diff --git a/communications/src/dynamixel_master.c b/communications/src/dynamixel_master.c
index 77697cd6ef31038214eaec0a82f5ea8322ecdee1..c1b445ac1b8fc594fa0d31aba5c2a31e909c09a3 100644
--- a/communications/src/dynamixel_master.c
+++ b/communications/src/dynamixel_master.c
@@ -242,7 +242,6 @@ void dyn_master_set_baudrate(uint32_t baudrate)
   divisor = (uint16_t)((uint32_t)2000000 / baudrate) - 1;
   UBRR0H = (uint8_t)((divisor & 0xFF00) >> 8);
   UBRR0L = (uint8_t)(divisor & 0x00FF);
-  dyn_master_baudrate=baudrate;
 }
 
 uint32_t dyn_master_get_baudrate(void)
diff --git a/communications/src/serial_console.c b/communications/src/serial_console.c
index 37e8008b999ecbf6cae88aef190e3c31a5161172..7842eb7d91bf8866bd014625a7a30f234339bbfd 100644
--- a/communications/src/serial_console.c
+++ b/communications/src/serial_console.c
@@ -7,7 +7,7 @@ volatile uint8_t serial_console_buffer[SERIAL_CONSOLE_MAX_BUFFER_LEN];
 volatile uint8_t serial_console_read_ptr;
 volatile uint8_t serial_console_write_ptr;
 volatile uint8_t serial_console_num_data;
-static FILE *serial_console_device;
+static FILE *device;
 
 /* interrupt handlers */
 SIGNAL(USART1_RX_vect)
@@ -95,5 +95,5 @@ void serial_console_init(uint32_t baudrate)
 
   // set baudrate
   serial_console_set_baudrate(baudrate);
-  serial_console_device=fdevopen(serial_console_putchar,serial_console_getchar);
+  device=fdevopen(serial_console_putchar,serial_console_getchar);
 }
diff --git a/controllers/src/user_time.c b/controllers/src/user_time.c
index 959113c53894f9184c4d739d8711a71da5e9513e..90a29a408040df38c986d49bd3ea1a76e0badb42 100644
--- a/controllers/src/user_time.c
+++ b/controllers/src/user_time.c
@@ -4,13 +4,13 @@
 uint8_t user_time_single;
 uint16_t user_time_time;
 uint16_t user_time_period;
-uint16_t user_time_count;
 volatile uint8_t user_time_done;
 volatile uint8_t user_time_period_done;
 
 /* private funcitons */
 void user_time_loop(void)
 {
+  static uint16_t count=0;
 
   if(TIFR5&(1<<OCF5A))
   {
@@ -19,24 +19,24 @@ void user_time_loop(void)
     TCNT5L=0x00;
     if(user_time_single==0x01)
     {
-      if(user_time_count==user_time_time)
+      if(count==user_time_time)
       {
-        user_time_count=0;
+        count=0;
         user_time_done=0x01;
         TCCR5B&=0xF8;// disable timer 
       }
       else
-        user_time_count++;
+        count++;
     }
     else
     {
-      if(user_time_count==user_time_period)
+      if(count==user_time_period)
       {
-        user_time_count=0;
+        count=0;
         user_time_period_done=0x01;
       }
       else
-        user_time_count++;
+        count++;
     }
   }
 }
@@ -63,9 +63,8 @@ void init_user_time(void)
 
   /* initialize internal variables */
   user_time_single=0x00;
-  user_time_time=0x0000;
-  user_time_period=0x0000;
-  user_time_count=0x0000;
+  user_time_time=0x00;
+  user_time_period=0x00;
   user_time_done=0x00;
   user_time_period_done=0x00;
 }
@@ -75,7 +74,6 @@ void user_time_set_period(uint16_t period_ms)
   user_time_single=0x00;
   user_time_period=period_ms/100;
   user_time_period_done=0x00;
-  user_time_count=0x0000;
   TCNT5H=0x00;                   
   TCNT5L=0x00;
   TIFR5=0x2F;// clear any pending interrupt
@@ -88,7 +86,6 @@ void user_time_set_one_time(uint16_t time_ms)
   user_time_single=0x01;
   user_time_time=time_ms/100;
   user_time_done=0x00;
-  user_time_count=0x0000;
   TCNT5H=0x00;                   
   TCNT5L=0x00;
   TIFR5=0x2F;// clear any pending interrupt
@@ -124,7 +121,6 @@ void user_time_stop(void)
   TIFR5|=(1<<OCF5A);// clear any interrupt
   TCNT5H=0x00;                   
   TCNT5L=0x00;
-  user_time_count=0x0000;
   user_time_period_done=0x00;  
   user_time_done=0x00;  
 }
diff --git a/dyn_devices/include/exp_board.h b/dyn_devices/include/exp_board.h
index 4e2da9b9166b68aeb70cc3eeae5ec710ad23d767..194b698b6e43e7cd33571c147fb5801d60724904 100755
--- a/dyn_devices/include/exp_board.h
+++ b/dyn_devices/include/exp_board.h
@@ -42,75 +42,75 @@ typedef enum {ADC0=0,ADC1,ADC2,ADC3,ADC4,ADC5,ADC6,ADC7} adc_id_t;
 uint8_t exp_board_init(uint8_t board_id);
 
