commit ef9cbb878f79e79d05af846e5f028411155e3ec1
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Tue Nov 6 14:47:31 2018 +0100

    enhanced UML component diagrams

diff --git a/doc/AMiRo-Apps.svg b/doc/AMiRo-Apps.svg
index 69d55d6..08104e9 100644
--- a/doc/AMiRo-Apps.svg
+++ b/doc/AMiRo-Apps.svg
@@ -1,63 +1,141 @@
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stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="30" x="402" y="396.9951">ch.h</text><!--entity ChibiOS--><rect fill="#D3D3D3" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="94" x="435" y="456"/><rect fill="#D3D3D3" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="509" y="461"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="507" y="463"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="507" y="467"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="54" x="450" y="488.9951">ChibiOS</text><!--entity OpenBLT--><rect fill="#D3D3D3" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="104" x="193" y="562"/><rect fill="#D3D3D3" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="277" y="567"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; 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stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="68" x="279" y="396.9951">amiroblt.h</text><!--entity AMiRoBLT--><rect fill="#FEFECE" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="263" y="456"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="357" y="461"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="355" y="463"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="355" y="467"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="74" x="278" y="488.9951">AMiRo-BLT</text><!--entity periphAL.h--><ellipse cx="178" cy="367" fill="#FEFECE" filter="url(#f11ueldz80ay4x)" 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="141.5" y="396.9951">periphAL.h</text><!--entity AMiRoLLD--><rect fill="#FEFECE" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; 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stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="83" x="13.5" y="172.9951">urtware.hpp</text><!--entity µRtWare--><rect fill="#FEFECE" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="99" x="129.5" y="232"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="208.5" y="237"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="206.5" y="239"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="206.5" y="243"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="59" x="144.5" y="264.9951">µRtWare</text><!--entity AMiRoApps--><rect fill="#FEFECE" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="123" x="175.5" y="8"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="278.5" y="13"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="276.5" y="15"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="276.5" y="19"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="83" x="190.5" y="40.9951">AMiRo-Apps</text><!--link hal.h to ChibiOS--><path d="M504.196,376.268 C500.555,392.956 492.219,431.164 486.863,455.713 " fill="none" id="hal.h-ChibiOS" style="stroke: #A80036; stroke-width: 1.0;"/><!--link ch.h to ChibiOS--><path d="M421.886,376.268 C431.747,392.956 454.324,431.164 468.83,455.713 " fill="none" id="ch.h-ChibiOS" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoBLT to OpenBLT--><path d="M304.094,502.056 C294.946,514.7411 283.197,531.0329 272.589,545.7438 " fill="none" id="AMiRoBLT-OpenBLT" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="278.259,549.8487,260.883,561.9761,266.903,541.6598,278.259,549.8487" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoBLT to STM32Flash--><path d="M335.693,502.056 C347.27,518.326 363.069,540.5294 375.301,557.7202 " fill="none" id="AMiRoBLT-STM32Flash" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="378.329,561.9761,376.3706,552.3239,375.4303,557.9021,369.8522,556.9618,378.329,561.9761" style="stroke: #A80036; stroke-width: 1.0;"/><!--link amiroblt.h to AMiRoBLT--><path d="M313.526,376.268 C314.588,392.956 317.02,431.164 318.582,455.713 " fill="none" id="amiroblt.h-AMiRoBLT" style="stroke: #A80036; stroke-width: 1.0;"/><!--link periphAL.h to AMiRoLLD--><path d="M177.474,376.268 C176.412,392.956 173.98,431.164 172.418,455.713 " fill="none" id="periphAL.h-AMiRoLLD" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoOS to hal.h--><path d="M393.533,278.26 C422.075,300.527 465.045,334.049 488.756,352.547 " fill="none" id="AMiRoOS-hal.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M499.6045,350.2843 A9,9 0 0 0 489.2013 363.6212" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoOS to ch.h--><path d="M375.523,278.26 C385.339,299.024 399.781,329.576 408.777,348.605 " fill="none" id="AMiRoOS-ch.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M419.4799,351.4582 A9,9 0 0 0 404.1886 358.6882" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoOS to amiroblt.h--><path d="M354.477,278.26 C344.661,299.024 330.219,329.576 321.223,348.605 " fill="none" id="AMiRoOS-amiroblt.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M325.8114,358.6882 A9,9 0 0 0 310.5201 351.4582" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoOS to periphAL.h--><path d="M327.158,278.26 C287.27,301.723 226.135,337.685 196.028,355.395 " fill="none" id="AMiRoOS-periphAL.