From 03bcb43040f35a1ddf14d456157a03c781c4fe2c Mon Sep 17 00:00:00 2001
From: akadamson <akadamson@gmail.com>
Date: Mon, 28 Oct 2013 21:43:38 -0400
Subject: [PATCH 1/2] added GPL license, fixes for 90 degree pitch movement,
 and I term to the PD function

---
 .../experimental/STM32Gimbal.USB.bin          |  Bin 61396 -> 62156 bytes
 built-versions/experimental/STM32Gimbal.bin   |  Bin 61396 -> 62156 bytes
 built-versions/experimental/STM32Gimbal.hex   | 7389 +++++++++--------
 built-versions/experimental/STM32Gimbal.zip   |  Bin 145112 -> 147037 bytes
 gpl.txt                                       |  674 ++
 history.md                                    |    5 +-
 src/adc.c                                     |   33 +-
 src/adc.h                                     |   22 +
 src/comio.c                                   |   22 +
 src/comio.h                                   |   21 +
 src/commhandler.c                             |   22 +
 src/commhandler.h                             |   21 +
 src/config.c                                  |   22 +
 src/config.h                                  |   21 +
 src/definitions.h                             |   21 +
 src/eeprom.c                                  |   22 +
 src/eeprom.h                                  |   21 +
 src/engine.c                                  |  161 +-
 src/engine.h                                  |   21 +
 src/fasttrig.c                                |   24 +-
 src/fasttrig.h                                |   21 +
 src/gyro.c                                    |   22 +
 src/gyro.h                                    |   21 +
 src/i2c.c                                     |   24 +-
 src/i2c.h                                     |   21 +
 src/main.c                                    |   23 +-
 src/main.h                                    |   23 +-
 src/newlib_stubs.c                            |   24 +-
 src/pins.c                                    |   22 +
 src/pins.h                                    |   21 +
 src/pwm.c                                     |   23 +-
 src/pwm.h                                     |   21 +
 src/rc.c                                      |   83 +-
 src/rc.h                                      |   21 +
 src/reboot.c                                  |   21 +
 src/reboot.h                                  |   21 +
 src/ringbuffer.c                              |   22 +
 src/ringbuffer.h                              |   21 +
 src/stm32f10x_conf.h                          |   28 +-
 src/stopwatch.c                               |   21 +
 src/stopwatch.h                               |   21 +
 src/systick.c                                 |   23 +-
 src/systick.h                                 |   21 +
 src/usart.c                                   |   25 +-
 src/usart.h                                   |   21 +
 src/usb.c                                     |   21 +
 src/usb.h                                     |   21 +
 src/utils.c                                   |   23 +-
 src/utils.h                                   |   21 +
 49 files changed, 5460 insertions(+), 3763 deletions(-)
 create mode 100644 gpl.txt

diff --git a/built-versions/experimental/STM32Gimbal.USB.bin b/built-versions/experimental/STM32Gimbal.USB.bin
index 2661c186eeec21bbd0e507776ab4f62ecb6c37d4..b431f78a5d64f0d101301465beb94972b3dfac57 100644
GIT binary patch
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diff --git a/built-versions/experimental/STM32Gimbal.bin b/built-versions/experimental/STM32Gimbal.bin
index 6523393158d3c730f79cf578c68cb65e8306024a..c3e8dd6161eea8aa7dde79e0eeb54ade1323abca 100644
GIT binary patch
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diff --git a/built-versions/experimental/STM32Gimbal.hex b/built-versions/experimental/STM32Gimbal.hex
index 9b802c2..4405f33 100644
--- a/built-versions/experimental/STM32Gimbal.hex
+++ b/built-versions/experimental/STM32Gimbal.hex
@@ -1,23 +1,23 @@
 :020000040800F2
-:1000000000C00020A9160008295600082D56000837
-:100010003156000835560008395600080000000027
-:100020000000000000000000000000003D56000835
-:10003000415600080000000045560008AD58000871
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diff --git a/gpl.txt b/gpl.txt
new file mode 100644
index 0000000..94a9ed0
--- /dev/null
+++ b/gpl.txt
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
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+want it, that you can change the software or use pieces of it in new
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+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received.  You must make sure that they, too, receive
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+know their rights.
+
+  Developers that use the GNU GPL protect your rights with two steps:
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+  For the developers' and authors' protection, the GPL clearly explains
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+
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+  The precise terms and conditions for copying, distribution and
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+
+                       TERMS AND CONDITIONS
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+
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+
+  12. No Surrender of Others' Freedom.
+
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+  13. Use with the GNU Affero General Public License.
+
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+
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+  17. Interpretation of Sections 15 and 16.
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+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
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+    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.
+
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+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
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+
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+    <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/history.md b/history.md
index 36efd05..97e9ce0 100755
--- a/history.md
+++ b/history.md
@@ -211,4 +211,7 @@
     - The gyro scale has been corrected to be the right value for a 250d/sec gyro setup
     - engine.c was corrected to maintain all values in Radians
 
-
+20131028
+    - added GPL license to sources
+    - fixed pitch axis when angle is greater than 50 degrees, allows corrected angles to be 90 degrees of greater
+    - added I to the PD routines and include a limiting feature
diff --git a/src/adc.c b/src/adc.c
index 37922f7..28d9caa 100644
--- a/src/adc.c
+++ b/src/adc.c
@@ -4,10 +4,31 @@
  *  Created on: Jun 25, 2013
  *      Author: Denis aka caat
  */
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include <stdint.h>
 #include "adc.h"
-#include "stm32f10x_adc.h"
-#include "stm32f10x_gpio.h"
+#include "stm32f10x.h"
 
 void ADC_Config(void)
 {
@@ -33,9 +54,9 @@ void ADC_Config(void)
     ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
     /* Disable the scan conversion so we do one at a time */
     ADC_InitStructure.ADC_ScanConvMode = DISABLE;
-    /* Don't do contimuous conversions - do them on demand */
+    /* Don't do continuous conversions - do them on demand */
     ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
-    /* Start conversin by software, not an external trigger */
+    /* Start conversion by software, not an external trigger */
     ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
     /* Conversions are 12 bit - put them in the lower 12 bits of the result */
     ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
@@ -47,13 +68,13 @@ void ADC_Config(void)
     /* Enable ADC1 */
     ADC_Cmd(ADC1, ENABLE);
 
