commit 8fb7bf646dbc64fd0f0d7ab7c8836f4565576d09
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Mon May 11 13:17:34 2020 +0200

    Submodules updated and documentation adapted.

diff --git a/doc/AMiRo-Apps.svg b/doc/AMiRo-Apps.svg
index 08104e9..1d7811b 100644
--- a/doc/AMiRo-Apps.svg
+++ b/doc/AMiRo-Apps.svg
@@ -1,12 +1,87 @@
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stroke-width: 1.5;"/><!--link AMiRoApps_Configurations to AMiRoApps_Apps--><path d="M192.535,116.03 C199.237,141.254 210.222,182.59 217.452,209.8 " fill="none" id="AMiRoApps_Configurations-AMiRoApps_Apps" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="218.757,214.709,220.3114,204.9836,217.4729,209.8767,212.5797,207.0382,218.757,214.709" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoApps_Configurations to osconf.h--><path d="M222.711,116.117 C240.851,128.171 262.563,144.066 279.68,161 C301.817,182.901 321.942,214.157 330.847,228.817 " fill="none" id="AMiRoApps_Configurations-osconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoApps_Configurations to urtwareconf.h--><path d="M172.815,116.03 C152.402,148.465 115.222,207.54 101.7368,228.966 " fill="none" id="AMiRoApps_Configurations-urtwareconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1109px" preserveAspectRatio="none" style="width:1985px;height:1109px;" version="1.1" viewBox="0 0 1985 1109" width="1985px" zoomAndPan="magnify"><defs><filter height="300%" id="f1lcmu8dgukapi" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><!--MD5=[bad0e800654e73e4da8f602f5d7313f6]
+cluster AMiRoBLT_node--><polygon fill="#FFFFFF" filter="url(#f1lcmu8dgukapi)" points="1692,655,1702,645,1963,645,1963,1087,1953,1097,1692,1097,1692,655" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1953" x2="1962" y1="655" y2="646"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1692" x2="1953" y1="655" y2="655"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1953" x2="1953" y1="655" y2="1097"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="83" x="1782" y="670.9951">AMiRo-BLT</text><!--MD5=[f1cc9d144546a296b865d8bd496ea637]
+cluster ChibiOS_node--><polygon fill="#FFFFFF" filter="url(#f1lcmu8dgukapi)" points="524,655,534,645,1323,645,1323,902,1313,912,524,912,524,655" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1313" x2="1322" y1="655" y2="646"/><line style="stroke: #000000; stroke-width: 1.5;" x1="524" x2="1313" y1="655" y2="655"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1313" x2="1313" y1="655" y2="912"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="61" x="889" y="670.9951">ChibiOS</text><!--MD5=[44bceaf43c82bf0ff4bd766ef7ee5c0b]
+cluster AMiRoLLD_node--><polygon fill="#FFFFFF" filter="url(#f1lcmu8dgukapi)" points="1342,655,1352,645,1684,645,1684,902,1674,912,1342,912,1342,655" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1674" x2="1683" y1="655" y2="646"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1342" x2="1674" y1="655" y2="655"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1674" x2="1674" y1="655" y2="912"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="83" x="1467.5" y="670.9951">AMiRo-LLD</text><!--MD5=[93a15f3f07216d1460831727d04db797]
+cluster AMiRoOS_node--><polygon fill="#FFFFFF" filter="url(#f1lcmu8dgukapi)" points="1068,312,1078,302,1279,302,1279,604,1269,614,1068,614,1068,312" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1269" x2="1278" y1="312" y2="303"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1068" x2="1269" y1="312" y2="312"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1269" x2="1269" y1="312" y2="614"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="76" x="1131.5" y="327.9951">AMiRo-OS</text><!--MD5=[6453d75e9418050e260cec6f688958e6]
+cluster µRtWare_node--><polygon fill="#FFFFFF" filter="url(#f1lcmu8dgukapi)" points="14,655,24,645,505,645,505,902,495,912,14,912,14,655" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="495" x2="504" y1="655" y2="646"/><line style="stroke: #000000; stroke-width: 1.5;" x1="14" x2="495" y1="655" y2="655"/><line style="stroke: #000000; stroke-width: 1.5;" x1="495" x2="495" y1="655" y2="912"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="222" y="670.9951">µRtWare</text><!--MD5=[6245cf45de7a575c83857ea7bf74724f]
