From 33fef46dacbefdc4ef4684eb97d3575fbf021146 Mon Sep 17 00:00:00 2001
From: Rocco Marco Guglielmi <roccomarco.guglielmi@gmail.com>
Date: Sun, 27 Jan 2019 14:59:38 +0000
Subject: [PATCH] Updated testes/STM32/STM32F4xx demos for STM32F4 Discovery to
 be compliant with new project organization/makefile mechanisms Batch review
 of *_USE_ADVANCED macros

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@12618 110e8d01-0319-4d1e-a829-52ad28d1bb01
---
 os/ex/ST/l3gd20.c                            |   8 +-
 os/ex/ST/l3gd20.h                            |  13 +-
 os/ex/ST/lis302dl.h                          |  11 +-
 os/ex/ST/lis3dsh.h                           |  13 +-
 os/ex/ST/lis3mdl.c                           |   8 +-
 os/ex/ST/lis3mdl.h                           |  10 +-
 os/ex/ST/lps22hb.h                           |   9 +-
 os/ex/ST/lps25h.h                            |   7 +-
 os/ex/ST/lsm303agr.c                         |   6 +-
 os/ex/ST/lsm303agr.h                         |  25 +---
 os/ex/ST/lsm303dlhc.c                        |   6 +-
 os/ex/ST/lsm303dlhc.h                        |  25 +---
 os/ex/ST/lsm6ds0.c                           |   6 +-
 os/ex/ST/lsm6ds0.h                           |  32 +----
 os/ex/ST/lsm6dsl.c                           |   8 +-
 os/ex/ST/lsm6dsl.h                           |  32 +----
 testex/STM32/STM32F3xx/I2C-LSM303DLHC/main.c |   4 +-
 testex/STM32/STM32F3xx/SPI-L3GD20/main.c     |   2 +-
 testex/STM32/STM32F4xx/I2C-LIS3MDL/main.c    |   2 +-
 testex/STM32/STM32F4xx/I2C-LSM303AGR/main.c  |   4 +-
 testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c |   4 +-
 testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c    |   6 +-
 testex/STM32/STM32F4xx/I2C-LSM6DSL/main.c    |   6 +-
 testex/STM32/STM32F4xx/SPI-L3GD20/main.c     |   2 +-
 testex/STM32/STM32F4xx/SPI-LIS302DL/Makefile | 138 +++++++------------
 testex/STM32/STM32F4xx/SPI-LIS3DSH/Makefile  | 138 +++++++------------
 testex/STM32/STM32L4xx/SPI-L3GD20/main.c     |   4 +-
 27 files changed, 189 insertions(+), 340 deletions(-)

diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c
index 9fa670260..fc8aff074 100644
--- a/os/ex/ST/l3gd20.c
+++ b/os/ex/ST/l3gd20.c
@@ -502,14 +502,14 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
     cr[0] = L3GD20_CTRL_REG1_XEN | L3GD20_CTRL_REG1_YEN | 
           L3GD20_CTRL_REG1_ZEN | L3GD20_CTRL_REG1_PD |
           devp->config->gyrooutputdatarate;
-#if L3GD20_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
     cr[0] |= devp->config->gyrobandwidth;
 #endif
   }
   
   /* Control register 2 configuration block.*/
   {
-#if L3GD20_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
   if(devp->config->gyrohpmode != L3GD20_HPM_BYPASSED)
     cr[1] = devp->config->gyrohpmode | devp->config->gyrohpconfiguration;
 #endif
@@ -518,7 +518,7 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
   /* Control register 4 configuration block.*/
   {
     cr[3] = devp->config->gyrofullscale;
-#if L3GD20_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
     cr[3] |= devp->config->gyroblockdataupdate |
              devp->config->gyroendianness;
 #endif
@@ -526,7 +526,7 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
   
   /* Control register 5 configuration block.*/
   {    
-#if L3GD20_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
   if((devp->config->gyrohpmode != L3GD20_HPM_BYPASSED)) {
     cr[4] = L3GD20_CTRL_REG5_HPEN;
     if(devp->config->gyrolp2mode != L3GD20_LP2M_BYPASSED) {
diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h
index bea56432c..35d615f32 100644
--- a/os/ex/ST/l3gd20.h
+++ b/os/ex/ST/l3gd20.h
@@ -42,7 +42,7 @@
 /**
  * @brief   L3GD20 driver version string.
  */
-#define EX_L3GD20_VERSION                   "1.1.1"
+#define EX_L3GD20_VERSION                   "1.1.2"
 
 /**
  * @brief   L3GD20 driver version major number.
@@ -57,7 +57,7 @@
 /**
  * @brief   L3GD20 driver version patch number.
  */
-#define EX_L3GD20_PATCH                     1
+#define EX_L3GD20_PATCH                     2
 /** @} */
 
 /**
@@ -271,13 +271,12 @@
 #endif
 
 /**
- * @brief   L3GD20 accelerometer subsystem advanced configurations
- *          switch.
+ * @brief   L3GD20 advanced configurations switch.
  * @details If set to @p TRUE more configurations are available.
  * @note    The default is @p FALSE.
  */
-#if !defined(L3GD20_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)
-#define L3GD20_GYRO_USE_ADVANCED            FALSE
+#if !defined(L3GD20_USE_ADVANCED) || defined(__DOXYGEN__)
+#define L3GD20_USE_ADVANCED                 FALSE
 #endif
 
 /**
@@ -472,7 +471,7 @@ typedef struct {
    * @brief   L3GD20 gyroscope system output data rate selection.
    */
   l3gd20_odr_t              gyrooutputdatarate;
-#if L3GD20_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
   /**
    * @brief   L3GD20 gyroscope system block data update.
    */
diff --git a/os/ex/ST/lis302dl.h b/os/ex/ST/lis302dl.h
index 6c8fa864e..e61957da7 100644
--- a/os/ex/ST/lis302dl.h
+++ b/os/ex/ST/lis302dl.h
@@ -43,7 +43,7 @@
 /**
  * @brief   LIS302DL driver version string.
  */
-#define EX_LIS302DL_VERSION                 "1.1.0"
+#define EX_LIS302DL_VERSION                 "1.1.1"
 
 /**
  * @brief   LIS302DL driver version major number.
@@ -58,7 +58,7 @@
 /**
  * @brief   LIS302DL driver version patch number.
  */
-#define EX_LIS302DL_PATCH                   0
+#define EX_LIS302DL_PATCH                   1
 /** @} */
 
