From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 20 May 2018 06:12:52 +0000 (-0300)
Subject: Change Makefiles to use variables defined in the main Makefile.
X-Git-Tag: v1.5.1^0
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=da484b97f33610d8d6b1f2cf9934dd4f9c81052f;p=aic.git

Change Makefiles to use variables defined in the main Makefile.

Criado o programa CmdDaemon, semelhante ao IODaemon, mas apenas recebe
comandos, sem enviar dados de sensores.

Reestruturados os Makefiles.  Agora os Makefiles nos diretorios utilizam as
variaveis definidas no Makefile no diretorio principal, ao inves de
redefini-las.  As redefinicoes sao feitas apenas nas (poucas) vezes em que
sao necessarias.

Removidas as declaracoes de variaveis globais em arquivos em Assembly e
criada uma funcao dummy para defini-las nos arquivos C, ja' que nao e'
possivel emitir Assembly in-line fora de funcoes.
---

diff --git a/AICOff/Makefile b/AICOff/Makefile
index 61cc8e0..e19e90a 100644
--- a/AICOff/Makefile
+++ b/AICOff/Makefile
@@ -1,9 +1,3 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-LIBPATH=-path ../lib/AIC.jar
-NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
-JAVAFLAGS=-O -target 1.1 -source 1.3
-
 all: AICOff.tini
 
 AICOff.class: AICOff.java ../lib/AIC.jar
diff --git a/BrakeRtTest/Makefile b/BrakeRtTest/Makefile
index 8244316..6385ca4 100644
--- a/BrakeRtTest/Makefile
+++ b/BrakeRtTest/Makefile
@@ -1,37 +1,20 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-TINIRTAIPATH=${HOME}/src/tini/rtai
-LIBPATH=-PATH ${TINIRTAIPATH}/lib/rtai.jar
-JAVAFLAGS=-O -target 1.1 -source 1.3
-ASMINC=-I/opt/tini/native/lib
-ASMOPT=-f 1.15 -p 390 -l
-ASMMACRO=/opt/tini/native/bin/Linux/macro
-ASM=/opt/tini/native/bin/Linux/a390
-CC=sdcc
-CFLAGS=-mTININative -S --use-accelerator
-CINCLUDE=-I${TINIRTAIPATH}/include -I../include
-CMPFLAGS=${CFLAGS} ${CINCLUDE}
-
 all: BrakeRtTest.tini
 
 BrakeRtTest.class: BrakeRtTest.java
-	javac ${CLASSPATH} ${JAVAFLAGS} BrakeRtTest.java
+	${JAVAC} ${CLASSPATH} ${JAVAFLAGS} BrakeRtTest.java
 
 braketest.mpp: braketest.a51
-	${ASMMACRO} ${ASMINC} -e- braketest.a51
+	${ASMMACRO} -I${ASMINC} -e- braketest.a51
 	
-globals.mpp: globals.a51
-	${ASMMACRO} ${ASMINC} -e- globals.a51	
-
-braketest.tlib: braketest.mpp globals.mpp ../lib/aicio.mpp.lib
-	cat braketest.mpp globals.mpp ${TINIRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
+braketest.tlib: braketest.mpp ../lib/aicio.mpp.lib
+	cat braketest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
 	echo end >> tmp.mpp
 	${ASM} ${ASMOPT} tmp.mpp
 	mv tmp.tlib braketest.tlib
 	mv tmp.lst braketest.lst
 
 braketest.a51: braketest.c
-	${CC} ${CMPFLAGS} braketest.c
+	${SDCC} ${SDCCCMPFLAGS} braketest.c
 
 BrakeRtTest.tini: BrakeRtTest.class braketest.tlib
 	java ${CLASSPATH} TINIConvertor -n braketest.tlib -f BrakeRtTest.class ${APIDBPATH} -o BrakeRtTest.tini
diff --git a/BrakeRtTest/braketest.c b/BrakeRtTest/braketest.c
index 0531397..504b23a 100644
--- a/BrakeRtTest/braketest.c
+++ b/BrakeRtTest/braketest.c
@@ -33,6 +33,15 @@
 
 extern volatile pthread_t th;
 
+void braketest_globals(void) _naked
+{
+	_asm
+th:		db	0,0,0,0
+braketest_time_1_1: db	0,0,0,0
+	_endasm;
+}	
+
+
 void *braketest(void *arg)
 {
 	static int time=0;
diff --git a/BrakeTest/Makefile b/BrakeTest/Makefile
index b773886..a214f24 100644
--- a/BrakeTest/Makefile
+++ b/BrakeTest/Makefile
@@ -1,9 +1,3 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-LIBPATH=-path ../lib/AIC.jar
-NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
-JAVAFLAGS=-O -target 1.1 -source 1.3
-
 all: BrakeTest.tini BrakeApply.tini BrakeRelease.tini
 
 BrakeTest.class: BrakeTest.java ../lib/AIC.jar
diff --git a/CANTest/Makefile b/CANTest/Makefile
index 54d8e12..eaae3fc 100644
--- a/CANTest/Makefile
+++ b/CANTest/Makefile
@@ -1,22 +1,13 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-DEPPATH=-p /opt/tini/bin/modules.jar
-DEPFILE=-x /opt/tini/bin/owapi_dep.txt
-DEPNAME=-add CAN
-LIBPATH=-path ../lib/AIC.jar
-JAVAFLAGS=-O -target 1.1 -source 1.3
-TARGET=aic3 aic5
-
 all: CANRx.tini CANTx.tini
 
 CANRx.class: CANRx.java
-	javac ${JAVAFLAGS} ${CLASSPATH} CANRx.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} CANRx.java
 
 CANRx.tini: CANRx.class
 	java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f CANRx.class ${APIDBPATH} -o CANRx.tini ${LIBPATH}
 
 CANTx.class: CANTx.java
-	javac ${JAVAFLAGS} ${CLASSPATH} CANTx.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} CANTx.java
 
 CANTx.tini: CANTx.class
 	java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f CANTx.class ${APIDBPATH} -o CANTx.tini ${LIBPATH}
@@ -25,20 +16,4 @@ clean:
 	rm -f *.bak *~ CANRx.class CANTx.class
 
 distclean: clean
-	rm -f CANRx.tini CANTx.tini *.UPLOADED
-
-upload: CANRx.UPLOADED CANTx.UPLOADED
-
-CANRx.UPLOADED: CANRx.tini
-	for i in ${TARGET}; do \
-		ftp $$i < CANRx.upload; \
-		echo $$i uploaded; \
-	done
-	date > CANRx.UPLOADED
-
-CANTx.UPLOADED: CANTx.tini
-	for i in ${TARGET}; do \
-		ftp $$i < CANTx.upload; \
-		echo $$i uploaded; \
-	done
-	date > CANTx.UPLOADED
\ No newline at end of file
+	rm -f CANRx.tini CANTx.tini
\ No newline at end of file
diff --git a/Changes b/Changes
index 76f0529..af95534 100644
--- a/Changes
+++ b/Changes
@@ -1,3 +1,19 @@
+2005.10.19	Criado o programa CmdDaemon, semelhante ao IODaemon, mas
+		apenas recebe comandos, sem enviar dados de sensores.
+	
+2005.09.25	Reestruturados os Makefiles. Agora os Makefiles nos
+		diretorios utilizam as variaveis definidas no Makefile no
+		diretorio principal, ao inves de redefini-las. As
+		redefinicoes sao feitas apenas nas (poucas) vezes em que sao
+		necessarias.
+
+		Criada a versao 1.5.1
+
+		Removidas as declaracoes de variaveis globais em arquivos em
+		Assembly e criada uma funcao dummy para defini-las nos
+		arquivos C, ja' que nao e' possivel emitir Assembly in-line
+		fora de funcoes.
+
 2005.09.02	Criado o programa EncoderRtRead para teste do encoder em
 		tempo real utilizando as funcoes de ponto flutuante, ou
 		seja, obtendo a leitura em radianos.
diff --git a/CmdDaemon/CmdDaemon.java b/CmdDaemon/CmdDaemon.java
new file mode 100644
index 0000000..75ef6bc
--- /dev/null
+++ b/CmdDaemon/CmdDaemon.java
@@ -0,0 +1,192 @@
+/******************************************************************************
+
+			Actuator Interface Card
+			      Command Daemon
+	Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+import br.ufrgs.eletro.AIC.*;
+import com.dalsemi.comm.*;
+import com.dalsemi.system.*;
+import java.io.*;
+import java.lang.*;
+
+class CmdDaemon extends Thread
+{
+	static final int BASE=0x800000;
+
+	static AIC aic;
+	static Host host;
+	static boolean debug=false;
+	static boolean udp=false;
+	static boolean help=false;
+
+	public static void main(String[] args) throws IOException,CanBusException
+	{
+		int i;
+		int hostarg=0;
+
+		System.out.println("AIC Command Daemon");
+		System.out.println("Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>.\n");
+
+		switch(args.length)
+		{
+			case 0:
+			{
+				help=true;
+				break;
+			}
+			case 1:
+			{
+				if(args[0].equals("-debug") ||
+					args[0].equals("-UDP")) help=true;
+				break;
+			}
+			case 2:
+			{
+				hostarg=1;
+				if(args[0].equals("-debug")) debug=true;
+				else help=true;
+				break;
+			}
+			case 3:
+			{
+				hostarg=1;
+				if(args[0].equals("-UDP")) udp=true;
+				else help=true;
+				break;
+			}
+			case 4:
+			{
+				hostarg=2;
+				if(args[0].equals("-debug")) debug=true;
+				else help=true;
+				if(args[1].equals("-UDP")) udp=true;
+				else help=true;
+				break;
+			}
+			default:
+			{
+				help=true;
+			}
+		}
+		
+
+		if(help)
+		{
+			System.out.println("Usage:\tjava CmdDaemon.tini [-debug] aic_id");
+			System.out.println("\tor");
+			System.out.println("\tjava CmdDaemon.tini [-debug] -UDP controller_host status_port");
+			System.exit(1);
+		}
+		try
+		{
+			aic=new AIC(BASE,24.0,20e3,2000);
+			if(udp)	host=new HostUDP(args[hostarg],Integer.parseInt(args[hostarg+1]));
+				else host=new HostCAN(Integer.parseInt(args[hostarg]));
+
+			GetCommand getCommand=new GetCommand();
+			getCommand.setPriority(Thread.MAX_PRIORITY);
+			getCommand.start();
+
+			if(debug) System.out.println("getCommand priority="+getCommand.getPriority());
+		}
+		catch (NumberFormatException nfe)
+		{
+			System.out.println("Usage: java CmdDaemon.tini [-debug] [-UDP controller_host port] | aicid");
+			System.exit(1);
+		}
+	}
+}
+
+
+class GetCommand extends CmdDaemon
+{
+	public void run()
+	{
+		try
+		{
+			aic.on();
+			aic.brake.release();
+
+			for(int k=0;;k++)
+			{
+				if(debug) System.out.print("k="+k+"\t");
+
+				int cmd=host.command();
+
+				if(debug) System.out.print("Command="+ cmd  +"\t");
+				
+				switch(cmd)
+				{
+					case Host.MOTOR_ON:
+					{
+						if(debug) System.out.print("Motor on\t");
+						aic.motor.on();
+						break;	
+					}
+					case Host.MOTOR_OFF:
+					{
+						if(debug) System.out.print("Motor off\t");
+						aic.motor.off();
+						break;
+					}
+					case Host.MOTOR_ACT:
+					{
+						if(debug) System.out.print("Voltage="+host.voltage()+"\t");
+						aic.motor.set(host.voltage());
+						break;
+					}
+					case Host.BRAKE_RELEASE:
+					{
+						if(debug) System.out.print("Brake release\t");
+						aic.brake.release();
+						break;	
+					}
+					case Host.BRAKE_APPLY:
+					{
+						if(debug) System.out.print("Brake apply\t");
+						aic.brake.apply();
+						break;
+					}
+/*					case Host.RESET:
+					{
+						if(debug) System.out.print("Reset\t");
+						aic.reset();
+						break;			
+					}
+*/					
+					default:
+					{
+						if(debug) System.out.print("Invalid\t");
+						break;			
+					}
+
+				}
+			if(debug) System.out.println("");		
+			}
+		}
+		catch (Exception all)
+		{
+			all.printStackTrace();
+		}
+	}
+}
diff --git a/CmdDaemon/Makefile b/CmdDaemon/Makefile
new file mode 100644
index 0000000..c344464
--- /dev/null
+++ b/CmdDaemon/Makefile
@@ -0,0 +1,33 @@
+CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar
+APIDBPATH=-d /opt/tini/bin/tini.db
+DEPPATH=-p /opt/tini/bin/modules.jar
+DEPFILE=-x /opt/tini/bin/owapi_dep.txt
+DEPNAME=-add CAN
+LIBPATH=-path ../lib/AIC.jar
+NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
+JAVAFLAGS=-O -target 1.1 -source 1.3
+TARGET= aic1 aic2 aic3 aic4 aic5
+
+all: CmdDaemon.tini
+
+CmdDaemon.class: CmdDaemon.java ../lib/AIC.jar
+	javac ${JAVAFLAGS} ${CLASSPATH} CmdDaemon.java
+
+CmdDaemon.tini: CmdDaemon.class ../lib/AIC.jar
+	java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f CmdDaemon.class ${APIDBPATH} -o CmdDaemon.tini ${LIBPATH} ${NATLIB}
+
+clean:
+	rm -f *.bak *~ *.class UPLOADED
+
+distclean: clean
+	rm -f CmdDaemon.tini
+
+upload: UPLOADED
+
+UPLOADED: CmdDaemon.tini
+	for i in ${TARGET}; do \
+		ftp $$i < upload.ftp; \
+		echo $$i uploaded; \
+	done
+
+
diff --git a/DoorDaemon/Makefile b/DoorDaemon/Makefile
index 61af6de..0c9348c 100644
--- a/DoorDaemon/Makefile
+++ b/DoorDaemon/Makefile
@@ -1,18 +1,7 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-DEPPATH=-p /opt/tini/bin/modules.jar
-DEPFILE=-x /opt/tini/bin/owapi_dep.txt
-DEPNAME=
-#-add CAN
-LIBPATH=-path ../lib/AIC.jar
-NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
-JAVAFLAGS=-O -target 1.1 -source 1.3
-TARGET= aic1 aic2 aic3 aic4 aic5
-
 all: DoorDaemon.tini
 