 /* ADC interface */
-uint8_t exp_adc_start(void);
-uint8_t exp_adc_stop(void);
-uint8_t exp_adc_is_running(void);
-uint8_t exp_adc_set_average_samples(uint8_t num);
-uint8_t exp_adc_get_average_samples(void);
-uint8_t exp_adc_set_sample_period(uint8_t period_ms);
-uint8_t exp_adc_get_sample_period(void);
-uint16_t exp_adc_get_channel(adc_id_t channel_id);
-uint16_t exp_adc_get_avg_channel(adc_id_t channel_id);
+uint8_t adc_start(void);
+uint8_t adc_stop(void);
+uint8_t adc_is_running(void);
+uint8_t adc_set_average_samples(uint8_t num);
+uint8_t adc_get_average_samples(void);
+uint8_t adc_set_sample_period(uint8_t period_ms);
+uint8_t adc_get_sample_period(void);
+uint16_t adc_get_channel(adc_id_t channel_id);
+uint16_t adc_get_avg_channel(adc_id_t channel_id);
 /* GPIO interface */
-uint8_t exp_gpio_config(gpio_id_t gpio_id, uint8_t dir);
-uint8_t exp_gpio_get_value(gpio_id_t gpio_id);
-uint8_t exp_gpio_set_value(gpio_id_t gpio_id, uint8_t level);
-uint8_t exp_gpio_set_led(void);
-uint8_t exp_gpio_clear_led(void);
-uint8_t exp_gpio_get_switches(void); 
+uint8_t gpio_config(gpio_id_t gpio_id, uint8_t dir);
+uint8_t gpio_get_value(gpio_id_t gpio_id);
+uint8_t gpio_set_value(gpio_id_t gpio_id, uint8_t level);
+uint8_t gpio_set_led(void);
+uint8_t gpio_clear_led(void);
+uint8_t gpio_get_switches(void); 
 /* PWM interface */
-uint8_t exp_pwm_start(void);
-uint8_t exp_pwm_stop(void);
-uint8_t exp_pwm_is_running(void);
-uint8_t exp_pwm_enable_ch(pwm_id_t pwm_id);
-uint8_t exp_pwm_disable_ch(pwm_id_t pwm_id);
-uint8_t exp_pwm_is_channel_enabled(pwm_id_t pwm_id);
-uint8_t exp_pwm_set_frequency(uint16_t freq_hz);
-uint16_t exp_pwm_get_frequency(void);
-uint8_t exp_pwm_set_duty_cycle(pwm_id_t pwm_id, uint8_t duty);
-uint8_t exp_pwm_get_duty_cycle(pwm_id_t pwm_id);
+uint8_t pwm_start(void);
+uint8_t pwm_stop(void);
+uint8_t pwm_is_running(void);
+uint8_t pwm_enable_ch(pwm_id_t pwm_id);
+uint8_t pwm_disable_ch(pwm_id_t pwm_id);
+uint8_t pwm_is_channel_enabled(pwm_id_t pwm_id);
+uint8_t pwm_set_frequency(uint16_t freq_hz);
+uint16_t pwm_get_frequency(void);
+uint8_t pwm_set_duty_cycle(pwm_id_t pwm_id, uint8_t duty);
+uint8_t pwm_get_duty_cycle(pwm_id_t pwm_id);
 /* DAC interface */
-uint8_t exp_dac_start(void);
-uint8_t exp_dac_stop(void);
-uint8_t exp_dac_is_running(void);
-uint8_t exp_dac_enable_ch(dac_id_t dac_id);
-uint8_t exp_dac_disable_ch(dac_id_t dac_id);
-uint8_t exp_dac_is_channel_enabled(dac_id_t dac_id);
-uint8_t exp_dac_set_voltage(dac_id_t dac_id, uint16_t voltage_mv);
-uint16_t exp_dac_get_voltage(dac_id_t dac_id);
+uint8_t dac_start(void);
+uint8_t dac_stop(void);
+uint8_t dac_is_running(void);
+uint8_t dac_enable_ch(dac_id_t dac_id);
+uint8_t dac_disable_ch(dac_id_t dac_id);
+uint8_t dac_is_channel_enabled(dac_id_t dac_id);
+uint8_t dac_set_voltage(dac_id_t dac_id, uint16_t voltage_mv);
+uint16_t dac_get_voltage(dac_id_t dac_id);
 /* compass interface */
-uint8_t exp_compass_start(void);
-uint8_t exp_compass_stop(void);
-uint8_t exp_compass_is_running(void);
-uint8_t exp_compass_start_calibration(void);
-uint8_t exp_compass_stop_calibration(void);
-uint8_t exp_compass_is_calibrating(void);
-uint8_t exp_compass_set_avg_samples(uint8_t num_samples);
-uint8_t exp_compass_get_avg_samples(void);
-uint16_t exp_compass_get_heading(void);
-uint16_t exp_compass_get_avg_heading(void);
+uint8_t compass_start(void);
+uint8_t compass_stop(void);
+uint8_t compass_is_running(void);
+uint8_t compass_start_calibration(void);
+uint8_t compass_stop_calibration(void);
+uint8_t compass_is_calibrating(void);
+uint8_t compass_set_avg_samples(uint8_t num_samples);
+uint8_t compass_get_avg_samples(void);
+uint16_t compass_get_heading(void);
+uint16_t compass_get_avg_heading(void);
 /* TTL UART interface */
-uint8_t exp_uart_ttl_start(void);
-uint8_t exp_uart_ttl_stop(void);
-uint8_t exp_uart_ttl_is_running(void);
-uint8_t exp_uart_ttl_set_baudrate(uint16_t baudrate);
-uint16_t exp_uart_ttl_get_baudrate(void);
-uint8_t exp_uart_ttl_send_byte(uint8_t data);
-uint8_t exp_uart_ttl_is_sending(void);
-uint8_t exp_uart_ttl_send_vector(uint8_t *data, uint16_t length);
-uint8_t exp_uart_ttl_is_data_available(void);
-uint8_t exp_uart_ttl_receive_data(void);
+uint8_t uart_ttl_start(void);
+uint8_t uart_ttl_stop(void);
+uint8_t uart_ttl_is_running(void);
+uint8_t uart_ttl_set_baudrate(uint16_t baudrate);
+uint16_t uart_ttl_get_baudrate(void);
+uint8_t uart_ttl_send_byte(uint8_t data);
+uint8_t uart_ttl_is_sending(void);
+uint8_t uart_ttl_send_vector(uint8_t *data, uint16_t length);
+uint8_t uart_ttl_is_data_available(void);
+uint8_t uart_ttl_receive_data(void);
 /* USB UART interface */
-uint8_t exp_uart_usb_start(void);
-uint8_t exp_uart_usb_stop(void);
-uint8_t exp_uart_usb_is_running(void);
-uint8_t exp_uart_usb_set_baudrate(uint16_t baudrate);
-uint16_t exp_uart_usb_get_baudrate(void);
-uint8_t exp_uart_usb_send_byte(uint8_t data);
-uint8_t exp_uart_usb_is_sending(void);
-uint8_t exp_uart_usb_send_vector(uint8_t *data, uint16_t length);
-uint8_t exp_uart_usb_is_data_available(void);
-uint8_t exp_uart_usb_receive_data(void);
+uint8_t uart_usb_start(void);
+uint8_t uart_usb_stop(void);
+uint8_t uart_usb_is_running(void);
+uint8_t uart_usb_set_baudrate(uint16_t baudrate);
+uint16_t uart_usb_get_baudrate(void);
+uint8_t uart_usb_send_byte(uint8_t data);
+uint8_t uart_usb_is_sending(void);
+uint8_t uart_usb_send_vector(uint8_t *data, uint16_t length);
+uint8_t uart_usb_is_data_available(void);
+uint8_t uart_usb_receive_data(void);
 