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M194.0246,366.3854 A9,9 0 0 0 185.4476 351.8068" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link amiroos.h to AMiRoOS--><path d="M409.392,152.268 C402.11,168.956 385.438,207.164 374.725,231.713 " fill="none" id="amiroos.h-AMiRoOS" style="stroke: #A80036; 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stroke-width: 1.0;"/><!--link AMiRoOS to chconf.h--><path d="M1308.71,385.976 C1368.72,390.508 1466.27,405.034 1535.68,451 C1562.19,468.555 1580.68,503.149 1588.08,518.875 " fill="none" id="AMiRoOS-chconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoOS to hal.h--><path d="M1308.91,385.323 C1423.49,389.047 1685.69,402.744 1758.68,451 C1779.33,464.651 1791.83,491.302 1798.25,509.132 " fill="none" id="AMiRoOS-hal.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1808.4692,513.0902 A9,9 0 0 0 1792.4138 518.4121" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoOS to ch.h--><path d="M1308.9,386.372 C1463.36,393.52 1897.98,416.511 1951.68,451 C1972.39,464.299 1984.47,491.042 1990.58,508.988 " fill="none" id="AMiRoOS-ch.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2000.7312,513.1476 A9,9 0 0 0 1984.5801 518.1719" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoOS to amiroblt.h--><path d="M1200.29,393.456 C1150.32,403.454 1075.08,421.872 1014.68,451 C980.604,467.435 946,495.061 926.258,512.091 " fill="none" id="AMiRoOS-amiroblt.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M926.4125,523.2103 A9,9 0 0 0 915.2543 510.4984" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoOS to alldconf.h--><path d="M1252.68,406.03 C1249.73,438.465 1244.36,497.54 1242.41,518.966 " fill="none" id="AMiRoOS-alldconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoOS to periphAL.h--><path d="M1230.34,406.03 C1197.86,435.424 1141.21,486.697 1113.25,512 " fill="none" id="AMiRoOS-periphAL.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1113.5186,523.1685 A9,9 0 0 0 1102.1647 510.631" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link osconf.h to AMiRoOS--><path d="M354.784,241.973 C465.237,259.159 1023.3,345.997 1200.56,373.578 " fill="none" id="osconf.h-AMiRoOS" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M346.5174,249.2449 A9,9 0 0 0 349.1177 232.5315" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link amiroos.h to AMiRoOS--><path d="M1249.02,247.098 C1249.92,268.545 1252.39,327.391 1253.75,359.824 " fill="none" id="amiroos.h-AMiRoOS" style="stroke: #A80036; stroke-width: 1.0;"/><!--link urt_osal.h to µRtWare--><path d="M314.496,104.313 C303.103,110.343 287.927,117.61 273.68,122 C219.946,138.559 60.2469,118.287 23.6803,161 C-6.9576,196.788 9.9964,221.92 23.6803,267 C48.9939,350.392 62.1063,378.869 132.68,430 C223.733,495.968 357.996,517.119 429.899,523.867 " fill="none" id="urt_osal.h-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M316.6563,93.4919 A9,9 0 0 0 324.7723 108.3321" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link urtwareconf.h to µRtWare--><path d="M115.437,246.831 C130.066,252.783 150.973,260.95 169.68,267 C233.994,287.8 260.791,267.983 316.68,306 C326.782,312.871 425.229,450.454 464.053,505 " fill="none" id="urtwareconf.h-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M105.6417,251.9423 A9,9 0 0 0 112.0811 236.3015" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link urtware.h to µRtWare--><path d="M470.247,392.098 C471.746,413.545 475.861,472.391 478.13,504.824 " fill="none" id="urtware.h-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><!--link urtware.hpp to µRtWare--><path d="M587.225,392.098 C570.127,413.545 523.215,472.391 497.359,504.824 " fill="none" id="urtware.hpp-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoOS to urt_osal.h--><path d="M1200.38,365.039 C1016.25,307.524 422.553,122.073 341.806,96.85 " fill="none" id="AMiRoOS-urt_osal.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoApps_Apps to AMiRoApps_MessageTypes--><path d="M224.68,261.03 C224.68,286.15 224.68,327.247 224.68,354.46 " fill="none" id="AMiRoApps_Apps-AMiRoApps_MessageTypes" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="224.68,359.709,228.68,350.709,224.68,354.709,220.68,350.709,224.68,359.709" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoApps_Apps to amiroos.h--><path d="M233.881,214.994 C244.869,191.169 265.797,155.504 297.18,141.5 C327.621,127.917 338.897,139.673 372.18,141.5 C717.751,160.466 1136.52,221.19 1229.71,235.129 " fill="none" id="AMiRoApps_Apps-amiroos.h" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><path d="M1237.865,227.7998 A9,9 0 0 0 1235.3283 244.5229" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoApps_Apps to urtware.h--><path d="M262.387,259.465 C268.096,262.191 273.983,264.8 279.68,267 C326.952,285.257 346.242,270.904 389.68,297 C419.089,314.668 444.588,346.141 458.487,365.434 " fill="none" id="AMiRoApps_Apps-urtware.h" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><path d="M469.5114,366.4433 A9,9 0 0 0 455.649 376.1352" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoApps_Apps to urtware.hpp--><path d="M262.184,260.037 C267.922,262.681 273.871,265.115 279.68,267 C385.393,301.3 429.277,252.481 526.68,306 C551.914,319.865 572.271,347.071 583.671,364.889 " fill="none" id="AMiRoApps_Apps-urtware.hpp" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><path d="M594.6595,366.6334 A9,9 0 0 0 580.2377 375.4715" fill="none" style="stroke: #A80036; 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;"/><!--
 @startuml
 skinparam componentStyle uml2
 
