Fixed Bug #857

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/stable_17.6.x@10304 35acf78f-673a-0410-8e92-d51de3d6d3f4

demos/STM32/RT-STM32F070RB-NUCLEO64/mcuconf.h

@@ -166,23 +166,18 @@
 #define STM32_UART_USE_USART1               FALSE
 #define STM32_UART_USE_USART2               FALSE
 #define STM32_UART_USE_USART3               FALSE
-#define STM32_UART_USE_UART4                FALSE
 #define STM32_UART_USART1_IRQ_PRIORITY      3
 #define STM32_UART_USART2_IRQ_PRIORITY      3
-#define STM32_UART_USART3_IRQ_PRIORITY      3
+#define STM32_UART_USART3_8_IRQ_PRIORITY    3
-#define STM32_UART_UART4_IRQ_PRIORITY       3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
 #define STM32_UART_USART3_DMA_PRIORITY      0
-#define STM32_UART_UART4_DMA_PRIORITY       0
 #define STM32_UART_USART1_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 3)
 #define STM32_UART_USART1_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)
 #define STM32_UART_USART2_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 5)
 #define STM32_UART_USART2_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 4)
-#define STM32_UART_USART3_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 6)
+#define STM32_UART_USART3_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 3)
-#define STM32_UART_USART3_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 7)
+#define STM32_UART_USART3_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)
-#define STM32_UART_UART4_RX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 6)
-#define STM32_UART_UART4_TX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 7)
 #define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
 
 /*

demos/STM32/RT-STM32F072-DISCOVERY/mcuconf.h

@@ -193,8 +193,11 @@
  */
 #define STM32_SERIAL_USE_USART1             TRUE
 #define STM32_SERIAL_USE_USART2             FALSE
+#define STM32_SERIAL_USE_USART3             FALSE
+#define STM32_SERIAL_USE_UART4              FALSE
 #define STM32_SERIAL_USART1_PRIORITY        3
 #define STM32_SERIAL_USART2_PRIORITY        3
+#define STM32_SERIAL_USART3_8_PRIORITY      3
 
 /*
  * SPI driver system settings.
@@ -222,14 +225,23 @@
  */
 #define STM32_UART_USE_USART1               FALSE
 #define STM32_UART_USE_USART2               FALSE
+#define STM32_UART_USE_USART3               FALSE
+#define STM32_UART_USE_UART4                FALSE
 #define STM32_UART_USART1_IRQ_PRIORITY      3
 #define STM32_UART_USART2_IRQ_PRIORITY      3
+#define STM32_UART_USART3_8_IRQ_PRIORITY    3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
+#define STM32_UART_USART3_DMA_PRIORITY      0
+#define STM32_UART_UART4_DMA_PRIORITY       0
 #define STM32_UART_USART1_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 3)
 #define STM32_UART_USART1_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)
 #define STM32_UART_USART2_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 5)
 #define STM32_UART_USART2_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 4)
+#define STM32_UART_USART3_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 3)
+#define STM32_UART_USART3_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)
+#define STM32_UART_UART4_RX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 6)
+#define STM32_UART_UART4_TX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 7)
 #define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
 
 /*

demos/STM32/RT-STM32F072RB-NUCLEO64/mcuconf.h

@@ -193,8 +193,11 @@
  */
 #define STM32_SERIAL_USE_USART1             FALSE
 #define STM32_SERIAL_USE_USART2             TRUE
+#define STM32_SERIAL_USE_USART3             FALSE
+#define STM32_SERIAL_USE_UART4              FALSE
 #define STM32_SERIAL_USART1_PRIORITY        3
 #define STM32_SERIAL_USART2_PRIORITY        3
+#define STM32_SERIAL_USART3_8_PRIORITY      3
 
 /*
  * SPI driver system settings.
@@ -222,14 +225,23 @@
  */
 #define STM32_UART_USE_USART1               FALSE
 #define STM32_UART_USE_USART2               FALSE
+#define STM32_UART_USE_USART3               FALSE
+#define STM32_UART_USE_UART4                FALSE
 #define STM32_UART_USART1_IRQ_PRIORITY      3
 #define STM32_UART_USART2_IRQ_PRIORITY      3
+#define STM32_UART_USART3_8_IRQ_PRIORITY    3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
+#define STM32_UART_USART3_DMA_PRIORITY      0
+#define STM32_UART_UART4_DMA_PRIORITY       0
 #define STM32_UART_USART1_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 3)
 #define STM32_UART_USART1_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)
 #define STM32_UART_USART2_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 5)
 #define STM32_UART_USART2_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 4)
+#define STM32_UART_USART3_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 3)
+#define STM32_UART_USART3_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)
+#define STM32_UART_UART4_RX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 6)
+#define STM32_UART_UART4_TX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 7)
 #define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
 
 /*

demos/STM32/RT-STM32F091RC-NUCLEO64/mcuconf.h

@@ -199,7 +199,7 @@
 #define STM32_UART_USE_UART8                FALSE
 #define STM32_UART_USART1_IRQ_PRIORITY      3
 #define STM32_UART_USART2_IRQ_PRIORITY      3
-#define STM32_UART_USART3_8_PRIORITY        3
+#define STM32_UART_USART3_8_IRQ_PRIORITY    3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
 #define STM32_UART_USART3_DMA_PRIORITY      0

demos/STM32/RT-STM32L053-DISCOVERY/Makefile

@@ -113,7 +113,7 @@ CSRC = $(STARTUPSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
        $(TESTSRC) \
-       usbcfg.c main.c
+       main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.

demos/STM32/RT-STM32L053-DISCOVERY/debug/RT-STM32L053-DISCOVERY (OpenOCD, Flash and Run).launch

@@ -33,7 +33,7 @@
 <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
 <stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
 <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>
-<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList/&gt;"/>
+<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;null-stm32_clock_init-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;mp-stm32_clock_init-(format)&quot; val=&quot;2&quot;/&gt;&lt;/contentList&gt;"/>
 <stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;globalVariableList/&gt;&#13;&#10;"/>
 <stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList/&gt;&#13;&#10;"/>
 <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>

demos/STM32/RT-STM32L053-DISCOVERY/halconf.h

@@ -139,14 +139,14 @@
  * @brief   Enables the SERIAL subsystem.
  */
 #if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
-#define HAL_USE_SERIAL              FALSE
+#define HAL_USE_SERIAL              TRUE
 #endif
 
 /**
  * @brief   Enables the SERIAL over USB subsystem.
  */
 #if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
-#define HAL_USE_SERIAL_USB          TRUE
+#define HAL_USE_SERIAL_USB          FALSE
 #endif
 
 /**
@@ -167,7 +167,7 @@
  * @brief   Enables the USB subsystem.
  */
 #if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
-#define HAL_USE_USB                 TRUE
+#define HAL_USE_USB                 FALSE
 #endif
 
 /**

demos/STM32/RT-STM32L053-DISCOVERY/main.c

@@ -16,8 +16,6 @@
 
 #include "ch.h"
 #include "hal.h"
-#include "usbcfg.h"
-
 #include "ch_test.h"
 
 /*
@@ -52,21 +50,10 @@ int main(void) {
   chSysInit();
 
   /*
-   * Initializes a serial-over-USB CDC driver.
+   * Activates the serial driver 1 using the driver default configuration.
    */
-  sduObjectInit(&SDU1);
+  sdStart(&SD1, NULL);
-  sduStart(&SDU1, &serusbcfg);
 
-  /*
-   * Activates the USB driver and then the USB bus pull-up on D+.
-   * Note, a delay is inserted in order to not have to disconnect the cable
-   * after a reset.
-   */
-  usbDisconnectBus(serusbcfg.usbp);
-  chThdSleepMilliseconds(1000);
-  usbStart(serusbcfg.usbp, &usbcfg);
-  usbConnectBus(serusbcfg.usbp);
-  chThdSleepMilliseconds(1000);
   /*
    * Creates the blinker thread.
    */
@@ -78,7 +65,7 @@ int main(void) {
    */
   while (true) {
     if (palReadLine(LINE_BUTTON))
-      test_execute((BaseSequentialStream *)&SDU1);
+      test_execute((BaseSequentialStream *)&SD1);
     chThdSleepMilliseconds(500);
   }
 }

demos/STM32/RT-STM32L053-DISCOVERY/mcuconf.h

@@ -126,7 +126,7 @@
 /*
  * SERIAL driver system settings.
  */
-#define STM32_SERIAL_USE_USART1             FALSE
+#define STM32_SERIAL_USE_USART1             TRUE
 #define STM32_SERIAL_USE_USART2             FALSE
 #define STM32_SERIAL_USE_LPUART1            FALSE
 #define STM32_SERIAL_USART1_PRIORITY        3
@@ -172,9 +172,8 @@
 /*
  * USB driver system settings.
  */
-#define STM32_USB_USE_USB1                  TRUE
+#define STM32_USB_USE_USB1                  FALSE
 #define STM32_USB_LOW_POWER_ON_SUSPEND      FALSE
-#define STM32_USB_USB1_HP_IRQ_PRIORITY      2
 #define STM32_USB_USB1_LP_IRQ_PRIORITY      3
 
 /*

demos/STM32/RT-STM32L053-DISCOVERY/usbcfg.c

@@ -1,342 +0,0 @@
-/*
-    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
-
-    Licensed under the Apache License, Version 2.0 (the "License");
-    you may not use this file except in compliance with the License.
-    You may obtain a copy of the License at
-
-        http://www.apache.org/licenses/LICENSE-2.0
-
-    Unless required by applicable law or agreed to in writing, software
-    distributed under the License is distributed on an "AS IS" BASIS,
-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-    See the License for the specific language governing permissions and
-    limitations under the License.
-*/
-
-#include "hal.h"
-
-/* Virtual serial port over USB.*/
-SerialUSBDriver SDU1;
-
-/*
- * Endpoints to be used for USBD1.
- */
-#define USBD1_DATA_REQUEST_EP           1
-#define USBD1_DATA_AVAILABLE_EP         1
-#define USBD1_INTERRUPT_REQUEST_EP      2
-
-/*
- * USB Device Descriptor.
- */
-static const uint8_t vcom_device_descriptor_data[18] = {
-  USB_DESC_DEVICE       (0x0110,        /* bcdUSB (1.1).                    */
-                         0x02,          /* bDeviceClass (CDC).              */
-                         0x00,          /* bDeviceSubClass.                 */
-                         0x00,          /* bDeviceProtocol.                 */
-                         0x40,          /* bMaxPacketSize.                  */
-                         0x0483,        /* idVendor (ST).                   */
-                         0x5740,        /* idProduct.                       */
-                         0x0200,        /* bcdDevice.                       */
-                         1,             /* iManufacturer.                   */
-                         2,             /* iProduct.                        */
-                         3,             /* iSerialNumber.                   */
-                         1)             /* bNumConfigurations.              */
-};
-
-/*
- * Device Descriptor wrapper.
- */
-static const USBDescriptor vcom_device_descriptor = {
-  sizeof vcom_device_descriptor_data,
-  vcom_device_descriptor_data
-};
-
-/* Configuration Descriptor tree for a CDC.*/
-static const uint8_t vcom_configuration_descriptor_data[67] = {
-  /* Configuration Descriptor.*/
-  USB_DESC_CONFIGURATION(67,            /* wTotalLength.                    */
-                         0x02,          /* bNumInterfaces.                  */
-                         0x01,          /* bConfigurationValue.             */
-                         0,             /* iConfiguration.                  */
-                         0xC0,          /* bmAttributes (self powered).     */
-                         50),           /* bMaxPower (100mA).               */
-  /* Interface Descriptor.*/
-  USB_DESC_INTERFACE    (0x00,          /* bInterfaceNumber.                */
-                         0x00,          /* bAlternateSetting.               */
-                         0x01,          /* bNumEndpoints.                   */
-                         0x02,          /* bInterfaceClass (Communications
-                                           Interface Class, CDC section
-                                           4.2).                            */
-                         0x02,          /* bInterfaceSubClass (Abstract
-                                         Control Model, CDC section 4.3).   */
-                         0x01,          /* bInterfaceProtocol (AT commands,
-                                           CDC section 4.4).                */
-                         0),            /* iInterface.                      */
-  /* Header Functional Descriptor (CDC section 5.2.3).*/
-  USB_DESC_BYTE         (5),            /* bLength.                         */
-  USB_DESC_BYTE         (0x24),         /* bDescriptorType (CS_INTERFACE).  */
-  USB_DESC_BYTE         (0x00),         /* bDescriptorSubtype (Header
-                                           Functional Descriptor.           */
-  USB_DESC_BCD          (0x0110),       /* bcdCDC.                          */
-  /* Call Management Functional Descriptor. */
-  USB_DESC_BYTE         (5),            /* bFunctionLength.                 */
-  USB_DESC_BYTE         (0x24),         /* bDescriptorType (CS_INTERFACE).  */
-  USB_DESC_BYTE         (0x01),         /* bDescriptorSubtype (Call Management
-                                           Functional Descriptor).          */
-  USB_DESC_BYTE         (0x00),         /* bmCapabilities (D0+D1).          */
-  USB_DESC_BYTE         (0x01),         /* bDataInterface.                  */
-  /* ACM Functional Descriptor.*/
-  USB_DESC_BYTE         (4),            /* bFunctionLength.                 */
-  USB_DESC_BYTE         (0x24),         /* bDescriptorType (CS_INTERFACE).  */
-  USB_DESC_BYTE         (0x02),         /* bDescriptorSubtype (Abstract
-                                           Control Management Descriptor).  */
-  USB_DESC_BYTE         (0x02),         /* bmCapabilities.                  */
-  /* Union Functional Descriptor.*/
-  USB_DESC_BYTE         (5),            /* bFunctionLength.                 */
-  USB_DESC_BYTE         (0x24),         /* bDescriptorType (CS_INTERFACE).  */
-  USB_DESC_BYTE         (0x06),         /* bDescriptorSubtype (Union
-                                           Functional Descriptor).          */
-  USB_DESC_BYTE         (0x00),         /* bMasterInterface (Communication
-                                           Class Interface).                */
-  USB_DESC_BYTE         (0x01),         /* bSlaveInterface0 (Data Class
-                                           Interface).                      */
-  /* Endpoint 2 Descriptor.*/
-  USB_DESC_ENDPOINT     (USBD1_INTERRUPT_REQUEST_EP|0x80,
-                         0x03,          /* bmAttributes (Interrupt).        */
-                         0x0008,        /* wMaxPacketSize.                  */
-                         0xFF),         /* bInterval.                       */
-  /* Interface Descriptor.*/
-  USB_DESC_INTERFACE    (0x01,          /* bInterfaceNumber.                */
-                         0x00,          /* bAlternateSetting.               */
-                         0x02,          /* bNumEndpoints.                   */
-                         0x0A,          /* bInterfaceClass (Data Class
-                                           Interface, CDC section 4.5).     */
-                         0x00,          /* bInterfaceSubClass (CDC section
-                                           4.6).                            */
-                         0x00,          /* bInterfaceProtocol (CDC section
-                                           4.7).                            */
-                         0x00),         /* iInterface.                      */
-  /* Endpoint 3 Descriptor.*/
-  USB_DESC_ENDPOINT     (USBD1_DATA_AVAILABLE_EP,       /* bEndpointAddress.*/
-                         0x02,          /* bmAttributes (Bulk).             */
-                         0x0040,        /* wMaxPacketSize.                  */
-                         0x00),         /* bInterval.                       */
-  /* Endpoint 1 Descriptor.*/
-  USB_DESC_ENDPOINT     (USBD1_DATA_REQUEST_EP|0x80,    /* bEndpointAddress.*/
-                         0x02,          /* bmAttributes (Bulk).             */
-                         0x0040,        /* wMaxPacketSize.                  */
-                         0x00)          /* bInterval.                       */
-};
-
-/*
- * Configuration Descriptor wrapper.
- */
-static const USBDescriptor vcom_configuration_descriptor = {
-  sizeof vcom_configuration_descriptor_data,
-  vcom_configuration_descriptor_data
-};
-
-/*
- * U.S. English language identifier.
- */
-static const uint8_t vcom_string0[] = {
-  USB_DESC_BYTE(4),                     /* bLength.                         */
-  USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType.                 */
-  USB_DESC_WORD(0x0409)                 /* wLANGID (U.S. English).          */
-};
-
-/*
- * Vendor string.
- */
-static const uint8_t vcom_string1[] = {
-  USB_DESC_BYTE(38),                    /* bLength.                         */
-  USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType.                 */
-  'S', 0, 'T', 0, 'M', 0, 'i', 0, 'c', 0, 'r', 0, 'o', 0, 'e', 0,
-  'l', 0, 'e', 0, 'c', 0, 't', 0, 'r', 0, 'o', 0, 'n', 0, 'i', 0,
-  'c', 0, 's', 0
-};
-
-/*
- * Device Description string.
- */
-static const uint8_t vcom_string2[] = {
-  USB_DESC_BYTE(56),                    /* bLength.                         */
-  USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType.                 */
-  'C', 0, 'h', 0, 'i', 0, 'b', 0, 'i', 0, 'O', 0, 'S', 0, '/', 0,
-  'R', 0, 'T', 0, ' ', 0, 'V', 0, 'i', 0, 'r', 0, 't', 0, 'u', 0,
-  'a', 0, 'l', 0, ' ', 0, 'C', 0, 'O', 0, 'M', 0, ' ', 0, 'P', 0,
-  'o', 0, 'r', 0, 't', 0
-};
-
-/*
- * Serial Number string.
- */
-static const uint8_t vcom_string3[] = {
-  USB_DESC_BYTE(8),                     /* bLength.                         */
-  USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType.                 */
-  '0' + CH_KERNEL_MAJOR, 0,
-  '0' + CH_KERNEL_MINOR, 0,
-  '0' + CH_KERNEL_PATCH, 0
-};
-
-/*
- * Strings wrappers array.
- */
-static const USBDescriptor vcom_strings[] = {
-  {sizeof vcom_string0, vcom_string0},
-  {sizeof vcom_string1, vcom_string1},
-  {sizeof vcom_string2, vcom_string2},
-  {sizeof vcom_string3, vcom_string3}
-};
-
-/*
- * Handles the GET_DESCRIPTOR callback. All required descriptors must be
- * handled here.
- */
-static const USBDescriptor *get_descriptor(USBDriver *usbp,
-                                           uint8_t dtype,
-                                           uint8_t dindex,
-                                           uint16_t lang) {
-
-  (void)usbp;
-  (void)lang;
-  switch (dtype) {
-  case USB_DESCRIPTOR_DEVICE:
-    return &vcom_device_descriptor;
-  case USB_DESCRIPTOR_CONFIGURATION:
-    return &vcom_configuration_descriptor;
-  case USB_DESCRIPTOR_STRING:
-    if (dindex < 4)
-      return &vcom_strings[dindex];
-  }
-  return NULL;
-}
-
-/**
- * @brief   IN EP1 state.
- */
-static USBInEndpointState ep1instate;
-
-/**
- * @brief   OUT EP1 state.
- */
-static USBOutEndpointState ep1outstate;
-
-/**
- * @brief   EP1 initialization structure (both IN and OUT).
- */
-static const USBEndpointConfig ep1config = {
-  USB_EP_MODE_TYPE_BULK,
-  NULL,
-  sduDataTransmitted,
-  sduDataReceived,
-  0x0040,
-  0x0040,
-  &ep1instate,
-  &ep1outstate,
-  2,
-  NULL
-};
-
-/**
- * @brief   IN EP2 state.
- */
-static USBInEndpointState ep2instate;
-
-/**
- * @brief   EP2 initialization structure (IN only).
- */
-static const USBEndpointConfig ep2config = {
-  USB_EP_MODE_TYPE_INTR,
-  NULL,
-  sduInterruptTransmitted,
-  NULL,
-  0x0010,
-  0x0000,
-  &ep2instate,
-  NULL,
-  1,
-  NULL
-};
-
-/*
- * Handles the USB driver global events.
- */
-static void usb_event(USBDriver *usbp, usbevent_t event) {
-  extern SerialUSBDriver SDU1;
-
-  switch (event) {
-  case USB_EVENT_ADDRESS:
-    return;
-  case USB_EVENT_CONFIGURED:
-    chSysLockFromISR();
-
-    /* Enables the endpoints specified into the configuration.
-       Note, this callback is invoked from an ISR so I-Class functions
-       must be used.*/
-    usbInitEndpointI(usbp, USBD1_DATA_REQUEST_EP, &ep1config);
-    usbInitEndpointI(usbp, USBD1_INTERRUPT_REQUEST_EP, &ep2config);
-
-    /* Resetting the state of the CDC subsystem.*/
-    sduConfigureHookI(&SDU1);
-
-    chSysUnlockFromISR();
-    return;
-  case USB_EVENT_RESET:
-    /* Falls into.*/
-  case USB_EVENT_UNCONFIGURED:
-    /* Falls into.*/
-  case USB_EVENT_SUSPEND:
-    chSysLockFromISR();
-
-    /* Disconnection event on suspend.*/
-    sduSuspendHookI(&SDU1);
-
-    chSysUnlockFromISR();
-    return;
-  case USB_EVENT_WAKEUP:
-    chSysLockFromISR();
-
-    /* Disconnection event on suspend.*/
-    sduWakeupHookI(&SDU1);
-
-    chSysUnlockFromISR();
-    return;
-  case USB_EVENT_STALLED:
-    return;
-  }
-  return;
-}
-
-/*
- * Handles the USB driver global events.
- */
-static void sof_handler(USBDriver *usbp) {
-
-  (void)usbp;
-
-  osalSysLockFromISR();
-  sduSOFHookI(&SDU1);
-  osalSysUnlockFromISR();
-}
-
-/*
- * USB driver configuration.
- */
-const USBConfig usbcfg = {
-  usb_event,
-  get_descriptor,
-  sduRequestsHook,
-  sof_handler
-};
-
-/*
- * Serial over USB driver configuration.
- */
-const SerialUSBConfig serusbcfg = {
-  &USBD1,
-  USBD1_DATA_REQUEST_EP,
-  USBD1_DATA_AVAILABLE_EP,
-  USBD1_INTERRUPT_REQUEST_EP
-};