 /**
@@ -214,13 +214,12 @@
 #endif
 
 /**
- * @brief   LIS302DL accelerometer subsystem advanced configurations
- *          switch.
+ * @brief   LIS302DL advanced configurations switch.
  * @details If set to @p TRUE more configurations are available.
  * @note    The default is @p FALSE.
  */
-#if !defined(LIS302DL_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
-#define LIS302DL_ACC_USE_ADVANCED           FALSE
+#if !defined(LIS302DL_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LIS302DL_USE_ADVANCED                FALSE
 #endif
 /** @} */
 
diff --git a/os/ex/ST/lis3dsh.h b/os/ex/ST/lis3dsh.h
index 26dafcd38..80973e897 100644
--- a/os/ex/ST/lis3dsh.h
+++ b/os/ex/ST/lis3dsh.h
@@ -43,7 +43,7 @@
 /**
  * @brief   LIS3DSH driver version string.
  */
-#define EX_LIS3DSH_VERSION                  "1.1.1"
+#define EX_LIS3DSH_VERSION                  "1.1.2"
 
 /**
  * @brief   LIS3DSH driver version major number.
@@ -58,7 +58,7 @@
 /**
  * @brief   LIS3DSH driver version patch number.
  */
-#define EX_LIS3DSH_PATCH                    1
+#define EX_LIS3DSH_PATCH                    2
 /** @} */
 
 /**
@@ -333,13 +333,12 @@
 #endif
 
 /**
- * @brief   LIS3DSH accelerometer subsystem advanced configurations
- *          switch.
+ * @brief   LIS3DSH advanced configurations switch.
  * @details If set to @p TRUE more configurations are available.
  * @note    The default is @p FALSE.
  */
-#if !defined(LIS3DSH_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
-#define LIS3DSH_ACC_USE_ADVANCED            FALSE
+#if !defined(LIS3DSH_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LIS3DSH_USE_ADVANCED                FALSE
 #endif
 /** @} */
 
@@ -482,7 +481,7 @@ typedef struct {
    * @brief LIS3DSH output data rate selection.
    */
   lis3dsh_acc_odr_t         accoutputdatarate;
-#if LIS3DSH_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
   /**
    * @brief   LIS3DSH anti-aliasing bandwidth.
    */
diff --git a/os/ex/ST/lis3mdl.c b/os/ex/ST/lis3mdl.c
index 559564744..796cc2486 100644
--- a/os/ex/ST/lis3mdl.c
+++ b/os/ex/ST/lis3mdl.c
@@ -476,7 +476,7 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
   {
     cr[0] = LIS3MDL_AD_CTRL_REG1;
     cr[1] = devp->config->compoutputdatarate;
-#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
     cr[1] |= devp->config->compoperationmodexy;
 #else
     cr[1] |= LIS3MDL_CTRL_REG1_OM0 | LIS3MDL_CTRL_REG1_OM1;
@@ -491,7 +491,7 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
   /* Control register 3 configuration block.*/
   {
     cr[3] = 0;
-#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
     cr[3] = devp->config->compconversionmode;
 #endif
   }
@@ -499,7 +499,7 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
   /* Control register 4 configuration block.*/
   {
     cr[4] = 0;
-#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
     cr[4] = devp->config->compoperationmodez | devp->config->endianness;
 #endif
   }
@@ -507,7 +507,7 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
   /* Control register 5 configuration block.*/
   {
     cr[5] = 0;
-#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
     cr[5] = devp->config->blockdataupdate;
 #endif
   }
diff --git a/os/ex/ST/lis3mdl.h b/os/ex/ST/lis3mdl.h
index 96def428d..3a5d62017 100644
--- a/os/ex/ST/lis3mdl.h
+++ b/os/ex/ST/lis3mdl.h
@@ -42,7 +42,7 @@
 /**
  * @brief   LIS3MDL driver version string.
  */
-#define EX_LIS3MDL_VERSION                  "1.1.1"
+#define EX_LIS3MDL_VERSION                  "1.1.2"
 
 /**
  * @brief   LIS3MDL driver version major number.
@@ -57,7 +57,7 @@
 /**
  * @brief   LIS3MDL driver version patch number.
  */
-#define EX_LIS3MDL_PATCH                    1
+#define EX_LIS3MDL_PATCH                    2
 /** @} */
 
 /**
@@ -229,8 +229,8 @@
  * @details If set to @p TRUE more configurations are available.
  * @note    The default is @p FALSE.
  */
-#if !defined(LIS3MDL_COMP_USE_ADVANCED) || defined(__DOXYGEN__)
-#define LIS3MDL_COMP_USE_ADVANCED           FALSE
+#if !defined(LIS3MDL_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LIS3MDL_USE_ADVANCED                FALSE
 #endif
 /** @} */
 
@@ -428,7 +428,7 @@ typedef struct {
    * @brief LIS3MDL compass subsystem output data rate.
    */
   lis3mdl_comp_odr_t        compoutputdatarate;
-#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
   /**
    * @brief LIS3MDL compass subsystem low power mode configuration.
    */
diff --git a/os/ex/ST/lps22hb.h b/os/ex/ST/lps22hb.h
index bbeae4c0f..dee503d09 100644
--- a/os/ex/ST/lps22hb.h
+++ b/os/ex/ST/lps22hb.h
@@ -43,7 +43,7 @@
 /**
  * @brief   LPS22HB driver version string.
  */
-#define EX_LPS22HB_VERSION                  "1.0.0"
+#define EX_LPS22HB_VERSION                  "1.0.1"
 
 /**
  * @brief   LPS22HB driver version major number.
@@ -58,7 +58,7 @@
 /**
  * @brief   LPS22HB driver version patch number.
  */
-#define EX_LPS22HB_PATCH                    0
+#define EX_LPS22HB_PATCH                    1
 /** @} */
 
 /**
@@ -247,8 +247,7 @@
 #endif
 
 /**
- * @brief   LPS22HB accelerometer subsystem advanced configurations
- *          switch.
+ * @brief   LPS22HB advanced configurations switch.
  * @details If set to @p TRUE more configurations are available.
  * @note    The default is @p FALSE.
  */
@@ -402,7 +401,7 @@ typedef struct {
    */
   lps22hb_bdu_t              blockdataupdate;
   /**
-   * @brief LPS22HB barometer subsystem  resolution.
+   * @brief LPS22HB barometer subsystem resolution.
    */
   lps22hb_lp_t               lowpass_filter;
 #endif
diff --git a/os/ex/ST/lps25h.h b/os/ex/ST/lps25h.h
index ffc894cbb..eb1f3a9e2 100644
--- a/os/ex/ST/lps25h.h
+++ b/os/ex/ST/lps25h.h
@@ -43,7 +43,7 @@
 /**
  * @brief   LPS25H driver version string.
  */
-#define EX_LPS25H_VERSION                   "1.1.1"
+#define EX_LPS25H_VERSION                   "1.1.2"
 
