commit d6728c5bab8b0c24e530f047cc1692036f4ea335
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Wed Mar 21 11:01:53 2018 +0100

    Initial open-source release.

diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..5043ad0
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,53 @@
+################################################################################
+# AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous  #
+# Mini Robot (AMiRo) platform.                                                 #
+# Copyright (C) 2016..2018  Thomas Schöpping et al.                            #
+#                                                                              #
+# This program 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.                                          #
+#                                                                              #
+# This program 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/>.        #
+#                                                                              #
+# This research/work was supported by the Cluster of Excellence Cognitive      #
+# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is   #
+# funded by the German Research Foundation (DFG).                              #
+################################################################################
+
+
+
+# absolute path to this directory
+AMIROLLD_DIR := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))
+
+# include paths
+AMIROLLD_INC = $(AMIROLLD_DIR) \
+               $(AMIROLLD_DIR)include/
+
+AMIROLLD_SRCDIR = $(AMIROLLD_DIR)source/
+
+# C sources
+AMIROLLD_CSRC = $(AMIROLLD_SRCDIR)alld_a3906.c \
+                $(AMIROLLD_SRCDIR)alld_at24c01bn-sh-b.c \
+                $(AMIROLLD_SRCDIR)alld_bq24103a.c \
+                $(AMIROLLD_SRCDIR)alld_bq27500.c \
+                $(AMIROLLD_SRCDIR)alld_hmc5883l.c \
+                $(AMIROLLD_SRCDIR)alld_ina219.c \
+                $(AMIROLLD_SRCDIR)alld_l3g4200d.c \
+                $(AMIROLLD_SRCDIR)alld_led.c \
+                $(AMIROLLD_SRCDIR)alld_lis331dlh.c \
+                $(AMIROLLD_SRCDIR)alld_ltc4412.c \
+                $(AMIROLLD_SRCDIR)alld_mpr121.c \
+                $(AMIROLLD_SRCDIR)alld_pca9544a.c \
+                $(AMIROLLD_SRCDIR)alld_pklcs1212e4001.c \
+                $(AMIROLLD_SRCDIR)alld_tlc5947.c \
+                $(AMIROLLD_SRCDIR)alld_tps2051bdbv.c \
+                $(AMIROLLD_SRCDIR)alld_tps62113.c \
+                $(AMIROLLD_SRCDIR)alld_vcnl4020.c
+
diff --git a/README.txt b/README.txt
new file mode 100644
index 0000000..9e44d6a
--- /dev/null
+++ b/README.txt
@@ -0,0 +1,92 @@
+AMiRo-LLD is a compilation of low-level hardware drivers for the base version of
+the Autonomous Mini Robot (AMiRo) [1]. It provides directional interfaces for an
+operating system to access the drivers and for the drivers to access the
+communication infrastructure via the operating system.
+
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+(a complete list of all authors is given below)
+
+This program 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.
+
+This program 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/>.
+
+This research/work was supported by the Cluster of Excellence
+Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld
+University, which is funded by the German Research Foundation (DFG).
+
+Authors:
+ - Thomas Schöpping          <tschoepp[at]cit-ec.uni-bielefeld.de>
+ - Marc Rothmann
+
+References:
+ [1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A
+     modular & customizable open-source mini robot platform," 2016 20th
+     International Conference on System Theory, Control and Computing (ICSTCC),
+     Sinaia, 2016, pp. 687-692.
+
+
+
+################################################################################
+#                                                                              #
+#        RRRRRRRR   EEEEEEEE     AAA     DDDDDDDD   MM     MM  EEEEEEEE        #
+#        RR     RR  EE          AA AA    DD     DD  MMM   MMM  EE              #
+#        RR     RR  EE         AA   AA   DD     DD  MMMM MMMM  EE              #
+#        RRRRRRRR   EEEEEE    AA     AA  DD     DD  MM MMM MM  EEEEEE          #
+#        RR   RR    EE        AAAAAAAAA  DD     DD  MM     MM  EE              #
+#        RR    RR   EE        AA     AA  DD     DD  MM     MM  EE              #
+#        RR     RR  EEEEEEEE  AA     AA  DDDDDDDD   MM     MM  EEEEEEEE        #
+#                                                                              #
+################################################################################
+
+AMiRo-LLD is a compilation of low-level hardware drivers, originally developed
+for the Autonomous Mini Robot (AMiRo) [1]. It provides a modular design, so that
+each driver can be (de)activated individually as required. Interface functions
+allow for bidirectional comunication with an operating system. On the one hand
+drivers access according hardware interfaces via defined interface functions
+(which need to be implemented by the operating system) and any applications (or
+the operating system itself) can take advantage of the drivers by their
+individual interfaces. The abstraction layer of the hardware interfaces is
+called "periphAL", which is defined by this project.
+
+Although this compilation was originally designed to be used in combination with
+the AMiRo operating system (AMiRo-OS; cf. https://opensource.cit-ec.de/projects/amiro-os/),
+it is not limited to this use case. The included drivers may be used for any
+purpose and contributions of further drivers, even if the according hardware is
+not present on the AMiRo platform, are highly appreciated.
+
+The files are structured as follows:
+* include/
+  Each driver defines exactly one include header in this directory. By
+  convention these files are named by the form
+    alld_<product_name>.h
+  <product_name> is a placeholder for the exact name of the according hardware,
+  or the product familiy, if the driver is compatible with all parts.
+* source/
+  Any source files are placed in this directory. Usually there is a single file
+  for each driver. If multiple files are necessary, these should be placed in an
+  accordingly named subfolder. Names of folders and files should comply to the
+  aforementioned convention.
+* templates/
+  AMiRo-LLD requires an implementation of the defined interface and an
+  configuration header to be accessible in the include paths at compile time.
+  Template files for both can be found in this folder. It is recommended to
+  place according implementations of these templated not in the AMiRo-LLD
+  project, but the superproject which includes AMiRo-LLD.
+* /
+  The project root directory contains this file, a license.html file as well as
+  a Makefile that allows to easily integrate the project. Furthermore, two
+  interface headers are provided: amiro-lld.h and periphALtypes.h. These are
+  entry points for any utilizing superproject, so it is not required (and not
+  recommanded) to include each driver individually.
+
+================================================================================
+
diff --git a/amiro-lld.h b/amiro-lld.h
new file mode 100644
index 0000000..a707623
--- /dev/null
+++ b/amiro-lld.h
@@ -0,0 +1,84 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_H_
+#define _AMIROLLD_H_
+
+/**
+ * @brief   AMIRO-LLD identification macro.
+ */
+#define _AMIRO_LLD_
+
+/**
+ * @name   AMiRo-LLD version and relase information.
+ * @{
+ */
+
+/**
+ * @brief   Realease type of this version.
+ *          IPossible values are "pre-alpha", "alpha", "beta", "release candidate", "release".
+ */
+#define AMIRO_LLD_RELEASE_TYPE     "release"
+
+/**
+ * @brief   The periphery abstraction layer interface major version.
+ * @note    Changes of the major version imply incompatibilities.
+ */
+#define AMIRO_LLD_VERSION_MAJOR    1
+
+/**
+ * @brief   The periphery abstraction layer interface minor version.
+ * @note    A higher minor version implies new functionalty, but all old interfaces are still available.
+ */
+#define AMIRO_LLD_VERSION_MINOR    0
+
+/**
+ * @brief   The periphery abstraction layer interface patch level.
+ */
+#define AMIRO_LLD_VERSION_PATCH    0
+
+/**
+ * @brief   The periphery abstraction layer interface required major version.
+ */
+#define PERIPHAL_REQUIRED_MAJOR    1
+
+/**
+ * @brief   The periphery abstraction layer interface required minor version.
+ */
+#define PERIPHAL_REQUIRED_MINOR    0
+
+/** @} */
+
+#include <alldconf.h>
+
+#if !defined(_AMIRO_LLD_CFG_)
+#error "invalid AMiRo-LLD configuration file"
+#endif
+#if (AMIRO_LLD_CFG_VERSION_MAJOR != AMIRO_LLD_VERSION_MAJOR) || (AMIRO_LLD_CFG_VERSION_MINOR < AMIRO_LLD_VERSION_MINOR)
+#error "incompatible AMiRo-LLD configuration file"
+#endif
+
+#include <periphAL.h>
+#if !defined(PERIPHAL_VERSION_MAJOR) || !defined(PERIPHAL_VERSION_MINOR)
+#error "invalid periphAL implementation"
+#endif
+#if (PERIPHAL_VERSION_MAJOR != PERIPHAL_REQUIRED_MAJOR) || (PERIPHAL_VERSION_MINOR < PERIPHAL_REQUIRED_MINOR)
+#error "incompatible periphAL implementation"
+#endif
+
+#endif /* _AMIROLLD_H_ */
diff --git a/docs/Doxyfile b/docs/Doxyfile
new file mode 100644
index 0000000..52491a3
--- /dev/null
+++ b/docs/Doxyfile
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+# Doxyfile 1.7.6.1
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
+#
+# All text after a hash (#) is considered a comment and will be ignored.
+# The format is:
+#       TAG = value [value, ...]
+# For lists items can also be appended using:
+#       TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (" ").
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the config file
+# that follow. The default is UTF-8 which is also the encoding used for all
+# text before the first occurrence of this tag. Doxygen uses libiconv (or the
+# iconv built into libc) for the transcoding. See
+# http://www.gnu.org/software/libiconv for the list of possible encodings.
+
+DOXYFILE_ENCODING      = UTF-8
+
+# The PROJECT_NAME tag is a single word (or sequence of words) that should
+# identify the project. Note that if you do not use Doxywizard you need
+# to put quotes around the project name if it contains spaces.
+
+PROJECT_NAME           = "AMiRo-LLD"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number.
+# This could be handy for archiving the generated documentation or
+# if some version control system is used.
+
+PROJECT_NUMBER         = 1.0
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+# 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 quick idea about the purpose of the project. Keep the description short.
+
+PROJECT_BRIEF          = AMiRo Low Level Drivers
+
+# With the PROJECT_LOGO tag one can specify an logo or icon that is
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+# exceed 55 pixels and the maximum width should not exceed 200 pixels.
+# Doxygen will copy the logo to the output directory.
+
+PROJECT_LOGO           =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
+# base path where the generated documentation will be put.
+# If a relative path is entered, it will be relative to the location
+# where doxygen was started. If left blank the current directory will be used.
+
+OUTPUT_DIRECTORY       = doxygen
+
+# 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 putting all generated files in the same directory would
+# otherwise cause performance problems for the file system.
+
+CREATE_SUBDIRS         = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# The default language is English, other supported languages are:
+# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional,
+# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German,
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+OUTPUT_LANGUAGE        = English
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+
+BRIEF_MEMBER_DESC      = YES
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+REPEAT_BRIEF           = YES
+
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+STRIP_FROM_INC_PATH    =
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+SHORT_NAMES            = NO
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+JAVADOC_AUTOBRIEF      = NO
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+TCL_SUBST              =
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+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
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+OPTIMIZE_OUTPUT_FOR_C  = YES
+
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+OPTIMIZE_OUTPUT_JAVA   = NO
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+OPTIMIZE_FOR_FORTRAN   = NO
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+# a logarithmic scale so increasing the size by one will roughly double the
+# memory usage. The cache size is given by this formula:
+# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
+# corresponding to a cache size of 2^16 = 65536 symbols.
+
+SYMBOL_CACHE_SIZE      = 0
+
+# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be
+# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given
+# their name and scope. Since this can be an expensive process and often the
+# same symbol appear multiple times in the code, doxygen keeps a cache of
+# pre-resolved symbols. If the cache is too small doxygen will become slower.
+# If the cache is too large, memory is wasted. The cache size is given by this
+# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0,
+# corresponding to a cache size of 2^16 = 65536 symbols.
+
+LOOKUP_CACHE_SIZE      = 0
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# 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 and EXTRACT_STATIC tags are set to YES
+
+EXTRACT_ALL            = YES
+
+# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
+# will be included in the documentation.
+
+EXTRACT_PRIVATE        = NO
+
+# If the EXTRACT_STATIC tag is set to YES all static members of a file
+# will be included in the documentation.
+
+EXTRACT_STATIC         = NO
+
+# 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 only classes defined in header files are included.
+
+EXTRACT_LOCAL_CLASSES  = YES
+
+# This flag is only useful for Objective-C code. When 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 (the default) only methods in the interface are included.
+
+EXTRACT_LOCAL_METHODS  = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base
+# name of the file that contains the anonymous namespace. By default
+# anonymous namespaces are hidden.
+
+EXTRACT_ANON_NSPACES   = NO
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
+# undocumented members of documented classes, files or namespaces.
+# If set to NO (the default) these members will be included in the
+# various overviews, but no documentation section is generated.
+# This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_MEMBERS     = NO
+
+# 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 (the default) these classes will be included in the various
+# overviews. This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_CLASSES     = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
+# friend (class|struct|union) declarations.
+# If set to NO (the default) these declarations will be included in the
+# documentation.
+
+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 (the default) these blocks will be appended to the
+# function's detailed documentation block.
+
+HIDE_IN_BODY_DOCS      = NO
+
+# The INTERNAL_DOCS tag determines if documentation
+# that is typed after a \internal command is included. If the tag is set
+# to NO (the default) then the documentation will be excluded.
+# Set it to YES to include the internal documentation.
+
+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
+# 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.
+
+CASE_SENSE_NAMES       = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
+# will show members with their full class and namespace scopes in the
+# documentation. If set to YES the scope will be hidden.
+
+HIDE_SCOPE_NAMES       = NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
+# will put a list of the files that are included by a file in the documentation
+# of that file.
+
+SHOW_INCLUDE_FILES     = YES
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen
+# will list include files with double quotes in the documentation
+# rather than with sharp brackets.
+
+FORCE_LOCAL_INCLUDES   = NO
+
+# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
+# is inserted in the documentation for inline members.
+
+INLINE_INFO            = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES (the default) 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.
+
+SORT_MEMBER_DOCS       = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
+# brief documentation of file, namespace and class members alphabetically
+# by member name. If set to NO (the default) the members will appear in
+# declaration order.
+
+SORT_BRIEF_DOCS        = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen
+# will sort the (brief and detailed) documentation of class members so that
+# constructors and destructors are listed first. If set to NO (the default)
+# the constructors will appear in the respective orders defined by
+# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS.
+# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO
+# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the
+# hierarchy of group names into alphabetical order. If set to NO (the default)
+# the group names will appear in their defined order.
+
+SORT_GROUP_NAMES       = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
+# sorted by fully-qualified names, including namespaces. If set to
+# NO (the default), the class list will be sorted only by class name,
+# not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the
+# alphabetical list.
+
+SORT_BY_SCOPE_NAME     = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to
+# do proper type resolution of all parameters of a function it will reject a
+# match between the prototype and the implementation of a member function even
+# if there is only one candidate or it is obvious which candidate to choose
+# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen
+# will still accept a match between prototype and implementation in such cases.
+
+STRICT_PROTO_MATCHING  = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or
+# disable (NO) the todo list. This list is created by putting \todo
+# commands in the documentation.
+
+GENERATE_TODOLIST      = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or
+# disable (NO) the test list. This list is created by putting \test
+# commands in the documentation.
+
+GENERATE_TESTLIST      = YES
+
+# 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.
+
+GENERATE_BUGLIST       = YES
+
+# 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.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional
+# documentation sections, marked by \if sectionname ... \endif.
+
+ENABLED_SECTIONS       =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
+# the initial value of a variable or macro consists of for it to appear in
+# the documentation. If the initializer consists of more lines than specified
+# here it will be hidden. Use a value of 0 to hide initializers completely.
+# The appearance of the initializer of individual variables and macros in the
+# documentation can be controlled using \showinitializer or \hideinitializer
+# command in the documentation regardless of this setting.
+
+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 will mention the files that were used to generate the documentation.
+
+SHOW_USED_FILES        = YES
+
+# If the sources in your project are distributed over multiple directories
+# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy
+# in the documentation. The default is NO.
+
+SHOW_DIRECTORIES       = NO
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page.
+# This will remove the Files entry from the Quick Index and from the
+# Folder Tree View (if specified). The default is YES.
+
+SHOW_FILES             = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the
+# Namespaces page.
+# This will remove the Namespaces entry from the Quick Index
+# and from the Folder Tree View (if specified). The default is YES.
+
+SHOW_NAMESPACES        = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command <command> <input-file>, where <command> is the value of
+# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
+# provided by doxygen. Whatever the program writes to standard output
+# is used as the file version. See the manual for examples.
+
+FILE_VERSION_FILTER    =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. The create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option.
+# You can optionally specify a file name after the option, if omitted
+# DoxygenLayout.xml will be used as the name of the layout file.
+
+LAYOUT_FILE            =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files
+# containing the references data. This must be a list of .bib files. The
+# .bib extension is automatically appended if omitted. Using this command
+# requires the bibtex tool to be installed. See also
+# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style
+# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this
+# feature you need bibtex and perl available in the search path.
+
+CITE_BIB_FILES         =
+
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated
+# by doxygen. Possible values are YES and NO. If left blank NO is used.
+
+QUIET                  = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated by doxygen. Possible values are YES and NO. If left blank
+# NO is used.
+
+WARNINGS               = YES
+
+# If WARN_IF_UNDOCUMENTED 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.
+
+WARN_IF_UNDOCUMENTED   = YES
+
+# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some
+# parameters in a documented function, or documenting parameters that
+# don't exist or using markup commands wrongly.
+
+WARN_IF_DOC_ERROR      = YES
+
+# The 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 (the default) doxygen will only warn about
+# wrong or incomplete parameter documentation, but not about the absence of
+# documentation.
+
+WARN_NO_PARAMDOC       = 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 and the warning text. Optionally the format may contain
+# $version, which will be replaced by the version of the file (if it could
+# be obtained via FILE_VERSION_FILTER)
+
+WARN_FORMAT            = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning
+# and error messages should be written. If left blank the output is written
+# to stderr.
+
+WARN_LOGFILE           =
+
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag can be 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.
+
+INPUT                  = ".."
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
+# also the default input encoding. Doxygen uses libiconv (or the iconv built
+# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
+# the list of possible encodings.
+
+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 pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank the following patterns are tested:
+# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh
+# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py
+# *.f90 *.f *.for *.vhd *.vhdl
+
+FILE_PATTERNS          = *.c *.h
+
+# The RECURSIVE tag can be used to turn specify whether or not subdirectories
+# should be searched for input files as well. Possible values are YES and NO.
+# If left blank NO is used.
+
+RECURSIVE              = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE                = "template", "docs"
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+
+EXCLUDE_SYMLINKS       = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories. Note that the wildcards are matched
+# against the file with absolute path, so to exclude all test directories
+# for example use the pattern */test/*
+
+EXCLUDE_PATTERNS       =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+
+EXCLUDE_SYMBOLS        =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or
+# directories that contain example code fragments that are included (see
+# the \include command).
+
+EXAMPLE_PATH           =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank all files are included.
+
+EXAMPLE_PATTERNS       =
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude
+# commands irrespective of the value of the RECURSIVE tag.
+# Possible values are YES and NO. If left blank NO is used.
+
+EXAMPLE_RECURSIVE      = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or
+# directories that contain image that are included in the documentation (see
+# the \image command).
+
+IMAGE_PATH             =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command <filter> <input-file>, where <filter>
+# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
+# input file. Doxygen will then use the output that the filter program writes
+# to standard output.
+# If FILTER_PATTERNS is specified, this tag will be
+# ignored.
+
+INPUT_FILTER           =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis.
+# Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match.
+# The filters are a list of the form:
+# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
+# info on how filters are used. If FILTER_PATTERNS is empty or if
+# non of the patterns match the file name, INPUT_FILTER is applied.
+
+FILTER_PATTERNS        =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will be used to filter the input files when producing source
+# files to browse (i.e. when SOURCE_BROWSER is set to YES).
+
+FILTER_SOURCE_FILES    = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any)
+# and it is also possible to disable source filtering for a specific pattern
+# using *.ext= (so without naming a filter). This option only has effect when
+# FILTER_SOURCE_FILES is enabled.
+
+FILTER_SOURCE_PATTERNS =
+
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will
+# be generated. Documented entities will be cross-referenced with these sources.
+# Note: To get rid of all source code in the generated output, make sure also
+# VERBATIM_HEADERS is set to NO.
+
+SOURCE_BROWSER         = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body
+# of functions and classes directly in the documentation.
+
+INLINE_SOURCES         = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
+# doxygen to hide any special comment blocks from generated source code
+# fragments. Normal C and C++ comments will always remain visible.
+
+STRIP_CODE_COMMENTS    = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES
+# then for each documented function all documented
+# functions referencing it will be listed.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES
+# then for each documented function all documented entities
+# called/used by that function will be listed.
+
+REFERENCES_RELATION    = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
+# and SOURCE_BROWSER tag is set 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.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code
+# will point to the HTML generated by the htags(1) tool instead of doxygen
+# built-in source browser. The htags tool is part of GNU's global source
+# tagging system (see http://www.gnu.org/software/global/global.html). You
+# will need version 4.8.6 or higher.
+
+USE_HTAGS              = NO
+
+# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
+# will generate a verbatim copy of the header file for each class for
+# which an include is specified. Set to NO to disable this.
+
+VERBATIM_HEADERS       = YES
+
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
+# of all compounds will be generated. Enable this if the project
+# contains a lot of classes, structs, unions or interfaces.
+
+ALPHABETICAL_INDEX     = YES
+
+# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
+# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
+# in which this list will be split (can be a number in the range [1..20])
+
+COLS_IN_ALPHA_INDEX    = 5
+
+# In case all classes in a project start with a common prefix, all
+# classes will be put under the same header in the alphabetical index.
+# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
+# should be ignored while generating the index headers.
+
+IGNORE_PREFIX          =
+
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
+# generate HTML output.
+
+GENERATE_HTML          = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `html' will be used as the default path.
+
+HTML_OUTPUT            = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
+# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
+# doxygen will generate files with .html extension.
+
+HTML_FILE_EXTENSION    = .html
+
+# The HTML_HEADER tag can be used to specify a personal HTML header for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard header. Note that when using a custom header you are responsible
+#  for the proper inclusion of any scripts and style sheets that doxygen
+# needs, which is dependent on the configuration options used.
+# It is advised to generate a default header using "doxygen -w html
+# header.html footer.html stylesheet.css YourConfigFile" and then modify
+# that header. Note that the header is subject to change so you typically
+# have to redo this when upgrading to a newer version of doxygen or when
+# changing the value of configuration settings such as GENERATE_TREEVIEW!
+
+HTML_HEADER            =
+
+# The HTML_FOOTER tag can be used to specify a personal HTML footer for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard footer.
+
+HTML_FOOTER            =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
+# style sheet that is used by each HTML page. It can be used to
+# fine-tune the look of the HTML output. If the tag is left blank doxygen
+# will generate a default style sheet. Note that doxygen will try to copy
+# the style sheet file to the HTML output directory, so don't put your own
+# style sheet in the HTML output directory as well, or it will be erased!
+
+HTML_STYLESHEET        =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that
+# the files will be copied as-is; there are no commands or markers available.
+
+HTML_EXTRA_FILES       =
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
+# Doxygen 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 purple, and 360 is red again.
+# The allowed range is 0 to 359.
+
+HTML_COLORSTYLE_HUE    = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of
+# the colors in the HTML output. For a value of 0 the output will use
+# grayscales only. A value of 255 will produce the most vivid colors.
+
+HTML_COLORSTYLE_SAT    = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to
+# the luminance component of the colors in the HTML output. Values below
+# 100 gradually make the output lighter, whereas values above 100 make
+# the output darker. The value divided by 100 is the actual gamma applied,
+# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2,
+# and 100 does not change the gamma.
+
+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.
+
+HTML_TIMESTAMP         = YES
+
+# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
+# files or namespaces will be aligned in HTML using tables. If set to
+# NO a bullet list will be used.
+
+HTML_ALIGN_MEMBERS     = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded. For this to work a browser that supports
+# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox
+# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari).
+
+HTML_DYNAMIC_SECTIONS  = NO
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files
+# will be generated that can be used as input for Apple's Xcode 3
+# integrated development environment, introduced with OSX 10.5 (Leopard).
+# To create a documentation set, doxygen will generate a Makefile in the
+# HTML output directory. Running make will produce the docset in that
+# directory and running "make install" will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
+# it at startup.
+# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# for more information.
+
+GENERATE_DOCSET        = NO
+
+# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the
+# feed. A documentation feed provides an umbrella under which multiple
+# documentation sets from a single provider (such as a company or product suite)
+# can be grouped.
+
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+
+# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
+# should uniquely identify the documentation set bundle. This should be a
+# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
+# will append .docset to the name.
+
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+
+# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+
+# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher.
+
+DOCSET_PUBLISHER_NAME  = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES, additional index files
+# will be generated that can be used as input for tools like the
+# Microsoft HTML help workshop to generate a compiled HTML help file (.chm)
+# of the generated HTML documentation.
+
+GENERATE_HTMLHELP      = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
+# be used to specify the file name of the resulting .chm file. You
+# can add a path in front of the file if the result should not be
+# written to the html output directory.
+
+CHM_FILE               =
+
+# If the GENERATE_HTMLHELP tag is set to YES, 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 doxygen will try to run
+# the HTML help compiler on the generated index.hhp.
+
+HHC_LOCATION           =
+
+# If the GENERATE_HTMLHELP tag is set to YES, 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).
+
+GENERATE_CHI           = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING
+# is used to encode HtmlHelp index (hhk), content (hhc) and project file
+# content.
+
+CHM_INDEX_ENCODING     =
+
+# If the GENERATE_HTMLHELP tag is set to YES, 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.
+
+BINARY_TOC             = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members
+# to the contents of the HTML help documentation and to the tree view.
+
+TOC_EXPAND             = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated
+# that can be used as input for Qt's qhelpgenerator to generate a
+# Qt Compressed Help (.qch) of the generated HTML documentation.
+
+GENERATE_QHP           = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can
+# be used to specify the file name of the resulting .qch file.
+# The path specified is relative to the HTML output folder.
+
+QCH_FILE               =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating
+# Qt Help Project output. For more information please see
+# http://doc.trolltech.com/qthelpproject.html#namespace
+
+QHP_NAMESPACE          = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating
+# Qt Help Project output. For more information please see
+# http://doc.trolltech.com/qthelpproject.html#virtual-folders
+
+QHP_VIRTUAL_FOLDER     = doc
+
+# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to
+# add. For more information please see
+# http://doc.trolltech.com/qthelpproject.html#custom-filters
+
+QHP_CUST_FILTER_NAME   =
+
+# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see
+# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">
+# Qt Help Project / Custom Filters</a>.
+
+QHP_CUST_FILTER_ATTRS  =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's
+# filter section matches.
+# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">
+# Qt Help Project / Filter Attributes</a>.
+
+QHP_SECT_FILTER_ATTRS  =
+
+# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can
+# be used to specify the location of Qt's qhelpgenerator.
+# If non-empty doxygen will try to run qhelpgenerator on the generated
+# .qhp file.
+
+QHG_LOCATION           =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files
+#  will be generated, which together with the HTML files, form an Eclipse help
+# plugin. To install this plugin and make it available under the help contents
+# menu in Eclipse, the contents of the directory containing the HTML and XML
+# files needs to be copied into the plugins directory of eclipse. The name of
+# the directory within the plugins directory should be the same as
+# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before
+# the help appears.
+
+GENERATE_ECLIPSEHELP   = NO
+
+# A unique identifier for the eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have
+# this name.
+
+ECLIPSE_DOC_ID         = org.doxygen.Project
+
+# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs)
+# at top of each HTML page. The value NO (the default) enables the index and
+# the value YES disables it. Since the tabs have the same information as the
+# navigation tree you can set this option to NO if you already set
+# GENERATE_TREEVIEW to YES.
+
+DISABLE_INDEX          = NO
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information.
+# If the tag value is set to YES, a side panel will be generated
+# containing a tree-like 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.
+# Since the tree basically has the same information as the tab index you
+# could consider to set DISABLE_INDEX to NO when enabling this option.
+
+GENERATE_TREEVIEW      = NO
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values
+# (range [0,1..20]) that doxygen will group on one line in the generated HTML
+# documentation. Note that a value of 0 will completely suppress the enum
+# values from appearing in the overview section.
+
+ENUM_VALUES_PER_LINE   = 4
+
+# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories,
+# and Class Hierarchy pages using a tree view instead of an ordered list.
+
+USE_INLINE_TREES       = NO
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
+# used to set the initial width (in pixels) of the frame in which the tree
+# is shown.
+
+TREEVIEW_WIDTH         = 250
+
+# When 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.
+
+EXT_LINKS_IN_WINDOW    = NO
+
+# Use this tag to change the font size of Latex formulas included
+# as images in the HTML documentation. The default is 10. Note that
+# when you change the font size after a successful doxygen run you need
+# to manually remove any form_*.png images from the HTML output directory
+# to force them to be regenerated.
+
+FORMULA_FONTSIZE       = 10
+
+# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# generated for formulas are transparent PNGs. Transparent PNGs are
+# not supported properly for IE 6.0, but are supported on all modern browsers.
+# Note that when changing this option you need to delete any form_*.png files
+# in the HTML output before the changes have effect.
+
+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 installed or if you want to formulas look prettier in the HTML
+# output. When enabled you also need to install MathJax separately and
+# configure the path to it using the MATHJAX_RELPATH option.
+
+USE_MATHJAX            = NO
+
+# When MathJax is enabled you need to specify the location relative to the
+# HTML output directory using the MATHJAX_RELPATH option. The destination
+# directory should contain the MathJax.js script. For instance, if the mathjax
+# directory is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the
+# mathjax.org site, so you can quickly see the result without installing
+# MathJax, but it is strongly recommended to install a local copy of MathJax
+# before deployment.