 #ifdef __cplusplus
 }
diff --git a/dyn_devices/src/examples/exp_board_ex.c b/dyn_devices/src/examples/exp_board_ex.c
index ee0ab205bf38694e919998d97cd91e06bdb48f28..25e1cbc17966b46c69594e0649fdc22ae7a82b5f 100755
--- a/dyn_devices/src/examples/exp_board_ex.c
+++ b/dyn_devices/src/examples/exp_board_ex.c
@@ -34,26 +34,26 @@ int main(void)
   {
     printf("expansion baord found\n");
     /* GPIO test */
-/*    if(exp_gpio_config(GPIO0,GPIO_OUT))
+/*    if(gpio_config(GPIO0,GPIO_OUT))
       printf("Error configuring the GPIO0 pin\n");
-    if(exp_gpio_config(GPIO1,GPIO_IN))
+    if(gpio_config(GPIO1,GPIO_IN))
       printf("Error configuring the GPIO1 pin\n");
     for(i=0;i<10;i++)
     {
-      if(exp_gpio_set_value(0,1))
+      if(gpio_set_value(0,1))
         printf("Error Error setting the value of the GPIO0 pin\n");
-      if(exp_gpio_get_value(GPIO1)==0x01)
+      if(gpio_get_value(GPIO1)==0x01)
         printf("GPIO pin is HIGH\n");
-      else if(exp_gpio_get_value(GPIO1)==0x00)
+      else if(gpio_get_value(GPIO1)==0x00)
         printf("GPIO pin is LOW\n");
       else
         printf("Error getting the GPIO1 value\n");
       _delay_ms(1000);
-      if(exp_gpio_set_value(0,0))
+      if(gpio_set_value(0,0))
         printf("Error Error setting the value of the GPIO1 pin\n");
-      if(exp_gpio_get_value(GPIO1)==0x00)
+      if(gpio_get_value(GPIO1)==0x00)
         printf("GPIO pin is LOW\n");
-      else if(exp_gpio_get_value(GPIO1)==0x01)
+      else if(gpio_get_value(GPIO1)==0x01)
         printf("GPIO pin is HIGH\n");
       else
         printf("Error getting the GPIO1 value\n");
@@ -62,82 +62,82 @@ int main(void)
     /* LED and switches test */
 /*    for(i=0;i<10;i++)
     {
-      exp_gpio_set_led();
-      printf("Switches value: %d\n",exp_gpio_get_switches());
+      gpio_set_led();
+      printf("Switches value: %d\n",gpio_get_switches());
       _delay_ms(1000);
-      exp_gpio_clear_led();
-      printf("Switches value: %d\n",exp_gpio_get_switches());
+      gpio_clear_led();
+      printf("Switches value: %d\n",gpio_get_switches());
       _delay_ms(1000);
     }*/
     /* PWM test */
-/*    exp_pwm_start();
-    exp_pwm_set_frequency(1000);
-    exp_pwm_enable_ch(PWM0);
+/*    pwm_start();
+    pwm_set_frequency(1000);
+    pwm_enable_ch(PWM0);
     for(i=0;i<10;i++)
     {
-      exp_pwm_set_duty_cycle(PWM0,25);
+      pwm_set_duty_cycle(PWM0,25);
       _delay_ms(1000);
-      exp_pwm_set_duty_cycle(PWM0,50);
+      pwm_set_duty_cycle(PWM0,50);
       _delay_ms(1000);
-      exp_pwm_set_duty_cycle(PWM0,75);
+      pwm_set_duty_cycle(PWM0,75);
       _delay_ms(1000);
     }
-    exp_pwm_stop();*/
+    pwm_stop();*/
     /* DAC test */
-/*    exp_dac_start();
-    exp_dac_enable_ch(DAC0);
+/*    dac_start();
+    dac_enable_ch(DAC0);
     for(i=0;i<10;i++)
     {
-      exp_dac_set_voltage(DAC0,1000); 
-      printf("Volatge: %d mV\n",exp_dac_get_voltage(DAC0));
+      dac_set_voltage(DAC0,1000); 
+      printf("Volatge: %d mV\n",dac_get_voltage(DAC0));
       _delay_ms(1000);
-      exp_dac_set_voltage(DAC0,2000); 
-      printf("Volatge: %d mV\n",exp_dac_get_voltage(DAC0));