-    /* Enable ADC1 reset calibaration register */
+    /* Enable ADC1 reset calibration register */
     ADC_ResetCalibration(ADC1);
 
     /* Check the end of ADC1 reset calibration register */
     while (ADC_GetResetCalibrationStatus(ADC1));
 
-    /* Start ADC1 calibaration */
+    /* Start ADC1 calibration */
     ADC_StartCalibration(ADC1);
 
     /* Check the end of ADC1 calibration */
diff --git a/src/adc.h b/src/adc.h
index c51ed06..ec4205c 100644
--- a/src/adc.h
+++ b/src/adc.h
@@ -4,6 +4,28 @@
  *  Created on: Jun 25, 2013
  *      Author: Denis aka caat
  */
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef ADC_H_
 #define ADC_H_
 
diff --git a/src/comio.c b/src/comio.c
index d7721e2..9fe3583 100644
--- a/src/comio.c
+++ b/src/comio.c
@@ -4,6 +4,28 @@
  *  Created on: Aug 1, 2013
  *      Author: ala42
  */
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include <stdio.h>
 #include <stdarg.h>
 #include <stdint.h>
diff --git a/src/comio.h b/src/comio.h
index 471cb6d..d756ce5 100644
--- a/src/comio.h
+++ b/src/comio.h
@@ -5,6 +5,27 @@
  *      Author: ala42
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef COMIO_H_
 #define COMIO_H_
 
diff --git a/src/commhandler.c b/src/commhandler.c
index 4a609c7..f383ddf 100644
--- a/src/commhandler.c
+++ b/src/commhandler.c
@@ -6,6 +6,28 @@
  *
  *  extracted code from main.c
  */
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include <stdint.h>
 #include "main.h"
 #include "config.h"
diff --git a/src/commhandler.h b/src/commhandler.h
index c8518f6..0f476f0 100644
--- a/src/commhandler.h
+++ b/src/commhandler.h
@@ -7,6 +7,27 @@
  *  extracted code from main.c
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef COMMHANDLER_H_
 #define COMMHANDLER_H_
 
diff --git a/src/config.c b/src/config.c
index cac9ef2..4e62db4 100644
--- a/src/config.c
+++ b/src/config.c
@@ -4,6 +4,28 @@
  *  Created on: Jun 25, 2013
  *      Author: Denis caat
  */
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include <stdint.h>
 #include "config.h"
 #include "utils.h"
diff --git a/src/config.h b/src/config.h
index d8785d2..eac8b09 100644
--- a/src/config.h
+++ b/src/config.h
@@ -5,6 +5,27 @@
  *      Author: Denis caat
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef CONFIG_H_
 #define CONFIG_H_
 
diff --git a/src/definitions.h b/src/definitions.h
index eeb7cb1..0ec94a2 100644
--- a/src/definitions.h
+++ b/src/definitions.h
@@ -5,6 +5,27 @@
  *      Author: Paul Phillips
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef DEFINITIONS_H_
 #define DEFINITIONS_H_
 
diff --git a/src/eeprom.c b/src/eeprom.c
index 66f2b4b..f8391b3 100644
--- a/src/eeprom.c
+++ b/src/eeprom.c
@@ -4,6 +4,28 @@
  *  Created on: Jun 25, 2013
  *      Author: Denis aka caat
  */
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include "stdint.h"
 #include "eeprom.h"
 #include "utils.h"
diff --git a/src/eeprom.h b/src/eeprom.h
index d3338e9..8285bc1 100644
--- a/src/eeprom.h
+++ b/src/eeprom.h
@@ -5,6 +5,27 @@
  *      Author: Denis aka caat
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef EEPROM_H_
 #define EEPROM_H_
 
diff --git a/src/engine.c b/src/engine.c
index e6ea888..b0c19df 100644
--- a/src/engine.c
+++ b/src/engine.c
@@ -4,6 +4,28 @@
  *  Created on: Jun 26, 2013
  *      Author: Denis aka caat
  */
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include <stdint.h>
 #include <math.h>
 #include "engine.h"
@@ -14,12 +36,11 @@
 #include "pwm.h"
 #include "rc.h"
 #include "comio.h"
-#include "systick.h"
 #include "stopwatch.h"
 #include "i2c.h"
 #include "definitions.h"
-#include "usb.h"
 #include "main.h"
+#include "usb.h"
 
 int debugPrint   = 0;
 int debugPerf    = 0;
@@ -29,17 +50,20 @@ int debugRC      = 0;
 int debugOrient  = 0;
 int debugAutoPan = 0;
 
-float /*pitch, Gyro_Pitch_angle,*/ pitch_setpoint = 0.0f, pitch_Error_last = 0.0f,  pitch_angle_correction;
-float /*roll,  Gyro_Roll_angle,*/  roll_setpoint  = 0.0f,  roll_Error_last = 0.0f,   roll_angle_correction;
-float /*yaw,   Gyro_Yaw_angle,*/   yaw_setpoint   = 0.0f,   yaw_Error_last = 0.0f,    yaw_angle_correction;
+float pitch_setpoint = 0.0f, pitch_Error_last = 0.0f,  pitch_angle_correction;
+float roll_setpoint  = 0.0f,  roll_Error_last = 0.0f,   roll_angle_correction;
+float yaw_setpoint   = 0.0f,   yaw_Error_last = 0.0f,    yaw_angle_correction;
 
 float ADC1Ch13_yaw;
 