+
+MATHJAX_RELPATH        = http://www.mathjax.org/mathjax
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension
+# names that should be enabled during MathJax rendering.
+
+MATHJAX_EXTENSIONS     =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box
+# for the HTML output. The underlying search engine uses javascript
+# and DHTML and should work on any modern browser. Note that when using
+# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets
+# (GENERATE_DOCSET) there is already a search function so this one should
+# typically be disabled. For large projects the javascript based search engine
+# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution.
+
+SEARCHENGINE           = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a PHP enabled web server instead of at the web client
+# using Javascript. Doxygen will generate the search PHP script and index
+# file to put on the web server. The advantage of the server
+# based approach is that it scales better to large projects and allows
+# full text search. The disadvantages are that it is more difficult to setup
+# and does not have live searching capabilities.
+
+SERVER_BASED_SEARCH    = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
+# generate Latex output.
+
+GENERATE_LATEX         = YES
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `latex' will be used as the default path.
+
+LATEX_OUTPUT           = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked. If left blank `latex' will be used as the default command name.
+# Note that when enabling USE_PDFLATEX this option is only used for
+# generating bitmaps for formulas in the HTML output, but not in the
+# Makefile that is written to the output directory.
+
+LATEX_CMD_NAME         = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
+# generate index for LaTeX. If left blank `makeindex' will be used as the
+# default command name.
+
+MAKEINDEX_CMD_NAME     = makeindex
+
+# 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.
+
+COMPACT_LATEX          = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used
+# by the printer. Possible values are: a4, letter, legal and
+# executive. If left blank a4wide will be used.
+
+PAPER_TYPE             = a4
+
+# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
+# packages that should be included in the LaTeX output.
+
+EXTRA_PACKAGES         =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
+# the generated latex document. The header should contain everything until
+# the first chapter. If it is left blank doxygen will generate a
+# standard header. Notice: only use this tag if you know what you are doing!
+
+LATEX_HEADER           =
+
+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for
+# the generated latex document. The footer should contain everything after
+# the last chapter. If it is left blank doxygen will generate a
+# standard footer. Notice: only use this tag if you know what you are doing!
+
+LATEX_FOOTER           =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
+# is prepared for conversion to pdf (using ps2pdf). The pdf file will
+# contain links (just like the HTML output) instead of page references
+# This makes the output suitable for online browsing using a pdf viewer.
+
+PDF_HYPERLINKS         = YES
+
+# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
+# plain latex in the generated Makefile. Set this option to YES to get a
+# higher quality PDF documentation.
+
+USE_PDFLATEX           = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
+# command to the generated LaTeX files. This will instruct LaTeX to keep
+# running if errors occur, instead of asking the user for help.
+# This option is also used when generating formulas in HTML.
+
+LATEX_BATCHMODE        = NO
+
+# If LATEX_HIDE_INDICES is set to YES then doxygen will not
+# include the index chapters (such as File Index, Compound Index, etc.)
+# in the output.
+
+LATEX_HIDE_INDICES     = NO
+
+# If LATEX_SOURCE_CODE is set to YES then doxygen will include
+# source code with syntax highlighting in the LaTeX output.
+# Note that which sources are shown also depends on other settings
+# such as SOURCE_BROWSER.
+
+LATEX_SOURCE_CODE      = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See
+# http://en.wikipedia.org/wiki/BibTeX for more info.
+
+LATEX_BIB_STYLE        = plain
+
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# 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 very pretty with
+# other RTF readers or editors.
+
+GENERATE_RTF           = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `rtf' will be used as the default path.
+
+RTF_OUTPUT             = 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.
+
+COMPACT_RTF            = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
+# will contain hyperlink fields. The RTF file will
+# contain links (just like the HTML output) instead of page references.
+# This makes the output suitable for online browsing using WORD or other
+# programs which support those fields.
+# Note: wordpad (write) and others do not support links.
+
+RTF_HYPERLINKS         = NO
+
+# Load style sheet definitions from file. Syntax is similar to doxygen's
+# config file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+
+RTF_STYLESHEET_FILE    =
+
+# Set optional variables used in the generation of an rtf document.
+# Syntax is similar to doxygen's config file.
+
+RTF_EXTENSIONS_FILE    =
+
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
+# generate man pages
+
+GENERATE_MAN           = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `man' will be used as the default path.
+
+MAN_OUTPUT             = man
+
+# The MAN_EXTENSION tag determines the extension that is added to
+# the generated man pages (default is the subroutine's section .3)
+
+MAN_EXTENSION          = .3
+
+# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
+# then it will generate one additional man file for each entity
+# documented in the real man page(s). These additional files
+# only source the real man page, but without them the man command
+# would be unable to find the correct page. The default is NO.
+
+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 captures the structure of
+# the code including all documentation.
+
+GENERATE_XML           = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `xml' will be used as the default path.
+
+XML_OUTPUT             = xml
+
+# The XML_SCHEMA tag can be used to specify an XML schema,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_SCHEMA             =
+
+# The XML_DTD tag can be used to specify an XML DTD,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_DTD                =
+
+# 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.
+
+XML_PROGRAMLISTING     = YES
+
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
+# generate an AutoGen Definitions (see autogen.sf.net) file
+# that captures the structure of the code including all
+# documentation. Note that this feature is still experimental
+# and incomplete at the moment.
+
+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 file that captures the structure of
+# the code including all documentation. Note that this
+# feature is still experimental and incomplete at the
+# moment.
+
+GENERATE_PERLMOD       = NO
+
+# 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.
+
+PERLMOD_LATEX          = NO
+
+# 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 size of the Perl module output will be much smaller
+# and Perl will parse it just the same.
+
+PERLMOD_PRETTY         = YES
+
+# The names of the make variables in the generated doxyrules.make file
+# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
+# This is useful so different doxyrules.make files included by the same
+# Makefile don't overwrite each other's variables.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
+# evaluate all C-preprocessor directives found in the sources and include
+# files.
+
+ENABLE_PREPROCESSING   = YES
+
+# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
+# names in the source code. If set to NO (the default) only conditional
+# compilation will be performed. Macro expansion can be done in a controlled
+# way by setting EXPAND_ONLY_PREDEF to YES.
+
+MACRO_EXPANSION        = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
+# then the macro expansion is limited to the macros specified with the
+# PREDEFINED and EXPAND_AS_DEFINED tags.
+
+EXPAND_ONLY_PREDEF     = NO
+
+# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
+# pointed to by INCLUDE_PATH will be searched when a #include is found.
+
+SEARCH_INCLUDES        = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by
+# the preprocessor.
+
+INCLUDE_PATH           =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will
+# be used.
+
+INCLUDE_FILE_PATTERNS  =
+
+# The PREDEFINED tag can be used to specify one or more macro names that
+# are defined before the preprocessor is started (similar to the -D option of
+# gcc). The argument of the tag is a list of macros of the form: name
+# or name=definition (no spaces). If the definition and the = are
+# omitted =1 is assumed. To prevent a macro definition from being
+# undefined via #undef or recursively expanded use the := operator
+# instead of the = operator.
+
+PREDEFINED             =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
+# this tag can be used to specify a list of macro names that should be expanded.
+# The macro definition that is found in the sources will be used.
+# Use the PREDEFINED tag if you want to use a different macro definition that
+# overrules the definition found in the source code.
+
+EXPAND_AS_DEFINED      =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
+# doxygen's preprocessor will remove all references to function-like macros
+# that are alone on a line, have an all uppercase name, and do not end with a
+# semicolon, because these will confuse the parser if not removed.
+
+SKIP_FUNCTION_MACROS   = YES
+
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES option can be used to specify one or more tagfiles.
+# Optionally an initial location of the external documentation
+# can be added for each tagfile. The format of a tag file without
+# this location is as follows:
+#
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+#
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where "loc1" and "loc2" can be relative or absolute paths or
+# URLs. If a location is present for each tag, the installdox tool
+# does not have to be run to correct the links.
+# Note that each tag file must have a unique name
+# (where the name does NOT include the path)
+# If a tag file is not located in the directory in which doxygen
+# is run, you must also specify the path to the tagfile here.
+
+TAGFILES               =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create
+# a tag file that is based on the input files it reads.
+
+GENERATE_TAGFILE       =
+
+# If the ALLEXTERNALS tag is set to YES all external classes will be listed
+# in the class index. If set to NO only the inherited external classes
+# will be listed.
+
+ALLEXTERNALS           = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will
+# be listed.
+
+EXTERNAL_GROUPS        = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of `which perl').
+
+PERL_PATH              = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
+# generate a inheritance diagram (in HTML, RTF 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 powerful graphs.
+
+CLASS_DIAGRAMS         = YES
+
+# You can define message sequence charts within doxygen comments using the \msc
+# command. Doxygen will then run the mscgen tool (see
+# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the
+# documentation. The MSCGEN_PATH tag allows you to specify the directory where
+# the mscgen tool resides. If left empty the tool is assumed to be found in the
+# default search path.
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+# If set to YES, the inheritance and collaboration graphs will hide
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+HAVE_DOT               = NO
+
+# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is
+# allowed to run in parallel. When set to 0 (the default) doxygen will
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+# By default doxygen will use the Helvetica font for all dot files that
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+DOT_FONTNAME           = Helvetica
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+
+CLASS_GRAPH            = YES
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+# will generate a graph for each documented class showing the direct and
+# indirect implementation dependencies (inheritance, containment, and
+# class references variables) of the class with other documented classes.
+
+COLLABORATION_GRAPH    = YES
+
+# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for groups, showing the direct groups dependencies
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+GROUP_GRAPHS           = YES
+
+# 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.
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+# relations between templates and their instances.
+
+TEMPLATE_RELATIONS     = NO
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
+# tags are set to YES then doxygen will generate a graph for each documented
+# file showing the direct and indirect include dependencies of the file with
+# other documented files.
+
+INCLUDE_GRAPH          = YES
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
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+# indirectly include this file.
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+# doxygen will generate a call dependency graph for every global function
+# or class method. Note that enabling this option will significantly increase
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+CALL_GRAPH             = NO
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+# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then
+# doxygen will generate a caller dependency graph for every global function
+# or class method. Note that enabling this option will significantly increase
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+# will generate a graphical hierarchy of all classes instead of a textual one.
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+GRAPHICAL_HIERARCHY    = YES
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+# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES
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+# in a graphical way. The dependency relations are determined by the #include
+# relations between the files in the directories.
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+DIRECTORY_GRAPH        = YES
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+# generated by dot. Possible values are svg, png, jpg, or gif.
+# If left blank png will be used. If you choose svg you need to set
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+# visible in IE 9+ (other browsers do not have this requirement).
+
+DOT_IMAGE_FORMAT       = png
+
+# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
+# enable generation of interactive SVG images that allow zooming and panning.
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+# Tested and working are Firefox, Chrome, Safari, and Opera. For IE 9+ you
+# need to set HTML_FILE_EXTENSION to xhtml in order to make the SVG files
+# visible. Older versions of IE do not have SVG support.
+
+INTERACTIVE_SVG        = NO
+
+# The tag DOT_PATH can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+
+DOT_PATH               =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the
+# \dotfile command).
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+DOTFILE_DIRS           =
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+# contain msc files that are included in the documentation (see the
+# \mscfile command).
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+MSCFILE_DIRS           =
+
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+# 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
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+# number of direct children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note
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+DOT_GRAPH_MAX_NODES    = 50
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+# graphs generated by dot. A depth value of 3 means that only nodes reachable
+# from the root by following a path via at most 3 edges will be shown. Nodes
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+# code bases. Also note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
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+# background. This is disabled by default, because dot on Windows does not
+# seem to support this out of the box. Warning: Depending on the platform used,
+# enabling this option may lead to badly anti-aliased labels on the edges of
+# a graph (i.e. they become hard to read).
+
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+
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+# files in one run (i.e. multiple -o and -T options on the command line). This
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+# support this, this feature is disabled by default.
+
+DOT_MULTI_TARGETS      = YES
+
+# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
+# generate a legend page explaining the meaning of the various boxes and
+# arrows in the dot generated graphs.
+
+GENERATE_LEGEND        = YES
+
+# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
+# remove the intermediate dot files that are used to generate
+# the various graphs.
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+DOT_CLEANUP            = YES
diff --git a/include/alld_a3906.h b/include/alld_a3906.h
new file mode 100644
index 0000000..bfc33f4
--- /dev/null
+++ b/include/alld_a3906.h
@@ -0,0 +1,59 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_A3906_H_
+#define _AMIROLLD_A3906_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_A3906) || defined(__DOXYGEN__)
+
+/**
+ * @brief Active state of power pin.
+ */
+#define A3906_LLD_POWER_PIN_ACTIVE_STATE  APAL_GPIO_ACTIVE_HIGH
+
+/**
+ * @brief A3906 driver struct.
+ */
+typedef struct {
+  apalControlGpio_t power_pin;  /**< @brief GPIO to enable/disable power of the A3906. */
+} A3906Driver;
+
+/**
+ * @brief Power state of the A3906.
+ */
+typedef enum {
+  A3906_LLD_POWER_OFF = 0x00,   /**< 'power off' state  */
+  A3906_LLD_POWER_ON  = 0x01,   /**< 'power on' state   */
+} a3906_lld_power_t;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t a3906_lld_set_power(const A3906Driver* const a3906, const a3906_lld_power_t power_state);
+  apalExitStatus_t a3906_lld_get_power(const A3906Driver* const a3906, a3906_lld_power_t* const power_state);
+  apalExitStatus_t a3906_lld_set_pwm(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_A3906) */
+
+#endif /* _AMIROLLD_A3906_H_ */
diff --git a/include/alld_at24c01bn-sh-b.h b/include/alld_at24c01bn-sh-b.h
new file mode 100644
index 0000000..867784e
--- /dev/null
+++ b/include/alld_at24c01bn-sh-b.h
@@ -0,0 +1,91 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_AT24C01BN_H_
+#define _AMIROLLD_AT24C01BN_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_AT24C01BN) || defined(__DOXYGEN__)
+
+/**
+ * @brief Memory size of the EEPROM in bits.
+ */
+#define AT24C01BN_LLD_SIZE_BITS             1024
+
+/**
+ * @brief Memory size of the EEPROM in bytes
+ */
+#define AT24C01BN_LLD_SIZE_BYTES            128
+
+
+/**
+ * @brief Size of a page in bytes
+ */
+#define AT24C01BN_LLD_PAGE_SIZE_BYTES       8
+
+/**
+ * @brief  Time in microseconds a write operation takes to complete (I2C will not respond).
+ * @note   The system should wait slightly longer.
+ */
+#define AT24C01BN_LLD_WRITECYCLETIME_US     5000
+
+/**
+ * @brief Maximum I2C frequency.
+ */
+#define AT24C01BN_LLD_I2C_MAXFREQUENCY      400000
+
+/**
+ * @brief Maximum I2C frequency at 5V.
+ */
+#define AT24C01BN_LLD_I2C_MAXFREQUENCY_5V   1000000
+
+/**
+ * @brief The AT24C01BN driver struct
+ */
+typedef struct {
+  apalI2CDriver_t* i2cd;  /**< @brief The I2C Driver */
+  uint8_t addr;           /**< @brief The address of the AT24C01B for I2C communication, which is defined by the wiring of the A0, A1, A2 pins */
+} AT24C01BNDriver;
+
+/**
+ * @brief Bitmasks for the I2C address, including the wiring of the A0, A1, A2 pins.
+ */
+enum {
+  AT24C01BN_LLD_I2C_ADDR_FIXED      = 0x50u,
+  AT24C01BN_LLD_I2C_ADDR_A0         = 0x01u,
+  AT24C01BN_LLD_I2C_ADDR_A1         = 0x02u,
+  AT24C01BN_LLD_I2C_ADDR_A2         = 0x04u,
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t at24c01bn_lld_poll_ack(const AT24C01BNDriver* const at24c01bn, const apalTime_t timeout);
+  apalExitStatus_t at24c01bn_lld_read_current_address(const AT24C01BNDriver* const at24c01bn, uint8_t* const data, const uint8_t num, const apalTime_t timeout);
+  apalExitStatus_t at24c01bn_lld_read(const AT24C01BNDriver* const at24c01bn, const uint8_t addr, uint8_t* const data, const uint8_t num, const apalTime_t timeout);
+  apalExitStatus_t at24c01bn_lld_write_byte(const AT24C01BNDriver* const at24c01bn, const uint8_t addr, const uint8_t data, const apalTime_t timeout);
+  apalExitStatus_t at24c01bn_lld_write_page(const AT24C01BNDriver* const at24c01bn, const uint8_t addr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_AT24C01BN) */
+
+#endif /* _AMIROLLD_AT24C01BN_H_ */
+
diff --git a/include/alld_bq24103a.h b/include/alld_bq24103a.h
new file mode 100644
index 0000000..6849367
--- /dev/null
+++ b/include/alld_bq24103a.h
@@ -0,0 +1,73 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_BQ24103A_H_
+#define _AMIROLLD_BQ24103A_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_BQ24103A) || defined(__DOXYGEN__)
+
+/**
+ * @brief Active state of enabled gpio.
+ */
+#define BQ24103A_LLD_ENABLED_GPIO_ACTIVE_STATE        APAL_GPIO_ACTIVE_LOW
+
+/**
+ * @brief Active state of charge status gpio.
+ */
+#define BQ24103A_LLD_CHARGE_STATUS_GPIO_ACTIVE_STATE  APAL_GPIO_ACTIVE_HIGH
+
+/**
+ * @brief The BQ24103A driver struct.
+ */
+typedef struct {
+  apalControlGpio_t gpio_enabled;       /**< @brief GPIO to enable/disable the bq24103a */
+  apalControlGpio_t gpio_charge_status; /**< @brief GPIO showing the status of the bq24103a */
+} BQ24103ADriver;
+
+/**
+ * @brief Enable enum.
+ */
+typedef enum {
+  BQ24103A_LLD_ENABLED  = 0x01,         /**< @brief 'charging on' state */
+  BQ24103A_LLD_DISABLED = 0x00,         /**< @brief 'charging off' state */
+} bq24103a_lld_enable_t;
+
+/**
+ * @brief Charge state enum.
+ */
+typedef enum {
+  BQ24103A_LLD_CHARGING     = 0x01,     /**< @brief status indicating that the battery is being charged */
+  BQ24103A_LLD_NOT_CHARGING = 0x00,     /**< @brife status indicating that the battery is not being charged */
+} bq24103a_lld_charge_state_t;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t bq24103a_lld_get_enabled(const BQ24103ADriver* const bq24103a, bq24103a_lld_enable_t* const enable);
+  apalExitStatus_t bq24103a_lld_set_enabled(const BQ24103ADriver* const bq24103a, const bq24103a_lld_enable_t enable);
+  apalExitStatus_t bq24103a_lld_get_charge_status(const BQ24103ADriver* const bq24103a, bq24103a_lld_charge_state_t* const charge);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_BQ24103A) */
+
+#endif /* _AMIROLLD_BQ24103A_H_ */
diff --git a/include/alld_bq27500.h b/include/alld_bq27500.h
new file mode 100644
index 0000000..409ed9b
--- /dev/null
+++ b/include/alld_bq27500.h
@@ -0,0 +1,241 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_BQ27500_H_
+#define _AMIROLLD_BQ27500_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_BQ27500) || defined(__DOXYGEN__)
+
+/**
+ * @brief fixed I2C address
+ */
+#define BQ27500_LLD_I2C_ADDR              0x55u
+
+/**
+ * @brief maximum I2C frequency in Hz
+ */
+#define BQ27500_LLD_I2C_MAXFREQUENCY      100000
+
+/**
+ * @brief default key0 to get into unsealed mode
+ */
+#define BQ27500_LLD_DEFAULT_UNSEAL_KEY0   0x3672u
+
+/**
+ * @brief  default key1 to get into unsealed mode
+ */
+#define BQ27500_LLD_DEFAULT_UNSEAL_KEY1   0x0414u
+
+/**
+ * @brief Active state of battery low gpio.
+ */
+#define BQ27500_LLD_BATLOW_ACTIVE_STATE   APAL_GPIO_ACTIVE_HIGH
+
+/**
+ * @brief Active state of battery good gpio.
+ */
+#define BQ27500_LLD_BATGOOD_ACTIVE_STATE  APAL_GPIO_ACTIVE_LOW
+
+/**
+ * @brief Possible standard commands.
+ */
+typedef enum {
+                                                                                              //   unit   |      access
+                                                                                              //          | sealed  | unsealed
+                                                                                              // ---------+---------+----------
+  BQ27500_LLD_STD_CMD_Control = 0x00u, BQ27500_LLD_STD_CMD_CNTL = 0x00u,                      // N/A      | R/W     | R/W
+  BQ27500_LLD_STD_CMD_AtRate = 0x02u, BQ27500_LLD_STD_CMD_AR = 0x02u,                         // mA       | R/W     | R/W
+  BQ27500_LLD_STD_CMD_AtRateTimeToEmpty = 0x04u, BQ27500_LLD_STD_CMD_ARTTE = 0x04u,           // minutes  | R       | R/W
+  BQ27500_LLD_STD_CMD_Temperatur = 0x06u, BQ27500_LLD_STD_CMD_TEMP = 0x06u,                   // 0.1 K    | R       | R/W
+  BQ27500_LLD_STD_CMD_Voltage = 0x08u, BQ27500_LLD_STD_CMD_VOLT = 0x08u,                      // mV       | R       | R/W
+  BQ27500_LLD_STD_CMD_Flags = 0x0Au, BQ27500_LLD_STD_CMD_FLAGS = 0x0Au,                       // N/A      | R       | R/W
+  BQ27500_LLD_STD_CMD_NominalAvailableCapacity = 0x0Cu, BQ27500_LLD_STD_CMD_NAC = 0x0Cu,      // mAh      | R       | R/W
+  BQ27500_LLD_STD_CMD_FullAvailableCapacity = 0x0Eu, BQ27500_LLD_STD_CMD_FAC = 0x0Eu,         // mAh      | R       | R/W
+  BQ27500_LLD_STD_CMD_RemainingCapacity = 0x10u, BQ27500_LLD_STD_CMD_RM = 0x10u,              // mAh      | R       | R/W
+  BQ27500_LLD_STD_CMD_FullChargeCapacity = 0x12u, BQ27500_LLD_STD_CMD_FCC = 0x12u,            // mAh      | R       | R/W
+  BQ27500_LLD_STD_CMD_AverageCurrent = 0x14u, BQ27500_LLD_STD_CMD_AI = 0x14u,                 // mA       | R       | R/W
+  BQ27500_LLD_STD_CMD_TimeToEmpty = 0x16u, BQ27500_LLD_STD_CMD_TTE = 0x16u,                   // minutes  | R       | R/W
+  BQ27500_LLD_STD_CMD_TimeToFull = 0x18u, BQ27500_LLD_STD_CMD_TTF = 0x18u,                    // minutes  | R       | R/W
+  BQ27500_LLD_STD_CMD_StandbyCurrent = 0x1Au, BQ27500_LLD_STD_CMD_SI = 0x1Au,                 // mA       | R       | R/W
+  BQ27500_LLD_STD_CMD_StandbyTimeToEmpty = 0x1Cu, BQ27500_LLD_STD_CMD_STTE = 0x1Cu,           // minutes  | R       | R/W
+  BQ27500_LLD_STD_CMD_MaxLoadCurrent = 0x1Eu, BQ27500_LLD_STD_CMD_MLI = 0x1Eu,                // mA       | R       | R/W
+  BQ27500_LLD_STD_CMD_MaxLoadTimeToEmpty = 0x20u, BQ27500_LLD_STD_CMD_MLTTE = 0x20u,          // minutes  | R       | R/W
+  BQ27500_LLD_STD_CMD_AvailableEnergy = 0x22u, BQ27500_LLD_STD_CMD_AE = 0x22u,                // mWh      | R       | R/W
+  BQ27500_LLD_STD_CMD_AveragePower = 0x24u, BQ27500_LLD_STD_CMD_AP = 0x24u,                   // mW       | R       | R/W
+  BQ27500_LLD_STD_CMD_TimeToEmptyAtConstantPower = 0x26u, BQ27500_LLD_STD_CMD_TTECP = 0x26u,  // minutes  | R       | R/W
+  BQ27500_LLD_STD_CMD_CycleCount = 0x2Au, BQ27500_LLD_STD_CMD_CC = 0x2Au,                     // counts   | R       | R/W
+  BQ27500_LLD_STD_CMD_StateOfCharge = 0x2Cu, BQ27500_LLD_STD_CMD_SOC = 0x2Cu                  // %        | R       | R/W
+} bq27500_lld_std_command_t;
+
+/**
+ * @brief Subcommands of the control command.
+ */
+typedef enum {
+                                                  // sealed access
+                                                  // -------------
+  BQ27500_LLD_SUB_CMD_CONTROL_STATUS = 0x0000u,   // yes
+  BQ27500_LLD_SUB_CMD_DEVICE_TYPE = 0x0001u,      // yes
+  BQ27500_LLD_SUB_CMD_FW_VERSION = 0x0002u,       // yes
+  BQ27500_LLD_SUB_CMD_HW_VERSION = 0x0003u,       // yes
+  BQ27500_LLD_SUB_CMD_DF_CHECKSUM = 0x0004u,      // no
+  BQ27500_LLD_SUB_CMD_RESET_DATA = 0x0005u,       // yes
+  BQ27500_LLD_SUB_CMD_PREV_MACWRITE = 0x0007u,    // yes
+  BQ27500_LLD_SUB_CMD_CHEM_ID = 0x0008u,          // yes
+  BQ27500_LLD_SUB_CMD_BOARD_OFFSET = 0x0009u,     // no
+  BQ27500_LLD_SUB_CMD_CC_INT_OFFSET = 0x000Au,    // no
+  BQ27500_LLD_SUB_CMD_WRITE_OFFSET = 0x000Bu,     // no
+  BQ27500_LLD_SUB_CMD_SET_HIBERNATE = 0x0011u,    // yes
+  BQ27500_LLD_SUB_CMD_CLEAR_HIBERNATE = 0x0012u,  // yes
+  BQ27500_LLD_SUB_CMD_SET_SLEEPp = 0x0013u,       // yes
+  BQ27500_LLD_SUB_CMD_CLEAR_SLEEPp = 0x0014u,     // yes
+  BQ27500_LLD_SUB_CMD_SEALED = 0x0020u,           // no
+  BQ27500_LLD_SUB_CMD_IT_ENABLE = 0x0021u,        // no
+  BQ27500_LLD_SUB_CMD_IF_CHECKSUM = 0x0022u,      // no
+  BQ27500_LLD_SUB_CMD_CAL_MODE = 0x0040u,         // no
+  BQ27500_LLD_SUB_CMD_RESET = 0x0041u,            // no
+} bq27500_lld_control_subcmd_t;
+
+/**
+ * @brief Extended commands.
+ */
+typedef enum {
+                                                                          // length | unit | sealed | unsealed
+                                                                          // -------+------+--------+----------
+  BQ27500_LLD_EXT_CMD_DesignCapacity = 0x3Cu, EXT_CMD_DCAP = 0x3Cu,       //      2 |  mAh |     R  |      R
+  BQ27500_LLD_EXT_CMD_DataFlashClass = 0x3Eu, EXT_CMD_DFCLS = 0x3Eu,      //      1 |  N/A |    N/A |     R/W
+  BQ27500_LLD_EXT_CMD_DataFlashBlock = 0x3Fu, EXT_CMD_DFBLK = 0x3Fu,      //      1 |  N/A |    R/W |     R/W
+  BQ27500_LLD_EXT_CMD_BlockData = 0x40u, EXT_CMD_DFD = 0x40u,             //     32 |  N/A |     R  |     R/W
+  BQ27500_LLD_EXT_CMD_BlockDataCheckSum = 0x60u,EXT_CMD_DFDCKS = 0x60u,   //      1 |  N/A |    R/W |     R/W
+  BQ27500_LLD_EXT_CMD_BlockDataControl = 0x61u, EXT_CMD_DFDCNTL = 0x61u,  //      1 |  N/A |    N/A |     R/W
+  BQ27500_LLD_EXT_CMD_DeviceNameLength = 0x62u, EXT_CMD_DNAMELEN = 0x62u, //      1 |  N/A |     R  |      R
+  BQ27500_LLD_EXT_CMD_DeviceName = 0x63u, EXT_CMD_DNAME = 0x63u,          //      7 |  N/A |     R  |      R
+  BQ27500_LLD_EXT_CMD_ApplicationStatus = 0x6Au, EXT_CMD_APPSTAT = 0x6Au  //      1 |  N/A |     R  |      R
+} bq27500_lld_ext_command_t;
+
+/**
+ * @brief Read or write access to extended commands.
+ */
+typedef enum {
+  BQ27500_LLD_EXT_CMD_READ = 0,
+  BQ27500_LLD_EXT_CMD_WRITE = 1,
+} bq27500_lld_ext_cmd_access_t;
+
+/**
+ * @brief Union to inspect the version value.
+ */
+typedef union {
+  uint16_t value;
+  struct {
+    uint16_t minor_low : 4;
+    uint16_t minor_high : 4;
+    uint16_t major_low : 4;
+    uint16_t major_high : 4;
+  } content;
+} bq27500_lld_version_t;
+
+/**
+ * @brief Union to inspect the flags register.
+ */
+typedef union {
+  uint16_t value;
+  struct {
+    uint16_t dsg : 1;
+    uint16_t socf : 1;
+    uint16_t soc1 : 1;
+    uint16_t bat_det : 1;
+    uint16_t wait_id : 1;
+    uint16_t ocv_gd : 1;
+    uint16_t rsvd_6_7 : 2;
+    uint16_t chg : 1;
+    uint16_t fc : 1;
+    uint16_t xchg : 1;
+    uint16_t chg_inh : 1;
+    uint16_t rsvd_12_13 : 2;
+    uint16_t otd : 1;
+    uint16_t otc : 1;
+  } content;
+} bq27500_lld_flags_t;
+
+/**
+ * @brief Union to inspect the control status.
