Added missing platform dll.

Merge remote-tracking branch 'origin/master' into windows
Conflicts: emulator/qt/ll_tft.cpp
2015-06-08 15:31:42 +02:00 · 2015-06-08 15:31:24 +02:00 · 2015-06-08 15:28:27 +02:00 · 2015-06-08 11:21:11 +02:00 · 2015-06-08 11:03:53 +02:00 · 2015-06-08 11:00:52 +02:00
88 changed files with 8235 additions and 4792 deletions
--- a/8
+++ b/8
@@ -959,13 +959,13 @@ USE_MDFILE_AS_MAINPAGE =
 # also VERBATIM_HEADERS is set to NO.
 # The default value is: NO.

-SOURCE_BROWSER         = NO
+SOURCE_BROWSER         = YES

 # Setting the INLINE_SOURCES tag to YES will include the body of functions,
 # classes and enums directly into the documentation.
 # The default value is: NO.

-INLINE_SOURCES         = NO
+INLINE_SOURCES         = YES

 # Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
 # special comment blocks from generated source code fragments. Normal C, C++ and
@@ -1610,7 +1610,7 @@ EXTRA_SEARCH_MAPPINGS  =
 # If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
 # The default value is: YES.

-GENERATE_LATEX         = NO
+GENERATE_LATEX         = YES

 # 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
@@ -1751,7 +1751,7 @@ LATEX_HIDE_INDICES     = NO
 # The default value is: NO.
 # This tag requires that the tag GENERATE_LATEX is set to YES.

-LATEX_SOURCE_CODE      = NO
+LATEX_SOURCE_CODE      = YES

 # The LATEX_BIB_STYLE tag can be used to specify the style to use for the
 # bibliography, e.g. plainnat, or ieeetr. See
--- a/README.md
+++ b/README.md
@@ -1,5 +1,14 @@
 # discoverpixy
-Project with the Pixy cam and the STM32F4 Discovery
+A Project with the Pixy cam and the STM32F4 Discovery. The project can also be run on linux/windows using a qt-based emulator.
+
+![Pixy Logo](doc/pixy.png)  
+<img src="doc/mainscreen_emulator.png" width="300">
+<img src="doc/tracking_emulator.png" width="300">
+
+## Documentation
+Take a look at our [docu.pdf](./doc/docu.pdf) (German)
+Also make sure to check out the [doxygen documentation](http://t-moe.github.io/discoverpixy/) for the common folder.
+

 ## Folder structure
 * *common*: device independent code and the "Application" itself
--- a/common/app/app.c
+++ b/common/app/app.c
@@ -1,3 +1,32 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/app.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	51089aa	Refactored Project Structure for use with emulator
+* 2015-04-03	timolang@gmail.com	1f2af9f	Added more tft functions to common and emulator. Fixed eventloop.
+* 2015-04-03	timolang@gmail.com	cab8609	Integrated pixy into emulator. Pixy is no longer in the common/libs folder but in emulator/libs and discovery/libs
+* 2015-04-03	timolang@gmail.com	1aa9194	Fixed Drawing of rects in Emulator. Got frames from pixy to emulator. Slooooow.
+* 2015-04-25	timolang@gmail.com	416883c	Pixy&Usb work with the new folder structure now.
+* 2015-04-25	timolang@gmail.com	3d1e4b2	Simplified code a bit. Emulator does not work stable when replugging pixy.
+* 2015-04-25	timolang@gmail.com	0858b0d	Fixed some bugs when receiving large data.
+* 2015-04-27	timolang@gmail.com	259d446	Added touch support to emulator. Implemented basic touch function.
+* 2015-04-27	aaron@duckpond.ch	aed90ef	Drawcircle added (emulator)
+* 2015-04-27	timolang@gmail.com	e249fb2	Added font support
+* 2015-04-27	timolang@gmail.com	7c9eabc	Added button support.
+* 2015-04-27	timolang@gmail.com	b300ac5	Added Checkbox support
+* 2015-04-27	timolang@gmail.com	cf72baa	Introduced a Screen (sub) module and divided app into multiple screens.
+* 2015-05-10	timolang@gmail.com	e2bce8f	Added filesystem module, tests and implementation for it in emulator.
+* 2015-05-12	aaron@duckpond.ch	aec62d4	Added datasheets, updated touchsupport.
+* 2015-05-28	aaron@duckpond.ch	5bda699	implemented functions to get x and y coordinates and a test function
+* 2015-05-29	aaron@duckpond.ch	7d2d1a1	Implemented basic sampling and averaging of touch coordinates using timer7
+*
+**************************************************************************************************************************************/
+
 #include "app.h"
 #include "tft.h"
 #include "system.h"
@@ -5,7 +34,8 @@
 #include "screen_main.h"
 #include "filesystem.h"

-void app_init() {
+void app_init()
+{
    system_init();
    tft_init();
    touch_init();
@@ -15,10 +45,9 @@ void app_init() {
 }

 //app event loop
-void app_process() {
+void app_process()
+{

    system_process(); //Let the system handle it's pending events
    gui_screen_update(); //update the currently active screen
 }
-
-
--- a/common/app/app.h
+++ b/common/app/app.h
@@ -1,6 +1,28 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/app.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	51089aa	Refactored Project Structure for use with emulator
+* 2015-05-10	timolang@gmail.com	21edc56	Added doxyfile (doxygen) for the common folder. Started with doxygen comments for app and tft module.
+* 2015-05-11	timolang@gmail.com	08d9fe0	More work on doxygen module structure
+* 2015-06-08	timolang@gmail.com	73db8b5	Added doxygen mainpage comment in app.h
+*
+**************************************************************************************************************************************/
+
 #ifndef APP_H
 #define APP_H

+/*!
+   \mainpage discoverpixy Doxygen Documentation
+   Welcome to the code-documentation for all common (and plattformindependent) code. \n
+   A good point to start is probably the <a href="modules.html">Modules</a> page.
+ */
+
 /**
 * @defgroup app Application
 * The App Module contains the effective, platform independent application.
--- a/common/app/pixy_control.c
+++ b/common/app/pixy_control.c
@@ -1,3 +1,21 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/pixy_control.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-06-02	aaron@duckpond.ch	e018a75	Implemented basic pi and pid controller
+* 2015-06-06	aaron@duckpond.ch	8c264c2	Comment refactoring, updated PID values
+* 2015-06-06	aaron@duckpond.ch	a04cda9	Refactured comments and implemented a bugfix for the PID controller
+* 2015-06-07	aaron@duckpond.ch	802d3df	Fixed pid controller and refactored code
+* 2015-06-07	aaron@duckpond.ch	3d98ca9	Minor changes
+* 2015-06-07	timolang@gmail.com	c87220d	Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h
+*
+**************************************************************************************************************************************/
+
 /*
 * pixy_control.c
 *
@@ -22,9 +40,6 @@
 #define REG_PID_TA      (0.001f)
 #define REG_PID_YKOR    (0.3f)

-void int_init(void){  
-    // TODO Init ports and outputs if needed.
-}

 // PID controller implementatoin for the y-axis
 int16_t pixy_PID_Y(int16_t x, int16_t w)
--- a/common/app/pixy_control.h
+++ b/common/app/pixy_control.h
@@ -1,14 +1,58 @@
-/* 
- * pixy_control.h
- */
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/pixy_control.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-06-02	aaron@duckpond.ch	e018a75	Implemented basic pi and pid controller
+* 2015-06-06	aaron@duckpond.ch	8c264c2	Comment refactoring, updated PID values
+* 2015-06-06	aaron@duckpond.ch	a04cda9	Refactured comments and implemented a bugfix for the PID controller
+* 2015-06-07	aaron@duckpond.ch	802d3df	Fixed pid controller and refactored code
+* 2015-06-07	timolang@gmail.com	c87220d	Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h
+*
+**************************************************************************************************************************************/

-#ifndef _CONTROL_H_
-#define _CONTROL_H_
+#ifndef PIXY_CONTROL_H_
+#define PIXY_CONTROL_H_

 #include<stdint.h>

-void int_init(void);
+/**
+ * @addtogroup app
+ */
+/*@{*/
+
+/**
+ * @defgroup pixy_control Pixy Control Helper
+ * A collection of helper functions that contain PID Control code used for object tracking.
+ */
+/*@}*/
+
+
+/**
+ * @addtogroup pixy_control
+ */
+/*@{*/
+
+/**
+ * Execute one step of PID regulation for the Y-servo.
+ * @param x desired value (e.g. current y-position of the biggest block)
+ * @param w actual value (e.g desired y-position)
+ * @return The offset which needs to be added to the Y-Servo position
+ */
 int16_t pixy_PID_Y(int16_t x, int16_t w);
+
+/**
+ * Execute one step of PID regulation for the X-servo.
+ * @param x desired value (e.g. current x-position of the biggest block)
+ * @param w actual value (e.g desired x-position)
+ * @return The offset which needs to be added to the X-Servo position
+ */
 int16_t pixy_PID_X(int16_t x, int16_t w);

-#endif
+/*@}*/
+
+#endif /* PIXY_CONTROL_H_ */
--- a/common/app/pixy_frame.c
+++ b/common/app/pixy_frame.c
@@ -0,0 +1,248 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/pixy_frame.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-06-07	timolang@gmail.com	c87220d	Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h
+*
+**************************************************************************************************************************************/
+
+#include "pixy_frame.h"
+#include "pixy.h"
+#include "tft.h"
+#include <stdlib.h>
+
+
+
+static int renderBA81(uint16_t xpos, uint16_t ypos, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t* frame);
+static int saveBA81(FILE_HANDLE* handle, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t* frame);
+
+
+int pixy_render_full_frame(uint16_t x, uint16_t y)
+{
+    return pixy_render_cropped_frame(x, y, 0, 0, 320, 200);
+}
+
+
+int pixy_render_cropped_frame(uint16_t x, uint16_t y, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height)
+{
+    uint8_t* videodata;
+    int32_t response;
+    int32_t fourccc;
+    int8_t renderflags;
+    uint16_t xwidth;
+    uint16_t ywidth;
+    uint32_t size;
+
+
+    int return_value = pixy_command("cam_getFrame",  // String id for remote procedure
+                                    INT8(0x21),     // mode
+                                    INT16(xoffset),        // xoffset
+                                    INT16(yoffset),         // yoffset
+                                    INT16(width),       // width
+                                    INT16(height),       // height
+                                    END_OUT_ARGS,              // separator
+                                    &response,      // pointer to mem address for return value
+                                    &fourccc,
+                                    &renderflags,
+                                    &xwidth,
+                                    &ywidth,
+                                    &size,
+                                    &videodata,        // pointer to mem address for returned frame
+                                    END_IN_ARGS);
+
+    if (return_value == 0) {
+        return_value = renderBA81(x, y, xwidth, ywidth, size, videodata);
+    }
+
+    return return_value;
+}
+
+int pixy_save_full_frame(FILE_HANDLE* handle)
+{
+    return pixy_save_cropped_frame(handle, 0, 0, 320, 200);
+}
+
+int pixy_save_cropped_frame(FILE_HANDLE* handle, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height)
+{
+    uint8_t* videodata;
+    int32_t response;
+    int32_t fourccc;
+    int8_t renderflags;
+    uint16_t xwidth;
+    uint16_t ywidth;
+    uint32_t size;
+
+
+    int return_value = pixy_command("cam_getFrame",  // String id for remote procedure
+                                    INT8(0x21),     // mode
+                                    INT16(xoffset),        // xoffset
+                                    INT16(yoffset),         // yoffset
+                                    INT16(width),       // width
+                                    INT16(height),       // height
+                                    END_OUT_ARGS,              // separator
+                                    &response,      // pointer to mem address for return value
+                                    &fourccc,
+                                    &renderflags,
+                                    &xwidth,
+                                    &ywidth,
+                                    &size,
+                                    &videodata,        // pointer to mem address for returned frame
+                                    END_IN_ARGS);
+
+    if (return_value == 0) {
+        return_value = saveBA81(handle, xwidth, ywidth, size, videodata);
+    }
+
+    return return_value;
+}
+
+
+
+
+
+static void interpolateBayer(uint16_t width, uint16_t x, uint16_t y, uint8_t* pixel, uint8_t* r, uint8_t* g, uint8_t* b)
+{
+    if (y & 1) {
+        if (x & 1) {
+            *r = *pixel;
+            *g = (*(pixel - 1) + * (pixel + 1) + * (pixel + width) + * (pixel - width)) >> 2;
+            *b = (*(pixel - width - 1) + * (pixel - width + 1) + * (pixel + width - 1) + * (pixel + width + 1)) >> 2;
+        } else {
+            *r = (*(pixel - 1) + * (pixel + 1)) >> 1;
+            *g = *pixel;
+            *b = (*(pixel - width) + * (pixel + width)) >> 1;
+        }
+    } else {
+        if (x & 1) {
+            *r = (*(pixel - width) + * (pixel + width)) >> 1;
+            *g = *pixel;
+            *b = (*(pixel - 1) + * (pixel + 1)) >> 1;
+        } else {
+            *r = (*(pixel - width - 1) + * (pixel - width + 1) + * (pixel + width - 1) + * (pixel + width + 1)) >> 2;
+            *g = (*(pixel - 1) + * (pixel + 1) + * (pixel + width) + * (pixel - width)) >> 2;
+            *b = *pixel;
+        }
+    }
+
+}
+
+
+
+
+
+
+static int renderBA81(uint16_t xpos, uint16_t ypos, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t* frame)
+{
+    uint16_t x, y;
+    uint8_t r, g, b;
+
+
+    // skip first line
+    frame += width;
+
+    // don't render top and bottom rows, and left and rightmost columns because of color
+    // interpolation
+    //uint32_t decodedimage[(width-2)*(height-2)];
+    uint16_t* decodedimage = malloc(sizeof(uint16_t) * (width - 2) * (height - 2));
+
+    if (decodedimage == NULL) { //not enough free space to decode image in memory
+        //decode & render image pixel by pixel
+        for (y = 1; y < height - 1; y++) {
+            frame++;
+
+            for (x = 1; x < width - 1; x++, frame++) {
+                interpolateBayer(width, x, y, frame, &r, &g, &b);
+                tft_draw_pixel(xpos + x - 1, ypos + y - 1, RGB(r, g, b));
+            }
+
+            frame++;
+        }
+    } else { //enough space
+        uint16_t* line = decodedimage;
+
+        for (y = 1; y < height - 1; y++) {
+            //line = (unsigned int *)img.scanLine(y-1);
+            frame++;
+
+            for (x = 1; x < width - 1; x++, frame++) {
+                interpolateBayer(width, x, y, frame, &r, &g, &b);
+                //*line++ = (0xff<<24) | (r<<16) | (g<<8) | (b<<0);
+                *line++ = RGB(r, g, b);
+            }
+
+            frame++;
+        }
+
+        tft_draw_bitmap_unscaled(xpos, ypos, width - 2, height - 2, decodedimage);
+
+        free(decodedimage);
+    }
+
+    return 0;
+}
+
+static int saveBA81(FILE_HANDLE* handle, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t* frame)
+{
+    uint16_t x, y;
+    uint8_t r, g, b;
+
+    uint32_t fpos = handle->fpos;
+    uint32_t row_size_padded = ((width - 2) * 3 + 3) & (~3); //row size aligned to 4 bytes
+    uint32_t fpos_end = fpos + row_size_padded * (height - 2);
+
+
+    // skip first line
+    frame += width;
+
+    // don't render top and bottom rows, and left and rightmost columns because of color
+    // interpolation
+
+    for (y = 1; y < height - 1; y++) {
+        frame++;
+        uint8_t rowbuf[row_size_padded];
+
+        //Bitmaps are saved "bottom-up". Seek to the right row.
+        if (filesystem_file_seek(handle, fpos_end - row_size_padded * y) != F_OK) {
+            return -1;
+        }
+
+        for (x = 1; x < width - 1; x++, frame++) {
+            interpolateBayer(width, x, y, frame, &r, &g, &b);
+            //bitmaps are saved in 24bit b,g,r format
+            rowbuf[(x - 1) * 3] = b;
+            rowbuf[(x - 1) * 3 + 1] = g;
+            rowbuf[(x - 1) * 3 + 2] = r;
+        }
+
+        if (filesystem_file_write(handle, rowbuf, row_size_padded) != F_OK) {
+            return -1;
+        }
+
+        frame++;
+    }
+
+    return 0;
+}
+
+
+int pixy_cc_set_region(uint8_t signum, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height)
+{
+    int32_t response;
+
+    int return_value = pixy_command("cc_setSigRegion",  // String id for remote procedure
+                                    INT32(0),     // type = normal color code
+                                    INT8(signum),
+                                    INT16(xoffset),        // xoffset
+                                    INT16(yoffset),         // yoffset
+                                    INT16(width),       // width
+                                    INT16(height),       // height
+                                    END_OUT_ARGS,              // separator
+                                    &response,      // pointer to mem address for return value
+                                    END_IN_ARGS);
+    return return_value;
+}
--- a/common/app/pixy_helper.h
+++ b/common/app/pixy_helper.h
@@ -1,10 +1,43 @@
-#ifndef PIXY_HELPER_H
-#define PIXY_HELPER_H
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/pixy_frame.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-06-07	timolang@gmail.com	c87220d	Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h
+*
+**************************************************************************************************************************************/
+
+#ifndef PIXY_FRAME_H
+#define PIXY_FRAME_H

 #include <stdbool.h>
 #include <stdint.h>
 #include "filesystem.h"

+
+/**
+ * @addtogroup app
+ */
+/*@{*/
+
+/**
+ * @defgroup pixy_helper Pixy Frame Helper
+ * A collection of helper functions that allow receiving and rendering a frame from pixy onto the display.
+ * Furthermore you can select a color in a frame, to use for tracking.
+ */
+/*@}*/
+
+
+/**
+ * @addtogroup pixy_helper
+ */
+/*@{*/
+
+
 /**
 * Receives a fullsized frame from pixy and display's it on the display with the topleft corner at (x,y)
 * @param x The x-Coordinate of the top left corner
@@ -56,4 +89,6 @@ int pixy_save_cropped_frame(FILE_HANDLE* handle, uint16_t xoffset, uint16_t yoff
 */
 int pixy_cc_set_region(uint8_t signum, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height);

-#endif /* PIXY_HELPER_H */
+/*@}*/
+
+#endif /* PIXY_FRAME_H */
--- a/common/app/pixy_helper.c
+++ b/common/app/pixy_helper.c
@@ -1,241 +0,0 @@
-#include "pixy_helper.h"
-#include "pixy.h"
-#include "tft.h"
-#include <stdlib.h>
-
-
-
-static int renderBA81(uint16_t xpos, uint16_t ypos, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t *frame);
-static int saveBA81(FILE_HANDLE* handle, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t *frame);
-
-
-int pixy_render_full_frame(uint16_t x, uint16_t y) {
-	return pixy_render_cropped_frame(x,y,0,0,320,200);
-}
-
-
-int pixy_render_cropped_frame(uint16_t x, uint16_t y, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height) {
-	uint8_t* videodata;
-	int32_t response;
-	int32_t fourccc;
-	int8_t renderflags;
-	uint16_t xwidth;
-	uint16_t ywidth;
-	uint32_t size;
-
-
-	int return_value = pixy_command("cam_getFrame",  // String id for remote procedure
-								  INT8(0x21),     // mode
-								  INT16(xoffset),        // xoffset
-								  INT16(yoffset),         // yoffset
-								  INT16(width),       // width
-								  INT16(height),       // height
-								  END_OUT_ARGS,              // separator
-								  &response,      // pointer to mem address for return value
-								  &fourccc,
-								  &renderflags,
-								  &xwidth,
-								  &ywidth,
-								  &size,
-								  &videodata,        // pointer to mem address for returned frame
-								  END_IN_ARGS);
-
-	if(return_value==0) {
-		return_value = renderBA81(x,y,xwidth,ywidth,size,videodata);
-	}
-
-	return return_value;
-}
-
-int pixy_save_full_frame(FILE_HANDLE* handle) {
-	return pixy_save_cropped_frame(handle,0,0,320,200);
-}
-
-int pixy_save_cropped_frame(FILE_HANDLE* handle, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height) {
-	uint8_t* videodata;
-	int32_t response;
-	int32_t fourccc;
-	int8_t renderflags;
-	uint16_t xwidth;
-	uint16_t ywidth;
-	uint32_t size;
-
-
-	int return_value = pixy_command("cam_getFrame",  // String id for remote procedure
-								  INT8(0x21),     // mode
-								  INT16(xoffset),        // xoffset
-								  INT16(yoffset),         // yoffset
-								  INT16(width),       // width
-								  INT16(height),       // height
-								  END_OUT_ARGS,              // separator
-								  &response,      // pointer to mem address for return value
-								  &fourccc,
-								  &renderflags,
-								  &xwidth,
-								  &ywidth,
-								  &size,
-								  &videodata,        // pointer to mem address for returned frame
-								  END_IN_ARGS);
-
-	if(return_value==0) {
-		return_value = saveBA81(handle,xwidth,ywidth,size,videodata);
-	}
-
-	return return_value;
-}
-
-
-
-
-
-static void interpolateBayer(uint16_t width, uint16_t x, uint16_t y, uint8_t *pixel, uint8_t* r, uint8_t* g, uint8_t* b)
-{
-    if (y&1)
-    {
-        if (x&1)
-        {
-            *r = *pixel;
-            *g = (*(pixel-1)+*(pixel+1)+*(pixel+width)+*(pixel-width))>>2;
-            *b = (*(pixel-width-1)+*(pixel-width+1)+*(pixel+width-1)+*(pixel+width+1))>>2;
-        }
-        else
-        {
-            *r = (*(pixel-1)+*(pixel+1))>>1;
-            *g = *pixel;
-            *b = (*(pixel-width)+*(pixel+width))>>1;
-        }
-    }
-    else
-    {
-        if (x&1)
-        {
-            *r = (*(pixel-width)+*(pixel+width))>>1;
-            *g = *pixel;
-            *b = (*(pixel-1)+*(pixel+1))>>1;
-        }
-        else
-        {
-            *r = (*(pixel-width-1)+*(pixel-width+1)+*(pixel+width-1)+*(pixel+width+1))>>2;
-            *g = (*(pixel-1)+*(pixel+1)+*(pixel+width)+*(pixel-width))>>2;
-            *b = *pixel;
-        }
-    }
-
-}
-
-
-
-
-
-
-static int renderBA81(uint16_t xpos, uint16_t ypos, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t *frame)
-{
-    uint16_t x, y;
-    uint8_t r, g, b;
-
-
-    // skip first line
-    frame += width;
-
-    // don't render top and bottom rows, and left and rightmost columns because of color
-    // interpolation
-    //uint32_t decodedimage[(width-2)*(height-2)];
-    uint16_t* decodedimage = malloc(sizeof(uint16_t)*(width-2)*(height-2));
-
-    if(decodedimage==NULL) { //not enough free space to decode image in memory
-        //decode & render image pixel by pixel
-        for (y=1; y<height-1; y++)
-        {
-                frame++;
-                for (x=1; x<width-1; x++, frame++)
-                {
-                    interpolateBayer(width, x, y, frame, &r, &g, &b);
-                    tft_draw_pixel(xpos+x-1,ypos+y-1,RGB(r,g,b));
-                }
-                frame++;
-         }
-    } else { //enough space
-            uint16_t* line = decodedimage;
-            for (y=1; y<height-1; y++)
-            {
-                //line = (unsigned int *)img.scanLine(y-1);
-                frame++;
-                for (x=1; x<width-1; x++, frame++)
-                {
-                    interpolateBayer(width, x, y, frame, &r, &g, &b);
-                    //*line++ = (0xff<<24) | (r<<16) | (g<<8) | (b<<0);
-                    *line++ = RGB(r,g,b);
-                }
-                frame++;
-            }
-
-            tft_draw_bitmap_unscaled(xpos,ypos,width-2,height-2,decodedimage);
-
-            free(decodedimage);
-    }
-
-    return 0;
-}
-
-static int saveBA81(FILE_HANDLE* handle, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t *frame)
-{
-    uint16_t x, y;
-    uint8_t r, g, b;
-
-    uint32_t fpos = handle->fpos;
-	uint32_t row_size_padded = ((width-2)*3 + 3) & (~3); //row size aligned to 4 bytes
-	uint32_t fpos_end = fpos + row_size_padded* (height-2);
-
-
-    // skip first line
-    frame += width;
-
-    // don't render top and bottom rows, and left and rightmost columns because of color
-	// interpolation
-
-	for (y=1; y<height-1; y++)
-	{
-			frame++;
-			uint8_t rowbuf[row_size_padded];
-
-			//Bitmaps are saved "bottom-up". Seek to the right row.
-			if(filesystem_file_seek(handle,fpos_end-row_size_padded*y)!=F_OK) {
-				return -1;
-			}
-
-			for (x=1; x<width-1; x++, frame++)
-			{
-				interpolateBayer(width, x, y, frame, &r, &g, &b);
-				//bitmaps are saved in 24bit b,g,r format
-				rowbuf[(x-1)*3] = b;
-				rowbuf[(x-1)*3+1] = g;
-				rowbuf[(x-1)*3+2] = r;
-			}
-
-			if(filesystem_file_write(handle,rowbuf,row_size_padded)!=F_OK) {
-				return -1;
-			}
-
-			frame++;
-	 }
-	return 0;
-}
-
-
-int pixy_cc_set_region(uint8_t signum, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height) {
-	int32_t response;
-
-	int return_value = pixy_command("cc_setSigRegion",  // String id for remote procedure
-								  INT32(0),     // type = normal color code
-								  INT8(signum),
-								  INT16(xoffset),        // xoffset
-								  INT16(yoffset),         // yoffset
-								  INT16(width),       // width
-								  INT16(height),       // height
-								  END_OUT_ARGS,              // separator
-								  &response,      // pointer to mem address for return value
-								  END_IN_ARGS);
-	return return_value;
-}
-
-
--- a/common/app/screen_filetest.c
+++ b/common/app/screen_filetest.c
@@ -1,3 +1,20 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_filetest.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-10	timolang@gmail.com	e2bce8f	Added filesystem module, tests and implementation for it in emulator.
+* 2015-05-10	timolang@gmail.com	790f602	Added bitmap decoding/drawing example
+* 2015-05-10	timolang@gmail.com	21edc56	Added doxyfile (doxygen) for the common folder. Started with doxygen comments for app and tft module.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+* 2015-05-15	timolang@gmail.com	85f1aee	Changed filetest to use new bitmap draw method.
+*
+**************************************************************************************************************************************/
+
 #include "screen_filetest.h"
 #include "button.h"
 #include "tft.h"
@@ -7,14 +24,16 @@

 static BUTTON_STRUCT b_back;