demos/STM32/RT-STM32L073RZ-NUCLEO64/mcuconf.h

@@ -201,7 +201,7 @@
 #define STM32_UART_USE_UART4                FALSE
 #define STM32_UART_USART1_IRQ_PRIORITY      3
 #define STM32_UART_USART2_IRQ_PRIORITY      3
-#define STM32_UART_UART4_IRQ_PRIORITY       3
+#define STM32_UART_USART3_8_IRQ_PRIORITY    3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
 #define STM32_UART_USART1_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 5)

doc/ex/index.html

@@ -0,0 +1,8 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
+<html>
+  <head>
+    <meta http-equiv="Refresh" content="0; URL=html/index.html">
+  </head>
+  <body>
+  </body>
+</html>

doc/ex/makechm.bat

@@ -0,0 +1,5 @@
+del html\*.* /Q
+doxygen Doxyfile_chm
+del html\*.md5
+del html\*.map
+pause

doc/ex/makehtml.bat

@@ -0,0 +1,5 @@
+del html\*.* /Q
+doxygen Doxyfile_html
+del html\*.md5
+del html\*.map
+pause

doc/ex/makehtml.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+rm html/*
+doxygen Doxyfile_html
+rm html/*.md5
+rm html/*.map
+

doc/ex/rsync_web.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+rsync -avP -e ssh --delete --exclude=.* ./html/ gdisirio,chibios@web.sourceforge.net:/home/groups/c/ch/chibios/htdocs/docs3/ex

doc/ex/src/main.dox

@@ -0,0 +1,42 @@
+/*
+    ChibiOS - Copyright (C) 2006..2017 Giovanni Di Sirio.
+
+    This file is part of ChibiOS.
+
+    ChibiOS 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 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS 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, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @mainpage Introduction
+ * @author Giovanni Di Sirio (gdisirio@users.sourceforge.net).
+ * @author Rocco Marco Guglielmi (guglielmir@playembedded.org).
+ *
+ * <h2>Features</h2>
+ * - EXternal devices (EX) supporting numerous devices external to the MCU
+ *   abstracting common devices which are part of modern embedded systems.
+ * - EX resides on top of HAL which offers, among others, a set of abstract 
+ *   interfaces like Generic Sensor, Gyroscope, Magnetometer, Accelerometer,
+ *   Barometer, Thermometer: EX offers a phisical implementation of them.
+ * - Currently STMicroelectronics supported devices are:
+ *    - @b HTS221: Capacitive digital humidity sensor;
+ *    - @b L3GD20: 3-axis digital gyroscope; 
+ *    - @b LIS3DSH: 3-axis digital motion sensor;
+ *    - @b LIS3MDL: Ultra low power, high performances 3-axis magnetometer;
+ *    - @b LIS302DL: 3-axis motion sensor;
+ *    - @b LPS25H: Piezoresistive 260-1260 hPa pressure sensor; 
+ *    - @b LSM6DS0: 6-axis iNEMO inertial module; 
+ *    - @b LSM303DLHC: Ultra compact high performance e-compass;
+ * - Currently Micron Technology supported devices are:
+ *    - @b M25Q: Serial NOR Flash;
+ */

doc/hal/Doxyfile_chm

@@ -1,4 +1,4 @@
-# Doxyfile 1.8.8
+# Doxyfile 1.8.13
 
 # This file describes the settings to be used by the documentation system
 # doxygen (www.doxygen.org) for a project.
@@ -46,10 +46,10 @@ PROJECT_NUMBER         = 5.0.0
 
 PROJECT_BRIEF          = 
 
-# With the PROJECT_LOGO tag one can specify an logo or icon that is included in
+# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
-# the documentation. The maximum height of the logo should not exceed 55 pixels
+# in the documentation. The maximum height of the logo should not exceed 55
-# and the maximum width should not exceed 200 pixels. Doxygen will copy the logo
+# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
-# to the output directory.
+# the logo to the output directory.
 
 PROJECT_LOGO           = 
 
@@ -60,7 +60,7 @@ PROJECT_LOGO           =
 
 OUTPUT_DIRECTORY       = .
 
-# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create 4096 sub-
+# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
 # directories (in 2 levels) under the output directory of each output format and
 # will distribute the generated files over these directories. Enabling this
 # option can be useful when feeding doxygen a huge amount of source files, where
@@ -93,14 +93,14 @@ ALLOW_UNICODE_NAMES    = NO
 
 OUTPUT_LANGUAGE        = English
 
-# If the BRIEF_MEMBER_DESC tag is set to YES doxygen will include brief member
+# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
 # descriptions after the members that are listed in the file and class
 # documentation (similar to Javadoc). Set to NO to disable this.
 # The default value is: YES.
 
 BRIEF_MEMBER_DESC      = YES
 
-# If the REPEAT_BRIEF tag is set to YES doxygen will prepend the brief
+# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
 # description of a member or function before the detailed description
 #
 # Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
@@ -145,7 +145,7 @@ ALWAYS_DETAILED_SEC    = YES
 
 INLINE_INHERITED_MEMB  = NO
 
-# If the FULL_PATH_NAMES tag is set to YES doxygen will prepend the full path
+# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
 # before files name in the file list and in the header files. If set to NO the
 # shortest path that makes the file name unique will be used
 # The default value is: YES.
@@ -215,9 +215,9 @@ MULTILINE_CPP_IS_BRIEF = NO
 
 INHERIT_DOCS           = NO
 
-# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce a
+# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
-# new page for each member. If set to NO, the documentation of a member will be
+# page for each member. If set to NO, the documentation of a member will be part
-# part of the file/class/namespace that contains it.
+# of the file/class/namespace that contains it.
 # The default value is: NO.
 
 SEPARATE_MEMBER_PAGES  = NO
@@ -238,30 +238,14 @@ TAB_SIZE               = 2
 # "Side Effects:". You can put \n's in the value part of an alias to insert
 # newlines.
 
-ALIASES                = "iclass=@par Function Class:\n This is an \
+ALIASES                = "iclass=@par Function Class:\n This is an                           <b>I-Class</b> API, this function can be                           invoked from within a system lock zone by both                           threads and interrupt handlers." \
-                          <b>I-Class</b> API, this function can be \
+                         "sclass=@par Function Class:\n This is an                           <b>S-Class</b> API, this function can be                           invoked from within a system lock zone by threads                           only." \
-                          invoked from within a system lock zone by both \
+                         "xclass=@par Function Class:\n This is an                           <b>X-Class</b> API, this function can be                           invoked from any context." \
-                          threads and interrupt handlers." \
+                         "api=@par Function Class:\n Normal API, this                           function can be invoked by regular system threads                           but not from within a lock zone." \
-                         "sclass=@par Function Class:\n This is an \
+                         "notapi=@par Function Class:\n Not an API, this                           function is for internal use only." \
-                          <b>S-Class</b> API, this function can be \
+                         "isr=@par Function Class:\n Interrupt handler,                           this function should not be directly invoked." \
-                          invoked from within a system lock zone by threads \
+                         "init=@par Function Class:\n Initializer, this                           function just initializes an object and can be                           invoked before the kernel is initialized." \
-                          only." \
+                         "special=@par Function Class:\n Special function,                           this function has special requirements see the                           notes."
-                         "xclass=@par Function Class:\n This is an \
-                          <b>X-Class</b> API, this function can be \
-                          invoked from any context." \
-                         "api=@par Function Class:\n Normal API, this \
-                          function can be invoked by regular system threads \
-                          but not from within a lock zone." \
-                         "notapi=@par Function Class:\n Not an API, this \
-                          function is for internal use only." \
-                         "isr=@par Function Class:\n Interrupt handler, \
-                          this function should not be directly invoked." \
-                         "init=@par Function Class:\n Initializer, this \
-                          function just initializes an object and can be \
-                          invoked before the kernel is initialized." \
-                         "special=@par Function Class:\n Special function, \
-                          this function has special requirements see the \
-                          notes."
 
 # This tag can be used to specify a number of word-keyword mappings (TCL only).
 # A mapping has the form "name=value". For example adding "class=itcl::class"
@@ -309,7 +293,7 @@ OPTIMIZE_OUTPUT_VHDL   = NO
 # instance to make doxygen treat .inc files as Fortran files (default is PHP),
 # and .f files as C (default is Fortran), use: inc=Fortran f=C.
 #
-# Note For files without extension you can use no_extension as a placeholder.
+# Note: For files without extension you can use no_extension as a placeholder.
 #
 # Note that for custom extensions you also need to set FILE_PATTERNS otherwise
 # the files are not read by doxygen.
@@ -326,10 +310,19 @@ EXTENSION_MAPPING      =
 
 MARKDOWN_SUPPORT       = YES
 
+# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
+# to that level are automatically included in the table of contents, even if
+# they do not have an id attribute.
+# Note: This feature currently applies only to Markdown headings.
+# Minimum value: 0, maximum value: 99, default value: 0.
+# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
+
+TOC_INCLUDE_HEADINGS   = 0
+
 # When enabled doxygen tries to link words that correspond to documented
 # classes, or namespaces to their corresponding documentation. Such a link can
-# be prevented in individual cases by by putting a % sign in front of the word
+# be prevented in individual cases by putting a % sign in front of the word or
-# or globally by setting AUTOLINK_SUPPORT to NO.
+# globally by setting AUTOLINK_SUPPORT to NO.
 # The default value is: YES.
 
 AUTOLINK_SUPPORT       = YES
@@ -369,13 +362,20 @@ SIP_SUPPORT            = NO
 IDL_PROPERTY_SUPPORT   = YES
 
 # If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
-# tag is set to YES, then doxygen will reuse the documentation of the first
+# tag is set to YES then doxygen will reuse the documentation of the first
 # member in the group (if any) for the other members of the group. By default
 # all members of a group must be documented explicitly.
 # The default value is: NO.
 
 DISTRIBUTE_GROUP_DOC   = NO
 
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
 # Set the SUBGROUPING tag to YES to allow class member groups of the same type
 # (for instance a group of public functions) to be put as a subgroup of that
 # type (e.g. under the Public Functions section). Set it to NO to prevent
@@ -434,7 +434,7 @@ LOOKUP_CACHE_SIZE      = 0
 # Build related configuration options
 #---------------------------------------------------------------------------
 
-# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
 # documentation are documented, even if no documentation was available. Private
 # class members and static file members will be hidden unless the
 # EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
@@ -444,35 +444,35 @@ LOOKUP_CACHE_SIZE      = 0
 
 EXTRACT_ALL            = NO
 
-# If the EXTRACT_PRIVATE tag is set to YES all private members of a class will
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
 # be included in the documentation.
 # The default value is: NO.
 
 EXTRACT_PRIVATE        = NO
 
-# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
 # scope will be included in the documentation.
 # The default value is: NO.
 
 EXTRACT_PACKAGE        = NO
 
-# If the EXTRACT_STATIC tag is set to YES all static members of a file will be
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
 # included in the documentation.
 # The default value is: NO.
 
 EXTRACT_STATIC         = YES
 
-# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) defined
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
-# locally in source files will be included in the documentation. If set to NO
+# locally in source files will be included in the documentation. If set to NO,
 # only classes defined in header files are included. Does not have any effect
 # for Java sources.
 # The default value is: YES.
 
 EXTRACT_LOCAL_CLASSES  = NO
 
-# This flag is only useful for Objective-C code. When set to YES local methods,
+# This flag is only useful for Objective-C code. If set to YES, local methods,
 # which are defined in the implementation section but not in the interface are
-# included in the documentation. If set to NO only methods in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
 # included.
 # The default value is: NO.
 
@@ -497,21 +497,21 @@ HIDE_UNDOC_MEMBERS     = YES
 
 # If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
 # undocumented classes that are normally visible in the class hierarchy. If set
-# to NO these classes will be included in the various overviews. This option has
+# to NO, these classes will be included in the various overviews. This option
-# no effect if EXTRACT_ALL is enabled.
+# has no effect if EXTRACT_ALL is enabled.
 # The default value is: NO.
 
 HIDE_UNDOC_CLASSES     = YES
 
 # If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
-# (class|struct|union) declarations. If set to NO these declarations will be
+# (class|struct|union) declarations. If set to NO, these declarations will be
 # included in the documentation.
 # The default value is: NO.
 