+ */
+typedef union {
+  uint16_t value;
+  struct {
+    uint16_t qen : 1;
+    uint16_t vok : 1;
+    uint16_t rup_dis : 1;
+    uint16_t ldmd : 1;
+    uint16_t sleep : 1;
+    uint16_t snooze : 1;
+    uint16_t hibernate : 1;
+    uint16_t rsvd_7_8_9 : 3;
+    uint16_t bca : 1;
+    uint16_t cca : 1;
+    uint16_t csv : 1;
+    uint16_t ss : 1;
+    uint16_t fas : 1;
+    uint16_t rsvd_15 : 1;
+  } content;
+} bq27500_lld_control_status_t;
+
+/**
+ * @brief BQ27500 Driver struct.
+ */
+typedef struct {
+  apalI2CDriver_t* i2cd;          /**< @brief I2C driver to access the BQ27500 */
+  apalControlGpio_t gpio_batlow;  /**< @brief Gpio to indicate whether the battery is low  */
+  apalControlGpio_t gpio_batgood; /**< @brief Gpio to indicate whether the battery is good */
+} BQ27500Driver;
+
+/**
+ * @brief Battery low enum.
+ */
+typedef enum {
+  BQ27500_LLD_BATTERY_LOW = 0x01,
+  BQ27500_LLD_BATTERY_NOT_LOW = 0x00,
+} bq27500_lld_batlow_t;
+
+/**
+ * @brief Battery good enum.
+ */
+typedef enum {
+  BQ27500_LLD_BATTERY_GOOD = 0x01,
+  BQ27500_LLD_BATTERY_NOT_GOOD = 0x00,
+} bq27500_lld_batgood_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t bq27500_lld_read_batlow(const BQ27500Driver* const bq27500, bq27500_lld_batlow_t* const batlow);
+  apalExitStatus_t bq27500_lld_read_batgood(const BQ27500Driver* const bq27500, bq27500_lld_batgood_t* const batgood);
+  apalExitStatus_t bq27500_lld_std_command(const BQ27500Driver* const bq27500, const bq27500_lld_std_command_t cmd, uint16_t* const dst, const apalTime_t timeout);
+  apalExitStatus_t bq27500_lld_sub_command_call(const BQ27500Driver* const bq27500, const bq27500_lld_control_subcmd_t cmd, const apalTime_t timeout);
+  apalExitStatus_t bq27500_lld_sub_command_read(const BQ27500Driver* const bq27500, uint16_t* const data, const apalTime_t timeout);
+  apalExitStatus_t bq27500_lld_ext_command(const BQ27500Driver* const bq27500, const bq27500_lld_ext_command_t cmd, const bq27500_lld_ext_cmd_access_t rw, uint8_t* const buffer, const uint8_t length, const uint8_t offset, const apalTime_t timeout);
+  apalExitStatus_t bq27500_lld_send_ctnl_data(const BQ27500Driver* const bq27500, const uint16_t data, const apalTime_t timeout);
+  apalExitStatus_t bq27500_lld_compute_blockdata_checksum(const uint8_t* const blockdata, uint8_t* const sum);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_BQ27500) */
+
+#endif /* _AMIROLLD_BQ27500_H_ */
diff --git a/include/alld_hmc5883l.h b/include/alld_hmc5883l.h
new file mode 100644
index 0000000..c391c65
--- /dev/null
+++ b/include/alld_hmc5883l.h
@@ -0,0 +1,186 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_HMC5883L_H_
+#define _AMIROLLD_HMC5883L_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_HMC5883L) || defined(__DOXYGEN__)
+
+/**
+ * @brief The HMC5883L driver struct
+ */
+typedef struct {
+  apalI2CDriver_t* i2cd;        /**< @brief The I2C Driver */
+} HMC5883LDriver;
+
+/**
+ * @brief Constant I2C address.
+ */
+#define HMC5883L_LLD_I2C_ADDR           0x1Eu
+
+/**
+ * @brief Maximum I2C frequency.
+ */
+#define HMC5883L_LLD_I2C_MAXFREQUENCY   400000
+
+/**
+ * @brief A falling edge indicates an interrupt.
+ */
+#define HMC5883L_LLD_INT_EDGE           APAL_GPIO_EDGE_FALLING
+
+/**
+ * @brief Register enum.
+ */
+typedef enum {
+  HMC5883L_LLD_REGISTER_CONFIG_A         = 0x00u,
+  HMC5883L_LLD_REGISTER_CONFIG_B         = 0x01u,
+  HMC5883L_LLD_REGISTER_MODE             = 0x02u,
+  HMC5883L_LLD_REGISTER_DATA_OUT_X_MSB   = 0x03u,
+  HMC5883L_LLD_REGISTER_DATA_OUT_X_LSB   = 0x04u,
+  HMC5883L_LLD_REGISTER_DATA_OUT_Z_MSB   = 0x05u,
+  HMC5883L_LLD_REGISTER_DATA_OUT_Z_LSB   = 0x06u,
+  HMC5883L_LLD_REGISTER_DATA_OUT_Y_MSB   = 0x07u,
+  HMC5883L_LLD_REGISTER_DATA_OUT_Y_LSB   = 0x08u,
+  HMC5883L_LLD_REGISTER_STATUS           = 0x09u,
+  HMC5883L_LLD_REGISTER_IDENTIFICATION_A = 0x0Au,
+  HMC5883L_LLD_REGISTER_IDENTIFICATION_B = 0x0Bu,
+  HMC5883L_LLD_REGISTER_IDENTIFICATION_C = 0x0Cu,
+} hmc5883l_lld_register_t;
+
+/**
+ * @brief Averaging options.
+ */
+typedef enum {
+  HMC5883L_LLD_AVG1 = 0x00,
+  HMC5883L_LLD_AVG2 = 0x20,
+  HMC5883L_LLD_AVG4 = 0x40,
+  HMC5883L_LLD_AVG8 = 0x60,
+} hmc5883l_lld_averaging_t;
+
+/**
+ * @brief Data output rate.
+ */
+typedef enum {
+  HMC5883L_LLD_0_75_HZ = 0x00,
+  HMC5883L_LLD_1_5_HZ  = 0x04,
+  HMC5883L_LLD_3_HZ    = 0x08,
+  HMC5883L_LLD_7_5_HZ  = 0x0C,
+  HMC5883L_LLD_15_HZ   = 0x10,
+  HMC5883L_LLD_30_HZ   = 0x14,
+  HMC5883L_LLD_75_HZ   = 0x18,
+} hmc5883l_lld_data_output_rate_t;
+
+/**
+ * @brief Measurement bias.
+ */
+typedef enum {
+  HMC5883L_LLD_MB_NORMAL        = 0x00,
+  HMC5883L_LLD_MB_POSITIVE_BIAS = 0x01,
+  HMC5883L_LLD_MB_NEGATIVE_BIAS = 0x02,
+} hmc5883l_lld_measurement_bias_t;
+
+/**
+ * @brief Gain settings.
+ */
+typedef enum {
+  HMC5883L_LLD_GN_0_GA = 0x00,
+  HMC5883L_LLD_GN_1_GA = 0x20,
+  HMC5883L_LLD_GN_2_GA = 0x40,
+  HMC5883L_LLD_GN_3_GA = 0x60,
+  HMC5883L_LLD_GN_4_GA = 0x80,
+  HMC5883L_LLD_GN_5_GA = 0xA0,
+  HMC5883L_LLD_GN_6_GA = 0xC0,
+  HMC5883L_LLD_GN_7_GA = 0xE0,
+} hmc5883l_lld_gain_t;
+
+/**
+ * @brief Highspeed enable settings.
+ */
+typedef enum {
+  HMC5883L_LLD_HS_DISABLE = 0x00,
+  HMC5883L_LLD_HS_ENABLE  = 0x80,
+} hmc5883l_lld_highspeed_t;
+
+/**
+ * @brief Measurement modes.
+ */
+typedef enum {
+  HMC5883L_LLD_MM_CONTINUOUS = 0x00,
+  HMC5883L_LLD_MM_SINGLE     = 0x01,
+  HMC5883L_LLD_MM_IDLE       = 0x02,
+} hmc5883l_lld_measurement_mode_t;
+
+/**
+ * @brief Read or write access.
+ */
+typedef enum {
+  HMC5883L_LLD_READ  = 0x3Du,
+  HMC5883L_LLD_WRITE = 0x3Cu,
+} hmc5883l_lld_access_mode_t;
+
+/**
+ * @brief Status lock or ready.
+ */
+typedef enum {
+  HMC5883L_LLD_LOCK = 0x0u,
+  HMC5883L_LLD_RDY  = 0x1u,
+} hmc5883l_lld_status_t;
+
+/**
+ * @brief Identification values.
+ */
+typedef enum {
+  HMC5883L_LLD_IDENTIFICATION_A = 0x48,
+  HMC5883L_LLD_IDENTIFICATION_B = 0x34,
+  HMC5883L_LLD_IDENTIFICATION_C = 0x33,
+} hmc5883l_lld_identification_t;
+
+/**
+ * @brief HMC5883L configuration struct.
+ */
+typedef struct {
+  hmc5883l_lld_averaging_t avg;
+  hmc5883l_lld_data_output_rate_t outrate;
+  hmc5883l_lld_measurement_bias_t mbias;
+  hmc5883l_lld_gain_t gain;
+  hmc5883l_lld_highspeed_t highspeed;
+  hmc5883l_lld_measurement_mode_t mode;
+} hmc5883l_lld_config_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t hmc5883l_lld_check(const HMC5883LDriver* const hmcd, uint8_t* const rxbuffer, const uint8_t size, const apalTime_t timeout);
+  apalExitStatus_t hmc5883l_lld_write_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout);
+  apalExitStatus_t hmc5883l_lld_set_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, const uint8_t data, const apalTime_t timeout);
+  apalExitStatus_t hmc5883l_lld_read_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, uint8_t* const data, const uint8_t num, const apalTime_t timeout);
+  apalExitStatus_t hmc5883l_lld_read_data(const HMC5883LDriver* const hmcd, uint16_t* const data, const apalTime_t timeout);
+  apalExitStatus_t hmc5883l_lld_write_config(const HMC5883LDriver* const hmcd, const hmc5883l_lld_config_t conf, const apalTime_t timeout);
+  apalExitStatus_t hmc5883l_lld_read_config(const HMC5883LDriver* const hmcd, hmc5883l_lld_config_t* const conf, const apalTime_t timeout);
+  apalExitStatus_t hmc5883l_lld_read_status(const HMC5883LDriver* const hmcd, uint8_t* const status, const apalTime_t timeout);
+  apalExitStatus_t hmc5883l_lld_read_lock(const HMC5883LDriver* const hmcd, uint8_t* const lock, const apalTime_t timeout);
+  apalExitStatus_t hmc5883l_lld_read_rdy(const HMC5883LDriver* const hmcd, uint8_t* const rdy, const apalTime_t timeout);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_HMC5883L) */
+
+#endif /* _AMIROLLD_HMC5883L_H_ */
diff --git a/include/alld_ina219.h b/include/alld_ina219.h
new file mode 100644
index 0000000..3e70b27
--- /dev/null
+++ b/include/alld_ina219.h
@@ -0,0 +1,169 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_INA219_H_
+#define _AMIROLLD_INA219_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_INA219) || defined(__DOXYGEN__)
+
+/**
+ * @brief Maximum I2C frequency.
+ */
+#define INA219_LLD_I2C_MAXFREQUENCY   2560000
+
+/**
+ * @brief I2C address masks.
+ */
+enum {
+  INA219_LLD_I2C_ADDR_FIXED   = 0x40u,
+  INA219_LLD_I2C_ADDR_A0      = 0x01u,
+  INA219_LLD_I2C_ADDR_A1      = 0x04u,
+};
+
+/**
+ * @brief Registers.
+ */
+typedef enum {
+  INA219_LLD_REGISTER_CONFIGURATION = 0x00,
+  INA219_LLD_REGISTER_SHUNT_VOLTAGE = 0x01,
+  INA219_LLD_REGISTER_BUS_VOLTAGE   = 0x02,
+  INA219_LLD_REGISTER_POWER         = 0x03,
+  INA219_LLD_REGISTER_CURRENT       = 0x04,
+  INA219_LLD_REGISTER_CALIBRATION   = 0x05,
+} ina219_lld_register_t;
+
+/**
+ * @brief BRNG.
+ */
+typedef enum {
+  INA219_LLD_BRNG_16 = 0x00,
+  INA219_LLD_BRNG_32 = 0x01,
+} ina219_lld_brng_t;
+
+/**
+ * @brief Gain settings.
+ */
+typedef enum {
+  INA219_LLD_GAIN_1_40mV = 0x00,
+  INA219_LLD_GAIN_2_80mV = 0x01,
+  INA219_LLD_GAIN_4_160mV = 0x02,
+  INA219_LLD_GAIN_8_320mV = 0x03,
+} ina219_lld_gain_t;
+
+/**
+ * @brief ADC settings.
+ */
+typedef enum {
+  INA219_LLD_ADC_9BIT = 0x00,
+  INA219_LLD_ADC_10BIT = 0x01,
+  INA219_LLD_ADC_11BIT = 0x02,
+  INA219_LLD_ADC_12BIT = 0x03,
+  INA219_LLD_ADC_2 = 0x09,
+  INA219_LLD_ADC_4 = 0x0A,
+  INA219_LLD_ADC_8 = 0x0B,
+  INA219_LLD_ADC_16 = 0x0C,
+  INA219_LLD_ADC_32 = 0x0D,
+  INA219_LLD_ADC_64 = 0x0E,
+  INA219_LLD_ADC_128 = 0x0f,
+} ina219_lld_adc_t;
+
+/**
+ * @brief Mode settings.
+ */
+typedef enum {
+  INA219_LLD_MODE_POWERDOWN = 0x00,
+  INA219_LLD_MODE_SHUNT_TRIGGERED = 0x01,
+  INA219_LLD_MODE_BUS_TRIGGERED = 0x02,
+  INA219_LLD_MODE_SHUNT_BUS_TRIGGERED = 0x03,
+  INA219_LLD_MODE_ADC_OFF = 0x04,
+  INA219_LLD_MODE_SHUNT_CONTINUOUS = 0x05,
+  INA219_LLD_MODE_BUS_CONTINUOUS = 0x06,
+  INA219_LLD_MODE_SHUNT_BUS_CONTINUOUS = 0x07,
+} ina219_lld_mode_t;
+
+/**
+ * @brief Config register.
+ */
+typedef union {
+  uint16_t data;
+  struct {
+    ina219_lld_mode_t mode : 3;
+    ina219_lld_adc_t sadc : 4;
+    ina219_lld_adc_t badc : 4;
+    ina219_lld_gain_t gain : 2;
+    ina219_lld_brng_t brng : 1;
+    uint8_t zero : 1;
+    uint8_t reset : 1;
+  } options;
+} ina219_lld_cfg_t;
+
+/**
+ * @brief Calibration input struct.
+ */
+typedef struct {
+  float shunt_resistance_0;
+  float max_expected_current_A;
+  uint16_t current_lsb_uA;
+  ina219_lld_cfg_t cfg_reg;
+} ina219_lld_calib_input_t;
+
+/**
+ * @brief Calibration output struct.
+ */
+typedef struct {
+  float max_current_before_overflow_A;
+  float max_shunt_voltage_before_overflow_V;
+  uint16_t current_lsb_uA;
+  uint16_t calibration;
+} ina219_lld_calib_output_t;
+
+/**
+ * @brief The INA219Driver struct
+ */
+typedef struct {
+  apalI2CDriver_t* i2cd;
+  uint8_t addr; /**<The address of the INA219 for I2C communication, which is defined by the wiring of the A0 and A1 pins */
+  uint16_t current_lsb_uA;
+  ina219_lld_cfg_t *config;
+} INA219Driver;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t ina219_lld_calibration(INA219Driver* const ina219, const ina219_lld_calib_input_t* const calib_data, ina219_lld_calib_output_t* const calib_out);
+  apalExitStatus_t ina219_lld_read_register(const INA219Driver* const ina219, const ina219_lld_register_t addr, uint16_t* const data, const uint8_t num, const apalTime_t timeout);
+  apalExitStatus_t ina219_lld_write_register(const INA219Driver* const ina219, const ina219_lld_register_t addr, const uint16_t* const data, const uint8_t num, const apalTime_t timeout);
+  apalExitStatus_t ina219_lld_read_config(const INA219Driver* const ina219, ina219_lld_cfg_t* const cfg, const apalTime_t timeout);
+  apalExitStatus_t ina219_lld_write_config(const INA219Driver* const ina219, const ina219_lld_cfg_t cfg, const apalTime_t timeout);
+  apalExitStatus_t ina219_lld_read_calibration(const INA219Driver* const ina219, uint16_t* const calib, const apalTime_t timeout);
+  apalExitStatus_t ina219_lld_write_calibration(const INA219Driver* const ina219, const uint16_t calib, const apalTime_t timeout);
+  apalExitStatus_t ina219_lld_reset(const INA219Driver* const ina219, const apalTime_t timeout);
+  apalExitStatus_t ina219_lld_read_shunt_voltage(const INA219Driver* const ina219, int32_t* const data, const apalTime_t timeout);
+  apalExitStatus_t ina219_lld_read_bus_voltage(const INA219Driver* const ina219, uint32_t* const data, const apalTime_t timeout);
+  apalExitStatus_t ina219_lld_read_power(const INA219Driver* const ina219, uint32_t* const data, const apalTime_t timeout);
+  apalExitStatus_t ina219_lld_read_current(const INA219Driver* const ina219, int16_t* const data, const apalTime_t timeout);
+  apalExitStatus_t ina219_lld_bus_conversion_ready(const INA219Driver* const ina219, uint16_t* const buscnv, const apalTime_t timeout);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_INA219) */
+
+#endif /* _AMIROLLD_INA219_H_ */
diff --git a/include/alld_l3g4200d.h b/include/alld_l3g4200d.h
new file mode 100644
index 0000000..6b6917a
--- /dev/null
+++ b/include/alld_l3g4200d.h
@@ -0,0 +1,316 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_L3G4200D_H_
+#define _AMIROLLD_L3G4200D_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_L3G4200D) || defined(__DOXYGEN__)
+
+/**
+ * @brief A rising edge indicates an interrupt.
+ */
+#define L3G4200D_LLD_INT_EDGE   APAL_GPIO_EDGE_RISING
+
+/**
+ * @brief The L3G4200D driver struct
+ */
+typedef struct {
+  apalSPIDriver_t* spid;        /**< @brief The SPI Driver */
+} L3G4200DDriver;
+
+/**
+ * @brief SPI access modes.
+ */
+typedef enum {
+  L3G4200D_LLD_SPI_MULT  = 0x40u,
+  L3G4200D_LLD_SPI_READ  = 0x80u,
+  L3G4200D_LLD_SPI_WRITE = 0x00u,
+} l3g4200d_lld_SPI_mode_t;
+
+/**
+ * @brief Registers.
+ */
+typedef enum {
+  L3G4200D_LLD_REGISTER_WHO_AM_I = 0x0F,
+  L3G4200D_LLD_REGISTER_CTRL_REG1 = 0x20,
+  L3G4200D_LLD_REGISTER_CTRL_REG2 = 0x21,
+  L3G4200D_LLD_REGISTER_CTRL_REG3 = 0x22,
+  L3G4200D_LLD_REGISTER_CTRL_REG4 = 0x23,
+  L3G4200D_LLD_REGISTER_CTRL_REG5 = 0x24,
+  L3G4200D_LLD_REGISTER_REFERECE = 0x25,
+  L3G4200D_LLD_REGISTER_OUT_TEMP = 0x26,
+  L3G4200D_LLD_REGISTER_STATUS_REG = 0x27,
+  L3G4200D_LLD_REGISTER_OUT_X_L = 0x28,
+  L3G4200D_LLD_REGISTER_OUT_X_H = 0x29,
+  L3G4200D_LLD_REGISTER_OUT_Y_L = 0x2A,
+  L3G4200D_LLD_REGISTER_OUT_Y_H = 0x2B,
+  L3G4200D_LLD_REGISTER_OUT_Z_L = 0x2C,
+  L3G4200D_LLD_REGISTER_OUT_Z_H = 0x2D,
+  L3G4200D_LLD_REGISTER_FIFO_CTRL_REG = 0x2E,
+  L3G4200D_LLD_REGISTER_FIFO_SRC_REG = 0x2F,
+  L3G4200D_LLD_REGISTER_INT1_CFG = 0x30,
+  L3G4200D_LLD_REGISTER_INT1_SRC = 0x31,
+  L3G4200D_LLD_REGISTER_INT1_TSH_XH = 0x32,
+  L3G4200D_LLD_REGISTER_INT1_TSH_XL = 0x33,
+  L3G4200D_LLD_REGISTER_INT1_TSH_YH = 0x34,
+  L3G4200D_LLD_REGISTER_INT1_TSH_YL = 0x35,
+  L3G4200D_LLD_REGISTER_INT1_TSH_ZH = 0x36,
+  L3G4200D_LLD_REGISTER_INT1_TSH_ZL = 0x37,
+  L3G4200D_LLD_REGISTER_INT1_DURATION = 0x38,
+} l3g4200d_lld_register_t;
+
+/**
+ * @brief WHO_AM_I register constant content.
+ */
+typedef enum {
+  L3G4200D_LLD_WHO_AM_I = 0xD3,
+} l3g4200d_lld_whoami_t;
+
+/**
+ * @brief Control register 1 flags.
+ */
+typedef enum {
+  L3G4200D_LLD_DR_100_HZ   = 0x00,
+  L3G4200D_LLD_DR_200_HZ   = 0x40,
+  L3G4200D_LLD_DR_400_HZ   = 0x80,
+  L3G4200D_LLD_DR_800_HZ   = 0xC0,
+  L3G4200D_LLD_BW_12_5  = 0x00,
+  L3G4200D_LLD_BW_20    = 0x00,
+  L3G4200D_LLD_BW_25    = 0x10,
+  L3G4200D_LLD_BW_30    = 0x00,
+  L3G4200D_LLD_BW_35    = 0x10,
+  L3G4200D_LLD_BW_50    = 0x20,
+  L3G4200D_LLD_BW_70    = 0x30,
+  L3G4200D_LLD_BW_110   = 0x30,
+  L3G4200D_LLD_PD  = 0x08,
+  L3G4200D_LLD_ZEN = 0x04,
+  L3G4200D_LLD_YEN = 0x02,
+  L3G4200D_LLD_XEN = 0x01,
+} l3g4200d_lld_ctrl_reg1_t;
+
+/**
+ * @brief Control register 2 flags.
+ */
+typedef enum {
+  L3G4200D_LLD_HPM_NORMAL_RST = 0x00,
+  L3G4200D_LLD_HPM_REFERENCE  = 0x10,
+  L3G4200D_LLD_HPM_NORMAL     = 0x20,
+  L3G4200D_LLD_HPM_AUTO_RST   = 0x30,
+  L3G4200D_LLD_HPCF_2    = 0x00,
+  L3G4200D_LLD_HPCF_4    = 0x01,
+  L3G4200D_LLD_HPCF_8    = 0x02,
+  L3G4200D_LLD_HPCF_16   = 0x03,
+  L3G4200D_LLD_HPCF_32   = 0x04,
+  L3G4200D_LLD_HPCF_64   = 0x05,
+  L3G4200D_LLD_HPCF_128  = 0x06,
+  L3G4200D_LLD_HPCF_256  = 0x07,
+  L3G4200D_LLD_HPCF_512  = 0x08,
+  L3G4200D_LLD_HPCF_1024 = 0x09,
+} l3g4200d_lld_ctrl_reg2_t;
+
+/**
+ * @brief Control register 3 flags.
+ */
+typedef enum {
+  L3G4200D_LLD_I1_INT1   = 0x80,
+  L3G4200D_LLD_I1_BOOT   = 0x40,
+  L3G4200D_LLD_H_IACTIVE = 0x20,
+  L3G4200D_LLD_PP_OD     = 0x10,
+  L3G4200D_LLD_I2_DRDY   = 0x08,
+  L3G4200D_LLD_I2_WTM    = 0x04,
+  L3G4200D_LLD_I2_ORUN   = 0x02,
+  L3G4200D_LLD_I2_EMPTY  = 0x01,
+} l3g4200d_lld_ctrl_reg3_t;
+
+/**
+ * @brief Control register 4 flags.
+ */
+typedef enum {
+  L3G4200D_LLD_BDU_CONT    = 0x00,
+  L3G4200D_LLD_BDU_SINGLE  = 0x80,
+  L3G4200D_LLD_BLE_MSB     = 0x40,
+  L3G4200D_LLD_BLE_LSB     = 0x00,
+  L3G4200D_LLD_FS_250_DPS  = 0x00,
+  L3G4200D_LLD_FS_500_DPS  = 0x10,
+  L3G4200D_LLD_FS_2000_DPS = 0x20,
+  L3G4200D_LLD_ST_SIGN_M   = 0x04,
+  L3G4200D_LLD_ST_SIGN_P   = 0x00,
+  L3G4200D_LLD_ST_EN       = 0x02,
+  L3G4200D_LLD_SIM_3W      = 0x01,
+  L3G4200D_LLD_SIM_4W      = 0x00,
+} l3g4200d_lld_ctrl_reg4_t;
+
+/**
+ * @brief Control register 5 flags.
+ */
+typedef enum {
+  L3G4200D_LLD_BOOT          = 0x80,
+  L3G4200D_LLD_FIFO_EN       = 0x40,
+  L3G4200D_LLD_HP_EN         = 0x10,
+  L3G4200D_LLD_INT1_SEL_NOHP = 0x00,
+  L3G4200D_LLD_INT1_SEL_HP   = 0x04,
+  L3G4200D_LLD_INT1_SEL_LP   = 0x08,
+  L3G4200D_LLD_OUT_SEL_NOHP  = 0x00,
+  L3G4200D_LLD_OUT_SEL_HP    = 0x01,
+  L3G4200D_LLD_OUT_SEL_LP    = 0x02,
+} l3g4200d_lld_ctrl_reg5_t;
+
+/**
+ * @brief Status register flags.
+ */
+typedef enum {
+  L3G4200D_LLD_ZYXOR = 0x80,
+  L3G4200D_LLD_ZOR   = 0x40,
+  L3G4200D_LLD_YOR   = 0x20,
+  L3G4200D_LLD_XOR   = 0x10,
+  L3G4200D_LLD_ZYXDA = 0x08,
+  L3G4200D_LLD_ZDA   = 0x04,
+  L3G4200D_LLD_YDA   = 0x02,
+  L3G4200D_LLD_XDA   = 0x01,
+} l3g4200d_lld_status_reg_t;
+
+/**
+ * @brief Fifo control register masks.
+ */
+typedef enum {
+  L3G4200D_LLD_FM_BYPASS        = 0x00,
+  L3G4200D_LLD_FM_FMMODE        = 0x20,
+  L3G4200D_LLD_FM_STREAM        = 0x40,
+  L3G4200D_LLD_FM_STREAM2FIFO   = 0x60,
+  L3G4200D_LLD_FM_BYPASS2STREAM = 0x80,
+  L3G4200D_LLD_WTM_MASK         = 0x1F,
+} l3g4200d_lld_fifo_ctrl_reg_t;
+
+/**
+ * @brief  FIFO source register masks.
+ */
+typedef enum {
+  L3G4200D_LLD_WTM      = 0x80,
+  L3G4200D_LLD_OVRN     = 0x40,
+  L3G4200D_LLD_EMPTY    = 0x20,
+  L3G4200D_LLD_FSS_MASK = 0x1F,
+} l3g4200d_lld_fifo_src_reg_t;
+
+/**
+ * @brief Interrupt 1 config register flags.
+ */
+typedef enum {
+  L3G4200D_LLD_ANDOR = 0x80,
+  L3G4200D_LLD_LIR   = 0x40,
+  L3G4200D_LLD_ZHIE  = 0x20,
+  L3G4200D_LLD_ZLIE  = 0x10,
+  L3G4200D_LLD_YHIE  = 0x08,
+  L3G4200D_LLD_YLIE  = 0x04,
+  L3G4200D_LLD_XHIE  = 0x02,
+  L3G4200D_LLD_XLIE  = 0x01,
+} l3g4200d_lld_int1_cfg_reg_t;
+
+/**
+ * @brief Interrupt 1 source register flags.
+ */
+typedef enum {
+  L3G4200D_LLD_IA = 0x40,
+  L3G4200D_LLD_ZH = 0x20,
+  L3G4200D_LLD_ZL = 0x10,
+  L3G4200D_LLD_YH = 0x08,
+  L3G4200D_LLD_YL = 0x04,
+  L3G4200D_LLD_XH = 0x02,
+  L3G4200D_LLD_XL = 0x01,
+} l3g4200d_lld_int1_src_t;
+
+/**
+ * @brief Threshold mask.
+ */
+enum {
+  L3G4200D_LLD_THS_L_MASK = 0x7F
+};
+
+/**
+ * @brief Interrupt duration register masks.
+ */
+typedef enum {
+  L3G4200D_LLD_INT1_WAIT          = 0x80,
+  L3G4200D_LLD_INT1_DURATION_MASK = 0x7F,
+} l3g4200d_lld_int1_duration_reg_t;
+
+/**
+ * @brief Axis enum.
+ */
+typedef enum {
+  L3G4200D_LLD_X_AXIS = 0x00,
+  L3G4200D_LLD_Y_AXIS = 0x01,
+  L3G4200D_LLD_Z_AXIS = 0x02,
+} l3g4200d_lld_axis_t;
+
+/**
+ * @brief Config register struct.
+ */
+typedef union {
+  uint8_t data[5];
+  struct {
+    uint8_t ctrl_reg1;
+    uint8_t ctrl_reg2;
+    uint8_t ctrl_reg3;
+    uint8_t ctrl_reg4;
+    uint8_t ctrl_reg5;
+  } registers;
+} l3g4200d_lld_cfg_t;
+
+/**
+ * @brief Interrupt config struct.