-static void b_back_cb(void* button) {
+static void b_back_cb(void* button)
+{
    gui_screen_back();
 }


 static void image_test();

-static void enter(void* screen) {
+static void enter(void* screen)
+{
    tft_clear(HEX(0xBABECD));

    //Back button
@@ -29,27 +48,16 @@ static void enter(void* screen) {
    b_back.callback = b_back_cb; //Call b_back_cb as Callback
    gui_button_add(&b_back); //Register Button (and run the callback from now on)

-
-/*
-	//tft test
-	tft_draw_pixel(0,0,BLACK);
-	tft_draw_pixel(319,239,BLACK);
-	tft_draw_pixel(10,210,BLUE);
-        tft_draw_pixel(12,210,BLUE);
-        tft_draw_rectangle(40,100,60,235,BLUE);
-        tft_fill_rectangle(100,215,200,225,GREEN);
-        tft_draw_line(10,50,310,225,RGB(0xFF,0,0xFF));
-        tft_draw_circle(10,10,100, RED);
-        tft_print_line(30, 130, RED, BLUE, 0, "Hallo");
-*/
-
    tft_draw_line(10, 30, 310, 30, BLACK);
    tft_print_line(10, 18, BLUE, TRANSPARENT, 0, "Name         D H RO Date   Time     Size");

    int y = 33;

    DIRECTORY_STRUCT* dir = filesystem_dir_open(".");
-	if(dir==NULL) return;
+
+    if (dir == NULL) {
+        return;
+    }

    for (int i = 0; i < dir->num_files; i++) {
        FILE_STRUCT* file = &(dir->files[i]);
@@ -75,6 +83,7 @@ static void enter(void* screen) {
    y += 14;

    FILE_HANDLE* file = filesystem_file_open("test.txt");
+
    if (file == NULL) {
        tft_print_line(10, y, BLUE, TRANSPARENT, 0, "Could not open test.txt");
    } else {
@@ -94,6 +103,7 @@ static void enter(void* screen) {
                tft_print_formatted(10, y, BLUE, TRANSPARENT, 0, "Could not seek to %d", file->fpos - 4);
            } else {
                sprintf(buf, "%04d", num);
+
                if (filesystem_file_write(file, buf, 4) != F_OK) {
                    tft_print_formatted(10, y, BLUE, TRANSPARENT, 0, "Could not write new number %d", num);
                } else {
@@ -105,16 +115,19 @@ static void enter(void* screen) {
        }

    }
+
    filesystem_file_close(file);

    image_test();
 }

-static void leave(void* screen) {
+static void leave(void* screen)
+{
    gui_button_remove(&b_back);
 }

-static void update(void* screen) {
+static void update(void* screen)
+{
 }


@@ -125,15 +138,18 @@ static SCREEN_STRUCT screen = {
 };


-SCREEN_STRUCT* get_screen_filetest() {
+SCREEN_STRUCT* get_screen_filetest()
+{
    return &screen;
 }

-static void image_test() {
+static void image_test()
+{


    if (!tft_draw_bitmap_file_unscaled(250, 170, "cpu.bmp")) {
        tft_print_line(10, 180, BLUE, TRANSPARENT, 0, "Could not open cpu.bmp");
    }
+
    tft_draw_rectangle(250 - 1, 170 - 1, 250 - 1 + 64, 170 - 1 + 64, BLACK);
 }
--- a/common/app/screen_filetest.h
+++ b/common/app/screen_filetest.h
@@ -1,3 +1,18 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_filetest.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-10	timolang@gmail.com	e2bce8f	Added filesystem module, tests and implementation for it in emulator.
+* 2015-05-10	timolang@gmail.com	21edc56	Added doxyfile (doxygen) for the common folder. Started with doxygen comments for app and tft module.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+*
+**************************************************************************************************************************************/
+
 #include "screen.h"

 /**
--- a/common/app/screen_guitest.c
+++ b/common/app/screen_guitest.c
@@ -1,3 +1,21 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_guitest.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	cf72baa	Introduced a Screen (sub) module and divided app into multiple screens.
+* 2015-04-30	timolang@gmail.com	76ea9d8	Added num up down support.
+* 2015-05-09	timolang@gmail.com	c652b6b	Improved Emulator Gui
+* 2015-05-29	aaron@duckpond.ch	7d2d1a1	Implemented basic sampling and averaging of touch coordinates using timer7
+* 2015-06-01	timolang@gmail.com	eb573bc	Finalized calibration. Fixed a bug in screen module.
+* 2015-06-02	timolang@gmail.com	da34bce	Fixed all printf related problems on discovery using workarounds and newlib nano-instead of newlib
+*
+**************************************************************************************************************************************/
+
 #include "screen_guitest.h"
 #include "button.h"
 #include "tft.h"
@@ -9,43 +27,53 @@ static TOUCH_AREA_STRUCT a_area;
 static CHECKBOX_STRUCT c_cbox;
 static NUMUPDOWN_STRUCT n_updown;

-static void checkboxCB(void *checkbox, bool checked) {
+static void checkboxCB(void* checkbox, bool checked)
+{
    printf("Checkbox %s\n", (checked ? "checked" : "unchecked"));
 }

-static void b_back_cb(void* button) {
+static void b_back_cb(void* button)
+{
    gui_screen_back();
 }

-static void n_updown_cb(void* numupdown, int16_t value) {
+static void n_updown_cb(void* numupdown, int16_t value)
+{
    printf("New NumUpDown Value %d\n", value);
 }

-static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction) {
+static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction)
+{

    switch (triggeredAction) {
    case PEN_DOWN:
        printf("action PEN_DOWN\n");
        break;
+
    case PEN_UP:
        printf("action PEN_UP\n");
        break;
+
    case PEN_MOVE:
        printf("action PEN_MOVE\n");
        break;
+
    case PEN_ENTER:
        printf("action PEN_ENTER\n");
        break;
+
    case PEN_LEAVE:
        printf("action PEN_LEAVE\n");
        break;
+
    default:
        printf("action %s\n", triggeredAction);
        break;
    }
 }

-static void enter(void* screen) {
+static void enter(void* screen)
+{
    tft_clear(HEX(0xA6FD9A));

    //Back button
@@ -108,14 +136,16 @@ static void enter(void* screen) {

 }

-static void leave(void* screen) {
+static void leave(void* screen)
+{
    gui_button_remove(&b_back);
    gui_checkbox_remove(&c_cbox);
    gui_numupdown_remove(&n_updown);
    touch_unregister_area(&a_area);
 }

-static void update(void* screen) {
+static void update(void* screen)
+{
    //gui_button_redraw(&b_back); //only needed if button is overdrawn by others
    //.... for the other elements as well
 }
@@ -128,8 +158,7 @@ static SCREEN_STRUCT screen = {
 };


-SCREEN_STRUCT* get_screen_guitest() {
+SCREEN_STRUCT* get_screen_guitest()
+{
    return &screen;
 }
-
-
--- a/common/app/screen_guitest.h
+++ b/common/app/screen_guitest.h
@@ -1,3 +1,18 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_guitest.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	cf72baa	Introduced a Screen (sub) module and divided app into multiple screens.
+* 2015-05-10	timolang@gmail.com	21edc56	Added doxyfile (doxygen) for the common folder. Started with doxygen comments for app and tft module.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+*
+**************************************************************************************************************************************/
+
 #include "screen.h"


--- a/common/app/screen_main.c
+++ b/common/app/screen_main.c
@@ -1,3 +1,21 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_main.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	cf72baa	Introduced a Screen (sub) module and divided app into multiple screens.
+* 2015-05-10	timolang@gmail.com	e2bce8f	Added filesystem module, tests and implementation for it in emulator.
+* 2015-05-15	timolang@gmail.com	27c09ba	Redesigned main menu. Moved stuff from pixytest to a new helper file and to the new "photo mode"-screen.
+* 2015-05-16	timolang@gmail.com	e46314b	Added Tracking Screen and implemented "Reference Tracking" and "Color Region Selection"
+* 2015-06-01	aaron@duckpond.ch	caa7b5c	Added IRQ for user button, fixed some touchproblems.
+* 2015-06-01	timolang@gmail.com	3155f42	Fixed mainscreen layout.
+*
+**************************************************************************************************************************************/
+
 #include "screen_main.h"
 #include "screen_guitest.h"
 #include "screen_pixytest.h"
@@ -17,34 +35,41 @@ BUTTON_STRUCT b_ref_tracking;
 BUTTON_STRUCT b_photo_mode;


-static void b_our_tracking_cb(void* button) {
+static void b_our_tracking_cb(void* button)
+{
    tracking_set_mode(OUR_TRACKING);
    gui_screen_navigate(get_screen_tracking());
 }

-static void b_ref_tracking_cb(void* button) {
+static void b_ref_tracking_cb(void* button)
+{
    tracking_set_mode(REFERENCE_TRACKING);
    gui_screen_navigate(get_screen_tracking());
 }

-static void b_photo_mode_cb(void* button) {
+static void b_photo_mode_cb(void* button)
+{
    gui_screen_navigate(get_screen_photomode());
 }

-static void b_guitest_cb(void* button) {
+static void b_guitest_cb(void* button)
+{
    gui_screen_navigate(get_screen_guitest());
 }

-static void b_filetest_cb(void* button) {
+static void b_filetest_cb(void* button)
+{
    gui_screen_navigate(get_screen_filetest());
 }

-static void b_pixytest_cb(void* button) {
+static void b_pixytest_cb(void* button)
+{
    gui_screen_navigate(get_screen_pixytest());
 }


-static void enter(void* screen) {
+static void enter(void* screen)
+{
    tft_clear(WHITE);

    //Heading
@@ -145,7 +170,8 @@ static void enter(void* screen) {

 }

-static void leave(void* screen) {
+static void leave(void* screen)
+{
    gui_button_remove(&b_our_tracking);
    gui_button_remove(&b_ref_tracking);
    gui_button_remove(&b_photo_mode);
@@ -154,7 +180,8 @@ static void leave(void* screen) {
    gui_button_remove(&b_filetest);
 }

-static void update(void* screen) {
+static void update(void* screen)
+{
    //gui_button_redraw(&b_guitest); //only needed if button is overdrawn by others
 }

@@ -166,8 +193,7 @@ static SCREEN_STRUCT screen = {
 };


-SCREEN_STRUCT* get_screen_main() {
+SCREEN_STRUCT* get_screen_main()
+{
    return &screen;
 }
-
-
--- a/common/app/screen_main.h
+++ b/common/app/screen_main.h
@@ -1,3 +1,20 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_main.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	cf72baa	Introduced a Screen (sub) module and divided app into multiple screens.
+* 2015-05-10	timolang@gmail.com	21edc56	Added doxyfile (doxygen) for the common folder. Started with doxygen comments for app and tft module.
+* 2015-05-11	timolang@gmail.com	08d9fe0	More work on doxygen module structure
+* 2015-05-12	timolang@gmail.com	1402598	Added doxygen stuff for button module and some minor changes to touch, screen_main and tft module.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+*
+**************************************************************************************************************************************/
+
 #include "screen.h"

 /**
--- a/common/app/screen_photomode.c
+++ b/common/app/screen_photomode.c
@@ -1,3 +1,18 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_photomode.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-15	timolang@gmail.com	27c09ba	Redesigned main menu. Moved stuff from pixytest to a new helper file and to the new "photo mode"-screen.
+* 2015-05-16	timolang@gmail.com	62006e0	Documented pixy_helper and implemented/finished photo-mode screens! Snap some shots!
+* 2015-06-07	timolang@gmail.com	c87220d	Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h
+*
+**************************************************************************************************************************************/
+
 #include "screen_photomode.h"
 #include "screen_photomode_save.h"
 #include "button.h"
@@ -5,7 +20,7 @@
 #include "touch.h"
 #include "pixy.h"
 #include "system.h"
-#include "pixy_helper.h"
+#include "pixy_frame.h"

 static bool pixy_connected = false; //Whether or not the pixy cam is currently connected

@@ -15,13 +30,15 @@ static TOUCH_AREA_STRUCT a_area; //Touch Area, where the frame is drawn. Used to
 static bool subMenu = false; //Whether or not we left the current screen for a submenu

 //Callback for when the user presses the "back" button
-static void b_back_cb(void* button) {
+static void b_back_cb(void* button)
+{
    subMenu = false; //we're not entering a submenu
    gui_screen_back(); //navigate back to the previous screen
 }

 //Callback for when the user presses the "save" button
-static void b_save_cb(void* button) {
+static void b_save_cb(void* button)
+{
    subMenu = true; //we're entering a submenu
    gui_screen_navigate(get_screen_photomodesave()); //navigate to the save screen
 }
@@ -30,18 +47,21 @@ static POINT_STRUCT pixy_pos; //The current position of pixy's servos
 static POINT_STRUCT old_pos; //The last touch position on the screen

 //Callback for when the user drags the image around
-static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction) {
+static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction)
+{
    POINT_STRUCT p = touch_get_last_point(); //get the last touched point
+
    switch (triggeredAction) {
    case PEN_ENTER:
    case PEN_DOWN:
        old_pos = p; //If the user "newly" enters the touch area, we set the "last" position to the current
        break;
-        case PEN_MOVE: //the user is moving around, he entered the screen a while ago (old_pos is set)
-		{
+
+    case PEN_MOVE: { //the user is moving around, he entered the screen a while ago (old_pos is set)
        int16_t deltaX = p.x - old_pos.x; //Calculate x difference between last and current touch
        int16_t deltaY = p.y - old_pos.y; //Calculate y difference between last and current touch
        old_pos = p; //store the current touch point for the next time
+
        //printf("%d %d\n",deltaX,deltaY);
        if (pixy_connected) {
            //Calculate new servo coordinates. 2 is just a proportional factor
@@ -49,10 +69,21 @@ static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction) {
            int16_t new_y = pixy_pos.y - deltaY * 2;

            //check limits
-				if(new_x<0) new_x=0;
-				if(new_x>1000) new_x=1000;
-				if(new_y<0) new_y=0;
-				if(new_y>1000) new_y=1000;
+            if (new_x < 0) {
+                new_x = 0;
+            }
+
+            if (new_x > 1000) {
+                new_x = 1000;
+            }
+
+            if (new_y < 0) {
+                new_y = 0;
+            }
+
+            if (new_y > 1000) {
+                new_y = 1000;
+            }

            //set pixy_pos so that the main routine can send it to the servos
            pixy_pos.x = new_x;
@@ -60,17 +91,21 @@ static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction) {
        }
    }
    break;
+
    case PEN_UP:
    case PEN_LEAVE:
        //printf("Leave/up\n");
        break;
-		default: break;
+
+    default:
+        break;
    }

 }

 //Callback for when the screen is entered/loaded
-static void enter(void* screen) {
+static void enter(void* screen)
+{
    tft_clear(WHITE);

    tft_print_line(5, 5, BLACK, TRANSPARENT, 0, "Drag the image around and ");
@@ -113,13 +148,15 @@ static void enter(void* screen) {

    //Pixy stuff
    pixy_connected = (pixy_init() == 0); //try to connect to pixy
+
    if (pixy_connected && !subMenu) { //pixy is connected, but we are not coming from a submenu
        pixy_pos.x = pixy_pos.y = 500; //reset servo positions to center
    }
 }

 //Callback for when the screen is left/unloaded
-static void leave(void* screen) {
+static void leave(void* screen)
+{
    //remove buttons and touch area.
    gui_button_remove(&b_back);
    gui_button_remove(&b_save);
@@ -128,16 +165,20 @@ static void leave(void* screen) {

 //Callback for when the screen should be updated
 //This is the main loop of the screen. This method will be called repeatedly
-static void update(void* screen) {
+static void update(void* screen)
+{
    //Note: The only way to detect that pixy has been disconnected is if a command fails. There's no pixy_is_connected method yet :'(

    if (!pixy_connected) { //Pixy not connected
        pixy_close(); //Ensure that all pixy resources are freed (failsafe)
+
        if (pixy_init() == 0) { //try to connect to pixy
            pixy_connected = true;
+
            if (!subMenu) { //we're not coming from a submenu
                pixy_pos.x = pixy_pos.y = 500; //reset servo positions to center
            }
+
            printf("pixy (re)initialized\n");
        }
    }
@@ -161,6 +202,7 @@ static SCREEN_STRUCT screen = {
 };


-SCREEN_STRUCT* get_screen_photomode() {
+SCREEN_STRUCT* get_screen_photomode()
+{
    return &screen;
 }
--- a/common/app/screen_photomode.h
+++ b/common/app/screen_photomode.h
@@ -1,3 +1,16 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_photomode.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-15	timolang@gmail.com	27c09ba	Redesigned main menu. Moved stuff from pixytest to a new helper file and to the new "photo mode"-screen.
+*
+**************************************************************************************************************************************/
+
 #include "screen.h"

 /**
--- a/common/app/screen_photomode_save.c
+++ b/common/app/screen_photomode_save.c
@@ -1,10 +1,24 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_photomode_save.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-16	timolang@gmail.com	62006e0	Documented pixy_helper and implemented/finished photo-mode screens! Snap some shots!
+* 2015-06-07	timolang@gmail.com	c87220d	Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h
+*
+**************************************************************************************************************************************/
+
 #include "screen_photomode_save.h"
 #include "filesystem.h"
 #include "button.h"
 #include "tft.h"
 #include "touch.h"
 #include "pixy.h"
-#include "pixy_helper.h"
+#include "pixy_frame.h"
 #include <stdlib.h>
 #include <string.h>

@@ -13,7 +27,8 @@ static BUTTON_STRUCT b_back; //Button to navigate back
 static TOUCH_AREA_STRUCT a_area; //Touch area to select the save-file

 //Callback for when the user presses the "back" button
-static void b_back_cb(void* button) {
+static void b_back_cb(void* button)
+{
    gui_screen_back();
 }

@@ -32,14 +47,19 @@ typedef struct FILE_LIST_ENTRY_S{
 static FILE_LIST_ENTRY* files_ok; //Pointer to the head of the list

 //Callback for when the user selects a file to save the image into
-static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction) {
+static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction)
+{

    int y = touch_get_last_point().y - liststart; //Calculate the y-Coordinate of the touch point relative to the start of the file-list
    int elem = y / fontheight; //Calculate the file index
-	if(elem<0 | elem>= num_files_ok) return; //Check if the file index is valid  (0,1,..,num_files_ok-1)
+
+    if (elem < 0 | elem >= num_files_ok) {
+        return;    //Check if the file index is valid  (0,1,..,num_files_ok-1)
+    }

    //Search for the corresponding entry in the linked list
    FILE_LIST_ENTRY* current_entry = files_ok; //Start walking through the list, starting by the head of the list
+
    for (int i = 0; i < elem; i++) { //Until we have reached the file (index)
        current_entry = current_entry->next; //traverse to the next file
    }
@@ -85,7 +105,8 @@ static unsigned char bmpheader_data[0x7A] = {
 };

 //Callback for when the screen is entered/loaded
-static void enter(void* screen) {
+static void enter(void* screen)
+{
    tft_clear(WHITE);


@@ -111,11 +132,12 @@ static void enter(void* screen) {

 //Callback for when the screen should be updated
 //This is the main loop of the screen. This method will be called repeatedly
-static void update(void* screen) {
-	switch(state) {
-		case init: //Init State: The user just entered the screen
+static void update(void* screen)
 {
+    switch (state) {
+    case init: { //Init State: The user just entered the screen
        DIRECTORY_STRUCT* dir = filesystem_dir_open("."); //open root directory
+
        if (dir == NULL) { //error while opening root directory
            tft_print_line(X_OFS, 5, BLACK, TRANSPARENT, 0, "Error accessing Filesystem");
            state = error;
@@ -128,10 +150,14 @@ static void update(void* screen) {
            FILE_STRUCT* file = &(dir->files[i]); //Pointer to the current file/subdirectory

            //Ignore directories, archives, hidden files, system files and files we cannot write to
-					if(file->fattrib&(F_SYS|F_HID|F_ARC|F_DIR|F_RDO)) continue;
+            if (file->fattrib & (F_SYS | F_HID | F_ARC | F_DIR | F_RDO)) {
+                continue;
+            }

            //ignore files which are not large enough
-					if(file->fsize<189410) continue; //size taken from an example bitmap (318x198x24)
+            if (file->fsize < 189410) {
+                continue;    //size taken from an example bitmap (318x198x24)
+            }

            nomatch = false; //at least one file matches
            break;
@@ -140,11 +166,13 @@ static void update(void* screen) {
        if (nomatch) { //not one file is suitable for writing
            int y = 5; //y-Coordinate where to start writing the error text
            int i = 0;
+
            while (nomatch_text[i] != NULL) { //for every line in the big error array
                //Write the line's text and go to the next line
                tft_print_line(X_OFS, y + i * fontheight, BLACK, TRANSPARENT, 0, nomatch_text[i]);
                i++;
            }
+
            state = error;
        } else { //we have a least one suitable file
            state = showlist;
@@ -154,10 +182,12 @@ static void update(void* screen) {
    }
    break;

-		case showlist: //Show List State: Where we load and present the suitable file's to the user in a list
-		{
+    case showlist: { //Show List State: Where we load and present the suitable file's to the user in a list
        DIRECTORY_STRUCT* dir2 = filesystem_dir_open("."); //Open the directory again
-			if(dir2==NULL) return; //Error on opening? This should never happen, since it's handled in the previous state
+
+        if (dir2 == NULL) {
+            return;    //Error on opening? This should never happen, since it's handled in the previous state
+        }

        int y = 5; //y-Coordinate where to start drawing/writing text/list-elements

@@ -171,14 +201,19 @@ static void update(void* screen) {
        num_files_ok = 0; //we start with 0 matching files

        FILE_LIST_ENTRY* current_entry = NULL; //We start with an empty list
+
        for (int i = 0; i < dir2->num_files && num_files_ok < 10; i++) { //go through all the files of the directory, abort if we have 10 matches
            FILE_STRUCT* file = &(dir2->files[i]);