+cluster AMiRoApps_node--><polygon fill="#FFFFFF" filter="url(#f1lcmu8dgukapi)" points="610,26,620,16,780,16,780,497,770,507,610,507,610,26" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="770" x2="779" y1="26" y2="17"/><line style="stroke: #000000; stroke-width: 1.5;" x1="610" x2="770" y1="26" y2="26"/><line style="stroke: #000000; stroke-width: 1.5;" x1="770" x2="770" y1="26" y2="507"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="94" x="644" y="41.9951">AMiRo-Apps</text><!--MD5=[1850e5a2fe35a38ef3e3a0bb4dbac5ab]
+entity OpenBLT--><rect fill="#D3D3D3" filter="url(#f1lcmu8dgukapi)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="104" x="1700" y="1043"/><rect fill="#D3D3D3" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="1784" y="1048"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="1782" y="1050"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="1782" y="1054"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="64" x="1715" y="1075.9951">OpenBLT</text><!--MD5=[a96c19cb2b38efd916c00305869501e0]
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+entity halconf.h--><ellipse cx="1276" cy="706" fill="#D3D3D3" filter="url(#f1lcmu8dgukapi)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="63" x="1244.5" y="735.9951">halconf.h</text><!--MD5=[c537732882b43d9844ff358fbe7f472c]
+entity chconf.h--><ellipse cx="952" cy="706" fill="#D3D3D3" filter="url(#f1lcmu8dgukapi)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="60" x="922" y="735.9951">chconf.h</text><!--MD5=[363d0e730d350c3e8d167d17d5855e75]
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+entity periphAL.h--><ellipse cx="1394" cy="706" fill="#FEFECE" filter="url(#f1lcmu8dgukapi)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="73" x="1357.5" y="735.9951">periphAL.h</text><!--MD5=[a8b2669114d9706e97bce84027334bac]
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+entity amiroos.h--><ellipse cx="1118" cy="363" fill="#FEFECE" filter="url(#f1lcmu8dgukapi)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="68" x="1084" y="392.9951">amiroos.h</text><!--MD5=[39bec0b3a3c36eca377cc878ed94d2cd]
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+entity urtwareconf.h--><ellipse cx="77" cy="706" fill="#FEFECE" filter="url(#f1lcmu8dgukapi)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="95" x="29.5" y="735.9951">urtwareconf.h</text><!--MD5=[d0dd69a14be837f7f3c90f75114d3962]
+entity urt_osal.h--><ellipse cx="456" cy="706" fill="#FEFECE" filter="url(#f1lcmu8dgukapi)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="67" x="422.5" y="735.9951">urt_osal.h</text><!--MD5=[2ba4cb89ad92ecc55d806d1b58fad40b]
+entity µRtWare--><rect fill="#FEFECE" filter="url(#f1lcmu8dgukapi)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="99" x="228.5" y="858"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="307.5" y="863"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="305.5" y="865"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="305.5" y="869"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="59" x="243.5" y="890.9951">µRtWare</text><!--MD5=[f446585b29ba0f49d752f41a5bb9089c]
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+entity AMiRoApps_Apps--><rect fill="#FEFECE" filter="url(#f1lcmu8dgukapi)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="75" x="657.5" y="217"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="712.5" y="222"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="710.5" y="224"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="710.5" y="228"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="35" x="672.5" y="249.9951">Apps</text><!--MD5=[30a24191818b929c6e5ef76ca40a950f]
+entity AMiRoApps_Configurations--><rect fill="#FEFECE" filter="url(#f1lcmu8dgukapi)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="140" x="625" y="48"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="745" y="53"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="743" y="55"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="743" y="59"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="100" x="640" y="80.9951">Configurations</text><!--MD5=[53f97ef04872e372168f439f9b9923ba]