-static float rollRCOffset = 0.0f, pitchRCOffset = 0.0f, yawRCOffset = 0.0f;
+//static float rollRCOffset = 0.0f, pitchRCOffset = 0.0f, yawRCOffset = 0.0f;
 
 static int printcounter = 0;
 
 float Output[EULAR];
+float OutputPrev[EULAR] = {0.0f, 0.0f, 0.0f};
+float OutputRate[EULAR];
+float ErrorSum[EULAR]   = {0.0f, 0.0f, 0.0f};
 
 float CameraOrient[EULAR];
 float AccAngleSmooth[EULAR];
@@ -50,42 +74,107 @@ float GyroData[NUMAXIS] = {0.0f, 0.0f, 0.0f};
 float Step[NUMAXIS]     = {0.0f, 0.0f, 0.0f};
 float RCSmooth[NUMAXIS] = {0.0f, 0.0f, 0.0f};
 
+#define OUTPUT_RATE_LIMIT M_PI/2
+
+/*----------------ROLL PID----------------------*/
+#define INTEGRAL_ROLL 0.0001
+
 void roll_PID(void)
 {
     float Error_current = roll_setpoint + CameraOrient[ROLL] * 1000.0;
+    ErrorSum[ROLL] += Error_current;
+
     float KP = Error_current * ((float)configData[1] / 1000.0);
     float KD = ((float)configData[4] / 100.0) * (Error_current - roll_Error_last);
+    float KI = ErrorSum[ROLL] * INTEGRAL_ROLL;
 
     roll_Error_last = Error_current;
 
-    Output[ROLL] = KD + KP;
-    SetRollMotor(KP + KD, configData[7]);
+    Output[ROLL] = KD + KP + KI;
+    OutputRate[ROLL] = Output[ROLL] - OutputPrev[ROLL];
+
+    if (OutputRate[ROLL] > OUTPUT_RATE_LIMIT)
+    {
+        Output[ROLL] = OutputPrev[ROLL] + OUTPUT_RATE_LIMIT;
+    }
+
+    if (OutputRate[ROLL] < (-OUTPUT_RATE_LIMIT))
+    {
+        Output[ROLL] = OutputPrev[ROLL] - OUTPUT_RATE_LIMIT;
+    }
+
+    OutputPrev[ROLL] = Output[ROLL];
+
+    SetRollMotor(Output[ROLL], configData[7]);
 }
 
+
+
+/*--------------------PITCH PID----------------------*/
+#define INTEGRAL_PITCH 0.0001
+
 void pitch_PID(void)
 {
     float Error_current = pitch_setpoint + CameraOrient[PITCH] * 1000.0;
+    ErrorSum[PITCH] += Error_current;
+
     float KP = Error_current * ((float)configData[0] / 1000.0);
     float KD = ((float)configData[3] / 100.0) * (Error_current - pitch_Error_last);
+    float KI = ErrorSum[PITCH] * INTEGRAL_PITCH;
 
     pitch_Error_last = Error_current;
 
-    Output[PITCH] = KD + KP;
-    SetPitchMotor(KP + KD, configData[6]);
+    Output[PITCH] = KD + KP + KI;
+    OutputRate[PITCH] = Output[PITCH] - OutputPrev[PITCH];
+
+    if (OutputRate[PITCH] > OUTPUT_RATE_LIMIT)
+    {
+        Output[PITCH] = OutputPrev[PITCH] + OUTPUT_RATE_LIMIT;
+    }
+
+    if (OutputRate[PITCH] < (-OUTPUT_RATE_LIMIT))
+    {
+        Output[PITCH] = OutputPrev[PITCH] - OUTPUT_RATE_LIMIT;
+    }
+
+    OutputPrev[PITCH] = Output[PITCH];
+
+    SetPitchMotor(Output[PITCH], configData[6]);
 }
 
+/*---------------------------YAW PID----------------------*/
+#define INTEGRAL_YAW 0.0001
+
 void yaw_PID(void)
 {
     float Error_current = yaw_setpoint + CameraOrient[YAW] * 1000.0;
+    ErrorSum[YAW] += Error_current;
+
     float KP = Error_current * ((float)configData[2] / 1000.0);
     float KD = ((float)configData[5] / 100.0) * (Error_current - yaw_Error_last);
+    float KI = ErrorSum[YAW] * INTEGRAL_YAW;
 
     yaw_Error_last = Error_current;
 
-    Output[YAW] = KD + KP;
-    SetYawMotor(KP + KD, configData[8]);
+    Output[YAW] = KD + KP + KI;
+    OutputRate[YAW] = Output[YAW] - OutputPrev[YAW];
+
+    if (OutputRate[YAW] > OUTPUT_RATE_LIMIT)
+    {
+        Output[YAW] = OutputPrev[YAW] + OUTPUT_RATE_LIMIT;
+    }
+
+    if (OutputRate[YAW] < (-OUTPUT_RATE_LIMIT))
+    {
+        Output[YAW] = OutputPrev[YAW] - OUTPUT_RATE_LIMIT;
+    }
+
+    OutputPrev[YAW] = Output[YAW];
+
+    SetYawMotor(Output[YAW], configData[8]);
 }
 
+#if 0
 float constrain(float value, float low, float high)
 {
     if (value < low)
@@ -96,6 +185,7 @@ float constrain(float value, float low, float high)
 
     return value;
 }
+#endif
 
 /*
   Limits the Pitch angle
@@ -126,17 +216,17 @@ void Init_Orientation()
     {
         MPU6050_ACC_get(AccData); //Getting Accelerometer data
 
-        AccAngle[ROLL]  = -(atan2f(AccData[X_AXIS], AccData[Z_AXIS]));   //Calculating pitch ACC angle
-        AccAngle[PITCH] = +(atan2f(AccData[Y_AXIS], AccData[Z_AXIS]));   //Calculating roll ACC angle
+        AccAngle[ROLL]  = -(atan2f(AccData[X_AXIS], AccData[Z_AXIS]));   //Calculating roll ACC angle
+        AccAngle[PITCH] = +(atan2f(AccData[Y_AXIS], AccData[Z_AXIS]));   //Calculating pitch ACC angle
 