            //Ignore directories, archives, hidden files, system files and files we cannot write to
-					if(file->fattrib&(F_SYS|F_HID|F_ARC|F_DIR|F_RDO)) continue;
+            if (file->fattrib & (F_SYS | F_HID | F_ARC | F_DIR | F_RDO)) {
+                continue;
+            }

            //ignore files which are not large enough
-					if(file->fsize<189410) continue; //size taken from an example bitmap (318x198x24)
+            if (file->fsize < 189410) {
+                continue;    //size taken from an example bitmap (318x198x24)
+            }

            //Print out filename, modified date,time and file size
            tft_print_formatted(X_OFS, y, BLACK,
@@ -199,6 +234,7 @@ static void update(void* screen) {
                current_entry->next = malloc(sizeof(FILE_LIST_ENTRY)); //append entry to previous entry
                current_entry = current_entry->next; //newly created entry is the current now.
            }
+
            current_entry->next = NULL; //we're at the end of the list (for now)
            current_entry->filename = malloc(strlen(file->fname) + 1); //allocate space for the filename + zero-termination
            strcpy(current_entry->filename, file->fname); //copy filename (so that we can close the directory after scanning)
@@ -228,9 +264,9 @@ static void update(void* screen) {
        //do nothing and wait on user to pick a file
        break;

-		case saving: //Saving State: Where we save the image to the selected file
-		{
+    case saving: { //Saving State: Where we save the image to the selected file
        FILE_HANDLE* file = filesystem_file_open(picked_file); //try to open the selected file
+
        if (file == NULL) { //opening the file failed
            tft_print_formatted(X_OFS, 190, BLUE, TRANSPARENT, 0, "Could not open %s", picked_file);
            state = error;
@@ -238,6 +274,7 @@ static void update(void* screen) {
        }

        filesystem_file_seek(file, 0); //seek to the start of the file (optional?)
+
        if (filesystem_file_write(file, bmpheader_data, 0x7A) != F_OK) { //Writing the header failed
            tft_print_formatted(X_OFS, 190, BLUE, TRANSPARENT, 0, "Error while writing to %s", picked_file);
            filesystem_file_close(file);
@@ -270,7 +307,8 @@ static void update(void* screen) {
 }

 //Callback for when the screen is left/unloaded
-static void leave(void* screen) {
+static void leave(void* screen)
+{
    gui_button_remove(&b_back); //Remove/Free the back button

    if (state == picking) { //The user left the screen in the "picking"-phase
@@ -280,6 +318,7 @@ static void leave(void* screen) {
    if (state == picking || state == saving || state == done) { //the user left the screen after we created the linked list
        //Iterate through the linked list and free all resources
        FILE_LIST_ENTRY* current_entry = files_ok; //start with the list head
+
        while (current_entry != NULL) { //while we're not at the end
            FILE_LIST_ENTRY* temp = current_entry->next; //save the next pointer because we free the current element on the next line
            free((void*)(current_entry->filename)); //free filename
@@ -296,6 +335,7 @@ static SCREEN_STRUCT screen = {
    update
 };

-SCREEN_STRUCT* get_screen_photomodesave() {
+SCREEN_STRUCT* get_screen_photomodesave()
+{
    return &screen;
 }
--- a/common/app/screen_photomode_save.h
+++ b/common/app/screen_photomode_save.h
@@ -1,3 +1,16 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_photomode_save.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-16	timolang@gmail.com	62006e0	Documented pixy_helper and implemented/finished photo-mode screens! Snap some shots!
+*
+**************************************************************************************************************************************/
+
 #include "screen.h"

 /**
@@ -20,4 +33,3 @@ SCREEN_STRUCT* get_screen_photomodesave();

 /*@}*/
 /*@}*/
-
--- a/common/app/screen_pixytest.c
+++ b/common/app/screen_pixytest.c
@@ -1,3 +1,23 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_pixytest.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	cf72baa	Introduced a Screen (sub) module and divided app into multiple screens.
+* 2015-05-02	timolang@gmail.com	3281616	Added some more touch functions. Improved pixy test. Drag the Image around!
+* 2015-05-09	timolang@gmail.com	0b5173e	Added reference tracking.
+* 2015-05-15	timolang@gmail.com	27c09ba	Redesigned main menu. Moved stuff from pixytest to a new helper file and to the new "photo mode"-screen.
+* 2015-05-25	timolang@gmail.com	6a61769	Reimplemented pixytest screen. Added a lot of Test-Buttons.
+* 2015-06-01	aaron@duckpond.ch	caa7b5c	Added IRQ for user button, fixed some touchproblems.
+* 2015-06-03	timolang@gmail.com	74aa186	Made pixy_test screen working again. Had to disable pixy_service. Recalibrated initial touch values.
+* 2015-06-07	timolang@gmail.com	c87220d	Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h
+*
+**************************************************************************************************************************************/
+
 #include "screen_pixytest.h"
 #include "button.h"
 #include "numupdown.h"
@@ -5,7 +25,7 @@
 #include "touch.h"
 #include "pixy.h"
 #include "system.h"
-#include "pixy_helper.h"
+#include "pixy_frame.h"

 static volatile enum {detecting, idle, update_servos, update_ledcolor, update_ledcurrent} state; //Current state of the screen state machine

@@ -30,11 +50,13 @@ static uint32_t led_maxcurrent;
 static NUMUPDOWN_STRUCT n_led_powerlimit;


-static void b_back_cb(void* button) {
+static void b_back_cb(void* button)
+{
    gui_screen_back();
 }

-static void b_servos_center_cb(void* button) {
+static void b_servos_center_cb(void* button)
+{
    if (state == idle) {
        servo_x = 500;
        servo_y = 500;
@@ -42,7 +64,8 @@ static void b_servos_center_cb(void* button) {
    }
 }

-static void b_servos_topleft_cb(void* button) {
+static void b_servos_topleft_cb(void* button)
+{
    if (state == idle) {
        servo_x = 0;
        servo_y = 0;
@@ -50,7 +73,8 @@ static void b_servos_topleft_cb(void* button) {
    }
 }

-static void b_servos_topright_cb(void* button) {
+static void b_servos_topright_cb(void* button)
+{
    if (state == idle) {
        servo_x = 1000;
        servo_y = 0;
@@ -58,7 +82,8 @@ static void b_servos_topright_cb(void* button) {
    }
 }

-static void b_servos_bottomleft_cb(void* button) {
+static void b_servos_bottomleft_cb(void* button)
+{
    if (state == idle) {
        servo_x = 0;
        servo_y = 1000;
@@ -66,7 +91,8 @@ static void b_servos_bottomleft_cb(void* button) {
    }
 }

-static void b_servos_bottomright_cb(void* button) {
+static void b_servos_bottomright_cb(void* button)
+{
    if (state == idle) {
        servo_x = 1000;
        servo_y = 1000;
@@ -74,49 +100,56 @@ static void b_servos_bottomright_cb(void* button) {
    }
 }

-static void b_led_off_cb(void* button) {
+static void b_led_off_cb(void* button)
+{
    if (state == idle) {
        led_color = 0x000000;
        state = update_ledcolor;
    }
 }

-static void b_led_white_cb(void* button) {
+static void b_led_white_cb(void* button)
+{
    if (state == idle) {
        led_color = 0xFFFFFF;
        state = update_ledcolor;
    }
 }

-static void b_led_red_cb(void* button) {
+static void b_led_red_cb(void* button)
+{
    if (state == idle) {
        led_color = 0xFF0000;
        state = update_ledcolor;
    }
 }

-static void b_led_green_cb(void* button) {
+static void b_led_green_cb(void* button)
+{
    if (state == idle) {
        led_color = 0x00FF00;
        state = update_ledcolor;
    }
 }

-static void b_led_blue_cb(void* button) {
+static void b_led_blue_cb(void* button)
+{
    if (state == idle) {
        led_color = 0x0000FF;
        state = update_ledcolor;
    }
 }

-static void n_led_powerlimit_cb(void* numupdown, int16_t value) {
+static void n_led_powerlimit_cb(void* numupdown, int16_t value)
+{
    if (state == idle) {
        led_maxcurrent = value;
        state = update_ledcurrent;
    }
 }

-static void enter(void* screen) {
+static void enter(void* screen)
+{
    tft_clear(WHITE);

    //Back button
@@ -271,7 +304,8 @@ static void enter(void* screen) {
    state = detecting;
 }

-static void leave(void* screen) {
+static void leave(void* screen)
+{
    gui_button_remove(&b_back);
    gui_button_remove(&b_servos_center);
    gui_button_remove(&b_servos_topleft);
@@ -288,7 +322,8 @@ static void leave(void* screen) {
 }


-static void update(void* screen) {
+static void update(void* screen)
+{
    switch (state) {
    case detecting: //Detecting State: Where we try to connect to the pixy
        if (pixy_init() == 0) { //Pixy connection ok
@@ -299,18 +334,20 @@ static void update(void* screen) {

            state = idle; //Go to next state
        }
+
        break;
+
    case idle:
        pixy_service();
        break;
+
    case update_servos:
        pixy_rcs_set_position(0, servo_x);
        pixy_rcs_set_position(1, servo_y);
        state = idle;
        break;

-		case update_ledcolor:
-		{
+    case update_ledcolor: {
        int32_t response;
        int return_value;
        return_value = pixy_command("led_set", INT32(led_color), END_OUT_ARGS,  &response, END_IN_ARGS);
@@ -334,9 +371,7 @@ static SCREEN_STRUCT screen = {
 };


-SCREEN_STRUCT* get_screen_pixytest() {
+SCREEN_STRUCT* get_screen_pixytest()
+{
    return &screen;
 }
-
-
-
--- a/common/app/screen_pixytest.h
+++ b/common/app/screen_pixytest.h
@@ -1,3 +1,18 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_pixytest.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	cf72baa	Introduced a Screen (sub) module and divided app into multiple screens.
+* 2015-05-10	timolang@gmail.com	21edc56	Added doxyfile (doxygen) for the common folder. Started with doxygen comments for app and tft module.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+*
+**************************************************************************************************************************************/
+
 #include "screen.h"

 /**
--- a/common/app/screen_tracking.c
+++ b/common/app/screen_tracking.c
@@ -1,3 +1,22 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_tracking.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-16	timolang@gmail.com	e46314b	Added Tracking Screen and implemented "Reference Tracking" and "Color Region Selection"
+* 2015-05-25	timolang@gmail.com	8088014	Updated Tracking Screen so that the implementations are separated into different method groups.
+* 2015-06-06	aaron@duckpond.ch	8c264c2	Comment refactoring, updated PID values
+* 2015-06-06	aaron@duckpond.ch	a04cda9	Refactured comments and implemented a bugfix for the PID controller
+* 2015-06-07	aaron@duckpond.ch	802d3df	Fixed pid controller and refactored code
+* 2015-06-07	aaron@duckpond.ch	3d98ca9	Minor changes
+* 2015-06-07	timolang@gmail.com	c87220d	Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h
+*
+**************************************************************************************************************************************/
+
 #include "screen_tracking.h"
 #include "pixy_control.h"
 #include "button.h"
@@ -6,7 +25,7 @@
 #include "touch.h"
 #include "pixy.h"
 #include "system.h"
-#include "pixy_helper.h"
+#include "pixy_frame.h"

 static BUTTON_STRUCT b_back; //Button to navigate back
 static BUTTON_STRUCT b_select; //Button to start the color region selection
@@ -14,12 +33,14 @@ static CHECKBOX_STRUCT c_frame_toggle; //Checkbox to toggle video data on/off
 static TOUCH_AREA_STRUCT a_area; //Touch area for the color region selection

 //Callback for when the user presses the "back" button
-static void b_back_cb(void* button) {
+static void b_back_cb(void* button)
+{
    gui_screen_back(); //navigate back to the previous screen
 }

 static volatile bool frame_visible = false; //Whether or not the video data should be displayed
-static void c_frame_toggle_cb(void *checkbox, bool checked) {
+static void c_frame_toggle_cb(void* checkbox, bool checked)
+{
    frame_visible = checked; //Set the visibility of the frame to the checked state of the checkbox
    //Frame will be drawn in the main loop below
 }
@@ -31,7 +52,8 @@ static POINT_STRUCT point2; //End point of the rectangle selected by the user (c
 static bool point1_valid; //Whether or not we have a valid first point

 //Callback for when the user presses the "select color" button
-static void b_select_cb(void* button) {
+static void b_select_cb(void* button)
+{
    if (state == selecting) { //we're currently selecting a color region
        state = abortselecting; //Abort selecting!!
    } else if (state == tracking) { //we're currently watching the tracking
@@ -50,20 +72,24 @@ static void b_select_cb(void* button) {

 //Callback for when the user touches the frame area to select a color region.
 //Note: It doesn't matter in which direction the user draws the rectangle, we'll normalize the coordinates later
-static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction) {
+static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction)
+{
    POINT_STRUCT p = touch_get_last_point();
+
    switch (triggeredAction) {
    case PEN_DOWN: //The user just put down the pen
        point1.x = p.x - FRAME_START_X; //Calculate x-Coordinate relative to frame start
        point1.y = p.y - FRAME_START_Y; //Calculate y-Coordinate relative to frame start
        point1_valid = true; //The point1 is now valid
        break;
+
    case PEN_UP: //The user took the pen away
        if (point1_valid) { //only execute if point1 is valid
            point2.x = p.x - FRAME_START_X; //Calculate x-Coordinate relative to frame start
            point2.y = p.y - FRAME_START_Y; //Calculate y-Coordinate relative to frame start
            state = selected;
        }
+
        break;
    }
 }
@@ -85,7 +111,8 @@ static int16_t servo_x = 0;
 static int16_t servo_y = 0;

 //Method/Callback to start our tracking
-void tracking_our_start(void* tracking_config) {
+void tracking_our_start(void* tracking_config)
+{
    //Activate pixy's data send program
    int32_t response;
    int return_value;
@@ -98,7 +125,8 @@ void tracking_our_start(void* tracking_config) {
 }

 //Method/Callback to stop our tracking
-void tracking_our_stop(void* tracking_config) {
+void tracking_our_stop(void* tracking_config)
+{
    //Stop pixy's data send programm
    int32_t response;
    int return_value;
@@ -106,7 +134,8 @@ void tracking_our_stop(void* tracking_config) {
 }

 //Method/Callback to calculate one step of our tracking
-void tracking_our_update(void* tracking_config, struct Block* blocks, int num_blocks) {
+void tracking_our_update(void* tracking_config, struct Block* blocks, int num_blocks)
+{

    if (num_blocks <= 0) {                  // Check if there are blocks available
        return;                             // When there are none, do nothing
@@ -144,7 +173,8 @@ static TRACKING_CONFIG_STRUCT tracking_our = {
 //Methods for reference tracking implementation ahead

 //Method/Callback to start reference tracking
-void tracking_reference_start(void* tracking_config) {
+void tracking_reference_start(void* tracking_config)
+{
    //Run reference tracking
    int32_t response;
    int return_value;
@@ -152,7 +182,8 @@ void tracking_reference_start(void* tracking_config) {
 }

 //Method/Callback to stop reference tracking
-void tracking_reference_stop(void* tracking_config) {
+void tracking_reference_stop(void* tracking_config)
+{
    //Stop reference tracking
    int32_t response;
    int return_value;
@@ -160,7 +191,8 @@ void tracking_reference_stop(void* tracking_config) {
 }

 //Method/Callback to calculate one step of the reference tracking
-void tracking_reference_update(void* tracking_config, struct Block* blocks, int num_blocks) {
+void tracking_reference_update(void* tracking_config, struct Block* blocks, int num_blocks)
+{
    //Nothing to do here. Pixy does it all.
 }

@@ -175,15 +207,18 @@ static TRACKING_CONFIG_STRUCT tracking_reference = {
 static TRACKING_CONFIG_STRUCT* tracking_current;

 //Method to set the current tracking implementation. This function is exported and should be called before getting the screen
-void tracking_set_mode(enum Tracking_Implementation impl) {
+void tracking_set_mode(enum Tracking_Implementation impl)
+{
    //Depending on the enum value let tracking_current point to a different setting/callback structure
    switch (impl) {
    case OUR_TRACKING:
        tracking_current = &tracking_our;
        break;
+
    case REFERENCE_TRACKING:
        tracking_current = &tracking_reference;
        break;
+
    default:
        tracking_current = NULL;
        break;
@@ -191,7 +226,8 @@ void tracking_set_mode(enum Tracking_Implementation impl) {
 }

 //Callback for when the screen is entered/loaded
-static void enter(void* screen) {
+static void enter(void* screen)
+{
    tft_clear(WHITE);

    //"Back" button
@@ -248,7 +284,8 @@ static void enter(void* screen) {
 }

 //Callback for when the screen is left/unloaded
-static void leave(void* screen) {
+static void leave(void* screen)
+{
    //Remove buttons and checkbox
    gui_button_remove(&b_back);
    gui_button_remove(&b_select);
@@ -266,12 +303,14 @@ static void leave(void* screen) {

 //Callback for when the screen should be updated
 //This is the main loop of the screen. This method will be called repeatedly
-static void update(void* screen) {
+static void update(void* screen)
+{
    switch (state) {
    case detecting: //Detecting State: Where we try to connect to the pixy
        if (pixy_init() == 0) { //Pixy connection ok
            state = init; //Go to next state
        }
+
        break;

    case init: //Init State: Where we start the tracking
@@ -306,10 +345,10 @@ static void update(void* screen) {
                }
            }
        }
+
        break;

-		case preselecting: //Pre-Selecting State: Where we set up the color region selection
-		{
+    case preselecting: { //Pre-Selecting State: Where we set up the color region selection
        tracking_current->stop(tracking_current); //Stop tracking

        pixy_render_full_frame(FRAME_START_X, FRAME_START_Y); //Render one frame
@@ -324,10 +363,10 @@ static void update(void* screen) {
    }
    break;

-		case selected: //Selected State: Where we send the users selection to pixy
-		{
+    case selected: { //Selected State: Where we send the users selection to pixy
        //Ensure that (x1,y1) represent the top-left point and (x2,y2) the bottom-right.
        unsigned int tmp;
+
        if (point1.x > point2.x) {
            tmp = point1.x;
            point1.x = point2.x;
@@ -339,13 +378,14 @@ static void update(void* screen) {
            point1.y = point2.y;
            point2.y = tmp;
        }
+
        //Send pixy the selected region
        pixy_cc_set_region(1, point1.x, point1.y, point2.x - point1.x, point2.y - point1.y);
    }
+
    //no break here: We want the following code to be executed as well

-		case abortselecting: //Abort-Selecting State: Where we deinitialize the stuff we used for region selection
-		{
+    case abortselecting: { //Abort-Selecting State: Where we deinitialize the stuff we used for region selection
        touch_unregister_area(&a_area); //Remove the touch area. We'll no longer receive touch events

        b_select.text = "Select Color"; //Change the button text back to "Select Color"
@@ -375,6 +415,7 @@ static SCREEN_STRUCT screen = {
 };


-SCREEN_STRUCT* get_screen_tracking() {
+SCREEN_STRUCT* get_screen_tracking()
+{
    return &screen;
 }
--- a/common/app/screen_tracking.h
+++ b/common/app/screen_tracking.h
@@ -1,3 +1,16 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/app/screen_tracking.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-16	timolang@gmail.com	e46314b	Added Tracking Screen and implemented "Reference Tracking" and "Color Region Selection"
+*
+**************************************************************************************************************************************/
+
 #include "screen.h"

 /**
--- a/common/filesystem/filesystem.c
+++ b/common/filesystem/filesystem.c
@@ -1,38 +1,56 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/filesystem/filesystem.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-10	timolang@gmail.com	e2bce8f	Added filesystem module, tests and implementation for it in emulator.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+*
+**************************************************************************************************************************************/
+
 #include "filesystem.h"
 #include "ll_filesystem.h"

-bool filesystem_init() {
+bool filesystem_init()
+{
    return ll_filesystem_init();
 }

-DIRECTORY_STRUCT* filesystem_dir_open(const char* path) {
+DIRECTORY_STRUCT* filesystem_dir_open(const char* path)
+{
    return ll_filesystem_dir_open(path);
 }

-void filesystem_dir_close(DIRECTORY_STRUCT* dir) {
+void filesystem_dir_close(DIRECTORY_STRUCT* dir)
+{
    ll_filesystem_dir_close(dir);
 }

-FILE_HANDLE* filesystem_file_open(const char* filename) {
+FILE_HANDLE* filesystem_file_open(const char* filename)
+{
    return ll_filesystem_file_open(filename);
 }

-void filesystem_file_close(FILE_HANDLE* handle) {
+void filesystem_file_close(FILE_HANDLE* handle)
+{
    ll_filesystem_file_close(handle);
 }

-FILE_STATUS filesystem_file_seek(FILE_HANDLE* handle, uint32_t offset) {
+FILE_STATUS filesystem_file_seek(FILE_HANDLE* handle, uint32_t offset)
+{
    return ll_filesystem_file_seek(handle, offset);
 }

-FILE_STATUS filesystem_file_read(FILE_HANDLE* handle, uint8_t* buf, uint32_t size) {
+FILE_STATUS filesystem_file_read(FILE_HANDLE* handle, uint8_t* buf, uint32_t size)
+{
    return ll_filesystem_file_read(handle, buf, size);
 }

-FILE_STATUS filesystem_file_write(FILE_HANDLE* handle, uint8_t* buf, uint32_t size) {
+FILE_STATUS filesystem_file_write(FILE_HANDLE* handle, uint8_t* buf, uint32_t size)
+{
    return ll_filesystem_file_write(handle, buf, size);
 }
-
-
-
-
--- a/common/filesystem/filesystem.h
+++ b/common/filesystem/filesystem.h
@@ -1,3 +1,18 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/filesystem/filesystem.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	51089aa	Refactored Project Structure for use with emulator
+* 2015-05-10	timolang@gmail.com	e2bce8f	Added filesystem module, tests and implementation for it in emulator.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+*
+**************************************************************************************************************************************/
+
 #ifndef FILESYSTEM_H
 #define FILESYSTEM_H

@@ -144,4 +159,3 @@ FILE_STATUS filesystem_file_write(FILE_HANDLE* handle, uint8_t* buf, uint32_t si
 /*@}*/

 #endif /* FILESYSTEM_H */
-
--- a/common/gui/button.c
+++ b/common/gui/button.c
@@ -1,3 +1,17 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/gui/button.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	7c9eabc	Added button support.
+* 2015-05-17	timolang@gmail.com	2d46336	Improved comments in implementation of button, checkbox, numupdown, tft, touch and screen modules/submodules.
+*
+**************************************************************************************************************************************/
+
 #include "tft.h"
 #include "touch.h"
 #include "button.h"
@@ -17,7 +31,8 @@
 */

 //Method to calculate the shadow colors used to create the "3d" effect
-void calculate_shadows(uint16_t bgcolor, uint16_t* light_shadow, uint16_t* dark_shadow) {
+void calculate_shadows(uint16_t bgcolor, uint16_t* light_shadow, uint16_t* dark_shadow)
+{
 #define BRIGHTNESS_VAL 3 //How much the Brightness is in/decreased for button shadows (3 -> Add/Subtract 1/3 off Full Value)

    uint16_t c_light, c_dark; //c_light and c_dark will be filled with a lighter and a darker color as the background color (for the shadows)
@@ -29,32 +44,47 @@ void calculate_shadows(uint16_t bgcolor, uint16_t* light_shadow, uint16_t* dark_
    b = (bgcolor & 0x001F) >> 0;

    //For the light shadow color:
-	if((r + 0x1F/BRIGHTNESS_VAL)  > 0x1F) //Adding one third would exceed the maximum of the red channel
+    if ((r + 0x1F / BRIGHTNESS_VAL)  > 0x1F) { //Adding one third would exceed the maximum of the red channel
        c_light = 0xF800;    //Use full red
-	else //adding one third to the red channel is fine
+    } else { //adding one third to the red channel is fine
        c_light = (r + 0x1F / BRIGHTNESS_VAL) << 11;    //Use same red as in the background, but add one third
-	if((g + 0x3F/BRIGHTNESS_VAL)  > 0x3F) //same for the green channel
+    }
+
+    if ((g + 0x3F / BRIGHTNESS_VAL)  > 0x3F) { //same for the green channel
        c_light |= 0x07E0;
-	else
+    } else {
        c_light |= (g + 0x3F / BRIGHTNESS_VAL) << 5;
-	if((b + 0x1F/BRIGHTNESS_VAL)  > 0x1F) //and the blue channel
+    }
+
+    if ((b + 0x1F / BRIGHTNESS_VAL)  > 0x1F) { //and the blue channel
        c_light |= 0x0018;
-	else
+    } else {
        c_light |= (b + 0x1F / BRIGHTNESS_VAL) << 0;
+    }