 HIDE_FRIEND_COMPOUNDS  = NO
 
 # If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
-# documentation blocks found inside the body of a function. If set to NO these
+# documentation blocks found inside the body of a function. If set to NO, these
 # blocks will be appended to the function's detailed documentation block.
 # The default value is: NO.
 
@@ -525,7 +525,7 @@ HIDE_IN_BODY_DOCS      = NO
 INTERNAL_DOCS          = NO
 
 # If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
-# names in lower-case letters. If set to YES upper-case letters are also
+# names in lower-case letters. If set to YES, upper-case letters are also
 # allowed. This is useful if you have classes or files whose names only differ
 # in case and if your file system supports case sensitive file names. Windows
 # and Mac users are advised to set this option to NO.
@@ -534,12 +534,19 @@ INTERNAL_DOCS          = NO
 CASE_SENSE_NAMES       = NO
 
 # If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
-# their full class and namespace scopes in the documentation. If set to YES the
+# their full class and namespace scopes in the documentation. If set to YES, the
 # scope will be hidden.
 # The default value is: NO.
 
 HIDE_SCOPE_NAMES       = NO
 
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: NO.
+
+HIDE_COMPOUND_REFERENCE= NO
+
 # If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
 # the files that are included by a file in the documentation of that file.
 # The default value is: YES.
@@ -567,14 +574,14 @@ INLINE_INFO            = YES
 
 # If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
 # (detailed) documentation of file and class members alphabetically by member
-# name. If set to NO the members will appear in declaration order.
+# name. If set to NO, the members will appear in declaration order.
 # The default value is: YES.
 
 SORT_MEMBER_DOCS       = NO
 
 # If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
 # descriptions of file, namespace and class members alphabetically by member
-# name. If set to NO the members will appear in declaration order. Note that
+# name. If set to NO, the members will appear in declaration order. Note that
 # this will also influence the order of the classes in the class list.
 # The default value is: NO.
 
@@ -619,27 +626,25 @@ SORT_BY_SCOPE_NAME     = NO
 
 STRICT_PROTO_MATCHING  = NO
 
-# The GENERATE_TODOLIST tag can be used to enable ( YES) or disable ( NO) the
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
-# todo list. This list is created by putting \todo commands in the
+# list. This list is created by putting \todo commands in the documentation.
-# documentation.
 # The default value is: YES.
 
 GENERATE_TODOLIST      = YES
 
-# The GENERATE_TESTLIST tag can be used to enable ( YES) or disable ( NO) the
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
-# test list. This list is created by putting \test commands in the
+# list. This list is created by putting \test commands in the documentation.
-# documentation.
 # The default value is: YES.
 
 GENERATE_TESTLIST      = YES
 
-# The GENERATE_BUGLIST tag can be used to enable ( YES) or disable ( NO) the bug
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
 # list. This list is created by putting \bug commands in the documentation.
 # The default value is: YES.
 
 GENERATE_BUGLIST       = YES
 
-# The GENERATE_DEPRECATEDLIST tag can be used to enable ( YES) or disable ( NO)
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
 # the deprecated list. This list is created by putting \deprecated commands in
 # the documentation.
 # The default value is: YES.
@@ -664,8 +669,8 @@ ENABLED_SECTIONS       =
 MAX_INITIALIZER_LINES  = 30
 
 # Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
-# the bottom of the documentation of classes and structs. If set to YES the list
+# the bottom of the documentation of classes and structs. If set to YES, the
-# will mention the files that were used to generate the documentation.
+# list will mention the files that were used to generate the documentation.
 # The default value is: YES.
 
 SHOW_USED_FILES        = NO
@@ -729,7 +734,7 @@ CITE_BIB_FILES         =
 QUIET                  = YES
 
 # The WARNINGS tag can be used to turn on/off the warning messages that are
-# generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
 # this implies that the warnings are on.
 #
 # Tip: Turn warnings on while writing the documentation.
@@ -737,7 +742,7 @@ QUIET                  = YES
 
 WARNINGS               = YES
 
-# If the WARN_IF_UNDOCUMENTED tag is set to YES, then doxygen will generate
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
 # warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
 # will automatically be disabled.
 # The default value is: YES.
@@ -754,12 +759,18 @@ WARN_IF_DOC_ERROR      = YES
 
 # This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
 # are documented, but have no documentation for their parameters or return
-# value. If set to NO doxygen will only warn about wrong or incomplete parameter
+# value. If set to NO, doxygen will only warn about wrong or incomplete
-# documentation, but not about the absence of documentation.
+# parameter documentation, but not about the absence of documentation.
 # The default value is: NO.
 
 WARN_NO_PARAMDOC       = YES
 
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered.
+# The default value is: NO.
+
+WARN_AS_ERROR          = NO
+
 # The WARN_FORMAT tag determines the format of the warning messages that doxygen
 # can produce. The string should contain the $file, $line, and $text tags, which
 # will be replaced by the file and line number from which the warning originated
@@ -783,13 +794,15 @@ WARN_LOGFILE           =
 # The INPUT tag is used to specify the files and/or directories that contain
 # documented source files. You may enter file names like myfile.cpp or
 # directories like /usr/src/myproject. Separate the files or directories with
-# spaces.
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
 INPUT                  = ./src \
                          ../../os/hal/dox \
                          ../../os/hal/src \
                          ../../os/hal/include \
+                         ../../os/hal/lib/peripherals/flash \
+                         ../../os/hal/lib/peripherals/sensors \
                          ../../os/hal/templates \
                          ../../os/hal/templates/osal
 
@@ -804,12 +817,17 @@ INPUT_ENCODING         = UTF-8
 
 # If the value of the INPUT tag contains directories, you can use the
 # FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
-# *.h) to filter out the source-files in the directories. If left blank the
+# *.h) to filter out the source-files in the directories.
-# following patterns are tested:*.c, *.cc, *.cxx, *.cpp, *.c++, *.java, *.ii,
+#
-# *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp,
+# Note that for custom extensions or not directly supported extensions you also
-# *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown,
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
-# *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf,
+# read by doxygen.
-# *.qsf, *.as and *.js.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
+# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
+# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
+# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08,
+# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf and *.qsf.
 
 FILE_PATTERNS          = *.c \
                          *.cc \
@@ -924,6 +942,10 @@ IMAGE_PATH             = ../common/rsc \
 # Note that the filter must not add or remove lines; it is applied before the
 # code is scanned, but not when the output code is generated. If lines are added
 # or removed, the anchors will not be placed correctly.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
 
 INPUT_FILTER           = 
 
@@ -933,11 +955,15 @@ INPUT_FILTER           =
 # (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
 # filters are used. If the FILTER_PATTERNS tag is empty or if none of the
 # patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
 
 FILTER_PATTERNS        = 
 
 # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
-# INPUT_FILTER ) will also be used to filter the input files that are used for
+# INPUT_FILTER) will also be used to filter the input files that are used for
 # producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
 # The default value is: NO.
 
@@ -997,7 +1023,7 @@ REFERENCED_BY_RELATION = YES
 REFERENCES_RELATION    = YES
 
 # If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
-# to YES, then the hyperlinks from functions in REFERENCES_RELATION and
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
 # REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
 # link to the documentation.
 # The default value is: YES.
@@ -1044,13 +1070,13 @@ USE_HTAGS              = NO
 
 VERBATIM_HEADERS       = NO
 
-# If the CLANG_ASSISTED_PARSING tag is set to YES, then doxygen will use the
+# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
 # clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
 # cost of reduced performance. This can be particularly helpful with template
 # rich C++ code for which doxygen's built-in parser lacks the necessary type
 # information.
 # Note: The availability of this option depends on whether or not doxygen was
-# compiled with the --with-libclang option.
+# generated with the -Duse-libclang=ON option for CMake.
 # The default value is: NO.
 
 CLANG_ASSISTED_PARSING = NO
@@ -1093,7 +1119,7 @@ IGNORE_PREFIX          =
 # Configuration options related to the HTML output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_HTML tag is set to YES doxygen will generate HTML output
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
 # The default value is: YES.
 
 GENERATE_HTML          = YES
@@ -1159,10 +1185,10 @@ HTML_STYLESHEET        = ../common/rsc/custom.css
 # cascading style sheets that are included after the standard style sheets
 # created by doxygen. Using this option one can overrule certain style aspects.
 # This is preferred over using HTML_STYLESHEET since it does not replace the
-# standard style sheet and is therefor more robust against future updates.
+# standard style sheet and is therefore more robust against future updates.
 # Doxygen will copy the style sheet files to the output directory.
-# Note: The order of the extra stylesheet files is of importance (e.g. the last
+# Note: The order of the extra style sheet files is of importance (e.g. the last
-# stylesheet in the list overrules the setting of the previous ones in the
+# style sheet in the list overrules the setting of the previous ones in the
 # list). For an example see the documentation.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
@@ -1179,7 +1205,7 @@ HTML_EXTRA_STYLESHEET  =
 HTML_EXTRA_FILES       = 
 
 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
-# will adjust the colors in the stylesheet and background images according to
+# will adjust the colors in the style sheet and background images according to
 # this color. Hue is specified as an angle on a colorwheel, see
 # http://en.wikipedia.org/wiki/Hue for more information. For instance the value
 # 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
@@ -1210,8 +1236,9 @@ HTML_COLORSTYLE_GAMMA  = 80
 
 # If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
 # page will contain the date and time when the page was generated. Setting this
-# to NO can help when comparing the output of multiple runs.
+# to YES can help to show when doxygen was last run and thus if the
-# The default value is: YES.
+# documentation is up to date.
+# The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
 HTML_TIMESTAMP         = YES
@@ -1307,28 +1334,28 @@ GENERATE_HTMLHELP      = YES
 CHM_FILE               = ../../ChibiOS_HAL.chm
 
 # The HHC_LOCATION tag can be used to specify the location (absolute path
-# including file name) of the HTML help compiler ( hhc.exe). If non-empty
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
 # doxygen will try to run the HTML help compiler on the generated index.hhp.
 # The file has to be specified with full path.
 # This tag requires that the tag GENERATE_HTMLHELP is set to YES.
 
 HHC_LOCATION           = "\"C:/Program Files (x86)/HTML Help Workshop/hhc.exe\""
 
-# The GENERATE_CHI flag controls if a separate .chi index file is generated (
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
-# YES) or that it should be included in the master .chm file ( NO).
+# (YES) or that it should be included in the master .chm file (NO).
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTMLHELP is set to YES.
 
 GENERATE_CHI           = NO
 
-# The CHM_INDEX_ENCODING is used to encode HtmlHelp index ( hhk), content ( hhc)
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
 # and project file content.
 # This tag requires that the tag GENERATE_HTMLHELP is set to YES.
 
 CHM_INDEX_ENCODING     = 
 
-# The BINARY_TOC flag controls whether a binary table of contents is generated (
+# The BINARY_TOC flag controls whether a binary table of contents is generated
-# YES) or a normal table of contents ( NO) in the .chm file. Furthermore it
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
 # enables the Previous and Next buttons.
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTMLHELP is set to YES.
@@ -1442,7 +1469,7 @@ DISABLE_INDEX          = NO
 # index structure (just like the one that is generated for HTML Help). For this
 # to work a browser that supports JavaScript, DHTML, CSS and frames is required
 # (i.e. any modern browser). Windows users are probably better off using the
-# HTML help feature. Via custom stylesheets (see HTML_EXTRA_STYLESHEET) one can
+# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
 # further fine-tune the look of the index. As an example, the default style
 # sheet generated by doxygen has an example that shows how to put an image at
 # the root of the tree instead of the PROJECT_NAME. Since the tree basically has
@@ -1470,7 +1497,7 @@ ENUM_VALUES_PER_LINE   = 4
 
 TREEVIEW_WIDTH         = 250
 
-# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open links to
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
 # external symbols imported via tag files in a separate window.
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
@@ -1499,7 +1526,7 @@ FORMULA_TRANSPARENT    = YES
 
 # Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
 # http://www.mathjax.org) which uses client side Javascript for the rendering
-# instead of using prerendered bitmaps. Use this if you do not have LaTeX
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
 # installed or if you want to formulas look prettier in the HTML output. When
 # enabled you may also need to install MathJax separately and configure the path
 # to it using the MATHJAX_RELPATH option.
@@ -1585,7 +1612,7 @@ SERVER_BASED_SEARCH    = NO
 # external search engine pointed to by the SEARCHENGINE_URL option to obtain the
 # search results.
 #
-# Doxygen ships with an example indexer ( doxyindexer) and search engine
+# Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
 # Xapian (see: http://xapian.org/).
 #
@@ -1598,7 +1625,7 @@ EXTERNAL_SEARCH        = NO
 # The SEARCHENGINE_URL should point to a search engine hosted by a web server
 # which will return the search results when EXTERNAL_SEARCH is enabled.
 #
-# Doxygen ships with an example indexer ( doxyindexer) and search engine
+# Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
 # Xapian (see: http://xapian.org/). See the section "External Indexing and
 # Searching" for details.
@@ -1636,7 +1663,7 @@ EXTRA_SEARCH_MAPPINGS  =
 # Configuration options related to the LaTeX output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_LATEX tag is set to YES doxygen will generate LaTeX output.
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
 # The default value is: YES.
 
 GENERATE_LATEX         = NO
@@ -1667,7 +1694,7 @@ LATEX_CMD_NAME         = latex
 
 MAKEINDEX_CMD_NAME     = makeindex
 
-# If the COMPACT_LATEX tag is set to YES doxygen generates more compact LaTeX
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
 # documents. This may be useful for small projects and may help to save some
 # trees in general.
 # The default value is: NO.
@@ -1685,9 +1712,12 @@ COMPACT_LATEX          = NO
 PAPER_TYPE             = a4wide
 
 # The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
-# that should be included in the LaTeX output. To get the times font for
+# that should be included in the LaTeX output. The package can be specified just
-# instance you can specify
+# by its name or with the correct syntax as to be used with the LaTeX
-# EXTRA_PACKAGES=times
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
 # If left blank no extra packages will be included.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
@@ -1702,9 +1732,9 @@ EXTRA_PACKAGES         =
 # Note: Only use a user-defined header if you know what you are doing! The
 # following commands have a special meaning inside the header: $title,
 # $datetime, $date, $doxygenversion, $projectname, $projectnumber,
-# $projectbrief, $projectlogo. Doxygen will replace $title with the empy string,
+# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
-# for the replacement values of the other commands the user is refered to
+# string, for the replacement values of the other commands the user is referred
-# HTML_HEADER.
+# to HTML_HEADER.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
 LATEX_HEADER           = 
@@ -1720,6 +1750,17 @@ LATEX_HEADER           =
 
 LATEX_FOOTER           = 
 
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. Doxygen
+# will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET = 
+
 # The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
 # other source files which should be copied to the LATEX_OUTPUT output
 # directory. Note that the files will be copied as-is; there are no commands or
@@ -1738,7 +1779,7 @@ LATEX_EXTRA_FILES      =
 PDF_HYPERLINKS         = YES
 
 # If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
-# the PDF file directly from the LaTeX files. Set this option to YES to get a
+# the PDF file directly from the LaTeX files. Set this option to YES, to get a
 # higher quality PDF documentation.
 # The default value is: YES.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
@@ -1779,11 +1820,19 @@ LATEX_SOURCE_CODE      = NO
 
 LATEX_BIB_STYLE        = plain
 
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_TIMESTAMP        = NO
+
 #---------------------------------------------------------------------------
 # Configuration options related to the RTF output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_RTF tag is set to YES doxygen will generate RTF output. The
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
 # RTF output is optimized for Word 97 and may not look too pretty with other RTF
 # readers/editors.
 # The default value is: NO.
@@ -1798,7 +1847,7 @@ GENERATE_RTF           = NO
 
 RTF_OUTPUT             = rtf
 
-# If the COMPACT_RTF tag is set to YES doxygen generates more compact RTF
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
 # documents. This may be useful for small projects and may help to save some
 # trees in general.
 # The default value is: NO.
@@ -1835,11 +1884,21 @@ RTF_STYLESHEET_FILE    =
 
 RTF_EXTENSIONS_FILE    = 
 
+# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
+# with syntax highlighting in the RTF output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_SOURCE_CODE        = NO
+
 #---------------------------------------------------------------------------
 # Configuration options related to the man page output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_MAN tag is set to YES doxygen will generate man pages for
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
 # classes and files.
 # The default value is: NO.
 
@@ -1883,7 +1942,7 @@ MAN_LINKS              = NO
 # Configuration options related to the XML output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_XML tag is set to YES doxygen will generate an XML file that
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
 # captures the structure of the code including all documentation.
 # The default value is: NO.
 
@@ -1897,7 +1956,7 @@ GENERATE_XML           = NO
 
 XML_OUTPUT             = xml
 
-# If the XML_PROGRAMLISTING tag is set to YES doxygen will dump the program
+# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
 # listings (including syntax highlighting and cross-referencing information) to
 # the XML output. Note that enabling this will significantly increase the size
 # of the XML output.
@@ -1910,7 +1969,7 @@ XML_PROGRAMLISTING     = YES
 # Configuration options related to the DOCBOOK output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_DOCBOOK tag is set to YES doxygen will generate Docbook files
+# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
 # that can be used to generate PDF.
 # The default value is: NO.
 