 /**
  * @brief   LPS25H driver version major number.
@@ -58,7 +58,7 @@
 /**
  * @brief   LPS25H driver version patch number.
  */
-#define EX_LPS25H_PATCH                     1
+#define EX_LPS25H_PATCH                     2
 /** @} */
 
 /**
@@ -249,8 +249,7 @@
 #endif
 
 /**
- * @brief   LPS25H accelerometer subsystem advanced configurations
- *          switch.
+ * @brief   LPS25H advanced configurations switch.
  * @details If set to @p TRUE more configurations are available.
  * @note    The default is @p FALSE.
  */
diff --git a/os/ex/ST/lsm303agr.c b/os/ex/ST/lsm303agr.c
index 415364d03..73e57a84d 100644
--- a/os/ex/ST/lsm303agr.c
+++ b/os/ex/ST/lsm303agr.c
@@ -727,7 +727,7 @@ void lsm303agrStart(LSM303AGRDriver *devp, const LSM303AGRConfig *config) {
   /* Control register 1 configuration block.*/
   {
     cr[1] = LSM303AGR_ACC_AE_XYZ | devp->config->accoutdatarate;
-#if LSM303AGR_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM303AGR_USE_ADVANCED || defined(__DOXYGEN__)
     if(devp->config->accmode == LSM303AGR_ACC_MODE_LPOW)
       cr[1] |= LSM303AGR_CTRL_REG1_A_LPEN;
 #endif
@@ -746,7 +746,7 @@ void lsm303agrStart(LSM303AGRDriver *devp, const LSM303AGRConfig *config) {
   /* Control register 4 configuration block.*/
   {
     cr[4] = devp->config->accfullscale;
-#if LSM303AGR_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM303AGR_USE_ADVANCED || defined(__DOXYGEN__)
     cr[4] |= devp->config->accendianess |
              devp->config->accblockdataupdate;
     if(devp->config->accmode == LSM303AGR_ACC_MODE_HRES)
@@ -820,7 +820,7 @@ void lsm303agrStart(LSM303AGRDriver *devp, const LSM303AGRConfig *config) {
   /* Control register A configuration block.*/
   {
     cr[1] = devp->config->compoutputdatarate;
-#if LSM303AGR_COMP_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM303AGR_USE_ADVANCED || defined(__DOXYGEN__)
     cr[1] |= devp->config->compmode | devp->config->complp;
 #endif
   }
diff --git a/os/ex/ST/lsm303agr.h b/os/ex/ST/lsm303agr.h
index 7e532ab92..89eb552f9 100644
--- a/os/ex/ST/lsm303agr.h
+++ b/os/ex/ST/lsm303agr.h
@@ -43,7 +43,7 @@
 /**
  * @brief   LSM303AGR driver version string.
  */
-#define EX_LSM303AGR_VERSION                "1.0.0"
+#define EX_LSM303AGR_VERSION                "1.0.1"
 
 /**
  * @brief   LSM303AGR driver version major number.
@@ -58,7 +58,7 @@
 /**
  * @brief   LSM303AGR driver version patch number.
  */
-#define EX_LSM303AGR_PATCH                  0
+#define EX_LSM303AGR_PATCH                  1
 /** @} */
 
 /**
@@ -348,23 +348,12 @@
 #endif
 
 /**
- * @brief   LSM303AGR accelerometer subsystem advanced configurations
- *          switch.
+ * @brief   LSM303AGR advanced configurations switch.
  * @details If set to @p TRUE more configurations are available.
  * @note    The default is @p FALSE.
  */
-#if !defined(LSM303AGR_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
-#define LSM303AGR_ACC_USE_ADVANCED          FALSE
-#endif
-
-/**
- * @brief   LSM303AGR compass subsystem advanced configurations
- *          switch.
- * @details If set to @p TRUE more configurations are available.
- * @note    The default is @p FALSE.
- */
-#if !defined(LSM303AGR_COMP_USE_ADVANCED) || defined(__DOXYGEN__)
-#define LSM303AGR_COMP_USE_ADVANCED         FALSE
+#if !defined(LSM303AGR_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LSM303AGR_USE_ADVANCED          FALSE
 #endif
 /** @} */
 
@@ -549,7 +538,7 @@ typedef struct {
    * @brief LSM303AGR accelerometer subsystem output data rate.
    */
   lsm303agr_acc_odr_t       accoutdatarate;
-#if LSM303AGR_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM303AGR_USE_ADVANCED || defined(__DOXYGEN__)
   /**
    * @brief LSM303AGR accelerometer subsystem mode.
    */
@@ -575,7 +564,7 @@ typedef struct {
    * @brief LSM303AGR compass subsystem output data rate.
    */
   lsm303agr_comp_odr_t      compoutputdatarate;
-#if LSM303AGR_COMP_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM303AGR_USE_ADVANCED || defined(__DOXYGEN__)
   /**
    * @brief LSM303AGR compass subsystem working mode.
    */
diff --git a/os/ex/ST/lsm303dlhc.c b/os/ex/ST/lsm303dlhc.c
index 8fa988ab7..abf5fcbbd 100644
--- a/os/ex/ST/lsm303dlhc.c
+++ b/os/ex/ST/lsm303dlhc.c
@@ -885,7 +885,7 @@ void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) {
   {
     cr[1] = LSM303DLHC_CTRL_REG1_A_XEN | LSM303DLHC_CTRL_REG1_A_YEN |
             LSM303DLHC_CTRL_REG1_A_ZEN | devp->config->accoutdatarate;
-#if LSM303DLHC_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM303DLHC_USE_ADVANCED || defined(__DOXYGEN__)
     cr[1] |= devp->config->acclowpower;
 #endif
   }
@@ -903,7 +903,7 @@ void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) {
   /* Control register 4 configuration block.*/
   {
     cr[4] = devp->config->accfullscale;
-#if LSM303DLHC_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM303DLHC_USE_ADVANCED || defined(__DOXYGEN__)
     cr[4] |= devp->config->accendianess |
              devp->config->accblockdataupdate |
              devp->config->acchighresmode;
@@ -986,7 +986,7 @@ void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) {
   /* Mode register configuration block.*/
   {
     cr[3] = 0;
-#if LSM303DLHC_COMP_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM303DLHC_USE_ADVANCED || defined(__DOXYGEN__)
     cr[3] |= devp->config->compmode;
 #endif
   }
diff --git a/os/ex/ST/lsm303dlhc.h b/os/ex/ST/lsm303dlhc.h
index 626ea1383..9eb320e87 100644
--- a/os/ex/ST/lsm303dlhc.h
+++ b/os/ex/ST/lsm303dlhc.h
@@ -43,7 +43,7 @@
 /**
  * @brief   LSM303DLHC driver version string.
  */
-#define EX_LSM303DLHC_VERSION               "1.1.1"
+#define EX_LSM303DLHC_VERSION               "1.1.2"
 
