left : ");
+     shell_println_int(sensors.odometer_left.ppm);
+     shell_print("  * lp left : ");
+     shell_println_int(sensors.odometer_left.lp);
+
+     delay(1000);
+
+     shell_print("  * count right: ");
+     shell_println_int(sensors.odometer_right.count);
+     shell_print("  * ppm right : ");
+     shell_println_int(sensors.odometer_right.ppm);
+     shell_print("  * lp right : ");
+     shell_println_int(sensors.odometer_right.lp);
+
+     shell_println("- Input Button");
+     shell_print("  * state : ");
+     shell_println_int(sensors.inputbutton.state);
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_senen(shell_cmd_args *args)
+{
+     int len;
+     int en;
+
+     if(args->count != 1) {
+          shell_error();
+          shell_println("cmd senen takes 1 argument: <enable 0|1>");
+          shell_eod();
+          return 1;
+     }
+
+     len = shell_str_len(args->args[0].val);
+
+     if(shell_str_cmp("1", args->args[0].val, 1, len) == 0) {
+          en = 1;
+     } else if(shell_str_cmp("0", args->args[0].val, 1, len) == 0) {
+          en = 0;
+     } else {
+          shell_error();
+          shell_println("cmd senen takes 1 argument: <enable 0|1>");
+          shell_eod();
+          return 1;
+     }
+
+     sensors_en.bumper 		= en;
+     sensors_en.odometer 	= en;
+     sensors_en.inputbutton 	= en;
+
+     shell_ok();
+
+     if(en == 1) {
+          shell_println("sensors enabled");
+     } else {
+          shell_println("sensors disabled");
+     }
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_senre(shell_cmd_args *args)
+{
+     sensor_reset_bumper();
+     sensor_reset_odometer();
+     sensor_reset_inputbutton();
+
+     shell_ok();
+
+     shell_println("sensor values reset");
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_but(shell_cmd_args *args)
+{
+     int max_wait = 5000000;
+
+     shell_ok();
+
+     shell_println("Waiting for buttonpressed on inputbutton");
+
+     while(!button_is_pressed(&button_user1) && max_wait-- > 0);
+
+     if(max_wait > 0) {
+          shell_println("button pressed detected successfully");
+     } else {
+          shell_println("timed out while waiting for button pressed");
+     }
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_veh(shell_cmd_args *args)
+{
+     int len;
+
+     if(args->count != 1) {
+          shell_error();
+          shell_println("cmd veh takes 1 argument: <direction fw|bw|fl|fr|bl|br|tl|tr|st>");
+          shell_eod();
+          return 1;
+     }
+
+     len = shell_str_len(args->args[0].val);
+
+     if(shell_str_cmp("fw", args->args[0].val, 2, len) == 0) {
+          actor_vehicle_forward();
+     } else if(shell_str_cmp("bw", args->args[0].val, 2, len) == 0) {
+          actor_vehicle_backward();
+     } else if(shell_str_cmp("fl", args->args[0].val, 2, len) == 0) {
+          actor_vehicle_forward_left();
+     } else if(shell_str_cmp("fr", args->args[0].val, 2, len) == 0) {
+          actor_vehicle_forward_right();
+     } else if(shell_str_cmp("bl", args->args[0].val, 2, len) == 0) {
+          actor_vehicle_backward_left();
+     } else if(shell_str_cmp("br", args->args[0].val, 2, len) == 0) {
+          actor_vehicle_backward_right();
+     } else if(shell_str_cmp("tl", args->args[0].val, 2, len) == 0) {
+          actor_vehicle_turn_left();
+     } else if(shell_str_cmp("tr", args->args[0].val, 2, len) == 0) {
+          actor_vehicle_turn_right();
+     } else if(shell_str_cmp("st", args->args[0].val, 2, len) == 0) {
+          actor_vehicle_break();
+     } else {
+          shell_error();
+          shell_println("cmd veh takes 1 argument: <direction fw|bw|fl|fr|bl|br|tl|tr|st>");
+          shell_eod();
+          return 1;
+     }
+
+     shell_ok();
+
+     shell_print("moving vehicle: ");
+     shell_print(args->args[0].val);
+     shell_print(" (");
+     shell_print_int(actors.vehicle.direction);
+     shell_println(")");
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_actsh(shell_cmd_args *args)
+{
+     shell_ok();
+
+     shell_println("Current actor sates:");
+
+     shell_println("- Vehicle");