    //For the dark shadow color
-	if(r  > (0x1F/BRIGHTNESS_VAL)) //Subtracting one third would NOT exceed the minimum of the red channel
+    if (r  > (0x1F / BRIGHTNESS_VAL)) { //Subtracting one third would NOT exceed the minimum of the red channel
        c_dark = (r - 0x1F / BRIGHTNESS_VAL) << 11;    //Use same red as in the background, but subtract one third
-	else //Subtracting one third would give us a number below zero
+    } else { //Subtracting one third would give us a number below zero
        c_dark = 0x0000;    //use no red channel
-	if(g > (0x3F/BRIGHTNESS_VAL)) //Same for the green channel
+    }
+
+    if (g > (0x3F / BRIGHTNESS_VAL)) { //Same for the green channel
        c_dark |= (g - 0x3F / BRIGHTNESS_VAL) << 5;
-	if(b > (0x1F/BRIGHTNESS_VAL)) //and the blue channel
+    }
+
+    if (b > (0x1F / BRIGHTNESS_VAL)) { //and the blue channel
        c_dark |= (b - 0x1F / BRIGHTNESS_VAL) << 0;
+    }

    //Assign the calculated shadows to out parameters
-	if(light_shadow!=NULL) *light_shadow = c_light;
-	if(dark_shadow!=NULL) *dark_shadow = c_dark;
+    if (light_shadow != NULL) {
+        *light_shadow = c_light;
+    }
+
+    if (dark_shadow != NULL) {
+        *dark_shadow = c_dark;
+    }

 }

@@ -67,8 +97,7 @@ void buttons_cb(void* touchArea, TOUCH_ACTION triggeredAction)
    uint16_t c_light, c_dark; //c_light and c_dark will be filled with a lighter and a darker color as the background color (for the shadows)
    calculate_shadows(button->bgcolor, &c_light, &c_dark);

-	switch(triggeredAction)
-	{
+    switch (triggeredAction) {
    case PEN_DOWN: //If the user touches the area for the "first time"
        area->hookedActions = PEN_UP | PEN_LEAVE; //for the future we only want PEN_UP and PEN_LEAVE events

@@ -78,6 +107,7 @@ void buttons_cb(void* touchArea, TOUCH_ACTION triggeredAction)
        tft_draw_line(button->base.x1 + 1, button->base.y2, button->base.x2 - 1, button->base.y2, c_light); //South
        tft_draw_line(button->base.x2, button->base.y1 + 1, button->base.x2, button->base.y2 - 1, c_light); //East
        break;
+
    case PEN_UP: //If the user took the pen away, while in the area (=button pressed!)
    case PEN_LEAVE: //or the user "slided out" of the area
        area->hookedActions = PEN_DOWN; //for the future we only want PEN_DOWN events
@@ -88,18 +118,21 @@ void buttons_cb(void* touchArea, TOUCH_ACTION triggeredAction)
        tft_draw_line(button->base.x1 + 1, button->base.y2, button->base.x2 - 1, button->base.y2, c_dark); //South
        tft_draw_line(button->base.x2, button->base.y1 + 1, button->base.x2, button->base.y2 - 1, c_dark); //East

-			if(triggeredAction==PEN_UP && button->callback!=NULL) //If the button got "pressed" instead of left, and the user provided a callback
+        if (triggeredAction == PEN_UP && button->callback != NULL) { //If the button got "pressed" instead of left, and the user provided a callback
            button->callback(button);    //execute the user callback
+        }
+
+        break;
+
+    default:
        break;
-		default:break;
    }
 }


 bool gui_button_add(BUTTON_STRUCT* button)
 {
-	if(touch_have_empty(1)) //Check if the touch module can handle one additional area
-	{
+    if (touch_have_empty(1)) { //Check if the touch module can handle one additional area
        //Calculate width and height of the button text
        unsigned int strwidth = tft_font_width(button->font) * strlen(button->text);
        unsigned char strheight = tft_font_height(button->font);
@@ -120,6 +153,7 @@ bool gui_button_add(BUTTON_STRUCT* button)
        } else if ((button->base.y2 - button->base.y1 + 1) < (strheight + 2)) { //the provided height is too small to fit the text
            return  false;
        }
+
        gui_button_redraw(button); //call the redraw method, which will take care of drawing the entire button
        return touch_register_area(&button->base);	//Register the touch area and receive events for this button, from now on
    }
--- a/common/gui/button.h
+++ b/common/gui/button.h
@@ -1,3 +1,21 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/gui/button.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	7c9eabc	Added button support.
+* 2015-04-27	timolang@gmail.com	cf72baa	Introduced a Screen (sub) module and divided app into multiple screens.
+* 2015-05-11	timolang@gmail.com	08d9fe0	More work on doxygen module structure
+* 2015-05-12	timolang@gmail.com	1402598	Added doxygen stuff for button module and some minor changes to touch, screen_main and tft module.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+* 2015-05-17	timolang@gmail.com	2d46336	Improved comments in implementation of button, checkbox, numupdown, tft, touch and screen modules/submodules.
+*
+**************************************************************************************************************************************/
+
 #ifndef BUTTON_H
 #define BUTTON_H

--- a/common/gui/checkbox.c
+++ b/common/gui/checkbox.c
@@ -1,3 +1,17 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/gui/checkbox.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	b300ac5	Added Checkbox support
+* 2015-05-17	timolang@gmail.com	2d46336	Improved comments in implementation of button, checkbox, numupdown, tft, touch and screen modules/submodules.
+*
+**************************************************************************************************************************************/
+
 #include "tft.h"
 #include "touch.h"
 #include "checkbox.h"
@@ -21,8 +35,8 @@ void checkboxes_cb(void* touchArea, TOUCH_ACTION triggeredAction)
 {
    TOUCH_AREA_STRUCT* area = (TOUCH_AREA_STRUCT*)touchArea;
    CHECKBOX_STRUCT* checkbox = (CHECKBOX_STRUCT*)touchArea;
-	switch(triggeredAction)
-	{
+
+    switch (triggeredAction) {
    case PEN_DOWN:  //If the user touches the area for the "first time"
        area->hookedActions = PEN_UP | PEN_LEAVE; //for the future we only want PEN_UP and PEN_LEAVE events

@@ -30,12 +44,15 @@ void checkboxes_cb(void* touchArea, TOUCH_ACTION triggeredAction)
        tft_draw_rectangle(checkbox->base.x1 + 1, checkbox->base.y1 + 1, checkbox->base.x2 - 1, checkbox->base.y2 - 1, ACTIVE_COLOR);
        tft_draw_rectangle(checkbox->base.x1 + 2, checkbox->base.y1 + 2, checkbox->base.x2 - 2, checkbox->base.y2 - 2, ACTIVE_COLOR);
        break;
+
    case PEN_UP: //If the user took the pen away, while in the area (=toggle checkbox!)
        checkbox->checked = !checkbox->checked; //Toggle checkbox state
        gui_checkbox_update(checkbox); //redraw/overdraw tickmark
+
        if (checkbox->callback != NULL) { //The user provided a callback
            checkbox->callback(checkbox, checkbox->checked); //Call the provided callback with the new checked state
        }
+
    // no break statement here!
    case PEN_LEAVE: //if the user "slided out" of the area
        area->hookedActions = PEN_DOWN; //for the future we only want PEN_DOWN events
@@ -44,31 +61,37 @@ void checkboxes_cb(void* touchArea, TOUCH_ACTION triggeredAction)
        tft_draw_rectangle(checkbox->base.x1 + 1, checkbox->base.y1 + 1, checkbox->base.x2 - 1, checkbox->base.y2 - 1, BACKGROUND_COLOR);
        tft_draw_rectangle(checkbox->base.x1 + 2, checkbox->base.y1 + 2, checkbox->base.x2 - 2, checkbox->base.y2 - 2, BACKGROUND_COLOR);
        break;
-		default:break;
+
+    default:
+        break;
    }
 }

 bool gui_checkbox_add(CHECKBOX_STRUCT* checkbox)
 {
-	if(touch_have_empty(1)) //Check if the touch module can handle one additional area
-	{
+    if (touch_have_empty(1)) { //Check if the touch module can handle one additional area
        unsigned char size = 0;
        checkbox->base.hookedActions = PEN_DOWN; //At first we are interested in PEN_DOWN events
        checkbox->base.callback = checkboxes_cb; //Use our own callback for the touch area events

        //Check the size of the checkbox
-		if(checkbox->base.x2>checkbox->base.x1)
+        if (checkbox->base.x2 > checkbox->base.x1) {
            size = checkbox->base.x2 - checkbox->base.x1;    //use width a as size
-		if(checkbox->base.y2>checkbox->base.y1)	
-		{
-			if((checkbox->base.y2 - checkbox->base.y1)>size)  //height is larger than size
+        }
+
+        if (checkbox->base.y2 > checkbox->base.y1) {
+            if ((checkbox->base.y2 - checkbox->base.y1) > size) { //height is larger than size
                size = checkbox->base.y2 - checkbox->base.y1;    //use height as size
            }
+        }
+
        if (size == 0) { //no size found (maybe swap x2 and x1 or y2 and y1 ?)
            return false; //signal error
        }
-		if((size&0x01)) //the size is an odd number
+
+        if ((size & 0x01)) { //the size is an odd number
            size++;    //make size an even number
+        }

        //Correct x2,y2 so that the checkbox is quadratic
        checkbox->base.x2 = checkbox->base.x1 + size;
--- a/common/gui/checkbox.h
+++ b/common/gui/checkbox.h
@@ -1,3 +1,19 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/gui/checkbox.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	b300ac5	Added Checkbox support
+* 2015-05-11	timolang@gmail.com	08d9fe0	More work on doxygen module structure
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+* 2015-05-17	timolang@gmail.com	2d46336	Improved comments in implementation of button, checkbox, numupdown, tft, touch and screen modules/submodules.
+*
+**************************************************************************************************************************************/
+
 #ifndef CHECKBOX_H
 #define CHECKBOX_H

--- a/common/gui/numupdown.c
+++ b/common/gui/numupdown.c
@@ -1,3 +1,19 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/gui/numupdown.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-30	timolang@gmail.com	76ea9d8	Added num up down support.
+* 2015-04-30	timolang@gmail.com	b491b78	Made numupdown horizontal
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+* 2015-05-17	timolang@gmail.com	2d46336	Improved comments in implementation of button, checkbox, numupdown, tft, touch and screen modules/submodules.
+*
+**************************************************************************************************************************************/
+
 #include "tft.h"
 #include "touch.h"
 #include "button.h"
@@ -23,6 +39,7 @@ void button_up_cb(void* button)
    if (element->value < element->max) { //old value lies below the maximum
        element->value++; //let's increase the value
        gui_numupdown_update(element); //and redraw everything
+
        if (element->callback != NULL) { //the user provided a callback
            element->callback(element, element->value); //Call the user callback with the new value
        }
@@ -38,6 +55,7 @@ void button_down_cb(void* button)
    if (element->value > element->min) { //old value lies above the minimum
        element->value--; //let's decrease the value
        gui_numupdown_update(element); //and redraw everything
+
        if (element->callback != NULL) { //the user provided a callback
            element->callback(element, element->value); //Call the user callback with the new value
        }
@@ -45,21 +63,23 @@ void button_down_cb(void* button)
 }

 //Method to calculate the number of characters needed to print the provided number in decimal notation (with optional sign)
-static uint8_t calc_text_width(int16_t val) {
+static uint8_t calc_text_width(int16_t val)
+{
    uint8_t width = 1 + (val < 0); //1 if positive, 2 if negative (to let space for sign)
    val = abs(val); //Make the number positive
+
    while (val >= 10) { //while we have two or more digits
        val /= 10; //remove one digit
        width++; //add one character
    }
+
    return width;
 }


 bool gui_numupdown_add(NUMUPDOWN_STRUCT* numupdown)
 {
-	 if(touch_have_empty(2)) //Check if the touch module can handle two additional areas
-	 {
+    if (touch_have_empty(2)) { //Check if the touch module can handle two additional areas
        if (numupdown->min > numupdown->max) { //min is bigger than max?
            return false; //invalid parameter
        }
@@ -72,7 +92,11 @@ bool gui_numupdown_add(NUMUPDOWN_STRUCT* numupdown)

        uint8_t tw1 = calc_text_width(numupdown->max); //Calculate character width to render maximum value
        uint8_t tw2 = calc_text_width(numupdown->min); //Calculate character width to render minimum value
-		 if(tw2 > tw1) tw1 = tw2; //ensure tw1 contains the larger number of the two
+
+        if (tw2 > tw1) {
+            tw1 = tw2;    //ensure tw1 contains the larger number of the two
+        }
+
        uint8_t width = tft_font_width(0) * (tw1 + 1); //Calculate width of the number area

        //Add "minus" button to the left side of the number area
@@ -132,12 +156,14 @@ void gui_numupdown_update(NUMUPDOWN_STRUCT* numupdown)
    //Calculate the number area width again (see above)
    uint8_t tw1 = calc_text_width(numupdown->max);
    uint8_t tw2 = calc_text_width(numupdown->min);
-	 if(tw2 > tw1) tw1 = tw2;
+
+    if (tw2 > tw1) {
+        tw1 = tw2;
+    }
+
    uint8_t width = tft_font_width(0) * (tw1 + 1);

    //Draw background and label of the number area
    tft_fill_rectangle(numupdown->buttonDown.base.x2 + 2, numupdown->y, numupdown->buttonDown.base.x2 + width, numupdown->buttonUp.base.y2, BASE_COLOR);
    tft_print_formatted(numupdown->buttonDown.base.x2 + 2 + tft_font_width(0) / 2, numupdown->y + tft_font_height(0) / 2, numupdown->fgcolor, BASE_COLOR, 0, "%*d", tw1, numupdown->value);
 }
-
-
--- a/common/gui/numupdown.h
+++ b/common/gui/numupdown.h
@@ -1,3 +1,18 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/gui/numupdown.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-30	timolang@gmail.com	76ea9d8	Added num up down support.
+* 2015-05-11	timolang@gmail.com	08d9fe0	More work on doxygen module structure
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+*
+**************************************************************************************************************************************/
+
 #ifndef NUMUPDOWN_H
 #define NUMUPDOWN_H

--- a/common/gui/screen.c
+++ b/common/gui/screen.c
@@ -1,3 +1,21 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/gui/screen.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	cf72baa	Introduced a Screen (sub) module and divided app into multiple screens.
+* 2015-04-27	timolang@gmail.com	77e6d0e	Fixed screen implementation.
+* 2015-05-10	timolang@gmail.com	b6ab7c8	Fixed compiler warning in tft and screen module.
+* 2015-05-17	timolang@gmail.com	2d46336	Improved comments in implementation of button, checkbox, numupdown, tft, touch and screen modules/submodules.
+* 2015-06-01	timolang@gmail.com	eb573bc	Finalized calibration. Fixed a bug in screen module.
+* 2015-06-06	timolang@gmail.com	c06661d	Fixed some outdated comments in source code. Documented Gui Module in docu.
+*
+**************************************************************************************************************************************/
+
 #include "screen.h"

 /* The idea is as follows:
@@ -14,19 +32,23 @@ static SCREEN_STRUCT* screen_list = NULL; //Head of the linked list which stores
 static SCREEN_STRUCT* screen_current = NULL; //Pointer to the current screen (= tail of the list)
 static volatile SCREEN_STRUCT* screen_goto = NULL; //Screen we should navigate to once we enter the gui_screen_update() method again

-SCREEN_STRUCT* gui_screen_get_current() {
+SCREEN_STRUCT* gui_screen_get_current()
+{
    return screen_current;
 }


-void gui_screen_update() {
+void gui_screen_update()
+{
    if (screen_goto != NULL) { //we received the task to switch the screen
        SCREEN_STRUCT* go = (SCREEN_STRUCT*) screen_goto; //Backup volatile variable
        screen_goto = NULL; //reset the "goto instruction", since we're processing it now
+
        if (go->next != NULL) { //The screen is not the last in the list, so we're going back
            if (go->next != screen_current) { //this condition should always be false
                return; //list corrupted?
            }
+
            screen_current->on_leave(screen_current); //let the current screen free/unregister it's resources
            go->next = NULL; //remove the current screen from the list
        } else { //we're going forward (to a new screen)
@@ -37,6 +59,7 @@ void gui_screen_update() {
                screen_list = go; //set the new screen as list-head
            }
        }
+
        go->on_enter(go); //let the new screen allocate/register it's resources
        screen_current = go; //the new screen is now the current screen. Transition done
    }
@@ -48,28 +71,40 @@ void gui_screen_update() {



-bool gui_screen_navigate(SCREEN_STRUCT* screen) {
+bool gui_screen_navigate(SCREEN_STRUCT* screen)
+{
    if (screen == NULL || screen == screen_current || screen == screen_goto) { //invalid argument passed
        return false;
    }
+
    screen->next = NULL; //this will become the new tail of the list, so the next pointer must be NULL
    screen_goto = screen; //"send message" to main loop, to switch the screen
    return true;
 }

-bool gui_screen_back() {
+bool gui_screen_back()
+{
    if (screen_list == NULL) { //the list head is emtpy, nothing to go back to
        return false;
    }
+
    SCREEN_STRUCT* current = screen_list;
    SCREEN_STRUCT* last = NULL;
+
    //Find second last element in list
    while (current->next != NULL) {
        last = current;
        current = current->next;
    }
-	if(last==NULL) return false; //There's only a single screen, there's no going back here
-	if(current!=screen_current) return false; //The last entry in the list is not the current screen. List corrupted?
+
+    if (last == NULL) {
+        return false;    //There's only a single screen, there's no going back here
+    }
+
+    if (current != screen_current) {
+        return false;    //The last entry in the list is not the current screen. List corrupted?
+    }
+
    screen_goto = last; //"send message" to main loop, to switch the screen
    return true;
 }
--- a/common/gui/screen.h
+++ b/common/gui/screen.h
@@ -1,3 +1,21 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/gui/screen.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	cf72baa	Introduced a Screen (sub) module and divided app into multiple screens.
+* 2015-04-27	timolang@gmail.com	77e6d0e	Fixed screen implementation.
+* 2015-05-11	timolang@gmail.com	08d9fe0	More work on doxygen module structure
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+* 2015-05-17	timolang@gmail.com	2d46336	Improved comments in implementation of button, checkbox, numupdown, tft, touch and screen modules/submodules.
+* 2015-06-06	timolang@gmail.com	c06661d	Fixed some outdated comments in source code. Documented Gui Module in docu.
+*
+**************************************************************************************************************************************/
+
 #ifndef SCREEN_H
 #define SCREEN_H

--- a/common/lowlevel/ll_filesystem.h
+++ b/common/lowlevel/ll_filesystem.h
@@ -1,3 +1,17 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/lowlevel/ll_filesystem.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-10	timolang@gmail.com	e2bce8f	Added filesystem module, tests and implementation for it in emulator.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+*
+**************************************************************************************************************************************/
+
 #include "filesystem.h"

 /**
--- a/common/lowlevel/ll_system.h
+++ b/common/lowlevel/ll_system.h
@@ -1,3 +1,21 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/lowlevel/ll_system.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	1f2af9f	Added more tft functions to common and emulator. Fixed eventloop.
+* 2015-04-03	timolang@gmail.com	cab8609	Integrated pixy into emulator. Pixy is no longer in the common/libs folder but in emulator/libs and discovery/libs
+* 2015-04-03	timolang@gmail.com	9a1d12a	Refactored discovery, to use new project structure. Almost ready.
+* 2015-04-25	timolang@gmail.com	3d1e4b2	Simplified code a bit. Emulator does not work stable when replugging pixy.
+* 2015-04-25	timolang@gmail.com	0858b0d	Fixed some bugs when receiving large data.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+*
+**************************************************************************************************************************************/
+
 #include <stdbool.h>
 #include <stdint.h>

--- a/common/lowlevel/ll_tft.h
+++ b/common/lowlevel/ll_tft.h
@@ -1,3 +1,24 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/lowlevel/ll_tft.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	51089aa	Refactored Project Structure for use with emulator
+* 2015-04-03	timolang@gmail.com	1f2af9f	Added more tft functions to common and emulator. Fixed eventloop.
+* 2015-04-03	timolang@gmail.com	9a1d12a	Refactored discovery, to use new project structure. Almost ready.
+* 2015-04-03	timolang@gmail.com	1aa9194	Fixed Drawing of rects in Emulator. Got frames from pixy to emulator. Slooooow.
+* 2015-04-27	aaron@duckpond.ch	aed90ef	Drawcircle added (emulator)
+* 2015-04-27	timolang@gmail.com	e249fb2	Added font support
+* 2015-04-27	aaron@duckpond.ch	f0a6c3b	Implemented init functions for gpio, fsmc and display
+* 2015-04-27	aaron@duckpond.ch	0b61f21	Fixed misplacement of prototypes in ll_tft.h and implemented a propper init function.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+*
+**************************************************************************************************************************************/
+
 #include <stdint.h>
 #include <stdbool.h>

@@ -37,5 +58,3 @@ uint8_t ll_tft_font_width(uint8_t fontnum);
 void ll_tft_draw_char(uint16_t x, uint16_t y, uint16_t color, uint16_t bgcolor, uint8_t font, char c);

 /*@}*/
-
-
--- a/common/lowlevel/ll_touch.h
+++ b/common/lowlevel/ll_touch.h
@@ -1,3 +1,17 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/lowlevel/ll_touch.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	259d446	Added touch support to emulator. Implemented basic touch function.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+*
+**************************************************************************************************************************************/
+
 #include <stdint.h>
 #include <stdbool.h>

--- a/common/system/system.c
+++ b/common/system/system.c
@@ -1,19 +1,39 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/system/system.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	1f2af9f	Added more tft functions to common and emulator. Fixed eventloop.
+* 2015-04-03	timolang@gmail.com	cab8609	Integrated pixy into emulator. Pixy is no longer in the common/libs folder but in emulator/libs and discovery/libs
+* 2015-04-25	timolang@gmail.com	3d1e4b2	Simplified code a bit. Emulator does not work stable when replugging pixy.
+* 2015-04-25	timolang@gmail.com	0858b0d	Fixed some bugs when receiving large data.
+*
+**************************************************************************************************************************************/
+
 #include "system.h"
 #include "ll_system.h"


-bool system_init() {
+bool system_init()
+{
    return ll_system_init();
 }

-void system_delay(uint32_t msec) {
+void system_delay(uint32_t msec)
+{
    ll_system_delay(msec);
 }

-void system_process() {
+void system_process()
+{
    ll_system_process();
 }

-void system_toggle_led() {
+void system_toggle_led()
+{
    ll_system_toggle_led();
 }
--- a/common/system/system.h
+++ b/common/system/system.h
@@ -1,3 +1,21 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/system/system.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	1f2af9f	Added more tft functions to common and emulator. Fixed eventloop.
+* 2015-04-03	timolang@gmail.com	cab8609	Integrated pixy into emulator. Pixy is no longer in the common/libs folder but in emulator/libs and discovery/libs
+* 2015-04-25	timolang@gmail.com	3d1e4b2	Simplified code a bit. Emulator does not work stable when replugging pixy.
+* 2015-04-25	timolang@gmail.com	0858b0d	Fixed some bugs when receiving large data.
+* 2015-05-11	timolang@gmail.com	08d9fe0	More work on doxygen module structure
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+*
+**************************************************************************************************************************************/
+
 #ifndef SYSTEM_H
 #define SYSTEM_H