 /**
  * @brief   LSM303DLHC driver version major number.
@@ -58,7 +58,7 @@
 /**
  * @brief   LSM303DLHC driver version patch number.
  */
-#define EX_LSM303DLHC_PATCH                 1
+#define EX_LSM303DLHC_PATCH                 2
 /** @} */
 
 /**
@@ -343,23 +343,12 @@
 #endif
 
 /**
- * @brief   LSM303DLHC accelerometer subsystem advanced configurations
- *          switch.
+ * @brief   LSM303DLHC advanced configurations switch.
  * @details If set to @p TRUE more configurations are available.
  * @note    The default is @p FALSE.
  */
-#if !defined(LSM303DLHC_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
-#define LSM303DLHC_ACC_USE_ADVANCED         FALSE
-#endif
-
-/**
- * @brief   LSM303DLHC compass subsystem advanced configurations
- *          switch.
- * @details If set to @p TRUE more configurations are available.
- * @note    The default is @p FALSE.
- */
-#if !defined(LSM303DLHC_COMP_USE_ADVANCED) || defined(__DOXYGEN__)
-#define LSM303DLHC_COMP_USE_ADVANCED        FALSE
+#if !defined(LSM303DLHC_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LSM303DLHC_USE_ADVANCED             FALSE
 #endif
 /** @} */
 
@@ -560,7 +549,7 @@ typedef struct {
    * @brief LSM303DLHC accelerometer subsystem output data rate.
    */
   lsm303dlhc_acc_odr_t      accoutdatarate;
-#if LSM303DLHC_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM303DLHC_USE_ADVANCED || defined(__DOXYGEN__)
   /**
    * @brief LSM303DLHC accelerometer subsystem low power mode.
    */
@@ -594,7 +583,7 @@ typedef struct {
    * @brief LSM303DLHC compass subsystem output data rate.
    */
   lsm303dlhc_comp_odr_t     compoutputdatarate;
-#if LSM303DLHC_COMP_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM303DLHC_USE_ADVANCED || defined(__DOXYGEN__)
   /**
    * @brief LSM303DLHC compass subsystem working mode.
    */
diff --git a/os/ex/ST/lsm6ds0.c b/os/ex/ST/lsm6ds0.c
index 144af65fc..a4ca75f3a 100644
--- a/os/ex/ST/lsm6ds0.c
+++ b/os/ex/ST/lsm6ds0.c
@@ -881,7 +881,7 @@ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
   {
       cr[1] = LSM6DS0_CTRL_REG5_XL_XEN_XL | LSM6DS0_CTRL_REG5_XL_YEN_XL |
               LSM6DS0_CTRL_REG5_XL_ZEN_XL;
-#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
       cr[1] |= devp->config->accdecmode;
 #endif
   }
@@ -967,7 +967,7 @@ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
   /* Control register 2 configuration block.*/
   {
     cr[2] = 0;
-#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
     cr[2] |= devp->config->gyrooutsel;
 #endif
   }
@@ -975,7 +975,7 @@ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
   /* Control register 3 configuration block.*/
   {
     cr[3] = 0;
-#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
     cr[3] |= devp->config->gyrohpfenable |
              devp->config->gyrolowmodecfg |
              devp->config->gyrohpcfg;
diff --git a/os/ex/ST/lsm6ds0.h b/os/ex/ST/lsm6ds0.h
index 0f8fdabd1..30ac7665c 100644
--- a/os/ex/ST/lsm6ds0.h
+++ b/os/ex/ST/lsm6ds0.h
@@ -43,7 +43,7 @@
 /**
  * @brief   LSM6DS0 driver version string.
  */
-#define EX_LSM6DS0_VERSION                  "1.1.1"
+#define EX_LSM6DS0_VERSION                  "1.1.2"
 
 /**
  * @brief   LSM6DS0 driver version major number.
@@ -58,7 +58,7 @@
 /**
  * @brief   LSM6DS0 driver version patch number.
  */
-#define EX_LSM6DS0_PATCH                    1
+#define EX_LSM6DS0_PATCH                    2
 /** @} */
 
 /**
@@ -354,26 +354,6 @@
 #define LSM6DS0_USE_ADVANCED                FALSE
 #endif
 
-/**
- * @brief   LSM6DS0 accelerometer subsystem advanced configurations
- *          switch.
- * @details If set to @p TRUE more configurations are available.
- * @note    The default is @p FALSE.
- */
-#if !defined(LSM6DS0_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
-#define LSM6DS0_ACC_USE_ADVANCED            FALSE
-#endif
-
-/**
- * @brief   LSM6DS0 gyroscope subsystem advanced configurations
- *          switch.
- * @details If set to @p TRUE more configurations are available.
- * @note    The default is @p FALSE.
- */
-#if !defined(LSM6DS0_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)
-#define LSM6DS0_GYRO_USE_ADVANCED           FALSE
-#endif
-
 /**
  * @brief   Number of acquisitions for gyroscope bias removal.
  * @details This is the number of acquisitions performed to compute the
@@ -622,12 +602,12 @@ typedef struct {
    * @brief LSM6DS0 accelerometer subsystem output data rate.
    */
   lsm6ds0_acc_odr_t         accoutdatarate;
-#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
   /**
    * @brief LSM6DS0 accelerometer subsystem decimation mode.
    */
   lsm6ds0_acc_dec_t         accdecmode;
-#endif /* LSM6DS0_ACC_USE_ADVANCED */
+#endif /* LSM6DS0_USE_ADVANCED */
   /**
    * @brief LSM6DS0 gyroscope subsystem initial sensitivity.
    */
@@ -644,7 +624,7 @@ typedef struct {
    * @brief LSM6DS0 gyroscope subsystem output data rate.
    */
   lsm6ds0_gyro_odr_t        gyrooutdatarate;
-#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
   /**
    * @brief LSM6DS0 gyroscope subsystem low mode configuration.
    */
@@ -661,8 +641,6 @@ typedef struct {
    * @brief LSM6DS0 gyroscope subsystem high pass filter configuration.
    */
   lsm6ds0_gyro_hpcf_t       gyrohpcfg;
-  #endif /* LSM6DS0_GYRO_USE_ADVANCED */
-#if (LSM6DS0_USE_ADVANCED) || defined(__DOXYGEN__)
   /**
    * @brief LSM6DS0 block data update
    */
diff --git a/os/ex/ST/lsm6dsl.c b/os/ex/ST/lsm6dsl.c
index c8d22ab8b..be1aef848 100644
--- a/os/ex/ST/lsm6dsl.c
+++ b/os/ex/ST/lsm6dsl.c
@@ -903,7 +903,7 @@ void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {
   /* Control register 4 configuration block.*/
   {
       cr[4] = 0;
-#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
       if(devp->config->gyrolowpassfilter != LSM6DSL_GYRO_LPF_DISABLED) {
         cr[4] |= LSMDSL_CTRL4_C_LPF1_SEL_G;
       }
@@ -919,11 +919,11 @@ void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {
   /* Control register 6 configuration block.*/
   {
       cr[6] = 0;
-#if LSM6DSL_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
       cr[6] |= devp->config->acclpmode;
 