 DoorDaemon.class: DoorDaemon.java ../lib/AIC.jar
-	javac ${JAVAFLAGS} ${CLASSPATH} DoorDaemon.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} DoorDaemon.java
 
 DoorDaemon.tini: DoorDaemon.class ../lib/AIC.jar
 	java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f DoorDaemon.class ${APIDBPATH} -o DoorDaemon.tini ${LIBPATH} ${NATLIB}
diff --git a/EncoderRtRead/Makefile b/EncoderRtRead/Makefile
index fad82b1..2dd1996 100644
--- a/EncoderRtRead/Makefile
+++ b/EncoderRtRead/Makefile
@@ -1,25 +1,10 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-TRTAIPATH=${HOME}/src/tini/rtai
-TMATHPATH=${HOME}/src/tini/tmath
-LIBPATH=-PATH ${TINIRTAIPATH}/lib/rtai.jar
-JAVAFLAGS=-O -target 1.1 -source 1.3
-ASMINC=-I/opt/tini/native/lib
-ASMOPT=-f 1.15 -p 390 -l
-ASMMACRO=/opt/tini/native/bin/Linux/macro
-ASM=/opt/tini/native/bin/Linux/a390
-CC=sdcc
-CFLAGS=-mTININative -S --use-accelerator
-CINCLUDE=-I${TRTAIPATH}/include -I${TMATHPATH}/include -I../include
-CMPFLAGS=${CFLAGS} ${CINCLUDE}
-
 all: EncoderRtRead.tini
 
 EncoderRtRead.class: EncoderRtRead.java ../lib/AIC.jar
-	javac ${JAVAFLAGS} ${CLASSPATH} EncoderRtRead.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderRtRead.java
 
 encoderread.mpp: encoderread.a51
-	${ASMMACRO} ${ASMINC} -e- encoderread.a51
+	${ASMMACRO} -I${ASMINC} -e- encoderread.a51
 	
 encoderread.tlib: encoderread.mpp ../lib/aicio.mpp.lib
 	cat encoderread.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
@@ -29,7 +14,7 @@ encoderread.tlib: encoderread.mpp ../lib/aicio.mpp.lib
 	mv tmp.lst encoderread.lst
 
 encoderread.a51: encoderread.c
-	${CC} ${CMPFLAGS} encoderread.c
+	${SDCC} ${SDCCCMPFLAGS} encoderread.c
 
 EncoderRtRead.tini: EncoderRtRead.class encoderread.tlib
 	java ${CLASSPATH} TINIConvertor -n encoderread.tlib -f EncoderRtRead.class ${APIDBPATH} -o EncoderRtRead.tini
diff --git a/EncoderRtTest/Makefile b/EncoderRtTest/Makefile
index 303f317..798d0a4 100644
--- a/EncoderRtTest/Makefile
+++ b/EncoderRtTest/Makefile
@@ -1,25 +1,10 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-TRTAIPATH=${HOME}/src/tini/rtai
-TMATHPATH=${HOME}/src/tini/tmath
-LIBPATH=-PATH ${TINIRTAIPATH}/lib/rtai.jar
-JAVAFLAGS=-O -target 1.1 -source 1.3
-ASMINC=-I/opt/tini/native/lib
-ASMOPT=-f 1.15 -p 390 -l
-ASMMACRO=/opt/tini/native/bin/Linux/macro
-ASM=/opt/tini/native/bin/Linux/a390
-CC=sdcc
-CFLAGS=-mTININative -S --use-accelerator
-CINCLUDE=-I${TRTAIPATH}/include -I${TMATHPATH}/include -I../include
-CMPFLAGS=${CFLAGS} ${CINCLUDE}
-
 all: EncoderRtTest.tini
 
 EncoderRtTest.class: EncoderRtTest.java ../lib/AIC.jar
-	javac ${JAVAFLAGS} ${CLASSPATH} EncoderRtTest.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderRtTest.java
 
 encodertest.mpp: encodertest.a51
-	${ASMMACRO} ${ASMINC} -e- encodertest.a51
+	${ASMMACRO} -I${ASMINC} -e- encodertest.a51
 	
 encodertest.tlib: encodertest.mpp ../lib/aicio.mpp.lib
 	cat encodertest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
@@ -29,7 +14,7 @@ encodertest.tlib: encodertest.mpp ../lib/aicio.mpp.lib
 	mv tmp.lst encodertest.lst
 
 encodertest.a51: encodertest.c
-	${CC} ${CMPFLAGS} encodertest.c
+	${SDCC} ${SDCCCMPFLAGS} encodertest.c
 
 EncoderRtTest.tini: EncoderRtTest.class encodertest.tlib
 	java ${CLASSPATH} TINIConvertor -n encodertest.tlib -f EncoderRtTest.class ${APIDBPATH} -o EncoderRtTest.tini
diff --git a/EncoderTest/EncoderTest.java b/EncoderTest/EncoderTest.java
index bff00f9..808e0c8 100644
--- a/EncoderTest/EncoderTest.java
+++ b/EncoderTest/EncoderTest.java
@@ -78,8 +78,8 @@ class EncoderTest
 
 		while(run)
 		{
-			for(i=-(int)MV;(i <= MV) && run;i++) iter(i);
-			for(i=(int)MV;(i >= -MV) && run;i--) iter(i);
+			for(i=-(int)MV;(i <= MV) && run;i++) iter(24);
+			for(i=(int)MV;(i >= -MV) && run;i--) iter(-24);
 		}
 		aic.off();
 
diff --git a/EncoderTest/Makefile b/EncoderTest/Makefile
index 88f1ddb..91296e5 100644
--- a/EncoderTest/Makefile
+++ b/EncoderTest/Makefile
@@ -1,26 +1,21 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-LIBPATH=-path ../lib/AIC.jar
-NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
-JAVAFLAGS=-O -target 1.1 -source 1.3
 TARGET=aic5
 
 all: EncoderTest.tini EncoderClear.tini EncoderRead.tini
 
 EncoderTest.class: EncoderTest.java ../lib/AIC.jar
-	javac ${JAVAFLAGS} ${CLASSPATH} EncoderTest.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderTest.java
 
 EncoderTest.tini: EncoderTest.class ../lib/AIC.jar
 	java ${CLASSPATH} TINIConvertor -f EncoderTest.class ${APIDBPATH} ${NATLIB} -o EncoderTest.tini ${LIBPATH} -n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
 
 EncoderClear.class: EncoderClear.java
-	javac ${JAVAFLAGS} ${CLASSPATH} EncoderClear.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderClear.java
 
 EncoderClear.tini: EncoderClear.class
 	java ${CLASSPATH} TINIConvertor -f EncoderClear.class ${APIDBPATH} -o EncoderClear.tini ${LIBPATH}
 
 EncoderRead.class: EncoderRead.java
-	javac ${JAVAFLAGS} ${CLASSPATH} EncoderRead.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderRead.java
 
 EncoderRead.tini: EncoderRead.class
 	java ${CLASSPATH} TINIConvertor -f EncoderRead.class ${APIDBPATH} -o EncoderRead.tini ${LIBPATH}
@@ -29,27 +24,4 @@ clean:
 	rm -f *.bak *~ *.class
 
 distclean: clean
-	rm -f *.tini *UPLOADED
-
-upload: EncoderTest.UPLOADED EncoderClear.UPLOADED EncoderRead.UPLOADED
-
-EncoderTest.UPLOADED: EncoderTest.tini
-	for i in ${TARGET}; do \
-		ftp $$i < EncoderTest.upload; \
-		echo $$i uploaded; \
-	done
-	date > EncoderTest.UPLOADED
-
-EncoderClear.UPLOADED: EncoderClear.tini
-	for i in ${TARGET}; do \
-		ftp $$i < EncoderClear.upload; \
-		echo $$i uploaded; \
-	done
-	date > EncoderClear.UPLOADED
-
-EncoderRead.UPLOADED: EncoderRead.tini
-	for i in ${TARGET}; do \
-		ftp $$i < EncoderRead.upload; \
-		echo $$i uploaded; \
-	done
-	date > EncoderRead.UPLOADED
\ No newline at end of file
+	rm -f *.tini
diff --git a/IODaemon/IODaemon.java b/IODaemon/IODaemon.java
index 023354f..f642ba9 100644
--- a/IODaemon/IODaemon.java
+++ b/IODaemon/IODaemon.java
@@ -32,7 +32,7 @@ import java.lang.*;
 class IODaemon extends Thread
 {
 	static final int BASE=0x800000;
-	static final int ST=50;
+	static final int ST=250;
 
 	static AIC aic;
 	static Host host;
diff --git a/IODaemon/Makefile b/IODaemon/Makefile
index b36e314..47df9f8 100644
--- a/IODaemon/Makefile
+++ b/IODaemon/Makefile
@@ -1,33 +1,14 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-DEPPATH=-p /opt/tini/bin/modules.jar
-DEPFILE=-x /opt/tini/bin/owapi_dep.txt
-DEPNAME=-add CAN
-LIBPATH=-path ../lib/AIC.jar
-NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
-JAVAFLAGS=-O -target 1.1 -source 1.3
-TARGET= aic1 aic2 aic3 aic4 aic5
-
 all: IODaemon.tini
 