-        AccAngleSmooth[ROLL]  = ((AccAngleSmooth[ROLL] * (float)(init_loops - 1))  + AccAngle[ROLL])  / (float)init_loops; //Averaging pitch ACC values
-        AccAngleSmooth[PITCH] = ((AccAngleSmooth[PITCH] * (float)(init_loops - 1)) + AccAngle[PITCH]) / (float)init_loops; //Averaging roll  ACC values
+        AccAngleSmooth[ROLL]  = ((AccAngleSmooth[ROLL] * (float)(init_loops - 1))  + AccAngle[ROLL])  / (float)init_loops; //Averaging roll ACC values
+        AccAngleSmooth[PITCH] = ((AccAngleSmooth[PITCH] * (float)(init_loops - 1)) + AccAngle[PITCH]) / (float)init_loops; //Averaging pitch  ACC values
         Delay_ms(1);
     }
 
     CameraOrient[PITCH] = AccAngleSmooth[PITCH];
-    CameraOrient[ROLL] = AccAngleSmooth[ROLL];
-    CameraOrient[YAW] = 0.0f;
+    CameraOrient[ROLL]  = AccAngleSmooth[ROLL];
+    CameraOrient[YAW]   = 0.0f;
 }
 
 void Get_Orientation(float *SmoothAcc, float *Orient, float *AccData, float *GyroData, float dt)
@@ -144,11 +234,12 @@ void Get_Orientation(float *SmoothAcc, float *Orient, float *AccData, float *Gyr
     float AccAngle[EULAR];
     float GyroRate[EULAR];
 
-    AccAngle[ROLL]  = -(atan2f(AccData[X_AXIS], AccData[Z_AXIS]));   //Calculating pitch ACC angle
-    AccAngle[PITCH] = +(atan2f(AccData[Y_AXIS], AccData[Z_AXIS]));   //Calculating roll ACC angle
+    //AccAngle[ROLL]  = -(atan2f(AccData[X_AXIS], AccData[Z_AXIS]));   //Calculating roll ACC angle
+    AccAngle[ROLL]  = -(atan2f(AccData[X_AXIS], sqrtf( AccData[Z_AXIS] * AccData[Z_AXIS] + AccData[Y_AXIS] * AccData[Y_AXIS])));   //Calculating roll ACC angle
+    AccAngle[PITCH] = +(atan2f(AccData[Y_AXIS], AccData[Z_AXIS]));   //Calculating pitch ACC angle
 
-    SmoothAcc[ROLL]  = ((SmoothAcc[ROLL] * 99.0f)  + AccAngle[ROLL])  / 100.0f; //Averaging pitch ACC values
-    SmoothAcc[PITCH] = ((SmoothAcc[PITCH] * 99.0f) + AccAngle[PITCH]) / 100.0f; //Averaging roll  ACC values
+    SmoothAcc[ROLL]  = ((SmoothAcc[ROLL] * 99.0f)  + AccAngle[ROLL])  / 100.0f; //Averaging roll ACC values
+    SmoothAcc[PITCH] = ((SmoothAcc[PITCH] * 99.0f) + AccAngle[PITCH]) / 100.0f; //Averaging pitch  ACC values
 
     GyroRate[PITCH] =  GyroData[X_AXIS];
     Orient[PITCH]   = (Orient[PITCH] + GyroRate[PITCH] * dt) + 0.0002f * (SmoothAcc[PITCH] - Orient[PITCH]);  //Pitch Horizon
@@ -156,18 +247,15 @@ void Get_Orientation(float *SmoothAcc, float *Orient, float *AccData, float *Gyr
     GyroRate[ROLL] = -GyroData[Z_AXIS] * sinf(Orient[PITCH]) + GyroData[Y_AXIS] * cosf(fabsf(Orient[PITCH]));
     Orient[ROLL]   = (Orient[ROLL] + GyroRate[ROLL] * dt)    + 0.0002f * (SmoothAcc[ROLL] - Orient[ROLL]); //Roll Horizon
 
-    GyroRate[YAW] = -GyroData[Z_AXIS] * cosf(fabsf(Orient[PITCH])) - GyroData[Y_AXIS] * sinf(Orient[PITCH]); //presuming Roll is horizontal
-    Orient[YAW]   = (Orient[YAW] + GyroRate[YAW] * dt); //Yaw
+    GyroRate[YAW]  = -GyroData[Z_AXIS] * cosf(fabsf(Orient[PITCH])) - GyroData[Y_AXIS] * sinf(Orient[PITCH]); //presuming Roll is horizontal
+    Orient[YAW]    = (Orient[YAW] + GyroRate[YAW] * dt); //Yaw
 }
 
 //---------------------YAW autopan----------------------//
-//#define ANGLE2SETPOINT -1000
 #define DEADBAND 2.0f //in radians with respect to one motor pole (actual angle is (DEADBAND / numberPoles) * R2D)
 #define MOTORPOS2SETPNT 0.35f //scaling factor for how fast it should move
 #define AUTOPANSMOOTH 40.0f
-//#define LPFTIMECONSTANT 20 //change this to adjust sensitivity
 
-//float yawAngleLPF=0;
 float centerPoint = 0.0f;
 float stepSmooth  = 0.0f;
 float step        = 0.0f;
@@ -193,6 +281,7 @@ float autoPan(float motorPos, float setpoint)
     stepSmooth = (stepSmooth * (AUTOPANSMOOTH - 1.0f) + step) / AUTOPANSMOOTH;
     return (setpoint -= stepSmooth);
 }
+
 //--------------------Engine Process-----------------------------//
 void engineProcess(float dt)
 {
@@ -222,19 +311,19 @@ void engineProcess(float dt)
     }
 
     // Pitch adjustments
-    //pitch_setpoint += Step[PITCH];
-    pitchRCOffset += Step[PITCH] / 1000.0;
+    pitch_setpoint += Step[PITCH];
+    //pitchRCOffset += Step[PITCH] / 1000.0;
 