+     shell_print("  * direction: ");
+     shell_println_int(actors.vehicle.direction);
+
+     shell_eod();
+
+     return 0;
+}
+
+extern void drive_control_follow_path(path_segment *ps);
+
+int shell_cmd_fp(shell_cmd_args *args)
+{
+     int len;
+
+     ps.direction = VEHICLE_DIR_NONE;
+     ps.count	 = 0;
+
+     if(args->count != 2) {
+          shell_error();
+          shell_println("cmd fp takes 2 arguments: <direction fw|bw|fl|fr|bl|br|tl|tr|st> <count n>");
+          shell_eod();
+          return 1;
+     }
+
+     len = shell_str_len(args->args[0].val);
+
+     if(shell_str_cmp("fw", args->args[0].val, 2, len) == 0) {
+          ps.direction = VEHICLE_DIR_FORWARD;
+     } else if(shell_str_cmp("bw", args->args[0].val, 2, len) == 0) {
+          ps.direction = VEHICLE_DIR_BACKWARD;
+     } else if(shell_str_cmp("fl", args->args[0].val, 2, len) == 0) {
+          ps.direction = VEHICLE_DIR_FORWARD_LEFT;
+     } else if(shell_str_cmp("fr", args->args[0].val, 2, len) == 0) {
+          ps.direction = VEHICLE_DIR_FORWARD_RIGHT;
+     } else if(shell_str_cmp("bl", args->args[0].val, 2, len) == 0) {
+          ps.direction = VEHICLE_DIR_BACKWARD_LEFT;
+     } else if(shell_str_cmp("br", args->args[0].val, 2, len) == 0) {
+          ps.direction = VEHICLE_DIR_BACKWARD_RIGHT;
+     } else if(shell_str_cmp("tl", args->args[0].val, 2, len) == 0) {
+          ps.direction = VEHICLE_DIR_TURN_LEFT;
+     } else if(shell_str_cmp("tr", args->args[0].val, 2, len) == 0) {
+          ps.direction = VEHICLE_DIR_TURN_RIGHT;
+     } else if(shell_str_cmp("st", args->args[0].val, 2, len) != 0) {
+          shell_error();
+          shell_println("cmd fp takes 2 arguments: <direction fw|bw|fl|fr|bl|br|tl|tr|st> <count n>");
+          shell_eod();
+          return 1;
+     }
+
+     ps.count = shell_parse_int(args->args[1].val);
+
+     while(follow_path);
+
+     follow_path = 1;
+
+     shell_ok();
+
+     shell_print("following path segment: ");
+     shell_print(args->args[0].val);
+     shell_print(" ");
+     shell_println_int(ps.count);
+
+     shell_eod();
+
+     return 0;
+}
+
+int shell_cmd_auto(shell_cmd_args *args)
+{
+     int len;
+     int en;
+
+     if(args->count != 1) {
+          shell_error();
+          shell_println("cmd auto takes 1 argument: <enable 0|1>");
+          shell_eod();
+          return 1;
+     }
+
+     len = shell_str_len(args->args[0].val);
+
+     if(shell_str_cmp("1", args->args[0].val, 1, len) == 0) {
+          en = 1;
+     } else if(shell_str_cmp("0", args->args[0].val, 1, len) == 0) {
+          en = 0;
+     } else {
+          shell_error();
+          shell_println("cmd auto takes 1 argument: <enable 0|1>");
+          shell_eod();
+          return 1;
+     }
+
+     shell_ok();
+
+     mode_auto = en;
+
+     if(en == 1) {
+          shell_println("automode enabled");
+     } else {
+          shell_println("automode disabled");
+     }
+
+     shell_eod();
+
+     return 0;
+}
+
+void shell_prompt()
+{
+     shell_print("$> ");
+}
+
+int shell_process(char *cmd_line)
+{
+     return shell_process_cmds(&test_shell_cmds, cmd_line);
+}
+
+void usart1_isr(void)
+{
+     static char cmd_line[SHELL_MAX_CMD_LINE];
+     static int  i = 0;
+
+     int c;
+
+     /* Check if we were called because of RXNE. */
+     if (((USART_CR1(USART1) & USART_CR1_RXNEIE) != 0) &&
+               ((USART_SR(USART1) & USART_SR_RXNE) != 0)) {
+
+          // empty rx reg.
+          c = serial_recv(&serial);
+
+          if(do_echo) {
+               serial_send_blocking(&serial, c);
+          }
+
+          if(c == '\r') {
+               shell_println("");
+               if(i > 0) {
+                    cmd_line[i] = 0;
+
+                    if(shell_process(cmd_line) != SHELL_PROCESS_OK) {
+                         shell_error();
+                         shell_eod();
+                    }
+               }
+               i = 0;
+
+               shell_prompt();
+
+          } else if( c != '\n') {
+               cmd_line[i++] = (char )(c);
+          }
+
+          if(i > SHELL_MAX_CMD_LINE - 1) i = 0;
+     }
+}