 IODaemon.class: IODaemon.java ../lib/AIC.jar
-	javac ${JAVAFLAGS} ${CLASSPATH} IODaemon.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} IODaemon.java
 
 IODaemon.tini: IODaemon.class ../lib/AIC.jar
 	java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f IODaemon.class ${APIDBPATH} -o IODaemon.tini ${LIBPATH} ${NATLIB}
 
 clean:
-	rm -f *.bak *~ *.class UPLOADED
+	rm -f *.bak *~ *.class
 
 distclean: clean
 	rm -f IODaemon.tini
 
-upload: UPLOADED
-
-UPLOADED: IODaemon.tini
-	for i in ${TARGET}; do \
-		ftp $$i < upload.ftp; \
-		echo $$i uploaded; \
-	done
-
-
diff --git a/IndexRtTest/Makefile b/IndexRtTest/Makefile
index 46ea9c0..8cf660b 100644
--- a/IndexRtTest/Makefile
+++ b/IndexRtTest/Makefile
@@ -1,37 +1,20 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-TINIRTAIPATH=${HOME}/src/tini/rtai
-LIBPATH=-PATH ${TINIRTAIPATH}/lib/rtai.jar
-JAVAFLAGS=-O -target 1.1 -source 1.3
-ASMINC=-I/opt/tini/native/lib
-ASMOPT=-f 1.15 -p 390 -l
-ASMMACRO=/opt/tini/native/bin/Linux/macro
-ASM=/opt/tini/native/bin/Linux/a390
-CC=sdcc
-CFLAGS=-mTININative -S --use-accelerator
-CINCLUDE=-I${TINIRTAIPATH}/include -I../include
-CMPFLAGS=${CFLAGS} ${CINCLUDE}
-
 all: IndexRtTest.tini
 
 IndexRtTest.class: IndexRtTest.java
-	javac ${CLASSPATH} ${JAVAFLAGS} IndexRtTest.java
+	${JAVAC} ${CLASSPATH} ${JAVAFLAGS} IndexRtTest.java
 
 indextest.mpp: indextest.a51
-	${ASMMACRO} ${ASMINC} -e- indextest.a51
+	${ASMMACRO} -I${ASMINC} -e- indextest.a51
 	
-globals.mpp: globals.a51
-	${ASMMACRO} ${ASMINC} -e- globals.a51	
-
-indextest.tlib: indextest.mpp globals.mpp ../lib/aicio.mpp.lib
-	cat indextest.mpp globals.mpp ${TINIRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
+indextest.tlib: indextest.mpp ../lib/aicio.mpp.lib
+	cat indextest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
 	echo end >> tmp.mpp
 	${ASM} ${ASMOPT} tmp.mpp
 	mv tmp.tlib indextest.tlib
 	mv tmp.lst indextest.lst
 
 indextest.a51: indextest.c
-	${CC} ${CMPFLAGS} indextest.c
+	${SDCC} ${SDCCCMPFLAGS} indextest.c
 
 IndexRtTest.tini: IndexRtTest.class indextest.tlib
 	java ${CLASSPATH} TINIConvertor -n indextest.tlib -f IndexRtTest.class ${APIDBPATH} -o IndexRtTest.tini
diff --git a/IndexRtTest/indextest.c b/IndexRtTest/indextest.c
index a0a2e1e..b489c9b 100644
--- a/IndexRtTest/indextest.c
+++ b/IndexRtTest/indextest.c
@@ -33,6 +33,14 @@
 extern volatile pthread_t th;
 extern volatile long index;
 
+void indextest_globals(void) _naked
+{
+	_asm
+th:		db	0,0,0,0
+index:		db	0,0,0,0
+	_endasm;
+}
+
 void *indextest(void *arg)
 {
 	index=index_read();
diff --git a/IndexTest/Makefile b/IndexTest/Makefile
index 82ee860..d2e67bc 100644
--- a/IndexTest/Makefile
+++ b/IndexTest/Makefile
@@ -1,13 +1,7 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-LIBPATH=-path ../lib/AIC.jar
-JAVAFLAGS=-O -target 1.1 -source 1.3
-NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
-
 all: IndexTest.tini
 
 IndexTest.class: IndexTest.java ../lib/AIC.jar
-	javac ${JAVAFLAGS} ${CLASSPATH} IndexTest.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} IndexTest.java
 
 IndexTest.tini: IndexTest.class ../lib/AIC.jar
 	java ${CLASSPATH} TINIConvertor ${NATLIB} -f IndexTest.class ${APIDBPATH} -o IndexTest.tini ${LIBPATH}
diff --git a/Makefile b/Makefile
index 60dcde9..0b0d1b2 100644
--- a/Makefile
+++ b/Makefile
@@ -1,3 +1,51 @@
+export CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar
+export DEPPATH=-p /opt/tini/bin/modules.jar
+export DEPFILE=-x /opt/tini/bin/owapi_dep.txt
+export DEPNAME=-add CAN
+export LIBPATH=-path ../lib/AIC.jar
+export NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
+export APIDBPATH=-d /opt/tini/bin/tini.db
+export PKGPATH=br/ufrgs/eletro/AIC
+export JAVAFLAGS=-O -target 1.1 -source 1.3
+export JAVAC=javac
+
+export NATINC=/opt/tini/native/lib
+export ASMINC=../include
+export TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc ${ASMINC}/apiequ.inc
+export ASMOPT=-f 1.17 -p 390 -l
+export ASMMACRO=/opt/tini/native/bin/Linux/macro
+export ASM=/opt/tini/native/bin/Linux/a390
+
+export CFLAGS=-O2 -Wall -march=i486 
+export CINCLUDE=-I. -I${HOME}/include -I/usr/realtime/include -I/usr/local/include
+export CLIBS=-lpthread -lcanlib -lcutil -lconio -lncurses
+
+export CPPFLAGS=
+export CPPINCLUDE=-I${HOME}/include/cpp -I/usr/local/include/cpp -I../include
+export CPPLIBDIR=-L${HOME}/lib -L../lib -L/usr/local/lib
+export CPPLIBS=-lcpputil -laic -lcontrol
+export INSTPREFIX=/usr/local
+export LIBINST=$(INSTPREFIX)/lib
+export INCLUDEINST=$(INSTPREFIX)/include
+
+export INCLUDE=${CINCLUDE} ${CPPINCLUDE}
+export FLAGS= ${CFLAGS} ${CPPFLAGS} -DREAL_TIME -DVERBOSE -DDEBUG
+export LIBDIR=${CLIBDIR} ${CPPLIBDIR}
+export LIBS=${CLIBS} ${CPPLIBS}
+
+export CC=gcc
+export CXX=g++
+export CMPFLAGS=${FLAGS} ${INCLUDE}
+export LDFLAGS=${LIBDIR} ${LIBS}
+
+export TRTAIPATH=${HOME}/src/tini/rtai
+export TMATHPATH=${HOME}/src/tini/tmath
+export SDCC=sdcc
+export SDCCFLAGS=-mTININative -S --use-accelerator
+export SDCCINCLUDE=-I${TRTAIPATH}/include -I${TMATHPATH}/include -I../include
+export SDCCCMPFLAGS=${SDCCFLAGS} ${SDCCINCLUDE}
+
+
 PACKAGES= 	doc \
 		lib \
 		AICOff \
@@ -18,6 +66,7 @@ PACKAGES= 	doc \
 		PID \
 		StrobeTest \
 		DoorDaemon \
+		CmdDaemon \
 		aicd \
 		braketst \
 		encodertst \
diff --git a/MotorReset/Makefile b/MotorReset/Makefile
index 713016f..76d23c4 100644
--- a/MotorReset/Makefile
+++ b/MotorReset/Makefile
@@ -1,13 +1,7 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-LIBPATH=-path ../lib/AIC.jar
-NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
-JAVAFLAGS=-O -target 1.1 -source 1.3
-
 all: MotorReset.tini
 
 MotorReset.class: MotorReset.java ../lib/AIC.jar
-	javac ${JAVAFLAGS} ${CLASSPATH} MotorReset.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} MotorReset.java
 
 MotorReset.tini: MotorReset.class ../lib/AIC.jar
 	java ${CLASSPATH} TINIConvertor -f MotorReset.class ${APIDBPATH} -o MotorReset.tini ${LIBPATH} ${NATLIB}
diff --git a/MotorRtTest/Makefile b/MotorRtTest/Makefile
index fd287a3..e585918 100644
--- a/MotorRtTest/Makefile
+++ b/MotorRtTest/Makefile
@@ -1,26 +1,10 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-TRTAIPATH=${HOME}/src/tini/rtai
-TMATHPATH=${HOME}/src/tini/tmath
-LIBPATH=-PATH ${TRTAIPATH}/lib/rtai.jar
-JAVAFLAGS=-O -target 1.1 -source 1.3
-
-ASMINC=-I/opt/tini/native/lib
-ASMOPT=-f 1.15 -p 390 -l
-ASMMACRO=/opt/tini/native/bin/Linux/macro
-ASM=/opt/tini/native/bin/Linux/a390
-CC=sdcc
-CFLAGS=-mTININative -S --use-accelerator
-CINCLUDE=-I${TRTAIPATH}/include -I${TMATHPATH}/include -I../include
-CMPFLAGS=${CFLAGS} ${CINCLUDE}
-
 all: MotorRtTest.tini
 
 MotorRtTest.class: MotorRtTest.java ../lib/AIC.jar
-	javac ${JAVAFLAGS} ${CLASSPATH} MotorRtTest.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} MotorRtTest.java
 
 motortest.mpp: motortest.a51
-	${ASMMACRO} ${ASMINC} -e- motortest.a51
+	${ASMMACRO} -I${ASMINC} -e- motortest.a51
 	
 motortest.tlib: motortest.mpp ../lib/aicio.mpp.lib
 	cat motortest.mpp  ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib  > tmp.mpp
@@ -30,7 +14,7 @@ motortest.tlib: motortest.mpp ../lib/aicio.mpp.lib
 	mv tmp.lst motortest.lst
 
 motortest.a51: motortest.c
-	${CC} ${CMPFLAGS} motortest.c
+	${SDCC} ${SDCCCMPFLAGS} motortest.c
 
 MotorRtTest.tini: MotorRtTest.class motortest.tlib
 	java ${CLASSPATH} TINIConvertor -n motortest.tlib -f MotorRtTest.class ${APIDBPATH} -o MotorRtTest.tini
diff --git a/MotorRtTest/globals.a51 b/MotorRtTest/globals.a51
deleted file mode 100644
index bb77d90..0000000
--- a/MotorRtTest/globals.a51
+++ /dev/null
@@ -1,30 +0,0 @@
-;******************************************************************************
-;
-;			Actuator Interface Card
-;			 Motor Real time Test
-;		     Real Time Module Global Variables
-;	Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-;    This program is free software; you can redistribute it and/or modify
-;    it under the terms of the GNU General Public License as published by
-;    the Free Software Foundation; either version 2 of the License, or
-;    (at your option) any later version.
-;
-;    This program is distributed in the hope that it will be useful,
-;    but WITHOUT ANY WARRANTY; without even the implied warranty of
-;    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-;    GNU General Public License for more details.
-;
-;    You should have received a copy of the GNU General Public License
-;    along with this program; if not, write to the Free Software
-;    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-;    You can also obtain a copy of the GNU General Public License
-;    at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************/
-
-
-th:		db	0,0
-voltage:	db	0,0,0,0
-		end
diff --git a/MotorTest/Makefile b/MotorTest/Makefile
index ae3baad..b5bc809 100644
--- a/MotorTest/Makefile
+++ b/MotorTest/Makefile
@@ -1,13 +1,7 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-LIBPATH=-path ../lib/AIC.jar
-NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
-JAVAFLAGS=-O -target 1.1 -source 1.3
-
 all: MotorTest.tini
 
 MotorTest.class: MotorTest.java ../lib/AIC.jar
-	javac ${JAVAFLAGS} ${CLASSPATH} MotorTest.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} MotorTest.java
 
