commit to merge from master

build.sh

 #!/bin/bash
-SPEEDS="0.75 1.0 1.5"
-SUFIXS="_NiMh _LiPo"
+SPEEDS="1.0"
+SUFIXS="_LiPo"
 INSTALLDIR=install
 function checkExit() {
 	if [ $? != 0 ]; then

include/shm.h

@@ -231,6 +231,11 @@ extern "C" {
 #define SHM_CONTROLL_PID_SCALE 0x120 /* FLOAT recalculation: new = (old * SCALE) + OFFSET */
 #define SHM_CONTROLL_PID_OFFSET 0x124 /* FLOAT recalculation: new = (old * SCALE) + OFFSET */
 
+/**
+ * FLOAT difference in speed
+ */
+#define SHM_CONTROLL_BRAKE_DIFFERENCE 0x128
+
 /**
  * Task Manager Base Address
  */

src/carolocupFirmware.c

@@ -40,7 +40,7 @@
 #include <controller.h>
 #include <taskman.h>
 #include <adc_simu.h>
-#include "../mach/am57xx/ctrl.c"
+#include <ctrl.h>
 
 /* ADD_PWM_SOFTWARE(0); */
 
@@ -290,7 +290,7 @@ static void initTask() {
 	vTaskSuspend(NULL);
 }
 
-void task_checkHandler(){
+static void task_checkHandler(){
     vTaskDelay(10000 / portTICK_PERIOD_MS);
     ctrl_checkHandler();
     vTaskSuspend(NULL);