-    pitch_angle_correction = constrain((CameraOrient[PITCH] + pitchRCOffset) * R2D, -CORRECTION_STEP, CORRECTION_STEP);
-    pitch_setpoint += pitch_angle_correction; // Pitch return to zero after collision
+    //pitch_angle_correction = constrain((CameraOrient[PITCH] + pitchRCOffset) * R2D, -CORRECTION_STEP, CORRECTION_STEP);
+    //pitch_setpoint += pitch_angle_correction; // Pitch return to zero after collision
 
     // Roll Adjustments
-    //roll_setpoint += Step[ROLL];
-    rollRCOffset += Step[ROLL] / 1000.0;
+    roll_setpoint += Step[ROLL];
+    //rollRCOffset += Step[ROLL] / 1000.0;
 
     // include the config roll offset which is scaled to 0 = -10.0 degrees, 100 = 0.0 degrees, and 200 = 10.0 degrees
-    roll_angle_correction = constrain((CameraOrient[ROLL] + rollRCOffset + Deg2Rad((configData[11] - 100) / 10.0)) * R2D, -CORRECTION_STEP, CORRECTION_STEP);
-    roll_setpoint += roll_angle_correction; //Roll return to zero after collision
+    //roll_angle_correction = constrain((CameraOrient[ROLL] + rollRCOffset + Deg2Rad((configData[11] - 100) / 10.0)) * R2D, -CORRECTION_STEP, CORRECTION_STEP);
+    //roll_setpoint += roll_angle_correction; //Roll return to zero after collision
 
     // if we enabled AutoPan on Yaw
     if (configData[10] == '0')
@@ -247,7 +336,7 @@ void engineProcess(float dt)
     {
         // Yaw Adjustments
         yaw_setpoint += Step[YAW];
-        yawRCOffset += Step[YAW] / 1000.0;
+        //yawRCOffset += Step[YAW] / 1000.0;
     }
 
 #if 0
diff --git a/src/engine.h b/src/engine.h
index 5d5f9db..3110e1a 100644
--- a/src/engine.h
+++ b/src/engine.h
@@ -5,6 +5,27 @@
  *      Author: Denis aka caat
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef ENGiNE_H_
 #define ENGINE_H_
 
diff --git a/src/fasttrig.c b/src/fasttrig.c
index c08233b..bda7e3c 100644
--- a/src/fasttrig.c
+++ b/src/fasttrig.c
@@ -4,6 +4,28 @@
  *  Created on: Aug 10, 2013
  *      Author: ala42
  */
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include <math.h>
 #include "fasttrig.h"
 #include "utils.h"
@@ -32,4 +54,4 @@ float fastSin(float x)
         int ix = ((int)(-x / M_TWOPI * (float)SINARRAYSIZE)) % SINARRAYSIZE;
         return -sinDataI16[ix] / (float)SINARRAYSCALE;
     }
-}
\ No newline at end of file
+}
diff --git a/src/fasttrig.h b/src/fasttrig.h
index f785df1..9e0ba5d 100644
--- a/src/fasttrig.h
+++ b/src/fasttrig.h
@@ -5,6 +5,27 @@
  *      Author: ala42
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef FASTTRIG_H_
 #define FASTTRIG_H_
 
diff --git a/src/gyro.c b/src/gyro.c
index d5501b8..1cfe272 100644
--- a/src/gyro.c
+++ b/src/gyro.c
@@ -4,6 +4,28 @@
  *  Created on: Jun 26, 2013
  *      Author: Denis aka caat
  */
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include <stdint.h>
 #include <math.h>
 #include "gyro.h"
diff --git a/src/gyro.h b/src/gyro.h
index 2df38a2..3fea035 100644
--- a/src/gyro.h
+++ b/src/gyro.h
@@ -7,6 +7,27 @@
  * MPU6050 gyro via i2c bus.
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef GYRO_H_
 #define GYRO_H_
 
diff --git a/src/i2c.c b/src/i2c.c
index 7922267..315f083 100644
--- a/src/i2c.c
+++ b/src/i2c.c
@@ -4,11 +4,33 @@
  *  Created on: Jun 25, 2013
  *      Author: Denis aka caat
  */
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include <stdint.h>
 #include "i2c.h"
 #include "pins.h"
 #include "utils.h"
-#include "stm32f10x_gpio.h"
+#include "stm32f10x.h"
 
 int I2Cerror, I2Cerrorcount;
 
diff --git a/src/i2c.h b/src/i2c.h
index 0b071ca..1ce5ed4 100644
--- a/src/i2c.h
+++ b/src/i2c.h
@@ -5,6 +5,27 @@
  *      Author: Denis aka caat
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef I2C_H_
 #define I2C_H_
 
diff --git a/src/main.c b/src/main.c
index f9768a1..2ae47ad 100644
--- a/src/main.c
+++ b/src/main.c
@@ -1,4 +1,26 @@
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include <stdint.h>
+#include "stm32f10x.h"
 #include "main.h"
 #include "adc.h"
 #include "comio.h"
@@ -13,7 +35,6 @@
 #include "systick.h"
 #include "utils.h"
 #include "hw_config.h"
-#include "stm32f10x_tim.h"
 
 static volatile int WatchDogCounter;
 
diff --git a/src/main.h b/src/main.h
index 11c9e5c..dc245d4 100644
--- a/src/main.h
+++ b/src/main.h
@@ -5,11 +5,32 @@
  *      Author: aadamson
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef MAIN_H_
 #define MAIN_H_
 
 // software version number
-#define __EV_VERSION "0.4.3x"
+#define __EV_VERSION "0.4.4x"
 
 float GetIdlePerf(void);
 
diff --git a/src/newlib_stubs.c b/src/newlib_stubs.c
index 4a6bbf3..d53d8b7 100644
--- a/src/newlib_stubs.c
+++ b/src/newlib_stubs.c
@@ -4,11 +4,33 @@
  *  Created on: 2 Nov 2010
  *      Author: nanoage.co.uk
  */
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include <errno.h>
 #include <sys/stat.h>
 #include <sys/times.h>
 #include <sys/unistd.h>
-#include "stm32f10x_usart.h"
+#include "stm32f10x.h"
 