 MotorTest.tini: MotorTest.class ../lib/AIC.jar
 	java ${CLASSPATH} TINIConvertor -f MotorTest.class ${APIDBPATH} -o MotorTest.tini ${LIBPATH} ${NATLIB}
diff --git a/MotorTest/MotorTest.java b/MotorTest/MotorTest.java
index fb2b079..18f321b 100644
--- a/MotorTest/MotorTest.java
+++ b/MotorTest/MotorTest.java
@@ -62,12 +62,12 @@ class MotorTest
 
 		aic.brake.release();
 
-		for(i=0;(i <= 24) && run;i++) iter(i);
+		for(i=0;(i <= 12) && run;i++) iter(i);
 
 		while(run)
 		{
-			for(i=24;(i >= -24) && run;i--) iter(i);
-			for(i=-24;(i <= 24) && run;i++) iter(i);
+			for(i=12;(i >= -12) && run;i--) iter(i);
+			for(i=-12;(i <= 12) && run;i++) iter(i);
 		}
 		aic.off();
 	}
diff --git a/PID/Makefile b/PID/Makefile
index 97c4442..005aa9e 100644
--- a/PID/Makefile
+++ b/PID/Makefile
@@ -1,25 +1,10 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-TRTAIPATH=${HOME}/src/tini/rtai
-TMATHPATH=${HOME}/src/tini/tmath
-LIBPATH=-PATH ${TRTAIPATH}/lib/rtai.jar
-JAVAFLAGS=-O -target 1.1 -source 1.3
-ASMINC=-I/opt/tini/native/lib
-ASMOPT=-f 1.15 -p 390 -l
-ASMMACRO=/opt/tini/native/bin/Linux/macro
-ASM=/opt/tini/native/bin/Linux/a390
-CC=sdcc
-CFLAGS=-mTININative -S --use-accelerator
-CINCLUDE=-I${TRTAIPATH}/include -I${TMATHPATH}/include -I../include
-CMPFLAGS=${CFLAGS} ${CINCLUDE}
-
 all: PID.tini
 
 PID.class: PID.java
-	javac ${CLASSPATH} ${JAVAFLAGS} PID.java
+	${JAVAC} ${CLASSPATH} ${JAVAFLAGS} PID.java
 
 pid.mpp: pid.a51
-	${ASMMACRO} ${ASMINC} -e- pid.a51
+	${ASMMACRO} -I${ASMINC} -e- pid.a51
 	
 pid.tlib: pid.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib
 	cat  pid.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
@@ -29,7 +14,7 @@ pid.tlib: pid.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib
 	mv tmp.lst pid.lst
 
 pid.a51: pid.c
-	${CC} ${CMPFLAGS} pid.c
+	${SDCC} ${SDCCCMPFLAGS} pid.c
 
 PID.tini: PID.class pid.tlib
 	java ${CLASSPATH} TINIConvertor -n pid.tlib -f PID.class ${APIDBPATH} -o PID.tini
diff --git a/PID/globals.a51 b/PID/globals.a51
deleted file mode 100644
index bf5b08d..0000000
--- a/PID/globals.a51
+++ /dev/null
@@ -1,31 +0,0 @@
-;******************************************************************************
-;
-;			Actuator Interface Card
-;			          PID
-;		     Real Time Module Global Variables
-;	Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-;    This program is free software; you can redistribute it and/or modify
-;    it under the terms of the GNU General Public License as published by
-;    the Free Software Foundation; either version 2 of the License, or
-;    (at your option) any later version.
-;
-;    This program is distributed in the hope that it will be useful,
-;    but WITHOUT ANY WARRANTY; without even the implied warranty of
-;    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-;    GNU General Public License for more details.
-;
-;    You should have received a copy of the GNU General Public License
-;    along with this program; if not, write to the Free Software
-;    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-;    You can also obtain a copy of the GNU General Public License
-;    at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************/
-
-
-output:		db	0,0,0,0
-th:		db	0,0
-reference:	db	0,0,0,0
-		end
diff --git a/PwmRtTest/Makefile b/PwmRtTest/Makefile
index 23f2cf9..fcd3fab 100644
--- a/PwmRtTest/Makefile
+++ b/PwmRtTest/Makefile
@@ -1,25 +1,10 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-TRTAIPATH=${HOME}/src/tini/rtai
-TMATHPATH=${HOME}/src/tini/tmath
-LIBPATH=-PATH ${TINIRTAIPATH}/lib/rtai.jar
-JAVAFLAGS=-O -target 1.1 -source 1.3
-ASMINC=-I/opt/tini/native/lib
-ASMOPT=-f 1.15 -p 390 -l
-ASMMACRO=/opt/tini/native/bin/Linux/macro
-ASM=/opt/tini/native/bin/Linux/a390
-CC=sdcc
-CFLAGS=-mTININative -S --use-accelerator
-CINCLUDE=-I${TRTAIPATH}/include -I${TMATHPATH}/include -I../include
-CMPFLAGS=${CFLAGS} ${CINCLUDE}
-
 all: PwmRtTest.tini
 
 PwmRtTest.class: PwmRtTest.java ../lib/AIC.jar
-	javac ${JAVAFLAGS} ${CLASSPATH} PwmRtTest.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} PwmRtTest.java
 
 pwmtest.mpp: pwmtest.a51
-	${ASMMACRO} ${ASMINC} -e- pwmtest.a51
+	${ASMMACRO} -I${ASMINC} -e- pwmtest.a51
 	
 pwmtest.tlib: pwmtest.mpp ../lib/aicio.mpp.lib
 	cat pwmtest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp
@@ -29,7 +14,7 @@ pwmtest.tlib: pwmtest.mpp ../lib/aicio.mpp.lib
 	mv tmp.lst pwmtest.lst
 
 pwmtest.a51: pwmtest.c ../include/aicio.h
-	${CC} ${CMPFLAGS} pwmtest.c
+	${SDCC} ${SDCCCMPFLAGS} pwmtest.c
 
 PwmRtTest.tini: PwmRtTest.class pwmtest.tlib
 	java ${CLASSPATH} TINIConvertor -n pwmtest.tlib -f PwmRtTest.class ${APIDBPATH} -o PwmRtTest.tini
diff --git a/StrobeTest/Makefile b/StrobeTest/Makefile
index b58ec5e..a14e5b0 100644
--- a/StrobeTest/Makefile
+++ b/StrobeTest/Makefile
@@ -1,11 +1,7 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar
-APIDBPATH=-d /opt/tini/bin/tini.db
-JAVAFLAGS=-O -target 1.1 -source 1.3
-
 all: StrobeTest.tini
 
 StrobeTest.class: StrobeTest.java
-	javac ${JAVAFLAGS} ${CLASSPATH} StrobeTest.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} StrobeTest.java
 
 StrobeTest.tini: StrobeTest.class
 	java ${CLASSPATH} TINIConvertor -f StrobeTest.class ${APIDBPATH} -o StrobeTest.tini
diff --git a/TODO b/TODO
index e2b7e62..9de8f4e 100644
--- a/TODO
+++ b/TODO
@@ -1,8 +1,6 @@
 - Reorganizar a estrutura de diretorios.
 
-- Reunir todas as configuracoes dos Makefiles em um unico arquivo.
-
-- Implementar todas os metodos da classe AIC em C.
+- Implementar todos os metodos da classe AIC em C.
 
 - Utilizar RCCI/RCCL?
 
diff --git a/aicd/Makefile b/aicd/Makefile
index 79dc316..eec006f 100644
--- a/aicd/Makefile
+++ b/aicd/Makefile
@@ -1,33 +1,10 @@
-PRJLIBDIR=../lib
-PRJINCLUDE=../include
-PRJFLAGS=-DREAL_TIME -DVERBOSE -DDEBUG
-
-CFLAGS=-O2 -Wall -march=i486 ${PRJFLAGS}
-CINCLUDE=-I. -I${HOME}/include -I/usr/local/include -I/usr/realtime/include
-CLIBDIR=-L${HOME}/lib -L/usr/local/lib
-CLIBS=-lpthread -lcanlib
-
-CPPFLAGS=
-CPPINCLUDE=-I${HOME}/include/cpp -I/usr/local/include/cpp -I../include
-CPPLIBDIR=-L${HOME}/lib/cpp -L../lib
-CPPLIBS=-laic
-
-INCLUDE=${CINCLUDE} ${CPPINCLUDE}
-FLAGS= ${CFLAGS} ${CPPFLAGS}
-LIBDIR=${CLIBDIR} ${CPPLIBDIR}
-LIBS=${CPPLIBS} ${CLIBS}
-
-CMP=		g++
-CMPFLAGS=	${FLAGS} ${INCLUDE}
-LDFLAGS=	${LIBDIR} ${LIBS}
-
 all: aicd .runinfo
 
-aicd: aicd.cpp ${PRJINCLUDE}/aicsim.h ${PRJINCLUDE}/aichost.h ${PRJLIBDIR}/libaic.a
-	${CMP} ${CMPFLAGS} -o aicd aicd.cpp ${LDFLAGS}
+aicd: aicd.cpp ../include/aicsim.h ../include/aichost.h ../lib/libaic.a
+	${CXX} ${CMPFLAGS} -o aicd aicd.cpp ${LDFLAGS}
 
-${PRJLIBDIR}/libaic.a:
-	$(MAKE) -C ${PRJLIBDIR}
+../lib/libaic.a:
+	$(MAKE) -C ../lib
 
 clean:
 	rm -f *~ *.bak *.o
@@ -37,6 +14,6 @@ install:
 distclean: clean
 	rm -f aicd .runinfo
 
-.runinfo: runinfo
-	cp runinfo .runinfo
+.runinfo:
+	echo "aicd:lxrt:./aicd;popall:" > .runinfo
 
diff --git a/braketst/Makefile b/braketst/Makefile
index 1cef1e6..454046c 100644
--- a/braketst/Makefile
+++ b/braketst/Makefile
@@ -1,26 +1,7 @@
-CFLAGS=-O2 -Wall -march=i486
-CINCLUDE=-I${HOME}/include
-CLIBDIR=-L${HOME}/lib
-CLIBS=-lcutil -lcanlib
-
-CPPFLAGS=
-CPPINCLUDE=-I../include -I${HOME}/include/cpp -I/usr/local/include/cpp
-CPPLIBDIR=-L../lib -L${HOME}/lib/cpp -L${HOME}/lib
-CPPLIBS=-laic
-
-INCLUDE=${CINCLUDE} ${CPPINCLUDE}
-FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
-LIBDIR=${CLIBDIR} ${CPPLIBDIR}
-LIBS=${CLIBS} ${CPPLIBS}
-
-CMP=		g++
-CMPFLAGS=	${FLAGS} ${INCLUDE}
-LDFLAGS=	${LIBDIR} ${LIBS}
-
 all: braketst
 
 braketst: braketst.cpp ../lib/libaic.a
-	${CMP} ${CMPFLAGS} -o braketst braketst.cpp ${LDFLAGS}
+	${CXX} ${CMPFLAGS} -o braketst braketst.cpp ${LDFLAGS}
 	
 clean:
 	rm -f *~ *.bak *.o
diff --git a/doc/Doxyfile b/doc/Doxyfile
index 60d94e0..aacbd6b 100644
--- a/doc/Doxyfile
+++ b/doc/Doxyfile
@@ -23,7 +23,7 @@ PROJECT_NAME           = "Actuator Interface Card"
 # This could be handy for archiving the generated documentation or 
 # if some version control system is used.
 