--- a/common/tft/tft.c
+++ b/common/tft/tft.c
@@ -1,3 +1,24 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/tft/tft.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	51089aa	Refactored Project Structure for use with emulator
+* 2015-04-03	timolang@gmail.com	1f2af9f	Added more tft functions to common and emulator. Fixed eventloop.
+* 2015-04-03	timolang@gmail.com	1aa9194	Fixed Drawing of rects in Emulator. Got frames from pixy to emulator. Slooooow.
+* 2015-04-27	aaron@duckpond.ch	aed90ef	Drawcircle added (emulator)
+* 2015-04-27	timolang@gmail.com	e249fb2	Added font support
+* 2015-04-30	timolang@gmail.com	76ea9d8	Added num up down support.
+* 2015-05-10	timolang@gmail.com	b6ab7c8	Fixed compiler warning in tft and screen module.
+* 2015-05-15	timolang@gmail.com	b08a897	Added tft method to draw a bmp from filesystem. Added another font to emulator.
+* 2015-05-17	timolang@gmail.com	2d46336	Improved comments in implementation of button, checkbox, numupdown, tft, touch and screen modules/submodules.
+*
+**************************************************************************************************************************************/
+
 #include "tft.h"
 #include "ll_tft.h"
 #include <string.h>
@@ -15,56 +36,71 @@
 * For formatted printing implement putchar, instead of writing into a buffer and drawing that buffer afterwards
 */

-bool tft_init() {
+bool tft_init()
+{
    return ll_tft_init();

 }

-void tft_clear(uint16_t color) {
+void tft_clear(uint16_t color)
+{
    ll_tft_clear(color);
 }

-void tft_draw_line(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color) {
+void tft_draw_line(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color)
+{
    ll_tft_draw_line(x1, y1, x2, y2, color);
 }


-void tft_draw_pixel(uint16_t x,uint16_t y,uint16_t color) {
+void tft_draw_pixel(uint16_t x, uint16_t y, uint16_t color)
+{
    ll_tft_draw_pixel(x, y, color);
 }

-void tft_draw_rectangle(uint16_t x1,uint16_t y1,uint16_t x2,uint16_t y2, uint16_t color) {
+void tft_draw_rectangle(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color)
+{
    //could be implemented with 4 lines instead of introducing a ll func
    ll_tft_draw_rectangle(x1, y1, x2, y2, color);
 }

-void tft_fill_rectangle(uint16_t x1,uint16_t y1,uint16_t x2,uint16_t y2, uint16_t color) {
+void tft_fill_rectangle(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color)
+{
    ll_tft_fill_rectangle(x1, y1, x2, y2, color);
 }

-void tft_draw_bitmap_unscaled(uint16_t x, uint16_t y, uint16_t width, uint16_t height, const uint16_t* dat) {
+void tft_draw_bitmap_unscaled(uint16_t x, uint16_t y, uint16_t width, uint16_t height, const uint16_t* dat)
+{
    ll_tft_draw_bitmap_unscaled(x, y, width, height, dat);
 }

-void tft_draw_circle(uint16_t x, uint16_t y, uint16_t r, uint16_t color) {
+void tft_draw_circle(uint16_t x, uint16_t y, uint16_t r, uint16_t color)
+{
    ll_tft_draw_circle(x, y, r, color);
 }

-uint8_t tft_num_fonts() {
+uint8_t tft_num_fonts()
+{
    return ll_tft_num_fonts();
 }

-uint8_t tft_font_height(uint8_t fontnum) {
+uint8_t tft_font_height(uint8_t fontnum)
+{
    return ll_tft_font_height(fontnum);
 }

-uint8_t tft_font_width(uint8_t fontnum) {
+uint8_t tft_font_width(uint8_t fontnum)
+{
    return ll_tft_font_width(fontnum);
 }

 //Print line can be done with multiple calls to draw_char
-void tft_print_line(uint16_t x, uint16_t y, uint16_t color, uint16_t bgcolor, uint8_t font, const char* text) {
-	if(font>=ll_tft_num_fonts()) return; //invalid font index
+void tft_print_line(uint16_t x, uint16_t y, uint16_t color, uint16_t bgcolor, uint8_t font, const char* text)
+{
+    if (font >= ll_tft_num_fonts()) {
+        return;    //invalid font index
+    }
+
    for (int i = 0; i < strlen(text); i++) { //for each char in the line
        ll_tft_draw_char(x, y, color, bgcolor, font, text[i]); //draw the char
        x += ll_tft_font_width(font);	//and increase the x position
@@ -72,7 +108,8 @@ void tft_print_line(uint16_t x, uint16_t y, uint16_t color, uint16_t bgcolor, ui
 }

 //Printing a formatted line can be done by printing the line in a buffer using "sprintf" and then calling print_line
-void tft_print_formatted(uint16_t x, uint16_t y, uint16_t color, uint16_t bgcolor, uint8_t font, const char* format, ...) {
+void tft_print_formatted(uint16_t x, uint16_t y, uint16_t color, uint16_t bgcolor, uint8_t font, const char* format, ...)
+{
    static char buffer[128]; //buffer to save the formatted text into

    //Since we have variable arguments, we need to forward them. We have to use vsprintf instead of sprintf for that.
@@ -83,17 +120,20 @@ void tft_print_formatted(uint16_t x, uint16_t y, uint16_t color, uint16_t bgcolo
    va_end(args); //end the varg-list
 }

-bool tft_draw_bitmap_file_unscaled(uint16_t x, uint16_t y, const char* filename) {
+bool tft_draw_bitmap_file_unscaled(uint16_t x, uint16_t y, const char* filename)
+{
    //This method reads a .bmp file from the filesystem and tries to draw it.
    //Note: The bmp implementation is not complete, it has some limitations and it makes assumptions. See doxygen comment for this method.
    //Source Copied and adapted from: http://stackoverflow.com/a/17040962/2606757

    FILE_HANDLE* file = filesystem_file_open(filename); //try to open the file
+
    if (file == NULL) { //file opening failed
        return false;
    }

    unsigned char info[54];
+
    if (filesystem_file_read(file, info, 54) != F_OK) { //try to read the 54 byte header
        filesystem_file_close(file);
        return false; //reading the header failed
@@ -111,12 +151,12 @@ bool tft_draw_bitmap_file_unscaled(uint16_t x, uint16_t y, const char* filename)

    unsigned char data [row_padded]; //allocate space for one row (incl. padding)

-	for(int i = 0; i < height; i++) //for each row
-	{
+    for (int i = 0; i < height; i++) { //for each row
        filesystem_file_read(file, data, row_padded); //read row into buffer
-		for(int j = 0; j < width*depth; j += depth) //for each pixel
-		{
+
+        for (int j = 0; j < width * depth; j += depth) { //for each pixel
            unsigned char a, r, g, b;
+
            if (depth == 4) { //a,r,g,b 8bit each
                a = data[j];
                r = data[j + 1];
--- a/common/tft/tft.h
+++ b/common/tft/tft.h
@@ -1,3 +1,28 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/tft/tft.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	51089aa	Refactored Project Structure for use with emulator
+* 2015-04-03	timolang@gmail.com	1f2af9f	Added more tft functions to common and emulator. Fixed eventloop.
+* 2015-04-03	timolang@gmail.com	1aa9194	Fixed Drawing of rects in Emulator. Got frames from pixy to emulator. Slooooow.
+* 2015-04-27	aaron@duckpond.ch	aed90ef	Drawcircle added (emulator)
+* 2015-04-27	timolang@gmail.com	e249fb2	Added font support
+* 2015-04-30	timolang@gmail.com	76ea9d8	Added num up down support.
+* 2015-05-04	aaron@duckpond.ch	c224d40	Changed display init
+* 2015-05-10	timolang@gmail.com	21edc56	Added doxyfile (doxygen) for the common folder. Started with doxygen comments for app and tft module.
+* 2015-05-11	timolang@gmail.com	a175a2f	Added doxygen docu for touch module
+* 2015-05-11	timolang@gmail.com	08d9fe0	More work on doxygen module structure
+* 2015-05-12	timolang@gmail.com	1402598	Added doxygen stuff for button module and some minor changes to touch, screen_main and tft module.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+* 2015-05-15	timolang@gmail.com	b08a897	Added tft method to draw a bmp from filesystem. Added another font to emulator.
+*
+**************************************************************************************************************************************/
+
 #ifndef TFT_H
 #define TFT_H

--- a/common/touch/screen_calibrate.c
+++ b/common/touch/screen_calibrate.c
@@ -1,3 +1,17 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/touch/screen_calibrate.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-06-01	timolang@gmail.com	06227da	Added calibrate screen (WIP). fixed bug in emulator drawing.
+* 2015-06-01	timolang@gmail.com	eb573bc	Finalized calibration. Fixed a bug in screen module.
+*
+**************************************************************************************************************************************/
+
 #include "screen_calibrate.h"
 #include "tft.h"
 #include "touch.h"
@@ -6,15 +20,18 @@
 extern volatile bool calibration; //from touch.c


-static void enter(void* screen) {
+static void enter(void* screen)
+{
    tft_clear(BLACK);
 }

-static void leave(void* screen) {
+static void leave(void* screen)
+{

 }

-static void update(void* screen) {
+static void update(void* screen)
+{
    int x1, y1, x2, y2, dx, dy;


@@ -24,7 +41,9 @@ static void update(void* screen) {
    tft_draw_line(CCENTER, CBEGIN, CCENTER, CEND, WHITE);	//Draw Cross
    tft_draw_line(CBEGIN, CCENTER, CEND, CCENTER, WHITE);	//Draw Cross
    calibration = 1; //TouchX + TouchY Values will not be converted to Pixels
+
    while (calibration);	//Wait on PenUp
+
    POINT_STRUCT p1 = touch_get_last_point();
    x1 = p1.x;
    y1 = p1.y;
@@ -34,7 +53,9 @@ static void update(void* screen) {
    tft_draw_line(DWIDTH - CCENTER, DHEIGHT - CBEGIN, DWIDTH - CCENTER, DHEIGHT - CEND, WHITE);
    tft_draw_line(DWIDTH - CBEGIN, DHEIGHT - CCENTER, DWIDTH - CEND, DHEIGHT - CCENTER, WHITE);
    calibration = 1;
+
    while (calibration);
+
    POINT_STRUCT p2 = touch_get_last_point();
    x2 = p2.x;
    y2 = p2.y;
@@ -44,7 +65,9 @@ static void update(void* screen) {
    tft_draw_line(CCENTER, DHEIGHT - CBEGIN, CCENTER, DHEIGHT - CEND, WHITE);
    tft_draw_line(CBEGIN, DHEIGHT - CCENTER, CEND, DHEIGHT - CCENTER, WHITE);
    calibration = 1;
+
    while (calibration);
+
    POINT_STRUCT p3 = touch_get_last_point();
    x1 += p3.x; //Add(!) values. We'll build the average later
    y2 += p3.y;
@@ -54,7 +77,9 @@ static void update(void* screen) {
    tft_draw_line(DWIDTH - CCENTER, CBEGIN, DWIDTH - CCENTER, CEND, WHITE);
    tft_draw_line(DWIDTH - CBEGIN, CCENTER, DWIDTH - CEND, CCENTER, WHITE);
    calibration = 1;
+
    while (calibration);
+
    POINT_STRUCT p4 = touch_get_last_point();
    x2 += p4.x;
    y1 += p4.y;
@@ -75,7 +100,9 @@ static void update(void* screen) {
    tft_print_line(50, 120, WHITE, BLACK, 0, "Calibration Done. Press anywhere");

    calibration = 1;
+
    while (calibration);
+
    gui_screen_back();

 }
@@ -88,8 +115,7 @@ static SCREEN_STRUCT screen = {
 };


-SCREEN_STRUCT* get_screen_calibrate() {
+SCREEN_STRUCT* get_screen_calibrate()
+{
    return &screen;
 }
-
-
--- a/common/touch/screen_calibrate.h
+++ b/common/touch/screen_calibrate.h
@@ -1,3 +1,17 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/touch/screen_calibrate.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-06-01	timolang@gmail.com	06227da	Added calibrate screen (WIP). fixed bug in emulator drawing.
+* 2015-06-01	timolang@gmail.com	eb573bc	Finalized calibration. Fixed a bug in screen module.
+*
+**************************************************************************************************************************************/
+
 #include "screen.h"

 /**
--- a/common/touch/touch.c
+++ b/common/touch/touch.c
@@ -1,3 +1,21 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/touch/touch.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	259d446	Added touch support to emulator. Implemented basic touch function.
+* 2015-05-02	timolang@gmail.com	3281616	Added some more touch functions. Improved pixy test. Drag the Image around!
+* 2015-05-17	timolang@gmail.com	2d46336	Improved comments in implementation of button, checkbox, numupdown, tft, touch and screen modules/submodules.
+* 2015-06-01	timolang@gmail.com	06227da	Added calibrate screen (WIP). fixed bug in emulator drawing.
+* 2015-06-01	timolang@gmail.com	eb573bc	Finalized calibration. Fixed a bug in screen module.
+* 2015-06-06	timolang@gmail.com	c06661d	Fixed some outdated comments in source code. Documented Gui Module in docu.
+*
+**************************************************************************************************************************************/
+
 #include "touch.h"
 #include "ll_touch.h"
 #include "screen_calibrate.h"
@@ -30,7 +48,8 @@ int cal_ys=10;
 int cal_dy = 100;


-void touch_set_calibration_values(int xs, int dx, int ys, int dy) {
+void touch_set_calibration_values(int xs, int dx, int ys, int dy)
+{
    cal_xs = xs;
    cal_ys = ys;
    cal_dx = dx;
@@ -39,33 +58,34 @@ void touch_set_calibration_values(int xs, int dx, int ys, int dy) {



-bool touch_init() {
+bool touch_init()
+{
    return ll_touch_init();
 }

-void touch_set_value_convert_mode(bool uc) {
+void touch_set_value_convert_mode(bool uc)
+{
    use_calibration = uc;
 }


-bool touch_add_raw_event(uint16_t touchX, uint16_t touchY, TOUCH_STATE state) {
+bool touch_add_raw_event(uint16_t touchX, uint16_t touchY, TOUCH_STATE state)
+{
    //Update current and old position/state
    bool penDown = (state == TOUCH_DOWN);
    bool oldPenDown = (oldState == TOUCH_DOWN);
    oldState = state;

-	if(calibration)	//If in Calibration mode
-	{
-		if(penDown)
-		{
+    if (calibration) {	//If in Calibration mode
+        if (penDown) {
            pos.x = touchX;
            pos.y = touchY;
-		}
-		else
-		{
-			if(oldPenDown) //Run only if we got at least one pen down
+        } else {
+            if (oldPenDown) { //Run only if we got at least one pen down
                calibration = 0;    //Calibration finish (Touch X and Y are the values from the last measure, where the pen was down)
            }
+        }
+
        return true;
    }

@@ -80,113 +100,107 @@ bool touch_add_raw_event(uint16_t touchX, uint16_t touchY, TOUCH_STATE state) {
        pos.y = touchY;
    }

- 	if(penDown) //pen is down now
-    {
+    if (penDown) { //pen is down now
        //tft_draw_pixel(touchX,touchY,WHITE);
-		if(!oldPenDown) //pen wasn't down before (positive edge) => First Touch
-		{
-			for(int z=0; z < NUM_AREAS; z++) // For every touch area
-			{
+        if (!oldPenDown) { //pen wasn't down before (positive edge) => First Touch
+            for (int z = 0; z < NUM_AREAS; z++) { // For every touch area
                //Check if pos is inside area
-				if(areas[z]!=NULL  && touchX >= areas[z]->x1 && touchX <= areas[z]->x2 && touchY >= areas[z]->y1 && touchY <= areas[z]->y2 )
-				{
+                if (areas[z] != NULL  && touchX >= areas[z]->x1 && touchX <= areas[z]->x2 && touchY >= areas[z]->y1 && touchY <= areas[z]->y2) {
                    areas[z]->flags = 1; //Save PenInside=1
-					if(areas[z]->hookedActions & PEN_DOWN) //The user wants to receive pen down events
+
+                    if (areas[z]->hookedActions & PEN_DOWN) { //The user wants to receive pen down events
                        areas[z]->callback(areas[z], PEN_DOWN);    //Send event to user callback
                    }
                }
            }
-		else //Pen was down before => Second, Third event in row
-		{
-			for(int z=0; z < NUM_AREAS; z++) // For every touch area
-			{
-				if(areas[z]!=NULL )
-				{
+        } else { //Pen was down before => Second, Third event in row
+            for (int z = 0; z < NUM_AREAS; z++) { // For every touch area
+                if (areas[z] != NULL) {
                    //Check if pos is inside area
-					if(touchX >= areas[z]->x1 && touchX <= areas[z]->x2 && touchY >= areas[z]->y1 && touchY <= areas[z]->y2)
-					{
-						if(areas[z]->flags==0) //Pen was not inside before (PenInside==0)
-						{
+                    if (touchX >= areas[z]->x1 && touchX <= areas[z]->x2 && touchY >= areas[z]->y1 && touchY <= areas[z]->y2) {
+                        if (areas[z]->flags == 0) { //Pen was not inside before (PenInside==0)
                            areas[z]->flags = 1; //Pen is inside now (PenInside=1)
-							if(areas[z]->hookedActions & PEN_ENTER) //The user wants to receive pen enter events
+
+                            if (areas[z]->hookedActions & PEN_ENTER) { //The user wants to receive pen enter events
                                areas[z]->callback(areas[z], PEN_ENTER);
                            }
                        }
-					else if(areas[z]->flags) //Pos not inside area, but it was before (PenInside==1)
-					{
+                    } else if (areas[z]->flags) { //Pos not inside area, but it was before (PenInside==1)
                        areas[z]->flags = 0; //Pen is no longer inside (PenInside=0)
-						if(areas[z]->hookedActions & PEN_LEAVE) //The user wants to receive pen leave events
+
+                        if (areas[z]->hookedActions & PEN_LEAVE) { //The user wants to receive pen leave events
                            areas[z]->callback(areas[z], PEN_LEAVE);
                        }
                    }
                }
            }
-		for(int z=0; z < NUM_AREAS; z++) // For every touch area
-		{
-			if(areas[z]!=NULL && (areas[z]->hookedActions&PEN_MOVE)) //User want's to receive pen move events
-			{
+        }
+
+        for (int z = 0; z < NUM_AREAS; z++) { // For every touch area
+            if (areas[z] != NULL && (areas[z]->hookedActions & PEN_MOVE)) { //User want's to receive pen move events
                //Check if pos is inside area
-				if(touchX >= areas[z]->x1 && touchX <= areas[z]->x2 && touchY >= areas[z]->y1 && touchY <= areas[z]->y2)
-				{
+                if (touchX >= areas[z]->x1 && touchX <= areas[z]->x2 && touchY >= areas[z]->y1 && touchY <= areas[z]->y2) {
                    areas[z]->callback(areas[z], PEN_MOVE);
                }
            }
        }
-	}
-	else //pen is not down now
-	{
-		if(oldPenDown) //but it was down before (negative edge)
-		{
-			for(int z=0; z < NUM_AREAS; z++) // For every touch area
-			{
+    } else { //pen is not down now
+        if (oldPenDown) { //but it was down before (negative edge)
+            for (int z = 0; z < NUM_AREAS; z++) { // For every touch area
                //Check if pos is inside area
-				if(areas[z]!=NULL && touchX >= areas[z]->x1 && touchX <= areas[z]->x2 && touchY >= areas[z]->y1 && touchY <= areas[z]->y2 )
-				{
+                if (areas[z] != NULL && touchX >= areas[z]->x1 && touchX <= areas[z]->x2 && touchY >= areas[z]->y1 && touchY <= areas[z]->y2) {
                    areas[z]->flags = 0; //The pen is no longer inside (PenInside = 0);
-					if(areas[z]->hookedActions & PEN_UP) //user want's to receive pen up events
+
+                    if (areas[z]->hookedActions & PEN_UP) { //user want's to receive pen up events
                        areas[z]->callback(areas[z], PEN_UP);
                    }
                }
            }
        }
+    }
+
    return true;
 }

 bool touch_have_empty(unsigned char num)
 {
    //go through pointer array and check for free spaces
-	for(unsigned char i=0; i<NUM_AREAS; i++)
-	{
-		if(areas[i]==NULL) num--; //a free space was found, we need one less
-		if(num==0) return true; //enough free spaces found
+    for (unsigned char i = 0; i < NUM_AREAS; i++) {
+        if (areas[i] == NULL) {
+            num--;    //a free space was found, we need one less
        }
+
+        if (num == 0) {
+            return true;    //enough free spaces found
+        }
+    }
+
    return false; //not enough free spaces found
 }

 bool touch_register_area(TOUCH_AREA_STRUCT* area)
 {
    //go through pointer array and check for free space
-	for(unsigned char i=0; i<NUM_AREAS; i++)
-	{
-		if(areas[i]==NULL) //free space found
-		{
+    for (unsigned char i = 0; i < NUM_AREAS; i++) {
+        if (areas[i] == NULL) { //free space found
            area->flags = 0; //we start with empty flags (PenInside=0)
            areas[i] = area; //save pointer into list
            return true;
        }
    }
+
    return false; //no free space found
 }

 void touch_unregister_area(TOUCH_AREA_STRUCT* area)
 {
-	if(area==NULL) return;
+    if (area == NULL) {
+        return;
+    }

    //go through pointer array and find the area to remove
-	for(unsigned char i=0; i<NUM_AREAS; i++)
-	{
-		if(areas[i]==area) //area found in pointer array at pos i
-		{
+    for (unsigned char i = 0; i < NUM_AREAS; i++) {
+        if (areas[i] == area) { //area found in pointer array at pos i
            areas[i] = NULL; //set pointer in list to NULL again
            break;
        }
@@ -194,8 +208,7 @@ void touch_unregister_area(TOUCH_AREA_STRUCT* area)
 }


-POINT_STRUCT touch_get_last_point() {
+POINT_STRUCT touch_get_last_point()
+{
    return pos;
 }
-
-
--- a/common/touch/touch.h
+++ b/common/touch/touch.h
@@ -1,3 +1,25 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          common/touch/touch.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	51089aa	Refactored Project Structure for use with emulator
+* 2015-04-27	timolang@gmail.com	259d446	Added touch support to emulator. Implemented basic touch function.
+* 2015-04-27	timolang@gmail.com	cf72baa	Introduced a Screen (sub) module and divided app into multiple screens.
+* 2015-05-02	timolang@gmail.com	3281616	Added some more touch functions. Improved pixy test. Drag the Image around!
+* 2015-05-11	timolang@gmail.com	a175a2f	Added doxygen docu for touch module
+* 2015-05-11	timolang@gmail.com	08d9fe0	More work on doxygen module structure
+* 2015-05-12	timolang@gmail.com	1402598	Added doxygen stuff for button module and some minor changes to touch, screen_main and tft module.
+* 2015-05-15	timolang@gmail.com	9a16865	Added doxgen comments to filesyste, checkbox, numupdown and screen module. And some minor changes to the other modules.
+* 2015-06-01	timolang@gmail.com	06227da	Added calibrate screen (WIP). fixed bug in emulator drawing.
+* 2015-06-01	timolang@gmail.com	eb573bc	Finalized calibration. Fixed a bug in screen module.
+*
+**************************************************************************************************************************************/
+
 #ifndef TOUCH_H
 #define TOUCH_H

--- a/discovery/src/font.c
+++ b/discovery/src/font.c
@@ -1,3 +1,16 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/font.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-11	aaron@duckpond.ch	21fddc3	Implemented new functions
+*
+**************************************************************************************************************************************/
+
 #include<stdint.h>

 // SmallFont.c
--- a/discovery/src/font.h
+++ b/discovery/src/font.h
@@ -1,3 +1,16 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/font.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-11	aaron@duckpond.ch	21fddc3	Implemented new functions
+*
+**************************************************************************************************************************************/
+
 const char small_font[1216];
 const char big_font[3236];
 const char seven_seg_num_font[2004];
--- a/discovery/src/ll_filesystem.c
+++ b/discovery/src/ll_filesystem.c
@@ -1,38 +1,56 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/ll_filesystem.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-10	timolang@gmail.com	e2bce8f	Added filesystem module, tests and implementation for it in emulator.
+*
+**************************************************************************************************************************************/
+
 #include "ll_filesystem.h"
 #include <stdio.h>

-bool ll_filesystem_init() {
+bool ll_filesystem_init()
+{
    return false;
 }

-DIRECTORY_STRUCT* ll_filesystem_dir_open(const char* path) {
+DIRECTORY_STRUCT* ll_filesystem_dir_open(const char* path)
+{
    return NULL;
 }