@@ -1924,7 +1983,7 @@ GENERATE_DOCBOOK       = NO
 
 DOCBOOK_OUTPUT         = docbook
 
-# If the DOCBOOK_PROGRAMLISTING tag is set to YES doxygen will include the
+# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
 # program listings (including syntax highlighting and cross-referencing
 # information) to the DOCBOOK output. Note that enabling this will significantly
 # increase the size of the DOCBOOK output.
@@ -1937,10 +1996,10 @@ DOCBOOK_PROGRAMLISTING = NO
 # Configuration options for the AutoGen Definitions output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_AUTOGEN_DEF tag is set to YES doxygen will generate an AutoGen
+# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
-# Definitions (see http://autogen.sf.net) file that captures the structure of
+# AutoGen Definitions (see http://autogen.sf.net) file that captures the
-# the code including all documentation. Note that this feature is still
+# structure of the code including all documentation. Note that this feature is
-# experimental and incomplete at the moment.
+# still experimental and incomplete at the moment.
 # The default value is: NO.
 
 GENERATE_AUTOGEN_DEF   = NO
@@ -1949,7 +2008,7 @@ GENERATE_AUTOGEN_DEF   = NO
 # Configuration options related to the Perl module output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_PERLMOD tag is set to YES doxygen will generate a Perl module
+# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
 # file that captures the structure of the code including all documentation.
 #
 # Note that this feature is still experimental and incomplete at the moment.
@@ -1957,7 +2016,7 @@ GENERATE_AUTOGEN_DEF   = NO
 
 GENERATE_PERLMOD       = NO
 
-# If the PERLMOD_LATEX tag is set to YES doxygen will generate the necessary
+# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
 # Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
 # output from the Perl module output.
 # The default value is: NO.
@@ -1965,9 +2024,9 @@ GENERATE_PERLMOD       = NO
 
 PERLMOD_LATEX          = NO
 
-# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be nicely
+# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
 # formatted so it can be parsed by a human reader. This is useful if you want to
-# understand what is going on. On the other hand, if this tag is set to NO the
+# understand what is going on. On the other hand, if this tag is set to NO, the
 # size of the Perl module output will be much smaller and Perl will parse it
 # just the same.
 # The default value is: YES.
@@ -1987,14 +2046,14 @@ PERLMOD_MAKEVAR_PREFIX =
 # Configuration options related to the preprocessor
 #---------------------------------------------------------------------------
 
-# If the ENABLE_PREPROCESSING tag is set to YES doxygen will evaluate all
+# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
 # C-preprocessor directives found in the sources and include files.
 # The default value is: YES.
 
 ENABLE_PREPROCESSING   = YES
 
-# If the MACRO_EXPANSION tag is set to YES doxygen will expand all macro names
+# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
-# in the source code. If set to NO only conditional compilation will be
+# in the source code. If set to NO, only conditional compilation will be
 # performed. Macro expansion can be done in a controlled way by setting
 # EXPAND_ONLY_PREDEF to YES.
 # The default value is: NO.
@@ -2010,7 +2069,7 @@ MACRO_EXPANSION        = YES
 
 EXPAND_ONLY_PREDEF     = YES
 
-# If the SEARCH_INCLUDES tag is set to YES the includes files in the
+# If the SEARCH_INCLUDES tag is set to YES, the include files in the
 # INCLUDE_PATH will be searched if a #include is found.
 # The default value is: YES.
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
@@ -2086,20 +2145,21 @@ TAGFILES               =
 
 GENERATE_TAGFILE       = 
 
-# If the ALLEXTERNALS tag is set to YES all external class will be listed in the
+# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
-# class index. If set to NO only the inherited external classes will be listed.
+# the class index. If set to NO, only the inherited external classes will be
+# listed.
 # The default value is: NO.
 
 ALLEXTERNALS           = NO
 
-# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed in
+# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
-# the modules index. If set to NO, only the current project's groups will be
+# in the modules index. If set to NO, only the current project's groups will be
 # listed.
 # The default value is: YES.
 
 EXTERNAL_GROUPS        = YES
 
-# If the EXTERNAL_PAGES tag is set to YES all external pages will be listed in
+# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
 # the related pages index. If set to NO, only the current project's pages will
 # be listed.
 # The default value is: YES.
@@ -2116,7 +2176,7 @@ PERL_PATH              = /usr/bin/perl
 # Configuration options related to the dot tool
 #---------------------------------------------------------------------------
 
-# If the CLASS_DIAGRAMS tag is set to YES doxygen will generate a class diagram
+# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram
 # (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
 # NO turns the diagrams off. Note that this option also works with HAVE_DOT
 # disabled, but it is recommended to install and use dot, since it yields more
@@ -2141,7 +2201,7 @@ MSCGEN_PATH            =
 
 DIA_PATH               = 
 
-# If set to YES, the inheritance and collaboration graphs will hide inheritance
+# If set to YES the inheritance and collaboration graphs will hide inheritance
 # and usage relations if the target is undocumented or is not a class.
 # The default value is: YES.
 
@@ -2214,7 +2274,7 @@ COLLABORATION_GRAPH    = YES
 
 GROUP_GRAPHS           = YES
 
-# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
+# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
 # collaboration diagrams in a style similar to the OMG's Unified Modeling
 # Language.
 # The default value is: NO.
@@ -2266,7 +2326,8 @@ INCLUDED_BY_GRAPH      = NO
 #
 # Note that enabling this option will significantly increase the time of a run.
 # So in most cases it will be better to enable call graphs for selected
-# functions only using the \callgraph command.
+# functions only using the \callgraph command. Disabling a call graph can be
+# accomplished by means of the command \hidecallgraph.
 # The default value is: NO.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
@@ -2277,7 +2338,8 @@ CALL_GRAPH             = YES
 #
 # Note that enabling this option will significantly increase the time of a run.
 # So in most cases it will be better to enable caller graphs for selected
-# functions only using the \callergraph command.
+# functions only using the \callergraph command. Disabling a caller graph can be
+# accomplished by means of the command \hidecallergraph.
 # The default value is: NO.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
@@ -2300,11 +2362,15 @@ GRAPHICAL_HIERARCHY    = YES
 DIRECTORY_GRAPH        = NO
 
 # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
-# generated by dot.
+# generated by dot. For an explanation of the image formats see the section
+# output formats in the documentation of the dot tool (Graphviz (see:
+# http://www.graphviz.org/)).
 # Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
 # to make the SVG files visible in IE 9+ (other browsers do not have this
 # requirement).
-# Possible values are: png, jpg, gif and svg.
+# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo,
+# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and
+# png:gdiplus:gdiplus.
 # The default value is: png.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
@@ -2352,10 +2418,19 @@ DIAFILE_DIRS           =
 # PlantUML is not used or called during a preprocessing step. Doxygen will
 # generate a warning when it encounters a \startuml command in this case and
 # will not generate output for the diagram.
-# This tag requires that the tag HAVE_DOT is set to YES.
 
 PLANTUML_JAR_PATH      = 
 
+# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a
+# configuration file for plantuml.
+
+PLANTUML_CFG_FILE      = 
+
+# When using plantuml, the specified paths are searched for files specified by
+# the !include statement in a plantuml block.
+
+PLANTUML_INCLUDE_PATH  = 
+
 # The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
 # that will be shown in the graph. If the number of nodes in a graph becomes
 # larger than this value, doxygen will truncate the graph, which is visualized
@@ -2392,7 +2467,7 @@ MAX_DOT_GRAPH_DEPTH    = 2
 
 DOT_TRANSPARENT        = YES
 
-# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
+# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
 # files in one run (i.e. multiple -o and -T options on the command line). This
 # makes dot run faster, but since only newer versions of dot (>1.8.10) support
 # this, this feature is disabled by default.
@@ -2409,7 +2484,7 @@ DOT_MULTI_TARGETS      = YES
 
 GENERATE_LEGEND        = YES
 
-# If the DOT_CLEANUP tag is set to YES doxygen will remove the intermediate dot
+# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot
 # files that are used to generate the various graphs.
 # The default value is: YES.
 # This tag requires that the tag HAVE_DOT is set to YES.

doc/hal/Doxyfile_html

@@ -1,4 +1,4 @@
-# Doxyfile 1.8.8
+# Doxyfile 1.8.13
 
 # This file describes the settings to be used by the documentation system
 # doxygen (www.doxygen.org) for a project.
@@ -46,10 +46,10 @@ PROJECT_NUMBER         = 5.0.0
 
 PROJECT_BRIEF          = 
 
-# With the PROJECT_LOGO tag one can specify an logo or icon that is included in
+# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
-# the documentation. The maximum height of the logo should not exceed 55 pixels
+# in the documentation. The maximum height of the logo should not exceed 55
-# and the maximum width should not exceed 200 pixels. Doxygen will copy the logo
+# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
-# to the output directory.
+# the logo to the output directory.
 
 PROJECT_LOGO           = 
 
@@ -60,7 +60,7 @@ PROJECT_LOGO           =
 
 OUTPUT_DIRECTORY       = .
 
-# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create 4096 sub-
+# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
 # directories (in 2 levels) under the output directory of each output format and
 # will distribute the generated files over these directories. Enabling this
 # option can be useful when feeding doxygen a huge amount of source files, where
@@ -93,14 +93,14 @@ ALLOW_UNICODE_NAMES    = NO
 
 OUTPUT_LANGUAGE        = English
 
-# If the BRIEF_MEMBER_DESC tag is set to YES doxygen will include brief member
+# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
 # descriptions after the members that are listed in the file and class
 # documentation (similar to Javadoc). Set to NO to disable this.
 # The default value is: YES.
 
 BRIEF_MEMBER_DESC      = YES
 
-# If the REPEAT_BRIEF tag is set to YES doxygen will prepend the brief
+# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
 # description of a member or function before the detailed description
 #
 # Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
@@ -145,7 +145,7 @@ ALWAYS_DETAILED_SEC    = YES
 
 INLINE_INHERITED_MEMB  = NO
 
-# If the FULL_PATH_NAMES tag is set to YES doxygen will prepend the full path
+# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
 # before files name in the file list and in the header files. If set to NO the
 # shortest path that makes the file name unique will be used
 # The default value is: YES.
@@ -215,9 +215,9 @@ MULTILINE_CPP_IS_BRIEF = NO
 
 INHERIT_DOCS           = NO
 
-# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce a
+# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
-# new page for each member. If set to NO, the documentation of a member will be
+# page for each member. If set to NO, the documentation of a member will be part
-# part of the file/class/namespace that contains it.
+# of the file/class/namespace that contains it.
 # The default value is: NO.
 
 SEPARATE_MEMBER_PAGES  = NO
@@ -238,30 +238,14 @@ TAB_SIZE               = 2
 # "Side Effects:". You can put \n's in the value part of an alias to insert
 # newlines.
 
-ALIASES                = "iclass=@par Function Class:\n This is an \
+ALIASES                = "iclass=@par Function Class:\n This is an                           <b>I-Class</b> API, this function can be                           invoked from within a system lock zone by both                           threads and interrupt handlers." \
-                          <b>I-Class</b> API, this function can be \
+                         "sclass=@par Function Class:\n This is an                           <b>S-Class</b> API, this function can be                           invoked from within a system lock zone by threads                           only." \
-                          invoked from within a system lock zone by both \
+                         "xclass=@par Function Class:\n This is an                           <b>X-Class</b> API, this function can be                           invoked from any context." \
-                          threads and interrupt handlers." \
+                         "api=@par Function Class:\n Normal API, this                           function can be invoked by regular system threads                           but not from within a lock zone." \
-                         "sclass=@par Function Class:\n This is an \
+                         "notapi=@par Function Class:\n Not an API, this                           function is for internal use only." \
-                          <b>S-Class</b> API, this function can be \
+                         "isr=@par Function Class:\n Interrupt handler,                           this function should not be directly invoked." \
-                          invoked from within a system lock zone by threads \
+                         "init=@par Function Class:\n Initializer, this                           function just initializes an object and can be                           invoked before the kernel is initialized." \
-                          only." \
+                         "special=@par Function Class:\n Special function,                           this function has special requirements see the                           notes."
-                         "xclass=@par Function Class:\n This is an \
-                          <b>X-Class</b> API, this function can be \
-                          invoked from any context." \
-                         "api=@par Function Class:\n Normal API, this \
-                          function can be invoked by regular system threads \
-                          but not from within a lock zone." \
-                         "notapi=@par Function Class:\n Not an API, this \
-                          function is for internal use only." \
-                         "isr=@par Function Class:\n Interrupt handler, \
-                          this function should not be directly invoked." \
-                         "init=@par Function Class:\n Initializer, this \
-                          function just initializes an object and can be \
-                          invoked before the kernel is initialized." \
-                         "special=@par Function Class:\n Special function, \
-                          this function has special requirements see the \
-                          notes."
 
 # This tag can be used to specify a number of word-keyword mappings (TCL only).
 # A mapping has the form "name=value". For example adding "class=itcl::class"
@@ -309,7 +293,7 @@ OPTIMIZE_OUTPUT_VHDL   = NO
 # instance to make doxygen treat .inc files as Fortran files (default is PHP),
 # and .f files as C (default is Fortran), use: inc=Fortran f=C.
 #
-# Note For files without extension you can use no_extension as a placeholder.
+# Note: For files without extension you can use no_extension as a placeholder.
 #
 # Note that for custom extensions you also need to set FILE_PATTERNS otherwise
 # the files are not read by doxygen.
@@ -326,10 +310,19 @@ EXTENSION_MAPPING      =
 
 MARKDOWN_SUPPORT       = YES
 
+# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
+# to that level are automatically included in the table of contents, even if
+# they do not have an id attribute.
+# Note: This feature currently applies only to Markdown headings.
+# Minimum value: 0, maximum value: 99, default value: 0.
+# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
+
+TOC_INCLUDE_HEADINGS   = 0
+
 # When enabled doxygen tries to link words that correspond to documented
 # classes, or namespaces to their corresponding documentation. Such a link can
-# be prevented in individual cases by by putting a % sign in front of the word
+# be prevented in individual cases by putting a % sign in front of the word or
-# or globally by setting AUTOLINK_SUPPORT to NO.
+# globally by setting AUTOLINK_SUPPORT to NO.
 # The default value is: YES.
 
 AUTOLINK_SUPPORT       = YES
@@ -369,13 +362,20 @@ SIP_SUPPORT            = NO
 IDL_PROPERTY_SUPPORT   = YES
 
 # If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
-# tag is set to YES, then doxygen will reuse the documentation of the first
+# tag is set to YES then doxygen will reuse the documentation of the first
 # member in the group (if any) for the other members of the group. By default
 # all members of a group must be documented explicitly.
 # The default value is: NO.
 
 DISTRIBUTE_GROUP_DOC   = NO
 
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
 # Set the SUBGROUPING tag to YES to allow class member groups of the same type
 # (for instance a group of public functions) to be put as a subgroup of that
 # type (e.g. under the Public Functions section). Set it to NO to prevent
@@ -434,7 +434,7 @@ LOOKUP_CACHE_SIZE      = 0
 # Build related configuration options
 #---------------------------------------------------------------------------
 
-# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
 # documentation are documented, even if no documentation was available. Private
 # class members and static file members will be hidden unless the
 # EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
@@ -444,35 +444,35 @@ LOOKUP_CACHE_SIZE      = 0
 
 EXTRACT_ALL            = NO
 
-# If the EXTRACT_PRIVATE tag is set to YES all private members of a class will
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
 # be included in the documentation.
 # The default value is: NO.
 
 EXTRACT_PRIVATE        = NO
 
-# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
 # scope will be included in the documentation.
 # The default value is: NO.
 
 EXTRACT_PACKAGE        = NO
 
-# If the EXTRACT_STATIC tag is set to YES all static members of a file will be
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
 # included in the documentation.
 # The default value is: NO.
 
 EXTRACT_STATIC         = YES
 
-# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) defined
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
-# locally in source files will be included in the documentation. If set to NO
+# locally in source files will be included in the documentation. If set to NO,
 # only classes defined in header files are included. Does not have any effect
 # for Java sources.
 # The default value is: YES.
 
 EXTRACT_LOCAL_CLASSES  = NO
 
-# This flag is only useful for Objective-C code. When set to YES local methods,
+# This flag is only useful for Objective-C code. If set to YES, local methods,
 # which are defined in the implementation section but not in the interface are
-# included in the documentation. If set to NO only methods in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
 # included.
 # The default value is: NO.
 
@@ -497,21 +497,21 @@ HIDE_UNDOC_MEMBERS     = YES
 
 # If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
 # undocumented classes that are normally visible in the class hierarchy. If set
-# to NO these classes will be included in the various overviews. This option has
+# to NO, these classes will be included in the various overviews. This option
-# no effect if EXTRACT_ALL is enabled.
+# has no effect if EXTRACT_ALL is enabled.
 # The default value is: NO.
 
 HIDE_UNDOC_CLASSES     = YES
 
 # If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
-# (class|struct|union) declarations. If set to NO these declarations will be
+# (class|struct|union) declarations. If set to NO, these declarations will be
 # included in the documentation.
 # The default value is: NO.
 