-PROJECT_NUMBER         = "1.3.0"
+PROJECT_NUMBER         = "1.5.1"
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) 
 # base path where the generated documentation will be put. 
@@ -428,7 +428,7 @@ INPUT                  = . \
 # *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp 
 # *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm
 
-FILE_PATTERNS          = *.dox *.h *.inc *.c *.cpp *.java *.a51
+FILE_PATTERNS          = *.dox *.h *.inc *.java
 
 # The RECURSIVE tag can be used to turn specify whether or not subdirectories 
 # should be searched for input files as well. Possible values are YES and NO. 
diff --git a/encodertst/Makefile b/encodertst/Makefile
index c433a45..e30494a 100644
--- a/encodertst/Makefile
+++ b/encodertst/Makefile
@@ -1,26 +1,7 @@
-CFLAGS=-O2 -Wall -march=i486
-CINCLUDE=-I${HOME}/include
-CLIBDIR=-L${HOME}/lib
-CLIBS=-lcanlib
-
-CPPFLAGS=
-CPPINCLUDE=-I../include -I${HOME}/include/cpp -I/usr/local/include/cpp
-CPPLIBDIR=-L../lib -L${HOME}/lib/cpp -L${HOME}/lib
-CPPLIBS=-laic
-
-INCLUDE=${CINCLUDE} ${CPPINCLUDE}
-FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
-LIBDIR=${CLIBDIR} ${CPPLIBDIR}
-LIBS=${CLIBS} ${CPPLIBS}
-
-CMP=		g++
-CMPFLAGS=	${FLAGS} ${INCLUDE}
-LDFLAGS=	${LIBDIR} ${LIBS}
-
 all: encodertst
 
 encodertst: encodertst.cpp ../lib/libaic.a
-	${CMP} ${CMPFLAGS} -o encodertst encodertst.cpp ${LDFLAGS}
+	${CXX} ${CMPFLAGS} -o encodertst encodertst.cpp ${LDFLAGS}
 
 clean:
 	rm -f *~ *.bak *.o
diff --git a/include/aiccan.h b/include/aiccan.h
index eb6cbd8..0cf872f 100644
--- a/include/aiccan.h
+++ b/include/aiccan.h
@@ -36,7 +36,7 @@
 	@author Walter Fetter Lages <w.fetter@ieee.org>
 */
 
-/** @defgroup aichost AIC Host Interface
+/** @addtogroup aichost
 @{
 */
 
diff --git a/include/aichost.h b/include/aichost.h
index 6675c43..bb137d3 100644
--- a/include/aichost.h
+++ b/include/aichost.h
@@ -33,7 +33,7 @@
 	@author Walter Fetter Lages <w.fetter@ieee.org>
 */
 
-/** @defgroup aicsim AIC Simulator Interface
+/** @addtogroup aicsim
 @{
 */
 
diff --git a/include/aichostcan.h b/include/aichostcan.h
index 9085a2e..1a929c3 100644
--- a/include/aichostcan.h
+++ b/include/aichostcan.h
@@ -36,7 +36,7 @@
 	@author Walter Fetter Lages <w.fetter@ieee.org>
 */
 
-/** @defgroup aicsim AIC Simulator Interface
+/** @addtogroup aicsim
 @{
 */
 
diff --git a/include/aichostudp.h b/include/aichostudp.h
index 4b8bd86..dfca3ac 100644
--- a/include/aichostudp.h
+++ b/include/aichostudp.h
@@ -37,7 +37,7 @@
 	@author Walter Fetter Lages <w.fetter@ieee.org>
 */
 
-/** @defgroup aicsim AIC Simulator Interface
+/** @addtogroup aicsim
 @{
 */
 
diff --git a/include/aicnet.h b/include/aicnet.h
index 04f80e0..4c0c5fd 100644
--- a/include/aicnet.h
+++ b/include/aicnet.h
@@ -31,7 +31,7 @@
 	@author Walter Fetter Lages <w.fetter@ieee.org>
 */
 
-/** @defgroup aichost AIC Host Interface
+/** @addtogroup aichost
 @{
 */
 
diff --git a/include/aicudp.h b/include/aicudp.h
index f2d677a..d336c3a 100644
--- a/include/aicudp.h
+++ b/include/aicudp.h
@@ -36,7 +36,7 @@
 	@author Walter Fetter Lages <w.fetter@ieee.org>
 */
 
-/** @defgroup aichost AIC Host Interface
+/** @addtogroup aichost
 @{
 */
 
diff --git a/indextst/Makefile b/indextst/Makefile
index ed05178..9ea7349 100644
--- a/indextst/Makefile
+++ b/indextst/Makefile
@@ -1,26 +1,7 @@
-CFLAGS=-O2 -Wall -march=i486
-CINCLUDE=-I${HOME}/include
-CLIBDIR=-L${HOME}/lib
-CLIBS=-lcanlib
-
-CPPFLAGS=
-CPPINCLUDE=-I../include -I${HOME}/include/cpp -I/usr/local/include/cpp
-CPPLIBDIR=-L../lib -L${HOME}/lib/cpp -L${HOME}/lib
-CPPLIBS=-laic
-
-INCLUDE=${CINCLUDE} ${CPPINCLUDE}
-FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
-LIBDIR=${CLIBDIR} ${CPPLIBDIR}
-LIBS=${CLIBS} ${CPPLIBS}
-
-CMP=		g++
-CMPFLAGS=	${FLAGS} ${INCLUDE}
-LDFLAGS=	${LIBDIR} ${LIBS}
-
 all: indextst
 
 indextst: indextst.cpp ../lib/libaic.a
-	${CMP} ${CMPFLAGS} -o indextst indextst.cpp ${LDFLAGS}
+	${CXX} ${CMPFLAGS} -o indextst indextst.cpp ${LDFLAGS}
 
 clean:
 	rm -f *~ *.bak *.o
diff --git a/jointtst/Makefile b/jointtst/Makefile
index c363fc2..1e9423f 100644
--- a/jointtst/Makefile
+++ b/jointtst/Makefile
@@ -1,26 +1,7 @@
-CFLAGS=-O2 -Wall -march=i486
-CINCLUDE=-I${HOME}/include
-CLIBDIR=-L${HOME}/lib
-CLIBS=-lcutil -lconio -lncurses -lcanlib
-
-CPPFLAGS=
-CPPINCLUDE=-I../include -I${HOME}/include/cpp -I/usr/local/include/cpp
-CPPLIBDIR=-L../lib -L${HOME}/lib/cpp -L${HOME}/lib
-CPPLIBS=-lcpputil -laic
-
-INCLUDE=${CINCLUDE} ${CPPINCLUDE}
-FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
-LIBDIR=${CLIBDIR} ${CPPLIBDIR}
-LIBS=${CLIBS} ${CPPLIBS}
-
-CMP=		g++
-CMPFLAGS=	${FLAGS} ${INCLUDE}
-LDFLAGS=	${LIBDIR} ${LIBS}
-
 all: jointtst
 
 jointtst: jointtst.cpp ../lib/libaic.a
-	${CMP} ${CMPFLAGS} -o jointtst jointtst.cpp ${LDFLAGS}
+	${CXX} ${CMPFLAGS} -o jointtst jointtst.cpp ${LDFLAGS}
 
 clean:
 	rm -f *~ *.bak *.o
diff --git a/lib/Brake.java b/lib/Brake.java
index 19cefa8..a258c9e 100644
--- a/lib/Brake.java
+++ b/lib/Brake.java
@@ -25,7 +25,7 @@
 
 package br.ufrgs.eletro.AIC;
 
-/** @defgroup aichardware AIC Hardware Interface
+/** @addtogroup aichardware
 @{
 */
 
diff --git a/lib/CtrlRegister.java b/lib/CtrlRegister.java
index c783df0..518f321 100644
--- a/lib/CtrlRegister.java
+++ b/lib/CtrlRegister.java
@@ -25,7 +25,7 @@
 
 package br.ufrgs.eletro.AIC;
 
-/** @defgroup aichardware AIC Hardware Interface
+/** @addtogroup aichardware
 @{
 */
 
diff --git a/lib/Encoder.java b/lib/Encoder.java
index 9239946..a80695f 100644
--- a/lib/Encoder.java
+++ b/lib/Encoder.java
@@ -25,7 +25,7 @@
 
 package br.ufrgs.eletro.AIC;
 
-/** @defgroup aichardware AIC Hardware Interface
+/** @addtogroup aichardware
 @{
 */
 
diff --git a/lib/Host.java b/lib/Host.java
index 4271e4c..789023f 100644
--- a/lib/Host.java
+++ b/lib/Host.java
@@ -27,7 +27,7 @@ package br.ufrgs.eletro.AIC;
 
 import java.lang.*;
 
-/** @defgroup aichardware AIC Hardware Interface
+/** @addtogroup aichardware
 @{
 */
 
diff --git a/lib/HostCAN.java b/lib/HostCAN.java
index 8ac453a..c7c9549 100644
--- a/lib/HostCAN.java
+++ b/lib/HostCAN.java
@@ -31,7 +31,7 @@ import com.dalsemi.comm.*;
 import com.dalsemi.system.*;
 import java.lang.*;
 
-/** @defgroup aichardware AIC Hardware Interface
+/** @addtogroup aichardware
 @{
 */
 
diff --git a/lib/HostUDP.java b/lib/HostUDP.java
index 7b01691..22e133d 100644
--- a/lib/HostUDP.java
+++ b/lib/HostUDP.java
@@ -31,7 +31,7 @@ import java.net.*;
 import java.lang.*;
 import java.io.*;
 
-/** @defgroup aichardware AIC Hardware Interface
+/** @addtogroup aichardware
 @{
 */
 
diff --git a/lib/Index.java b/lib/Index.java
index e99d3da..db01ae1 100644
--- a/lib/Index.java
+++ b/lib/Index.java
@@ -25,7 +25,7 @@
 
 package br.ufrgs.eletro.AIC;
 
-/** @defgroup aichardware AIC Hardware Interface
+/** @addtogroup aichardware
 @{
 */
 
diff --git a/lib/Makefile b/lib/Makefile
index 5702eae..83a5cc2 100644
--- a/lib/Makefile
+++ b/lib/Makefile
@@ -1,69 +1,39 @@
-
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:.
-APIDBPATH=-d /opt/tini/bin/tini.db
-PKGPATH=br/ufrgs/eletro/AIC
-JAVAFLAGS=-O -target 1.1 -source 1.3
-
-NATINC=/opt/tini/native/lib
-ASMINC=../include
-TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc ${ASMINC}/apiequ.inc
-ASMOPT=-f 1.15 -p 390 -l
-ASMMACRO=/opt/tini/native/bin/Linux/macro
-ASM=/opt/tini/native/bin/Linux/a390
-
-CFLAGS = -O2 -Wall -march=i486
-INCLUDE = -I. -I${HOME}/include
-
-CPPFLAGS =
-CPPINCLUDE = -I${HOME}/include/cpp -I/usr/local/include/cpp -I../include
-LIB = ${HOME}/lib
-
-LIBINST=/usr/local/lib
-INCLUDEINST=/usr/local/include
-
-INCLUDE=${CINCLUDE} ${CPPINCLUDE}
-FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
-LIBDIR=${CLIBDIR} ${CPPLIBDIR}
-LIBS=${CLIBS} ${CPPLIBS}
-
-CMP=		g++
-CMPFLAGS=	${FLAGS} ${INCLUDE}
-LDFLAGS=	${LIBDIR} ${LIBS}
+export CLASSPATH:=${CLASSPATH}:.
 
 all: AIC.jar libaic.a aicio.mpp.lib
 
 ${PKGPATH}/PLD.class: PLD.java 
-	javac ${JAVAFLAGS} ${CLASSPATH} -d . PLD.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . PLD.java
 
 ${PKGPATH}/CtrlRegister.class: CtrlRegister.java 
-	javac ${JAVAFLAGS} ${CLASSPATH} -d . CtrlRegister.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . CtrlRegister.java
 
 ${PKGPATH}/PWM.class: PWM.java 
-	javac ${JAVAFLAGS} ${CLASSPATH} -d . PWM.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . PWM.java
 