-void ll_filesystem_dir_close(DIRECTORY_STRUCT* dir) {
+void ll_filesystem_dir_close(DIRECTORY_STRUCT* dir)
+{


 }

-FILE_HANDLE* ll_filesystem_file_open(const char* filename) {
+FILE_HANDLE* ll_filesystem_file_open(const char* filename)
+{
    return NULL;
 }

-void ll_filesystem_file_close(FILE_HANDLE* handle) {
+void ll_filesystem_file_close(FILE_HANDLE* handle)
+{

 }

-FILE_STATUS ll_filesystem_file_seek(FILE_HANDLE* handle, uint32_t offset) {
+FILE_STATUS ll_filesystem_file_seek(FILE_HANDLE* handle, uint32_t offset)
+{
    return F_DISKERROR;
 }

-FILE_STATUS ll_filesystem_file_read(FILE_HANDLE* handle, uint8_t* buf, uint32_t size) {
+FILE_STATUS ll_filesystem_file_read(FILE_HANDLE* handle, uint8_t* buf, uint32_t size)
+{
    return F_DISKERROR;
 }

-FILE_STATUS ll_filesystem_file_write(FILE_HANDLE* handle, uint8_t* buf, uint32_t size) {
+FILE_STATUS ll_filesystem_file_write(FILE_HANDLE* handle, uint8_t* buf, uint32_t size)
+{
    return F_DISKERROR;
 }
-                                                                                                                                                                               
-
-
--- a/discovery/src/ll_system.c
+++ b/discovery/src/ll_system.c
@@ -1,3 +1,20 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/ll_system.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	9a1d12a	Refactored discovery, to use new project structure. Almost ready.
+* 2015-04-25	timolang@gmail.com	3d1e4b2	Simplified code a bit. Emulator does not work stable when replugging pixy.
+* 2015-04-25	timolang@gmail.com	0858b0d	Fixed some bugs when receiving large data.
+* 2015-04-27	aaron@duckpond.ch	0b61f21	Fixed misplacement of prototypes in ll_tft.h and implemented a propper init function.
+* 2015-06-02	timolang@gmail.com	16bfdad	Removed conflicting led usage from usb code.
+*
+**************************************************************************************************************************************/
+
 #include "ll_system.h"
 #include "stm32f4xx.h"
 #include "stm32f4_discovery.h"
@@ -47,14 +64,17 @@ bool ll_system_init(void)
    return true;
 }

-void ll_system_process() {
+void ll_system_process()
+{
    USBH_Process(&USB_OTG_Core, &USB_Host);
 }

-void ll_system_delay(uint32_t msec) {
+void ll_system_delay(uint32_t msec)
+{
    USB_OTG_BSP_mDelay(msec);
 }

-void ll_system_toggle_led() {	
+void ll_system_toggle_led()
+{
    //no led's free :(
 }
--- a/discovery/src/ll_tft.c
+++ b/discovery/src/ll_tft.c
@@ -1,3 +1,29 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/ll_tft.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	9a1d12a	Refactored discovery, to use new project structure. Almost ready.
+* 2015-04-03	timolang@gmail.com	1aa9194	Fixed Drawing of rects in Emulator. Got frames from pixy to emulator. Slooooow.
+* 2015-04-27	aaron@duckpond.ch	aed90ef	Drawcircle added (emulator)
+* 2015-04-27	timolang@gmail.com	e249fb2	Added font support
+* 2015-04-27	aaron@duckpond.ch	f0a6c3b	Implemented init functions for gpio, fsmc and display
+* 2015-04-27	aaron@duckpond.ch	0b61f21	Fixed misplacement of prototypes in ll_tft.h and implemented a propper init function.
+* 2015-04-28	aaron@duckpond.ch	a413591	Implemented ll_tft_fill_rectange and ll_tft_set_window
+* 2015-05-04	aaron@duckpond.ch	c224d40	Changed display init
+* 2015-05-11	aaron@duckpond.ch	21fddc3	Implemented new functions
+* 2015-05-12	aaron@duckpond.ch	aec62d4	Added datasheets, updated touchsupport.
+* 2015-06-01	aaron@duckpond.ch	caa7b5c	Added IRQ for user button, fixed some touchproblems.
+* 2015-06-01	timolang@gmail.com	60c2895	Fixed lowlevel tft discovery functions for draw_char and fill_rect.
+* 2015-06-02	timolang@gmail.com	da34bce	Fixed all printf related problems on discovery using workarounds and newlib nano-instead of newlib
+* 2015-06-06	aaron@duckpond.ch	a04cda9	Refactured comments and implemented a bugfix for the PID controller
+*
+**************************************************************************************************************************************/
+
 /*  TFT lowlevel functions
 *
 *  Pinout:
@@ -42,7 +68,8 @@ static void tft_set_backlight(bool state);
 static void tft_reset(bool state);
 static void tft_write_reg(uint8_t reg_adr, uint16_t reg_value);
 static uint16_t tft_read_reg(uint8_t reg_adr);
-static void tft_set_window(uint16_t xstart, uint16_t ystart, uint16_t xend, uint16_t yend);void tft_reset_window();
+static void tft_set_window(uint16_t xstart, uint16_t ystart, uint16_t xend, uint16_t yend);
+void tft_reset_window();

 /* draw functions */
 void ll_tft_draw_line(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color);
@@ -424,53 +451,38 @@ void tft_reset_window()
 // Draw a line on the given coordinates
 void ll_tft_draw_line(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color)
 {
-    if(abs(x2-x1) > abs(y2-y1)) //line has more distance in x than y => iterate over x distance
-    {   
+    if (abs(x2 - x1) > abs(y2 - y1)) { //line has more distance in x than y => iterate over x distance
        //Without floating point!
        int deltax = ((int)x2 - (int)x1);
        int deltay = ((int)y2 - (int)y1) << 1;
        int x = 0;
-        if (x1>x2)
-        {
-            do
-            { 
+
+        if (x1 > x2) {
+            do {
                tft_set_cursor(x1 + x, y1 + (((long)deltay * (long)x / deltax + 1) >> 1));
                TFT_RAM = color;
-            }
-            while(x--!=deltax);
-        }
-        else
-        {
-            do
-            { 
+            } while (x-- != deltax);
+        } else {
+            do {
                tft_set_cursor(x1 + x, y1 + (((long)deltay * (long)x / deltax + 1) >> 1));
                TFT_RAM = color;
+            } while (x++ != deltax);
        }
-            while(x++!=deltax);
-        }
-    }
-    else // => iterate over y distance
-    {
+    } else { // => iterate over y distance
        int deltax = ((int)x2 - (int)x1) << 1;
        int deltay = ((int)y2 - (int)y1);
        int y = 0;
-        if (y1>y2)
-        {
-            do
-            { 
+
+        if (y1 > y2) {
+            do {
                tft_set_cursor(x1 + (((long)deltax * (long)y / deltay + 1) >> 1), y1 + y);
                TFT_RAM = color;
-            }
-            while(y--!=deltay);
-        }
-        else
-        {
-            do
-            { 
+            } while (y-- != deltay);
+        } else {
+            do {
                tft_set_cursor(x1 + (((long)deltax * (long)y / deltay + 1) >> 1), y1 + y);
                TFT_RAM = color;
-            }
-            while(y++!=deltay);
+            } while (y++ != deltay);
        }
    }
 }
@@ -503,9 +515,16 @@ void ll_tft_draw_rectangle(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, u
    i = x1;
    //Drawing the two horizontal lines
    tft_set_cursor(x1, y1);
-    while(i++ != x2) TFT_RAM = color;
+
+    while (i++ != x2) {
+        TFT_RAM = color;
+    }
+
    tft_set_cursor(x1, y2);
-    while(i-- != x1) TFT_RAM = color;
+
+    while (i-- != x1) {
+        TFT_RAM = color;
+    }


    /*
@@ -574,9 +593,14 @@ void ll_tft_draw_circle(uint16_t x, uint16_t y, uint16_t r, uint16_t color)
 static const char* get_font(uint8_t font)
 {
    switch (font) {
-        case 0: return small_font;
-        case 1: return big_font; 
-        case 2: return seven_seg_num_font;
+    case 0:
+        return small_font;
+
+    case 1:
+        return big_font;
+
+    case 2:
+        return seven_seg_num_font;
    }
 }

@@ -621,6 +645,7 @@ void ll_tft_draw_char(uint16_t x, uint16_t y, uint16_t color, uint16_t bgcolor,
                if (bgIsTrans) {
                    tft_set_cursor(x + xadd, y + yadd);
                }
+
                TFT_RAM = color;

            } else {
@@ -629,11 +654,10 @@ void ll_tft_draw_char(uint16_t x, uint16_t y, uint16_t color, uint16_t bgcolor,
                }
            }

-            if(bgIsTrans) 
-			{
+            if (bgIsTrans) {
                xadd++;
-				if(xadd==width)
-				{
+
+                if (xadd == width) {
                    xadd = 0;
                    yadd++;
                }
--- a/discovery/src/ll_touch.c
+++ b/discovery/src/ll_touch.c
@@ -1,3 +1,28 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/ll_touch.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	259d446	Added touch support to emulator. Implemented basic touch function.
+* 2015-05-12	aaron@duckpond.ch	3b2ef30	Added PID source code and Pinmap
+* 2015-05-12	aaron@duckpond.ch	5e374f4	Added datasheet and touch template
+* 2015-05-12	aaron@duckpond.ch	aec62d4	Added datasheets, updated touchsupport.
+* 2015-05-13	aaron@duckpond.ch	1396d24	Working touchcontroller communication
+* 2015-05-28	aaron@duckpond.ch	5bda699	implemented functions to get x and y coordinates and a test function
+* 2015-05-28	aaron@duckpond.ch	9b1020c	Working PENIRQ
+* 2015-05-28	aaron@duckpond.ch	30197bf	recent changes
+* 2015-05-29	aaron@duckpond.ch	7d2d1a1	Implemented basic sampling and averaging of touch coordinates using timer7
+* 2015-06-01	aaron@duckpond.ch	dff2e76	Touch recognition working
+* 2015-06-01	aaron@duckpond.ch	caa7b5c	Added IRQ for user button, fixed some touchproblems.
+* 2015-06-01	timolang@gmail.com	eb573bc	Finalized calibration. Fixed a bug in screen module.
+* 2015-06-03	timolang@gmail.com	74aa186	Made pixy_test screen working again. Had to disable pixy_service. Recalibrated initial touch values.
+*
+**************************************************************************************************************************************/
+
 #include "ll_touch.h"
 #include "screen.h"
 #include "screen_calibrate.h"
@@ -81,8 +106,11 @@ static uint16_t touch_get_y_coord()
 static uint8_t touch_send(uint8_t dat)
 {
    SPI_I2S_SendData(SPI2, dat);
+
    while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) != RESET);
+
    while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_RXNE) == RESET);
+
    return  SPI_I2S_ReceiveData(SPI2);
 }

--- a/discovery/src/main.c
+++ b/discovery/src/main.c
@@ -1,11 +1,26 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/main.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	21dd1e2	Starting to integrate usb branch. Optimized Makefiles
+* 2015-04-03	timolang@gmail.com	9a1d12a	Refactored discovery, to use new project structure. Almost ready.
+* 2015-04-25	timolang@gmail.com	416883c	Pixy&Usb work with the new folder structure now.
+* 2015-04-25	timolang@gmail.com	3d1e4b2	Simplified code a bit. Emulator does not work stable when replugging pixy.
+*
+**************************************************************************************************************************************/
+
 #include "app.h"

 int main(void)
 {
    app_init();

-  while (1)
-  {
+    while (1) {
        app_process();
    }

--- a/discovery/src/newlib_stubs.c
+++ b/discovery/src/newlib_stubs.c
@@ -1,3 +1,16 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/newlib_stubs.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	21dd1e2	Starting to integrate usb branch. Optimized Makefiles
+*
+**************************************************************************************************************************************/
+
 /*
 * newlib_stubs.c
 *
@@ -37,21 +50,25 @@ char **environ = __env;

 int _write(int file, char* ptr, int len);

-void _exit(int status) {
+void _exit(int status)
+{
    _write(1, "exit", 4);
+
    while (1) {
        ;
    }
 }

-int _close(int file) {
+int _close(int file)
+{
    return -1;
 }
 /*
 execve
 Transfer control to a new process. Minimal implementation (for a system without processes):
 */
-int _execve(char *name, char **argv, char **env) {
+int _execve(char* name, char** argv, char** env)
+{
    errno = ENOMEM;
    return -1;
 }
@@ -60,7 +77,8 @@ int _execve(char *name, char **argv, char **env) {
 Create a new process. Minimal implementation (for a system without processes):
 */

-int _fork() {
+int _fork()
+{
    errno = EAGAIN;
    return -1;
 }
@@ -70,7 +88,8 @@ int _fork() {
 all files are regarded as character special devices.
 The `sys/stat.h' header file required is distributed in the `include' subdirectory for this C library.
 */
-int _fstat(int file, struct stat *st) {
+int _fstat(int file, struct stat* st)
+{
    st->st_mode = S_IFCHR;
    return 0;
 }
@@ -80,7 +99,8 @@ int _fstat(int file, struct stat *st) {
 Process-ID; this is sometimes used to generate strings unlikely to conflict with other processes. Minimal implementation, for a system without processes:
 */

-int _getpid() {
+int _getpid()
+{
    return 1;
 }

@@ -88,12 +108,14 @@ int _getpid() {
 isatty
 Query whether output stream is a terminal. For consistency with the other minimal implementations,
 */
-int _isatty(int file) {
+int _isatty(int file)
+{
    switch (file) {
    case STDOUT_FILENO:
    case STDERR_FILENO:
    case STDIN_FILENO:
        return 1;
+
    default:
        //errno = ENOTTY;
        errno = EBADF;
@@ -106,7 +128,8 @@ int _isatty(int file) {
 kill
 Send a signal. Minimal implementation:
 */
-int _kill(int pid, int sig) {
+int _kill(int pid, int sig)
+{
    errno = EINVAL;
    return (-1);
 }
@@ -116,7 +139,8 @@ int _kill(int pid, int sig) {
 Establish a new name for an existing file. Minimal implementation:
 */

-int _link(char *old, char *new) {
+int _link(char* old, char* new)
+{
    errno = EMLINK;
    return -1;
 }
@@ -125,7 +149,8 @@ int _link(char *old, char *new) {
 lseek
 Set position in a file. Minimal implementation:
 */
-int _lseek(int file, int ptr, int dir) {
+int _lseek(int file, int ptr, int dir)
+{
    return 0;
 }

@@ -134,7 +159,8 @@ int _lseek(int file, int ptr, int dir) {
 Increase program data space.
 Malloc and related functions depend on this
 */
-caddr_t _sbrk(int incr) {
+caddr_t _sbrk(int incr)
+{

    extern char _ebss; // Defined by the linker
    static char* heap_end;
@@ -143,11 +169,12 @@ caddr_t _sbrk(int incr) {
    if (heap_end == 0) {
        heap_end = &_ebss;
    }
+
    prev_heap_end = heap_end;

    char* stack = (char*) __get_MSP();
-     if (heap_end + incr >  stack)
-     {
+
+    if (heap_end + incr >  stack) {
        _write(STDERR_FILENO, "Heap and stack collision\n", 25);
        errno = ENOMEM;
        return (caddr_t) - 1;
@@ -174,9 +201,11 @@ int _open(char *path, int flags, ...)
 */


-int _read(int file, char *ptr, int len) {
+int _read(int file, char* ptr, int len)
+{
    int n;
    int num = 0;
+
    switch (file) {
        /*case STDIN_FILENO:
            for (n = 0; n < len; n++) {
@@ -198,6 +227,7 @@ int _read(int file, char *ptr, int len) {
        errno = EBADF;
        return -1;
    }
+
    return num;
 }

@@ -207,7 +237,8 @@ int _read(int file, char *ptr, int len) {
 int    _EXFUN(stat,( const char *__path, struct stat *__sbuf ));
 */

-int _stat(const char *filepath, struct stat *st) {
+int _stat(const char* filepath, struct stat* st)
+{
    st->st_mode = S_IFCHR;
    return 0;
 }
@@ -217,7 +248,8 @@ int _stat(const char *filepath, struct stat *st) {
 Timing information for current process. Minimal implementation:
 */

-clock_t _times(struct tms *buf) {
+clock_t _times(struct tms* buf)
+{
    return -1;
 }

@@ -225,7 +257,8 @@ clock_t _times(struct tms *buf) {
 unlink
 Remove a file's directory entry. Minimal implementation:
 */
-int _unlink(char *name) {
+int _unlink(char* name)
+{
    errno = ENOENT;
    return -1;
 }
@@ -234,7 +267,8 @@ int _unlink(char *name) {
 wait
 Wait for a child process. Minimal implementation:
 */
-int _wait(int *status) {
+int _wait(int* status)
+{
    errno = ECHILD;
    return -1;
 }
@@ -244,42 +278,61 @@ int _wait(int *status) {
 Write a character to a file. `libc' subroutines will use this system routine for output to all files, including stdout
 Returns -1 on error or number of bytes sent
 */
-int _write(int file, char *ptr, int len) {
+int _write(int file, char* ptr, int len)
+{
    int n;
+
    switch (file) {
    case STDOUT_FILENO: /*stdout*/
        for (n = 0; n < len; n++) {
 #if STDOUT_USART == 1
+
            while ((USART1->SR & USART_FLAG_TC) == (uint16_t)RESET) {}
+
            USART1->DR = (*ptr++ & (uint16_t)0x01FF);
 #elif  STDOUT_USART == 2
+
            while ((USART2->SR & USART_FLAG_TC) == (uint16_t) RESET) {
            }
+
            USART2->DR = (*ptr++ & (uint16_t) 0x01FF);
 #elif  STDOUT_USART == 3
+
            while ((USART3->SR & USART_FLAG_TC) == (uint16_t)RESET) {}
+
            USART3->DR = (*ptr++ & (uint16_t)0x01FF);
 #endif
        }
+
        break;
+
    case STDERR_FILENO: /* stderr */
        for (n = 0; n < len; n++) {
 #if STDERR_USART == 1
+
            while ((USART1->SR & USART_FLAG_TC) == (uint16_t)RESET) {}
+
            USART1->DR = (*ptr++ & (uint16_t)0x01FF);
 #elif  STDERR_USART == 2
+
            while ((USART2->SR & USART_FLAG_TC) == (uint16_t) RESET) {
            }
+
            USART2->DR = (*ptr++ & (uint16_t) 0x01FF);
 #elif  STDERR_USART == 3
+
            while ((USART3->SR & USART_FLAG_TC) == (uint16_t)RESET) {}
+
            USART3->DR = (*ptr++ & (uint16_t)0x01FF);
 #endif
        }
+
        break;
+
    default:
        errno = EBADF;
        return -1;
    }
+
    return len;
 }
--- a/discovery/src/system_stm32f4xx.c
+++ b/discovery/src/system_stm32f4xx.c
@@ -1,3 +1,16 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/system_stm32f4xx.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	21dd1e2	Starting to integrate usb branch. Optimized Makefiles
+*
+**************************************************************************************************************************************/
+
 /**
  ******************************************************************************
  * @file    system_stm32f4xx.c
@@ -281,14 +294,15 @@ void SystemCoreClockUpdate(void)
    /* Get SYSCLK source -------------------------------------------------------*/
    tmp = RCC->CFGR & RCC_CFGR_SWS;

-  switch (tmp)
-  {
+    switch (tmp) {
    case 0x00:  /* HSI used as system clock source */
        SystemCoreClock = HSI_VALUE;
        break;
+
    case 0x04:  /* HSE used as system clock source */
        SystemCoreClock = HSE_VALUE;
        break;
+
    case 0x08:  /* PLL used as system clock source */

        /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
@@ -297,13 +311,10 @@ void SystemCoreClockUpdate(void)
        pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
        pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;

-      if (pllsource != 0)
-      {
+        if (pllsource != 0) {
            /* HSE used as PLL clock source */
            pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
-      }
-      else
-      {
+        } else {
            /* HSI used as PLL clock source */
            pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
        }
@@ -311,10 +322,12 @@ void SystemCoreClockUpdate(void)
        pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >> 16) + 1) * 2;
        SystemCoreClock = pllvco / pllp;
        break;
+
    default:
        SystemCoreClock = HSI_VALUE;
        break;
    }
+
    /* Compute HCLK frequency --------------------------------------------------*/
    /* Get HCLK prescaler */
    tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
@@ -341,23 +354,18 @@ static void SetSysClock(void)
    RCC->CR |= ((uint32_t)RCC_CR_HSEON);

    /* Wait till HSE is ready and if Time out is reached exit */
-  do
-  {
+    do {
        HSEStatus = RCC->CR & RCC_CR_HSERDY;
        StartUpCounter++;
    } while ((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));

-  if ((RCC->CR & RCC_CR_HSERDY) != RESET)
-  {
+    if ((RCC->CR & RCC_CR_HSERDY) != RESET) {
        HSEStatus = (uint32_t)0x01;
-  }
-  else
-  {
+    } else {
        HSEStatus = (uint32_t)0x00;
    }

-  if (HSEStatus == (uint32_t)0x01)
-  {
+    if (HSEStatus == (uint32_t)0x01) {
        /* Enable high performance mode, System frequency up to 168 MHz */
        RCC->APB1ENR |= RCC_APB1ENR_PWREN;
        PWR->CR |= PWR_CR_PMODE;
@@ -379,8 +387,7 @@ static void SetSysClock(void)
        RCC->CR |= RCC_CR_PLLON;

        /* Wait till the main PLL is ready */
-    while((RCC->CR & RCC_CR_PLLRDY) == 0)
-    {
+        while ((RCC->CR & RCC_CR_PLLRDY) == 0) {
        }

        /* Configure Flash prefetch, Instruction cache, Data cache and wait state */
@@ -392,11 +399,11 @@ static void SetSysClock(void)

        /* Wait till the main PLL is used as system clock source */
        while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
+
        {
        }
-  }
-  else
-  { /* If HSE fails to start-up, the application will have wrong clock
+    } else {
+        /* If HSE fails to start-up, the application will have wrong clock
             configuration. User can add here some code to deal with this error */
    }

@@ -542,4 +549,3 @@ void SystemInit_ExtMemCtl(void)
  * @}
  */
 /******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
-
--- a/discovery/src/usb_bsp.c
+++ b/discovery/src/usb_bsp.c
@@ -1,3 +1,16 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/usb_bsp.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	21dd1e2	Starting to integrate usb branch. Optimized Makefiles
+*
+**************************************************************************************************************************************/
+

 /* Includes ------------------------------------------------------------------*/
 #include "usb_bsp.h"
@@ -256,13 +269,10 @@ void USB_OTG_BSP_DriveVBUS(USB_OTG_CORE_HANDLE *pdev, uint8_t state)
    The application uses this field to control power to this port, and the core
    clears this bit on an overcurrent condition.
    */
-  if (0 == state)
-  {
+    if (0 == state) {
        /* DISABLE is needed on output of the Power Switch */
        GPIO_SetBits(HOST_POWERSW_PORT, HOST_POWERSW_VBUS);
-  }
-  else
-  {
+    } else {
        /*ENABLE the Power Switch by driving the Enable LOW */
        GPIO_ResetBits(HOST_POWERSW_PORT, HOST_POWERSW_VBUS);
    }
@@ -342,14 +352,13 @@ void USB_OTG_BSP_uDelay (const uint32_t usec)
 #else
    __IO uint32_t count = 0;
    const uint32_t utime = (120 * usec / 7);
-  do
-  {
-    if ( ++count > utime )
-    {
+
+    do {
+        if (++count > utime) {
            return ;
        }
-  }
-  while (1);
+    } while (1);
+
 #endif

 }
@@ -379,18 +388,17 @@ void USB_OTG_BSP_mDelay (const uint32_t msec)
 void USB_OTG_BSP_TimerIRQ(void)
 {
 #ifdef USE_ACCURATE_TIME
-  if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
-  {
+
+    if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) {
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
-    if (BSP_delay > 0x00)
-    {
+
+        if (BSP_delay > 0x00) {
            BSP_delay--;
-    }
-    else
-    {
+        } else {
            TIM_Cmd(TIM2, DISABLE);
        }
    }
+
 #endif
 }

@@ -408,7 +416,9 @@ static void BSP_Delay(uint32_t nTime, uint8_t unit)