+      dac_set_voltage(DAC0,2000); 
+      printf("Volatge: %d mV\n",dac_get_voltage(DAC0));
       _delay_ms(1000);
-      exp_dac_set_voltage(DAC0,3000); 
-      printf("Volatge: %d mV\n",exp_dac_get_voltage(DAC0));
+      dac_set_voltage(DAC0,3000); 
+      printf("Volatge: %d mV\n",dac_get_voltage(DAC0));
       _delay_ms(1000);
-      exp_dac_set_voltage(DAC0,4000); 
-      printf("Volatge: %d mV\n",exp_dac_get_voltage(DAC0));
+      dac_set_voltage(DAC0,4000); 
+      printf("Volatge: %d mV\n",dac_get_voltage(DAC0));
       _delay_ms(1000);
     }
-    exp_dac_stop();*/
+    dac_stop();*/
     /* compass test */
-    exp_compass_start();
-    printf("Number of samples to average: %d\n",exp_compass_get_avg_samples());
+    compass_start();
+    printf("Number of samples to average: %d\n",compass_get_avg_samples());
     for(i=0;i<100;i++)
     {
-      printf("Current heading: %d\n",exp_compass_get_heading());
-      printf("Current averaged heading: %d\n",exp_compass_get_avg_heading());
+      printf("Current heading: %d\n",compass_get_heading());
+      printf("Current averaged heading: %d\n",compass_get_avg_heading());
       _delay_ms(1000);
     }
-    exp_compass_stop();
+    compass_stop();
     /* ADC test */
-/*    exp_adc_start();
-    printf("Number of samples to average: %d\n",exp_adc_get_average_samples());
-    printf("Sampling period: %d ms\n",exp_adc_get_sample_period());
+/*    adc_start();
+    printf("Number of samples to average: %d\n",adc_get_average_samples());
+    printf("Sampling period: %d ms\n",adc_get_sample_period());
     for(i=0;i<100;i++)
     {
-      printf("Current voltage at ADC0: %d mV\n",exp_adc_get_channel(ADC0));
-      printf("Current averaged voltage at ADC0: %d mV\n",exp_adc_get_avg_channel(ADC0));
+      printf("Current voltage at ADC0: %d mV\n",adc_get_channel(ADC0));
+      printf("Current averaged voltage at ADC0: %d mV\n",adc_get_avg_channel(ADC0));
       _delay_ms(1000);
     }
-    exp_adc_stop();*/
+    adc_stop();*/
     /* UART USB test */
-/*    exp_uart_usb_start();
-    printf("current baudrate: %d\n",exp_uart_usb_get_baudrate());
+/*    uart_usb_start();
+    printf("current baudrate: %d\n",uart_usb_get_baudrate());
     for(i=0;i<10;i++)
     {
-      while(!exp_uart_usb_is_data_available())
+      while(!uart_usb_is_data_available())
         _delay_ms(100);
-      data=exp_uart_usb_receive_data();
+      data=uart_usb_receive_data();
       printf("Received data: %d\n",data);
-      exp_uart_usb_send_byte(data);
-      while(exp_uart_usb_is_sending())
+      uart_usb_send_byte(data);
+      while(uart_usb_is_sending())
         _delay_ms(100);
       printf("data sent\n");
     }
-    exp_uart_usb_stop();*/
+    uart_usb_stop();*/
   }
   else
     printf("expansion board not found\n"); 
diff --git a/dyn_devices/src/exp_board/exp_board.c b/dyn_devices/src/exp_board/exp_board.c
index 7d77cb0e538bca29f93cb3df5ebfee74edef67bc..e37dbc70befed751e0c2e9513ddf64bfce7ef6e6 100755
--- a/dyn_devices/src/exp_board/exp_board.c
+++ b/dyn_devices/src/exp_board/exp_board.c
@@ -91,7 +91,7 @@ uint8_t exp_board_init(uint8_t board_id)
 }
 