 HIDE_FRIEND_COMPOUNDS  = NO
 
 # If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
-# documentation blocks found inside the body of a function. If set to NO these
+# documentation blocks found inside the body of a function. If set to NO, these
 # blocks will be appended to the function's detailed documentation block.
 # The default value is: NO.
 
@@ -525,7 +525,7 @@ HIDE_IN_BODY_DOCS      = NO
 INTERNAL_DOCS          = NO
 
 # If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
-# names in lower-case letters. If set to YES upper-case letters are also
+# names in lower-case letters. If set to YES, upper-case letters are also
 # allowed. This is useful if you have classes or files whose names only differ
 # in case and if your file system supports case sensitive file names. Windows
 # and Mac users are advised to set this option to NO.
@@ -534,12 +534,19 @@ INTERNAL_DOCS          = NO
 CASE_SENSE_NAMES       = NO
 
 # If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
-# their full class and namespace scopes in the documentation. If set to YES the
+# their full class and namespace scopes in the documentation. If set to YES, the
 # scope will be hidden.
 # The default value is: NO.
 
 HIDE_SCOPE_NAMES       = NO
 
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: NO.
+
+HIDE_COMPOUND_REFERENCE= NO
+
 # If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
 # the files that are included by a file in the documentation of that file.
 # The default value is: YES.
@@ -567,14 +574,14 @@ INLINE_INFO            = YES
 
 # If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
 # (detailed) documentation of file and class members alphabetically by member
-# name. If set to NO the members will appear in declaration order.
+# name. If set to NO, the members will appear in declaration order.
 # The default value is: YES.
 
 SORT_MEMBER_DOCS       = NO
 
 # If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
 # descriptions of file, namespace and class members alphabetically by member
-# name. If set to NO the members will appear in declaration order. Note that
+# name. If set to NO, the members will appear in declaration order. Note that
 # this will also influence the order of the classes in the class list.
 # The default value is: NO.
 
@@ -619,27 +626,25 @@ SORT_BY_SCOPE_NAME     = NO
 
 STRICT_PROTO_MATCHING  = NO
 
-# The GENERATE_TODOLIST tag can be used to enable ( YES) or disable ( NO) the
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
-# todo list. This list is created by putting \todo commands in the
+# list. This list is created by putting \todo commands in the documentation.
-# documentation.
 # The default value is: YES.
 
 GENERATE_TODOLIST      = YES
 
-# The GENERATE_TESTLIST tag can be used to enable ( YES) or disable ( NO) the
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
-# test list. This list is created by putting \test commands in the
+# list. This list is created by putting \test commands in the documentation.
-# documentation.
 # The default value is: YES.
 
 GENERATE_TESTLIST      = YES
 
-# The GENERATE_BUGLIST tag can be used to enable ( YES) or disable ( NO) the bug
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
 # list. This list is created by putting \bug commands in the documentation.
 # The default value is: YES.
 
 GENERATE_BUGLIST       = YES
 
-# The GENERATE_DEPRECATEDLIST tag can be used to enable ( YES) or disable ( NO)
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
 # the deprecated list. This list is created by putting \deprecated commands in
 # the documentation.
 # The default value is: YES.
@@ -664,8 +669,8 @@ ENABLED_SECTIONS       =
 MAX_INITIALIZER_LINES  = 30
 
 # Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
-# the bottom of the documentation of classes and structs. If set to YES the list
+# the bottom of the documentation of classes and structs. If set to YES, the
-# will mention the files that were used to generate the documentation.
+# list will mention the files that were used to generate the documentation.
 # The default value is: YES.
 
 SHOW_USED_FILES        = NO
@@ -729,7 +734,7 @@ CITE_BIB_FILES         =
 QUIET                  = YES
 
 # The WARNINGS tag can be used to turn on/off the warning messages that are
-# generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
 # this implies that the warnings are on.
 #
 # Tip: Turn warnings on while writing the documentation.
@@ -737,7 +742,7 @@ QUIET                  = YES
 
 WARNINGS               = YES
 
-# If the WARN_IF_UNDOCUMENTED tag is set to YES, then doxygen will generate
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
 # warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
 # will automatically be disabled.
 # The default value is: YES.
@@ -754,12 +759,18 @@ WARN_IF_DOC_ERROR      = YES
 
 # This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
 # are documented, but have no documentation for their parameters or return
-# value. If set to NO doxygen will only warn about wrong or incomplete parameter
+# value. If set to NO, doxygen will only warn about wrong or incomplete
-# documentation, but not about the absence of documentation.
+# parameter documentation, but not about the absence of documentation.
 # The default value is: NO.
 
 WARN_NO_PARAMDOC       = YES
 
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered.
+# The default value is: NO.
+
+WARN_AS_ERROR          = NO
+
 # The WARN_FORMAT tag determines the format of the warning messages that doxygen
 # can produce. The string should contain the $file, $line, and $text tags, which
 # will be replaced by the file and line number from which the warning originated
@@ -783,13 +794,15 @@ WARN_LOGFILE           =
 # The INPUT tag is used to specify the files and/or directories that contain
 # documented source files. You may enter file names like myfile.cpp or
 # directories like /usr/src/myproject. Separate the files or directories with
-# spaces.
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
 INPUT                  = ./src \
                          ../../os/hal/dox \
                          ../../os/hal/src \
                          ../../os/hal/include \
+                         ../../os/hal/lib/peripherals/flash \
+                         ../../os/hal/lib/peripherals/sensors \
                          ../../os/hal/templates \
                          ../../os/hal/templates/osal
 
@@ -804,12 +817,17 @@ INPUT_ENCODING         = UTF-8
 
 # If the value of the INPUT tag contains directories, you can use the
 # FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
-# *.h) to filter out the source-files in the directories. If left blank the
+# *.h) to filter out the source-files in the directories.
-# following patterns are tested:*.c, *.cc, *.cxx, *.cpp, *.c++, *.java, *.ii,
+#
-# *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp,
+# Note that for custom extensions or not directly supported extensions you also
-# *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown,
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
-# *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf,
+# read by doxygen.
-# *.qsf, *.as and *.js.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
+# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
+# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
+# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08,
+# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf and *.qsf.
 
 FILE_PATTERNS          = *.c \
                          *.cc \
@@ -924,6 +942,10 @@ IMAGE_PATH             = ../common/rsc \
 # Note that the filter must not add or remove lines; it is applied before the
 # code is scanned, but not when the output code is generated. If lines are added
 # or removed, the anchors will not be placed correctly.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
 
 INPUT_FILTER           = 
 
@@ -933,11 +955,15 @@ INPUT_FILTER           =
 # (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
 # filters are used. If the FILTER_PATTERNS tag is empty or if none of the
 # patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
 
 FILTER_PATTERNS        = 
 
 # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
-# INPUT_FILTER ) will also be used to filter the input files that are used for
+# INPUT_FILTER) will also be used to filter the input files that are used for
 # producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
 # The default value is: NO.
 
@@ -997,7 +1023,7 @@ REFERENCED_BY_RELATION = YES
 REFERENCES_RELATION    = YES
 
 # If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
-# to YES, then the hyperlinks from functions in REFERENCES_RELATION and
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
 # REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
 # link to the documentation.
 # The default value is: YES.
@@ -1044,13 +1070,13 @@ USE_HTAGS              = NO
 
 VERBATIM_HEADERS       = NO
 
-# If the CLANG_ASSISTED_PARSING tag is set to YES, then doxygen will use the
+# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
 # clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
 # cost of reduced performance. This can be particularly helpful with template
 # rich C++ code for which doxygen's built-in parser lacks the necessary type
 # information.
 # Note: The availability of this option depends on whether or not doxygen was
-# compiled with the --with-libclang option.
+# generated with the -Duse-libclang=ON option for CMake.
 # The default value is: NO.
 
 CLANG_ASSISTED_PARSING = NO
@@ -1093,7 +1119,7 @@ IGNORE_PREFIX          =
 # Configuration options related to the HTML output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_HTML tag is set to YES doxygen will generate HTML output
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
 # The default value is: YES.
 
 GENERATE_HTML          = YES
@@ -1159,10 +1185,10 @@ HTML_STYLESHEET        = ../common/rsc/custom.css
 # cascading style sheets that are included after the standard style sheets
 # created by doxygen. Using this option one can overrule certain style aspects.
 # This is preferred over using HTML_STYLESHEET since it does not replace the
-# standard style sheet and is therefor more robust against future updates.
+# standard style sheet and is therefore more robust against future updates.
 # Doxygen will copy the style sheet files to the output directory.
-# Note: The order of the extra stylesheet files is of importance (e.g. the last
+# Note: The order of the extra style sheet files is of importance (e.g. the last
-# stylesheet in the list overrules the setting of the previous ones in the
+# style sheet in the list overrules the setting of the previous ones in the
 # list). For an example see the documentation.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
@@ -1179,7 +1205,7 @@ HTML_EXTRA_STYLESHEET  =
 HTML_EXTRA_FILES       = 
 
 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
-# will adjust the colors in the stylesheet and background images according to
+# will adjust the colors in the style sheet and background images according to
 # this color. Hue is specified as an angle on a colorwheel, see
 # http://en.wikipedia.org/wiki/Hue for more information. For instance the value
 # 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
@@ -1210,8 +1236,9 @@ HTML_COLORSTYLE_GAMMA  = 80
 
 # If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
 # page will contain the date and time when the page was generated. Setting this
-# to NO can help when comparing the output of multiple runs.
+# to YES can help to show when doxygen was last run and thus if the
-# The default value is: YES.
+# documentation is up to date.
+# The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
 HTML_TIMESTAMP         = YES
@@ -1307,28 +1334,28 @@ GENERATE_HTMLHELP      = NO
 CHM_FILE               = ../../ChibiOS_HAL.chm
 
 # The HHC_LOCATION tag can be used to specify the location (absolute path
-# including file name) of the HTML help compiler ( hhc.exe). If non-empty
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
 # doxygen will try to run the HTML help compiler on the generated index.hhp.
 # The file has to be specified with full path.
 # This tag requires that the tag GENERATE_HTMLHELP is set to YES.
 
 HHC_LOCATION           = "\"C:/Program Files (x86)/HTML Help Workshop/hhc.exe\""
 
-# The GENERATE_CHI flag controls if a separate .chi index file is generated (
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
-# YES) or that it should be included in the master .chm file ( NO).
+# (YES) or that it should be included in the master .chm file (NO).
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTMLHELP is set to YES.
 
 GENERATE_CHI           = NO
 
-# The CHM_INDEX_ENCODING is used to encode HtmlHelp index ( hhk), content ( hhc)
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
 # and project file content.
 # This tag requires that the tag GENERATE_HTMLHELP is set to YES.
 
 CHM_INDEX_ENCODING     = 
 
-# The BINARY_TOC flag controls whether a binary table of contents is generated (
+# The BINARY_TOC flag controls whether a binary table of contents is generated
-# YES) or a normal table of contents ( NO) in the .chm file. Furthermore it
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
 # enables the Previous and Next buttons.
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTMLHELP is set to YES.
@@ -1442,7 +1469,7 @@ DISABLE_INDEX          = NO
 # index structure (just like the one that is generated for HTML Help). For this
 # to work a browser that supports JavaScript, DHTML, CSS and frames is required
 # (i.e. any modern browser). Windows users are probably better off using the
-# HTML help feature. Via custom stylesheets (see HTML_EXTRA_STYLESHEET) one can
+# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
 # further fine-tune the look of the index. As an example, the default style
 # sheet generated by doxygen has an example that shows how to put an image at
 # the root of the tree instead of the PROJECT_NAME. Since the tree basically has
@@ -1470,7 +1497,7 @@ ENUM_VALUES_PER_LINE   = 4
 
 TREEVIEW_WIDTH         = 250
 
-# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open links to
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
 # external symbols imported via tag files in a separate window.
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
@@ -1499,7 +1526,7 @@ FORMULA_TRANSPARENT    = YES
 
 # Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
 # http://www.mathjax.org) which uses client side Javascript for the rendering
-# instead of using prerendered bitmaps. Use this if you do not have LaTeX
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
 # installed or if you want to formulas look prettier in the HTML output. When
 # enabled you may also need to install MathJax separately and configure the path
 # to it using the MATHJAX_RELPATH option.
@@ -1585,7 +1612,7 @@ SERVER_BASED_SEARCH    = NO
 # external search engine pointed to by the SEARCHENGINE_URL option to obtain the
 # search results.
 #
-# Doxygen ships with an example indexer ( doxyindexer) and search engine
+# Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
 # Xapian (see: http://xapian.org/).
 #
@@ -1598,7 +1625,7 @@ EXTERNAL_SEARCH        = NO
 # The SEARCHENGINE_URL should point to a search engine hosted by a web server
 # which will return the search results when EXTERNAL_SEARCH is enabled.
 #
-# Doxygen ships with an example indexer ( doxyindexer) and search engine
+# Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
 # Xapian (see: http://xapian.org/). See the section "External Indexing and
 # Searching" for details.
@@ -1636,7 +1663,7 @@ EXTRA_SEARCH_MAPPINGS  =
 # Configuration options related to the LaTeX output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_LATEX tag is set to YES doxygen will generate LaTeX output.
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
 # The default value is: YES.
 
 GENERATE_LATEX         = NO
@@ -1667,7 +1694,7 @@ LATEX_CMD_NAME         = latex
 
 MAKEINDEX_CMD_NAME     = makeindex
 
-# If the COMPACT_LATEX tag is set to YES doxygen generates more compact LaTeX
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
 # documents. This may be useful for small projects and may help to save some
 # trees in general.
 # The default value is: NO.
@@ -1685,9 +1712,12 @@ COMPACT_LATEX          = NO
 PAPER_TYPE             = a4wide
 
 # The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
-# that should be included in the LaTeX output. To get the times font for
+# that should be included in the LaTeX output. The package can be specified just
-# instance you can specify
+# by its name or with the correct syntax as to be used with the LaTeX
-# EXTRA_PACKAGES=times
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
 # If left blank no extra packages will be included.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
@@ -1702,9 +1732,9 @@ EXTRA_PACKAGES         =
 # Note: Only use a user-defined header if you know what you are doing! The
 # following commands have a special meaning inside the header: $title,
 # $datetime, $date, $doxygenversion, $projectname, $projectnumber,
-# $projectbrief, $projectlogo. Doxygen will replace $title with the empy string,
+# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
-# for the replacement values of the other commands the user is refered to
+# string, for the replacement values of the other commands the user is referred
-# HTML_HEADER.
+# to HTML_HEADER.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
 LATEX_HEADER           = 
@@ -1720,6 +1750,17 @@ LATEX_HEADER           =
 
 LATEX_FOOTER           = 
 
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. Doxygen
+# will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET = 
+
 # The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
 # other source files which should be copied to the LATEX_OUTPUT output
 # directory. Note that the files will be copied as-is; there are no commands or
@@ -1738,7 +1779,7 @@ LATEX_EXTRA_FILES      =
 PDF_HYPERLINKS         = YES
 
 # If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
-# the PDF file directly from the LaTeX files. Set this option to YES to get a
+# the PDF file directly from the LaTeX files. Set this option to YES, to get a
 # higher quality PDF documentation.
 # The default value is: YES.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
@@ -1779,11 +1820,19 @@ LATEX_SOURCE_CODE      = NO
 
 LATEX_BIB_STYLE        = plain
 
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_TIMESTAMP        = NO
+
 #---------------------------------------------------------------------------
 # Configuration options related to the RTF output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_RTF tag is set to YES doxygen will generate RTF output. The
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
 # RTF output is optimized for Word 97 and may not look too pretty with other RTF
 # readers/editors.
 # The default value is: NO.
@@ -1798,7 +1847,7 @@ GENERATE_RTF           = NO
 
 RTF_OUTPUT             = rtf
 
-# If the COMPACT_RTF tag is set to YES doxygen generates more compact RTF
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
 # documents. This may be useful for small projects and may help to save some
 # trees in general.
 # The default value is: NO.
@@ -1835,11 +1884,21 @@ RTF_STYLESHEET_FILE    =
 
 RTF_EXTENSIONS_FILE    = 
 
+# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
+# with syntax highlighting in the RTF output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_SOURCE_CODE        = NO
+
 #---------------------------------------------------------------------------
 # Configuration options related to the man page output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_MAN tag is set to YES doxygen will generate man pages for
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
 # classes and files.
 # The default value is: NO.
 
@@ -1883,7 +1942,7 @@ MAN_LINKS              = NO
 # Configuration options related to the XML output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_XML tag is set to YES doxygen will generate an XML file that
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
 # captures the structure of the code including all documentation.
 # The default value is: NO.
 
@@ -1897,7 +1956,7 @@ GENERATE_XML           = NO
 
 XML_OUTPUT             = xml
 
-# If the XML_PROGRAMLISTING tag is set to YES doxygen will dump the program
+# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
 # listings (including syntax highlighting and cross-referencing information) to
 # the XML output. Note that enabling this will significantly increase the size
 # of the XML output.
@@ -1910,7 +1969,7 @@ XML_PROGRAMLISTING     = YES
 # Configuration options related to the DOCBOOK output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_DOCBOOK tag is set to YES doxygen will generate Docbook files
+# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
 # that can be used to generate PDF.
 # The default value is: NO.
 