+ */
+typedef union {
+  uint8_t data[9];
+  struct {
+    uint8_t int1_cfg;
+    uint8_t int1_src;
+    uint8_t int1_tsh_xh;
+    uint8_t int1_tsh_xl;
+    uint8_t int1_tsh_yh;
+    uint8_t int1_tsh_yl;
+    uint8_t int1_tsh_zh;
+    uint8_t int1_tsh_zl;
+    uint8_t int1_duration;
+  } registers;
+} l3g4200d_lld_int_cfg_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t l3g4200d_lld_read_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, uint8_t* const data, const uint8_t length);
+  apalExitStatus_t l3g4200d_lld_write_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, const uint8_t* const data, const uint8_t length);
+  apalExitStatus_t l3g4200d_lld_read_all_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_cfg_t* const cfg);
+  apalExitStatus_t l3g4200d_lld_read_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_axis_t axis, const l3g4200d_lld_cfg_t* const cfg);
+  apalExitStatus_t l3g4200d_lld_read_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_cfg_t* const cfg);
+  apalExitStatus_t l3g4200d_lld_write_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_cfg_t cfg);
+  apalExitStatus_t l3g4200d_lld_read_int_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_int_cfg_t* const cfg);
+  apalExitStatus_t l3g4200d_lld_write_int_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_int_cfg_t cfg);
+  apalExitStatus_t l3g4200d_lld_read_int_src(const L3G4200DDriver* const l3gd, uint8_t* const cfg);
+  apalExitStatus_t l3g4200d_lld_read_status_register(const L3G4200DDriver* const l3gd, uint8_t* const status);
+  apalExitStatus_t l3g4200d_lld_read_fifo_ctrl_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo);
+  apalExitStatus_t l3g4200d_lld_write_fifo_ctrl_register(const L3G4200DDriver* const l3gd, const uint8_t fifo);
+  apalExitStatus_t l3g4200d_lld_read_fifo_src_register(const L3G4200DDriver* const l3gdd, uint8_t* const fifo);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_L3G4200D) */
+
+#endif /* _AMIROLLD_L3G4200D_H_ */
diff --git a/include/alld_led.h b/include/alld_led.h
new file mode 100644
index 0000000..6ca8767
--- /dev/null
+++ b/include/alld_led.h
@@ -0,0 +1,58 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_LED_H_
+#define _AMIROLLD_LED_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_LED) || defined(__DOXYGEN__)
+
+/**
+ * @brief Active state of LED GPIO (low active).
+ */
+#define LED_LLD_GPIO_ACTIVE_STATE APAL_GPIO_ACTIVE_LOW
+
+/**
+ * @brief LED driver data structure.
+ */
+typedef struct {
+  apalControlGpio_t      gpio;           /**< @brief The identifier of the GPIO.  */
+} LEDDriver;
+
+/**
+ * @brief The state of the LED.
+ */
+typedef enum {
+  LED_LLD_STATE_OFF = 0x00,   /**< 'on' state of the LED */
+  LED_LLD_STATE_ON  = 0x01,   /**< 'off' state of the LED */
+} led_lld_state_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t led_lld_set(const LEDDriver* const led, const led_lld_state_t state);
+  apalExitStatus_t led_lld_get(const LEDDriver* const led, led_lld_state_t* const state);
+  apalExitStatus_t led_lld_toggle(const LEDDriver* const led);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_LED) */
+
+#endif /* _AMIROLLD_LED_H_ */
diff --git a/include/alld_lis331dlh.h b/include/alld_lis331dlh.h
new file mode 100644
index 0000000..4a5d1bd
--- /dev/null
+++ b/include/alld_lis331dlh.h
@@ -0,0 +1,256 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_LIS331DLH_H_
+#define _AMIROLLD_LIS331DLH_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_LIS331DLH) || defined(__DOXYGEN__)
+
+/**
+ * @brief A falling edge indicates an interrupt.
+ */
+#define LIS331DLH_LLD_INT_EDGE  APAL_GPIO_EDGE_FALLING
+
+/**
+ * @brief The LIS331DLH driver struct
+ */
+typedef struct {
+  apalSPIDriver_t* spid;        /**< @brief The SPI Driver */
+} LIS331DLHDriver;
+
+/**
+ * @brief SPI access modes.
+ */
+typedef enum {
+  LIS331DLH_LLD_SPI_MULT  = 0x40u,
+  LIS331DLH_LLD_SPI_READ  = 0x80u,
+  LIS331DLH_LLD_SPI_WRITE = 0x00u,
+} lis331dlh_lld_SPI_mode_t;
+
+/**
+ * @brief Registers.
+ */
+typedef enum {
+  LIS331DLH_LLD_REGISTER_WHO_AM_I        = 0x0fu,
+  LIS331DLH_LLD_REGISTER_CTRL_REG1       = 0x20u,
+  LIS331DLH_LLD_REGISTER_CTRL_REG2       = 0x21u,
+  LIS331DLH_LLD_REGISTER_CTRL_REG3       = 0x22u,
+  LIS331DLH_LLD_REGISTER_CTRL_REG4       = 0x23u,
+  LIS331DLH_LLD_REGISTER_CTRL_REG5       = 0x24u,
+  LIS331DLH_LLD_REGISTER_HP_FILTER_RESET = 0x25u,
+  LIS331DLH_LLD_REGISTER_REFERENCE       = 0x26u,
+  LIS331DLH_LLD_REGISTER_STATUS_REG      = 0x27u,
+  LIS331DLH_LLD_REGISTER_OUT_X_L         = 0x28u,
+  LIS331DLH_LLD_REGISTER_OUT_X_H         = 0x29u,
+  LIS331DLH_LLD_REGISTER_OUT_Y_L         = 0x2Au,
+  LIS331DLH_LLD_REGISTER_OUT_Y_H         = 0x2Bu,
+  LIS331DLH_LLD_REGISTER_OUT_Z_L         = 0x2Cu,
+  LIS331DLH_LLD_REGISTER_OUT_Z_H         = 0x2Du,
+  LIS331DLH_LLD_REGISTER_INT1_CFG        = 0x30u,
+  LIS331DLH_LLD_REGISTER_INT1_SOURCE     = 0x31u,
+  LIS331DLH_LLD_REGISTER_INT1_THS        = 0x32u,
+  LIS331DLH_LLD_REGISTER_INT1_DURATION   = 0x33u,
+  LIS331DLH_LLD_REGISTER_INT2_CFG        = 0x34u,
+  LIS331DLH_LLD_REGISTER_INT2_SOURCE     = 0x35u,
+  LIS331DLH_LLD_REGISTER_INT2_THS        = 0x36u,
+  LIS331DLH_LLD_REGISTER_INT2_DURATION   = 0x37u,
+} lis331dlh_lld_register_t;
+
+/**
+ * @brief WHO_AM_I register constant content.
+ */
+typedef enum {
+  LIS331DLH_LLD_WHO_AM_I = 0x32,
+} lis331dlh_lld_whoami_t;
+
+/**
+ * @brief Control register 1 flags.
+ */
+typedef enum {
+  LIS331DLH_LLD_PM_OFF          = 0x00u,
+  LIS331DLH_LLD_PM_ODR          = 0x20u,
+  LIS331DLH_LLD_PM_0_5_HZ       = 0x40u,
+  LIS331DLH_LLD_PM_1_HZ         = 0x60u,
+  LIS331DLH_LLD_PM_2_HZ         = 0x80u,
+  LIS331DLH_LLD_PM_5_HZ         = 0xA0u,
+  LIS331DLH_LLD_PM_10_HZ        = 0xC0u,
+  LIS331DLH_LLD_DR_50HZ_37LP    = 0x00u,
+  LIS331DLH_LLD_DR_100HZ_74LP   = 0x08u,
+  LIS331DLH_LLD_DR_400HZ_292LP  = 0x10u,
+  LIS331DLH_LLD_DR_1000HZ_780LP = 0x18u,
+  LIS331DLH_LLD_X_AXIS_ENABLE   = 0x01u,
+  LIS331DLH_LLD_Y_AXIS_ENABLE   = 0x02u,
+  LIS331DLH_LLD_Z_AXIS_ENABLE   = 0x04u,
+} lis331dlh_lld_ctrl_reg1_t;
+
+/**
+ * @brief Control register 2 flags.
+ */
+typedef enum {
+  LIS331DLH_LLD_REBOOT = 0x80u,
+  LIS331DLH_LLD_HPM_NORMAL0  = 0x00u,
+  LIS331DLH_LLD_HPM_REF      = 0x20u,
+  LIS331DLH_LLD_HPM_NORMAL1  = 0x40u,
+  LIS331DLH_LLD_FDS_BYPASS = 0x00u,
+  LIS331DLH_LLD_FDS_FILTER = 0x10u,
+  LIS331DLH_LLD_HP_EN_INT2  = 0x08u,
+  LIS331DLH_LLD_HP_EN_INT1  = 0x04u,
+  LIS331DLH_LLD_HPCF_8       = 0x00u,
+  LIS331DLH_LLD_HPCF_16      = 0x01u,
+  LIS331DLH_LLD_HPCF_32      = 0x02u,
+  LIS331DLH_LLD_HPCF_64      = 0x03u,
+} lis331dlh_lld_ctrl_reg2_t;
+
+/**
+ * @brief Control register 3 flags.
+ */
+typedef enum {
+  LIS331DLH_LLD_INT_HIGH     = 0x00u,
+  LIS331DLH_LLD_INT_LOW      = 0x80u,
+  LIS331DLH_LLD_PUSH_PULL    = 0x00u,
+  LIS331DLH_LLD_OPEN_DRAIN   = 0x40u,
+  LIS331DLH_LLD_LIR2_LATCH    = 0x20u,
+  LIS331DLH_LLD_I2_CFG_I2    = 0x00u,
+  LIS331DLH_LLD_I2_CFG_I1_I2 = 0x08u,
+  LIS331DLH_LLD_I2_CFG_DRY   = 0x10u,
+  LIS331DLH_LLD_I2_CFG_BOOT  = 0x18u,
+  LIS331DLH_LLD_LIR1_LATCH    = 0x04u,
+  LIS331DLH_LLD_LIR1_NO_LATCH = 0x00u,
+  LIS331DLH_LLD_I1_CFG_I1    = 0x00u,
+  LIS331DLH_LLD_I1_CFG_I1_I2 = 0x01u,
+  LIS331DLH_LLD_I1_CFG_DRY   = 0x02u,
+  LIS331DLH_LLD_I1_CFG_BOOT  = 0x03u,
+} lis331dlh_lld_ctrl_reg3_t;
+
+/**
+ * @brief Control register 4 flags.
+ */
+typedef enum {
+  LIS331DLH_LLD_BDU_CONT = 0x00u,
+  LIS331DLH_LLD_BDU_STOP = 0x80u,
+  LIS331DLH_LLD_BLE_LE   = 0x00u,
+  LIS331DLH_LLD_BLE_BE   = 0x40u,
+  LIS331DLH_LLD_FS_2G    = 0x00u,
+  LIS331DLH_LLD_FS_4G    = 0x10u,
+  LIS331DLH_LLD_FS_8G    = 0x30u,
+  LIS331DLH_LLD_STSIGN_POS = 0x00u,
+  LIS331DLH_LLD_STSIGN_NEG = 0x08u,
+  LIS331DLH_LLD_ST_DISABLE = 0x00u,
+  LIS331DLH_LLD_ST_ENABLE  = 0x02u,
+  LIS331DLH_LLD_SIM_4WI    = 0x00u,
+  LIS331DLH_LLD_SIM_3WI    = 0x01u,
+} lis331dlh_lld_ctrl_reg4_t;
+
+/**
+ * @brief Control register 5 flags.
+ */
+typedef enum {
+  LIS331DLH_LLD_SLEEP_TO_WAKE_OFF = 0x00u,
+  LIS331DLH_LLD_SLEEP_TO_WAKE_ON  = 0x03u,
+} lis331dlh_lld_ctrl_reg5_t;
+
+/**
+ * @brief Axis enum.
+ */
+typedef enum {
+  LIS331DLH_LLD_X_AXIS = 0,
+  LIS331DLH_LLD_Y_AXIS = 1,
+  LIS331DLH_LLD_Z_AXIS = 2,
+} lis331dlh_lld_axis_t;
+
+/**
+ * @brief Interrupt enum.
+ */
+typedef enum {
+  LIS331DLH_LLD_INT1 = 0x01,
+  LIS331DLH_LLD_INT2 = 0x02,
+} lis331dlh_lld_int_t;
+
+/**
+ * @brief Config register struct.
+ */
+typedef union {
+  uint8_t data[5];
+  struct {
+    uint8_t ctrl_reg1;
+    uint8_t ctrl_reg2;
+    uint8_t ctrl_reg3;
+    uint8_t ctrl_reg4;
+    uint8_t ctrl_reg5;
+  } registers;
+} lis331dlh_lld_cfg_t;
+
+/**
+ * @brief Interrupt config register flags.
+ */
+typedef enum {
+  LIS331DLH_LLD_INT_CFG_X_LOW_ENABLE  = 0x01,
+  LIS331DLH_LLD_INT_CFG_X_HIGH_ENABLE = 0x02,
+  LIS331DLH_LLD_INT_CFG_Y_LOW_ENABLE  = 0x04,
+  LIS331DLH_LLD_INT_CFG_Y_HIGH_ENABLE = 0x08,
+  LIS331DLH_LLD_INT_CFG_Z_LOW_ENABLE  = 0x10,
+  LIS331DLH_LLD_INT_CFG_Z_HIGH_ENABLE = 0x20,
+  LIS331DLH_LLD_INT_CFG_D6            = 0x40,
+  LIS331DLH_LLD_INT_CFG_AOI           = 0x80,
+} lis331dlh_lld_int_cfg_reg_t;
+
+/**
+ * @brief Status register flags.
+ */
+typedef enum {
+  LIS331DLH_LLD_STATUS_ZYXOR = 0x01,
+  LIS331DLH_LLD_STATUS_Z_OR  = 0x02,
+  LIS331DLH_LLD_STATUS_Y_OR  = 0x04,
+  LIS331DLH_LLD_STATUS_X_OR  = 0x08,
+  LIS331DLH_LLD_STATUS_ZYXDA = 0x10,
+  LIS331DLH_LLD_STATUS_Z_DA  = 0x20,
+  LIS331DLH_LLD_STATUS_Y_DA  = 0x40,
+  LIS331DLH_LLD_STATUS_X_DA  = 0x80,
+} lis331dlh_lld_status_t;
+
+/**
+ * @brief Interrupt config struct.
+ */
+typedef struct {
+  uint8_t cfg_reg;
+  uint8_t threshold;
+  uint8_t duration;
+} lis331dlh_lld_int_cfg_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t lis331dlh_lld_read_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, uint8_t *data, const uint8_t length);
+  apalExitStatus_t lis331dlh_lld_write_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, const uint8_t *data, const uint8_t length);
+  apalExitStatus_t lis331dlh_lld_reset_hp_filter(const LIS331DLHDriver* const lisd);
+  apalExitStatus_t lis331dlh_lld_read_all_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_cfg_t *cfg);
+  apalExitStatus_t lis331dlh_lld_read_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_axis_t axis, const lis331dlh_lld_cfg_t *cfg);
+  apalExitStatus_t lis331dlh_lld_read_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_cfg_t *cfg);
+  apalExitStatus_t lis331dlh_lld_write_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_cfg_t *cfg);
+  apalExitStatus_t lis331dlh_lld_read_int_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt);
+  apalExitStatus_t lis331dlh_lld_write_int_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt);
+  apalExitStatus_t lis331dlh_lld_read_status_register(const LIS331DLHDriver* const lisd, uint8_t *status);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_LIS331DLH) */
+
+#endif /* _AMIROLLD_LIS331DLH_H_ */
diff --git a/include/alld_ltc4412.h b/include/alld_ltc4412.h
new file mode 100644
index 0000000..296e268
--- /dev/null
+++ b/include/alld_ltc4412.h
@@ -0,0 +1,66 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_LTC4412_H_
+#define _AMIROLLD_LTC4412_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_LTC4412) || defined(__DOXYGEN__)
+
+/**
+ * @brief CTRL GPIO active state.
+ */
+#define LTC4412_LLD_CTRL_ACTIVE_STATE   APAL_GPIO_ACTIVE_HIGH
+
+/**
+ * @brief STAT GPIO active state.
+ */
+#define LTC4412_LLD_STAT_ACTIVE_STATE   APAL_GPIO_ACTIVE_HIGH
+
+/**
+ * @brief LTC4412 driver struct.
+ */
+typedef struct {
+  apalControlGpio_t gpio_ctrl; /**< @brief Control GPIO */
+  apalControlGpio_t gpio_stat; /**< @brief Status GPIO */
+} LTC4412Driver;
+
+typedef enum {
+  LTC4412_LLD_CTRL_INACTIVE = 0x0,
+  LTC4412_LLD_CTRL_ACTIVE   = 0x1,
+} ltc4412_lld_ctrl_t;
+
+typedef enum {
+  LTC4412_LLD_STAT_INACTIVE = 0x0,
+  LTC4412_LLD_STAT_ACTIVE   = 0x1,
+} ltc4412_lld_stat_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t ltc4412_lld_get_ctrl(const LTC4412Driver* const ltc4412, ltc4412_lld_ctrl_t* const ctrl);
+  apalExitStatus_t ltc4412_lld_set_ctrl(const LTC4412Driver* const ltc4412, const ltc4412_lld_ctrl_t ctrl);
+  apalExitStatus_t ltc4412_lld_get_stat(const LTC4412Driver* const ltc4412, ltc4412_lld_stat_t* const stat);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_LTC4412) */
+
+#endif /* _AMIROLLD_LTC4412_H_ */
diff --git a/include/alld_mpr121.h b/include/alld_mpr121.h
new file mode 100644
index 0000000..4db4ffc
--- /dev/null
+++ b/include/alld_mpr121.h
@@ -0,0 +1,221 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_MPR121_H_
+#define _AMIROLLD_MPR121_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_MPR121) || defined(__DOXYGEN__)
+
+/**
+ * @brief Maximum I2C frequency.
+ */
+#define MPR121_LLD_I2C_MAXFREQUENCY   400000
+
+/**
+ * @brief A falling edge indicates an interrupt.
+ */
+#define MPR121_LLD_INT_EDGE           APAL_GPIO_EDGE_FALLING
+
+/**
+ * @brief The MPR121 driver struct
+ */
+typedef struct {
+  apalI2CDriver_t* i2cd;        /**< @brief The I2C Driver */
+} MPR121Driver;
+
+enum {
+  MPR121_LLD_I2C_ADDR_FIXED   = 0x5Au,
+  MPR121_LLD_I2C_ADDR_VSS     = 0x00u,
+  MPR121_LLD_I2C_ADDR_VDD     = 0x01u,
+  MPR121_LLD_I2C_ADDR_SDA     = 0x04u,
+  MPR121_LLD_I2C_SOFTRESET    = 0x63,
+};
+
+/**
+ * @brief Registers of the mpr121.
+ */
+typedef enum {
+  MPR121_LLD_REGISTER_TOUCH_STATUS  = 0x00,
+  MPR121_LLD_REGISTER_OOR_STATUS    = 0x02,
+  MPR121_LLD_REGISTER_FILTERED_DATA = 0x04,
+  MPR121_LLD_REGISTER_BASELINE      = 0x1E,
+
+  MPR121_LLD_REGISTER_MHD_RISING    = 0x2B,
+  MPR121_LLD_REGISTER_NHD_RISING    = 0x2C,
+  MPR121_LLD_REGISTER_NCL_RISING    = 0x2D,
+  MPR121_LLD_REGISTER_FDL_RISING    = 0x2E,
+  MPR121_LLD_REGISTER_MHD_FALLING   = 0x2F,
+  MPR121_LLD_REGISTER_NHD_FALLING   = 0x30,
+  MPR121_LLD_REGISTER_NCL_FALLING   = 0x31,
+  MPR121_LLD_REGISTER_FDL_FALLING   = 0x32,
+  MPR121_LLD_REGISTER_NHD_TOUCHED   = 0x33,
+  MPR121_LLD_REGISTER_NCL_TOUCHED   = 0x34,
+  MPR121_LLD_REGISTER_FDL_TOUCHED   = 0x35,
+
+  MPR121_LLD_REGISTER_ELEPROX_MHD_RISING    = 0x36,
+  MPR121_LLD_REGISTER_ELEPROX_NHD_RISING    = 0x37,
+  MPR121_LLD_REGISTER_ELEPROX_NCL_RISING    = 0x38,
+  MPR121_LLD_REGISTER_ELEPROX_FDL_RISING    = 0x39,
+  MPR121_LLD_REGISTER_ELEPROX_MHD_FALLING   = 0x3A,
+  MPR121_LLD_REGISTER_ELEPROX_NHD_FALLING   = 0x3B,
+  MPR121_LLD_REGISTER_ELEPROX_NCL_FALLING   = 0x3C,
+  MPR121_LLD_REGISTER_ELEPROX_FDL_FALLING   = 0x3D,
+  MPR121_LLD_REGISTER_ELEPROX_NHD_TOUCHED   = 0x3E,
+  MPR121_LLD_REGISTER_ELEPROX_NCL_TOUCHED   = 0x3F,
+  MPR121_LLD_REGISTER_ELEPROX_FDL_TOUCHED   = 0x40,
+
+  MPR121_LLD_REGISTER_THRESHOLDS  = 0x41,
+  MPR121_LLD_REGISTER_DEBOUNCE    = 0x5B,
+  MPR121_LLD_REGISTER_CONFIG_1    = 0x5C,
+  MPR121_LLD_REGISTER_CONFIG_2    = 0x5D,
+  MPR121_LLD_REGISTER_CONFIG_ECR  = 0x5E,
+  MPR121_LLD_REGISTER_ELE_CURRENT = 0x5F,
+  MPR121_LLD_REGISTER_CHARGE_TIME = 0x6C,
+
+  MPR121_LLD_REGISTER_GPIO_CTRL_0         = 0x73,
+  MPR121_LLD_REGISTER_GPIO_CTRL_1         = 0x74,
+  MPR121_LLD_REGISTER_GPIO_DATA           = 0x75,
+  MPR121_LLD_REGISTER_GPIO_DIRECTION_CTRL = 0x76,
+  MPR121_LLD_REGISTER_GPIO_ENABLE         = 0x77,
+  MPR121_LLD_REGISTER_GPIO_DATA_SET       = 0x78,
+  MPR121_LLD_REGISTER_GPIO_DATA_CLEAR     = 0x79,
+  MPR121_LLD_REGISTER_GPIO_DATA_TOGGLE    = 0x7A,
+
+  MPR121_LLD_REGISTER_AUTOCFG_CTRL_0       = 0x7B,
+  MPR121_LLD_REGISTER_AUTOCFG_CTRL_1       = 0x7C,
+  MPR121_LLD_REGISTER_AUTOCFG_USL          = 0x7D,
+  MPR121_LLD_REGISTER_AUTOCFG_LSL          = 0x7E,
+  MPR121_LLD_REGISTER_AUTOCFG_TARGET_LEVEL = 0x7F,
+
+  MPR121_LLD_REGISTER_SOFT_RESET           = 0x80
+} mpr121_lld_register_t;
+
+/**
+ * @brief Configuration data type.
+ */
+typedef union {
+  uint8_t values[8];
+  struct {
+    uint8_t auto_config_1;
+    uint8_t auto_config_2;
+    uint8_t up_side_limit;
+    uint8_t low_side_limit;
+    uint8_t target_level;
+    uint8_t config_1;
+    uint8_t config_2;
+    uint8_t ele_config;
+  } registers;
+} mpr121_lld_config_t;
+
+/**
+ * €brief Configutation register 1 masks.
+ */
+typedef enum {
+  MPR121_LLD_FFI_6     = 0x00u,
+  MPR121_LLD_FFI_10    = 0x40u,
+  MPR121_LLD_FFI_18    = 0x80u,
+  MPR121_LLD_FFI_34    = 0xC0u,
+} mpr121_lld_config1_t;
+
+/**
+ * @brief Configuration register 2 masks.
+ */
+typedef enum {
+  MPR121_LLD_CDT_OFF   = 0x00u,
+  MPR121_LLD_CDT_0_5   = 0x20u,
+  MPR121_LLD_CDT_1     = 0x40u,
+  MPR121_LLD_CDT_2     = 0x60u,
+  MPR121_LLD_CDT_4     = 0x80u,
+  MPR121_LLD_CDT_8     = 0xA0u,
+  MPR121_LLD_CDT_16    = 0xC0u,
+  MPR121_LLD_CDT_32    = 0xE0u,
+  MPR121_LLD_SFI_4     = 0x00u,
+  MPR121_LLD_SFI_6     = 0x08u,
+  MPR121_LLD_SFI_10    = 0x10u,
+  MPR121_LLD_SFI_18    = 0x18u,
+  MPR121_LLD_ESI_1     = 0x00u,
+  MPR121_LLD_ESI_2     = 0x01u,
+  MPR121_LLD_ESI_4     = 0x02u,
+  MPR121_LLD_ESI_8     = 0x03u,
+  MPR121_LLD_ESI_16    = 0x04u,
+  MPR121_LLD_ESI_32    = 0x05u,
+  MPR121_LLD_ESI_64    = 0x06u,
+  MPR121_LLD_ESI_128   = 0x07u,
+} mpr121_lld_config2_t;
+
+/**
+ * @brief Ele configuration register masks.
+ */
+typedef enum {
+  MPR121_LLD_CL_ON_CURRENT  = 0x00u,
+  MPR121_LLD_CL_OFF         = 0x40u,
+  MPR121_LLD_CL_ON_HIGH5    = 0x80u,
+  MPR121_LLD_CL_ON_ALL      = 0xC0u,
+  MPR121_LLD_ELEPROX_0      = 0x00u,
+  MPR121_LLD_ELEPROX_2      = 0x10u,
+  MPR121_LLD_ELEPROX_4      = 0x20u,
+  MPR121_LLD_ELEPROX_12     = 0x30u,
+} mpr121_lld_ele_config_t;
+
+/**
+ * @brief Auto configuration register 0 masks.
+ */
+typedef enum {
+  MPR121_LLD_AC_ENABLE      = 0x01u,
+  MPR121_LLD_AC_RECONF_EN   = 0x02u,
+  MPR121_LLD_BVA_ON_CURRENT = 0x00u,
+  MPR121_LLD_BVA_OFF        = 0x04u,
+  MPR121_LLD_BVA_ON_HIGH5   = 0x08u,
+  MPR121_LLD_BVA_ON_ALL     = 0x0Cu,
+  MPR121_LLD_RETRY_OFF      = 0x00u,
+  MPR121_LLD_RETRY_2        = 0x10u,
+  MPR121_LLD_RETRY_4        = 0x20u,
+  MPR121_LLD_RETRY_8        = 0x30u,
+  /* skip FFI */
+} mpr121_lld_auto_config0_t;
+
+/**
+ * @brief Auto configuration register 1 masks.
+ */
+typedef enum {
+  MPR121_LLD_AC_FAIL_INT_EN         = 0x01u,
+  MPR121_LLD_AC_RECONF_FAIL_INT_EN  = 0x02u,
+  MPR121_LLD_AC_OUT_OF_RANGE_INT_EN = 0x04u,
+  MPR121_LLD_AC_SKIP_CHRG_TIME_SRCH = 0x80u,
+} mpr121_lld_auto_config1_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t mpr121_lld_read_register(const MPR121Driver* const mprd, const mpr121_lld_register_t regaddr, const uint8_t offset, const uint8_t size, uint8_t* const data, const apalTime_t timeout);
+  apalExitStatus_t mpr121_lld_write_register(const MPR121Driver* const mprd, const mpr121_lld_register_t regaddr, const uint8_t offset, const uint8_t size, const uint8_t* const data, const apalTime_t timeout);
+  apalExitStatus_t mpr121_lld_soft_reset(const MPR121Driver* const mprd, const apalTime_t timeout);
+  apalExitStatus_t mpr121_lld_read_filtered_data(const MPR121Driver* const mprd, const uint8_t index, const uint8_t num, uint16_t* const data, const apalTime_t timeout);
+  apalExitStatus_t mpr121_lld_read_baseline_data(const MPR121Driver* const mprd, const uint8_t index, const uint8_t num, uint8_t* const data, const apalTime_t timeout);
+  apalExitStatus_t mpr121_lld_read_electrode_data(const MPR121Driver* const mprd, const uint8_t index, const uint8_t num, uint8_t* const data, const apalTime_t timeout);
+  apalExitStatus_t mpr121_lld_write_config(const MPR121Driver* const mprd, const mpr121_lld_config_t cfg, const apalTime_t timeout);
+  apalExitStatus_t mpr121_lld_read_config(const MPR121Driver* const mprd, mpr121_lld_config_t* const cfg, const apalTime_t timeout);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_MPR121) */
+
+#endif /* _AMIROLLD_MPR121_H_ */
diff --git a/include/alld_pca9544a.h b/include/alld_pca9544a.h
new file mode 100644
index 0000000..e8ce2b9
--- /dev/null
+++ b/include/alld_pca9544a.h
@@ -0,0 +1,103 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_PCA9544A_H_
+#define _AMIROLLD_PCA9544A_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_PCA9544A) || defined(__DOXYGEN__)
+
+/**
+ * @brief Maximum I2C frequency.
+ */
+#define PCA9544A_LLD_I2C_MAXFREQUENCY   400000
+
+/**
+ * @brief The PCA9544ADriver struct
+ */
+typedef struct {
+  apalI2CDriver_t* i2cd;  /**< @brief The I²C driver to use. */
+  uint8_t addr;           /**< @brief The address of the PCA9544A for I2C communication, which is defined by the wiring of the A0, A1, A2 pins */
+} PCA9544ADriver;
+
+/**
+ * @brief The fixed address prefix of any PCA9544A.