 /* ADC interface */
-uint8_t exp_adc_start(void)
+uint8_t adc_start(void)
 {
   if(dyn_master_write_byte(exp_board_id,ADC_CONTROL,0x01)==DYN_SUCCESS)
     return 0x00;
@@ -99,7 +99,7 @@ uint8_t exp_adc_start(void)
     return 0xFF;
 }
 
-uint8_t exp_adc_stop(void)
+uint8_t adc_stop(void)
 {
   if(dyn_master_write_byte(exp_board_id,ADC_CONTROL,0x02)==DYN_SUCCESS)
     return 0x00;
@@ -107,7 +107,7 @@ uint8_t exp_adc_stop(void)
     return 0xFF;
 }
 
-uint8_t exp_adc_is_running(void)
+uint8_t adc_is_running(void)
 {
   uint8_t status;
 
@@ -122,7 +122,7 @@ uint8_t exp_adc_is_running(void)
     return 0xFF;
 }
 
-uint8_t exp_adc_set_average_samples(uint8_t num)
+uint8_t adc_set_average_samples(uint8_t num)
 {
   if(dyn_master_write_byte(exp_board_id,ADC_NUM_SAMPLES,num)==DYN_SUCCESS)
     return 0x00;
@@ -130,7 +130,7 @@ uint8_t exp_adc_set_average_samples(uint8_t num)
     return 0xFF;
 }
 
-uint8_t exp_adc_get_average_samples(void)
+uint8_t adc_get_average_samples(void)
 {
   uint8_t num;
 
@@ -140,7 +140,7 @@ uint8_t exp_adc_get_average_samples(void)
     return 0xFF;
 }
 
-uint8_t exp_adc_set_sample_period(uint8_t period_ms)
+uint8_t adc_set_sample_period(uint8_t period_ms)
 {
   if(dyn_master_write_byte(exp_board_id,ADC_SAMPLE_PERIOD,period_ms)==DYN_SUCCESS)
     return 0x00;
@@ -148,7 +148,7 @@ uint8_t exp_adc_set_sample_period(uint8_t period_ms)
     return 0xFF;
 }
 
-uint8_t exp_adc_get_sample_period(void)
+uint8_t adc_get_sample_period(void)
 {
   uint8_t period;
 
@@ -158,7 +158,7 @@ uint8_t exp_adc_get_sample_period(void)
     return 0xFF;
 }
 
-uint16_t exp_adc_get_channel(adc_id_t channel_id)
+uint16_t adc_get_channel(adc_id_t channel_id)
 {
   uint16_t voltage;
 
@@ -168,7 +168,7 @@ uint16_t exp_adc_get_channel(adc_id_t channel_id)
     return 0xFF;
 }
 
-uint16_t exp_adc_get_avg_channel(adc_id_t channel_id)
+uint16_t adc_get_avg_channel(adc_id_t channel_id)
 {
   uint16_t voltage;
 
@@ -179,7 +179,7 @@ uint16_t exp_adc_get_avg_channel(adc_id_t channel_id)
 }
 
 /* GPIO interface */
-uint8_t exp_gpio_config(gpio_id_t gpio_id, uint8_t dir)
+uint8_t gpio_config(gpio_id_t gpio_id, uint8_t dir)
 {
   if(gpio_id<GPIO0 || gpio_id>GPIO18)
     return 0xFF;//no gpio_id valid
@@ -189,7 +189,7 @@ uint8_t exp_gpio_config(gpio_id_t gpio_id, uint8_t dir)
     return 0xFF;
 }
 
-uint8_t exp_gpio_get_value(gpio_id_t gpio_id)
+uint8_t gpio_get_value(gpio_id_t gpio_id)
 {
   uint8_t level;
 
@@ -201,7 +201,7 @@ uint8_t exp_gpio_get_value(gpio_id_t gpio_id)
     return 0xFF;
 }
 
-uint8_t exp_gpio_set_value(gpio_id_t gpio_id, uint8_t level)
+uint8_t gpio_set_value(gpio_id_t gpio_id, uint8_t level)
 {
   if(gpio_id<GPIO0 || gpio_id>GPIO18)
     return 0xFF;//no gpio_id valid
@@ -211,7 +211,7 @@ uint8_t exp_gpio_set_value(gpio_id_t gpio_id, uint8_t level)
     return 0xFF;
 }
 
-uint8_t exp_gpio_set_led(void)
+uint8_t gpio_set_led(void)
 {
   if(dyn_master_write_byte(exp_board_id,LED,0x01)==DYN_SUCCESS)
     return 0x00;
@@ -219,7 +219,7 @@ uint8_t exp_gpio_set_led(void)
     return 0xFF;
 }
 
-uint8_t exp_gpio_clear_led(void)
+uint8_t gpio_clear_led(void)
 {
   if(dyn_master_write_byte(exp_board_id,LED,0x00)==DYN_SUCCESS)
     return 0x00;
@@ -227,7 +227,7 @@ uint8_t exp_gpio_clear_led(void)
     return 0xFF;
 }
 
-uint8_t exp_gpio_get_switches(void)
+uint8_t gpio_get_switches(void)
 {
   uint8_t switches;
 
@@ -238,7 +238,7 @@ uint8_t exp_gpio_get_switches(void)
 }
 
 /* PWM interface */
-uint8_t exp_pwm_start(void)
+uint8_t pwm_start(void)
 {
   if(exp_board_pwm_present)
   {
@@ -251,7 +251,7 @@ uint8_t exp_pwm_start(void)
     return 0xFF;
 }
 