 #endif
-#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
       if(devp->config->gyrolowpassfilter != LSM6DSL_GYRO_LPF_DISABLED) {
         cr[6] |= devp->config->gyrolowpassfilter;
       }
@@ -935,7 +935,7 @@ void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {
   /* Control register 7 configuration block.*/
   {
       cr[7] = 0;
-#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
       cr[7] |= devp->config->gyrolpmode;
 
 #endif
diff --git a/os/ex/ST/lsm6dsl.h b/os/ex/ST/lsm6dsl.h
index 0ad2d4143..9ed1ac70e 100644
--- a/os/ex/ST/lsm6dsl.h
+++ b/os/ex/ST/lsm6dsl.h
@@ -43,7 +43,7 @@
 /**
  * @brief   LSM6DSL driver version string.
  */
-#define EX_LSM6DSL_VERSION                  "1.0.0"
+#define EX_LSM6DSL_VERSION                  "1.0.1"
 
 /**
  * @brief   LSM6DSL driver version major number.
@@ -58,7 +58,7 @@
 /**
  * @brief   LSM6DSL driver version patch number.
  */
-#define EX_LSM6DSL_PATCH                    0
+#define EX_LSM6DSL_PATCH                    1
 /** @} */
 
 /**
@@ -407,26 +407,6 @@
 #define LSM6DSL_USE_ADVANCED                FALSE
 #endif
 