+ */
+enum {
+  PCA9544A_LLD_I2C_ADDR_FIXED   = 0x70u,
+  PCA9544A_LLD_I2C_ADDR_A0      = 0x01u,
+  PCA9544A_LLD_I2C_ADDR_A1      = 0x02u,
+  PCA9544A_LLD_I2C_ADDR_A2      = 0x04u,
+};
+
+/**
+ * @brief The control register of the PCA9544A.
+ */
+typedef enum {
+  PCA9544A_LLD_CTRLREG_INT3     = 0x80u, /**< interrupt 3 flag (1 = active) */
+  PCA9544A_LLD_CTRLREG_INT2     = 0x40u, /**< interrupt 2 flag (1 = active) */
+  PCA9544A_LLD_CTRLREG_INT1     = 0x20u, /**< interrupt 1 flag (1 = active) */
+  PCA9544A_LLD_CTRLREG_INT0     = 0x10u, /**< interrupt 0 flag (1 = active) */
+  PCA9544A_LLD_CTRLREG_EN       = 0x04u, /**< multiplexing enable flag (1 = enabled) */
+  PCA9544A_LLD_CTRLREG_CH_MASK  = 0x03u, /**< bitmask for all channel selection bits */
+  PCA9544A_LLD_CTRLREG_CH0      = 0x00u, /**< channel 0 selection mask */
+  PCA9544A_LLD_CTRLREG_CH1      = 0x01u, /**< channel 1 selection mask */
+  PCA9544A_LLD_CTRLREG_CH2      = 0x02u, /**< channel 2 selection mask */
+  PCA9544A_LLD_CTRLREG_CH3      = 0x03u, /**< channel 3 selection mask */
+  PCA9544A_LLD_CTRLREG_DEFAULT  = 0x00u, /**< default register value after power-up */
+} pca9544a_lld_ctrlreg_t;
+
+/**
+ * @brief Interrupt identifiers for external use.
+ */
+typedef enum {
+  PCA9544A_LLD_INT0 = 0x01u, /**< interrupt 0 identifier */
+  PCA9544A_LLD_INT1 = 0x02u, /**< interrupt 1 identifier */
+  PCA9544A_LLD_INT2 = 0x04u, /**< interrupt 2 identifier */
+  PCA9544A_LLD_INT3 = 0x08u, /**< interrupt 3 identifier */
+} pca9544a_lld_intid_t;
+
+/**
+ * @brief Channel selection identifier for external use.
+ */
+typedef enum {
+  PCA9544A_LLD_CH0      = 0x00u, /**< identifier to select channel 0 */
+  PCA9544A_LLD_CH1      = 0x01u, /**< identifier to select channel 1*/
+  PCA9544A_LLD_CH2      = 0x02u, /**< identifier to select channel 2 */
+  PCA9544A_LLD_CH3      = 0x03u, /**< identifier to select channel 3 */
+  PCA9544A_LLD_CH_NONE  = 0xFFu, /**< identifier to select no channel */
+} pca9544a_lld_chid_t;
+
+typedef uint8_t pca9544a_lld_intstatus_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t pca9544a_lld_read(const PCA9544ADriver* const pca9544a, uint8_t* const data, const apalTime_t timeout);
+  apalExitStatus_t pca9544a_lld_write(const PCA9544ADriver* const pca9544a, const uint8_t data, const apalTime_t timeout);
+  apalExitStatus_t pca9544a_lld_getintstatus(const PCA9544ADriver* const pca9544a, pca9544a_lld_intstatus_t* const  status, const apalTime_t timeout);
+  apalExitStatus_t pca9544a_lld_getcurrentchannel(const PCA9544ADriver* const pca9544a, pca9544a_lld_chid_t* const channel, const apalTime_t timeout);
+  apalExitStatus_t pca9544a_lld_setchannel(const PCA9544ADriver* const pca9544a, const pca9544a_lld_chid_t channel, const apalTime_t timeout);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_PCA9544A) */
+
+#endif /* _AMIROLLD_PCA9544A_H_ */
diff --git a/include/alld_pklcs1212e4001.h b/include/alld_pklcs1212e4001.h
new file mode 100644
index 0000000..d983e0a
--- /dev/null
+++ b/include/alld_pklcs1212e4001.h
@@ -0,0 +1,52 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_PKLCS1212E4001_H_
+#define _AMIROLLD_PKLCS1212E4001_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_PKLCS1212E4001) || defined(__DOXYGEN__)
+
+/**
+ * @brief   Specified frequency of the PKLCS1212E4001.
+ */
+#define PKLCS1212E4001_LLD_FREQUENCY_SPEC       4000
+
+/**
+ * @brief   Minimum frequency for the buzzer to sound.
+ */
+#define PKLCS1212E4001_LLD_FREQUENCY_MIN        2000
+
+/**
+ * @brief   Maximum frequency for the buzzer to sound.
+ */
+#define PKLCS1212E4001_LLD_FREQUENCY_MAX        6000
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t pklcs1212e4001_lld_checkPWMconfiguration(apalPWMDriver_t* pwm);
+  apalExitStatus_t pklcs1212e4001_lld_enable(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const bool enable);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_PKLCS1212E4001) */
+
+#endif /* _AMIROLLD_PKLCS1212E4001_H_ */
diff --git a/include/alld_tlc5947.h b/include/alld_tlc5947.h
new file mode 100644
index 0000000..2705c4c
--- /dev/null
+++ b/include/alld_tlc5947.h
@@ -0,0 +1,91 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_TLC5947_H_
+#define _AMIROLLD_TLC5947_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_TLC5947) || defined(__DOXYGEN__)
+
+/**
+ * @brief   Active state of the BLANK signal.
+ */
+#define TLC5947_LLD_BLANK_ACTIVE_STATE          APAL_GPIO_ACTIVE_HIGH
+
+/**
+ * @brief   Active state of the XLAT signal.
+ */
+#define TLC5947_LLD_XLAT_ACTIVE_STATE           APAL_GPIO_ACTIVE_HIGH
+
+/**
+ * @brief   Number of PWM channels.
+ */
+#define TLC5947_LLD_NUM_CHANNELS                24
+
+/**
+ * @brief   Resulotion of the PWM channels in bits.
+ */
+#define TLC5947_LLD_PWM_RESOLUTION_BITS         12
+
+/**
+ * @brief   Size of the TLC grayscale buffer in bytes.
+ */
+#define TLC5947_LLD_BUFFER_SIZE                 (TLC5947_LLD_NUM_CHANNELS * TLC5947_LLD_PWM_RESOLUTION_BITS / 8)
+
+/**
+ * @brief The TLC5947Driver struct
+ */
+typedef struct {
+  apalSPIDriver_t* spi_driver;        /**< @brief The SPI Driver.                           */
+  apalControlGpio_t blank_gpio;       /**< @brief The identifier of the BLANK signal GPIO.  */
+  apalControlGpio_t xlat_gpio;        /**< @brief The identifier of the XLAT signal GPIO.   */
+} TLC5947Driver;
+
+/**
+ * @brief The blank state of the TLC5947 driver.
+ */
+typedef enum {
+  TLC5947_LLD_BLANK_ENABLE = 0,   /**< 'blank on' state of the TLC5947 driver.  */
+  TLC5947_LLD_BLANK_DISABLE = 1,  /**< 'blank off' state of the TLC5947 driver. */
+} tlc5947_lld_blank_t;
+
+
+/**
+ * @brief TLC5947 buffer struct.
+ */
+typedef struct {
+  uint8_t data[TLC5947_LLD_BUFFER_SIZE]; /**< The raw buffer data. */
+} tlc5947_lld_buffer_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t tlc5947_lld_setBlank(const TLC5947Driver* const tlc5947, const tlc5947_lld_blank_t blank);
+  apalExitStatus_t tlc5947_lld_getBlank(const TLC5947Driver* const tlc5947, tlc5947_lld_blank_t* const blank);
+  apalExitStatus_t tlc5947_lld_update(const TLC5947Driver* const tlc5947);
+  apalExitStatus_t tlc5947_lld_write(const TLC5947Driver* const tlc5947, const tlc5947_lld_buffer_t* const buffer);
+  void tlc5947_lld_setBuffer(tlc5947_lld_buffer_t* const buffer, const uint8_t channel, const uint16_t value);
+  uint16_t tlc5947_lld_getBuffer(const tlc5947_lld_buffer_t* const buffer, const uint8_t channel);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_TLC5947) */
+
+#endif /* _AMIROLLD_TLC5947_H_ */
diff --git a/include/alld_tps2051bdbv.h b/include/alld_tps2051bdbv.h
new file mode 100644
index 0000000..75813d0
--- /dev/null
+++ b/include/alld_tps2051bdbv.h
@@ -0,0 +1,72 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_TPS2051B_H_
+#define _AMIROLLD_TPS2051B_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_TPS2051BDBV) || defined(__DOXYGEN__)
+
+/**
+ * @brief   Enable pin active state.
+ */
+#define TPS2051B_LLD_ENABLE_ACTIVE_STATE        APAL_GPIO_ACTIVE_HIGH
+
+/**
+ * @brief   Overcurrent pin active state.
+ */
+#define TPS2051B_LLD_OVERCURRENT_ACTIVE_STATE   APAL_GPIO_ACTIVE_LOW
+
+/**
+ * @brief The TPS2051B driver struct.
+ */
+typedef struct {
+  apalControlGpio_t enable;      /**< @brief GPIO to enable/disable the tps2051b. */
+  apalControlGpio_t overcurrent; /**< @brief GPIO to indicate overcurrent */
+} TPS2051BDriver;
+
+/**
+ * @brief Enable/Disable enum.
+ */
+typedef enum {
+  TPS2051B_LLD_ENABLE = 0x01,
+  TPS2051B_LLD_DISABLE = 0x00,
+} tps2051b_lld_enable_t;
+
+/**
+ * @brief Overcurrent enum.
+ */
+typedef enum {
+  TPS2051B_LLD_OVERCURRENT = 0x01,
+  TPS2051B_LLD_NO_OVERCURRENT = 0x00,
+} tps2051b_lld_overcurrent_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t tps2051b_lld_set_enable(const TPS2051BDriver* const tps2051b, const tps2051b_lld_enable_t enable);
+  apalExitStatus_t tps2051b_lld_read_enable(const TPS2051BDriver* const tps2051b, tps2051b_lld_enable_t* const enable);
+  apalExitStatus_t tps2051b_lld_read_overcurrent(const TPS2051BDriver* const tps2051b, tps2051b_lld_overcurrent_t* const oc);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_TPS2051BDBV) */
+
+#endif /* _AMIROLLD_TPS2051B_H_ */
diff --git a/include/alld_tps62113.h b/include/alld_tps62113.h
new file mode 100644
index 0000000..d1b2bc1
--- /dev/null
+++ b/include/alld_tps62113.h
@@ -0,0 +1,57 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_TPS62113_H_
+#define _AMIROLLD_TPS62113_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_TPS62113) || defined(__DOXYGEN__)
+
+/**
+ * @brief   Power pin active state.
+ */
+#define TPS62113_LLD_POWER_ACTIVE_STATE   APAL_GPIO_ACTIVE_HIGH
+
+/**
+ * @brief The TPS62113 driver struct.
+ */
+typedef struct {
+  apalControlGpio_t gpio_power; /**< GPIO to turn power on/off */
+} TPS62113Driver;
+
+/**
+ * @brief Power enable enum.
+ */
+typedef enum {
+  TPS62113_LLD_POWER_ENABLED  = 0x01,
+  TPS62113_LLD_POWER_DISABLED = 0x00,
+} tps62113_lld_power_en_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t tps62113_lld_get_power_en(const TPS62113Driver* const tps62113, tps62113_lld_power_en_t* const power);
+  apalExitStatus_t tps62113_lld_set_power_en(const TPS62113Driver* const tps62113, const tps62113_lld_power_en_t power);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_TPS62113) */
+
+#endif /* _AMIROLLD_TPS62113_H_ */
diff --git a/include/alld_vcnl4020.h b/include/alld_vcnl4020.h
new file mode 100644
index 0000000..f49dd71
--- /dev/null
+++ b/include/alld_vcnl4020.h
@@ -0,0 +1,241 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_VCNL4020_H_
+#define _AMIROLLD_VCNL4020_H_
+
+#include <amiro-lld.h>
+
+#if defined(AMIROLLD_CFG_USE_VCNL4020) || defined(__DOXYGEN__)
+
+/**
+ * @brief The VCNL4020 driver struct
+ */
+typedef struct {
+  apalI2CDriver_t* i2cd;      /**< @brief The I2C Driver.     */
+} VCNL4020Driver;
+
+/**
+ * @brief Fixed slave address to access the VCNL4020 via I2C.
+ */
+#define VCNL4020_LLD_I2C_ADDR           0x13u
+
+/**
+ * @brief Maximum frequency for I2C communication.
+ */
+#define VCNL4020_LLD_I2C_MAXFREQUENCY   3400000
+
+/**
+ * @brief A falling edge indicates an interrupt.
+ */
+#define VCNL4020_LLD_INT_EDGE           APAL_GPIO_EDGE_FALLING
+
+/**
+ * @brief Adresses for the several I/O registers of the VCNL4020.
+ */
+typedef enum {
+  VCNL4020_LLD_REGADDR_CMD          = 0x80u, /**< command register */
+  VCNL4020_LLD_REGADDR_IDREV        = 0x81u, /**< product ID revision register */
+  VCNL4020_LLD_REGADDR_PROXRATE     = 0x82u, /**< proximity rate register */
+  VCNL4020_LLD_REGADDR_LEDCURRENT   = 0x83u, /**< IR LED current register */
+  VCNL4020_LLD_REGADDR_ALPARAM      = 0x84u, /**< ambient light parameter register */
+  VCNL4020_LLD_REGADDR_ALRES_HIGH   = 0x85u, /**< ambient light result register (high byte) */
+  VCNL4020_LLD_REGADDR_ALRES_LOW    = 0x86u, /**< ambient light result register (low byte) */
+  VCNL4020_LLD_REGADDR_PROXRES_HIGH = 0x87u, /**< proximity result register (high byte) */
+  VCNL4020_LLD_REGADDR_PROXRES_LOW  = 0x88u, /**< proximity result register (low byte) */
+  VCNL4020_LLD_REGADDR_INTCTRL      = 0x89u, /**< interrupt control register */
+  VCNL4020_LLD_REGADDR_LTH_HIGH     = 0x8Au, /**< low threshold register (high byte) */
+  VCNL4020_LLD_REGADDR_LTH_LOW      = 0x8Bu, /**< low threshold register (low byte) */
+  VCNL4020_LLD_REGADDR_HTH_HIGH     = 0x8Cu, /**< high threshold register (high byte) */
+  VCNL4020_LLD_REGADDR_HTH_LOW      = 0x8Du, /**< high threshold register (low byte) */
+  VCNL4020_LLD_REGADDR_INTSTATUS    = 0x8Eu, /**< interrupt status register */
+  VCNL4020_LLD_REGADDR_PMTADJ       = 0x8Fu, /**< prximity modulator timing adjustment */
+  VCNL4020_LLD_REGADDR_AMBIRLEVEL   = 0x90u, /**< ambient IR light level register (not intended to be used) */
+} vcnl4020_lld_regaddr_t;
+
+/**
+ * @brief Commands to control the VCNL4020.
+ */
+typedef enum {
+  VCNL4020_LLD_CMDREG_CFGLOCK   = 0x80u, /**< config lock (read only, constant = 1) */
+  VCNL4020_LLD_CMDREG_ALSRDY    = 0x40u, /**< ambient light measurement data ready flag (read only) */
+  VCNL4020_LLD_CMDREG_PROXRDY   = 0x20u, /**< proximity measurement data ready flag (read only) */
+  VCNL4020_LLD_CMDREG_ALSOD     = 0x10u, /**< start single on-demand ambient light measurement */
+  VCNL4020_LLD_CMDREG_PROXOD    = 0x08u, /**< start single on-demand proximity measurement */
+  VCNL4020_LLD_CMDREG_ALSEN     = 0x04u, /**< start periodic ambient light measurement */
+  VCNL4020_LLD_CMDREG_PROXEN    = 0x02u, /**< start periodic proximity measurement */
+  VCNL4020_LLD_CMDREG_SELFTIMED = 0x01u, /**< enable state-machine and clock for periodic measurement */
+} vcnl4020_lld_cmdreg_t;
+
+/**
+ * @brief Masks to read the prodict ID revision register.
+ */
+typedef enum {
+  VCNL4020_LLD_IDREVREG_ID_MASK   = 0xF0u, /**< product ID (read only, constant = 2) */
+  VCNL4020_LLD_IDREVREG_REV_MASK  = 0x0Fu, /**< revision ID (read only, constant = 1) */
+} vcnl4020_lld_idrevreg_t;
+
+/**
+ * @brief Frequencies for the proximity sensor of the VCNL4020.
+ * @note  Frequencies are calculated by the formula
+ *        freq = 250Hz / (2 ^ (7 - <value>))
+ */
+typedef enum {
+  VCNL4020_LLD_PROXRATEREG_MASK       = 0x07u, /**< mask of settable bits */
+  VCNL4020_LLD_PROXRATEREG_1_95_HZ    = 0x00u, /**< 1.95Hz sampling rate */
+  VCNL4020_LLD_PROXRATEREG_3_90625_HZ = 0x01u, /**< 3.90625Hz sampling rate */
+  VCNL4020_LLD_PROXRATEREG_7_8125_HZ  = 0x02u, /**< 7.8125Hz sampling rate */
+  VCNL4020_LLD_PROXRATEREG_15_625_HZ  = 0x03u, /**< 16.625Hz sampling rate */
+  VCNL4020_LLD_PROXRATEREG_31_25_HZ   = 0x04u, /**< 31.25Hz sampling rate */
+  VCNL4020_LLD_PROXRATEREG_62_5_HZ    = 0x05u, /**< 62.5Hz sampling rate */
+  VCNL4020_LLD_PROXRATEREG_125_HZ     = 0x06u, /**< 125Hz sampling rate */
+  VCNL4020_LLD_PROXRATEREG_250_HZ     = 0x07u, /**< 250Hz sampling rate */
+  VCNL4020_LLD_PROXRATEREG_DEFAULT    = 0x00u, /**< default sampling rate (1.95Hz) */
+} vcnl4020_lld_proxratereg_t;
+
+/**
+ * @brief Current for the emmitting IR LED.
+ * @note  The Current is calculated by the formula
+ *        curr = <value> * 10mA
+ */
+typedef enum {
+  VCNL4020_LLD_LEDCURRENTREG_FUSEID_MASK  = 0xC0u, /**< fuse program revision (read only) */
+  VCNL4020_LLD_LEDCURRENTREG_CURRENT_MASK = 0x3Fu, /**< mask of bits to set the current */
+  VCNL4020_LLD_LEDCURRENTREG_0_mA         = 0x00u, /**< 0mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_10_mA        = 0x01u, /**< 10mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_20_mA        = 0x02u, /**< 20mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_30_mA        = 0x03u, /**< 30mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_40_mA        = 0x04u, /**< 40mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_50_mA        = 0x05u, /**< 50mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_60_mA        = 0x06u, /**< 60mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_70_mA        = 0x07u, /**< 70mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_80_mA        = 0x08u, /**< 80mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_90_mA        = 0x09u, /**< 90mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_100_mA       = 0x0Au, /**< 100mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_110_mA       = 0x0Bu, /**< 110mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_120_mA       = 0x0Cu, /**< 120mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_130_mA       = 0x0Du, /**< 130mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_140_mA       = 0x0Eu, /**< 140mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_150_mA       = 0x0Fu, /**< 150mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_160_mA       = 0x10u, /**< 160mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_170_mA       = 0x11u, /**< 170mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_180_mA       = 0x12u, /**< 180mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_190_mA       = 0x13u, /**< 190mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_200_mA       = 0x14u, /**< 200mA IR LED current */
+  VCNL4020_LLD_LEDCURRENTREG_DEFAULT      = 0x02u, /**< default IR LED current (20mA) */
+} vcnl4020_lld_ledcurrentreg_t;
+
+/**
+ * @brief Ambient light measurement parameters.
+ */
+typedef enum {
+  VCNL4020_LLD_ALPARAMREG_CONTCONV            = 0x80u, /**< Continuous conversion mode flag (set = enabled) */
+  VCNL4020_LLD_ALPARAMREG_CONTCONV_DEFAULT    = 0x00u, /**< Continuous conversion mode flag default value (disabled)*/
+  VCNL4020_LLD_ALPARAMREG_RATE_MASK           = 0x70u, /**< mask of bits to set the measurement rate */
+  VCNL4020_LLD_ALPARAMREG_RATE_1_HZ           = 0x00u, /**< 1Hz measurement rate */
+  VCNL4020_LLD_ALPARAMREG_RATE_2_HZ           = 0x10u, /**< 2Hz measurement rate */
+  VCNL4020_LLD_ALPARAMREG_RATE_3_HZ           = 0x20u, /**< 3Hz measurement rate */
+  VCNL4020_LLD_ALPARAMREG_RATE_4_HZ           = 0x30u, /**< 4Hz measurement rate */
+  VCNL4020_LLD_ALPARAMREG_RATE_5_HZ           = 0x40u, /**< 5Hz measurement rate */
+  VCNL4020_LLD_ALPARAMREG_RATE_6_HZ           = 0x50u, /**< 6Hz measurement rate */
+  VCNL4020_LLD_ALPARAMREG_RATE_8_HZ           = 0x60u, /**< 8Hz measurement rate */
+  VCNL4020_LLD_ALPARAMREG_RATE_10_HZ          = 0x70u, /**< 10Hz measurement rate */
+  VCNL4020_LLD_ALPARAMREG_RATE_DEFAULT        = 0x10u, /**< default measurement rate (2Hz) */
+  VCNL4020_LLD_ALPARAMREG_AUTOOFFSET          = 0x08u, /**< Auto offset compensation flag (set = enabled) */
+  VCNL4020_LLD_ALPARAMREG_AUTOOFFSET_DEFAULT  = 0x00u, /**< Auto offset compensation flag default value (disabled) */
+  VCNL4020_LLD_ALPARAMREG_AVG_MASK            = 0x07u, /**< mask of bits to set the number of measurements for averaging */
+  VCNL4020_LLD_ALPARAMREG_AVG_1_CONV          = 0x00u, /**< 1 conversion per measurement */
+  VCNL4020_LLD_ALPARAMREG_AVG_2_CONV          = 0x01u, /**< 2 conversions per measurement */
+  VCNL4020_LLD_ALPARAMREG_AVG_4_CONV          = 0x02u, /**< 4 conversions per measurement */
+  VCNL4020_LLD_ALPARAMREG_AVG_8_CONV          = 0x03u, /**< 8 conversions per measurement */
+  VCNL4020_LLD_ALPARAMREG_AVG_16_CONV         = 0x04u, /**< 16 conversions per measurement */
+  VCNL4020_LLD_ALPARAMREG_AVG_32_CONV         = 0x05u, /**< 32 conversions per measurement */
+  VCNL4020_LLD_ALPARAMREG_AVG_64_CONV         = 0x06u, /**< 64 conversions per measurement */
+  VCNL4020_LLD_ALPARAMREG_AVG_128_CONV        = 0x07u, /**< 128 conversions per measurement */
+  VCNL4020_LLD_ALPARAMREG_AVG_DEFAULT         = 0x05u, /**< default number of conversions per measurement (32) */
+} vcnl4020_lld_alparamreg_t;
+
+/**
+ * @brief Interrupt control commands.
+ */
+typedef enum {
+  VCNL4020_LLD_INTCTRLREG_CNT_MASK    = 0xE0u, /**< mask of bits to set the count value */
+  VCNL4020_LLD_INTCTRLREG_CNT_1       = 0x00u, /**< 1 measurement above/below the threshold will cause an interrupt */
+  VCNL4020_LLD_INTCTRLREG_CNT_2       = 0x20u, /**< 2 measurements above/below the threshold will cause an interrupt */
+  VCNL4020_LLD_INTCTRLREG_CNT_4       = 0x40u, /**< 4 measurements above/below the threshold will cause an interrupt */
+  VCNL4020_LLD_INTCTRLREG_CNT_8       = 0x60u, /**< 8 measurements above/below the threshold will cause an interrupt */
+  VCNL4020_LLD_INTCTRLREG_CNT_16      = 0x80u, /**< 16 measurements above/below the threshold will cause an interrupt */
+  VCNL4020_LLD_INTCTRLREG_CNT_32      = 0xA0u, /**< 32 measurements above/below the threshold will cause an interrupt */
+  VCNL4020_LLD_INTCTRLREG_CNT_64      = 0xC0u, /**< 64 measurements above/below the threshold will cause an interrupt */
+  VCNL4020_LLD_INTCTRLREG_CNT_128     = 0xE0u, /**< 128 measurements above/below the threshold will cause an interrupt */
+  VCNL4020_LLD_INTCTRLREG_PROXRDY_EN  = 0x08u, /**< enable interrupts at proximity data ready */
+  VCNL4020_LLD_INTCTRLREG_ALSRDY_EN   = 0x04u, /**< enable interrupt at ambient data ready */
+  VCNL4020_LLD_INTCTRLREG_THRES_EN    = 0x02u, /**< enable interrupt when above/below threshold */
+  VCNL4020_LLD_INTCTRLREG_THRES_SEL   = 0x01u, /**< select threshold intterrupt source (0 = proximity, 1 = ambient) */
+} vcnl4020_lld_intctrlreg_t;
+
+/**
+ * @brief Interrupt status flags.
+ */
+typedef enum {
+  VCNL4020_LLD_INTSTATUSREG_PROXRDY = 0x08u, /**< proximity data ready */
+  VCNL4020_LLD_INTSTATUSREG_ALSRDY  = 0x04u, /**< ambient light measurement data ready */
+  VCNL4020_LLD_INTSTATUSREG_THLOW   = 0x02u, /**< low threshold exceeded */
+  VCNL4020_LLD_INTSTATUSREG_THHIGH  = 0x01u, /**< high threshold exceeded */
+} vcnl4020_lld_intstatusreg_t;
+
+/**
+ * @brief Proximuty modulation timing adjustment parameters.
+ */
+typedef enum {
+  VCNL4020_LLD_PMTADJREG_DELAY_MASK           = 0xE0u, /**< mask of bits to set the modulation delay time */
+  VCNL4020_LLD_PMTADJREG_DELAY_DEFAULT        = 0x00u, /**< default modulation delay time */
+  VCNL4020_LLD_PMTADJREG_PROXFREQ_MASK        = 0x18u, /**< mask of bits to set the signal requency */
+  VCNL4020_LLD_PMTADJREG_PROXFREQ_390_625_KHz = 0x00u, /**< 390.625KHz signal frequency */
+  VCNL4020_LLD_PMTADJREG_PROXFREQ_781_25_KHz  = 0x08u, /**< 781.25KHz signal frequency */
+  VCNL4020_LLD_PMTADJREG_PROXFREQ_1562_5_KHz  = 0x10u, /**< 1.5625MHz signal frequency */
+  VCNL4020_LLD_PMTADJREG_PROXFREQ_3125_KHz    = 0x18u, /**< 3.125MHz signal frequency */
+  VCNL4020_LLD_PMTADJREG_PROXFREQ_DEFAULT     = 0x00u, /**< default signal frequency (390.625KHz) */
+  VCNL4020_LLD_PMTADJREG_DEAD_MASK            = 0x07u, /**< mask of bits to set the modulation dead time */
+  VCNL4020_LLD_PMTADJREG_DEAD_DEFAULT         = 0x01u, /**< default modulation dead time */
+} vcnl4020_lld_pmtadjreg_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  apalExitStatus_t vcnl4020_lld_readreg(const VCNL4020Driver* const vcnld, const vcnl4020_lld_regaddr_t reg, uint8_t* const data, const apalTime_t timeout);
+  apalExitStatus_t vcnl4020_lld_writereg(const VCNL4020Driver* const vcnld, const vcnl4020_lld_regaddr_t reg, const uint8_t data, const apalTime_t timeout);
+
+  apalExitStatus_t vcnl4020_lld_readals(const VCNL4020Driver* const vcnld, uint16_t* const als, const apalTime_t timeout);
+  apalExitStatus_t vcnl4020_lld_readprox(const VCNL4020Driver* const vcnld, uint16_t* const prox, const apalTime_t timeout);
+  apalExitStatus_t vcnl4020_lld_readalsandprox(const VCNL4020Driver* const vcnld, uint16_t* const als, uint16_t* const prox, const apalTime_t timeout);
+
+  apalExitStatus_t vcnl4020_lld_readlth(const VCNL4020Driver* const vcnld, uint16_t* const th, const apalTime_t timeout);
+  apalExitStatus_t vcnl4020_lld_readhth(const VCNL4020Driver* const vcnld, uint16_t* const th, const apalTime_t timeout);
+  apalExitStatus_t vcnl4020_lld_readth(const VCNL4020Driver* const vcnld, uint16_t* const lth, uint16_t* const hth, const apalTime_t timeout);
+  apalExitStatus_t vcnl4020_lld_writelth(const VCNL4020Driver* const vcnld, const uint16_t th, const apalTime_t timeout);
+  apalExitStatus_t vcnl4020_lld_writehth(const VCNL4020Driver* const vcnld, const uint16_t th, const apalTime_t timeout);
+  apalExitStatus_t vcnl4020_lld_writeth(const VCNL4020Driver* const vcnld, const uint16_t lth, const uint16_t hth, const apalTime_t timeout);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* defined(AMIROLLD_CFG_USE_VCNL4020) */
+
+#endif /* _AMIROLLD_VCNL4020_H_ */
+
diff --git a/license.html b/license.html
new file mode 100644
index 0000000..33edf21
--- /dev/null
+++ b/license.html
@@ -0,0 +1,695 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
+<!-- saved from url=(0051)http://www.gnu.org/licenses/gpl-3.0-standalone.html -->
+<html><head><meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
+ 
+ <title>GNU General Public License v3.0 - GNU Project - Free Software Foundation (FSF)</title>
+ <link rel="alternate" type="application/rdf+xml" href="http://www.gnu.org/licenses/gpl-3.0.rdf"> 
+</head>
+<body>
+
+<h3 style="text-align: center;">GNU GENERAL PUBLIC LICENSE</h3>
+<p style="text-align: center;">Version 3, 29 June 2007</p>
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+<h4><a name="section7"></a>7. Additional Terms.</h4>
+
+<p>“Additional permissions” are terms that supplement the terms of this
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+Additional permissions that are applicable to the entire Program shall
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+<h4><a name="section9"></a>9. Acceptance Not Required for Having Copies.</h4>
+
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+<h4><a name="section11"></a>11. Patents.</h4>
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+<p>A “contributor” is a copyright holder who authorizes use under this
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+
+<p>Nothing in this License shall be construed as excluding or limiting
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+otherwise be available to you under applicable patent law.</p>
+
+<h4><a name="section12"></a>12. No Surrender of Others' Freedom.</h4>
+
+<p>If conditions are imposed on you (whether by court order, agreement or
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+
+<h4><a name="section13"></a>13. Use with the GNU Affero General Public License.</h4>
+
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+
+<h4><a name="section14"></a>14. Revised Versions of this License.</h4>
+
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+<h4><a name="section15"></a>15. Disclaimer of Warranty.</h4>
+
+<p>THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM “AS IS” WITHOUT WARRANTY
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+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.</p>
+
+<h4><a name="section16"></a>16. Limitation of Liability.</h4>
+
+<p>IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
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+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.</p>
+
+<h4><a name="section17"></a>17. Interpretation of Sections 15 and 16.</h4>
+
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+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.</p>
+
+<p>END OF TERMS AND CONDITIONS</p>
+
+<h3><a name="howto"></a>How to Apply These Terms to Your New Programs</h3>
+
+<p>If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.</p>
+
+<p>To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the “copyright” line and a pointer to where the full notice is found.</p>
+
+<pre>    &lt;one line to give the program's name and a brief idea of what it does.&gt;
+    Copyright (C) &lt;year&gt;  &lt;name of author&gt;
+
+    This program 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.