-uint8_t exp_pwm_stop(void)
+uint8_t pwm_stop(void)
 {
   if(exp_board_pwm_present)
   {
@@ -264,7 +264,7 @@ uint8_t exp_pwm_stop(void)
     return 0xFF;
 }
 
-uint8_t exp_pwm_is_running(void)
+uint8_t pwm_is_running(void)
 {
   uint8_t status;
 
@@ -284,7 +284,7 @@ uint8_t exp_pwm_is_running(void)
     return 0xFF;
 }
 
-uint8_t exp_pwm_enable_ch(pwm_id_t pwm_id)
+uint8_t pwm_enable_ch(pwm_id_t pwm_id)
 {
   if(pwm_id<PWM0 || pwm_id>PWM3)
     return 0xFF;
@@ -299,7 +299,7 @@ uint8_t exp_pwm_enable_ch(pwm_id_t pwm_id)
     return 0xFF;
 }
 
-uint8_t exp_pwm_disable_ch(pwm_id_t pwm_id)
+uint8_t pwm_disable_ch(pwm_id_t pwm_id)
 {
   if(pwm_id<PWM0 || pwm_id>PWM3)
     return 0xFF;
@@ -314,7 +314,7 @@ uint8_t exp_pwm_disable_ch(pwm_id_t pwm_id)
     return 0xFF;
 }
 
-uint8_t exp_pwm_is_channel_enabled(pwm_id_t pwm_id)
+uint8_t pwm_is_channel_enabled(pwm_id_t pwm_id)
 {
   uint8_t status;
 
@@ -336,7 +336,7 @@ uint8_t exp_pwm_is_channel_enabled(pwm_id_t pwm_id)
     return 0xFF;
 }
 
-uint8_t exp_pwm_set_frequency(uint16_t freq_hz)
+uint8_t pwm_set_frequency(uint16_t freq_hz)
 {
   if(exp_board_pwm_present)
   {
@@ -349,7 +349,7 @@ uint8_t exp_pwm_set_frequency(uint16_t freq_hz)
     return 0xFF;
 }
 
-uint16_t exp_pwm_get_frequency(void)
+uint16_t pwm_get_frequency(void)
 {
   uint16_t value;
 
@@ -364,7 +364,7 @@ uint16_t exp_pwm_get_frequency(void)
     return 0xFFFF;
 }
 
-uint8_t exp_pwm_set_duty_cycle(pwm_id_t pwm_id, uint8_t duty)
+uint8_t pwm_set_duty_cycle(pwm_id_t pwm_id, uint8_t duty)
 {
   if(pwm_id<PWM0 || pwm_id>PWM3)
     return 0xFF;
@@ -379,7 +379,7 @@ uint8_t exp_pwm_set_duty_cycle(pwm_id_t pwm_id, uint8_t duty)
     return 0xFF;
 }
 
-uint8_t exp_pwm_get_duty_cycle(pwm_id_t pwm_id)
+uint8_t pwm_get_duty_cycle(pwm_id_t pwm_id)
 {
   uint8_t value;
 
@@ -397,7 +397,7 @@ uint8_t exp_pwm_get_duty_cycle(pwm_id_t pwm_id)
 }
 
 /* DAC interface */
-uint8_t exp_dac_start(void)
+uint8_t dac_start(void)
 {
   if(exp_board_dac_present)
   {
@@ -410,7 +410,7 @@ uint8_t exp_dac_start(void)
     return 0xFF;
 }
 
-uint8_t exp_dac_stop(void)
+uint8_t dac_stop(void)
 {
   if(exp_board_dac_present)
   {
@@ -423,7 +423,7 @@ uint8_t exp_dac_stop(void)
     return 0xFF;
 }
 
-uint8_t exp_dac_is_running(void)
+uint8_t dac_is_running(void)
 {
   uint8_t status;
 
@@ -443,7 +443,7 @@ uint8_t exp_dac_is_running(void)
     return 0xFF;
 }
 
-uint8_t exp_dac_enable_ch(dac_id_t dac_id)
+uint8_t dac_enable_ch(dac_id_t dac_id)
 {
   if(dac_id<DAC0 || dac_id>DAC1)
     return 0xFF;
@@ -458,7 +458,7 @@ uint8_t exp_dac_enable_ch(dac_id_t dac_id)
     return 0xFF;
 }
 
-uint8_t exp_dac_disable_ch(dac_id_t dac_id)
+uint8_t dac_disable_ch(dac_id_t dac_id)
 {
   if(dac_id<DAC0 || dac_id>DAC1)
     return 0xFF;
@@ -473,7 +473,7 @@ uint8_t exp_dac_disable_ch(dac_id_t dac_id)
     return 0xFF;
 }
 
-uint8_t exp_dac_is_channel_enabled(dac_id_t dac_id)
+uint8_t dac_is_channel_enabled(dac_id_t dac_id)
 {
   uint8_t status;
 
@@ -495,7 +495,7 @@ uint8_t exp_dac_is_channel_enabled(dac_id_t dac_id)
     return 0xFF;
 }
 
-uint8_t exp_dac_set_voltage(dac_id_t dac_id, uint16_t voltage_mv)
+uint8_t dac_set_voltage(dac_id_t dac_id, uint16_t voltage_mv)
 {
   uint32_t value;
 