+link AMiRoBLT to OpenBLT--><path d="M1756.3769,904.0563 C1755.5756,933.7026 1754.1682,985.7764 1753.1657,1022.8691 " fill="none" id="AMiRoBLT-&gt;OpenBLT" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="1760.161,1023.1409,1752.6231,1042.9444,1746.1661,1022.7626,1760.161,1023.1409" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="31" x="1755" y="978.0669">forks</text><!--MD5=[bb95fd8ada897b34729165f896554ef8]
+link AMiRoBLT to stm32flash--><path d="M1774.448,904.0563 C1800.2982,938.2155 1848.6811,1002.15 1876.2913,1038.6349 " fill="none" id="AMiRoBLT-&gt;stm32flash" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1879.5525,1042.9444,1877.311,1033.354,1876.5352,1038.9574,1870.9318,1038.1816,1879.5525,1042.9444" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="44" x="1832" y="978.0669">utilizes</text><!--MD5=[59781e7a01f498f34f1c659f0f2f5162]
+link amiroblt.h to AMiRoBLT--><path d="M1755.1075,715.4088 C1755.4126,742.1028 1756.2902,818.8944 1756.7349,857.8065 " fill="none" id="amiroblt.h-AMiRoBLT" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5d6d0a3d6cf3baab848b2f34dc57ad54]
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+reverse link halconf.h to ChibiOS_HAL--><path d="M1259.4465,722.9408 C1228.6608,754.4465 1162.567,822.0864 1127.6633,857.8065 " fill="none" id="halconf.h&lt;-ChibiOS_HAL" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1258.6061,711.6998 A9,9 0 0 0 1270.7039 723.5211" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[65127828af5c24c2b05342b71a65cad6]
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+reverse link periphAL.h to AMiRoLLD--><path d="M1406.3764,723.753 C1428.5752,755.5955 1475.1408,822.3904 1499.8308,857.8065 " fill="none" id="periphAL.h&lt;-AMiRoLLD" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1395.3818,722.7705 A9,9 0 0 0 1409.2573 713.0973" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[adab66a821e6a4398482e8344e16bc74]
+link alldh to AMiRoLLD--><path d="M1516,715.4088 C1516,742.1028 1516,818.8944 1516,857.8065 " fill="none" id="alldh-AMiRoLLD" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e0d071a9c55cb0a37548507a0ec15a0b]
+reverse link osconf.h to AMiRoOS--><path d="M1226.9443,381.764 C1214.0036,421.862 1183.6839,515.8104 1169.5284,559.6725 " fill="none" id="osconf.h&lt;-AMiRoOS" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1221.0457,372.5048 A9,9 0 0 0 1237.1426 377.7" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[4c3cccfc37c790f2374a1dcab72931e2]
+link amiroos.h to AMiRoOS--><path d="M1119.8346,372.173 C1126.2428,404.2138 1147.7578,511.789 1157.3345,559.6725 " fill="none" id="amiroos.h-AMiRoOS" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eb1de92b7306a1498025501c016982f6]
+link AMiRoOS to mcuconf.h--><path d="M1161.2476,606.1354 C1160.356,633.5538 1158.9135,677.9112 1158.2959,696.9009 " fill="none" id="AMiRoOS-mcuconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[01bd928d304a34cf4da62b23ee0f5024]
+link AMiRoOS to halconf.h--><path d="M1176.5754,606.2185 C1183.8892,616.5642 1193.4374,628.3408 1204,637 C1210.1484,642.0405 1213.651,640.2146 1220,645 C1240.4352,660.4024 1259.5264,683.8769 1269.2631,696.7517 " fill="none" id="AMiRoOS-halconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[efef991c0b8ecf0be966f4a469b5fda9]
+link AMiRoOS to chconf.h--><path d="M1107.7508,598.2534 C1076.8345,608.5046 1038.3345,624.0046 1008,645 C986.7222,659.727 967.6808,683.9016 958.2502,696.9574 " fill="none" id="AMiRoOS-chconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a8dfa293c4537392721934751fb4cdee]
+link AMiRoOS to hal.h--><path d="M1135.6735,606.1688 C1123.4269,617.4247 1108.9597,631.4271 1097,645 C1084.7978,658.8481 1072.4592,675.8314 1063.7961,688.3583 " fill="none" id="AMiRoOS-&gt;hal.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1066.674,699.1586 A9,9 0 0 0 1052.6926 689.6392" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[4b4ce5bea6747bce8336b12ee2355926]