 ${PKGPATH}/Motor.class: Motor.java ${PKGPATH}/PWM.class
-	javac ${JAVAFLAGS} ${CLASSPATH} -d . Motor.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Motor.java
 
 ${PKGPATH}/Encoder.class: Encoder.java
-	javac ${JAVAFLAGS} ${CLASSPATH} -d . Encoder.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Encoder.java
 
 ${PKGPATH}/Brake.class: Brake.java
-	javac ${JAVAFLAGS} ${CLASSPATH} -d . Brake.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Brake.java
 
 ${PKGPATH}/Index.class: Index.java
-	javac ${JAVAFLAGS} ${CLASSPATH} -d . Index.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Index.java
 
 ${PKGPATH}/AIC.class: AIC.java
-	javac ${JAVAFLAGS} ${CLASSPATH} -d . AIC.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . AIC.java
 
 ${PKGPATH}/Host.class: Host.java
-	javac ${JAVAFLAGS} ${CLASSPATH} -d . Host.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Host.java
 
 ${PKGPATH}/HostUDP.class: HostUDP.java
-	javac ${JAVAFLAGS} ${CLASSPATH} -d . HostUDP.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . HostUDP.java
 
 ${PKGPATH}/HostCAN.class: HostCAN.java
-	javac ${JAVAFLAGS} ${CLASSPATH} -d . HostCAN.java
+	${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . HostCAN.java
 
 ${ASMINC}/tini.inc: ${NATINC}/tini.inc
 	ln -s ${NATINC}/tini.inc ${ASMINC}/tini.inc
@@ -144,25 +114,25 @@ AIC.jar: ${PKGPATH}/PLD.class\
 	jar cf AIC.jar ${PKGPATH} brake.tlib index.tlib encoder.tlib pwm.tlib
 
 aic.o: aic.cpp ../include/aic.h
-	gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aic.cpp
+	${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aic.cpp
 
 aicudp.o: aicudp.cpp ../include/aic.h ../include/aicnet.h ../include/aicudp.h
-	gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aicudp.cpp
+	${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aicudp.cpp
 
 aiccan.o: aiccan.cpp ../include/aic.h ../include/aicnet.h ../include/aiccan.h
-	gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aiccan.cpp
+	${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aiccan.cpp
 
 aicsim.o: aicsim.cpp ../include/aic.h ../include/aicnet.h ../include/aicsim.h
-	gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aicsim.cpp
+	${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aicsim.cpp
 
 aichost.o: aichost.cpp ../include/aichost.h ../include/aicnet.h
-	gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aichost.cpp
+	${CXX} ${CMPFLAGS} -c aichost.cpp
 
 aichostudp.o: aichostudp.cpp ../include/aichostudp.h ../include/aicnet.h
-	gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aichostudp.cpp
+	${CXX} ${CMPFLAGS} -c aichostudp.cpp
 
 aichostcan.o: aichostcan.cpp ../include/aichostcan.h ../include/aicnet.h
-	gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aichostcan.cpp
+	${CXX} ${CMPFLAGS} -c aichostcan.cpp
 
 libaic.a: aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o 
 	ar -crvs libaic.a aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o 
@@ -182,10 +152,12 @@ install:
 
 clean:
 	rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br *.tlib *.mpp ${TINIINC} *.lst
+	$(MAKE) -C aicio clean
 	$(MAKE) -C tlib clean
 
 distclean: clean
 	rm -rf AIC.jar *.a aicio.mpp.lib
+	$(MAKE) -C aicio distclean
 	$(MAKE) -C tlib distclean
 
 uninstall:
diff --git a/lib/Motor.java b/lib/Motor.java
index c12edd2..17843a8 100644
--- a/lib/Motor.java
+++ b/lib/Motor.java
@@ -25,7 +25,7 @@
 
 package br.ufrgs.eletro.AIC;
 
-/** @defgroup aichardware AIC Hardware Interface
+/** @addtogroup aichardware
 @{
 */
 
diff --git a/lib/PLD.java b/lib/PLD.java
index 8553eb8..b571a2f 100644
--- a/lib/PLD.java
+++ b/lib/PLD.java
@@ -25,7 +25,7 @@
 
 package br.ufrgs.eletro.AIC;
 
-/** @defgroup aichardware AIC Hardware Interface
+/** @addtogroup aichardware
 @{
 */
 
diff --git a/lib/PWM.java b/lib/PWM.java
index 3837e80..42018b2 100644
--- a/lib/PWM.java
+++ b/lib/PWM.java
@@ -25,7 +25,7 @@
 
 package br.ufrgs.eletro.AIC;
 
-/** @defgroup aichardware AIC Hardware Interface
+/** @addtogroup aichardware
 @{
 */
 
diff --git a/lib/aicio/Makefile b/lib/aicio/Makefile
index 5e22640..c9c5266 100644
--- a/lib/aicio/Makefile
+++ b/lib/aicio/Makefile
@@ -1,36 +1,5 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:.
-APIDBPATH=-d /opt/tini/bin/tini.db
-PKGPATH=br/ufrgs/eletro/AIC
-JAVAFLAGS=-O -target 1.1 -source 1.3
-
-NATINC=/opt/tini/native/lib
-ASMINC=../../include
+ASMINC:=../${ASMINC}
 TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc ${ASMINC}/apiequ.inc
-ASMOPT=-f 1.15 -p 390 -l
-ASMMACRO=/opt/tini/native/bin/Linux/macro
-ASM=/opt/tini/native/bin/Linux/a390
-
-#CFLAGS = -O2 -Wall -march=i486
-CFLAGS=-mTININative -S --use-accelerator
-#CINCLUDE = -I. -I${HOME}/include
-CINCLUDE=-I${TINIRTAIPATH}/include -I../../include
-
-CPPFLAGS =
-CPPINCLUDE = -I${HOME}/include/cpp -I/usr/local/include/cpp -I../../include
-LIB = ${HOME}/lib
-
-LIBINST=/usr/local/lib
-INCLUDEINST=/usr/local/include
-
-INCLUDE=${CINCLUDE} ${CPPINCLUDE}
-FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
-LIBDIR=${CLIBDIR} ${CPPLIBDIR}
-LIBS=${CLIBS} ${CPPLIBS}
-
-#CMP=		g++
-CMP=		sdcc
-CMPFLAGS=	${FLAGS} ${INCLUDE}
-LDFLAGS=	${LIBDIR} ${LIBS}
 
 all: aicio.mpp.lib
 
diff --git a/lib/aicio/pwm.a51 b/lib/aicio/pwm.a51
index 7524a3c..e409a6d 100644
--- a/lib/aicio/pwm.a51
+++ b/lib/aicio/pwm.a51
@@ -250,7 +250,6 @@ pwm_parmabove:	mov	r3,#00h			; forces R3:R2:R1:R0=1000000
 		mov	r0,#40h
 
 pwm_parmok:	
-
 		; ljmp	pwm_countok		; debug
 
 
@@ -351,6 +350,7 @@ pwm_countabove:	clr	c			; check if count > max_count-min_count
 		mov	r1,R3_B0
 