@@ -1924,7 +1983,7 @@ GENERATE_DOCBOOK       = NO
 
 DOCBOOK_OUTPUT         = docbook
 
-# If the DOCBOOK_PROGRAMLISTING tag is set to YES doxygen will include the
+# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
 # program listings (including syntax highlighting and cross-referencing
 # information) to the DOCBOOK output. Note that enabling this will significantly
 # increase the size of the DOCBOOK output.
@@ -1937,10 +1996,10 @@ DOCBOOK_PROGRAMLISTING = NO
 # Configuration options for the AutoGen Definitions output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_AUTOGEN_DEF tag is set to YES doxygen will generate an AutoGen
+# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
-# Definitions (see http://autogen.sf.net) file that captures the structure of
+# AutoGen Definitions (see http://autogen.sf.net) file that captures the
-# the code including all documentation. Note that this feature is still
+# structure of the code including all documentation. Note that this feature is
-# experimental and incomplete at the moment.
+# still experimental and incomplete at the moment.
 # The default value is: NO.
 
 GENERATE_AUTOGEN_DEF   = NO
@@ -1949,7 +2008,7 @@ GENERATE_AUTOGEN_DEF   = NO
 # Configuration options related to the Perl module output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_PERLMOD tag is set to YES doxygen will generate a Perl module
+# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
 # file that captures the structure of the code including all documentation.
 #
 # Note that this feature is still experimental and incomplete at the moment.
@@ -1957,7 +2016,7 @@ GENERATE_AUTOGEN_DEF   = NO
 
 GENERATE_PERLMOD       = NO
 
-# If the PERLMOD_LATEX tag is set to YES doxygen will generate the necessary
+# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
 # Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
 # output from the Perl module output.
 # The default value is: NO.
@@ -1965,9 +2024,9 @@ GENERATE_PERLMOD       = NO
 
 PERLMOD_LATEX          = NO
 
-# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be nicely
+# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
 # formatted so it can be parsed by a human reader. This is useful if you want to
-# understand what is going on. On the other hand, if this tag is set to NO the
+# understand what is going on. On the other hand, if this tag is set to NO, the
 # size of the Perl module output will be much smaller and Perl will parse it
 # just the same.
 # The default value is: YES.
@@ -1987,14 +2046,14 @@ PERLMOD_MAKEVAR_PREFIX =
 # Configuration options related to the preprocessor
 #---------------------------------------------------------------------------
 
-# If the ENABLE_PREPROCESSING tag is set to YES doxygen will evaluate all
+# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
 # C-preprocessor directives found in the sources and include files.
 # The default value is: YES.
 
 ENABLE_PREPROCESSING   = YES
 
-# If the MACRO_EXPANSION tag is set to YES doxygen will expand all macro names
+# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
-# in the source code. If set to NO only conditional compilation will be
+# in the source code. If set to NO, only conditional compilation will be
 # performed. Macro expansion can be done in a controlled way by setting
 # EXPAND_ONLY_PREDEF to YES.
 # The default value is: NO.
@@ -2010,7 +2069,7 @@ MACRO_EXPANSION        = YES
 
 EXPAND_ONLY_PREDEF     = YES
 
-# If the SEARCH_INCLUDES tag is set to YES the includes files in the
+# If the SEARCH_INCLUDES tag is set to YES, the include files in the
 # INCLUDE_PATH will be searched if a #include is found.
 # The default value is: YES.
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
@@ -2086,20 +2145,21 @@ TAGFILES               =
 
 GENERATE_TAGFILE       = 
 
-# If the ALLEXTERNALS tag is set to YES all external class will be listed in the
+# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
-# class index. If set to NO only the inherited external classes will be listed.
+# the class index. If set to NO, only the inherited external classes will be
+# listed.
 # The default value is: NO.
 
 ALLEXTERNALS           = NO
 
-# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed in
+# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
-# the modules index. If set to NO, only the current project's groups will be
+# in the modules index. If set to NO, only the current project's groups will be
 # listed.
 # The default value is: YES.
 
 EXTERNAL_GROUPS        = YES
 
-# If the EXTERNAL_PAGES tag is set to YES all external pages will be listed in
+# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
 # the related pages index. If set to NO, only the current project's pages will
 # be listed.
 # The default value is: YES.
@@ -2116,7 +2176,7 @@ PERL_PATH              = /usr/bin/perl
 # Configuration options related to the dot tool
 #---------------------------------------------------------------------------
 
-# If the CLASS_DIAGRAMS tag is set to YES doxygen will generate a class diagram
+# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram
 # (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
 # NO turns the diagrams off. Note that this option also works with HAVE_DOT
 # disabled, but it is recommended to install and use dot, since it yields more
@@ -2141,7 +2201,7 @@ MSCGEN_PATH            =
 
 DIA_PATH               = 
 
-# If set to YES, the inheritance and collaboration graphs will hide inheritance
+# If set to YES the inheritance and collaboration graphs will hide inheritance
 # and usage relations if the target is undocumented or is not a class.
 # The default value is: YES.
 
@@ -2214,7 +2274,7 @@ COLLABORATION_GRAPH    = YES
 
 GROUP_GRAPHS           = YES
 
-# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
+# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
 # collaboration diagrams in a style similar to the OMG's Unified Modeling
 # Language.
 # The default value is: NO.
@@ -2266,7 +2326,8 @@ INCLUDED_BY_GRAPH      = NO
 #
 # Note that enabling this option will significantly increase the time of a run.
 # So in most cases it will be better to enable call graphs for selected
-# functions only using the \callgraph command.
+# functions only using the \callgraph command. Disabling a call graph can be
+# accomplished by means of the command \hidecallgraph.
 # The default value is: NO.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
@@ -2277,7 +2338,8 @@ CALL_GRAPH             = YES
 #
 # Note that enabling this option will significantly increase the time of a run.
 # So in most cases it will be better to enable caller graphs for selected
-# functions only using the \callergraph command.
+# functions only using the \callergraph command. Disabling a caller graph can be
+# accomplished by means of the command \hidecallergraph.
 # The default value is: NO.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
@@ -2300,11 +2362,15 @@ GRAPHICAL_HIERARCHY    = YES
 DIRECTORY_GRAPH        = NO
 
 # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
-# generated by dot.
+# generated by dot. For an explanation of the image formats see the section
+# output formats in the documentation of the dot tool (Graphviz (see:
+# http://www.graphviz.org/)).
 # Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
 # to make the SVG files visible in IE 9+ (other browsers do not have this
 # requirement).
-# Possible values are: png, jpg, gif and svg.
+# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo,
+# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and
+# png:gdiplus:gdiplus.
 # The default value is: png.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
@@ -2352,10 +2418,19 @@ DIAFILE_DIRS           =
 # PlantUML is not used or called during a preprocessing step. Doxygen will
 # generate a warning when it encounters a \startuml command in this case and
 # will not generate output for the diagram.
-# This tag requires that the tag HAVE_DOT is set to YES.
 
 PLANTUML_JAR_PATH      = 
 
+# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a
+# configuration file for plantuml.
+
+PLANTUML_CFG_FILE      = 
+
+# When using plantuml, the specified paths are searched for files specified by
+# the !include statement in a plantuml block.
+
+PLANTUML_INCLUDE_PATH  = 
+
 # The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
 # that will be shown in the graph. If the number of nodes in a graph becomes
 # larger than this value, doxygen will truncate the graph, which is visualized
@@ -2392,7 +2467,7 @@ MAX_DOT_GRAPH_DEPTH    = 2
 
 DOT_TRANSPARENT        = YES
 
-# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
+# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
 # files in one run (i.e. multiple -o and -T options on the command line). This
 # makes dot run faster, but since only newer versions of dot (>1.8.10) support
 # this, this feature is disabled by default.
@@ -2409,7 +2484,7 @@ DOT_MULTI_TARGETS      = YES
 
 GENERATE_LEGEND        = YES
 
-# If the DOT_CLEANUP tag is set to YES doxygen will remove the intermediate dot
+# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot
 # files that are used to generate the various graphs.
 # The default value is: YES.
 # This tag requires that the tag HAVE_DOT is set to YES.

doc/nil/Doxyfile_chm

@@ -790,7 +790,9 @@ INPUT                  = ./src \
                          ../../os/nil/dox \
                          ../../os/nil/src \
                          ../../os/nil/include \
-                         ../../os/nil/templates
+                         ../../os/nil/templates \
+                         ../../os/common/oslib/src \
+                         ../../os/common/oslib/include
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

doc/nil/Doxyfile_html

@@ -790,7 +790,9 @@ INPUT                  = ./src \
                          ../../os/nil/dox \
                          ../../os/nil/src \
                          ../../os/nil/include \
-                         ../../os/nil/templates
+                         ../../os/nil/templates \
+                         ../../os/common/oslib/src \
+                         ../../os/common/oslib/include
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

doc/rt/Doxyfile_chm

@@ -38,7 +38,7 @@ PROJECT_NAME           = ChibiOS/RT
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 4.0.0
+PROJECT_NUMBER         = 3.2.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
@@ -790,7 +790,9 @@ INPUT                  = ./src \
                          ../../os/rt/dox \
                          ../../os/rt/src \
                          ../../os/rt/include \
-                         ../../os/rt/templates
+                         ../../os/rt/templates \
+                         ../../os/common/oslib/src \
+                         ../../os/common/oslib/include
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

doc/rt/Doxyfile_html

@@ -38,7 +38,7 @@ PROJECT_NAME           = ChibiOS/RT
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 4.0.0
+PROJECT_NUMBER         = 3.2.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
@@ -790,7 +790,9 @@ INPUT                  = ./src \
                          ../../os/rt/dox \
                          ../../os/rt/src \
                          ../../os/rt/include \
-                         ../../os/rt/templates
+                         ../../os/rt/templates \
+                         ../../os/common/oslib/src \
+                         ../../os/common/oslib/include
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

os/common/abstractions/cmsis_os/cmsis_os.c

@@ -91,7 +91,7 @@ osStatus osKernelInitialize(void) {
   chPoolObjectInit(&sempool, sizeof(semaphore_t), chCoreAllocAligned);
   chPoolLoadArray(&sempool, semaphores, CMSIS_CFG_NUM_SEMAPHORES);
 
-  chPoolObjectInit(&timpool, sizeof(virtual_timer_t), chCoreAllocAligned);
+  chPoolObjectInit(&timpool, sizeof(struct os_timer_cb), chCoreAllocAligned);
   chPoolLoadArray(&timpool, timers, CMSIS_CFG_NUM_TIMERS);
 
   return osOK;

os/common/oslib/include/chheap.h

@@ -163,6 +163,7 @@ static inline void *chHeapAlloc(memory_heap_t *heapp, size_t size) {
  *          same value aligned to the next @p CH_HEAP_ALIGNMENT multiple.
  *
  * @param[in] p         pointer to the memory block
+ * @return              Size of the block.
  *
  * @api
  */

os/ex/Micron/m25q.c

@@ -21,7 +21,8 @@
  * @file    m25q.c
  * @brief   Micron serial flash driver code.
  *
- * @addtogroup m25q
+ * @addtogroup M25Q
+ * @ingroup EX_MICRON
  * @{
  */
 

os/ex/Micron/m25q.h

@@ -21,7 +21,8 @@
  * @file    m25q.h
  * @brief   Micron serial flash driver header.
  *
- * @addtogroup m25q
+ * @addtogroup M25Q
+ * @ingroup EX_MICRON
  * @{
  */
 

os/ex/ST/hts221.c

@@ -22,7 +22,8 @@
  * @file    hts221.c
  * @brief   HTS221 MEMS interface module code.
  *
- * @addtogroup hts221
+ * @addtogroup HTS221
+ * @ingroup EX_ST
  * @{
  */
 
@@ -100,7 +101,7 @@ msg_t hts221I2CWriteRegister(I2CDriver *i2cp, uint8_t* txbuf, size_t n) {
  *          calibration registers.
  * @notapi
  *
- * @param[in] dev        pointer to the HTS221 interface
+ * @param[in] devp       pointer to the HTS221 interface
  * @param[in] flag       flag to select parameters
  * @return               the operation status.
  */

os/ex/ST/hts221.h

@@ -22,6 +22,9 @@
  * @file    hts221.h
  * @brief   HTS221 MEMS interface module header.
  *
+ *
+ * @addtogroup HTS221
+ * @ingroup EX_ST
  * @{
  */
 #ifndef _HTS221_H_
@@ -405,4 +408,3 @@ extern "C" {
 #endif /* _HTS221_H_ */
 
 /** @} */
-

os/ex/ST/l3gd20.c

@@ -22,7 +22,8 @@
  * @file    l3gd20.c
  * @brief   L3GD20 MEMS interface module code.
  *
- * @addtogroup l3gd20
+ * @addtogroup L3GD20
+ * @ingroup EX_ST
  * @{
  */
 
@@ -56,12 +57,12 @@
  * @param[in] b         pointer to an output buffer.
  */
 static void l3gd20SPIReadRegister(SPIDriver *spip, uint8_t reg,  size_t n,
-                                     uint8_t* rxbuf) {
+                                     uint8_t* b) {
   uint8_t cmd;
   (n == 1) ? (cmd = reg | L3GD20_RW) : (cmd = reg | L3GD20_RW | L3GD20_MS);
   spiSelect(spip);
   spiSend(spip, 1, &cmd);
-  spiReceive(spip, n, rxbuf);
+  spiReceive(spip, n, b);
   spiUnselect(spip);
 }
 
@@ -72,7 +73,7 @@ static void l3gd20SPIReadRegister(SPIDriver *spip, uint8_t reg,  size_t n,
  * @param[in] spip      pointer to the SPI interface
  * @param[in] reg       starting register address
  * @param[in] n         number of adjacent registers to write
- * @param[in] value     pointer to a buffer of values.
+ * @param[in] b         pointer to a buffer of values.
  */
 static void l3gd20SPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
                                    uint8_t* b) {

os/ex/ST/l3gd20.h

@@ -22,6 +22,8 @@
  * @file    l3gd20.h
  * @brief   L3GD20 MEMS interface module header.
  *
+ * @addtogroup L3GD20
+ * @ingroup EX_ST
  * @{
  */
 #ifndef _L3GD20_H_
@@ -377,7 +379,7 @@ typedef enum {
 
 /**
  * @brief   L3GD20 LP2 filter mode.
- * @detail  To activate LP2 HP should be active
+ * @details To activate LP2 HP should be active
  */
 typedef enum {
   L3GD20_LP2M_ON = 0x00,            /**< LP2 filter activated.              */
@@ -465,7 +467,7 @@ typedef struct {
   l3gd20_hpcf_t             hpconfiguration;
   /**
    * @brief   L3GD20 LP2 filter mode.
-   * @detail  To activate LP2 HP should be active
+   * @details To activate LP2 HP should be active
    */
   l3gd20_lp2m_t             lp2mode;
 #endif

os/ex/ST/lis302dl.c

@@ -22,7 +22,8 @@
  * @file    lis302dl.c
  * @brief   LIS302DL MEMS interface module code.
  *
- * @addtogroup lis302dl
+ * @addtogroup LIS302DL
+ * @ingroup EX_ST
  * @{
  */
 
@@ -72,7 +73,7 @@ static void lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg,  size_t n,
  * @param[in] spip      pointer to the SPI interface
  * @param[in] reg       starting register address
  * @param[in] n         number of adjacent registers to write
- * @param[in] value     pointer to a buffer of values.
+ * @param[in] b         pointer to a buffer of values.
  */
 static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
                                      uint8_t* b) {

os/ex/ST/lis302dl.h

@@ -22,6 +22,8 @@
  * @file    lis302dl.h
  * @brief   LIS302DL MEMS interface module header.
  *
+ * @addtogroup LIS302DL
+ * @ingroup EX_ST
  * @{
  */
 
@@ -159,6 +161,7 @@
 #define LIS302DL_CTRL_REG3_PP_OD    (1 << 6)    /**< Push-pull open-drain     */
 #define LIS302DL_CTRL_REG3_IHL      (1 << 7)    /**< Int active high low      */
 /** @} */
+
 /*===========================================================================*/
 /* Driver pre-compile time settings.                                         */
 /*===========================================================================*/
@@ -333,7 +336,7 @@ typedef struct LIS302DLDriver LIS302DLDriver;
 
 
 /**
- * @extends BaseAccelerometerVMT.
+ * @extends BaseAccelerometerVMT
  *
  * @brief   @p LIS302DL virtual methods table.
  */
@@ -358,7 +361,7 @@ struct LIS302DLVMT {
   float                     fullscale;
 
 /**
- * @extends BaseAccelerometer.
+ * @extends BaseAccelerometer
  *
  * @brief   LIS302DL 3-axis accelerometer class.
  * @details This class extends @p BaseAccelerometer by adding physical

os/ex/ST/lis3dsh.c

@@ -22,7 +22,8 @@
  * @file    lis3dsh.c
  * @brief   LIS3DSH MEMS interface module code.
  *
- * @addtogroup lis3dsh
+ * @addtogroup LIS3DSH
+ * @ingroup EX_ST
  * @{
  */
 