@@ -513,7 +513,7 @@ uint8_t exp_dac_set_voltage(dac_id_t dac_id, uint16_t voltage_mv)
     return 0xFF;
 }
 
-uint16_t exp_dac_get_voltage(dac_id_t dac_id)
+uint16_t dac_get_voltage(dac_id_t dac_id)
 {
   uint16_t value;
 
@@ -531,7 +531,7 @@ uint16_t exp_dac_get_voltage(dac_id_t dac_id)
 }
 
 /* compass interface */
-uint8_t exp_compass_start(void)
+uint8_t compass_start(void)
 {
   if(dyn_master_write_byte(exp_board_id,COMPASS_CONTROL,0x01)==DYN_SUCCESS)
     return 0x00;
@@ -539,7 +539,7 @@ uint8_t exp_compass_start(void)
     return 0xFF;
 }
 
-uint8_t exp_compass_stop(void)
+uint8_t compass_stop(void)
 {
   if(dyn_master_write_byte(exp_board_id,COMPASS_CONTROL,0x02)==DYN_SUCCESS)
     return 0x00;
@@ -547,7 +547,7 @@ uint8_t exp_compass_stop(void)
     return 0xFF;
 }
 
-uint8_t exp_compass_is_running(void)
+uint8_t compass_is_running(void)
 {
   uint8_t status;
 
@@ -562,7 +562,7 @@ uint8_t exp_compass_is_running(void)
     return 0xFF;
 }
 
-uint8_t exp_compass_start_calibration(void)
+uint8_t compass_start_calibration(void)
 {
   if(dyn_master_write_byte(exp_board_id,COMPASS_CONTROL,0x04)==DYN_SUCCESS)
     return 0x00;
@@ -570,7 +570,7 @@ uint8_t exp_compass_start_calibration(void)
     return 0xFF;
 }
 
-uint8_t exp_compass_stop_calibration(void)
+uint8_t compass_stop_calibration(void)
 {
   if(dyn_master_write_byte(exp_board_id,COMPASS_CONTROL,0x08)==DYN_SUCCESS)
     return 0x00;
@@ -578,7 +578,7 @@ uint8_t exp_compass_stop_calibration(void)
     return 0xFF;
 }
 
-uint8_t exp_compass_is_calibrating(void)
+uint8_t compass_is_calibrating(void)
 {
   uint8_t status;
 
@@ -594,7 +594,7 @@ uint8_t exp_compass_is_calibrating(void)
 
 }
 
-uint16_t exp_compass_get_heading(void)
+uint16_t compass_get_heading(void)
 {
   uint16_t heading;
 
@@ -604,7 +604,7 @@ uint16_t exp_compass_get_heading(void)
     return 0xFFFF;
 }
 
-uint16_t exp_compass_get_avg_heading(void)
+uint16_t compass_get_avg_heading(void)
 {
   uint16_t heading;
 
@@ -614,7 +614,7 @@ uint16_t exp_compass_get_avg_heading(void)
     return 0xFFFF;
 }
 
-uint8_t exp_compass_set_avg_samples(uint8_t num_samples)
+uint8_t compass_set_avg_samples(uint8_t num_samples)
 {
   if(dyn_master_write_byte(exp_board_id,COMPASS_NUM_SAMPLES,num_samples)==DYN_SUCCESS)
     return 0x00;
@@ -622,7 +622,7 @@ uint8_t exp_compass_set_avg_samples(uint8_t num_samples)
     return 0xFF;
 }
 
-uint8_t exp_compass_get_avg_samples(void)
+uint8_t compass_get_avg_samples(void)
 {
   uint8_t samples;
 
@@ -633,7 +633,7 @@ uint8_t exp_compass_get_avg_samples(void)
 }
 
 /* TTL UART interface */
-uint8_t exp_uart_ttl_start(void)
+uint8_t uart_ttl_start(void)
 {
   if(exp_board_uart_ttl_present)
   {
@@ -646,7 +646,7 @@ uint8_t exp_uart_ttl_start(void)
     return 0xFF;
 }
 
-uint8_t exp_uart_ttl_stop(void)
+uint8_t uart_ttl_stop(void)
 {
   if(exp_board_uart_ttl_present)
   {
@@ -659,7 +659,7 @@ uint8_t exp_uart_ttl_stop(void)
     return 0xFF;
 }
 
-uint8_t exp_uart_ttl_is_running(void)
+uint8_t uart_ttl_is_running(void)
 {
   uint8_t status;
 
@@ -679,7 +679,7 @@ uint8_t exp_uart_ttl_is_running(void)
     return 0xFF;
 }
 
-uint8_t exp_uart_ttl_set_baudrate(uint16_t baudrate)
+uint8_t uart_ttl_set_baudrate(uint16_t baudrate)
 {
   if(exp_board_uart_ttl_present)
   {
@@ -692,7 +692,7 @@ uint8_t exp_uart_ttl_set_baudrate(uint16_t baudrate)
     return 0xFF;
 }
 
-uint16_t exp_uart_ttl_get_baudrate(void)
+uint16_t uart_ttl_get_baudrate(void)
 {
   uint16_t baudrate;
 
@@ -707,7 +707,7 @@ uint16_t exp_uart_ttl_get_baudrate(void)
     return 0xFFFF;
 }
 