+link AMiRoOS to ch.h--><path d="M1107.8533,595.0816 C1052.1989,607.1394 962.9141,625.4852 885,637 C867.5443,639.5798 821.3299,636.262 806,645 C789.2557,654.5442 776.9421,673.1323 769.4698,687.2929 " fill="none" id="AMiRoOS-&gt;ch.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M773.8389,697.5898 A9,9 0 0 0 758.653 690.1408" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[4c2190baba6205213ef7997738e1e8a7]
+link AMiRoOS to amiroblt.h--><path d="M1216.2943,584.9588 C1333.9634,589.9065 1608.6097,605.4496 1692,645 C1712.7324,654.833 1730.8897,674.2316 1742.3178,688.5241 " fill="none" id="AMiRoOS-&gt;amiroblt.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1753.3699,689.0465 A9,9 0 0 0 1739.9406 699.33" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[f73b0d5713cb451aa6d22864a4a45a47]
+link AMiRoOS to alldconf.h--><path d="M1216.0023,604.9867 C1247.7531,616.8156 1289.0031,630.3156 1327,637 C1354.3717,641.8152 1551.6381,633.6346 1577,645 C1601.5373,655.9958 1620.7651,682.6979 1629.6398,696.848 " fill="none" id="AMiRoOS-alldconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0045932bb9a1daada1ffcfba0a756c6b]
+link AMiRoOS to alldh--><path d="M1204.571,606.1359 C1227.9062,617.6221 1257.7577,630.4209 1286,637 C1322.8334,645.5804 1421.4727,629.5668 1456,645 C1476.6644,654.2367 1493.9861,674.0889 1504.6234,688.6472 " fill="none" id="AMiRoOS-&gt;alldh" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1515.5385,689.5295 A9,9 0 0 0 1501.6522 699.1871" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[8ee163f33471968dedc6fffea65e7171]
+link AMiRoOS to periphAL.h--><path d="M1190.1339,606.233 C1205.4125,617.5221 1225.1913,630.1091 1245,637 C1281.2561,649.6125 1296.1235,628.9621 1331,645 C1356.1743,656.5764 1377.3961,682.5239 1387.5615,696.5576 " fill="none" id="AMiRoOS-periphAL.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4a3605c6554f9d69a4d0f086ddf56b5f]
+reverse link urt_osal.h to µRtWare--><path d="M439.7551,721.9711 C408.1203,753.0728 338.146,821.8677 301.4692,857.9264 " fill="none" id="urt_osal.h&lt;-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M438.804,711.0463 A9,9 0 0 0 450.6624 723.1077" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[3a30f5b64b239cc7733a184d2bf0b05c]
+reverse link urtwareconf.h to µRtWare--><path d="M94.0416,720.8372 C129.0897,751.3517 209.4741,821.3382 251.4222,857.8601 " fill="none" id="urtwareconf.h&lt;-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M82.927,722.3738 A9,9 0 0 0 94.0339 709.617" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[2db42f0cea6f9a2448bf6fce9057241f]
+link urtware.h to µRtWare--><path d="M336.6666,715.4088 C327.2093,742.1028 300.0031,818.8944 286.2171,857.8065 " fill="none" id="urtware.h-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b7da49829622cf1b4f67c91d44023ac0]
+link urtware.hpp to µRtWare--><path d="M219.3334,715.4088 C228.7907,742.1028 255.9969,818.8944 269.7829,857.8065 " fill="none" id="urtware.hpp-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d850fbdeccffbbbd5877d9d4a2aa07fd]
+link AMiRoOS to urt_osal.h--><path d="M1107.962,586.0636 C962.2946,594.6195 568.8899,619.7979 516,645 C491.5937,656.6296 471.5642,682.5547 462.0239,696.571 " fill="none" id="AMiRoOS-urt_osal.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d8fbc9dcd4965029c1836cdc211f7eba]
+link AMiRoApps_Apps to AMiRoApps_MessageTypes--><path d="M695,263.0584 C695,306.5018 695,400.3469 695,447.5981 " fill="none" id="AMiRoApps_Apps-&gt;AMiRoApps_MessageTypes" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="695,452.848,699,443.848,695,447.848,691,443.848,695,452.848" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9d6f401a2e6531902ddb3ab1ea5276b4]
+link AMiRoApps_Apps to amiroos.h--><path d="M732.8028,243.9632 C787.2017,250.3825 890.2293,265.2299 974,293 C1021.4946,308.7445 1073.3929,336.9563 1100.0205,352.3186 " fill="none" id="AMiRoApps_Apps-&gt;amiroos.h" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><path d="M1110.537,348.6697 A9,9 0 0 0 1102.0012 363.2725" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[b1d31b2adedcfc3ba66aab4056d50823]