@@ -74,7 +75,7 @@ static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg,  size_t n,
  * @param[in] spip      pointer to the SPI interface
  * @param[in] reg       starting register address
  * @param[in] n         number of adjacent registers to write
- * @param[in] value     pointer to a buffer of values.
+ * @param[in] b         pointer to a buffer of values.
  */
 static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
                                     uint8_t* b) {

os/ex/ST/lis3dsh.h

@@ -22,6 +22,8 @@
  * @file    lis3dsh.h
  * @brief   LIS3DSH MEMS interface module header.
  *
+ * @addtogroup LIS3DSH
+ * @ingroup EX_ST
  * @{
  */
 

os/ex/ST/lis3mdl.c

@@ -22,7 +22,8 @@
  * @file    lis3mdl.c
  * @brief   LIS3MDL MEMS interface module code.
  *
- * @addtogroup lis3mdl
+ * @addtogroup LIS3MDL
+ * @ingroup EX_ST
  * @{
  */
 

os/ex/ST/lis3mdl.h

@@ -22,6 +22,8 @@
  * @file    lis3mdl.h
  * @brief   LIS3MDL MEMS interface module header.
  *
+ * @addtogroup LIS3MDL
+ * @ingroup EX_ST
  * @{
  */
 #ifndef _LIS3MDL_H_

os/ex/ST/lps25h.c

@@ -22,7 +22,8 @@
  * @file    lps25h.c
  * @brief   LPS25H MEMS interface module code.
  *
- * @addtogroup lps25h
+ * @addtogroup LPS25H
+ * @ingroup EX_ST
  * @{
  */
 

os/ex/ST/lps25h.h

@@ -22,6 +22,8 @@
  * @file    lps25h.h
  * @brief   LPS25H MEMS interface module header.
  *
+ * @addtogroup LPS25H
+ * @ingroup EX_ST
  * @{
  */
 #ifndef _LPS25H_H_

os/ex/ST/lsm303dlhc.c

@@ -22,7 +22,8 @@
  * @file    lsm303dlhc.c
  * @brief   LSM303DLHC MEMS interface module code.
  *
- * @addtogroup lsm303dlhc
+ * @addtogroup LSM303DLHC
+ * @ingroup EX_ST
  * @{
  */
 

os/ex/ST/lsm303dlhc.h

@@ -22,6 +22,8 @@
  * @file    lsm303dlhc.h
  * @brief LSM303DLHC MEMS interface module header.
  *
+ * @addtogroup LSM303DLHC
+ * @ingroup EX_ST
  * @{
  */
 #ifndef _LSM303DLHC_H_

os/ex/ST/lsm6ds0.c

@@ -22,7 +22,8 @@
  * @file    lsm6ds0.c
  * @brief   LSM6DS0 MEMS interface module code.
  *
- * @addtogroup lsm6ds0
+ * @addtogroup LSM6DS0
+ * @ingroup EX_ST
  * @{
  */
 

os/ex/ST/lsm6ds0.h

@@ -22,6 +22,8 @@
  * @file    lsm6ds0.h
  * @brief   LSM6DS0 MEMS interface module header.
  *
+ * @addtogroup LSM6DS0
+ * @ingroup EX_ST
  * @{
  */
 #ifndef _LSM6DS0_H_

os/ex/dox/accelerometer.dox

@@ -14,13 +14,9 @@
     limitations under the License.
 */
 
-#ifndef USBCFG_H
+/**
-#define USBCFG_H
+ * @defgroup HAL_ACCELEROMETER Generic Accelerometer Interface
-
+ * @brief   HAL Generic Accelerometer Interface.
-extern const USBConfig usbcfg;
+ *
-extern SerialUSBConfig serusbcfg;
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
-extern SerialUSBDriver SDU1;
+ */
-
-#endif  /* USBCFG_H */
-
-/** @} */

os/ex/dox/barometer.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_BAROMETER Generic Barometer Interface
+ * @brief   HAL Generic Barometer Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/ex/dox/compass.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_COMPASS Generic Compass Interface
+ * @brief   HAL Generic Compass Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/ex/dox/flash.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_FLASH Generic Flash Driver Interface
+ * @brief   HAL Generic Flash Driver Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/ex/dox/gyro.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_GYROSCOPE Generic Gyroscope Interface
+ * @brief   HAL Generic Gyroscope Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/ex/dox/hal.dox

@@ -0,0 +1,34 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL HAL
+ * @brief   Hardware Abstraction Layer.
+ * @details Under ChibiOS the set of the various device driver interfaces
+ * is called the HAL subsystem: Hardware Abstraction Layer. The HAL is the
+ * abstract interface between ChibiOS applications and hardware.
+ *
+ * @section hal_peripheral interfaces HAL Peripheral Interfaces
+ * These are a particular case of HAL Interfaces since they are an abstraction
+ * of a hardware.
+ */
+
+/**
+ * @defgroup HAL_ABSTRACT_PERIPHERALS Abstract Peripheral Interfaces
+ * @brief   HAL Abstract Peripheral Interfaces.
+ *
+ * @ingroup HAL
+ */

os/ex/dox/hygrometer.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_HYGROMETER Generic Hygrometer Interface
+ * @brief   HAL Generic Hygrometer Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/ex/dox/jesd216flash.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_JESD216_FLASH JESD216 Compliant Flash Driver Interface
+ * @brief   HAL JESD216 Compliant Flash Driver Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/ex/dox/main.dox

@@ -0,0 +1,65 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup EX EX
+ * @brief   EXternal periferals.
+ * @details Under ChibiOS the set of the complex device driver interfaces 
+ * dedicated to external peripherals is called the EX subsystem. The EX resides 
+ * on top of HAL and is actually a set of libraries for external devices like
+ * MEMS, Displays, Flash memories and so on. These libraries are the 
+ * implementation of one or more Abstract Interfaces brought by HAL subsystem.
+ * EX also relies on HAL normal drivers to interface the peripherals.
+ *
+ * @section ex_complex_drivers_architecture EX Complex Drivers Architecture
+ * Each EX driver can be considered as a standalone Complex Device Driver. For 
+ * ease of use these drivers are grouped by vendor:
+ * - Micron Technology Peripherals
+ * - STMicroelectronics Peripherals
+ * .
+ * @section micron_devices Micron Technology Devices
+ * This section contains all the drivers of devices produced by
+ * Micron Technology. Devices currently supported are FLASH and are:
+ *   - @b M25Q: Serial NOR flash;
+ * .
+ *
+ * @section stmicroelectronics_devices STMicroelectronics Devices
+ * This section contains all the drivers of devices produced by
+ * STMicroelectronics. Devices currently supported are MEMS and are:
+ *   - @b HTS221: Capacitive digital humidity sensor;
+ *   - @b L3GD20: 3-axis digital gyroscope; 
+ *   - @b LIS3DSH: 3-axis digital motion sensor;
+ *   - @b LIS3MDL: Ultra low power, high performances 3-axis magnetometer;
+ *   - @b LIS302DL: 3-axis motion sensor;
+ *   - @b LPS25H: Piezoresistive 260-1260 hPa pressure sensor; 
+ *   - @b LSM6DS0: 6-axis iNEMO inertial module; 
+ *   - @b LSM303DLHC: Ultra compact high performance e-compass;
+ * .
+ */
+
+/**
+ * @defgroup EX_MICRON Micron Technology Devices
+ * @brief   Micron Technology Devices.
+ *
+ * @ingroup EX
+ */
+ 
+/**
+ * @defgroup EX_ST STMicroelectronics Devices
+ * @brief   STMicroelectronics Devices.
+ *
+ * @ingroup EX
+ */

os/ex/dox/sensor.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_SENSORS Generic Sensor Interface
+ * @brief   HAL Generic Sensor Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/ex/dox/thermometer.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_THERMOMETER Generic Thermometer Interface
+ * @brief   HAL Generic Thermometer Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/hal/dox/accelerometer.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_ACCELEROMETER Generic Accelerometer Interface
+ * @brief   HAL Generic Accelerometer Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/hal/dox/barometer.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_BAROMETER Generic Barometer Interface
+ * @brief   HAL Generic Barometer Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/hal/dox/compass.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_COMPASS Generic Compass Interface
+ * @brief   HAL Generic Compass Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/hal/dox/flash.dox

@@ -15,61 +15,8 @@
 */
 
 /**
- * @defgroup NOR_FLASH Abstract NOR Flash Class
+ * @defgroup HAL_FLASH Generic Flash Driver Interface
- * @brief   Generic NOR Flash interface.
+ * @brief   HAL Generic Flash Driver Interface.
- * @details This module implements a generic class for NOR Flash devices.
  *
- * @section flash_1 Driver State Machine
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
- * The flash driver implements a state machine internally, not all the driver
- * functionalities can be used in any moment, any transition not explicitly
- * shown in the following diagram has to be considered an error and shall
- * be captured by an assertion (if enabled).
- * @dot
-  digraph example {
-    rankdir="LR";
-    node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
-    edge [fontname=Helvetica, fontsize=8];
-    stop  [label="FLS_STOP\nLow Power"];
-    uninit [label="FLS_UNINIT", style="bold"];
-    ready [label="FLS_READY\nClock Enabled"];
-    read [label="FLS_READ\nReading"];
-    program [label="FLS_PGM\nProgramming"];
-    erasea [label="FLS_ERASEA\nErasing All"];
-    erases [label="FLS_ERASES\nErasing Sector"];
-    uninit -> stop [label=" flashInit()", constraint=false];
-    stop -> stop [label=" flashStop()"];
-    stop -> ready [label=" flashStart()"];
-    ready -> stop [label=" flashStop()"];
-    ready -> read [label=" flashRead()\nflashVerifyErase()"];
-    read -> ready [label=" return"];
-    ready -> program [label=" flashProgram()"];
-    program -> ready [label=" return"];
-    ready -> erasea [label=" flashEraseAll)"];
-    erasea -> ready [label=" flashQueryErase()\nFLASH_NO_ERROR\nFLASH_ERROR_*"];
-    erasea -> erasea [label=" flashQueryErase()\nflashProgram()\nflashRead()\nFLASH_BUSY_ERASE"];
-    ready -> erases [label=" flashEraseSector()"];
-    erases -> ready [label=" flashQueryErase()\nFLASH_NO_ERROR\nFLASH_ERROR_*"];
-    erases -> erases [label=" flashQueryErase()\nflashProgram()\nflashRead()\nFLASH_BUSY_ERASE"];
-  }
- * @enddot
- *
- * @section flash_2 Flash Operations.
- * This driver abstracts a generic PWM timer composed of:
- * - A clock prescaler.
- * - A main up counter.
- * - A comparator register that resets the main counter to zero when the limit
- *   is reached. An optional callback can be generated when this happens.
- * - An array of @p PWM_CHANNELS PWM channels, each channel has an output,
- *   a comparator and is able to invoke an optional callback when a comparator
- *   match with the main counter happens.
- * .
- * A PWM channel output can be in two different states:
- * - <b>IDLE</b>, when the channel is disabled or after a match occurred.
- * - <b>ACTIVE</b>, when the channel is enabled and a match didn't occur yet
- *   in the current PWM cycle.
- * .
- * Note that the two states can be associated to both logical zero or one in
- * the @p PWMChannelConfig structure.
- *
- * @ingroup HAL_INTERFACES
  */

os/hal/dox/gyro.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_GYROSCOPE Generic Gyroscope Interface
+ * @brief   HAL Generic Gyroscope Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/hal/dox/hal_peripherals.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+ /**
+ * @defgroup HAL_ABSTRACT_PERIPHERALS Abstract Peripheral Interfaces
+ * @brief   HAL Abstract Peripheral Interfaces.
+ *
+ * @ingroup HAL_INTERFACES
+ */

os/hal/dox/hygrometer.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_HYGROMETER Generic Hygrometer Interface
+ * @brief   HAL Generic Hygrometer Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/hal/dox/jesd216flash.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_JESD216_FLASH JESD216 Compliant Flash Driver Interface
+ * @brief   HAL JESD216 Compliant Flash Driver Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/hal/dox/norflash.dox

@@ -0,0 +1,75 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup NOR_FLASH Abstract NOR Flash Class
+ * @brief   Generic NOR Flash interface.
+ * @details This module implements a generic class for NOR Flash devices.
+ *
+ * @section flash_1 Driver State Machine
+ * The flash driver implements a state machine internally, not all the driver
+ * functionalities can be used in any moment, any transition not explicitly
+ * shown in the following diagram has to be considered an error and shall
+ * be captured by an assertion (if enabled).
+ * @dot
+  digraph example {
+    rankdir="LR";
+    node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.9", height="0.9"];
+    edge [fontname=Helvetica, fontsize=8];
+    stop  [label="FLS_STOP\nLow Power"];
+    uninit [label="FLS_UNINIT", style="bold"];
+    ready [label="FLS_READY\nClock Enabled"];
+    read [label="FLS_READ\nReading"];
+    program [label="FLS_PGM\nProgramming"];
+    erasea [label="FLS_ERASEA\nErasing All"];
+    erases [label="FLS_ERASES\nErasing Sector"];
+    uninit -> stop [label=" flashInit()", constraint=false];
+    stop -> stop [label=" flashStop()"];
+    stop -> ready [label=" flashStart()"];
+    ready -> stop [label=" flashStop()"];
+    ready -> read [label=" flashRead()\nflashVerifyErase()"];
+    read -> ready [label=" return"];
+    ready -> program [label=" flashProgram()"];
+    program -> ready [label=" return"];
+    ready -> erasea [label=" flashEraseAll)"];
+    erasea -> ready [label=" flashQueryErase()\nFLASH_NO_ERROR\nFLASH_ERROR_*"];
+    erasea -> erasea [label=" flashQueryErase()\nflashProgram()\nflashRead()\nFLASH_BUSY_ERASE"];
+    ready -> erases [label=" flashEraseSector()"];
+    erases -> ready [label=" flashQueryErase()\nFLASH_NO_ERROR\nFLASH_ERROR_*"];
+    erases -> erases [label=" flashQueryErase()\nflashProgram()\nflashRead()\nFLASH_BUSY_ERASE"];
+  }
+ * @enddot
+ *
+ * @section flash_2 Flash Operations.
+ * This driver abstracts a generic PWM timer composed of:
+ * - A clock prescaler.
+ * - A main up counter.
+ * - A comparator register that resets the main counter to zero when the limit
+ *   is reached. An optional callback can be generated when this happens.
+ * - An array of @p PWM_CHANNELS PWM channels, each channel has an output,
+ *   a comparator and is able to invoke an optional callback when a comparator
+ *   match with the main counter happens.
+ * .
+ * A PWM channel output can be in two different states:
+ * - <b>IDLE</b>, when the channel is disabled or after a match occurred.
+ * - <b>ACTIVE</b>, when the channel is enabled and a match didn't occur yet
+ *   in the current PWM cycle.
+ * .
+ * Note that the two states can be associated to both logical zero or one in
+ * the @p PWMChannelConfig structure.
+ *
+ * @ingroup HAL_INTERFACES
+ */

os/hal/dox/sensor.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_SENSORS Generic Sensor Interface
+ * @brief   HAL Generic Sensor Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/hal/dox/thermometer.dox

@@ -0,0 +1,22 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @defgroup HAL_THERMOMETER Generic Thermometer Interface
+ * @brief   HAL Generic Thermometer Interface.
+ *
+ * @ingroup HAL_ABSTRACT_PERIPHERALS
+ */

os/hal/lib/peripherals/flash/hal_flash.c

@@ -50,7 +50,10 @@
  * @brief   Waits until the current erase operation is finished.
  *
  * @param[in] devp      pointer to a @p BaseFlash object
- * @param[in] cb        polling callback or @p NULL
+ * 
+ * @return              An error code.
+ * @retval FLASH_NO_ERROR if there is no erase operation in progress.
+ * @retval FLASH_ERROR_ERASE if the erase operation failed.
  */
 flash_error_t flashWaitErase(BaseFlash *devp) {
 
@@ -71,6 +74,11 @@ flash_error_t flashWaitErase(BaseFlash *devp) {
 
 /**
  * @brief   Returns the offset of a sector.
+ *
+ * @param[in] devp      pointer to a @p BaseFlash object
+ * @param[in] sector    flash sector number
+ *
+ * @return the offset of the sector
  */
 flash_offset_t flashGetSectorOffset(BaseFlash *devp,
                                     flash_sector_t sector) {
@@ -91,6 +99,11 @@ flash_offset_t flashGetSectorOffset(BaseFlash *devp,
 
 /**
  * @brief   Returns the size of a sector.
+ *
+ * @param[in] devp      pointer to a @p BaseFlash object
+ * @param[in] sector    flash sector number
+ *
+ * @return the size of the sector
  */
 uint32_t flashGetSectorSize(BaseFlash *devp,
                             flash_sector_t sector) {
@@ -108,5 +121,4 @@ uint32_t flashGetSectorSize(BaseFlash *devp,
 
   return size;
 }
-
 /** @} */

os/hal/lib/peripherals/flash/hal_flash.h

@@ -200,7 +200,7 @@ typedef struct {
  * @brief   Sensors get axes number.
  *
  * @param[in] ip        pointer to a @p BaseFlash or derived class
- * @return              An error code.
+ * @return              A flash device descriptor.
  *
  * @api
  */
@@ -230,7 +230,7 @@ typedef struct {
  * @param[in] ip        pointer to a @p BaseFlash or derived class
  * @param[in] offset    flash offset
  * @param[in] n         number of bytes to be programmed
- * @param[in] wp        pointer to the data buffer
+ * @param[in] pp        pointer to the data buffer
  * @return              An error code.
  * @retval FLASH_NO_ERROR if there is no erase operation in progress.
  * @retval FLASH_BUSY_ERASING if there is an erase operation in progress.