-/**
- * @brief   LSM6DSL accelerometer subsystem advanced configurations
- *          switch.
- * @details If set to @p TRUE more configurations are available.
- * @note    The default is @p FALSE.
- */
-#if !defined(LSM6DSL_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
-#define LSM6DSL_ACC_USE_ADVANCED            FALSE
-#endif
-
-/**
- * @brief   LSM6DSL gyroscope subsystem advanced configurations
- *          switch.
- * @details If set to @p TRUE more configurations are available.
- * @note    The default is @p FALSE.
- */
-#if !defined(LSM6DSL_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)
-#define LSM6DSL_GYRO_USE_ADVANCED           FALSE
-#endif
-
 /**
  * @brief   Number of acquisitions for gyroscope bias removal.
  * @details This is the number of acquisitions performed to compute the
@@ -651,12 +631,12 @@ typedef struct {
    * @brief LSM6DSL accelerometer subsystem output data rate.
    */
   lsm6dsl_acc_odr_t         accoutdatarate;
-#if LSM6DSL_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
   /**
    * @brief LSM6DSL accelerometer subsystem low power mode.
    */
   lsm6dsl_acc_lp_t          acclpmode;
-#endif /* LSM6DSL_ACC_USE_ADVANCED */
+#endif /* LSM6DSL_USE_ADVANCED */
   /**
    * @brief LSM6DSL gyroscope subsystem initial sensitivity.
    */
@@ -673,7 +653,7 @@ typedef struct {
    * @brief LSM6DSL gyroscope subsystem output data rate.
    */
   lsm6dsl_gyro_odr_t        gyrooutdatarate;
-#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
   /**
    * @brief LSM6DSL gyroscope subsystem low mode configuration.
    */
@@ -682,8 +662,6 @@ typedef struct {
    * @brief LSM6DSL gyroscope subsystem low pass filter configuration.
    */
   lsm6dsl_gyro_lpf_t        gyrolowpassfilter;
-#endif /* LSM6DSL_GYRO_USE_ADVANCED */
-#if (LSM6DSL_USE_ADVANCED) || defined(__DOXYGEN__)
   /**
    * @brief LSM6DSL block data update
    */
diff --git a/testex/STM32/STM32F3xx/I2C-LSM303DLHC/main.c b/testex/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
index 5720547c5..9b4ec074b 100644
--- a/testex/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
+++ b/testex/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
@@ -53,7 +53,7 @@ static const LSM303DLHCConfig lsm303dlhccfg = {
   NULL,
   LSM303DLHC_ACC_FS_4G,
   LSM303DLHC_ACC_ODR_100Hz,
-#if LSM303DLHC_ACC_USE_ADVANCED
+#if LSM303DLHC_USE_ADVANCED
   LSM303DLHC_ACC_LP_DISABLED,
   LSM303DLHC_ACC_HR_DISABLED,
   LSM303DLHC_ACC_BDU_BLOCK,
@@ -63,7 +63,7 @@ static const LSM303DLHCConfig lsm303dlhccfg = {
   NULL,
   LSM303DLHC_COMP_FS_1P3GA,
   LSM303DLHC_COMP_ODR_30HZ,
-#if LSM303DLHC_COMP_USE_ADVANCED
+#if LSM303DLHC_USE_ADVANCED
   LSM303DLHC_COMP_MD_BLOCK
 #endif
 };
diff --git a/testex/STM32/STM32F3xx/SPI-L3GD20/main.c b/testex/STM32/STM32F3xx/SPI-L3GD20/main.c
index 79baaa44d..31379de73 100644
--- a/testex/STM32/STM32F3xx/SPI-L3GD20/main.c
+++ b/testex/STM32/STM32F3xx/SPI-L3GD20/main.c
@@ -51,7 +51,7 @@ static L3GD20Config l3gd20cfg = {
   NULL,
   L3GD20_FS_250DPS,
   L3GD20_ODR_760HZ,
-#if L3GD20_GYRO_USE_ADVANCED
+#if L3GD20_USE_ADVANCED
   L3GD20_BDU_CONTINUOUS,
   L3GD20_END_LITTLE,
   L3GD20_BW3,
diff --git a/testex/STM32/STM32F4xx/I2C-LIS3MDL/main.c b/testex/STM32/STM32F4xx/I2C-LIS3MDL/main.c
index a80a8b0a5..4689d15ec 100644
--- a/testex/STM32/STM32F4xx/I2C-LIS3MDL/main.c
+++ b/testex/STM32/STM32F4xx/I2C-LIS3MDL/main.c
@@ -49,7 +49,7 @@ static LIS3MDLConfig lis3mdlcfg = {
   NULL,
   LIS3MDL_COMP_FS_4GA,
   LIS3MDL_COMP_ODR_40HZ,
-#if LIS3MDL_COMP_USE_ADVANCED
+#if LIS3MDL_USE_ADVANCED
   LIS3MDL_COMP_LP_ENABLED,
   LIS3MDL_COMP_MD_CONTINUOUS,
   LIS3MDL_COMP_OMXY_LP,
diff --git a/testex/STM32/STM32F4xx/I2C-LSM303AGR/main.c b/testex/STM32/STM32F4xx/I2C-LSM303AGR/main.c
index d2c7d6b01..e042c2eeb 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM303AGR/main.c
+++ b/testex/STM32/STM32F4xx/I2C-LSM303AGR/main.c
@@ -51,7 +51,7 @@ static const LSM303AGRConfig lsm303agrcfg = {
   NULL,
   LSM303AGR_ACC_FS_4G,
   LSM303AGR_ACC_ODR_100Hz,
-#if LSM303AGR_ACC_USE_ADVANCED
+#if LSM303AGR_USE_ADVANCED
   LSM303AGR_ACC_MODE_LPOW,
   LSM303AGR_ACC_BDU_BLOCK,
   LSM303AGR_ACC_END_LITTLE,
@@ -59,7 +59,7 @@ static const LSM303AGRConfig lsm303agrcfg = {
   NULL,
   NULL,
   LSM303AGR_COMP_ODR_50HZ,
-#if LSM303AGR_COMP_USE_ADVANCED
+#if LSM303AGR_USE_ADVANCED
   LSM303AGR_COMP_MODE_NORM,
   LSM303AGR_COMP_LPOW_EN
 #endif
diff --git a/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c
index 15b530064..723d4be3d 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c
+++ b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c
@@ -52,7 +52,7 @@ static const LSM303DLHCConfig lsm303dlhccfg = {
   NULL,
   LSM303DLHC_ACC_FS_4G,
   LSM303DLHC_ACC_ODR_100Hz,
-#if LSM303DLHC_ACC_USE_ADVANCED
+#if LSM303DLHC_USE_ADVANCED
   LSM303DLHC_ACC_LP_DISABLED,
   LSM303DLHC_ACC_HR_DISABLED,
   LSM303DLHC_ACC_BDU_BLOCK,
@@ -62,7 +62,7 @@ static const LSM303DLHCConfig lsm303dlhccfg = {
   NULL,
   LSM303DLHC_COMP_FS_1P3GA,
   LSM303DLHC_COMP_ODR_30HZ,
-#if LSM303DLHC_COMP_USE_ADVANCED
+#if LSM303DLHC_USE_ADVANCED
   LSM303DLHC_COMP_MD_BLOCK
 #endif
 };
diff --git a/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c b/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c
index 48345bb57..51327a5c4 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c
+++ b/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c
@@ -52,20 +52,20 @@ static const LSM6DS0Config lsm6ds0cfg = {
   NULL,
   LSM6DS0_ACC_FS_2G,
   LSM6DS0_ACC_ODR_50Hz,
-#if LSM6DS0_ACC_USE_ADVANCED
+#if LSM6DS0_USE_ADVANCED
   LSM6DS0_ACC_DEC_X4,
 #endif
   NULL,
   NULL,
   LSM6DS0_GYRO_FS_245DPS,
   LSM6DS0_GYRO_ODR_119HZ_FC_31,
-#if LSM6DS0_GYRO_USE_ADVANCED
+#if LSM6DS0_USE_ADVANCED
   LSM6DS0_GYRO_LP_DISABLED,
   LSM6DS0_GYRO_OUT_SEL_0,
   LSM6DS0_GYRO_HP_DISABLED,
   LSM6DS0_GYRO_HPCF_0,
 #endif
-#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM6DS0_USE_ADVANCED
   LSM6DS0_BDU_BLOCKED,
   LSM6DS0_END_LITTLE
 #endif
diff --git a/testex/STM32/STM32F4xx/I2C-LSM6DSL/main.c b/testex/STM32/STM32F4xx/I2C-LSM6DSL/main.c
index 9cb9000b1..c96b1c0ec 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM6DSL/main.c
+++ b/testex/STM32/STM32F4xx/I2C-LSM6DSL/main.c
@@ -52,18 +52,18 @@ static const LSM6DSLConfig lsm6dslcfg = {
   NULL,
   LSM6DSL_ACC_FS_2G,
   LSM6DSL_GYRO_ODR_52Hz,
-#if LSM6DSL_ACC_USE_ADVANCED
+#if LSM6DSL_USE_ADVANCED
   LSM6DSL_ACC_LP_ENABLED,
 #endif
   NULL,
   NULL,
   LSM6DSL_GYRO_FS_250DPS,
   LSM6DSL_GYRO_ODR_104Hz,
-#if LSM6DSL_GYRO_USE_ADVANCED
+#if LSM6DSL_USE_ADVANCED
   LSM6DSL_GYRO_LP_ENABLED,
   LSM6DSL_GYRO_LPF_FTYPE1,
 #endif
-#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
+#if LSM6DSL_USE_ADVANCED
   LSM6DSL_BDU_BLOCKED,
   LSM6DSL_END_LITTLE
 #endif
diff --git a/testex/STM32/STM32F4xx/SPI-L3GD20/main.c b/testex/STM32/STM32F4xx/SPI-L3GD20/main.c
index c6860e828..08e0dadbb 100644
--- a/testex/STM32/STM32F4xx/SPI-L3GD20/main.c
+++ b/testex/STM32/STM32F4xx/SPI-L3GD20/main.c
@@ -52,7 +52,7 @@ static L3GD20Config l3gd20cfg = {
   NULL,
   L3GD20_FS_250DPS,
   L3GD20_ODR_760HZ,
-#if L3GD20_GYRO_USE_ADVANCED
+#if L3GD20_USE_ADVANCED
   L3GD20_BDU_CONTINUOUS,
   L3GD20_END_LITTLE,
   L3GD20_BW3,
diff --git a/testex/STM32/STM32F4xx/SPI-LIS302DL/Makefile b/testex/STM32/STM32F4xx/SPI-LIS302DL/Makefile
index 904918942..1f3736156 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS302DL/Makefile
+++ b/testex/STM32/STM32F4xx/SPI-LIS302DL/Makefile
@@ -18,7 +18,7 @@ ifeq ($(USE_CPPOPT),)
   USE_CPPOPT = -fno-rtti
 endif
 