 pwm_countok:	
+		
 		; mov	r0,#250			; debug
 		; mov	r1,#0
 
diff --git a/lib/brake.a51 b/lib/brake.a51
deleted file mode 100644
index 3f77038..0000000
--- a/lib/brake.a51
+++ /dev/null
@@ -1,88 +0,0 @@
-;******************************************************************************
-;
-;			Actuator Interface Card
-;			  Brake Functions
-;	Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-;    This program is free software; you can redistribute it and/or modify
-;    it under the terms of the GNU General Public License as published by
-;    the Free Software Foundation; either version 2 of the License, or
-;    (at your option) any later version.
-;
-;    This program is distributed in the hope that it will be useful,
-;    but WITHOUT ANY WARRANTY; without even the implied warranty of
-;    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-;    GNU General Public License for more details.
-;
-;    You should have received a copy of the GNU General Public License
-;    along with this program; if not, write to the Free Software
-;    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-;    You can also obtain a copy of the GNU General Public License
-;    at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-$include(tini.inc)
-$include(ds80c390.inc)
-$include(tinimacro.inc)
-
-$include(aicpld.inc)
-$include(aicmacro.inc)
-
-; data saved in big-endian mode
-; Brake base address
-brake_base:	db	0,0,0
-
-; Initializes Brake
-; void brake_initialize(unsigned long base);
-brake_initialize:
-		mov	r0,dpl			; parameter in b:dpx:dph:dpl
-		mov	r1,dph			; BUG IN SDCC MANUAL!
-		mov	r2,dpx
-		mov	r3,b
-
-		mov	dptr,#CONTROL		; compute brake address
-		lcall	Add_Dptr1_24		; dptr=dptr+R2:R1:R0
-
-		STORE24	#brake_base		; store brake address
-
-		clr	a			; success
-		ret
-
-; Applies the electromagnetic brakes
-; void brake_apply(void)
-brake_apply:		
-		LOAD24	#brake_base		; get brake address
-
-		SET_STRETCH STRETCH
-
-		ENTER_PCE_SPACE_AND_PUSH_STATE #0
-		mov	a,#BRAKEAPPLY		; apply brake
-		movx	@dptr,a
-		EXIT_PCE_SPACE_AND_POP_STATE
-
-		
-		RESTORE_STRETCH r0
-			
-		clr	a			; success
-		ret
-
-; Releases the electromagnetic brake
-; void brake_release(void)
-brake_release: 
-		LOAD24	#brake_base	; get brake address
-
-		SET_STRETCH STRETCH
-
-		ENTER_PCE_SPACE_AND_PUSH_STATE #0
-		mov	a,#BRAKERELEASE		; release brake
-		movx	@dptr,a
-		EXIT_PCE_SPACE_AND_POP_STATE
-		
-		RESTORE_STRETCH r0
-
-		clr	a			; success
-		ret
-
-		end
diff --git a/lib/encoder.a51 b/lib/encoder.a51
deleted file mode 100644
index c9cc67d..0000000
--- a/lib/encoder.a51
+++ /dev/null
@@ -1,159 +0,0 @@
-;******************************************************************************
-;
-;			Actuator Interface Card
-;			 Encoder Native Methods
-;	Copyright (C) 2004 Walter Fetter Lages <w.fetter@ieee.org>
-;
-;    This program is free software; you can redistribute it and/or modify
-;    it under the terms of the GNU General Public License as published by
-;    the Free Software Foundation; either version 2 of the License, or
-;    (at your option) any later version.
-;
-;    This program is distributed in the hope that it will be useful,
-;    but WITHOUT ANY WARRANTY; without even the implied warranty of
-;    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-;    GNU General Public License for more details.
-;
-;    You should have received a copy of the GNU General Public License
-;    along with this program; if not, write to the Free Software
-;    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-;    You can also obtain a copy of the GNU General Public License
-;    at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-$include(tini.inc)
-$include(ds80c390.inc)
-$include(tinimacro.inc)
-
-$include(aicpld.inc)
-$include(aicmacro.inc)
-
-; Native library initialization routine
-; This routine must exist
-; This routine must be at offset 0
-; If -f and -p options are used, a390 relocates this routine
-; to another offset
-; Label is meaningless and is not used by Java Sytem.LoadLibrary()
-lib_init:	
-		clr	a			; success
-  		ret
-
-; data saved in big-endian mode
-; Encoder base address
-base:		db	0,0,0
-
-; Initializes Encoder
-; private static native void initialize(int base);
-native_initialize:
-		clr	a
-
-		lcall	Natlib_LoadPrimitive	; get parameter in R3:R2:R1:R0
-
-		mov	dptr,#ENCODER		; compute encoder address
-		lcall	Add_Dptr1_24		; dptr=dptr+R2:R1:R0
-
-		STORE24	#base			; store encoder address
-
-		SET_STRETCH STRETCH
-
-		ENTER_PCE_SPACE_AND_PUSH_STATE #0
-		clr	a			; clear encoder
-		movx	@dptr,a
-		EXIT_PCE_SPACE_AND_POP_STATE
-
-		RESTORE_STRETCH r0
-
-		clr	a			; sucess
-		ret
-
-; Finalizes Encoder
-; public native void finalize()
-native_finalize:
-
-	; fall-through to native_clear:
-
-; Clears the counter on the quadrature decoder chip
-; public void clear()
-native_clear:	
-		LOAD24	#base			; get encoder address
-
-		SET_STRETCH STRETCH
-
-		ENTER_PCE_SPACE_AND_PUSH_STATE #0
-		clr	a
-		movx	@dptr,a			; clear counter
-		EXIT_PCE_SPACE_AND_POP_STATE
-
-		RESTORE_STRETCH r0
-
-		clr	a			; success
-		ret
-
-; Gets the count on the quadrature decoder chip
-; return the number of pulses (in 2-complement) since the last time
-; the counter was cleared
-; public static native int getCount()
-native_getCount:
-		LOAD24	#base			; get encoder address
-
-		SET_STRETCH STRETCH
-
-		ENTER_PCE_SPACE_AND_PUSH_STATE #0
-		movx	a,@dptr			; get count high byte
-		mov	r1,a			; return value in R3:R2:R1:R0
-
-		rlc	a			; sign extension to 32 bits
-		clr	a			; r1 > 0 extend with 0s
-		jnc	posextend
-		cpl	a			; r1 < 0 extend with 1s
-posextend:	mov	r2,a			; return value in R3:R2:R1:R0
-		mov	r3,a
-
-		inc	dptr
-		movx	a,@dptr			; get count low byte
-		EXIT_PCE_SPACE_AND_POP_STATE
-
-		RESTORE_STRETCH r0
-
-		mov	r0,a			; return value in R3:R2:R1:R0
-		
-		clr	a			; success
-		ret
-
-
-; Gets the count and clearsthe counter on the quadrature decoder chip
-; return the number of pulses (in 2-complement) since the last time
-; the counter was cleared
-; public static native int getCountAndClear()
-native_getCountAndClear:
-		LOAD24	#base			; get encoder address
-
-		SET_STRETCH STRETCH
-
-		ENTER_PCE_SPACE_AND_PUSH_STATE #0
-		movx	a,@dptr			; get count high byte
-		mov	r1,a			; return value in R3:R2:R1:R0
-
-		rlc	a			; sign extension to 32 bits
-		clr	a			; r1 > 0 extend with 0s
-		jnc	posextend1
-		cpl	a			; r1 < 0 extend with 1s
-posextend1:	mov	r2,a			; return value in R3:R2:R1:R0
-		mov	r3,a
-
-		inc	dptr
-		movx	a,@dptr			; get count low byte
-		movx	@dptr,a			; clear counter
-		EXIT_PCE_SPACE_AND_POP_STATE
-
-		RESTORE_STRETCH r0
-
-		mov	r0,a			; return value in R3:R2:R1:R0
-
-		clr	a			; success
-		ret
-
-		end
-
diff --git a/lib/index.a51 b/lib/index.a51
deleted file mode 100644
index bff12f8..0000000
--- a/lib/index.a51
+++ /dev/null
@@ -1,77 +0,0 @@
-;******************************************************************************
-;
-;			Actuator Interface Card
-;			  Index Function
-;	Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-;    This program is free software; you can redistribute it and/or modify
-;    it under the terms of the GNU General Public License as published by
-;    the Free Software Foundation; either version 2 of the License, or
-;    (at your option) any later version.
-;
-;    This program is distributed in the hope that it will be useful,
-;    but WITHOUT ANY WARRANTY; without even the implied warranty of
-;    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-;    GNU General Public License for more details.
-;
-;    You should have received a copy of the GNU General Public License
-;    along with this program; if not, write to the Free Software
-;    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-;    You can also obtain a copy of the GNU General Public License
-;    at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-$include(tini.inc)
-$include(ds80c390.inc)
-$include(tinimacro.inc)
-
-$include(aicpld.inc)
-$include(aicmacro.inc)
-
-; data saved in big-endian mode
-; Index  base address
-index_base:	db	0,0,0
-
-; Initializes Index
-; void index_initialize(unsigned long base);
-index_initialize:
-		mov	r0,dpl			; parameter in b:dpx:dph:dpl
-		mov	r1,dph			; BUG IN SDCC MANUAL!
-		mov	r2,dpx
-		mov	r3,b
-
-		mov	dptr,#CONTROL		; compute index address
-		lcall	Add_Dptr1_24		; dptr=dptr+R2:R1:R0
-
-		STORE24	#index_base		; store index address
-
-		clr	a			; success
-		ret
-
-; Reads the sync-switch
-; returns the sync-switch state
-; unsigned long index_read(void)
-index_read:		
-		LOAD24	#index_base		; get index address
-
-		SET_STRETCH STRETCH
-
-		ENTER_PCE_SPACE_AND_PUSH_STATE #0
-		movx	a,@dptr			; read index
-		EXIT_PCE_SPACE_AND_POP_STATE
-	
-		RESTORE_STRETCH r0
-		
-		anl	a,#01h
-		mov	dpl,a			; return value in b:dpx:dph:dpl
-		clr	a			; BUG IN SDCC MANUAL!
-		mov	dph,a
-		mov	dpx,a
-		mov	b,a
-		
-		ret
-
-		end
-
diff --git a/lib/pwm.a51 b/lib/pwm.a51
deleted file mode 100644
index 7370e5b..0000000
--- a/lib/pwm.a51
+++ /dev/null
@@ -1,372 +0,0 @@
-;******************************************************************************
-;
-;			Actuator Interface Card
-;			     PWM Functions
-;	Copyright (C) 2004, 2005 Walter Fetter Lages <w.fetter@ieee.org>
-;
-;    This program is free software; you can redistribute it and/or modify
-;    it under the terms of the GNU General Public License as published by
-;    the Free Software Foundation; either version 2 of the License, or
-;    (at your option) any later version.
-;
-;    This program is distributed in the hope that it will be useful,
-;    but WITHOUT ANY WARRANTY; without even the implied warranty of
-;    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-;    GNU General Public License for more details.
-;
-;    You should have received a copy of the GNU General Public License
-;    along with this program; if not, write to the Free Software
-;    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-;
-;    You can also obtain a copy of the GNU General Public License
-;    at <http://www.gnu.org/licenses>.
-;
-;*******************************************************************************
-
-$include(tini.inc)
-$include(ds80c390.inc)
-$include(tinimacro.inc)
-
-$include(i8254.inc)
-$include(aicpld.inc)
-$include(aicmacro.inc)
-
-
-; data saved in big-endian mode
-; PWM base address
-pwm_base:	db	0,0,0
-
-; PWM frequency in cycles of 10MHz
-pwm_max_count:	db	0,0
-
-; minimal value to load in PWM
-pwm_min_count:	db	0,0
-
-; Control Register base address
-pwm_ctrl_base:	db	0,0,0
-
-; Sets the frequency of PWM in cycles of 10MHz
-; void pwm_set_count(unsigned int count)
-pwm_set_count:	
-		mov	r0,dpl			; parameter in dph:dpl
-		mov	r1,dph			; BUG IN SDCC MANUAL!
-
-		LOAD24	#pwm_base		; get PWM address
-
-		mov	a,#CTRL_8254		; compute control register address
-		ADD_DPTR_0_A
-
-		mov	b,r0			; save parameter LSB
-
-		SET_STRETCH STRETCH
-
-		ENTER_PCE_SPACE_AND_PUSH_STATE #0
-		mov	a,#RATE_BIN_8254	; set timer 0 mode
-		movx	@dptr,a
-
-		mov	a,#ONE_SHOT_BIN_8254	; set timer 1 mode
-		orl	a,#40h			; select timer 1
-		movx	@dptr,a
-
-; program timer 0 with count
-
-		mov	a,DPS			; point dptr to timer 0
-		orl	DPS,#0c0h		; avoids extern memory access
-		inc	dptr			; actualy decrement
-		inc	dptr			; due to DPS value
-		inc	dptr
-		mov	DPS,a
-
-		mov	a,b			; program timer 0 lsB
-		movx	@dptr,a
-		mov	r2,a			; save count lsB
-
-		mov	a,r1			; program timer 0 msB
-		movx	@dptr,a
-
-		EXIT_PCE_SPACE_AND_POP_STATE
-
-		inc	DPS			; save count 
-		mov	dptr,#pwm_max_count
-		movx	@dptr,a			; store count msB
-		inc	dptr
-		mov	a,r2			; store count lsB
-		movx	@dptr,a
-		inc	DPS
-
-; program timer 1 with count/2
-
-duty50:		inc	dptr			; point dptr to timer 1
-
-		mov	a,r1			; compute count/2
-		clr	c
-		rrc	a
-		mov	r1,a
-		mov	a,b
-		rrc	a
-
-		ENTER_PCE_SPACE_AND_PUSH_STATE #0
-		movx	@dptr,a			; program timer 1 lsB
-		mov	a,r1			; program timer 1 msB
-		movx	@dptr,a
-		EXIT_PCE_SPACE_AND_POP_STATE
-		
-		RESTORE_STRETCH r0
-
-		clr	a			; success
-		ret
-
-; Initializes PWM
-; void pwm_initialize(unsigned long base,unsigned int min_count,unsigned int count);
-pwm_initialize:
-		clr	a
-		lcall	Natlib_LoadPrimitive	; get first parameter in R3:R2:R1:R0
-
-		push	R0_B0
-		push	R1_B0
-		push	R2_B0
-
-		mov	dptr,#CONTROL		; compute Control address
-		lcall	Add_Dptr1_24		; dptr=dptr+R2:R1:R0
-
-		STORE24	#pwm_ctrl_base		; store Control register address
-
-		pop	R2_B0
-		pop	R1_B0
-		pop	R0_B0
-
-		mov	dptr,#PWM		; compute PWM address
-		lcall	Add_Dptr1_24		; dptr=dptr+R2:R1:R0
-
-		STORE24	#pwm_base		; store PWM address
-
-		mov	a,#1h
-		lcall	Natlib_LoadPrimitive	; get second parameter in R3:R2:R1:R0
-		mov	dptr,#pwm_min_count	; stores it
-		mov	a,r1
-		movx	@dptr,a
-		inc	dptr
-		mov	a,r0
-		movx	@dptr,a
-
-		mov	a,#2h
-		lcall	Natlib_LoadPrimitive	; get third parameter in R3:R2:R1:R0
-
-		ljmp	pwm_set_count		; fall over to native_setCount
-
-
-; Finalizes PWM
-; void finalize(void)
-pwm_finalize:
-		LOAD24	#pwm_base		; get pwm address
-
-		inc	DPS			; get count msB
-		mov	dptr,#pwm_max_count
-		movx	a,@dptr
-		mov	r1,a
-		inc	dptr			; get count lsB
-		movx	a,@dptr
-		mov	b,a
-		inc	DPS
-
-		SET_STRETCH STRETCH
-
-		ljmp	duty50			; fall over to native pwm_set_count
-
-
-; Sets the duty-cycle of PWM
-; unsigned long pwm_set_duty(unsigned long dutycycle)
-pwm_set_duty:
-		mov	r0,dpl			; parameter in b:dpx:dph:dpl
-		mov	r1,dph			; BUG IN SDCC MANUAL!
-		mov	r2,dpx
-		mov	r3,b
-
-		mov	a,r3			; ensures R3:R2:R1:R0 >= 0
-		jnb	ACC.7,parmpos		
-
-		clr	a			; forces R3:R2:R1:R0=0
-		mov	r3,a
-		mov	r2,a
-		mov	r1,a
-		mov	r0,a
-		ljmp	parmok
-
-parmpos:	cjne	r3,#00,parmabove	; ensures R3:R2:R1:R0 <= 1000000
-		clr	c
-		mov	a,r0			; 1000000=0f4240h
-		subb	a,#40h
-		mov	a,r1
-		subb	a,#42h
-		mov	a,r2
-		subb	a,#0fh
-		jc	parmok
-
-parmabove:	mov	r3,#00h			; forces R3:R2:R1:R0=1000000
-		mov	r2,#0fh
-		mov	r1,#42h
-		mov	r0,#40h
-
-parmok:		
- 		TINIOS_ENTER_CRITICAL_SECTION
-
-		mov	MCNT1,#10h		; MST=0,MOF=0,SCB=0,CLM=1
-		mov	MA,r0			; R3:R2:R1:R0 >> 4 using
-		mov	MA,r1			; math acelerator
-		mov	MA,r2
-		mov	MA,r3
-		mov	MCNT0,#0a4h		;/LSHIFT=1,CSE=0,SCE=1,MAS40=4
-waitshift:	mov	a,MCNT1
-		jb	ACC.7,waitshift		; wait MST cleared
-
-		mov	a,MA			; the result is 16 bits
-		mov	a,MA			; discard upper 16 bits
-		mov	r1,MA
-		mov	r0,MA
-
-		mov	MCNT1,#00h		; R1:R0 * max_count using 
-		mov	MB,r0			; math accelarator
-		mov	MB,r1
-		mov	dptr,#pwm_max_count		; load max_count in R1_B1:R0:B1
-		movx	a,@dptr	
-		mov	R1_B1,a
-		inc	dptr
-		movx	a,@dptr
-		mov	R0_B1,a
-		mov	MA,a
-		mov	a,R1_B1
-		mov	MA,a
-waitmult:	mov	a,MCNT1
-		jb	ACC.7,waitmult		; wait MST cleared
-
-		mov	r3,MA
-		mov	r2,MA
-		mov	r1,MA
-		mov	r0,MA
-
-		mov	MCNT1,#00h		;R1:R0*max_count/(1000000/16) using 
-		mov	MA,r0			; math accelarator
-		mov	MA,r1
-		mov	MA,r2
-		mov	MA,r3
-		mov	MB,#24h			; 1000000/16=F424h
-		mov	MB,#0f4h
-waitdiv:	mov	a,MCNT1
-		jb	ACC.7,waitdiv		; wait MST cleared
-
-		mov	a,MA			; The result should be 16 bits
-		mov	a,MA			; upper 16 bits discarded
-		mov	r1,MA
-		mov	r0,MA
-
-		TINIOS_EXIT_CRITICAL_SECTION
-
-		clr	c			; computes count
-		mov	a,R0_B1
-		subb	a,r0
-		mov	r0,a
-		mov	a,R1_B1
-		subb	a,r1
-		mov	r1,a
-
-		mov	dptr,#pwm_min_count		; check if count < min_count
-		movx	a,@dptr
-		mov	r3,a
-		inc	dptr
-		movx	a,@dptr
-		mov	r2,a
-
-		clr	c
-		mov	a,r0
-		subb	a,r2
-		mov	a,r1
-		subb	a,r3
-		jnc	countabove
-		mov	r0,R2_B0
-		mov	r1,R3_B0
-		ljmp	countok
-		
-
-countabove:	clr	c			; check if count > max_count-min_count	
-		mov	a,R0_B1			; computes max_count - min_count
-		subb	a,r2
-		mov	r2,a
-		mov	a,R1_B1
-		subb	a,r3
-		mov	r3,a
-		
-		clr	c
-		mov	a,r0
-		subb	a,r2
-		mov	a,r1
-		subb	a,r3
-		jc	countok
-		mov	r0,R2_B0
-		mov	r1,R3_B0
-
-countok:	LOAD24	#pwm_base		; get PWM address
-
-		mov	a,#TIMER1_8254		; compute timer 1 address
-		ADD_DPTR_0_A
-
-		mov	b,r0			; save count LSB
-
-		SET_STRETCH STRETCH
-
-		ENTER_PCE_SPACE_AND_PUSH_STATE #0
-		mov	a,b
-		movx	@dptr,a			; program timer 1 lsB
-		mov	a,r1			; program timer 1 msB
-		movx	@dptr,a
-		EXIT_PCE_SPACE_AND_POP_STATE
-		
-		RESTORE_STRETCH r0		; restore original stretch value		
-
-		mov	dpl,b			; return count in b:dbx:dph:dpl
-		mov	dph,r1
-				
-		clr	a
-
-		mov	dpx,a
-		mov	b,a
-
-		ret
-
-
-
-; Turns the PWM on
-; void pwm_on(void)
-pwm_on: 
-		LOAD24	#pwm_ctrl_base		; get control register address
-
-		SET_STRETCH STRETCH
-
-		ENTER_PCE_SPACE_AND_PUSH_STATE #0
-		mov	a,#PWMENABLE		; enable PWM
-		movx	@dptr,a
-		EXIT_PCE_SPACE_AND_POP_STATE		
-
-		RESTORE_STRETCH r0
-
-		clr	a			; success
-		ret
-
-; Turns the PWM off
-; void pwm_off(void)
-pwm_off: 
-		LOAD24	#pwm_ctrl_base		; get control register address
-
-		SET_STRETCH STRETCH
-
-		ENTER_PCE_SPACE_AND_PUSH_STATE #0
-		mov	a,#PWMDISABLE		; disable PWM
-		movx	@dptr,a
-		EXIT_PCE_SPACE_AND_POP_STATE
-		
-		RESTORE_STRETCH r0
-
-		clr	a			; success
-		ret
-
-		end
-
diff --git a/lib/tlib/Makefile b/lib/tlib/Makefile
index 89fb511..aec5600 100644
--- a/lib/tlib/Makefile
+++ b/lib/tlib/Makefile
@@ -1,37 +1,8 @@
-CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:.
-APIDBPATH=-d /opt/tini/bin/tini.db
-PKGPATH=br/ufrgs/eletro/AIC
-JAVAFLAGS=-O -target 1.1 -source 1.3
-
-NATINC=/opt/tini/native/lib
-ASMINC=../../include
-TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc
-ASMOPT=-f 1.15 -p 390 -l
-ASMMACRO=/opt/tini/native/bin/Linux/macro
-ASM=/opt/tini/native/bin/Linux/a390
-
-CFLAGS = -O2 -Wall -march=i486
-INCLUDE = -I. -I${HOME}/include
-
-CPPFLAGS =
-CPPINCLUDE = -I${HOME}/include/cpp -I/usr/local/include/cpp -I../../include
-LIB = ${HOME}/lib
-
-LIBINST=/usr/local/lib
-INCLUDEINST=/usr/local/include
-
-INCLUDE=${CINCLUDE} ${CPPINCLUDE}
-FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
-LIBDIR=${CLIBDIR} ${CPPLIBDIR}
-LIBS=${CLIBS} ${CPPLIBS}
-
-CMP=		g++
-CMPFLAGS=	${FLAGS} ${INCLUDE}
-LDFLAGS=	${LIBDIR} ${LIBS}
+ASMINC:=../${ASMINC}
+TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc ${ASMINC}/apiequ.inc
 