+
+    This program 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 &lt;http://www.gnu.org/licenses/&gt;.
+</pre>
+
+<p>Also add information on how to contact you by electronic and paper mail.</p>
+
+<p>If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:</p>
+
+<pre>    &lt;program&gt;  Copyright (C) &lt;year&gt;  &lt;name of author&gt;
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+</pre>
+
+<p>The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an “about box”.</p>
+
+<p>You should also get your employer (if you work as a programmer) or school,
+if any, to sign a “copyright disclaimer” for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+&lt;<a href="http://www.gnu.org/licenses/">http://www.gnu.org/licenses/</a>&gt;.</p>
+
+<p>The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+&lt;<a href="http://www.gnu.org/philosophy/why-not-lgpl.html">http://www.gnu.org/philosophy/why-not-lgpl.html</a>&gt;.</p>
+
+
+</body></html>
diff --git a/periphALtypes.h b/periphALtypes.h
new file mode 100644
index 0000000..fede40c
--- /dev/null
+++ b/periphALtypes.h
@@ -0,0 +1,187 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_PERIPHALTYPES_H_
+#define _AMIROLLD_PERIPHALTYPES_H_
+
+/*============================================================================*/
+/* DEPENDENCIES                                                               */
+/*============================================================================*/
+
+#include <stdint.h>
+
+/*============================================================================*/
+/* GENERAL                                                                    */
+/*============================================================================*/
+
+/**
+ * @brief Time measurement type (in microseconds).
+ */
+typedef uint32_t    apalTime_t;
+
+/**
+ * @brief Status values used as return value for all (or most) function calls.
+ * @note  The status can be used as mask of flags.
+ */
+typedef enum {
+  APAL_STATUS_OK                = 0x00u, /**< success, no error occurred                          */
+  APAL_STATUS_SUCCESS           = 0x00u, /**< success, no error occurred                          */
+  APAL_STATUS_ERROR             = 0x01u, /**< failed, some unspecified error occured              */
+  APAL_STATUS_FAILURE           = 0x01u, /**< failed, some unspecified error occured              */
+  APAL_STATUS_TIMEOUT           = 0x02u, /**< failed, timeout occurred                            */
+  APAL_STATUS_INVALIDARGUMENTS  = 0x04u, /**< failed, invalid arguments                           */
+  APAL_STATUS_UNAVAILABLE       = 0x08u, /**< failed, function unavailable                        */
+  APAL_STATUS_WARNING           = 0x10u, /**< success, but the result is probably not as expected */
+} apalExitStatus_t;
+
+/*============================================================================*/
+/* GPIO                                                                       */
+/*============================================================================*/
+
+/**
+ * @brief   Forward declaration.
+ * @details Struct must be defined in 'periphAL.h'.
+ */
+typedef struct apalGpio_t apalGpio_t;
+
+/**
+ * @brief Status values to read/write a GPIO port.
+ */
+typedef enum {
+  APAL_GPIO_LOW   = 0,  /**< logical low state  */
+  APAL_GPIO_HIGH  = 1,  /**< logical high state */
+} apalGpioState_t;
+
+/**
+ * @brief Status values to turn a control GPIO 'on' and 'off'.
+ */
+typedef enum {
+  APAL_GPIO_OFF = 0,  /**< logical 'turned off' state */
+  APAL_GPIO_ON  = 1,  /**< logical 'turned on' state  */
+} apalControlGpioState_t;
+
+/**
+ * @brief   Polarity state of the control GPIO.
+ */
+typedef enum {
+  APAL_GPIO_ACTIVE_LOW  = 0x00,   /**< A logically low state is defined as 'on'.  */
+  APAL_GPIO_ACTIVE_HIGH = 0x01,   /**< A locically high state is defined as 'on'. */
+} apalGpioActive_t;
+
+/**
+ * @brief   Informative signal edge for input control GPIOs.
+ */
+typedef enum {
+  APAL_GPIO_EDGE_NONE     = 0x00,   /**< No edge indicates an interrupt.                      */
+  APAL_GPIO_EDGE_RISING   = 0x01,   /**< Rising edges indicate an interrupt.                  */
+  APAL_GPIO_EDGE_FALLING  = 0x02,   /**< Falling edges indicate an interrupt.                 */
+  APAL_GPIO_EDGE_BOTH     = 0x03,   /**< Both rising and falling edges indicate an interrupt. */
+} apalGpioEdge_t;
+
+/**
+ * @brief   Signal direction for the control GPIO.
+ */
+typedef enum {
+  APAL_GPIO_DIRECTION_UNDEFINED     = 0x00,   /**< Signal direction is undefined.     */
+  APAL_GPIO_DIRECTION_INPUT         = 0x01,   /**< Signal direction is input only.    */
+  APAL_GPIO_DIRECTION_OUTPUT        = 0x02,   /**< Signal direction is output only    */
+  APAL_GPIO_DIRECTION_BIDIRECTIONAL = 0x03,   /**< Signal direction is bidirectional. */
+} apalGpioDirection_t;
+
+/**
+ * @brief Control GPIO meta information
+ */
+typedef struct {
+  apalGpioActive_t active       : 1;  /**< Active state of the GPIO */
+  apalGpioEdge_t edge           : 2;  /**< Edge configuration for according signals */
+  apalGpioDirection_t direction : 2;  /**< Direction configuration for according signals */
+} apalGpioMeta_t;
+
+/**
+ * @brief Control GPIO type.
+ */
+typedef struct {
+  apalGpio_t* gpio;     /**< The GPIO to use.                 */
+  apalGpioMeta_t meta;  /**< Meta information about the GPIO. */
+} apalControlGpio_t;
+
+/*============================================================================*/
+/* PWM                                                                        */
+/*============================================================================*/
+
+/**
+ * @brief PWM channel type.
+ */
+typedef uint8_t   apalPWMchannel_t;
+
+/**
+ * @brief PWM width type.
+ */
+typedef uint16_t  apalPWMwidth_t;
+
+/**
+ * @brief PWM frequency type.
+ */
+typedef uint32_t  apalPWMfrequency_t;
+
+/**
+ * @brief PWM period time.
+ */
+typedef uint32_t  apalPWMperiod_t;
+
+/**
+ * @brief PWM width limits and special values.
+ */
+typedef enum {
+  APAL_PWM_WIDTH_OFF  = 0x0000u,  /**< PWM off            */
+  APAL_PWM_WIDTH_MIN  = 0x0000u,  /**< PWM minimum width  */
+  APAL_PWM_WIDTH_MAX  = 0xFFFFu,  /**< PWM maximum width  */
+} apalPWMWidthLimit_t;
+
+/*============================================================================*/
+/* QEI                                                                        */
+/*============================================================================*/
+
+/**
+ * @brief QEI counter type.
+ */
+typedef uint32_t  apalQEICount_t;
+
+/**
+ * @brief Direction of the QEI.
+ */
+typedef enum {
+  APAL_QEI_DIRECTION_UP   = 0,  /**< QEI counted up   */
+  APAL_QEI_DIRECTION_DOWN = 1,  /**< QEI counted down */
+} apalQEIDirection_t;
+
+/*============================================================================*/
+/* I2C                                                                        */
+/*============================================================================*/
+
+/**
+ * @brief I2C address type.
+ */
+typedef uint16_t apalI2Caddr_t;
+
+/*============================================================================*/
+/* SPI                                                                        */
+/*============================================================================*/
+
+
+#endif /* _AMIROLLD_PERIPHALTYPES_H_ */
diff --git a/source/alld_a3906.c b/source/alld_a3906.c
new file mode 100644
index 0000000..603dac5
--- /dev/null
+++ b/source/alld_a3906.c
@@ -0,0 +1,77 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_a3906.h>
+
+#if defined(AMIROLLD_CFG_USE_A3906) || defined(__DOXYGEN__)
+
+/**
+ * @brief Sets the power state of the A3906.
+ * @param[in]   a3906d      The A3906 driver.
+ * @param[in]   power_state The new power state to set.
+ *
+ * @return The return status indicates whether the function call was successfull.
+ */
+inline apalExitStatus_t
+a3906_lld_set_power(const A3906Driver* const a3906, const a3906_lld_power_t power_state)
+{
+  apalDbgAssert(a3906 != NULL);
+
+  // set the output of the pin depending on the activation property
+  return apalControlGpioSet(&a3906->power_pin, (power_state == A3906_LLD_POWER_ON) ? APAL_GPIO_ON : APAL_GPIO_OFF);
+}
+
+/**
+ * @brief Gets the current power state of the A3906.
+ *
+ * @param[in]   a3906d        The A3906 driver,
+ * @param[out]  power_state   The currently set power state.
+ *
+ * @return The return status indicates whether the function call was successfull.
+ */
+inline apalExitStatus_t
+a3906_lld_get_power(const A3906Driver* const a3906, a3906_lld_power_t* const power_state)
+{
+  apalDbgAssert(a3906 != NULL);
+  apalDbgAssert(power_state != NULL);
+
+  // get current activation state of power gpio
+  apalControlGpioState_t gpio_state;
+  apalExitStatus_t status = apalControlGpioGet(&a3906->power_pin, &gpio_state);
+  *power_state = gpio_state == APAL_GPIO_ON ? A3906_LLD_POWER_ON : A3906_LLD_POWER_OFF;
+  return status;
+}
+
+/**
+ * @brief Set the PWM width for one channel.
+ *
+ * @param[in]   pwmd      The PWM driver to use.
+ * @param[in]   channel   The channel of the given PWM driver to set.
+ * @param[in]   width     The new width to set the PWM to.
+ *
+ * @return The return status indicates whether the function call was successfull.
+ */
+inline apalExitStatus_t
+a3906_lld_set_pwm(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width)
+{
+  apalDbgAssert(pwm != NULL);
+
+  return apalPWMSet(pwm, channel, width);
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_A3906) */
diff --git a/source/alld_at24c01bn-sh-b.c b/source/alld_at24c01bn-sh-b.c
new file mode 100644
index 0000000..6ea7125
--- /dev/null
+++ b/source/alld_at24c01bn-sh-b.c
@@ -0,0 +1,124 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_at24c01bn-sh-b.h>
+
+#if defined(AMIROLLD_CFG_USE_AT24C01BN) || defined(__DOXYGEN__)
+
+#include <string.h>
+
+/**
+ * @brief Acknowledgement polling to check if a write operation finished.
+ * @param[in]   at24c01bn The eeprom driver to use.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds)
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+at24c01bn_lld_poll_ack(const AT24C01BNDriver* const at24c01bn, const apalTime_t timeout)
+{
+  apalDbgAssert(at24c01bn != NULL);
+
+  uint8_t tmp = 0;
+  return apalI2CMasterReceive(at24c01bn->i2cd, (AT24C01BN_LLD_I2C_ADDR_FIXED | at24c01bn->addr), &tmp, 1, timeout);
+}
+
+/**
+ * @brief Read the data from the eeprom starting at the current address.
+ * @param[in]   at24c01bn The eeprom driver to use.
+ * @param[out]  data      The data read from the AT24C01BN.
+ * @param[in]   num       The amount of bytes to read.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds)
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+at24c01bn_lld_read_current_address(const AT24C01BNDriver* const at24c01bn, uint8_t* const data, const uint8_t num, const apalTime_t timeout)
+{
+  apalDbgAssert(at24c01bn != NULL);
+  apalDbgAssert(data != NULL);
+
+  return apalI2CMasterReceive(at24c01bn->i2cd, (AT24C01BN_LLD_I2C_ADDR_FIXED | at24c01bn->addr), data, num, timeout);
+}
+
+/**
+ * @brief Read the data from the eeprom starting at a given address.
+ * @param[in]   at24c01bn The eeprom driver to use.
+ * @param[in]   addr      The address to read.
+ * @param[out]  data      The data read from the AT24C01BN.
+ * @param[in]   num       The amount of bytes to read.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds)
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+at24c01bn_lld_read(const AT24C01BNDriver* const at24c01bn, const uint8_t addr, uint8_t* const data, const uint8_t num, const apalTime_t timeout)
+{
+  apalDbgAssert(at24c01bn != NULL);
+  apalDbgAssert(data != NULL);
+  apalDbgAssert(addr + num <= AT24C01BN_LLD_SIZE_BYTES);
+
+  apalExitStatus_t status = apalI2CMasterTransmit(at24c01bn->i2cd, (AT24C01BN_LLD_I2C_ADDR_FIXED | at24c01bn->addr), &addr, 1, NULL, 0, timeout);
+  if (status == APAL_STATUS_OK || status == APAL_STATUS_WARNING) {
+    return apalI2CMasterReceive(at24c01bn->i2cd, (AT24C01BN_LLD_I2C_ADDR_FIXED | at24c01bn->addr), data, num, timeout);
+  } else {
+    return status;
+  }
+}
+
+/**
+ * @brief Write a byte to the eeprom.
+ * @param[in]   at24c01bn The eeprom driver to use.
+ * @param[in]   addr      The address to start writing.
+ * @param[out]  data      The data to be written to the AT24C01BN.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds)
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+at24c01bn_lld_write_byte(const AT24C01BNDriver* const at24c01bn, const uint8_t addr, const uint8_t data, const apalTime_t timeout)
+{
+  apalDbgAssert(at24c01bn != NULL);
+
+  const uint8_t writedata[2] = {addr, data};
+  return apalI2CMasterTransmit(at24c01bn->i2cd, (AT24C01BN_LLD_I2C_ADDR_FIXED | at24c01bn->addr), writedata, 2, NULL, 0, timeout);
+}
+
+/**
+ * @brief Write a page to the eeprom.
+ * @param[in]   at24c01bn The eeprom driver to use.
+ * @param[in]   addr      The address to start writing.
+ * @param[in]   data      The data to be written to the AT24C01BN.
+ * @param[in]   num       The amount of bytes to write.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds)
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+at24c01bn_lld_write_page(const AT24C01BNDriver* const at24c01bn, const uint8_t addr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout)
+{
+  apalDbgAssert(at24c01bn != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint8_t writedata[num+1];
+  writedata[0] = addr;
+  memcpy(&writedata[1], data, num);
+  return apalI2CMasterTransmit(at24c01bn->i2cd, (AT24C01BN_LLD_I2C_ADDR_FIXED | at24c01bn->addr), writedata, num+1, NULL, 0, timeout);
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_AT24C01BN) */
diff --git a/source/alld_bq24103a.c b/source/alld_bq24103a.c
new file mode 100644
index 0000000..878df15
--- /dev/null
+++ b/source/alld_bq24103a.c
@@ -0,0 +1,73 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_bq24103a.h>
+
+#if defined(AMIROLLD_CFG_USE_BQ24103A) || defined(__DOXYGEN__)
+
+/**
+ * @brief Read the value of the POWER_EN Gpio pin.
+ * @param[in]   tpsd        bq24103a drivers
+ * @param[out]  pinstate    current value of the gpio pin
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+bq24103a_lld_get_enabled(const BQ24103ADriver* const bq24103a, bq24103a_lld_enable_t* const enable)
+{
+  apalDbgAssert(bq24103a != NULL);
+  apalDbgAssert(enable != NULL);
+
+  apalControlGpioState_t gpio_state;
+  apalExitStatus_t status = apalControlGpioGet(&bq24103a->gpio_enabled, &gpio_state);
+  *enable = gpio_state == APAL_GPIO_ON ? BQ24103A_LLD_ENABLED : BQ24103A_LLD_DISABLED;
+  return status;
+}
+
+/**
+ * @brief Set the value of the POWER_EN Gpio pin.
+ * @param[in]   tpsd        bq24103a drivers
+ * @param[in]   pinstate    new value of the gpio pin
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+bq24103a_lld_set_enabled(const BQ24103ADriver* const bq24103a, const bq24103a_lld_enable_t enable)
+{
+  apalDbgAssert(bq24103a != NULL);
+
+  return apalControlGpioSet(&bq24103a->gpio_enabled, enable == BQ24103A_LLD_ENABLED ? APAL_GPIO_ON : APAL_GPIO_OFF);
+}
+
+/**
+ * @brief Read the value of the STAT1 charge status Gpio pin.
+ * @param[in]   tpsd        bq24103a drivers
+ * @param[out]  pinstate    current value of the gpio pin
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+bq24103a_lld_get_charge_status(const BQ24103ADriver* const bq24103a, bq24103a_lld_charge_state_t* const charge)
+{
+  apalDbgAssert(bq24103a != NULL);
+  apalDbgAssert(charge != NULL);
+
+  apalControlGpioState_t gpio_state;
+  apalExitStatus_t status = apalControlGpioGet(&bq24103a->gpio_charge_status, &gpio_state);
+  *charge = gpio_state == APAL_GPIO_ON ? BQ24103A_LLD_CHARGING : BQ24103A_LLD_NOT_CHARGING;
+  return status;
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_BQ24103A) */
diff --git a/source/alld_bq27500.c b/source/alld_bq27500.c
new file mode 100644
index 0000000..99bd0dc
--- /dev/null
+++ b/source/alld_bq27500.c
@@ -0,0 +1,187 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_bq27500.h>
+
+#if defined(AMIROLLD_CFG_USE_BQ27500) || defined(__DOXYGEN__)
+
+#include <string.h>
+
+/**
+ * @brief Read the battery low Gpio pin.
+ * @param[in]   bqd       The bq27500 driver
+ * @param[out]  batlow    The battery low state
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+bq27500_lld_read_batlow(const BQ27500Driver* const bq27500, bq27500_lld_batlow_t* const batlow)
+{
+  apalDbgAssert(bq27500 != NULL);
+  apalDbgAssert(batlow != NULL);
+
+  apalControlGpioState_t gpio_state;
+  apalExitStatus_t status = apalControlGpioGet(&bq27500->gpio_batlow, &gpio_state);
+  *batlow = (gpio_state == APAL_GPIO_ON) ? BQ27500_LLD_BATTERY_LOW : BQ27500_LLD_BATTERY_NOT_LOW;
+  return status;
+}
+
+/**
+ * @brief Read the battery good Gpio pin.
+ * @param[in]   bqd       The bq27500 driver
+ * @param[out]  batgood   The battery good state
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+bq27500_lld_read_batgood(const BQ27500Driver* const bq27500, bq27500_lld_batgood_t* const batgood)
+{
+  apalDbgAssert(bq27500 != NULL);
+  apalDbgAssert(batgood != NULL);
+
+  apalControlGpioState_t gpio_state;
+  apalExitStatus_t status = apalControlGpioGet(&bq27500->gpio_batgood, &gpio_state);
+  *batgood = (gpio_state == APAL_GPIO_ON) ? BQ27500_LLD_BATTERY_GOOD : BQ27500_LLD_BATTERY_NOT_GOOD;
+  return status;
+}
+
+/**
+ * @brief Execute one of the standard commands.
+ * @param[in]   i2cd      The I2C Driver
+ * @param[in]   cmd       The command to be executed
+ * @param[out]  dst       The return value of the command
+ * @param[in]   timeout   Timeout of the I2C bus
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+bq27500_lld_std_command(const BQ27500Driver* const bq27500, const bq27500_lld_std_command_t cmd, uint16_t* const dst, const apalTime_t timeout)
+{
+  apalDbgAssert(bq27500 != NULL);
+  apalDbgAssert(dst != NULL);
+
+  uint8_t buffer[2];
+  apalExitStatus_t status = apalI2CMasterTransmit(bq27500->i2cd, BQ27500_LLD_I2C_ADDR, (uint8_t*)&cmd, 1, buffer, 2, timeout);
+  *dst = (uint16_t)((buffer[1] << 8) | buffer[0]);
+  return status;
+}
+
+/**
+ * @brief Execute one of the control sub commands.
+ * @param[in]   i2cd      The I2C Driver
+ * @param[in]   cmd       The sub command to be executed
+ * @param[in]   timeout   Timeout of the I2C bus
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+bq27500_lld_sub_command_call(const BQ27500Driver* const bq27500, const bq27500_lld_control_subcmd_t cmd, const apalTime_t timeout)
+{
+  apalDbgAssert(bq27500 != NULL);
+
+  uint8_t buffer[3] = {BQ27500_LLD_STD_CMD_Control, (uint8_t)(cmd & 0x00FFu), (uint8_t)((cmd & 0xFF00u) >> 8)};
+  return apalI2CMasterTransmit(bq27500->i2cd, BQ27500_LLD_I2C_ADDR, buffer, 3, NULL, 0, timeout);
+}
+
+/**
+ * @brief Read the return value of a previously executed control sub command.
+ * @param[in]   i2cd      The I2C Driver
+ * @param[out]  data      The data read from the sub command
+ * @param[in]   timeout   Timeout of the I2C bus
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+bq27500_lld_sub_command_read(const BQ27500Driver* const bq27500, uint16_t* const data, const apalTime_t timeout)
+{
+  apalDbgAssert(bq27500 != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint8_t buffer[3] = {0, 0, 0};
+  apalExitStatus_t status = apalI2CMasterTransmit(bq27500->i2cd, BQ27500_LLD_I2C_ADDR, buffer, 1, &buffer[1], 2, timeout);
+  *data = (uint16_t)((buffer[2] << 8) | buffer[1]);
+  return status;
+}
+
+/**
+ * @brief Execute on of the extended commands.
+ * @param[in]   i2cd      The I2C Driver
+ * @param[in]   cmd       The ext command to be executed
+ * @param[in]   rw        Use the command in read or write mode
+ * @param[in]   buffer    A buffer for input and output
+ * @param[in]   length    length of the buffer
+ * @param[in]   offset    Offset for reading or writing
+ * @param[in]   timeout   Timeout of the I2C bus
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+bq27500_lld_ext_command(const BQ27500Driver* const bq27500, const bq27500_lld_ext_command_t cmd, const bq27500_lld_ext_cmd_access_t rw, uint8_t* const buffer, const uint8_t length, const uint8_t offset, const apalTime_t timeout)
+{
+  apalDbgAssert(bq27500 != NULL);
+  apalDbgAssert(buffer != NULL);
+
+  uint8_t in_buffer[1+length];
+  in_buffer[0] = cmd + offset;
+  if (rw == BQ27500_LLD_EXT_CMD_WRITE) {
+    memcpy(in_buffer+1, buffer, length);
+  }
+  uint8_t txbytes = 1 + ((rw == BQ27500_LLD_EXT_CMD_WRITE) ? length : 0);
+  uint8_t rxbytes = ((rw == BQ27500_LLD_EXT_CMD_READ) ? length : 0);
+  return apalI2CMasterTransmit(bq27500->i2cd, BQ27500_LLD_I2C_ADDR, in_buffer, txbytes, ((rw == BQ27500_LLD_EXT_CMD_READ) ? buffer : NULL), rxbytes, timeout);
+}
+
+/**
+ * @brief Send data via the CTNL command.
+ * @param[in]   i2cd      The I2C Driver
+ * @param[in]   data      Data to be sent
+ * @param[in]   timeout   Timeout of the I2C bus
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+bq27500_lld_send_ctnl_data(const BQ27500Driver* const bq27500, const uint16_t data, const apalTime_t timeout)
+{
+  apalDbgAssert(bq27500 != NULL);
+
+  uint8_t buffer[3] = {BQ27500_LLD_STD_CMD_Control, (uint8_t)(data & 0x00FFu), (uint8_t)((data & 0xFF00u) >> 8)};
+  return apalI2CMasterTransmit(bq27500->i2cd, BQ27500_LLD_I2C_ADDR, buffer, 3, NULL, 0, timeout);
+}
+
+/**
+ * @bried Computes the checksum of blockdata.
+ * @param[in]   blockdata   Data to compute the checksum of (32 byte buffer)
+ * @param[out]  sum         The computed checksum
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+bq27500_lld_compute_blockdata_checksum(const uint8_t* const blockdata, uint8_t* const sum)
+{
+  apalDbgAssert(blockdata != NULL);
+  apalDbgAssert(sum != NULL);
+
+  *sum = 0;
+  for (uint8_t dataIdx = 0; dataIdx < 32; dataIdx++) {
+    *sum += blockdata[dataIdx];
+  }
+  *sum = 0xFF - *sum;
+  return APAL_STATUS_SUCCESS;
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_BQ27500) */
diff --git a/source/alld_hmc5883l.c b/source/alld_hmc5883l.c
new file mode 100644
index 0000000..4352f22
--- /dev/null
+++ b/source/alld_hmc5883l.c
@@ -0,0 +1,225 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_hmc5883l.h>
+
+#if defined(AMIROLLD_CFG_USE_HMC5883L) || defined(__DOXYGEN__)
+
+#include <string.h>
+
+/**
+ * @brief Reads the registers starting from idetification register A.
+ * @param[in]   hmcd        The HMC5883L driver to use.
+ * @param[out]  rxbuffer    The data read from the identification registers.
+ * @param[in]   num         Number of registers to read.
+ * @param[in]   timeout     Timeout for the function to return (in microseconds).
+ *
+ * @return The return status indicates whether the function call was successfull or a timeout occured.
+ */
+inline apalExitStatus_t
+hmc5883l_lld_check(const HMC5883LDriver* const hmcd, uint8_t* const rxbuffer, const uint8_t num, const apalTime_t timeout)
+{
+  apalDbgAssert(hmcd != NULL && hmcd->i2cd != NULL);
+  apalDbgAssert(rxbuffer != NULL);
+
+  uint8_t txbuffer = HMC5883L_LLD_REGISTER_IDENTIFICATION_A;
+  return apalI2CMasterTransmit(hmcd->i2cd,HMC5883L_LLD_I2C_ADDR,&txbuffer,1,rxbuffer,num,timeout);
+}
+
+/**
+ * @brief Write data to consecutive registers.
+ * @param[in]   hmcd        The HMC5883L driver to use.
+ * @param[in]   regaddr     Address of first register.
+ * @param[in]   data        Bytes to write to the registers.
+ * @param[in]   num         Number of registers to write.
+ * @param[in]   timeout     Timeout for the function to return (in microseconds).
+ *
+ * @return The return status indicates whether the function call was successfull or a timeout occured.
+ */
+inline apalExitStatus_t
+hmc5883l_lld_write_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout)
+{
+  apalDbgAssert(hmcd != NULL && hmcd->i2cd != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint8_t buffer[num+1];
+  buffer[0] = regaddr;
+  memcpy(buffer+1, data, num);
+  return apalI2CMasterTransmit(hmcd->i2cd,HMC5883L_LLD_I2C_ADDR,buffer,num+1,NULL,0,timeout);
+}
+
+/**
+ * @brief Write data to one registers.
+ * @param[in]   hmcd        The HMC5883L driver to use.
+ * @param[in]   regaddr     Address of the register.
+ * @param[in]   data        Data to write ti the register.
+ * @param[in]   timeout     Timeout for the function to return (in microseconds).
+ *
+ * @return The return status indicates whether the function call was successfull or a timeout occured.
+ */
+inline apalExitStatus_t
+hmc5883l_lld_set_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, const uint8_t data, const apalTime_t timeout)
+{
+  apalDbgAssert(hmcd != NULL && hmcd->i2cd != NULL);
+
+  uint8_t buffer[2];
+  buffer[0] = regaddr;
+  buffer[1] = data;
+  return apalI2CMasterTransmit(hmcd->i2cd,HMC5883L_LLD_I2C_ADDR,buffer,2,NULL,0,timeout);
+}
+
+/**
+ * @brief Read data from consecutive registers.
+ * @param[in]   hmcd        The HMC5883L driver to use.
+ * @param[in]   regaddr     Address of first register.
+ * @param[out]  data        Bytes to read from the registers.
+ * @param[in]   num         Number of registers to read.
+ * @param[in]   timeout     Timeout for the function to return (in microseconds).