-# Enable this if you want the linker to remove unused code and data
+# Enable this if you want the linker to remove unused code and data.
 ifeq ($(USE_LINK_GC),)
   USE_LINK_GC = yes
 endif
@@ -28,16 +28,11 @@ ifeq ($(USE_LDOPT),)
   USE_LDOPT = 
 endif
 
-# Enable this if you want link time optimizations (LTO)
+# Enable this if you want link time optimizations (LTO).
 ifeq ($(USE_LTO),)
   USE_LTO = yes
 endif
 
-# If enabled, this option allows to compile the application in THUMB mode.
-ifeq ($(USE_THUMB),)
-  USE_THUMB = yes
-endif
-
 # Enable this if you want to see the full log while compiling.
 ifeq ($(USE_VERBOSE_COMPILE),)
   USE_VERBOSE_COMPILE = no
@@ -71,7 +66,12 @@ endif
 
 # Enables the use of FPU (no, softfp, hard).
 ifeq ($(USE_FPU),)
-  USE_FPU = no
+  USE_FPU = hard
+endif
+
+# FPU-related options.
+ifeq ($(USE_FPU_OPT),)
+  USE_FPU_OPT = -mfloat-abi=$(USE_FPU) -mfpu=fpv4-sp-d16
 endif
 
 #
@@ -79,14 +79,20 @@ endif
 ##############################################################################
 
 ##############################################################################
-# Project, sources and paths
+# Project, target, sources and paths
 #
 
 # Define project name here
 PROJECT = ch
 
-# Imported source files and paths
-CHIBIOS = ../../../..
+# Target settings.
+MCU  = cortex-m4
+
+# Imported source files and paths.
+CHIBIOS  := ../../../..
+CONFDIR  := ./cfg
+BUILDDIR := ./build
+DEPDIR   := ./.dep
 
 # Licensing files.
 include $(CHIBIOS)/os/license/license.mk
@@ -100,105 +106,43 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 # RTOS files (optional).
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
-# EX files (optional)..
+# EX files (optional).
 include $(CHIBIOS)/os/ex/ST/lis302dl.mk
+# Auto-build files in ./source recursively.
+include $(CHIBIOS)/tools/mk/autobuild.mk
 # Other files (optional).
 include $(CHIBIOS)/os/hal/lib/streams/streams.mk
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
 
-# C sources that can be compiled in ARM or THUMB mode depending on the global
-# setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
-       $(LIS3DSHSRC) \
-       $(STREAMSSRC) \
-       $(SHELLSRC) \
-       usbcfg.c main.c
-
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
 CSRC = $(ALLCSRC) \
        $(TESTSRC) \
-       usbcfg.c main.c
+       main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
 CPPSRC = $(ALLCPPSRC)
 
-# C sources to be compiled in ARM mode regardless of the global setting.
-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
-#       option that results in lower performance and larger code size.
-ACSRC =
+# List ASM source files here.
+ASMSRC = $(ALLASMSRC)
 
-# C++ sources to be compiled in ARM mode regardless of the global setting.
-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
-#       option that results in lower performance and larger code size.
-ACPPSRC =
+# List ASM with preprocessor source files here.
+ASMXSRC = $(ALLXASMSRC)
 
-# C sources to be compiled in THUMB mode regardless of the global setting.
-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
-#       option that results in lower performance and larger code size.
-TCSRC =
+# Inclusion directories.
+INCDIR = $(CONFDIR) $(ALLINC) $(TESTINC)
 
-# C sources to be compiled in THUMB mode regardless of the global setting.
-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
-#       option that results in lower performance and larger code size.
-TCPPSRC =
-
-# List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
-
-INCDIR = $(ALLINC) $(TESTINC)
-
-#
-# Project, sources and paths
-##############################################################################
-
-##############################################################################
-# Compiler settings
-#
-
-MCU  = cortex-m4
-
-#TRGT = arm-elf-
-TRGT = arm-none-eabi-
-CC   = $(TRGT)gcc
-CPPC = $(TRGT)g++
-# Enable loading with g++ only if you need C++ runtime support.
-# NOTE: You can use C++ even without C++ support if you are careful. C++
-#       runtime support makes code size explode.
-LD   = $(TRGT)gcc
-#LD   = $(TRGT)g++
-CP   = $(TRGT)objcopy
-AS   = $(TRGT)gcc -x assembler-with-cpp
-AR   = $(TRGT)ar
-OD   = $(TRGT)objdump
-SZ   = $(TRGT)size
-HEX  = $(CP) -O ihex
-BIN  = $(CP) -O binary
-
-# ARM-specific options here
-AOPT =
-
-# THUMB-specific options here
-TOPT = -mthumb -DTHUMB
-
-# Define C warning options here
+# Define C warning options here.
 CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes
 
-# Define C++ warning options here
+# Define C++ warning options here.
 CPPWARN = -Wall -Wextra -Wundef
 
 #
-# Compiler settings
+# Project, target, sources and paths
 ##############################################################################
 
 ##############################################################################
@@ -206,8 +150,7 @@ CPPWARN = -Wall -Wextra -Wundef
 #
 
 # List all user C define here, like -D_DEBUG=1
-UDEFS = -DCHPRINTF_USE_FLOAT=1 \
-        -DLIS302DL_USE_ADVANCED=0 -DLIS302DL_SHARED_SPI=0
+UDEFS = -DCHPRINTF_USE_FLOAT=1
 
 # Define ASM defines here
 UADEFS =
@@ -222,8 +165,25 @@ ULIBDIR =
 ULIBS =
 
 #
-# End of user defines
+# End of user section
 ##############################################################################
 
+##############################################################################
+# Common rules
+#
+
 RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk
+include $(RULESPATH)/arm-none-eabi.mk
 include $(RULESPATH)/rules.mk
+
+#
+# Common rules
+##############################################################################
+
+##############################################################################
+# Custom rules
+#
+
+#
+# Custom rules
+##############################################################################
diff --git a/testex/STM32/STM32F4xx/SPI-LIS3DSH/Makefile b/testex/STM32/STM32F4xx/SPI-LIS3DSH/Makefile
index f8d25b5fd..293f302ab 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS3DSH/Makefile
+++ b/testex/STM32/STM32F4xx/SPI-LIS3DSH/Makefile
@@ -18,7 +18,7 @@ ifeq ($(USE_CPPOPT),)
   USE_CPPOPT = -fno-rtti
 endif
 
-# Enable this if you want the linker to remove unused code and data
+# Enable this if you want the linker to remove unused code and data.
 ifeq ($(USE_LINK_GC),)
   USE_LINK_GC = yes
 endif
@@ -28,16 +28,11 @@ ifeq ($(USE_LDOPT),)
   USE_LDOPT = 
 endif
 