 all: brake.mpp index.mpp encoder.mpp pwm.mpp
 
-
 ${ASMINC}/tini.inc: ${NATINC}/tini.inc
 	ln -s ${NATINC}/tini.inc ${ASMINC}/tini.inc
 
@@ -40,6 +11,9 @@ ${ASMINC}/tinimacro.inc: ${NATINC}/tinimacro.inc
 
 ${ASMINC}/ds80c390.inc: ${NATINC}/ds80c390.inc
 	ln -s ${NATINC}/ds80c390.inc ${ASMINC}/ds80c390.inc
+	
+${ASMINC}/apiequ.inc: ${NATINC}/apiequ.inc
+	ln -s ${NATINC}/apiequ.inc ${ASMINC}/apiequ.inc	
 
 brake.mpp: brake.a51 ${TINIINC}
 	${ASMMACRO} -I${ASMINC} -e- brake.a51
diff --git a/motortst/Makefile b/motortst/Makefile
index 440f65e..125430a 100644
--- a/motortst/Makefile
+++ b/motortst/Makefile
@@ -1,26 +1,7 @@
-CFLAGS=-O2 -Wall -march=i486
-CINCLUDE=-I${HOME}/include
-CLIBDIR=-L${HOME}/lib
-CLIBS=-lcutil -lconio -lncurses -lcanlib
-
-CPPFLAGS=
-CPPINCLUDE=-I../include -I${HOME}/include/cpp -I/usr/local/include/cpp
-CPPLIBDIR=-L../lib -L${HOME}/lib/cpp -L${HOME}/lib
-CPPLIBS=-lcpputil -laic
-
-INCLUDE=${CINCLUDE} ${CPPINCLUDE}
-FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG
-LIBDIR=${CLIBDIR} ${CPPLIBDIR}
-LIBS=${CLIBS} ${CPPLIBS}
-
-CMP=		g++
-CMPFLAGS=	${FLAGS} ${INCLUDE}
-LDFLAGS=	${LIBDIR} ${LIBS}
-
 all: motortst
 
 motortst: motortst.cpp ../lib/libaic.a
-	${CMP} ${CMPFLAGS} -o motortst motortst.cpp ${LDFLAGS}
+	${CXX} ${CMPFLAGS} -o motortst motortst.cpp ${LDFLAGS}
 
 clean:
 	rm -f *~ *.bak *.o
diff --git a/pid/Makefile b/pid/Makefile
index 5992b86..6e9ce67 100644
--- a/pid/Makefile
+++ b/pid/Makefile
@@ -1,36 +1,10 @@
-PRJLIBDIR=../lib
-PRJINCLUDE=../include
-PRJFLAGS=-DVERBOSE
-
-CFLAGS=-O2 -Wall -march=i486
-CINCLUDE=-I. -I${HOME}/include -I/usr/local/include -I/usr/realtime/include
-CLIBDIR=-L${HOME}/lib -L/usr/local/lib
-CLIBS=-lcutil -lpthread -lcanlib
-
-CPPFLAGS=
-CPPINCLUDE=-I${HOME}/include/cpp -I/usr/local/include/cpp -I../include
-CPPLIBDIR=-L${HOME}/lib/cpp -L../lib
-CPPLIBS=-laic -lcpputil -lcontrol
-
-INCLUDE=${CINCLUDE} ${CPPINCLUDE}
-FLAGS= ${CFLAGS} ${CPPFLAGS}
-LIBDIR=${CLIBDIR} ${CPPLIBDIR}
-LIBS=${CPPLIBS} ${CLIBS}
-
-CMP=		g++
-CMPFLAGS=	${FLAGS} ${INCLUDE} ${PRJFLAGS}
-LDFLAGS=	${LIBDIR} ${LIBS}
-CMPSWTCH=	gnu
-CMPMESSAGE=	'${?*:warning:}\"${FILE}\", line ${LINE}:* at or near * \"${COLUMN=AFTER}\"'
-
-
 all: pid .runinfo
 
-pid: pid.cpp ${PRJINCLUDE}/aic.h ${PRJLIBDIR}/libaic.a
-	${CMP} ${CMPFLAGS} -o pid pid.cpp ${LDFLAGS}
+pid: pid.cpp ../include/aic.h ../lib/libaic.a
+	${CXX} ${CMPFLAGS} -o pid pid.cpp ${LDFLAGS}
 
-${PRJLIBDIR}/libaic.a:
-	$(MAKE) -C ${PRJLIBDIR}
+../lib/libaic.a:
+	$(MAKE) -C ../lib
 
 clean:
 	rm -f *~ *.bak *.o
@@ -40,5 +14,5 @@ install:
 distclean: clean
 	rm -f pid *.dat .runinfo
 
-.runinfo: runinfo
-	cp runinfo .runinfo
+.runinfo:
+	echo "pid:lxrt:./pid;popall:" > .runinfo