    BSP_delay = nTime;
    BSP_SetTime(unit);
+
    while (BSP_delay != 0);
+
    TIM_Cmd(TIM2, DISABLE);
 }

@@ -426,14 +436,12 @@ static void BSP_SetTime(uint8_t unit)
    TIM_ITConfig(TIM2, TIM_IT_Update, DISABLE);


-  if (unit == TIM_USEC_DELAY)
-  {
+    if (unit == TIM_USEC_DELAY) {
        TIM_TimeBaseStructure.TIM_Period = 11;
-  }
-  else if (unit == TIM_MSEC_DELAY)
-  {
+    } else if (unit == TIM_MSEC_DELAY) {
        TIM_TimeBaseStructure.TIM_Period = 11999;
    }
+
    TIM_TimeBaseStructure.TIM_Prescaler = 5;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
--- a/discovery/src/usbh_msc_core.c
+++ b/discovery/src/usbh_msc_core.c
@@ -1,3 +1,18 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/usbh_msc_core.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	21dd1e2	Starting to integrate usb branch. Optimized Makefiles
+* 2015-04-25	timolang@gmail.com	416883c	Pixy&Usb work with the new folder structure now.
+* 2015-04-25	timolang@gmail.com	3d1e4b2	Simplified code a bit. Emulator does not work stable when replugging pixy.
+*
+**************************************************************************************************************************************/
+

 #include "usbh_msc_core.h"
 #include "usbh_core.h"
@@ -21,8 +36,7 @@ extern USBH_HOST USB_Host;



-USBH_Class_cb_TypeDef  USBH_MSC_cb = 
-{
+USBH_Class_cb_TypeDef  USBH_MSC_cb = {
    USBH_MSC_InterfaceInit,
    USBH_MSC_InterfaceDeInit,
    USBH_MSC_ClassRequest,
@@ -30,8 +44,7 @@ USBH_Class_cb_TypeDef  USBH_MSC_cb =
 };


-typedef struct
-{
+typedef struct {
    uint8_t              hc_num_in;
    uint8_t              hc_num_out;
    uint8_t              MSBulkOutEp;
@@ -52,26 +65,19 @@ static USBH_Status USBH_MSC_InterfaceInit ( USB_OTG_CORE_HANDLE *pdev,

    if ((pphost->device_prop.Itf_Desc[1].bInterfaceClass == 255) &&
            (pphost->device_prop.Itf_Desc[1].bInterfaceProtocol == 0) &&
-     (pphost->device_prop.Itf_Desc[1].bInterfaceSubClass == 1))
-  {
-    if(pphost->device_prop.Ep_Desc[0][0].bEndpointAddress & 0x80)
-    {
+            (pphost->device_prop.Itf_Desc[1].bInterfaceSubClass == 1)) {
+        if (pphost->device_prop.Ep_Desc[0][0].bEndpointAddress & 0x80) {
            MSC_Machine.MSBulkInEp = (pphost->device_prop.Ep_Desc[0][0].bEndpointAddress);
            MSC_Machine.MSBulkInEpSize  = pphost->device_prop.Ep_Desc[0][0].wMaxPacketSize;
-    }
-    else
-    {
+        } else {
            MSC_Machine.MSBulkOutEp = (pphost->device_prop.Ep_Desc[0][0].bEndpointAddress);
            MSC_Machine.MSBulkOutEpSize  = pphost->device_prop.Ep_Desc[0][0].wMaxPacketSize;
        }

-    if(pphost->device_prop.Ep_Desc[0][1].bEndpointAddress & 0x80)
-    {
+        if (pphost->device_prop.Ep_Desc[0][1].bEndpointAddress & 0x80) {
            MSC_Machine.MSBulkInEp = (pphost->device_prop.Ep_Desc[0][1].bEndpointAddress);
            MSC_Machine.MSBulkInEpSize  = pphost->device_prop.Ep_Desc[0][1].wMaxPacketSize;
-    }
-    else
-    {
+        } else {
            MSC_Machine.MSBulkOutEp = (pphost->device_prop.Ep_Desc[0][1].bEndpointAddress);
            MSC_Machine.MSBulkOutEpSize  = pphost->device_prop.Ep_Desc[0][1].wMaxPacketSize;
        }
@@ -95,8 +101,7 @@ static USBH_Status USBH_MSC_InterfaceInit ( USB_OTG_CORE_HANDLE *pdev,

    }

-  else
-  {
+    else {
        pphost->usr_cb->USBH_USR_DeviceNotSupported();
    }

@@ -107,15 +112,13 @@ static USBH_Status USBH_MSC_InterfaceInit ( USB_OTG_CORE_HANDLE *pdev,
 void USBH_MSC_InterfaceDeInit(USB_OTG_CORE_HANDLE* pdev,
                              void* phost)
 {
-  if ( MSC_Machine.hc_num_out)
-  {
+    if (MSC_Machine.hc_num_out) {
        USB_OTG_HC_Halt(pdev, MSC_Machine.hc_num_out);
        USBH_Free_Channel(pdev, MSC_Machine.hc_num_out);
        MSC_Machine.hc_num_out = 0;
    }

-  if ( MSC_Machine.hc_num_in)
-  {
+    if (MSC_Machine.hc_num_in) {
        USB_OTG_HC_Halt(pdev, MSC_Machine.hc_num_in);
        USBH_Free_Channel(pdev, MSC_Machine.hc_num_in);
        MSC_Machine.hc_num_in = 0;
@@ -137,14 +140,14 @@ static USBH_Status USBH_MSC_Handle(USB_OTG_CORE_HANDLE *pdev ,

    USBH_Status status = USBH_BUSY;

-  if(HCD_IsDeviceConnected(pdev))
-  {
+    if (HCD_IsDeviceConnected(pdev)) {
        int appliStatus = pphost->usr_cb->USBH_USR_MSC_Application();
-	if(appliStatus != 0)
-	{
+
+        if (appliStatus != 0) {
            status =  USBH_APPLY_DEINIT;
        }
    }
+
    return status;

 }
@@ -152,22 +155,26 @@ static USBH_Status USBH_MSC_Handle(USB_OTG_CORE_HANDLE *pdev ,

 volatile uint32_t cnt;
 volatile uint32_t cnt_int;
-void USBH_LL_systick() {
+void USBH_LL_systick()
+{
    cnt++;
    cnt_int++;
 }


-void USBH_LL_setTimer() {
+void USBH_LL_setTimer()
+{
    cnt = 0;
 }

-uint32_t USBH_LL_getTimer() {
+uint32_t USBH_LL_getTimer()
+{
    return cnt;
 }


-int USBH_LL_open() {
+int USBH_LL_open()
+{
    int timeoutDetect = 100;
    int timeoutStartup = 3000;
    cnt_int = 0; //reset timer
@@ -182,21 +189,27 @@ int USBH_LL_open() {


    cnt_int = 0;
+
    while (cnt_int < timeoutStartup) { //let pixy's led flashing pass
        USBH_Process(&USB_OTG_Core, &USB_Host);
    }
+
    return 0; //ok
 }

-int USBH_LL_close() {
+int USBH_LL_close()
+{
    USBH_Process(&USB_OTG_Core, &USB_Host);
    return 0;
 }

-int USBH_LL_send(const uint8_t *data, uint32_t len, uint16_t timeoutMs) {
+int USBH_LL_send(const uint8_t* data, uint32_t len, uint16_t timeoutMs)
+{
    USB_OTG_CORE_HANDLE* pdev = &USB_OTG_Core;

-	if(!HCD_IsDeviceConnected(pdev)) return -1;
+    if (!HCD_IsDeviceConnected(pdev)) {
+        return -1;
+    }

    USBH_BulkSendData(pdev,
                      (uint8_t*)data,
@@ -205,7 +218,10 @@ int USBH_LL_send(const uint8_t *data, uint32_t len, uint16_t timeoutMs) {

    URB_STATE state;
    cnt_int = 0; //reset timer
-	if(timeoutMs==0) timeoutMs=1000; //Force 1s timeout (testwise)
+
+    if (timeoutMs == 0) {
+        timeoutMs = 1000;    //Force 1s timeout (testwise)
+    }

    while ((state = HCD_GetURB_State(pdev , MSC_Machine.hc_num_out)) == URB_IDLE &&
            (timeoutMs == 0 || cnt_int < timeoutMs));
@@ -216,16 +232,21 @@ int USBH_LL_send(const uint8_t *data, uint32_t len, uint16_t timeoutMs) {
            return -7; //timeout (error code like with libusb)

        }
+
        return -1;
    }
+
    return len;
 }

-int USBH_LL_receive(uint8_t *data, uint32_t len, uint16_t timeoutMs) {
+int USBH_LL_receive(uint8_t* data, uint32_t len, uint16_t timeoutMs)
+{

    USB_OTG_CORE_HANDLE* pdev = &USB_OTG_Core;

-	if(!HCD_IsDeviceConnected(pdev)) return -1;
+    if (!HCD_IsDeviceConnected(pdev)) {
+        return -1;
+    }

    USBH_BulkReceiveData(pdev,
                         data,
@@ -234,7 +255,10 @@ int USBH_LL_receive(uint8_t *data, uint32_t len, uint16_t timeoutMs) {

    URB_STATE state;
    cnt_int = 0; //reset timer
-	if(timeoutMs==0) timeoutMs=1000; //Force 1s timeout (testwise)
+
+    if (timeoutMs == 0) {
+        timeoutMs = 1000;    //Force 1s timeout (testwise)
+    }

    while ((state = HCD_GetURB_State(pdev , MSC_Machine.hc_num_in)) == URB_IDLE &&
            (timeoutMs == 0 || cnt_int < timeoutMs));
@@ -244,7 +268,9 @@ int USBH_LL_receive(uint8_t *data, uint32_t len, uint16_t timeoutMs) {
            STM_EVAL_LEDOn(LED3);
            return -7; //timeout (error code like with libusb)
        }
+
        return -1;
    }
+
    return len;
 }
--- a/discovery/src/usbh_msc_core.h
+++ b/discovery/src/usbh_msc_core.h
@@ -1,3 +1,16 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/usbh_msc_core.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	21dd1e2	Starting to integrate usb branch. Optimized Makefiles
+*
+**************************************************************************************************************************************/
+

 /* Define to prevent recursive  ----------------------------------------------*/
 #ifndef __USBH_MSC_CORE_H
@@ -23,5 +36,3 @@ uint32_t USBH_LL_getTimer();


 #endif  /* __USBH_MSC_CORE_H */
-
-
--- a/discovery/src/usbh_usr.c
+++ b/discovery/src/usbh_usr.c
@@ -1,10 +1,26 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/usbh_usr.c
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	21dd1e2	Starting to integrate usb branch. Optimized Makefiles
+* 2015-04-03	timolang@gmail.com	9a1d12a	Refactored discovery, to use new project structure. Almost ready.
+* 2015-04-25	timolang@gmail.com	416883c	Pixy&Usb work with the new folder structure now.
+* 2015-04-25	timolang@gmail.com	3d1e4b2	Simplified code a bit. Emulator does not work stable when replugging pixy.
+* 2015-06-02	timolang@gmail.com	16bfdad	Removed conflicting led usage from usb code.
+*
+**************************************************************************************************************************************/
+
 #include "usbh_usr.h"
 #include <stdbool.h>
 #include <string.h>


-USBH_Usr_cb_TypeDef USR_Callbacks =
-{
+USBH_Usr_cb_TypeDef USR_Callbacks = {
    USBH_USR_Init,
    USBH_USR_DeInit,
    USBH_USR_DeviceAttached,
@@ -193,6 +209,7 @@ USBH_USR_Status USBH_USR_UserInput(void)
    if (product_ok && manufacturer_ok && serial_ok) {
        return USBH_USR_RESP_OK;
    }
+
    return USBH_USR_NO_RESP;
 }

@@ -226,4 +243,3 @@ void USBH_USR_DeInit(void)
 {

 }
-
--- a/discovery/src/usbh_usr.h
+++ b/discovery/src/usbh_usr.h
@@ -1,3 +1,16 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          discovery/src/usbh_usr.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	21dd1e2	Starting to integrate usb branch. Optimized Makefiles
+*
+**************************************************************************************************************************************/
+

 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __USH_USR_H__
@@ -45,7 +58,3 @@ void USBH_USR_UnrecoveredError(void);
 #endif /*__USH_USR_H__*/

 /******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
-
-
-
-
--- a/doc/.gitignore
+++ b/doc/.gitignore
@@ -1,2 +1,3 @@
 *.*~
 html/
+latex/
--- a/doc/docu.odt
+++ b/doc/docu.odt
--- a/doc/docu.pdf
+++ b/doc/docu.pdf
--- a/doc/mainscreen_emulator.png
+++ b/doc/mainscreen_emulator.png
--- a/doc/pixy.png
+++ b/doc/pixy.png
--- a/doc/refman.pdf
+++ b/doc/refman.pdf
--- a/doc/tracking_emulator.png
+++ b/doc/tracking_emulator.png
--- a/emulator/.gitignore
+++ b/emulator/.gitignore
@@ -5,8 +5,9 @@ qt/*.o
 qt/*.a
 qt/ui_*
 qt/moc_*
-qt/Makefile
-
+qt/Makefile*
+qt/debug
+qt/release

 libs/*/obj
 libs/*/*.a
--- a/emulator/Makefile
+++ b/emulator/Makefile
@@ -10,7 +10,7 @@ QT_DIR=./qt
 COMMON_DIR=../common

 #Tools
-CC=gcc -fdiagnostics-color=auto
+CC=gcc #-fdiagnostics=auto
 GDB=gdb


@@ -24,17 +24,22 @@ INCLUDES:=$(addprefix -I,$(INCLUDES))
 QT_LIB=$(QT_DIR)/libemulatorqt.a


-CPPFLAGS= -march=x86-64 -mtune=generic -fPIC $(INCLUDES)
-CFLAGS= -O0 -g -std=c99
+CPPFLAGS= -march=x86-64 -mtune=generic #-fPIC 
+CPPFLAGS+= $(INCLUDES)
+CFLAGS= -O0 -g -std=c99 -mwindows


-LIBS= pixy usb-1.0 boost_system boost_timer boost_chrono
-LIBS+=Qt5Core Qt5Gui Qt5Widgets emulatorqt m stdc++
+LIBS= emulatorqt pixy usb-1.0 
+LIBS+= boost_system-mgw49-mt-1_58 boost_timer-mgw49-mt-1_58 boost_chrono-mgw49-mt-1_58
+LIBS+= Qt5Core Qt5Gui Qt5Widgets  m stdc++ 

-
-LDFLAGS= -L$(QT_DIR) $(addprefix -l,$(LIBS)) 
+LDFLAGS= -static-libgcc -static-libstdc++ #-Wl,-t  -Wl,--Map=a.map
+LDFLAGS+= -L$(QT_DIR)
 LDFLAGS+= -L$(LIB_DIR)/Pixy 
-
+LDFLAGS+= -L$(LIB_DIR)/boost/lib
+LDFLAGS+= -LC:/Qt/5.4/mingw491_32/lib
+LDFLAGS+= -L$(LIB_DIR)/Pixy/windows
+LDFLAGS+= $(addprefix -l,$(LIBS)) 

 #Finding Input files
 CFILES=$(shell find . -maxdepth 1 -name '*.c')
@@ -58,7 +63,7 @@ debug: all
 	$(GDB) ./build/emulator

 $(QT_LIB): 
-	cd $(QT_DIR) && qmake &&make
+	cd $(QT_DIR) && qmake && $(MAKE)

 #objects to elf
 $(BUILD_DIR)/$(TARGET): $(OBJS) $(COMMON_OBJS) $(QT_LIB)
@@ -83,7 +88,7 @@ $(OBJ_DIR)/%.o: $(COMMON_DIR)/%.c

 #Clean Obj files and builded stuff
 clean:
-	cd $(QT_DIR) && $(MAKE) clean && $(RM) Makefile && $(RM) *.a
+	cd $(QT_DIR) && $(MAKE) clean && $(RM) Makefile* && $(RM) *.a && $(RMDIR) debug release
 	$(RMDIR) $(BUILD_DIR) $(OBJ_DIR)


--- a/emulator/libs/Pixy/Makefile
+++ b/emulator/libs/Pixy/Makefile
@@ -17,11 +17,13 @@ OBJ_DIR=./obj
 #Architecture flags

 #Compiler, Linker Options
-CPPFLAGS=-I$(INC_DIR) -D__LINUX__=1 -DHOST=1 #-DDEBUG=1
+CPPFLAGS=-I$(INC_DIR) -DHOST=1  #-D__LINUX__=1 -DDEBUG=1
 CFLAGS=$(ARCH_FLAGS) -O0 -g #-ffunction-sections -fdata-sections -g
 #CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4 -mthumb-interwork
 #CFLAGS += -mfloat-abi=hard -mfpu=fpv4-sp-d16
 CFLAGS+=-I/usr/include/libusb-1.0 
+CFLAGS+=-I../boost/include/
+CFLAGS+=-I./windows/

 #Finding Input files
 CFILES=$(shell find $(SRC_DIR) -name '*.cpp')
--- a/emulator/libs/Pixy/windows/libusb-1.0.dll
+++ b/emulator/libs/Pixy/windows/libusb-1.0.dll
--- a/emulator/libs/Pixy/windows/libusb-1.0.dll.a
+++ b/emulator/libs/Pixy/windows/libusb-1.0.dll.a
--- a/emulator/libs/Pixy/windows/libusb.h
+++ b/emulator/libs/Pixy/windows/libusb.h
--- a/emulator/libs/boost/.gitignore
+++ b/emulator/libs/boost/.gitignore
@@ -0,0 +1,2 @@
+include
+lib
--- a/emulator/libs/boost/boost.rar
+++ b/emulator/libs/boost/boost.rar
--- a/emulator/libs/boost/readme.txt
+++ b/emulator/libs/boost/readme.txt
@@ -0,0 +1,2 @@
+This directory is only needed on windows, and if you do not have boost installed.
+Extract the rar file here, to get boost 1.58 header files and the libraries that we need for discoverpixy
--- a/emulator/qt/emulatorqt.pro
+++ b/emulator/qt/emulatorqt.pro
@@ -8,7 +8,7 @@ QT       += widgets gui

 TARGET = emulatorqt
 TEMPLATE = lib
-CONFIG += staticlib
+CONFIG += staticlib debug

 SOURCES += \
    mainwindow.cpp \
@@ -30,3 +30,6 @@ INCLUDEPATH+= ../../common/lowlevel/ \
 FORMS += \
    mainwindow.ui

+DESTDIR = $$_PRO_FILE_PWD_ #force windows to not create subfolders
+
+#QMAKE_CXXFLAGS+= -v
--- a/emulator/qt/ll_filesystem.cpp
+++ b/emulator/qt/ll_filesystem.cpp
@@ -1,3 +1,17 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          emulator/qt/ll_filesystem.cpp
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-05-10	timolang@gmail.com	e2bce8f	Added filesystem module, tests and implementation for it in emulator.
+* 2015-06-07	timolang@gmail.com	4b5768c	Improved Comments in whole emulator. Finalized emulator section in docu.
+*
+**************************************************************************************************************************************/
+
 extern "C" {
 #include "ll_filesystem.h"
 }
@@ -9,17 +23,21 @@ extern "C" {

 QDir rootdir("./emulated");  //Create a QDir which points to the "root" of the emulated filesystem

-bool ll_filesystem_init() {
+bool ll_filesystem_init()
+{
    if (!rootdir.exists()) { //if our root dir is nonexistent
        qWarning() << "Filesystem can not be emulated because the 'emulated' folder does not exist";
        return false; //mark an error
    }
+
    return true;
 }

-DIRECTORY_STRUCT* ll_filesystem_dir_open(const char* path) {
+DIRECTORY_STRUCT* ll_filesystem_dir_open(const char* path)
+{
    QDir d(rootdir); //Make a copy of the rootdir QDir instance
    d.cd(path); //Change the directory to the passed path
+
    if (!d.exists()) {
        return NULL; //mark an error
    }
@@ -38,15 +56,18 @@ DIRECTORY_STRUCT* ll_filesystem_dir_open(const char* path) {
        entry->fattrib = 0;
        entry->fname = new char[fi.fileName().length() + 1]; //reserve memory for filename
        strcpy(entry->fname, fi.fileName().toStdString().c_str()); //copy filename into struct
+
        if (fi.isDir()) { //it's a direcory
            entry->fattrib |= F_DIR; //set directory attribute
            entry->fsize = 0;
        } else { //it's a file
            entry->fsize = fi.size(); //set filesize
        }
+
        if (fi.isHidden()) { //the file is hidden
            entry->fattrib |= F_HID;
        }
+
        if (!fi.isWritable()) { //the file is not writable
            entry->fattrib |= F_RDO; //set readonly attribue
        }
@@ -65,11 +86,13 @@ DIRECTORY_STRUCT* ll_filesystem_dir_open(const char* path) {
    return directory; //return filled directory struct
 }

-void ll_filesystem_dir_close(DIRECTORY_STRUCT* dir) {
+void ll_filesystem_dir_close(DIRECTORY_STRUCT* dir)
+{
    if (dir != NULL) { //passed handle is valid
        for (int i = 0; i < dir->num_files; i++) { //foreach file
            delete dir->files[i].fname; //delete filename buffer
        }
+
        delete[] dir->files; //delete file array
        delete dir; //delete structure itself
    }
@@ -81,12 +104,15 @@ struct QT_FILE_HANDLE : FILE_HANDLE { //..derived from the FILE_HANDLE (of the F
 };


-FILE_HANDLE* ll_filesystem_file_open(const char* filename) {
+FILE_HANDLE* ll_filesystem_file_open(const char* filename)
+{
    if (!rootdir.exists()) {
        return NULL;
    }
+
    QString filepath = rootdir.absoluteFilePath(filename); //get the absolute path to the requested file
    QFile* f = new QFile(filepath); //create a QFile instance to the requested file
+
    if (!f->exists()) { //File does not exist
        return NULL; //mark error
    }
@@ -105,25 +131,32 @@ FILE_HANDLE* ll_filesystem_file_open(const char* filename) {
    return fh;
 }

-void ll_filesystem_file_close(FILE_HANDLE* handle) {
+void ll_filesystem_file_close(FILE_HANDLE* handle)
+{
    if (handle != NULL) { //passed handle is valid
        QT_FILE_HANDLE* fh = static_cast<QT_FILE_HANDLE*>(handle); //cast pointer to QT_FILE_HANDLE
+
        if (fh->file->isOpen()) { //if the file is still open
            fh->file->close(); //close the file
        }
+
        delete fh->file; //delete QFile instance
        delete fh; //delete the fle
    }
 }

-FILE_STATUS ll_filesystem_file_seek(FILE_HANDLE* handle, uint32_t offset) {
+FILE_STATUS ll_filesystem_file_seek(FILE_HANDLE* handle, uint32_t offset)
+{
    if (handle == NULL) {
        return F_INVALIDPARAM;
    }
+
    QT_FILE_HANDLE* fh = static_cast<QT_FILE_HANDLE*>(handle); //cast pointer to QT_FILE_HANDLE
+
    if (!fh->file->isOpen()) { //file is not open
        return F_DISKERROR;
    }
+
    if (offset >= fh->file->size()) { //offset exeeds filesize
        return F_INVALIDPARAM;
    }
@@ -136,22 +169,30 @@ FILE_STATUS ll_filesystem_file_seek(FILE_HANDLE* handle, uint32_t offset) {
    }
 }

-FILE_STATUS ll_filesystem_file_read(FILE_HANDLE* handle, uint8_t* buf, uint32_t size) {
+FILE_STATUS ll_filesystem_file_read(FILE_HANDLE* handle, uint8_t* buf, uint32_t size)
+{
    if (handle == NULL || buf == NULL) {
        return F_INVALIDPARAM;
    }
+
    QT_FILE_HANDLE* fh = static_cast<QT_FILE_HANDLE*>(handle); //cast pointer to QT_FILE_HANDLE
+
    if (!fh->file->isOpen()) { //file is not open
        return F_DISKERROR;
    }
+
    if (!fh->file->isReadable()) { //file is not readable
        return F_EACCESS;
    }
+
    qint64 bytesRead = fh->file->read((char*)buf, size); //try to read desired amount of bytes
+
    if (bytesRead < 0) { //read failed
        return F_DISKERROR;
    }
+
    fh->fpos += bytesRead; //increase file position (for user)
+
    if (bytesRead != size) { //we got less bytes than expected
        return F_EOF; //we reached the end of the file
    } else {
@@ -159,26 +200,33 @@ FILE_STATUS ll_filesystem_file_read(FILE_HANDLE* handle, uint8_t* buf, uint32_t
    }
 }