-# Enable this if you want link time optimizations (LTO)
+# Enable this if you want link time optimizations (LTO).
 ifeq ($(USE_LTO),)
   USE_LTO = yes
 endif
 
-# If enabled, this option allows to compile the application in THUMB mode.
-ifeq ($(USE_THUMB),)
-  USE_THUMB = yes
-endif
-
 # Enable this if you want to see the full log while compiling.
 ifeq ($(USE_VERBOSE_COMPILE),)
   USE_VERBOSE_COMPILE = no
@@ -71,7 +66,12 @@ endif
 
 # Enables the use of FPU (no, softfp, hard).
 ifeq ($(USE_FPU),)
-  USE_FPU = no
+  USE_FPU = hard
+endif
+
+# FPU-related options.
+ifeq ($(USE_FPU_OPT),)
+  USE_FPU_OPT = -mfloat-abi=$(USE_FPU) -mfpu=fpv4-sp-d16
 endif
 
 #
@@ -79,14 +79,20 @@ endif
 ##############################################################################
 
 ##############################################################################
-# Project, sources and paths
+# Project, target, sources and paths
 #
 
 # Define project name here
 PROJECT = ch
 
-# Imported source files and paths
-CHIBIOS = ../../../..
+# Target settings.
+MCU  = cortex-m4
+
+# Imported source files and paths.
+CHIBIOS  := ../../../..
+CONFDIR  := ./cfg
+BUILDDIR := ./build
+DEPDIR   := ./.dep
 
 # Licensing files.
 include $(CHIBIOS)/os/license/license.mk
@@ -100,105 +106,43 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 # RTOS files (optional).
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
-# EX files (optional)..
+# EX files (optional).
 include $(CHIBIOS)/os/ex/ST/lis3dsh.mk
+# Auto-build files in ./source recursively.
+include $(CHIBIOS)/tools/mk/autobuild.mk
 # Other files (optional).
 include $(CHIBIOS)/os/hal/lib/streams/streams.mk
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
 
-# C sources that can be compiled in ARM or THUMB mode depending on the global
-# setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
-       $(LIS3DSHSRC) \
-       $(STREAMSSRC) \
-       $(SHELLSRC) \
-       usbcfg.c main.c
-
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
 CSRC = $(ALLCSRC) \
        $(TESTSRC) \
-       usbcfg.c main.c
+       main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
 CPPSRC = $(ALLCPPSRC)
 
-# C sources to be compiled in ARM mode regardless of the global setting.
-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
-#       option that results in lower performance and larger code size.
-ACSRC =
+# List ASM source files here.
+ASMSRC = $(ALLASMSRC)
 
-# C++ sources to be compiled in ARM mode regardless of the global setting.
-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
-#       option that results in lower performance and larger code size.
-ACPPSRC =
+# List ASM with preprocessor source files here.
+ASMXSRC = $(ALLXASMSRC)
 
-# C sources to be compiled in THUMB mode regardless of the global setting.
-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
-#       option that results in lower performance and larger code size.
-TCSRC =
+# Inclusion directories.
+INCDIR = $(CONFDIR) $(ALLINC) $(TESTINC)
 
-# C sources to be compiled in THUMB mode regardless of the global setting.
-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
-#       option that results in lower performance and larger code size.
-TCPPSRC =
-
-# List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
-
-INCDIR = $(ALLINC) $(TESTINC)
-
-#
-# Project, sources and paths
-##############################################################################
-
-##############################################################################
-# Compiler settings
-#
-
-MCU  = cortex-m4
-
-#TRGT = arm-elf-
-TRGT = arm-none-eabi-
-CC   = $(TRGT)gcc
-CPPC = $(TRGT)g++
-# Enable loading with g++ only if you need C++ runtime support.
-# NOTE: You can use C++ even without C++ support if you are careful. C++
-#       runtime support makes code size explode.
-LD   = $(TRGT)gcc
-#LD   = $(TRGT)g++
-CP   = $(TRGT)objcopy
-AS   = $(TRGT)gcc -x assembler-with-cpp
-AR   = $(TRGT)ar
-OD   = $(TRGT)objdump
-SZ   = $(TRGT)size
-HEX  = $(CP) -O ihex
-BIN  = $(CP) -O binary
-
-# ARM-specific options here
-AOPT =
-
-# THUMB-specific options here
-TOPT = -mthumb -DTHUMB
-
-# Define C warning options here
+# Define C warning options here.
 CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes
 
-# Define C++ warning options here
+# Define C++ warning options here.
 CPPWARN = -Wall -Wextra -Wundef
 
 #
-# Compiler settings
+# Project, target, sources and paths
 ##############################################################################
 
 ##############################################################################
@@ -206,8 +150,7 @@ CPPWARN = -Wall -Wextra -Wundef
 #
 
 # List all user C define here, like -D_DEBUG=1
-UDEFS = -DCHPRINTF_USE_FLOAT=1 \
-        -DLIS3DSH_USE_ADVANCED=0 -DLIS3DSH_SHARED_SPI=0
+UDEFS = -DCHPRINTF_USE_FLOAT=1
 
 # Define ASM defines here
 UADEFS =
@@ -222,8 +165,25 @@ ULIBDIR =
 ULIBS =
 
 #
-# End of user defines
+# End of user section
 ##############################################################################
 
+##############################################################################
+# Common rules
+#
+
 RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk
+include $(RULESPATH)/arm-none-eabi.mk
 include $(RULESPATH)/rules.mk
+
+#
+# Common rules
+##############################################################################
+
+##############################################################################
+# Custom rules
+#
+
+#
+# Custom rules
+##############################################################################
diff --git a/testex/STM32/STM32L4xx/SPI-L3GD20/main.c b/testex/STM32/STM32L4xx/SPI-L3GD20/main.c
index 693e0f0f7..168c9cffb 100644
--- a/testex/STM32/STM32L4xx/SPI-L3GD20/main.c
+++ b/testex/STM32/STM32L4xx/SPI-L3GD20/main.c
@@ -51,7 +51,7 @@ static L3GD20Config l3gd20cfg = {
   NULL,
   L3GD20_FS_250DPS,
   L3GD20_ODR_760HZ,
-#if L3GD20_GYRO_USE_ADVANCED
+#if L3GD20_USE_ADVANCED
   L3GD20_BDU_CONTINUOUS,
   L3GD20_END_LITTLE,
   L3GD20_BW3,
@@ -125,4 +125,4 @@ int main(void) {
     cls(chp);
   }
   l3gd20Stop(&L3GD20D1);
-}
\ No newline at end of file
+}