 
 #ifndef STDOUT_USART
diff --git a/src/pins.c b/src/pins.c
index b870021..0717865 100644
--- a/src/pins.c
+++ b/src/pins.c
@@ -4,6 +4,28 @@
  *  Created on: Jun 25, 2013
  *      Author: Denis caat
  */
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include "pins.h"
 #include "stm32f10x.h"
 #include "utils.h"
diff --git a/src/pins.h b/src/pins.h
index 205aae8..5e9102d 100644
--- a/src/pins.h
+++ b/src/pins.h
@@ -5,6 +5,27 @@
  *      Author: Denis caat
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef PINS_H_
 #define PINS_H_
 
diff --git a/src/pwm.c b/src/pwm.c
index 46e5b1a..5e9b792 100644
--- a/src/pwm.c
+++ b/src/pwm.c
@@ -5,9 +5,30 @@
  *      Author: ala42
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include <math.h>
 #include "pwm.h"
-#include "stm32f10x_tim.h"
+#include "stm32f10x.h"
 #include "utils.h"
 #include "comio.h"
 #include "stopwatch.h"
diff --git a/src/pwm.h b/src/pwm.h
index f6eed72..f584397 100644
--- a/src/pwm.h
+++ b/src/pwm.h
@@ -5,6 +5,27 @@
  *      Author: ala42
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef PWM_H_
 #define PWM_H_
 
diff --git a/src/rc.c b/src/rc.c
index b5e0118..c1794f8 100644
--- a/src/rc.c
+++ b/src/rc.c
@@ -1,5 +1,26 @@
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include "rc.h"
-#include "stm32f10x_tim.h"
+#include "stm32f10x.h"
 #include "utils.h"
 #include "comio.h"
 #include "definitions.h"
@@ -22,11 +43,11 @@ void RC_Config(void)
 {
     GPIO_InitTypeDef    GPIO_InitStructure;
 
-	__disable_irq();
+  __disable_irq();
 
     GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable , ENABLE);
 
-	// PA15 must be initialized after PA15/PB3 are made available with GPIO_Remap_SWJ_JTAGDisable
+  // PA15 must be initialized after PA15/PB3 are made available with GPIO_Remap_SWJ_JTAGDisable
     GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_15;				// PA15
     GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_IN_FLOATING;  	// Set to Input
     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;   		// GPIO Speed
@@ -61,10 +82,12 @@ void RC_Config(void)
     NVIC_EnableIRQ(EXTI2_IRQn); // Enable interrupt
 
     Timer3_Config(); //RC control timer
-	
-	__enable_irq();
+
+  __enable_irq();
 }
 
+/*-----------------Read RC on AUX 3--------------------------*/
+// Pitch
 static int rc3;
 
 int GetAUX3(void)
@@ -74,13 +97,13 @@ int GetAUX3(void)
 
 void EXTI3_IRQHandler(void) //EXTernal interrupt routine PB3-Pitch
 {
-    static unsigned short rc3a, rc3b;
+    static unsigned short rc3a = 0, rc3b = 0;
 
-    if (EXTI->PR & (1 << 3))
+    if (EXTI_GetITStatus(EXTI_Line3) != RESET)
     {
         DEBUG_PutChar('3');
         // EXTI3 interrupt pending?
-        EXTI->PR |= (1 << 3); // clear pending interrupt
+        //EXTI->PR |= (1 << 3); // clear pending interrupt
 
         if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_3) == 1)
         {
@@ -100,12 +123,16 @@ void EXTI3_IRQHandler(void) //EXTernal interrupt routine PB3-Pitch
         }
         else
         {
-            rc3 = 0;
+            //rc3 = 0;
         }
+
+        EXTI_ClearITPendingBit(EXTI_Line3); // clear pending interrupt
+
     }
 }
 
 /*-----------------Read RC on AUX 2--------------------------*/
+// Roll
 static int rc2;
 
 int GetAUX2(void)
@@ -115,13 +142,13 @@ int GetAUX2(void)
 
 void EXTI2_IRQHandler(void) //EXTernal interrupt routine PC2-Pitch
 {
-    static unsigned short rc2a, rc2b;
+    static unsigned short rc2a = 0, rc2b = 0;
 
-    if (EXTI->PR & (1 << 2))
+    if (EXTI_GetITStatus(EXTI_Line2) != RESET)
     {
         DEBUG_PutChar('2');
         // EXTI2 interrupt pending?
-        EXTI->PR |= (1 << 2); // clear pending interrupt
+        //EXTI->PR |= (1 << 2); // clear pending interrupt
 
         if (GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_2) == 1)
         {
@@ -141,11 +168,16 @@ void EXTI2_IRQHandler(void) //EXTernal interrupt routine PC2-Pitch
         }
         else
         {
-            rc2 = 0;
+            //rc2 = 0;
         }
+
+        EXTI_ClearITPendingBit(EXTI_Line2); // clear pending interrupt
+
     }
 }
 
+/*-----------------Read RC on AUX 4--------------------------*/
+// Yaw
 static int rc4;
 
 int GetAUX4(void)
@@ -155,14 +187,14 @@ int GetAUX4(void)
 
 void EXTI4_IRQHandler(void) //EXTernal interrupt routine PB4-Yaw
 {
-    static unsigned short rc4a, rc4b;
+    static unsigned short rc4a = 0, rc4b = 0;
 
-    if (EXTI->PR & (1 << 4))
+    if (EXTI_GetITStatus(EXTI_Line4) != RESET)
     {
         DEBUG_PutChar('4');
 