-FILE_STATUS ll_filesystem_file_write(FILE_HANDLE* handle, uint8_t* buf, uint32_t size) {
+FILE_STATUS ll_filesystem_file_write(FILE_HANDLE* handle, uint8_t* buf, uint32_t size)
+{
    if (handle == NULL) {
        return F_INVALIDPARAM;
    }
+
    QT_FILE_HANDLE* fh = static_cast<QT_FILE_HANDLE*>(handle); //cast pointer to QT_FILE_HANDLE
+
    if (!fh->file->isOpen()) { //file is not open
        return F_DISKERROR;
    }
+
    if (!fh->file->isWritable()) { //file is not writable
        return F_EACCESS;
    }
+
    qint64 bytesWritten = fh->file->write((char*)buf, size); //try to write desired amount of bytes
+
    if (bytesWritten < 0) { //write failed
        return F_DISKERROR;
    }
+
    fh->fpos += bytesWritten; //increase file position (for user)
+
    if (bytesWritten != size) { //we wrote less bytes than expected
        return F_EOF; //we reached the end of the file
    } else {
        return F_OK;
    }
 }
-                                                                                                                                                                               
--- a/emulator/qt/ll_system.cpp
+++ b/emulator/qt/ll_system.cpp
@@ -1,3 +1,21 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          emulator/qt/ll_system.cpp
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	1f2af9f	Added more tft functions to common and emulator. Fixed eventloop.
+* 2015-04-03	timolang@gmail.com	cab8609	Integrated pixy into emulator. Pixy is no longer in the common/libs folder but in emulator/libs and discovery/libs
+* 2015-04-25	timolang@gmail.com	3d1e4b2	Simplified code a bit. Emulator does not work stable when replugging pixy.
+* 2015-04-25	timolang@gmail.com	0858b0d	Fixed some bugs when receiving large data.
+* 2015-05-09	timolang@gmail.com	c652b6b	Improved Emulator Gui
+* 2015-06-07	timolang@gmail.com	4b5768c	Improved Comments in whole emulator. Finalized emulator section in docu.
+*
+**************************************************************************************************************************************/
+
 #include <QThread>
 #include <QApplication>

@@ -5,19 +23,23 @@ extern "C" {
 #include "ll_system.h"
 }

-bool ll_system_init() {
+bool ll_system_init()
+{
    return true; //nothing to initialize here, apart from the stuff which is done in the main method.
 }

-void ll_system_delay(uint32_t msec) {
+void ll_system_delay(uint32_t msec)
+{
    QThread::msleep(msec); //Let the app_process() Thread sleep
 }

-void ll_system_process() {
+void ll_system_process()
+{
    QApplication::processEvents(); //Process pending qt events
    QThread::msleep(1); //Sleep for 1ms, to keep the cpu load down
 }

-void ll_system_toggle_led() {
+void ll_system_toggle_led()
+{
    //No led emulated :(
 }
--- a/emulator/qt/ll_tft.cpp
+++ b/emulator/qt/ll_tft.cpp
@@ -1,3 +1,22 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          emulator/qt/ll_tft.cpp
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	51089aa	Refactored Project Structure for use with emulator
+* 2015-04-03	timolang@gmail.com	1f2af9f	Added more tft functions to common and emulator. Fixed eventloop.
+* 2015-04-03	timolang@gmail.com	1aa9194	Fixed Drawing of rects in Emulator. Got frames from pixy to emulator. Slooooow.
+* 2015-04-27	aaron@duckpond.ch	aed90ef	Drawcircle added (emulator)
+* 2015-04-27	timolang@gmail.com	e249fb2	Added font support
+* 2015-05-15	timolang@gmail.com	b08a897	Added tft method to draw a bmp from filesystem. Added another font to emulator.
+* 2015-06-07	timolang@gmail.com	4b5768c	Improved Comments in whole emulator. Finalized emulator section in docu.
+*
+**************************************************************************************************************************************/
+
 #include "mainwindow.h"

 extern "C" {
@@ -6,7 +25,8 @@ extern "C" {

 MainWindow* mainwindow;

-bool ll_tft_init() {
+bool ll_tft_init()
+{
    mainwindow = new MainWindow(); //create the designed window
    mainwindow->show(); //open it (non blocking)
    return true;
@@ -15,69 +35,92 @@ bool ll_tft_init() {

 //the following functions redirect the call to the mainwindow, to a function with the same signature

-void ll_tft_draw_line(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color) {
+void ll_tft_draw_line(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color)
+{
    mainwindow->draw_line(x1, y1, x2, y2, color);
 }

-void ll_tft_clear(uint16_t color) {
+void ll_tft_clear(uint16_t color)
+{
    mainwindow->clear(color);
 }

-void ll_tft_draw_pixel(uint16_t x,uint16_t y,uint16_t color) {
+void ll_tft_draw_pixel(uint16_t x, uint16_t y, uint16_t color)
+{
    mainwindow->draw_pixel(x, y, color);
 }

-void ll_tft_draw_rectangle(uint16_t x1,uint16_t y1,uint16_t x2,uint16_t y2, uint16_t color) {
+void ll_tft_draw_rectangle(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color)
+{
    mainwindow->draw_rectangle(x1, y1, x2, y2, color);
 }

-void ll_tft_fill_rectangle(uint16_t x1,uint16_t y1,uint16_t x2,uint16_t y2, uint16_t color) {
+void ll_tft_fill_rectangle(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color)
+{
    mainwindow->fill_rectangle(x1, y1, x2, y2, color);
 }

-void ll_tft_draw_bitmap_unscaled(uint16_t x, uint16_t y, uint16_t width, uint16_t height, const uint16_t* dat) {
+void ll_tft_draw_bitmap_unscaled(uint16_t x, uint16_t y, uint16_t width, uint16_t height, const uint16_t* dat)
+{
    mainwindow->draw_bitmap_unscaled(x, y, width, height, dat);
 }

-void ll_tft_draw_circle(uint16_t x, uint16_t y, uint16_t r, uint16_t color) {
+void ll_tft_draw_circle(uint16_t x, uint16_t y, uint16_t r, uint16_t color)
+{
    mainwindow->draw_circle(x, y, r, color);
 }

-uint8_t ll_tft_num_fonts() {
+uint8_t ll_tft_num_fonts()
+{
    return 2; //we have two fonts (see below)
 }

 //Helper function to get the QFont to the corresponding font number
 //Note: only return monospaced fonts!!!
-QFont get_font(uint8_t fontnum) {
+QFont get_font(uint8_t fontnum)
+{
    switch(fontnum) {
        case 0:
-            return QFont("Monospace",8);
+            return QFont("Courier New",8);
        case 1:
-            return QFont("DejaVu Sans Mono",14);
+            return QFont("Courier New",14);
        default:
        return QFont();
    }
 }


-uint8_t ll_tft_font_height(uint8_t fontnum) {
+uint8_t ll_tft_font_height(uint8_t fontnum)
+{
    QFont f = get_font(fontnum);
-    if(f == QFont()) return -1;
+
+    if (f == QFont()) {
+        return -1;
+    }
+
    QFontMetrics m(f); //use font metcris object to calculate height of font
    return m.height();
 }

-uint8_t ll_tft_font_width(uint8_t fontnum) {
+uint8_t ll_tft_font_width(uint8_t fontnum)
+{
    QFont f = get_font(fontnum);
-    if(f == QFont()) return -1;
+
+    if (f == QFont()) {
+        return -1;
+    }
+
    QFontMetrics m(f); //use font metcris object to calculate width of font
    return m.averageCharWidth();
 }

-void ll_tft_draw_char(uint16_t x, uint16_t y, uint16_t color, uint16_t bgcolor, uint8_t font, char c) {
+void ll_tft_draw_char(uint16_t x, uint16_t y, uint16_t color, uint16_t bgcolor, uint8_t font, char c)
+{
    QFont f = get_font(font);
-    if(f == QFont()) return; //if the font is the default-font, we want to abort.
-    mainwindow->draw_char(x,y,color,bgcolor,f,c);
+
+    if (f == QFont()) {
+        return;    //if the font is the default-font, we want to abort.
    }

+    mainwindow->draw_char(x, y, color, bgcolor, f, c);
+}
--- a/emulator/qt/ll_touch.cpp
+++ b/emulator/qt/ll_touch.cpp
@@ -1,10 +1,25 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          emulator/qt/ll_touch.cpp
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-27	timolang@gmail.com	259d446	Added touch support to emulator. Implemented basic touch function.
+* 2015-06-01	timolang@gmail.com	eb573bc	Finalized calibration. Fixed a bug in screen module.
+*
+**************************************************************************************************************************************/
+

 extern "C" {
 #include "ll_touch.h"
 #include "touch.h"
 }

-bool ll_touch_init() {
+bool ll_touch_init()
+{
    touch_set_value_convert_mode(false); //tell the touch module that we don't need calibration or value conversion
    return true;
 }
--- a/emulator/qt/main.cpp
+++ b/emulator/qt/main.cpp
@@ -1,3 +1,21 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          emulator/qt/main.cpp
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	51089aa	Refactored Project Structure for use with emulator
+* 2015-04-03	timolang@gmail.com	1f2af9f	Added more tft functions to common and emulator. Fixed eventloop.
+* 2015-04-03	timolang@gmail.com	cab8609	Integrated pixy into emulator. Pixy is no longer in the common/libs folder but in emulator/libs and discovery/libs
+* 2015-04-07	timolang@gmail.com	383fc86	Simplified Emulator (main)
+* 2015-04-25	timolang@gmail.com	3d1e4b2	Simplified code a bit. Emulator does not work stable when replugging pixy.
+* 2015-06-07	timolang@gmail.com	4b5768c	Improved Comments in whole emulator. Finalized emulator section in docu.
+*
+**************************************************************************************************************************************/
+
 #include <QApplication>
 #include <QtConcurrent/QtConcurrent>

@@ -7,19 +25,18 @@ extern "C" {
    void app_process(); //Processes one eventloop of the app
 }

-void app_loop() {
+void app_loop()
+{
    while (!QApplication::closingDown()) { //as long as the application is not terminating
        app_process(); //let the application process it's events
    }
 }

-int main(int argc, char* argv[]) {
+int main(int argc, char* argv[])
+{
    QApplication app(argc, argv); //Process qt-specific commandline arguments and create event loop
    app_init(); //Let the application initialize it self

    QtConcurrent::run(&app_loop); //Start a thread that executes app_loop
    return app.exec(); //Run the event loop until the last window is closed.
 }
-
-
-
--- a/emulator/qt/mainwindow.cpp
+++ b/emulator/qt/mainwindow.cpp
@@ -1,3 +1,29 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          emulator/qt/mainwindow.cpp
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	51089aa	Refactored Project Structure for use with emulator
+* 2015-04-03	timolang@gmail.com	1f2af9f	Added more tft functions to common and emulator. Fixed eventloop.
+* 2015-04-03	timolang@gmail.com	c570bda	Fixed bug in color conversion
+* 2015-04-03	timolang@gmail.com	867f766	Some gui changes.
+* 2015-04-03	timolang@gmail.com	1aa9194	Fixed Drawing of rects in Emulator. Got frames from pixy to emulator. Slooooow.
+* 2015-04-04	timolang@gmail.com	0636381	Improved tff_draw_bitmap_unscaled in emulator.
+* 2015-04-27	timolang@gmail.com	259d446	Added touch support to emulator. Implemented basic touch function.
+* 2015-04-27	aaron@duckpond.ch	aed90ef	Drawcircle added (emulator)
+* 2015-04-27	timolang@gmail.com	e249fb2	Added font support
+* 2015-05-09	timolang@gmail.com	c652b6b	Improved Emulator Gui
+* 2015-05-25	timolang@gmail.com	911760e	Added "Mouse Position"-Label to Emulator.
+* 2015-06-01	timolang@gmail.com	06227da	Added calibrate screen (WIP). fixed bug in emulator drawing.
+* 2015-06-07	timolang@gmail.com	4b5768c	Improved Comments in whole emulator. Finalized emulator section in docu.
+* 2015-06-07	timolang@gmail.com	8752356	Started with tests in docu. fixed a small bug in emulator when drawing a rectangle.
+*
+**************************************************************************************************************************************/
+
 #include "mainwindow.h"
 #include "ui_mainwindow.h"
 #include <QDebug>
@@ -14,7 +40,8 @@ extern "C" {
 #define DISPLAY_HEIGHT 240

 //function to calculate QColor out of a RGB565 16bit color
-QColor QColorFromRGB565(uint16_t color) {
+QColor QColorFromRGB565(uint16_t color)
+{
    //interpolate colors
    int R8 = (int) floor((color >> (5 + 6)) * 255.0 / 31.0 + 0.5);
    int G8 = (int) floor(((color >> 5) & 0x3F) * 255.0 / 63.0 + 0.5);
@@ -23,7 +50,8 @@ QColor QColorFromRGB565(uint16_t color) {
 }

 //function to calculate QRgb out of a RGB565 16bit color
-QRgb QRgbFromRGB565(uint16_t color) {
+QRgb QRgbFromRGB565(uint16_t color)
+{
    //interpolate colors
    int R8 = (int) floor((color >> (5 + 6)) * 255.0 / 31.0 + 0.5);
    int G8 = (int) floor(((color >> 5) & 0x3F) * 255.0 / 63.0 + 0.5);
@@ -32,7 +60,8 @@ QRgb QRgbFromRGB565(uint16_t color) {
 }


-MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), image(DISPLAY_WIDTH,DISPLAY_HEIGHT, QImage::Format_RGB16), ui(new Ui::MainWindow){
+MainWindow::MainWindow(QWidget* parent) : QMainWindow(parent), image(DISPLAY_WIDTH, DISPLAY_HEIGHT, QImage::Format_RGB16), ui(new Ui::MainWindow)
+{
    ui->setupUi(this);
    image.fill(Qt::black); //clear display buffer
    currentScale = 1; //start with scale factor 1
@@ -82,6 +111,7 @@ void MainWindow::draw_bitmap_unscaled(uint16_t x, uint16_t y, uint16_t width, ui

    for (int yi = 0; yi < height; yi++) { //for each line
        uint32_t* line = (uint32_t*)img.scanLine(yi); //get the pointer to the imagedata of the current line
+
        for (int xi = 0; xi < width; xi++) { //for each column
            *line++ = QRgbFromRGB565(dat[yi * width + xi]); //set pixel
        }
@@ -152,19 +182,22 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *evt)
 {
    if (obj == ui->widgetDisplay) { //we received a redirect event from the target rectangle
        switch (evt->type()) {
-            case QEvent::MouseMove: //it's a mouse move event
-            {
+        case QEvent::MouseMove: { //it's a mouse move event
            QMouseEvent* mouseEvent = static_cast<QMouseEvent*>(evt); //get mouse event
            QPoint p = (mouseEvent->pos() - QPoint(1, 1)) / currentScale; //calculate correct corrdinates (undo scale)
+
            if (p.x() < DISPLAY_WIDTH && p.y() < DISPLAY_HEIGHT) { //mouse position not out of bounds
                //set mouse position text
                ui->txtMousePos->setText(QString("Mouse Position: (%1,%2)").arg(p.x()).arg(p.y()));
            }
        }
        break;
-            default: break;
+
+        default:
+            break;
        }
    }
+
    return false;
 }

@@ -178,7 +211,10 @@ void MainWindow::checkAndSendEvent(QPoint pos, bool down)
 {
    QPoint p = pos - ui->widgetDisplay->geometry().topLeft(); //make coordinate relative to target area (0,0)
    p /= currentScale; //undo scaling
-    if(p.x()<0 || p.y()<0 || p.x() >= DISPLAY_WIDTH || p.y() >= DISPLAY_HEIGHT) return; //abort if out of bounds
+
+    if (p.x() < 0 || p.y() < 0 || p.x() >= DISPLAY_WIDTH || p.y() >= DISPLAY_HEIGHT) {
+        return;    //abort if out of bounds
+    }

    touch_add_raw_event(p.x(), p.y(), down ? TOUCH_DOWN : TOUCH_UP); //submit touch event to touch module (common)
 }
--- a/emulator/qt/mainwindow.h
+++ b/emulator/qt/mainwindow.h
@@ -1,3 +1,24 @@
+/**************************************************************************************************************************************
+* Project:       discoverpixy
+* Website:       https://github.com/t-moe/discoverpixy
+* Authors:       Aaron Schmocker, Timo Lang
+* Institution:   BFH Bern University of Applied Sciences
+* File:          emulator/qt/mainwindow.h
+*
+* Version History:
+* Date			Autor Email			SHA		Changes
+* 2015-04-03	timolang@gmail.com	51089aa	Refactored Project Structure for use with emulator
+* 2015-04-03	timolang@gmail.com	1f2af9f	Added more tft functions to common and emulator. Fixed eventloop.
+* 2015-04-03	timolang@gmail.com	1aa9194	Fixed Drawing of rects in Emulator. Got frames from pixy to emulator. Slooooow.
+* 2015-04-27	timolang@gmail.com	259d446	Added touch support to emulator. Implemented basic touch function.
+* 2015-04-27	aaron@duckpond.ch	aed90ef	Drawcircle added (emulator)
+* 2015-04-27	timolang@gmail.com	e249fb2	Added font support
+* 2015-05-09	timolang@gmail.com	c652b6b	Improved Emulator Gui
+* 2015-05-25	timolang@gmail.com	911760e	Added "Mouse Position"-Label to Emulator.
+* 2015-06-07	timolang@gmail.com	4b5768c	Improved Comments in whole emulator. Finalized emulator section in docu.
+*
+**************************************************************************************************************************************/
+
 #ifndef MAINWINDOW_H
 #define MAINWINDOW_H

@@ -5,7 +26,8 @@
 #include <QMutex>
 #include <stdint.h>

-namespace Ui {
+namespace Ui
+{
 class MainWindow;
 }

--- a/emulator/readme_windows.txt
+++ b/emulator/readme_windows.txt
@@ -0,0 +1,26 @@
+Prerequisites:
+- Qt5 for Windows (provides C:\Qt\5.4\mingw491_32  and C:\Qt\Tools\mingw491_32)
+- Mingw msys-base (provides C:\MinGW\msys\1.0 and make, find )
+- Boost (check emulator\libs\boost)
+
+Steps:
+- Open up the msys shell using the batchfile
+- Navigate to the emulator folder of the project
+- Source the qt binaries (qmake, gcc, g++) by executing 
+  export PATH=$PATH:/c/Qt/Tools/mingw491_32/bin:/c/Qt/5.4/mingw491_32/bin
+- navigate to libs/Pixy and execute make
+- navigate back into the emulator folder and execute make
+- this should generate you build/emulator.exe
+
+Starting:
+- Extract windows_dlls.rar to the build folder
+- Copy the emulated folder into the build folder
+- Make sure that you installed the pixy usb driver (e.g. by installing pixymon http://cmucam.org/projects/cmucam5/wiki/Latest_release)
+- Start emulator.exe
+
+Pitfalls:
+- libstdc++ must be provided by qt. do not use one of msys or mingw. you will waste hours with debugging of the make process
+
+Sources:
+- libusb for windows was taken from https://github.com/charmedlabs/pixy/tree/master/src/host/windows
+- Boost was compiled from sources, using http://andres.jaimes.net/718/how-to-install-the-c-boost-libraries-on-windows/ and http://www.boost.org/doc/libs/1_58_0/more/getting_started/windows.html
--- a/emulator/windows_dlls.rar
+++ b/emulator/windows_dlls.rar
--- a/utils/genheader.sh
+++ b/utils/genheader.sh
@@ -2,6 +2,7 @@

 echo "/**************************************************************************************************************************************"
 echo "* Project:       discoverpixy"
+echo "* Website:       https://github.com/t-moe/discoverpixy"
 echo "* Authors:       Aaron Schmocker, Timo Lang"
 echo "* Institution:   BFH Bern University of Applied Sciences"
 echo "* File:          $1"
--- a/utils/style.astylerc
+++ b/utils/style.astylerc
@@ -0,0 +1,16 @@
+
+# general style
+--style=1tbs
+--indent=spaces=4 # default
+--lineend=linux #only \r as line ending 
+
+# alignment
+--align-pointer=type #put asterisks to the type. eg. char* a
+--align-reference=type #put references to the type. eg. int& a
+
+# padding
+--break-blocks # insert empty lines between header blocks
+--unpad-paren # remove extra padding around parens
+--pad-oper # spaces around operators
+--pad-header # insert space between header blocks and the following paren
+--add-brackets # add brackets to one line conditionals
--- a/utils/updateheaders.sh
+++ b/utils/updateheaders.sh
@@ -3,14 +3,15 @@

 FILES=`find common/ emulator/ discovery/ -name "*.c" -or -name "*.h" -or -name "*.cpp" | grep -v libs | grep -v /pixy/`

+
 for FILE in $FILES; do
 	echo "Adding Header to $FILE"
 	
-	#remove old header
-	CONTENT=$(perl -0777 -pe  's%^/\*.*?discoverpixy.*?\*/%%igs' $FILE)
+	#remove old header, and format file with astyle
+	CONTENT=$(perl -0777 -pe  's%^/\*.*?discoverpixy.*?\*/%%igs' $FILE | astyle --options=./utils/style.astylerc) 

 	#add new header
-	./genheader.sh $FILE > $FILE
+	./utils/genheader.sh $FILE > $FILE
 	
 	#append file content
 	echo "$CONTENT" >> $FILE
Author	SHA1	Message	Date
t-moe	97a3f1114a	Added missing platform dll.	2015-06-08 15:31:42 +02:00
t-moe	01ba3713f9	Merge remote-tracking branch 'origin/master' into windows Conflicts: emulator/qt/ll_tft.cpp	2015-06-08 15:31:24 +02:00
t-moe	cc8937fba2	Corrected small typos in docu.	2015-06-08 15:28:27 +02:00
t-moe	795109518d	Merge remote-tracking branch 'origin/dev_aaron'	2015-06-08 11:21:11 +02:00
t-moe	a92c48bc2c	Added pdf of doxygen output inclusive code.	2015-06-08 11:03:53 +02:00
t-moe	fceb2d15b2	Updated fileheaders and styled files using astyle.	2015-06-08 11:00:52 +02:00
t-moe	7e61a129a3	Changed genheader script a bit.	2015-06-08 10:54:07 +02:00
t-moe	1f87648233	Finalized Docu. Modified Doxyfile to generate pdf of code. Modified Readme.md	2015-06-08 10:26:50 +02:00
t-moe	73db8b5c25	Added doxygen mainpage comment in app.h	2015-06-08 01:15:48 +02:00
t-moe	cc18c175b5	Modified emulator makefile for windows.	2015-06-08 00:41:16 +02:00
t-moe	cafa320e9e	Merge remote-tracking branch 'origin/master' into windows	2015-06-08 00:17:18 +02:00
Timo	9fa7d255e4	Updated Readme.md	2015-06-07 23:54:57 +02:00
t-moe	7ca96b60c7	Added some screenshots to doc folder.	2015-06-07 23:47:56 +02:00
t-moe	92d832f26f	Merge remote-tracking branch 'origin/dev_aaron'	2015-06-07 23:30:12 +02:00
t-moe	9b8022704c	Wrote Fazit in Docu and System Part of Discovery. Added links to test cases.	2015-06-07 23:27:34 +02:00
t-moe	af9ad04a85	Merge remote-tracking branch 'origin/dev_aaron'	2015-06-07 22:21:29 +02:00
t-moe	9b61534d27	Moved header generation scripts to utils. Added astyle config.	2015-06-07 22:01:40 +02:00
t-moe	c87220d192	Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h	2015-06-07 19:03:29 +02:00
t-moe	c32bfde94e	Font fix for windows.	2015-06-06 14:35:01 +02:00
t-moe	129b7e0ee7	Cleaned up windows build, added readme. Added Boost binaries.	2015-06-06 14:29:37 +02:00
t-moe	0fa18290dd	Changed makefile of emulator to run on windows.	2015-06-06 13:47:28 +02:00