+ *
+ * @return The return status indicates whether the function call was successfull or a timeout occured.
+ */
+inline apalExitStatus_t
+hmc5883l_lld_read_register(const HMC5883LDriver* const hmcd, const hmc5883l_lld_register_t regaddr, uint8_t* const data, const uint8_t num, const apalTime_t timeout)
+{
+  apalDbgAssert(hmcd != NULL && hmcd->i2cd != NULL);
+  apalDbgAssert(data != NULL);
+
+  return apalI2CMasterTransmit(hmcd->i2cd,HMC5883L_LLD_I2C_ADDR,(uint8_t*)&regaddr,1,data,num,timeout);
+}
+
+/**
+ * @brief Read sensor data.
+ * @param[in]   hmcd        The HMC5883L driver to use.
+ * @param[out]  data        Sensor data.
+ * @param[in]   timeout     Timeout for the function to return (in microseconds).
+ *
+ * @return The return status indicates whether the function call was successfull or a timeout occured.
+ */
+inline apalExitStatus_t
+hmc5883l_lld_read_data(const HMC5883LDriver* const hmcd, uint16_t* const data, const apalTime_t timeout)
+{
+  apalDbgAssert(data != NULL);
+
+  uint8_t buffer[6];
+  apalExitStatus_t status = hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_DATA_OUT_X_MSB, buffer, 6, timeout);
+  data[0] = ((uint16_t)buffer[0] << 8) | buffer[1];
+  data[1] = ((uint16_t)buffer[2] << 8) | buffer[3];
+  data[2] = ((uint16_t)buffer[4] << 8) | buffer[5];
+  for (uint8_t dataIdx = 0; dataIdx < 3; dataIdx++) {
+    if (data[dataIdx] >> 15) {
+      data[dataIdx] = -1 * ~(data[dataIdx] - 1);
+    }
+  }
+  return status;
+}
+
+/**
+ * @brief Read the status register.
+ * @param[in]   hmcd        The HMC5883L driver to use.
+ * @param[out]  status      Content of status register,
+ * @param[in]   timeout     Timeout for the function to return (in microseconds).
+ *
+ * @return The return status indicates whether the function call was successfull or a timeout occured.
+ */
+inline apalExitStatus_t
+hmc5883l_lld_read_status(const HMC5883LDriver* const hmcd, uint8_t* const status, const apalTime_t timeout)
+{
+  apalDbgAssert(status != NULL);
+
+  return hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_STATUS, status, 1, timeout);
+}
+
+/**
+ * @brief Read the configuration of the hmc5883l.
+ * @param[in]   hmcd        The HMC5883L driver to use.
+ * @param[out]  cfg         Structure representing the current configuration.
+ * @param[in]   timeout     Timeout for the function to return (in microseconds).
+ *
+ * @return The return status indicates whether the function call was successfull or a timeout occured.
+ */
+inline apalExitStatus_t
+hmc5883l_lld_read_config(const HMC5883LDriver* const hmcd, hmc5883l_lld_config_t* const cfg, const apalTime_t timeout)
+{
+  apalDbgAssert(cfg != NULL);
+
+  uint8_t conf[3];
+  apalExitStatus_t status = hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_CONFIG_A, conf, 3, timeout);
+  cfg->avg = conf[0] & (3 << 5);
+  cfg->outrate = conf[0] & (7 << 2);
+  cfg->mbias = conf[0] & 3;
+  cfg->gain = conf[1] & (7 << 5);
+  cfg->highspeed = conf[2] >> 7;
+  cfg->mode = conf[2] & 3;
+  return status;
+}
+
+/**
+ * @brief Write a configuration to the hmc5883l.
+ * @param[in]   hmcd        The HMC5883L driver to use.
+ * @param[in]  cfg         Structure representing the new configuration.
+ * @param[in]   timeout     Timeout for the function to return (in microseconds).
+ *
+ * @return The return status indicates whether the function call was successfull or a timeout occured.
+ */
+inline apalExitStatus_t
+hmc5883l_lld_write_config(const HMC5883LDriver* const hmcd, const hmc5883l_lld_config_t cfg, const apalTime_t timeout)
+{
+  uint8_t conf[3];
+  conf[0] = cfg.avg | cfg.outrate | cfg.mbias;
+  conf[1] = cfg.gain;
+  conf[2] = (cfg.highspeed << 7) | cfg.mode;
+  return hmc5883l_lld_write_register(hmcd, HMC5883L_LLD_REGISTER_CONFIG_A, conf, 3, timeout);
+}
+
+/**
+ * @brief Read the lock bit of the status register.
+ * @param[in]   hmcd        The HMC5883L driver to use.
+ * @param[in]   lock        Status of the lock bit.
+ * @param[in]   timeout     Timeout for the function to return (in microseconds).
+ *
+ * @return The return status indicates whether the function call was successfull or a timeout occured.
+ */
+inline apalExitStatus_t
+hmc5883l_lld_read_lock(const HMC5883LDriver* const hmcd, uint8_t* const lock, const apalTime_t timeout)
+{
+  apalDbgAssert(lock != NULL);
+
+  apalExitStatus_t status = hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_STATUS, lock, 1, timeout);
+  *lock >>= 1;
+  return status;
+}
+
+/**
+ * @brief Read the rdy bit of the status register.
+ * @param[in]   hmcd        The HMC5883L driver to use.
+ * @param[in]   rdy         Status of the rdy bit.
+ * @param[in]   timeout     Timeout for the function to return (in microseconds).
+ *
+ * @return The return status indicates whether the function call was successfull or a timeout occured.
+ */
+inline apalExitStatus_t
+hmc5883l_lld_read_rdy(const HMC5883LDriver* const hmcd, uint8_t* const rdy, const apalTime_t timeout)
+{
+  apalDbgAssert(rdy != NULL);
+
+  apalExitStatus_t status = hmc5883l_lld_read_register(hmcd, HMC5883L_LLD_REGISTER_STATUS, rdy, 1, timeout);
+  *rdy &= 1;
+  return status;
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_HMC5883L) */
diff --git a/source/alld_ina219.c b/source/alld_ina219.c
new file mode 100644
index 0000000..189ed21
--- /dev/null
+++ b/source/alld_ina219.c
@@ -0,0 +1,331 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_ina219.h>
+
+#if defined(AMIROLLD_CFG_USE_INA219) || defined(__DOXYGEN__)
+
+/**
+ * @brief Read the value of one or more of the registers.
+ * @param[in]   i2cd        i2c driver
+ * @param[in]   inad        ina219 driver
+ * @param[in]   addr        register address
+ * @param[out]  data        register content
+ * @param[in]   num         number of subsequent registers to read
+ * @param[in]   timeout     timeout
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ina219_lld_read_register(const INA219Driver* const ina219, const ina219_lld_register_t addr, uint16_t* const data, const uint8_t num, const apalTime_t timeout)
+{
+  apalDbgAssert(ina219 != NULL);
+  apalDbgAssert(ina219->i2cd != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint8_t buffer[num*2];
+  apalExitStatus_t status = apalI2CMasterTransmit(ina219->i2cd, (INA219_LLD_I2C_ADDR_FIXED | ina219->addr), (uint8_t*)&addr, 1, buffer, 2*num, timeout);
+  for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) {
+    data[dataIdx] = (buffer[2*dataIdx] << 8) | buffer[2*dataIdx+1];
+  }
+  return status;
+}
+
+/**
+ * @brief Write the value of one or more of the registers.
+ * @param[in]   i2cd        i2c driver
+ * @param[in]   inad        ina219 driver
+ * @param[in]   addr        register address
+ * @param[in]   data        data to write
+ * @param[in]   num         number of subsequent registers to read
+ * @param[in]   timeout     timeout
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ina219_lld_write_register(const INA219Driver* const ina219, const ina219_lld_register_t addr, const uint16_t* const data, const uint8_t num, const apalTime_t timeout)
+{
+  apalDbgAssert(ina219 != NULL);
+  apalDbgAssert(ina219->i2cd != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint8_t buffer[1+2*num];
+  buffer[0] = addr;
+  for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) {
+    buffer[dataIdx*2+1] = data[dataIdx] >> 8;
+    buffer[dataIdx*2+2] = data[dataIdx] & (0x00FFu);
+  }
+  return apalI2CMasterTransmit(ina219->i2cd, (INA219_LLD_I2C_ADDR_FIXED | ina219->addr), buffer, 1+2*num, NULL, 0, timeout);
+}
+
+/**
+ * @brief Calibrate the ina219.
+ * @param[in]   i2cd        i2c driver
+ * @param[in]   inad        APAL_STATUS_SUCCESS;
+ * @param[in]   calib_in    calibration input data
+ * @param[out]  calib_out   output of the calibration
+ * @param[in]   timeout     timeout
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ina219_lld_calibration(INA219Driver* const ina219, const ina219_lld_calib_input_t* const calib_in, ina219_lld_calib_output_t* const calib_out)
+{
+  apalDbgAssert(ina219 != NULL);
+  apalDbgAssert(calib_in != NULL);
+  apalDbgAssert(calib_out != NULL);
+
+  uint16_t current_lsb_uA = calib_in->current_lsb_uA;
+  if (current_lsb_uA < calib_in->max_expected_current_A / 0.032768f) {
+    current_lsb_uA = calib_in->max_expected_current_A / 0.032768f;
+  } else if (current_lsb_uA > calib_in->max_expected_current_A / 0.004096f) {
+    current_lsb_uA = calib_in->max_expected_current_A / 0.004096f;
+  }
+
+  uint16_t calib_value = (uint16_t) (40960 / (current_lsb_uA * calib_in->shunt_resistance_0));
+
+  float V_shunt_max;
+  switch (calib_in->cfg_reg.options.gain) {
+    case INA219_LLD_GAIN_1_40mV:
+        V_shunt_max = 0.04f;
+        break;
+    case INA219_LLD_GAIN_2_80mV:
+        V_shunt_max = 0.08f;
+        break;
+    case INA219_LLD_GAIN_4_160mV:
+        V_shunt_max = 0.16f;
+        break;
+    case INA219_LLD_GAIN_8_320mV:
+        V_shunt_max = 0.32f;
+        break;
+  }
+
+  calib_out->max_current_before_overflow_A = (current_lsb_uA * 0.032767f >= V_shunt_max /calib_in->shunt_resistance_0) ?
+                                                V_shunt_max / calib_in->shunt_resistance_0 :
+                                                current_lsb_uA * 0.032767f;
+  calib_out->max_shunt_voltage_before_overflow_V =
+                                ((calib_out->max_current_before_overflow_A * calib_in->shunt_resistance_0) >= V_shunt_max) ?
+                                                   V_shunt_max :
+                                                   calib_out->max_current_before_overflow_A * calib_in->shunt_resistance_0;
+
+  calib_out->current_lsb_uA = current_lsb_uA;
+  calib_out->calibration = calib_value;
+
+  ina219->current_lsb_uA = current_lsb_uA;
+
+  return APAL_STATUS_SUCCESS;
+}
+
+/**
+ * @brief Read the current configuration.
+ * @param[in]   i2cd        i2c driver
+ * @param[in]   inad        ina219 driver
+ * @param[out]  cfg         current configuration
+ * @param[in]   timeout     timeout
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ina219_lld_read_config(const INA219Driver* const ina219, ina219_lld_cfg_t* const cfg, const apalTime_t timeout)
+{
+  apalDbgAssert(ina219 != NULL);
+  apalDbgAssert(cfg != NULL);
+
+  return ina219_lld_read_register(ina219, INA219_LLD_REGISTER_CONFIGURATION, &cfg->data, 1, timeout);
+}
+
+/**
+ * @brief Write a new configuration.
+ * @param[in]   i2cd        i2c driver
+ * @param[in]   inad        ina219 driver
+ * @param[in]   cfg         new configuration
+ * @param[in]   timeout     timeout
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ina219_lld_write_config(const INA219Driver* const ina219, ina219_lld_cfg_t cfg, const apalTime_t timeout)
+{
+  apalDbgAssert(ina219 != NULL);
+
+  return ina219_lld_write_register(ina219, INA219_LLD_REGISTER_CONFIGURATION, &cfg.data, 1, timeout);
+}
+
+/**
+ * @brief Read the current calibration value.
+ * @param[in]   i2cd        i2c driver
+ * @param[in]   inad        ina219 driver
+ * @param[out]  calib       current calibration value
+ * @param[in]   timeout     timeout
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ina219_lld_read_calibration(const INA219Driver* const ina219, uint16_t* const calib, const apalTime_t timeout)
+{
+  apalDbgAssert(ina219 != NULL);
+  apalDbgAssert(calib != NULL);
+
+  return ina219_lld_read_register(ina219, INA219_LLD_REGISTER_CALIBRATION, calib, 1, timeout);
+}
+
+/**
+ * @brief Write a new calibration value.
+ * @param[in]   i2cd        i2c driver
+ * @param[in]   inad        ina219 driver
+ * @param[in]   calib       new calibration value
+ * @param[in]   timeout     timeout
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ina219_lld_write_calibration(const INA219Driver* const ina219, const uint16_t calib, const apalTime_t timeout)
+{
+  apalDbgAssert(ina219 != NULL);
+
+  return ina219_lld_write_register(ina219, INA219_LLD_REGISTER_CALIBRATION, &calib, 1, timeout);
+}
+
+/**
+ * @brief Reset the ina219.
+ * @param[in]   i2cd        i2c driver
+ * @param[in]   inad        ina219 driver
+ * @param[in]   timeout     timeout
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ina219_lld_reset(const INA219Driver* const ina219, const apalTime_t timeout)
+{
+  apalDbgAssert(ina219 != NULL);
+
+  uint16_t data = 0x8000;
+  return ina219_lld_write_register(ina219, INA219_LLD_REGISTER_CONFIGURATION, &data, 1, timeout);
+}
+
+/**
+ * @brief Read the current shunt voltage (uV).
+ * @param[in]   i2cd        i2c driver
+ * @param[in]   inad        ina219 driver
+ * @param[out]  data        shunt voltage
+ * @param[in]   timeout     timeout
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ina219_lld_read_shunt_voltage(const INA219Driver* const ina219, int32_t* const data, const apalTime_t timeout)
+{
+  apalDbgAssert(ina219 != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint16_t buffer = 0;
+  apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_SHUNT_VOLTAGE, &buffer, 1, timeout);
+
+  switch (ina219->config->options.gain) {
+    case INA219_LLD_GAIN_8_320mV:
+      *data = (int32_t)(buffer & 0x7FFFu) * ((buffer & 0x8000u) ? -10 : 10);
+      break;
+    case INA219_LLD_GAIN_4_160mV:
+      *data = (int32_t)(buffer & 0x3FFFu) * ((buffer & 0xC000u) ? -10 : 10);
+      break;
+    case INA219_LLD_GAIN_2_80mV:
+      *data = (int32_t)(buffer & 0x1FFFu) * ((buffer & 0xE000u) ? -10 : 10);
+      break;
+    case INA219_LLD_GAIN_1_40mV:
+      *data = (int32_t)(buffer & 0x0FFFu) * ((buffer & 0xF000u) ? -10 : 10);
+      break;
+  }
+
+  return status;
+}
+
+/**
+ * @brief Read the current bus voltage (uV).
+ * @param[in]   i2cd        i2c driver
+ * @param[in]   inad        ina219 driver
+ * @param[out]  data        bus voltage
+ * @param[in]   timeout     timeout
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ina219_lld_read_bus_voltage(const INA219Driver* const ina219, uint32_t* const data, const apalTime_t timeout)
+{
+  apalDbgAssert(ina219 != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint16_t buffer = 0;
+  apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_BUS_VOLTAGE, &buffer, 1, timeout);
+  if (buffer & 0x01) {
+    status = APAL_STATUS_ERROR;
+  }
+  *data = (uint32_t)(buffer >> 3) * 4000;
+  return status;
+}
+
+/**
+ * @brief Read the power (uW).
+ * @param[in]   i2cd        i2c driver
+ * @param[in]   inad        ina219 driver
+ * @param[out]  data        power
+ * @param[in]   timeout     timeout
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ina219_lld_read_power(const INA219Driver* const ina219, uint32_t* const data, const apalTime_t timeout)
+{
+  apalDbgAssert(ina219 != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint16_t buffer = 0;
+  apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_POWER, &buffer, 1, timeout);
+  *data = (uint32_t)buffer * 20 * ina219->current_lsb_uA;
+  return status;
+}
+
+/**
+ * @brief Read the current (uA).
+ * @param[in]   i2cd        i2c driver
+ * @param[in]   inad        ina219 driver
+ * @param[out]  data        current
+ * @param[in]   timeout     timeout
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ina219_lld_read_current(const INA219Driver* const ina219, int16_t* const data, const apalTime_t timeout)
+{
+  apalDbgAssert(ina219 != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint16_t buffer = 0;
+  apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_CURRENT, &buffer, 1, timeout);
+  *data = ((int16_t) buffer) * ina219->current_lsb_uA;
+  return status;
+}
+
+/**
+ * @brief Read the bus conversion ready flag.
+ * @param[in]   i2cd        i2c driver
+ * @param[in]   inad        ina219 driver
+ * @param[out]  buscnv      conversion ready flag
+ * @param[in]   timeout     timeout
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ina219_lld_bus_conversion_ready(const INA219Driver* const ina219, uint16_t* const buscnv, const apalTime_t timeout)
+{
+  apalDbgAssert(ina219 != NULL);
+  apalDbgAssert(buscnv != NULL);
+
+  apalExitStatus_t status = ina219_lld_read_register(ina219, INA219_LLD_REGISTER_BUS_VOLTAGE, buscnv, 1, timeout);
+  *buscnv >>= 1;
+  *buscnv &= 1;
+  return status;
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_INA219) */
diff --git a/source/alld_l3g4200d.c b/source/alld_l3g4200d.c
new file mode 100644
index 0000000..5786111
--- /dev/null
+++ b/source/alld_l3g4200d.c
@@ -0,0 +1,268 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include<alld_l3g4200d.h>
+
+#if defined(AMIROLLD_CFG_USE_L3G4200D) || defined(__DOXYGEN__)
+
+#include <string.h>
+
+/**
+ * @brief Read the content of one or more registers.
+ * @param[in]   l3gd      The L3G4200D driver to use.
+ * @param[in]   regaddr   The address of the first register.
+ * @param[out]  data      The data read from the registers.
+ * @param[in]   length    Number of registers to read.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+l3g4200d_lld_read_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, uint8_t* const data, const uint8_t length)
+{
+  apalDbgAssert(l3gd != NULL && l3gd->spid != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint8_t buffer[length+1];
+  buffer[0] = regaddr | L3G4200D_LLD_SPI_READ | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0);
+  apalExitStatus_t status = apalSPIExchange(l3gd->spid, buffer, buffer, length+1);
+  memcpy(data, buffer+1, length);
+  return status;
+}
+
+/**
+ * @brief Write to one or more registers.
+ * @param[in]   l3gd      The L3G4200D driver to use.
+ * @param[in]   regaddr   The address of the first register.
+ * @param[in]   data      The data to be written to the registers.
+ * @param[in]   length    Number of registers to write.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+l3g4200d_lld_write_register(const L3G4200DDriver* const l3gd, const l3g4200d_lld_register_t regaddr, const uint8_t* const data, const uint8_t length)
+{
+  apalDbgAssert(l3gd != NULL && l3gd->spid != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint8_t buffer[length+1];
+  buffer[0] = regaddr | L3G4200D_LLD_SPI_WRITE | ((length > 1) ? L3G4200D_LLD_SPI_MULT : 0);
+  memcpy(buffer+1, data, length);
+  return apalSPITransmit(l3gd->spid, buffer, length+1);
+}
+
+/**
+ * @brief Read the sensor data of all 3 axes.
+ * @param[in]   l3gd      The L3G4200D driver to use.
+ * @param[out]  data      The sensor data.
+ * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+l3g4200d_lld_read_all_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_cfg_t* const cfg)
+{
+  apalDbgAssert(data != NULL);
+  apalDbgAssert(cfg != NULL);
+
+  uint8_t buffer[6];
+  apalExitStatus_t status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 6);
+  if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
+    data[0] = (int16_t) (buffer[0] | (buffer[1] << 8));
+    data[1] = (int16_t) (buffer[2] | (buffer[3] << 8));
+    data[2] = (int16_t) (buffer[4] | (buffer[5] << 8));
+  } else {
+    data[0] = (int16_t) (buffer[1] | (buffer[0] << 8));
+    data[1] = (int16_t) (buffer[3] | (buffer[2] << 8));
+    data[2] = (int16_t) (buffer[5] | (buffer[4] << 8));
+  }
+  return status;
+}
+
+/**
+ * @brief Read the sensor data of one axis.
+ * @param[in]   l3gd      The L3G4200D driver to use.
+ * @param[out]  data      The sensor data.
+ * @param[in]   axis      The axis for which the data should be read.
+ * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+l3g4200d_lld_read_data(const L3G4200DDriver* const l3gd, int16_t* const data, const l3g4200d_lld_axis_t axis, const l3g4200d_lld_cfg_t* const cfg)
+{
+  apalDbgAssert(data != NULL);
+  apalDbgAssert(cfg != NULL);
+
+  apalExitStatus_t status = APAL_STATUS_SUCCESS;
+  uint8_t buffer[2];
+  switch (axis) {
+    case L3G4200D_LLD_X_AXIS:
+      status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_X_L, buffer, 2);
+      break;
+    case L3G4200D_LLD_Y_AXIS:
+      status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Y_L, buffer, 2);
+      break;
+    case L3G4200D_LLD_Z_AXIS:
+      status = l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_OUT_Z_L, buffer, 2);
+      break;
+    default:
+      return APAL_STATUS_INVALIDARGUMENTS;
+  }
+  // entweder jedes mal endian abfragen oder config mit übergeben
+  if (!(cfg->registers.ctrl_reg4 & L3G4200D_LLD_BLE_MSB)) {
+    *data = (int16_t) (buffer[0] | (buffer[1] << 8));
+  } else {
+    *data = (int16_t) (buffer[1] | (buffer[0] << 8));
+  }
+  return status;
+}
+
+/**
+ * @brief Read the current configuration
+ * @param[in]   l3gd      The L3G4200D driver to use.
+ * @param[out]  cfg       The current configuration.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+l3g4200d_lld_read_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_cfg_t* const cfg)
+{
+  apalDbgAssert(cfg != NULL);
+
+  return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg->data, 5);
+}
+
+/**
+ * @brief Write the a configuration
+ * @param[in]   l3gd      The L3G4200D driver to use.
+ * @param[in]   cfg       The new configuration.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+l3g4200d_lld_write_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_cfg_t cfg)
+{
+  return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_CTRL_REG1, cfg.data, 5);
+}
+
+/**
+ * @brief Read the interrupt configuration of one of the interrupts.
+ * @param[in]   spid        The SPI driver to use.
+ * @param[out]  cfg         The current interrupt configuration.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+l3g4200d_lld_read_int_config(const L3G4200DDriver* const l3gd, l3g4200d_lld_int_cfg_t* const cfg)
+{
+  apalDbgAssert(cfg != NULL);
+
+  return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg->data, 9);
+}
+
+/**
+ * @brief Write the interrupt configuration.
+ * @param[in]   spid        The SPI driver to use.
+ * @param[in]   cfg         The current new configuration.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+l3g4200d_lld_write_int_config(const L3G4200DDriver* const l3gd, const l3g4200d_lld_int_cfg_t cfg)
+{
+  apalExitStatus_t status = l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_CFG, cfg.data, 1);
+  if (status != APAL_STATUS_OK) {
+    return status;
+  }
+  return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_INT1_TSH_XH, &cfg.data[2], 7);
+}
+
+/**
+ * @brief Read the status register.
+ * @param[in]   spid        The SPI driver to use.
+ * @param[out]  status      The current status register.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+l3g4200d_lld_read_status_register(const L3G4200DDriver* const l3gd, uint8_t* const status)
+{
+  apalDbgAssert(status != NULL);
+
+  return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_STATUS_REG, status, 1);
+}
+
+/**
+ * @brief Read the fifo ctrl register.
+ * @param[in]   spid        The SPI driver to use.
+ * @param[out]  fifo        The current fifo ctrl register.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+l3g4200d_lld_read_fifo_ctrl_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo)
+{
+  apalDbgAssert(fifo != NULL);
+
+  return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, fifo, 1);
+}
+
+/**
+ * @brief Write the fifo ctrl register.
+ * @param[in]   spid        The SPI driver to use.
+ * @param[in]   fifo        The new fifo ctrl register.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+l3g4200d_lld_write_fifo_ctrl_register(const L3G4200DDriver* const l3gd, const uint8_t fifo)
+{
+  return l3g4200d_lld_write_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_CTRL_REG, &fifo, 1);
+}
+
+/**
+ * @brief Read the fifo src register.
+ * @param[in]   spid        The SPI driver to use.
+ * @param[out]  fifo        The current fifo src register.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+l3g4200d_lld_read_fifo_src_register(const L3G4200DDriver* const l3gd, uint8_t* const fifo)
+{
+  apalDbgAssert(fifo != NULL);
+
+  return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_FIFO_SRC_REG, fifo, 1);
+}
+
+/**
+ * @brief Read the interrupt src register.
+ * @param[in]   spid        The SPI driver to use.
+ * @param[out]  cfg         The current fifo src register.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+l3g4200d_lld_read_int_src(const L3G4200DDriver* const l3gd, uint8_t* const cfg)
+{
+  apalDbgAssert(cfg != NULL);
+
+  return l3g4200d_lld_read_register(l3gd, L3G4200D_LLD_REGISTER_INT1_SRC, cfg, 1);
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_L3G4200D) */
diff --git a/source/alld_led.c b/source/alld_led.c
new file mode 100644
index 0000000..5a1e846
--- /dev/null
+++ b/source/alld_led.c
@@ -0,0 +1,68 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_led.h>
+
+#if defined(AMIROLLD_CFG_USE_LED) || defined(__DOXYGEN__)
+
+/**
+ * @brief Set the LED to a specific state.
+ * @param[in]   ledp        The LED driver object.
+ * @param[in]   led_state   The state to set the LED to.
+ * @return                  An indicator whether the call was successful.
+ */
+inline apalExitStatus_t
+led_lld_set(const LEDDriver* const led, const led_lld_state_t state)
+{
+  apalDbgAssert(led != NULL);
+
+  return apalControlGpioSet(&(led->gpio), (state == LED_LLD_STATE_ON) ? APAL_GPIO_ON : APAL_GPIO_OFF);
+}
+
+/**
+ * @brief Get the current status of the LED.
+ * @param[in]   ledp        The LED driver object.
+ * @param[out]  led_state   The state object to fill.
+ * @return                  An indicator whether the call was successful.
+ */
+inline apalExitStatus_t
+led_lld_get(const LEDDriver* const led, led_lld_state_t* const state)
+{
+  apalDbgAssert(led != NULL);
+  apalDbgAssert(state != NULL);
+
+  apalControlGpioState_t gpio_state;
+  apalExitStatus_t status = apalControlGpioGet(&led->gpio, &gpio_state);
+  *state = gpio_state == APAL_GPIO_ON ? LED_LLD_STATE_ON : LED_LLD_STATE_OFF;
+  return status;
+}
+
+/**
+ * @brief Toggle the LED.
+ * @param[in]   ledp        The LED driver object.
+ * @return                  An indicator whether the call was successful.
+ */
+inline apalExitStatus_t
+led_lld_toggle(const LEDDriver* const led)
+{
+  apalDbgAssert(led != NULL);
+
+  return apalGpioToggle(led->gpio.gpio);
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_LED) */
diff --git a/source/alld_lis331dlh.c b/source/alld_lis331dlh.c
new file mode 100644
index 0000000..f3b470a
--- /dev/null
+++ b/source/alld_lis331dlh.c
@@ -0,0 +1,249 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_lis331dlh.h>
+
+#if defined(AMIROLLD_CFG_USE_LIS331DLH) || defined(__DOXYGEN__)
+
+#include <string.h>
+
+/**
+ * @brief Read the content of one or more registers.
+ * @param[in]   lisd      The LIS331DLH driver to use.
+ * @param[in]   regaddr   The address of the first register.
+ * @param[out]  data      The data read from the registers.
+ * @param[in]   length    Number of registers to read.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+lis331dlh_lld_read_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, uint8_t *data, const uint8_t length)
+{
+  apalDbgAssert(lisd != NULL && lisd->spid != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint8_t buffer[length+1];
+  buffer[0] = regaddr | LIS331DLH_LLD_SPI_READ | ((length > 1) ? LIS331DLH_LLD_SPI_MULT : 0);
+  apalExitStatus_t status = apalSPIExchange(lisd->spid, buffer, buffer, length+1);
+  memcpy(data, buffer+1, length);
+  return status;
+}
+
+/**
+ * @brief Write to one or more registers.
+ * @param[in]   lisd      The LIS331DLH driver to use.
+ * @param[in]   regaddr   The address of the first register.
+ * @param[in]   data      The data to be written to the registers.
+ * @param[in]   length    Number of registers to write.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+lis331dlh_lld_write_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, const uint8_t *data, const uint8_t length)
+{
+  apalDbgAssert(lisd != NULL && lisd->spid != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint8_t buffer[length+1];
+  buffer[0] = regaddr | LIS331DLH_LLD_SPI_WRITE | ((length > 1) ? LIS331DLH_LLD_SPI_MULT : 0);
+  memcpy(buffer+1, data, length);
+  return apalSPITransmit(lisd->spid, buffer, length+1);
+}
+
+/**
+ * @brief Reset the high pass filter
+ * @param[in]   lisd      The LIS331DLH driver to use.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+lis331dlh_lld_reset_hp_filter(const LIS331DLHDriver* const lisd)
+{
+  return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_HP_FILTER_RESET, NULL, 0);
+}
+
+/**
+ * @brief Read the sensor data of all 3 axes.
+ * @param[in]   lisd      The LIS331DLH driver to use.