-uint8_t exp_uart_ttl_send_byte(uint8_t data)
+uint8_t uart_ttl_send_byte(uint8_t data)
 {
   if(exp_board_uart_ttl_present)
   {
@@ -726,7 +726,7 @@ uint8_t exp_uart_ttl_send_byte(uint8_t data)
     return 0xFF;
 }
 
-uint8_t exp_uart_ttl_is_sending(void)
+uint8_t uart_ttl_is_sending(void)
 {
   uint8_t status;
 
@@ -746,7 +746,7 @@ uint8_t exp_uart_ttl_is_sending(void)
     return 0xFF;
 }
 
-uint8_t exp_uart_ttl_send_vector(uint8_t *data, uint16_t length)
+uint8_t uart_ttl_send_vector(uint8_t *data, uint16_t length)
 {
   uint16_t i;
  
@@ -754,8 +754,8 @@ uint8_t exp_uart_ttl_send_vector(uint8_t *data, uint16_t length)
   {
     for(i=0;i<length;i++)
     {
-      exp_uart_ttl_send_byte(data[i]);
-      while(exp_uart_ttl_is_sending())
+      uart_ttl_send_byte(data[i]);
+      while(uart_ttl_is_sending())
         _delay_ms(10);
     }  
     return 0x00;
@@ -764,7 +764,7 @@ uint8_t exp_uart_ttl_send_vector(uint8_t *data, uint16_t length)
     return 0xFF;
 }
 
-uint8_t exp_uart_ttl_is_data_available(void)
+uint8_t uart_ttl_is_data_available(void)
 {
   uint8_t status;
 
@@ -784,7 +784,7 @@ uint8_t exp_uart_ttl_is_data_available(void)
     return 0xFF;
 }
 
-uint8_t exp_uart_ttl_receive_data(void)
+uint8_t uart_ttl_receive_data(void)
 {
   uint8_t data;
 
@@ -800,7 +800,7 @@ uint8_t exp_uart_ttl_receive_data(void)
 }
 
 /* USB UART interface */
-uint8_t exp_uart_usb_start(void)
+uint8_t uart_usb_start(void)
 {
   if(exp_board_uart_usb_present)
   {
@@ -813,7 +813,7 @@ uint8_t exp_uart_usb_start(void)
     return 0xFF;
 }
 
-uint8_t exp_uart_usb_stop(void)
+uint8_t uart_usb_stop(void)
 {
   if(exp_board_uart_usb_present)
   {
@@ -826,7 +826,7 @@ uint8_t exp_uart_usb_stop(void)
     return 0xFF;
 }
 
-uint8_t exp_uart_usb_is_running(void)
+uint8_t uart_usb_is_running(void)
 {
   uint8_t status;
 
@@ -846,7 +846,7 @@ uint8_t exp_uart_usb_is_running(void)
     return 0xFF;
 }
 
-uint8_t exp_uart_usb_set_baudrate(uint16_t baudrate)
+uint8_t uart_usb_set_baudrate(uint16_t baudrate)
 {
   if(exp_board_uart_usb_present)
   {
@@ -859,7 +859,7 @@ uint8_t exp_uart_usb_set_baudrate(uint16_t baudrate)
     return 0xFF;
 }
 
-uint16_t exp_uart_usb_get_baudrate(void)
+uint16_t uart_usb_get_baudrate(void)
 {
   uint16_t baudrate;
 
@@ -874,7 +874,7 @@ uint16_t exp_uart_usb_get_baudrate(void)
     return 0xFFFF;
 }
 
-uint8_t exp_uart_usb_send_byte(uint8_t data)
+uint8_t uart_usb_send_byte(uint8_t data)
 {
   if(exp_board_uart_usb_present)
   {
@@ -893,7 +893,7 @@ uint8_t exp_uart_usb_send_byte(uint8_t data)
     return 0xFF;
 }
 
-uint8_t exp_uart_usb_is_sending(void)
+uint8_t uart_usb_is_sending(void)
 {
   uint8_t status;
 
@@ -913,7 +913,7 @@ uint8_t exp_uart_usb_is_sending(void)
     return 0xFF;
 }
 
-uint8_t exp_uart_usb_send_vector(uint8_t *data, uint16_t length)
+uint8_t uart_usb_send_vector(uint8_t *data, uint16_t length)
 {
   uint16_t i;
  
@@ -921,8 +921,8 @@ uint8_t exp_uart_usb_send_vector(uint8_t *data, uint16_t length)
   {
     for(i=0;i<length;i++)
     {
-      exp_uart_usb_send_byte(data[i]);
-      while(exp_uart_usb_is_sending())
+      uart_usb_send_byte(data[i]);
+      while(uart_usb_is_sending())
         _delay_ms(10);
     }  
     return 0x00;
@@ -930,7 +930,7 @@ uint8_t exp_uart_usb_send_vector(uint8_t *data, uint16_t length)
   return 0xFF;
 }
 
-uint8_t exp_uart_usb_is_data_available(void)
+uint8_t uart_usb_is_data_available(void)
 {
   uint8_t status;
 
@@ -950,7 +950,7 @@ uint8_t exp_uart_usb_is_data_available(void)
     return 0xFF;
 }
 
-uint8_t exp_uart_usb_receive_data(void)
+uint8_t uart_usb_receive_data(void)
 {
   uint8_t data;