+link AMiRoApps_Apps to urtware.h--><path d="M657.2107,247.4059 C577.4128,264.1279 399,307.6987 399,363 C399,363 399,363 399,583 C399,624.1894 371.7704,666.1814 354.3081,688.8759 " fill="none" id="AMiRoApps_Apps-&gt;urtware.h" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><path d="M356.4895,699.7095 A9,9 0 0 0 343.2611 689.1686" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[612255d88774a44025d553bf9860e457]
+link AMiRoApps_Apps to urtware.hpp--><path d="M657.1691,243.3081 C556.3795,253.1575 289,286.4963 289,363 C289,363 289,363 289,583 C289,627.0106 254.0104,669.0373 232.4793,690.7323 " fill="none" id="AMiRoApps_Apps-&gt;urtware.hpp" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><path d="M233.3496,701.686 A9,9 0 0 0 221.5537 689.5634" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[864f754f3dde45bd5bdd7e3ac7f74209]
+link AMiRoApps_Apps to urt_osal.h--><path d="M657.1934,245.6703 C598.9686,256.7836 494,287.3144 494,363 C494,363 494,363 494,583 C494,621.5486 476.751,663.9863 465.4956,687.5746 " fill="none" id="AMiRoApps_Apps-&gt;urt_osal.h" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><path d="M469.9134,697.7227 A9,9 0 0 0 454.7503 690.2274" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[8a36d24449f2936ce6ed47578da54b80]
+link AMiRoApps_Apps to alldh--><path d="M732.6579,241.7757 C846.1376,247.4663 1183.353,266.9558 1287,302 C1336.318,318.675 1387,310.9393 1387,363 C1387,363 1387,363 1387,583 C1387,624.2281 1426.1971,616.5124 1456,645 C1471.327,659.6506 1488.2148,676.9271 1500.1582,689.347 " fill="none" id="AMiRoApps_Apps-&gt;alldh" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><path d="M1511.2073,688.659 A9,9 0 0 0 1498.9889 700.3555" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[a3ba9b2cf6f7b00534fb18426bcec65a]
+link AMiRoApps_Apps to cmsis.h--><path d="M657.2397,256.9148 C619.8035,276.5614 568,312.8148 568,363 C568,363 568,363 568,583 C568,589.6156 624.0556,657.2538 650.9407,689.3136 " fill="none" id="AMiRoApps_Apps-&gt;cmsis.h" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><path d="M661.8831,689.1897 A9,9 0 0 0 648.9335 700.0712" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[e884d46969ba5cf9b1ee57c38ddbcd30]
+link AMiRoApps_Apps to ch.h--><path d="M732.7603,256.9148 C770.1965,276.5614 822,312.8148 822,363 C822,363 822,363 822,583 C822,624.4541 793.8473,666.3512 775.7932,688.9575 " fill="none" id="AMiRoApps_Apps-&gt;ch.h" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><path d="M777.7051,699.9136 A9,9 0 0 0 764.6728 689.1312" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[2071a98bb4e7e8ee37d173768e7feb29]
+link AMiRoApps_Apps to hal.h--><path d="M732.6035,249.8888 C803.0814,269.5358 948,315.6869 948,363 C948,363 948,363 948,583 C948,621.3461 983.3865,615.596 1008,645 C1019.6215,658.8834 1031.5618,675.6225 1040.0663,688.051 " fill="none" id="AMiRoApps_Apps-&gt;hal.h" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><path d="M1051.1233,689.3118 A9,9 0 0 0 1037.1064 698.7788" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[a121c3c33ecbb5045f7b6c729c45e9fa]
+link AMiRoApps_Configurations to AMiRoApps_Apps--><path d="M695,94.1444 C695,124.7784 695,178.7545 695,211.7551 " fill="none" id="AMiRoApps_Configurations-&gt;AMiRoApps_Apps" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="695,216.8646,699,207.8646,695,211.8646,691,207.8646,695,216.8646" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0f375ad67faf7e3c70bf77dac842af98]
+link AMiRoApps_Configurations to osconf.h--><path d="M763.6262,94.0982 C861.672,129.162 1044.7039,202.4252 1178,302 C1198.3344,317.1902 1216.9816,340.7476 1226.4569,353.6926 " fill="none" id="AMiRoApps_Configurations-osconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[af167a440e0dfb5530c986253ed53575]
+link AMiRoApps_Configurations to urtwareconf.h--><path d="M624.7529,75.027 C480.8545,84.2193 166,109.579 166,155.5 C166,155.5 166,155.5 166,583 C166,637.034 108.9287,683.403 86.1893,699.7336 " fill="none" id="AMiRoApps_Configurations-urtwareconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9ea6ac38743a1e88996d31e777a484b2]
 @startuml
 skinparam componentStyle uml2
 