os/hal/ports/STM32/LLD/RTCv2/hal_rtc_lld.c

@@ -347,7 +347,8 @@ void rtc_lld_set_time(RTCDriver *rtcp, const RTCDateTime *timespec) {
   rtc_enter_init();
   rtcp->rtc->TR = tr;
   rtcp->rtc->DR = dr;
-  rtcp->rtc->CR |= timespec->dstflag << RTC_CR_BKP_OFFSET;
+  rtcp->rtc->CR = (rtcp->rtc->CR & ~(1U << RTC_CR_BKP_OFFSET)) |
+                  (timespec->dstflag << RTC_CR_BKP_OFFSET);
   rtc_exit_init();
 
   /* Leaving a reentrant critical zone.*/

os/hal/ports/STM32/LLD/USARTv2/hal_uart_lld.c

@@ -127,6 +127,11 @@
 #define UART8 USART8
 #endif
 
+/* Workaround for more differences in headers.*/
+#if !defined(USART_CR1_M0)
+#define USART_CR1_M0 USART_CR1_M
+#endif
+
 /*===========================================================================*/
 /* Driver exported variables.                                                */
 /*===========================================================================*/
@@ -676,7 +681,7 @@ void uart_lld_init(void) {
     STM32_UART_USE_UART5  || STM32_UART_USE_USART6 ||                   \
     STM32_UART_USE_UART7  || STM32_UART_USE_UART8
 #if defined(STM32_USART3_8_HANDLER)
-  nvicEnableVector(STM32_USART3_8_NUMBER, STM32_UART_USART3_8_PRIORITY);
+  nvicEnableVector(STM32_USART3_8_NUMBER, STM32_UART_USART3_8_IRQ_PRIORITY);
 #endif
 #endif
 }
@@ -845,7 +850,7 @@ void uart_lld_start(UARTDriver *uartp) {
 
     /* Static DMA setup, the transfer size depends on the USART settings,
        it is 16 bits if M=1 and PCE=0 else it is 8 bits.*/
-    if ((uartp->config->cr1 & (USART_CR1_M | USART_CR1_PCE)) == USART_CR1_M)
+    if ((uartp->config->cr1 & (USART_CR1_M | USART_CR1_PCE)) == USART_CR1_M0)
       uartp->dmamode |= STM32_DMA_CR_PSIZE_HWORD | STM32_DMA_CR_MSIZE_HWORD;
     dmaStreamSetPeripheral(uartp->dmarx, &uartp->usart->RDR);
     dmaStreamSetPeripheral(uartp->dmatx, &uartp->usart->TDR);

os/hal/ports/STM32/LLD/USARTv2/hal_uart_lld.h

@@ -136,8 +136,8 @@
  * @brief   USART3..8 interrupt priority level setting.
  * @note    Only valid on those devices with a shared IRQ.
  */
-#if !defined(STM32_UART_USART3_8_PRIORITY) || defined(__DOXYGEN__)
+#if !defined(STM32_UART_USART3_8_IRQ_PRIORITY) || defined(__DOXYGEN__)
-#define STM32_UART_USART3_8_PRIORITY        12
+#define STM32_UART_USART3_8_IRQ_PRIORITY    12
 #endif
 
 /**

os/hal/ports/STM32/STM32F0xx/stm32_registry.h

@@ -1332,11 +1332,9 @@
 
 /* I2C attributes.*/
 #define STM32_HAS_I2C1                      TRUE
-#define STM32_I2C1_RX_DMA_MSK               (STM32_DMA_STREAM_ID_MSK(1, 3) |\
+#define STM32_I2C1_RX_DMA_MSK               STM32_DMA_STREAM_ID_MSK(1, 3)
-                                             STM32_DMA_STREAM_ID_MSK(1, 7))
 #define STM32_I2C1_RX_DMA_CHN               0x00000000
-#define STM32_I2C1_TX_DMA_MSK               (STM32_DMA_STREAM_ID_MSK(1, 2) |\
+#define STM32_I2C1_TX_DMA_MSK               STM32_DMA_STREAM_ID_MSK(1, 2)
-                                             STM32_DMA_STREAM_ID_MSK(1, 6))
 #define STM32_I2C1_TX_DMA_CHN               0x00000000
 
 #define STM32_HAS_I2C2                      TRUE
@@ -1375,11 +1373,9 @@
 
 #define STM32_HAS_SPI2                      TRUE
 #define STM32_SPI2_SUPPORTS_I2S             FALSE
-#define STM32_SPI2_RX_DMA_MSK               (STM32_DMA_STREAM_ID_MSK(1, 4) |\
+#define STM32_SPI2_RX_DMA_MSK               STM32_DMA_STREAM_ID_MSK(1, 4)
-                                             STM32_DMA_STREAM_ID_MSK(1, 6))
 #define STM32_SPI2_RX_DMA_CHN               0x00000000
-#define STM32_SPI2_TX_DMA_MSK               (STM32_DMA_STREAM_ID_MSK(1, 5) |\
+#define STM32_SPI2_TX_DMA_MSK               STM32_DMA_STREAM_ID_MSK(1, 5)
-                                             STM32_DMA_STREAM_ID_MSK(1, 7))
 #define STM32_SPI2_TX_DMA_CHN               0x00000000
 
 #define STM32_HAS_SPI3                      FALSE
@@ -1447,23 +1443,21 @@
 #define STM32_USART1_TX_DMA_CHN             0x00000000
 
 #define STM32_HAS_USART2                    TRUE
-#define STM32_USART2_RX_DMA_MSK             (STM32_DMA_STREAM_ID_MSK(1, 5) |\
+#define STM32_USART2_RX_DMA_MSK             STM32_DMA_STREAM_ID_MSK(1, 5)
-                                             STM32_DMA_STREAM_ID_MSK(1, 6))
 #define STM32_USART2_RX_DMA_CHN             0x00000000
-#define STM32_USART2_TX_DMA_MSK             (STM32_DMA_STREAM_ID_MSK(1, 4) |\
+#define STM32_USART2_TX_DMA_MSK             STM32_DMA_STREAM_ID_MSK(1, 4)
-                                             STM32_DMA_STREAM_ID_MSK(1, 7))
 #define STM32_USART2_TX_DMA_CHN             0x00000000
 
 #define STM32_HAS_USART3                    TRUE
-#define STM32_USART3_RX_DMA_MSK             STM32_DMA_STREAM_ID_MSK(1, 6)
+#define STM32_USART3_RX_DMA_MSK             STM32_DMA_STREAM_ID_MSK(1, 3)
 #define STM32_USART3_RX_DMA_CHN             0x00000000
-#define STM32_USART3_TX_DMA_MSK             STM32_DMA_STREAM_ID_MSK(1, 7)
+#define STM32_USART3_TX_DMA_MSK             STM32_DMA_STREAM_ID_MSK(1, 2)
 #define STM32_USART3_TX_DMA_CHN             0x00000000
 
 #define STM32_HAS_UART4                     TRUE
-#define STM32_UART4_RX_DMA_MSK              STM32_DMA_STREAM_ID_MSK(1, 6)
+#define STM32_UART4_RX_DMA_MSK              0
 #define STM32_UART4_RX_DMA_CHN              0x00000000
-#define STM32_UART4_TX_DMA_MSK              STM32_DMA_STREAM_ID_MSK(1, 7)
+#define STM32_UART4_TX_DMA_MSK              0
 #define STM32_UART4_TX_DMA_CHN              0x00000000
 
 #define STM32_HAS_UART5                     FALSE

os/hal/ports/STM32/STM32F4xx/stm32_registry.h

@@ -1342,7 +1342,7 @@
 #define STM32_HAS_SPI4                      TRUE
 #define STM32_SPI4_SUPPORTS_I2S             FALSE
 #define STM32_SPI4_RX_DMA_MSK               (STM32_DMA_STREAM_ID_MSK(2, 0) |\
-                                             STM32_DMA_STREAM_ID_MSK(2, 3))|\
+                                             STM32_DMA_STREAM_ID_MSK(2, 3) |\
                                              STM32_DMA_STREAM_ID_MSK(2, 4))
 #define STM32_SPI4_RX_DMA_CHN               0x00045004
 #define STM32_SPI4_TX_DMA_MSK               (STM32_DMA_STREAM_ID_MSK(2, 1) |\
@@ -1355,7 +1355,7 @@
                                              STM32_DMA_STREAM_ID_MSK(2, 5))
 #define STM32_SPI5_RX_DMA_CHN               0x00702000
 #define STM32_SPI5_TX_DMA_MSK               (STM32_DMA_STREAM_ID_MSK(2, 4) |\
-                                             STM32_DMA_STREAM_ID_MSK(2, 5))|\
+                                             STM32_DMA_STREAM_ID_MSK(2, 5) |\
                                              STM32_DMA_STREAM_ID_MSK(2, 6))
 #define STM32_SPI5_TX_DMA_CHN               0x07520000
 

os/rt/dox/rt.dox

@@ -33,11 +33,6 @@
  * @ingroup kernel
  */
 
-/**
- * @defgroup types Kernel Types
- * @ingroup kernel
- */
-
 /**
  * @defgroup base Base Kernel Services
  * @details Base kernel services, the base subsystems are always included in
@@ -111,6 +106,12 @@
  * @ingroup synchronization
  */
 
+/**
+ * @defgroup mem Memory Alignment
+ * @details Memory Alignment services.
+ * @ingroup kernel
+ */
+
 /**
  * @defgroup memory Memory Management
  * @details Memory Management services.
@@ -137,17 +138,6 @@
  * @ingroup memory
  */
 
- /**
- * @defgroup streams Streams and Files
- * @details Stream and Files interfaces.
- * @ingroup kernel
- */
-
-/**
- * @defgroup data_streams Abstract Sequential Streams
- * @ingroup streams
- */
-
 /**
  * @defgroup registry Registry
  * @ingroup kernel
@@ -158,6 +148,11 @@
  * @ingroup kernel
  */
 
+/**
+ * @defgroup trace Trace
+ * @ingroup kernel
+ */
+
 /**
  * @defgroup time_measurement Time Measurement
  * @ingroup kernel

os/rt/include/chalign.h

@@ -70,7 +70,7 @@
   /*lint -restore*/
 
 /**
- * @brief   Aligns to the new aligned memory address.
+ * @brief   Aligns to the next aligned memory address.
  *
  * @param[in] p         variable to be aligned
  * @param[in] a         alignment, must be a power of two

os/rt/include/chchecks.h

@@ -46,7 +46,7 @@
 
 #if (CH_LICENSE_FEATURES != CH_FEATURES_FULL) &&                            \
     (CH_LICENSE_FEATURES != CH_FEATURES_INTERMEDIATE) &&                    \
-    (CH_LICENSE_FEATURES == CH_FEATURES_BASIC)
+    (CH_LICENSE_FEATURES != CH_FEATURES_BASIC)
 #error "invalid CH_LICENSE_FEATURES setting"
 #endif
 

os/rt/include/chcustomer.h

@@ -1,71 +0,0 @@
-/*
-    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio.
-
-    This file is part of ChibiOS.
-
-    ChibiOS 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 3 of the License, or
-    (at your option) any later version.
-
-    ChibiOS 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, see <http://www.gnu.org/licenses/>.
-*/
-
-/**
- * @file    chcustomer.h
- * @brief   Customer-related info.
- *
- * @addtogroup customer
- * @{
- */
-
-#ifndef CHCUSTOMER_H
-#define CHCUSTOMER_H
-
-/*===========================================================================*/
-/* Module constants.                                                         */
-/*===========================================================================*/
-
-/**
- * @brief   Customer readable identifier.
- */
-#define CH_CUSTOMER_ID_STRING               "Santa, North Pole"
-
-/**
- * @brief   Customer code.
- */
-#define CH_CUSTOMER_ID_CODE                 "xxxx-yyyy"
-
-/*===========================================================================*/
-/* Module pre-compile time settings.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Derived constants and error checks.                                       */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module data structures and types.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module macros.                                                            */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module inline functions.                                                  */
-/*===========================================================================*/
-
-#endif /* CHCUSTOMER_H */
-
-/** @} */

readme.txt

@@ -43,6 +43,7 @@
   |  |  +--ports/         - RTOS ports usable by both RT and NIL.
   |  |  +--startup/       - Startup support for all compilers and platforms.
   |  +--ex/               - EX component.
+  |  |  +--dox/           - EX documentation resources.
   |  |  +--Micron/        - EX complex drivers for Micron devices.
   |  |  +--ST/            - EX complex drivers for STMicroelectronics devices.
   |  |  +--subsystems/    - EX subsystems.
@@ -87,5 +88,21 @@
 *** Releases and Change Log                                               ***
 *****************************************************************************
 
+*** 17.6.1 ***
+- VAR: Fixed STM32L053 Discovery demo which is unaligned to standard demos (bug 
+       #857).
+- HAL: Fixed unaligned STM32F0xx mcuconf.h files (bug #855).
+- HAL: Fixed invalid handling of DST flag in STM32 RTCv2 (bug #854).
+- HAL: Fixed extra right parenthesis in STM32F4 registry (bug #853).
+- EX:  Fixed documentation-related issues (bug #852).
+- HAL: Fixed documentation-related issues (bug #852).
+- HAL: Fixed wrong frame size code in STM32 USARTv2 UART driver (bug #851).
+- NIL: Fixed documentation-related issues (bug #850).
+- RT:  Fixed documentation-related issues (bug #850).
+- RT:  Fixed leftover chcustomer.h file (bug #849).
+- RT:  Fixed invalid check in chchecks.h (bug #848).
+- HAL: Fixed STM32F070xB: USART invalid DMA channels (bug #847).
+- VAR: Fixed CMSIS_OS issue in timers (bug #846).
+
 *** 17.6.0 ***
 - First 17.6.0 release, see release note 17.6.0.

testhal/STM32/STM32F0xx/CAN/mcuconf.h

@@ -159,8 +159,11 @@
  */
 #define STM32_SERIAL_USE_USART1             FALSE
 #define STM32_SERIAL_USE_USART2             FALSE
+#define STM32_SERIAL_USE_USART3             FALSE
+#define STM32_SERIAL_USE_UART4              FALSE
 #define STM32_SERIAL_USART1_PRIORITY        3
 #define STM32_SERIAL_USART2_PRIORITY        3
+#define STM32_SERIAL_USART3_8_PRIORITY      3
 
 /*
  * SPI driver system settings.
@@ -188,14 +191,23 @@
  */
 #define STM32_UART_USE_USART1               FALSE
 #define STM32_UART_USE_USART2               FALSE
+#define STM32_UART_USE_USART3               FALSE
+#define STM32_UART_USE_UART4                FALSE
 #define STM32_UART_USART1_IRQ_PRIORITY      3
 #define STM32_UART_USART2_IRQ_PRIORITY      3
+#define STM32_UART_USART3_8_IRQ_PRIORITY    3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
+#define STM32_UART_USART3_DMA_PRIORITY      0
+#define STM32_UART_UART4_DMA_PRIORITY       0
 #define STM32_UART_USART1_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 3)
 #define STM32_UART_USART1_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)
 #define STM32_UART_USART2_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 5)
 #define STM32_UART_USART2_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 4)
+#define STM32_UART_USART3_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 3)
+#define STM32_UART_USART3_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)
+#define STM32_UART_UART4_RX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 6)
+#define STM32_UART_UART4_TX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 7)
 #define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
 
 /*

testhal/STM32/STM32F0xx/USB_CDC/mcuconf.h

@@ -172,8 +172,11 @@
  */
 #define STM32_SERIAL_USE_USART1             FALSE
 #define STM32_SERIAL_USE_USART2             FALSE
+#define STM32_SERIAL_USE_USART3             FALSE
+#define STM32_SERIAL_USE_UART4              FALSE
 #define STM32_SERIAL_USART1_PRIORITY        3
 #define STM32_SERIAL_USART2_PRIORITY        3
+#define STM32_SERIAL_USART3_8_PRIORITY      3
 
 /*
  * SPI driver system settings.
@@ -201,14 +204,23 @@
  */
 #define STM32_UART_USE_USART1               FALSE
 #define STM32_UART_USE_USART2               FALSE
+#define STM32_UART_USE_USART3               FALSE
+#define STM32_UART_USE_UART4                FALSE
 #define STM32_UART_USART1_IRQ_PRIORITY      3
 #define STM32_UART_USART2_IRQ_PRIORITY      3
+#define STM32_UART_USART3_8_IRQ_PRIORITY    3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
+#define STM32_UART_USART3_DMA_PRIORITY      0
+#define STM32_UART_UART4_DMA_PRIORITY       0
 #define STM32_UART_USART1_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 3)
 #define STM32_UART_USART1_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)
 #define STM32_UART_USART2_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 5)
 #define STM32_UART_USART2_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 4)
+#define STM32_UART_USART3_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 3)
+#define STM32_UART_USART3_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)
+#define STM32_UART_UART4_RX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 6)
+#define STM32_UART_UART4_TX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 7)
 #define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
 
 /*