         // EXTI3 interrupt pending?
-        EXTI->PR |= (1 << 4);                         // clear pending interrupt
+        //EXTI->PR |= (1 << 4);                         // clear pending interrupt
 
 
         if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_4) == 1)
@@ -183,8 +215,11 @@ void EXTI4_IRQHandler(void) //EXTernal interrupt routine PB4-Yaw
         }
         else
         {
-            rc4 = 0;
+            //rc4 = 0;
         }
+
+        EXTI_ClearITPendingBit(EXTI_Line4); // clear pending interrupt
+
     }
 }
 
@@ -196,9 +231,11 @@ void EXTI4_IRQHandler(void) //EXTernal interrupt routine PB4-Yaw
 void Get_RC_Step(float *Step, float *RCSmooth)
 {
 
-    // Get Step PITCH
-    int aux3 = GetAUX3();
+    int aux3 = GetAUX3(); //PITCH
+    int aux2 = GetAUX2(); //ROLL
+    int aux4 = GetAUX4(); //YAW
 
+    // Pitch
     if (aux3 != 0) //check there is a rc input
     {
         RCSmooth[PITCH] = ((RCSmooth[PITCH] * 199) + (aux3 - RC_CENTER_VAL)) / 200;
@@ -217,9 +254,7 @@ void Get_RC_Step(float *Step, float *RCSmooth)
         Step[PITCH] = 0;
     }
 
-    // Get Step Roll
-    int aux2 = GetAUX2();
-
+    // Roll
     if (aux2 != 0) //check there is a rc input
     {
         RCSmooth[ROLL] = ((RCSmooth[ROLL] * 199) + (aux2 - RC_CENTER_VAL)) / 200;
@@ -238,9 +273,7 @@ void Get_RC_Step(float *Step, float *RCSmooth)
         Step[ROLL] = 0;
     }
 
-    // Get Step YAW
-    int aux4 = GetAUX4();
-
+    // YAW
     if (aux4 != 0) //check there is a rc input
     {
         RCSmooth[YAW] = ((RCSmooth[YAW] * 199) + (aux4 - RC_CENTER_VAL)) / 200;
diff --git a/src/rc.h b/src/rc.h
index e5e4f2f..eb6b646 100644
--- a/src/rc.h
+++ b/src/rc.h
@@ -7,6 +7,27 @@
  *  extracted code from main.c
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef RC_H_
 #define RC_H_
 
diff --git a/src/reboot.c b/src/reboot.c
index 58bdcea..c83fb06 100644
--- a/src/reboot.c
+++ b/src/reboot.c
@@ -5,6 +5,27 @@
  *      Author: ala42
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include "reboot.h"
 #include "stm32f10x.h"
 #include "core_cm3.h"
diff --git a/src/reboot.h b/src/reboot.h
index c0f8649..875e4e7 100644
--- a/src/reboot.h
+++ b/src/reboot.h
@@ -5,6 +5,27 @@
  *      Author: ala42
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef REBOOT_H_
 
 void BKPInit(void);
diff --git a/src/ringbuffer.c b/src/ringbuffer.c
index 72acbf1..364e5f9 100644
--- a/src/ringbuffer.c
+++ b/src/ringbuffer.c
@@ -4,6 +4,28 @@
  *  Created on: Aug 1, 2013
  *      Author: ala42
  */
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include <stdint.h>
 #include <string.h>
 #include "ringbuffer.h"
diff --git a/src/ringbuffer.h b/src/ringbuffer.h
index 8542ab2..35c6a80 100644
--- a/src/ringbuffer.h
+++ b/src/ringbuffer.h
@@ -5,6 +5,27 @@
  *      Author: ala42
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef RINGBUFFER_H_
 #define RINGBUFFER_H_
 
diff --git a/src/stm32f10x_conf.h b/src/stm32f10x_conf.h
index 46af00e..baf240f 100644
--- a/src/stm32f10x_conf.h
+++ b/src/stm32f10x_conf.h
@@ -33,26 +33,26 @@
 /* Includes ------------------------------------------------------------------*/
 /* Uncomment the line below to enable peripheral header file inclusion */
 #include "stm32f10x_adc.h"
-#include "stm32f10x_bkp.h"
-#include "stm32f10x_can.h"
-#include "stm32f10x_crc.h"
-#include "stm32f10x_dac.h"
-#include "stm32f10x_dbgmcu.h"
-#include "stm32f10x_dma.h"
+//#include "stm32f10x_bkp.h"
+//#include "stm32f10x_can.h"
+//#include "stm32f10x_crc.h"
+//#include "stm32f10x_dac.h"
+//#include "stm32f10x_dbgmcu.h"
+//#include "stm32f10x_dma.h"
 #include "stm32f10x_exti.h"
-#include "stm32f10x_flash.h"
-#include "stm32f10x_fsmc.h"
+//#include "stm32f10x_flash.h"
+//#include "stm32f10x_fsmc.h"
 #include "stm32f10x_gpio.h"
-#include "stm32f10x_i2c.h"
-#include "stm32f10x_iwdg.h"
+//#include "stm32f10x_i2c.h"
+//#include "stm32f10x_iwdg.h"
 #include "stm32f10x_pwr.h"
 #include "stm32f10x_rcc.h"
-#include "stm32f10x_rtc.h"
-#include "stm32f10x_sdio.h"
-#include "stm32f10x_spi.h"
+//#include "stm32f10x_rtc.h"
+//#include "stm32f10x_sdio.h"
+//#include "stm32f10x_spi.h"
 #include "stm32f10x_tim.h"
 #include "stm32f10x_usart.h"
-#include "stm32f10x_wwdg.h"
+//#include "stm32f10x_wwdg.h"
 #include "misc.h"   /* High level functions for NVIC and SysTick (add-on to CMSIS functions) */
 