+
+node "AMiRo-Apps" as AMiRoApps_node {
+	interface osconf.h
+}
+
 skinparam componentStyle uml2
 
-interface hal.h #lightgrey
-interface ch.h #lightgrey
-component ChibiOS #lightgrey
-ChibiOS -up- hal.h
-ChibiOS -up- ch.h
 
 skinparam componentStyle uml2
 
-component OpenBLT #lightgrey
-component STM32Flash #lightgrey
 
-interface amiroblt.h
+node "AMiRo-BLT" as AMiRoBLT_node {
+	component OpenBLT #lightgrey
+	component STM32Flash #lightgrey
+
+	interface amiroblt.h
+
+	component "AMiRo-BLT" as AMiRoBLT
+	AMiRoBLT -down-|> OpenBLT : forks
+	AMiRoBLT .down.> STM32Flash : utilizes
+	AMiRoBLT -up- amiroblt.h
+}
+
+
 
-component "AMiRo-BLT" as AMiRoBLT
-AMiRoBLT -down-|> OpenBLT
-AMiRoBLT .down.> STM32Flash
-AMiRoBLT -up- amiroblt.h
+node "AMiRo-OS" as AMiRoOS_node {
+	interface mcuconf.h
+	interface halconf.h
+	interface chconf.h
+}
+
+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
+
+	component "ChibiOS/HAL" as ChibiOS_HAL #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
+	ChibiOS_RT -up- cmsis.h
+	ChibiOS_RT -up- ch.h
+	ChibiOS_RT -up- ch.hpp
+}
+
+
+node "AMiRo-OS" as AMiRoOS_node {
+	interface alldconf.h
+}
 
 skinparam componentStyle uml2
 
-interface periphAL.h
 
-component "AMiRo-LLD" as AMiRoLLD
-AMiRoLLD -up- periphAL.h
+interface alldconf.h
+
+node "AMiRo-LLD" as AMiRoLLD_node {
+	interface periphAL.h
 
+	component "AMiRo-LLD" as AMiRoLLD
+	AMiRoLLD -up-( alldconf.h
+	AMiRoLLD -up- periphAL.h
+}
 
-interface amiroos.h
 
-component "AMiRo-OS" as AMiRoOS
-AMiRoOS -down-( hal.h
-AMiRoOS -down-( ch.h
-AMiRoOS -down-( amiroblt.h
-AMiRoOS -down-( periphAL.h
-AMiRoOS -up- amiroos.h
+
+
+interface osconf.h
+
+node "AMiRo-OS" as AMiRoOS_node {
+	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
+}
+
+
+
+node "AMiRo-Apps" as AMiRoApps_node {
+	interface urt_osal.h
+	interface urtwareconf.h
+}
 
 skinparam componentStyle uml2
 
+
 interface urt_osal.h
-interface urtware.h
-interface urtware.hpp
+interface urtwareconf.h
+
+node "µRtWare" as µRtWare_node {
+	interface urtware.h
+	interface urtware.hpp
+
+	component µRtWare
+	µRtWare -up-( urt_osal.h
+	µRtWare -up-( urtwareconf.h
+	µRtWare -up- urtware.h
+	µRtWare -up- urtware.hpp
+}
+
+
 
-component µRtWare
-µRtWare -up-( urt_osal.h
-µRtWare -up- urtware.h
-µRtWare -up- urtware.hpp
+AMiRoOS - - urt_osal.h
 
+node "AMiRo-Apps" as AMiRoApps_node {
+	component "Message Types" as AMiRoApps_MessageTypes
 
-component "AMiRo-Apps" as AMiRoApps
-AMiRoApps -down-( amiroos.h
-AMiRoApps -down-( urtware.h
-AMiRoApps -down-( urtware.hpp
-AMiRoApps ..|> urt_osal.h
+	component "Apps" as AMiRoApps_Apps
+	AMiRoApps_Apps -down-> AMiRoApps_MessageTypes
+	AMiRoApps_Apps ..( amiroos.h
+	AMiRoApps_Apps ..( urtware.h
+	AMiRoApps_Apps ..( urtware.hpp
 
-urt_osal.h .. AMiRoOS
+	component "Configurations" as AMiRoApps_Configurations
+	AMiRoApps_Configurations -down-> AMiRoApps_Apps
+	AMiRoApps_Configurations - - osconf.h
+	AMiRoApps_Configurations - - urtwareconf.h
+}
 
 @enduml
 