 
-node "AMiRo-Apps" as AMiRoApps_node {
-	interface osconf.h
-}
-
 skinparam componentStyle uml2
 
 
@@ -15,38 +90,36 @@ skinparam componentStyle uml2
 
 node "AMiRo-BLT" as AMiRoBLT_node {
 	component OpenBLT #lightgrey
-	component STM32Flash #lightgrey
+	component stm32flash #lightgrey
 
 	interface amiroblt.h
 
 	component "AMiRo-BLT" as AMiRoBLT
 	AMiRoBLT -down-|> OpenBLT : forks
-	AMiRoBLT .down.> STM32Flash : utilizes
+	AMiRoBLT .down.> stm32flash : utilizes
 	AMiRoBLT -up- amiroblt.h
 }
 
 
 
-node "AMiRo-OS" as AMiRoOS_node {
-	interface mcuconf.h
-	interface halconf.h
-	interface chconf.h
-}
-
-node "ChibiOS" as ChibiOS_node{
+node "ChibiOS" as ChibiOS_node {
 	interface hal.h #lightgrey
 	interface osal.h #lightgrey
 	interface cmsis.h #lightgrey
 	interface ch.h #lightgrey
 	interface ch.hpp #lightgrey
 
+	interface mcuconf.h #lightgrey
+	interface halconf.h #lightgrey
+	interface chconf.h #lightgrey
+
 	component "ChibiOS/HAL" as ChibiOS_HAL #lightgrey
+	component "ChibiOS/RT" as ChibiOS_RT #lightgrey
+
 	ChibiOS_HAL -up-( mcuconf.h
 	ChibiOS_HAL -up-( halconf.h
 	ChibiOS_HAL -up- hal.h
 	ChibiOS_HAL -up-( osal.h
-
-	component "ChibiOS/RT" as ChibiOS_RT #lightgrey
 	ChibiOS_RT -up-( chconf.h
 	ChibiOS_RT -up-( hal.h
 	ChibiOS_RT -up- osal.h
@@ -56,60 +129,53 @@ node "ChibiOS" as ChibiOS_node{
 }
 