 /* Exported types ------------------------------------------------------------*/
diff --git a/src/stopwatch.c b/src/stopwatch.c
index a09ff97..c183b85 100644
--- a/src/stopwatch.c
+++ b/src/stopwatch.c
@@ -5,6 +5,27 @@
  *      Author: ala42
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include "systick.h"
 #include "stopwatch.h"
 
diff --git a/src/stopwatch.h b/src/stopwatch.h
index 9efbdb4..7d90818 100644
--- a/src/stopwatch.h
+++ b/src/stopwatch.h
@@ -5,6 +5,27 @@
  *      Author: ala42
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef STOPWATCH_H_
 #define STOPWATCH_H_
 
diff --git a/src/systick.c b/src/systick.c
index 55472e4..10ffb40 100644
--- a/src/systick.c
+++ b/src/systick.c
@@ -5,7 +5,28 @@
  *      Author: ala42
  */
 
-#include "stm32f10x_tim.h"
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+#include "stm32f10x.h"
 
 static volatile uint32_t sysTickMillis = 0;
 static uint32_t sysTickPerUs = 72;
diff --git a/src/systick.h b/src/systick.h
index e35a198..8decd6b 100644
--- a/src/systick.h
+++ b/src/systick.h
@@ -5,6 +5,27 @@
  *      Author: ala42
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef SYSTICK_H_
 #define SYSTICK_H_
 
diff --git a/src/usart.c b/src/usart.c
index 3ac262b..3e3d267 100644
--- a/src/usart.c
+++ b/src/usart.c
@@ -4,8 +4,29 @@
  *  Created on: Jun 26, 2013
  *      Author: Denis aka caat
  */
-#include "stm32f10x_gpio.h"
-#include "stm32f10x_usart.h"
+
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+#include "stm32f10x.h"
 #include "usart.h"
 #include "utils.h"
 #include "ringbuffer.h"
diff --git a/src/usart.h b/src/usart.h
index adbb6b8..27c84ae 100644
--- a/src/usart.h
+++ b/src/usart.h
@@ -5,6 +5,27 @@
  *      Author: Denis aka caat
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef USART_H_
 #define USART_H_
 
diff --git a/src/usb.c b/src/usb.c
index 0fa6891..3bdf6df 100644
--- a/src/usb.c
+++ b/src/usb.c
@@ -1,3 +1,24 @@
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include "utils.h"
 #include "hw_config.h"
 #include "usb_lib.h"
diff --git a/src/usb.h b/src/usb.h
index cffd117..072202e 100644
--- a/src/usb.h
+++ b/src/usb.h
@@ -1,3 +1,24 @@
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef _USBF4_H_
 #define _USBF4_H_
 
diff --git a/src/utils.c b/src/utils.c
index fb06036..574bb01 100644
--- a/src/utils.c
+++ b/src/utils.c
@@ -5,9 +5,30 @@
  *      Author: Denis caat
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #include <math.h>
 #include "utils.h"
-#include "stm32f10x_rcc.h"
+#include "stm32f10x.h"
 #include "comio.h"
 #include "pins.h"
 
diff --git a/src/utils.h b/src/utils.h
index 6600f7c..7799abb 100644
--- a/src/utils.h
+++ b/src/utils.h
@@ -5,6 +5,27 @@
  *      Author: Denis caat
  */
 
+/*
+    Original work Copyright (c) 2012 [Evaldis - RCG user name]
+    Modified work Copyright 2012 Alan K. Adamson
+
+    This file is part of EvvGC.
+
+    EvvGC 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.
+
+    EvvGC 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 EvvGC.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
 #ifndef UTILS_H_
 #define UTILS_H_
 

From 04900d528c7dc703b1722d5a313fbd3c9367bffb Mon Sep 17 00:00:00 2001
From: akadamson <akadamson@gmail.com>
Date: Mon, 28 Oct 2013 22:05:39 -0400
Subject: [PATCH 2/2] fix for the autopan debugging printout so it will shut
 off

---
 .../experimental/STM32Gimbal.USB.bin          |  Bin 62156 -> 62132 bytes
 built-versions/experimental/STM32Gimbal.bin   |  Bin 62156 -> 62132 bytes
 built-versions/experimental/STM32Gimbal.hex   | 6619 ++++++++---------
 built-versions/experimental/STM32Gimbal.zip   |  Bin 147037 -> 146954 bytes
 src/commhandler.c                             |    2 +-
 5 files changed, 3310 insertions(+), 3311 deletions(-)

diff --git a/built-versions/experimental/STM32Gimbal.USB.bin b/built-versions/experimental/STM32Gimbal.USB.bin
index b431f78a5d64f0d101301465beb94972b3dfac57..922e8fd36f4da25c22b18186b378d1c44df6f7e7 100644
GIT binary patch
delta 11856
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diff --git a/built-versions/experimental/STM32Gimbal.bin b/built-versions/experimental/STM32Gimbal.bin
index c3e8dd6161eea8aa7dde79e0eeb54ade1323abca..70ca3102f11223cba3db8ec4cd909fe0cee0881b 100644
GIT binary patch
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diff --git a/built-versions/experimental/STM32Gimbal.hex b/built-versions/experimental/STM32Gimbal.hex
index 4405f33..6f2dfea 100644
--- a/built-versions/experimental/STM32Gimbal.hex
+++ b/built-versions/experimental/STM32Gimbal.hex
@@ -1,22 +1,22 @@
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@@ -375,7 +375,7 @@
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diff --git a/built-versions/experimental/STM32Gimbal.zip b/built-versions/experimental/STM32Gimbal.zip
index 5d092bcd545556871c2ef2d9b81e99f1616c117a..0788f99f00a06f358924a47a71d38296c61edf49 100644
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diff --git a/src/commhandler.c b/src/commhandler.c
index f383ddf..c38eaf5 100644
--- a/src/commhandler.c
+++ b/src/commhandler.c
@@ -57,7 +57,7 @@ void CommHandler(void) //UART4 Interrupt handler implementation
         {
             case 'a':
                 debugAutoPan ^= 1;
-                print("Autopan messages %s\r\n", debugOrient ? "on" : "off");
+                print("Autopan messages %s\r\n", debugAutoPan ? "on" : "off");
                 break;
 
             case 'b':