 
-node "AMiRo-OS" as AMiRoOS_node {
-	interface alldconf.h
-}
-
 skinparam componentStyle uml2
 
 
-interface alldconf.h
-
 node "AMiRo-LLD" as AMiRoLLD_node {
+	interface alldconf.h
 	interface periphAL.h
+	interface "amiro-lld.h" as alldh
 
 	component "AMiRo-LLD" as AMiRoLLD
 	AMiRoLLD -up-( alldconf.h
-	AMiRoLLD -up- periphAL.h
+	AMiRoLLD -up-( periphAL.h
+	AMiRoLLD -up- alldh
 }
 
 
 
-
-interface osconf.h
-
 node "AMiRo-OS" as AMiRoOS_node {
+	interface osconf.h
 	interface amiroos.h
 
 	component "AMiRo-OS" as AMiRoOS
-	AMiRoOS - - mcuconf.h
-	AMiRoOS - - halconf.h
-	AMiRoOS - - chconf.h
-	AMiRoOS - -( hal.h
-	AMiRoOS - -( ch.h
-	AMiRoOS - -( amiroblt.h
-	AMiRoOS - - alldconf.h
-	AMiRoOS - -( periphAL.h
+
 	AMiRoOS -up-( osconf.h
 	AMiRoOS -up- amiroos.h
 }
 
 
+AMiRoOS - - mcuconf.h
+AMiRoOS - - halconf.h
+AMiRoOS - - chconf.h
+AMiRoOS - -( hal.h
+AMiRoOS - -( ch.h
+AMiRoOS - -( amiroblt.h
+AMiRoOS - - alldconf.h
+AMiRoOS - -( alldh
+AMiRoOS - - periphAL.h
 
-node "AMiRo-Apps" as AMiRoApps_node {
-	interface urt_osal.h
-	interface urtwareconf.h
-}
 
-skinparam componentStyle uml2
 
+skinparam componentStyle uml2
 
-interface urt_osal.h
-interface urtwareconf.h
 
 node "µRtWare" as µRtWare_node {
 	interface urtware.h
 	interface urtware.hpp
+	interface urtwareconf.h
+	interface urt_osal.h
 
 	component µRtWare
 	µRtWare -up-( urt_osal.h
@@ -120,32 +186,36 @@ node "µRtWare" as µRtWare_node {
 
 
 
-AMiRoOS - - urt_osal.h
-
 node "AMiRo-Apps" as AMiRoApps_node {
+	AMiRoOS - - urt_osal.h
+
 	component "Message Types" as AMiRoApps_MessageTypes
 
 	component "Apps" as AMiRoApps_Apps
-	AMiRoApps_Apps -down-> AMiRoApps_MessageTypes
+	AMiRoApps_Apps .down.> AMiRoApps_MessageTypes
 	AMiRoApps_Apps ..( amiroos.h
 	AMiRoApps_Apps ..( urtware.h
 	AMiRoApps_Apps ..( urtware.hpp
+	AMiRoApps_Apps ..( urt_osal.h
+	AMiRoApps_Apps ..( alldh
+	AMiRoApps_Apps ..( cmsis.h
+	AMiRoApps_Apps ..( ch.h
+	AMiRoApps_Apps ..( hal.h
 
 	component "Configurations" as AMiRoApps_Configurations
-	AMiRoApps_Configurations -down-> AMiRoApps_Apps
+	AMiRoApps_Configurations .down.> AMiRoApps_Apps
 	AMiRoApps_Configurations - - osconf.h
 	AMiRoApps_Configurations - - urtwareconf.h
 }
 
 @enduml
 
-PlantUML version 1.2018.11(Sat Sep 22 18:43:53 CEST 2018)
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
 (GPL source distribution)
 Java Runtime: OpenJDK Runtime Environment
 JVM: OpenJDK 64-Bit Server VM
-Java Version: 1.8.0_181-8u181-b13-1ubuntu0.16.04.1-b13
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
 Operating System: Linux
-OS Version: 4.15.0-38-generic
 Default Encoding: UTF-8
 Language: en
 Country: US