+ * @param[out]  data      The sensor data.
+ * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+lis331dlh_lld_read_all_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_cfg_t *cfg)
+{
+  apalDbgAssert(data != NULL);
+  apalDbgAssert(cfg != NULL);
+
+  uint8_t buffer[6];
+  apalExitStatus_t status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_X_L, buffer, 6);
+  if (!(cfg->registers.ctrl_reg4 & LIS331DLH_LLD_BLE_BE)) {
+    data[0] = (int16_t) (buffer[0] | (buffer[1] << 8));
+    data[1] = (int16_t) (buffer[2] | (buffer[3] << 8));
+    data[2] = (int16_t) (buffer[4] | (buffer[5] << 8));
+  } else {
+    data[0] = (int16_t) (buffer[1] | (buffer[0] << 8));
+    data[1] = (int16_t) (buffer[3] | (buffer[2] << 8));
+    data[2] = (int16_t) (buffer[5] | (buffer[4] << 8));
+  }
+  return status;
+}
+
+/**
+ * @brief Read the sensor data of one axis.
+ * @param[in]   lisd      The LIS331DLH driver to use.
+ * @param[out]  data      The sensor data.
+ * @param[in]   axis      The axis for which the data should be read.
+ * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+lis331dlh_lld_read_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_axis_t axis, const lis331dlh_lld_cfg_t *cfg)
+{
+  apalDbgAssert(data != NULL);
+  apalDbgAssert(cfg != NULL);
+
+  apalExitStatus_t status = APAL_STATUS_SUCCESS;
+  uint8_t buffer[2];
+  switch (axis) {
+    case LIS331DLH_LLD_X_AXIS:
+      status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_X_L, buffer, 2);
+      break;
+    case LIS331DLH_LLD_Y_AXIS:
+      status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_Y_L, buffer, 2);
+      break;
+    case LIS331DLH_LLD_Z_AXIS:
+      status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_Z_L, buffer, 2);
+      break;
+    default:
+      return APAL_STATUS_INVALIDARGUMENTS;
+  }
+  // entweder jedes mal endian abfragen oder config mit übergeben
+  if (!(cfg->registers.ctrl_reg4 & LIS331DLH_LLD_BLE_BE)) {
+    *data = (int16_t) (buffer[0] | (buffer[1] << 8));
+  } else {
+    *data = (int16_t) (buffer[1] | (buffer[0] << 8));
+  }
+  return status;
+}
+
+/**
+ * @brief Read the current configuration
+ * @param[in]   lisd      The LIS331DLH driver to use.
+ * @param[out]  cfg       The current configuration.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+lis331dlh_lld_read_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_cfg_t *cfg)
+{
+  apalDbgAssert(cfg != NULL);
+
+  return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, cfg->data, 5);
+}
+
+/**
+ * @brief Write the a configuration
+ * @param[in]   lisd      The LIS331DLH driver to use.
+ * @param[in]   cfg       The new configuration.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+lis331dlh_lld_write_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_cfg_t *cfg)
+{
+  apalDbgAssert(cfg != NULL);
+
+  return lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, cfg->data, 5);
+}
+
+/**
+ * @brief Read the interrupt configuration of one of the interrupts.
+ * @param[in]   spid        The SPI driver to use.
+ * @param[out]  cfg         The current interrupt configuration.
+ * @param[in]   interrupt   The interrupt for which the configuration should be read.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+lis331dlh_lld_read_int_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt)
+{
+  apalDbgAssert(cfg != NULL);
+
+  uint8_t buffer[2];
+  apalExitStatus_t status = APAL_STATUS_OK;
+  if (interrupt == LIS331DLH_LLD_INT1) {
+    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT1_CFG, &cfg->cfg_reg, 1);
+    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT1_THS, buffer, 2);
+  } else {
+    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT2_CFG, &cfg->cfg_reg, 1);
+    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT2_THS, buffer, 2);
+  }
+  if (status != APAL_STATUS_OK) {
+    return status;
+  }
+  cfg->threshold = buffer[0];
+  cfg->duration = buffer[1];
+  return status;
+}
+
+/**
+ * @brief Write the interrupt configuration of one of the interrupts.
+ * @param[in]   spid        The SPI driver to use.
+ * @param[in]   cfg         The current new configuration.
+ * @param[in]   interrupt   The interrupt for which the configuration should be written.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+lis331dlh_lld_write_int_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt)
+{
+  apalDbgAssert(cfg != NULL);
+
+  uint8_t buffer[2];
+  buffer[0] = cfg->threshold;
+  buffer[1] = cfg->duration;
+  apalExitStatus_t status = APAL_STATUS_OK;
+  if (interrupt == LIS331DLH_LLD_INT1) {
+    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT1_CFG, &(cfg->cfg_reg), 1);
+    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT1_THS, buffer, 2);
+  } else {
+    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT2_CFG, &(cfg->cfg_reg), 1);
+    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT2_THS, buffer, 2);
+  }
+  return status;
+}
+
+/**
+ * @brief Read the status register.
+ * @param[in]   spid        The SPI driver to use.
+ * @param[out]  status      The status register value.
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+lis331dlh_lld_read_status_register(const LIS331DLHDriver* const lisd, uint8_t *status)
+{
+  apalDbgAssert(status != NULL);
+
+  return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_STATUS_REG, status, 1);
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_LIS331DLH) */
diff --git a/source/alld_ltc4412.c b/source/alld_ltc4412.c
new file mode 100644
index 0000000..7198cc3
--- /dev/null
+++ b/source/alld_ltc4412.c
@@ -0,0 +1,73 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_ltc4412.h>
+
+#if defined(AMIROLLD_CFG_USE_LTC4412) || defined(__DOXYGEN__)
+
+/**
+ * @brief Read the value of the PATH_DCEN Gpio pin.
+ * @param[in]   tpsd        ltc4412 drivers
+ * @param[out]  pinstate    current value of the gpio pin
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ltc4412_lld_get_ctrl(const LTC4412Driver* const ltc4412, ltc4412_lld_ctrl_t* const ctrl)
+{
+  apalDbgAssert(ltc4412 != NULL);
+  apalDbgAssert(ctrl != NULL);
+
+  apalControlGpioState_t gpio_state;
+  apalExitStatus_t status = apalControlGpioGet(&ltc4412->gpio_ctrl, &gpio_state);
+  *ctrl = gpio_state == APAL_GPIO_ON ? LTC4412_LLD_CTRL_ACTIVE : LTC4412_LLD_CTRL_INACTIVE;
+  return status;
+}
+
+/**
+ * @brief Set the value of the PATH_DCEN Gpio pin.
+ * @param[in]   tpsd        ltc4412 drivers
+ * @param[in]   ctrl        new value of the gpio pin
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ltc4412_lld_set_ctrl(const LTC4412Driver* const ltc4412, const ltc4412_lld_ctrl_t ctrl)
+{
+  apalDbgAssert(ltc4412 != NULL);
+
+  return apalControlGpioSet(&ltc4412->gpio_ctrl, ctrl == LTC4412_LLD_CTRL_ACTIVE ? APAL_GPIO_ON : APAL_GPIO_OFF);
+}
+
+/**
+ * @brief Read the value of the PATH_DCSTAT Gpio pin.
+ * @param[in]   tpsd        ltc4412 drivers
+ * @param[out]  pinstate    current value of the gpio pin
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+ltc4412_lld_get_stat(const LTC4412Driver* const ltc4412, ltc4412_lld_stat_t* const stat)
+{
+  apalDbgAssert(ltc4412 != NULL);
+  apalDbgAssert(stat != NULL);
+
+  apalControlGpioState_t gpio_state;
+  apalExitStatus_t status = apalControlGpioGet(&ltc4412->gpio_stat, &gpio_state);
+  *stat = gpio_state == APAL_GPIO_ON ? LTC4412_LLD_STAT_ACTIVE : LTC4412_LLD_STAT_INACTIVE;
+  return status;
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_LTC4412) */
diff --git a/source/alld_mpr121.c b/source/alld_mpr121.c
new file mode 100644
index 0000000..df7312a
--- /dev/null
+++ b/source/alld_mpr121.c
@@ -0,0 +1,178 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_mpr121.h>
+
+#if defined(AMIROLLD_CFG_USE_MPR121) || defined(__DOXYGEN__)
+
+#include <string.h>
+
+/**
+ * @brief Read one or more of the internal registers of the mpr121.
+ * @param[in]   mprd    MPR121 Driver
+ * @param[in]   regaddr Address of the register
+ * @param[in]   offset  Offset to be added to the register address
+ * @param[in]   size    Size of the data to be read
+ * @param[out]  data    The data that has been Read
+ * @param[in]   timeout Timeout for the I2C Bus
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+mpr121_lld_read_register(const MPR121Driver* const mprd, const mpr121_lld_register_t regaddr, const uint8_t offset, const uint8_t size, uint8_t* const data, const apalTime_t timeout)
+{
+  apalDbgAssert(mprd != NULL && mprd->i2cd != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint8_t addr = regaddr + offset;
+  return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, &addr, 1, data, size, timeout);
+}
+
+/**
+ * @brief Write to one or more of the internal registers of the mpr121.
+ * @param[in]   mprd    MPR121 Driver
+ * @param[in]   regaddr Address of the register
+ * @param[in]   offset  Offset to be added to the register address
+ * @param[in]   size    Size of the data to be read
+ * @param[in]   data    The data that will be written
+ * @param[in]   timeout Timeout for the I2C Bus
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+mpr121_lld_write_register(const MPR121Driver* const mprd, const mpr121_lld_register_t regaddr, const uint8_t offset, const uint8_t size, const uint8_t* const data, const apalTime_t timeout)
+{
+  apalDbgAssert(mprd != NULL && mprd->i2cd != NULL);
+  apalDbgAssert(data != NULL);
+
+  uint8_t buffer[size+1];
+  buffer[0] = regaddr + offset;
+  memcpy(buffer+1, data, size);
+  return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, size+1, NULL, 0, timeout);
+}
+
+/**
+ * @brief Perform a soft reset of the mpr121.
+ * @param[in]   mprd    MPR121 Driver
+ * @param[in]   timeout Timeout for the I2C Bus
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+mpr121_lld_soft_reset(const MPR121Driver* const mprd, const  apalTime_t timeout)
+{
+  apalDbgAssert(mprd != NULL && mprd->i2cd != NULL);
+
+  uint8_t buffer[2] = {MPR121_LLD_REGISTER_SOFT_RESET, MPR121_LLD_I2C_SOFTRESET};
+  return apalI2CMasterTransmit(mprd->i2cd, MPR121_LLD_I2C_ADDR_FIXED, buffer, 2, NULL, 0, timeout);
+}
+
+/**
+ * @brief Read the filtered data of the mpr121 sensors.
+ * @param[in]   mprd    MPR121 Driver
+ * @param[in]   index   The index of the sensor from which reading should be started
+ * @param[in]   num     Number of consecutive sensors to read
+ * @param[in]   data    The data that has been read
+ * @param[in]   timeout Timeout for the I2C Bus
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+mpr121_lld_read_filtered_data(const MPR121Driver* const mprd, const uint8_t index, const uint8_t num, uint16_t* const data, const apalTime_t timeout)
+{
+  apalDbgAssert(data != NULL);
+
+  uint8_t buffer[2*num];
+  apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_FILTERED_DATA, index*2, num*2, buffer, timeout);
+  for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) {
+    data[dataIdx] = (((uint16_t)buffer[2*dataIdx+1]) << 8) | buffer[dataIdx*2];
+  }
+  return status;
+}
+
+/**
+ * @brief Read the baseline data of the mpr121 sensors.
+ * @param[in]   mprd    MPR121 Driver
+ * @param[in]   index   The index of the sensor from which reading should be started
+ * @param[in]   num     Number of consecutive sensors to read
+ * @param[in]   data    The data that has been read
+ * @param[in]   timeout Timeout for the I2C Bus
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+mpr121_lld_read_baseline_data(const MPR121Driver* const mprd, const uint8_t index, const uint8_t num, uint8_t* const data, const apalTime_t timeout)
+{
+  return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_BASELINE, index, num, data, timeout);
+}
+
+/**
+ * @brief Read the electrode data of the mpr121 sensors.
+ * @param[in]   mprd    MPR121 Driver
+ * @param[in]   index   The index of the sensor from which reading should be started
+ * @param[in]   num     Number of consecutive sensors to read
+ * @param[in]   data    The data that has been read
+ * @param[in]   timeout Timeout for the I2C Bus
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+mpr121_lld_read_electrode_data(const MPR121Driver* const mprd, const uint8_t index, const uint8_t num, uint8_t* const data, const apalTime_t timeout)
+{
+  return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_ELE_CURRENT, index, num, data, timeout);
+}
+
+/**
+ * @brief Write a configuration to the mpr121.
+ * @param[in]   mprd    MPR121 Driver
+ * @param[in]   cfg     The configuration to be written
+ * @param[in]   timeout Timeout for the I2C Bus
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+mpr121_lld_write_config(const MPR121Driver* const mprd, const mpr121_lld_config_t cfg, const apalTime_t timeout)
+{
+  const apalExitStatus_t status = mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg.values, timeout);
+  if (status != APAL_STATUS_OK) {
+    return status;
+  } else {
+    return mpr121_lld_write_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg.values[5]), timeout);
+  }
+}
+
+/**
+ * @brief Read a configuration from the mpr121.
+ * @param[in]   mprd    MPR121 Driver
+ * @param[in]   cfg     The configuration to be written
+ * @param[in]   timeout Timeout for the I2C Bus
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+mpr121_lld_read_config(const MPR121Driver* const mprd, mpr121_lld_config_t* const cfg, const apalTime_t timeout)
+{
+  const apalExitStatus_t status = mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_AUTOCFG_CTRL_0, 0, 5, cfg->values, timeout);
+  if (status != APAL_STATUS_OK) {
+    return status;
+  } else {
+    return mpr121_lld_read_register(mprd, MPR121_LLD_REGISTER_CONFIG_1, 0, 3, &(cfg->values[5]), timeout);
+  }
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_MPR121) */
diff --git a/source/alld_pca9544a.c b/source/alld_pca9544a.c
new file mode 100644
index 0000000..40227f9
--- /dev/null
+++ b/source/alld_pca9544a.c
@@ -0,0 +1,122 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_pca9544a.h>
+
+#if defined(AMIROLLD_CFG_USE_PCA9544A) || defined(__DOXYGEN__)
+
+/**
+ * @brief Read the control register of the PCA9544A.
+ *
+ * @param[in]   pca9544a  The PCA9544A driver object.
+ * @param[out]  data      The data read from the PCA9544A.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds)
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+pca9544a_lld_read(const PCA9544ADriver* const pca9544a, uint8_t* const  data, const apalTime_t timeout)
+{
+  apalDbgAssert(pca9544a != NULL);
+  apalDbgAssert(data != NULL);
+
+  return apalI2CMasterReceive(pca9544a->i2cd, (PCA9544A_LLD_I2C_ADDR_FIXED | pca9544a->addr), data, 1, timeout);
+}
+
+/**
+ * @brief Set the control register of the PCA9544A.
+ *
+ * @param[in] pca9544a  The PCA9544A driver object.
+ * @param[in] data      The value to write to the PCA9544A.
+ * @param[in] timeout   Timeout for the function to return (in microseconds)
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+pca9544a_lld_write(const PCA9544ADriver* const pca9544a, const uint8_t data, const apalTime_t timeout)
+{
+  apalDbgAssert(pca9544a != NULL);
+
+  return apalI2CMasterTransmit(pca9544a->i2cd, (PCA9544A_LLD_I2C_ADDR_FIXED | pca9544a->addr), &data, 1, NULL, 0, timeout);
+}
+
+/**
+ * @brief Read the interrupt status.
+ *
+ * @param[in]   pca9544a  The PCA9544A driver object.
+ * @param[out]  status    The status of the four interrupts.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds)
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+pca9544a_lld_getintstatus(const PCA9544ADriver* const pca9544a, pca9544a_lld_intstatus_t* const status, const apalTime_t timeout)
+{
+  apalDbgAssert(pca9544a != NULL);
+  apalDbgAssert(status != NULL);
+
+  uint8_t buffer;
+  apalExitStatus_t stat = apalI2CMasterReceive(pca9544a->i2cd, (PCA9544A_LLD_I2C_ADDR_FIXED | pca9544a->addr), &buffer, 1, timeout);
+  *status = buffer >> 4;
+  return stat;
+}
+
+/**
+ * @brief Read which channel is currently set.
+ *
+ * @param[in]   pca9544a  The PCA9544A driver object.
+ * @param[out]  channel   The identifier of the set channel.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds)
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+pca9544a_lld_getcurrentchannel(const PCA9544ADriver* const pca9544a, pca9544a_lld_chid_t* const channel, const apalTime_t timeout)
+{
+  apalDbgAssert(pca9544a != NULL);
+  apalDbgAssert(channel != NULL);
+
+  uint8_t buffer;
+  apalExitStatus_t stat = apalI2CMasterReceive(pca9544a->i2cd, (PCA9544A_LLD_I2C_ADDR_FIXED | pca9544a->addr), &buffer, 1, timeout);
+  if (buffer & PCA9544A_LLD_CTRLREG_EN) {
+    *channel = buffer & PCA9544A_LLD_CTRLREG_CH_MASK;
+  } else {
+    *channel = PCA9544A_LLD_CH_NONE;
+  }
+  return stat;
+}
+
+/**
+ * @brief Set the channel for multiplexing.
+ *
+ * @param[in]   pca9544a  The PCA9544A driver object.
+ * @param[in]   channel   The channel to set for multiplexing.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds)
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+pca9544a_lld_setchannel(const PCA9544ADriver* const pca9544a, const pca9544a_lld_chid_t channel, const apalTime_t timeout)
+{
+  apalDbgAssert(pca9544a != NULL);
+
+  uint8_t buffer = (channel == PCA9544A_LLD_CH_NONE) ? 0x00u : (PCA9544A_LLD_CTRLREG_EN | channel);
+  return apalI2CMasterTransmit(pca9544a->i2cd, (PCA9544A_LLD_I2C_ADDR_FIXED | pca9544a->addr), &buffer, 1, NULL, 0, timeout);
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_PCA9544A) */
diff --git a/source/alld_pklcs1212e4001.c b/source/alld_pklcs1212e4001.c
new file mode 100644
index 0000000..048c378
--- /dev/null
+++ b/source/alld_pklcs1212e4001.c
@@ -0,0 +1,71 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_pklcs1212e4001.h>
+
+#if defined(AMIROLLD_CFG_USE_PKLCS1212E4001) || defined(__DOXYGEN__)
+
+/**
+ * @brief Check the configuration of the PWM for the correct frequency.
+ * @param[in] pwm   The PWM driver to check.
+ * @return  The return status indicates whether the function call was successful.
+ */
+inline apalExitStatus_t
+pklcs1212e4001_lld_checkPWMconfiguration(apalPWMDriver_t* pwm)
+{
+  apalDbgAssert(pwm != NULL);
+
+  apalPWMfrequency_t frequency = 0;
+  apalPWMperiod_t period = 0;
+  apalExitStatus_t status = apalPWMGetFrequency(pwm, &frequency);
+  status |= apalPWMGetPeriod(pwm, &period);
+  if (frequency / period == PKLCS1212E4001_LLD_FREQUENCY_SPEC) {
+    status |= APAL_STATUS_OK;
+  } else if (frequency / period >= PKLCS1212E4001_LLD_FREQUENCY_MIN &&
+             frequency / period <= PKLCS1212E4001_LLD_FREQUENCY_MAX) {
+    status |= APAL_STATUS_WARNING;
+  } else {
+    status |= APAL_STATUS_INVALIDARGUMENTS;
+  }
+
+  return status;
+}
+
+/**
+ * @brief Turns the buzzer on or off.
+ * @param[in] pwm       The PWM driver to use
+ * @param[in] channel   The PWM channel to enable/disable.
+ * @param[in] enable    Specifies whether the buzzer shall be turned on (true) or off (false).
+ * @return  The return status indicates whether the function call was successful.
+ */
+inline apalExitStatus_t
+pklcs1212e4001_lld_enable(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const bool enable)
+{
+  apalDbgAssert(pwm != NULL);
+
+  if (enable) {
+    apalPWMperiod_t period = 0;
+    apalExitStatus_t status = apalPWMGetFrequency(pwm, &period);
+    status |= apalPWMSet(pwm, channel, period/2);
+    return status;
+  } else {
+    return apalPWMSet(pwm, channel, 0);
+  }
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_PKLCS1212E4001) */
diff --git a/source/alld_tlc5947.c b/source/alld_tlc5947.c
new file mode 100644
index 0000000..333a404
--- /dev/null
+++ b/source/alld_tlc5947.c
@@ -0,0 +1,144 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_tlc5947.h>
+
+#if defined(AMIROLLD_CFG_USE_TLC5947) || defined(__DOXYGEN__)
+
+/**
+ * @brief   Set the blank state of the TLC5947.
+ * @param[in] tlc5947   The TLC5947 driver object.
+ * @param[in] blank     The state to set the TLC5947 driver to.
+ * @return              An indicator whether the call was successful.
+ */
+inline apalExitStatus_t
+tlc5947_lld_setBlank(const TLC5947Driver* const tlc5947, const tlc5947_lld_blank_t blank)
+{
+  apalDbgAssert(tlc5947 != NULL);
+
+  // set the output value of the GPIO pin depending on the activation property
+  return apalControlGpioSet(&tlc5947->blank_gpio, blank == TLC5947_LLD_BLANK_ENABLE ? APAL_GPIO_ON : APAL_GPIO_OFF);
+}
+
+/**
+ * @brief   Get the current status of the TLC5947s blank pin.
+ * @param[in]  tlc5947  The TLC5947 driver object.
+ * @param[out] blank    The state object to fill.
+ * @return              An indicator whether the call was successful.
+ */
+inline apalExitStatus_t
+tlc5947_lld_getBlank(const TLC5947Driver* const tlc5947, tlc5947_lld_blank_t* const blank)
+{
+  apalDbgAssert(tlc5947 != NULL);
+  apalDbgAssert(blank != NULL);
+
+  apalControlGpioState_t gpio_state;
+  apalExitStatus_t status = apalControlGpioGet(&tlc5947->blank_gpio, &gpio_state);
+  *blank = gpio_state == APAL_GPIO_ON ? TLC5947_LLD_BLANK_ENABLE : TLC5947_LLD_BLANK_DISABLE;
+  return status;
+}
+
+/**
+ * @brief   Writes a pulse on XLAT signal.
+ * @details A pulse makes the TLC to move the grayscale register data to the internal latch and visualize it.
+ * @param[in] tlc5947   The TLC5947 driver object.
+ * @return              An indicator whether the call was successful.
+ */
+apalExitStatus_t tlc5947_lld_update(const TLC5947Driver* const tlc5947)
+{
+  apalDbgAssert(tlc5947 != NULL);
+
+  apalExitStatus_t status = apalControlGpioSet(&tlc5947->xlat_gpio, APAL_GPIO_ON);
+  // The XLAT signal has to be active for at least 30 ns.
+  // It is assumed that that these function calls satisfy this requirement even without explicit delay.
+  if (apalControlGpioSet(&tlc5947->xlat_gpio, APAL_GPIO_OFF) == APAL_STATUS_OK && status == APAL_STATUS_OK) {
+    return APAL_STATUS_OK;
+  } else {
+    return APAL_STATUS_ERROR;
+  }
+}
+
+/**
+ * @brief Write buffer via SPI to the TLC5947.
+ * @return                  An indicator whether the call was successful.
+ */
+inline apalExitStatus_t
+tlc5947_lld_write(const TLC5947Driver* const tlc5947, const tlc5947_lld_buffer_t* const buffer)
+{
+  apalDbgAssert(tlc5947 != NULL);
+  apalDbgAssert(buffer != NULL);
+
+  // send buffer via SPI
+  return apalSPITransmit(tlc5947->spi_driver, buffer->data, TLC5947_LLD_BUFFER_SIZE);
+}
+
+/**
+ * @brief   Set a specific channel of a given buffer.
+ * @param[in] buffer    The buffer to modify.
+ * @param[in] channel   The channel to set.
+ * @param[in] value     The new value to set.
+ *                      Must be a 12bit value.
+ * @return              An indicator whether the call was successful.
+ */
+inline void
+tlc5947_lld_setBuffer(tlc5947_lld_buffer_t* const buffer, const uint8_t channel, const uint16_t value)
+{
+  apalDbgAssert(buffer != NULL);
+  apalDbgAssert(channel < TLC5947_LLD_NUM_CHANNELS);
+  apalDbgAssert(value <= (1 << TLC5947_LLD_PWM_RESOLUTION_BITS) - 1);
+
+  // reverse the channel number, since the data is shifted within the TLC5947 and thus the order is inverted
+  const uint8_t idx = (uint16_t)(TLC5947_LLD_NUM_CHANNELS-1 - channel) * TLC5947_LLD_PWM_RESOLUTION_BITS / 8;
+  // channel is odd / inverse channel is even
+  if (channel % 2) {
+    buffer->data[idx] = (value >> 4) & 0xFFu;
+    buffer->data[idx+1] = ((value << 4) & 0xF0u) | (buffer->data[idx+1] & 0x0Fu);
+  }
+  // channel is even / inverse channel is odd
+  else {
+    buffer->data[idx] = (buffer->data[idx] & 0xF0u) | ((value >> 8) & 0x0Fu);
+    buffer->data[idx+1] = value & 0xFFu;
+  }
+  return;
+}
+
+/**
+ * @brief   Read a specific state from a given buffer.
+ * @param[in] buffer    The buffer to read from.
+ * @param[in] channel   The channel to read
+ * @return              An indicator whether the call was successful.
+ */
+inline uint16_t
+tlc5947_lld_getBuffer(const tlc5947_lld_buffer_t* const buffer, const uint8_t channel)
+{
+  apalDbgAssert(buffer != NULL);
+  apalDbgAssert(channel < TLC5947_LLD_NUM_CHANNELS);
+
+  // reverse the channel number, since the data is shifted within the TLC5947 and thus the order is inverted
+  const uint8_t idx = (uint16_t)(TLC5947_LLD_NUM_CHANNELS-1- channel) * TLC5947_LLD_PWM_RESOLUTION_BITS / 8;
+  // channel is odd / inverse channel is even
+  if (channel % 2) {
+    return (((uint16_t)(buffer->data[idx])) << 4) | (uint16_t)((buffer->data[idx+1] & 0xF0u) >> 4);
+  }
+  // channel is even / inverse channel is odd
+  else {
+    return (((uint16_t)(buffer->data[idx] & 0x0Fu)) << 8) | (uint16_t)(buffer->data[idx+1]);
+  }
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_TLC5947) */
diff --git a/source/alld_tps2051bdbv.c b/source/alld_tps2051bdbv.c
new file mode 100644
index 0000000..b842eab
--- /dev/null
+++ b/source/alld_tps2051bdbv.c
@@ -0,0 +1,73 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_tps2051bdbv.h>
+
+#if defined(AMIROLLD_CFG_USE_TPS2051BDBV) || defined(__DOXYGEN__)
+
+/**
+ * @brief Set the laser_en GPIO pin.
+ * @param[in]   tpsd        tps2051 driver
+ * @param[in]   enable      new state of the pin
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+tps2051b_lld_set_enable(const TPS2051BDriver* const tps2051b, const tps2051b_lld_enable_t enable)
+{
+  apalDbgAssert(tps2051b != NULL);
+
+  return apalControlGpioSet(&tps2051b->enable, enable == TPS2051B_LLD_ENABLE ? APAL_GPIO_ON : APAL_GPIO_OFF);
+}
+
+/**
+ * @brief Read the laser_en GPIO pin.
+ * @param[in]   tpsd        tps2051 driver
+ * @param[out]  enable      state of the enable pin
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+tps2051b_lld_read_enable(const TPS2051BDriver* const tps2051b, tps2051b_lld_enable_t* const enable)
+{
+  apalDbgAssert(tps2051b != NULL);
+  apalDbgAssert(enable != NULL);
+
+  apalControlGpioState_t gpio_state;
+  apalExitStatus_t status = apalControlGpioGet(&tps2051b->enable, &gpio_state);
+  *enable = gpio_state == APAL_GPIO_ON ? TPS2051B_LLD_ENABLE : TPS2051B_LLD_DISABLE;
+  return status;
+}
+
+/**
+ * @brief Read the laser_oc GPIO pin.
+ * @param[in]   tpsd        tps2051 driver
+ * @param[out]  oc          state of the overcurrent pin
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+tps2051b_lld_read_overcurrent(const TPS2051BDriver* const tps2051b, tps2051b_lld_overcurrent_t* const oc)
+{
+  apalDbgAssert(tps2051b != NULL);
+  apalDbgAssert(oc != NULL);
+
+  apalControlGpioState_t gpio_state;
+  apalExitStatus_t status = apalControlGpioGet(&tps2051b->overcurrent, &gpio_state);
+  *oc = gpio_state == APAL_GPIO_ON ? TPS2051B_LLD_OVERCURRENT : TPS2051B_LLD_NO_OVERCURRENT;
+  return status;
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_TPS2051BDBV) */
diff --git a/source/alld_tps62113.c b/source/alld_tps62113.c
new file mode 100644
index 0000000..63f4fc4
--- /dev/null
+++ b/source/alld_tps62113.c
@@ -0,0 +1,55 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_tps62113.h>
+
+#if defined(AMIROLLD_CFG_USE_TPS62113) || defined(__DOXYGEN__)
+
+/**
+ * @brief Read the value of the POWER_EN Gpio pin.
+ * @param[in]   tpsd        tps62113 drivers
+ * @param[out]  pinstate    current value of the gpio pin
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+tps62113_lld_get_power_en(const TPS62113Driver* const tps62113, tps62113_lld_power_en_t* const power)
+{
+  apalDbgAssert(tps62113 != NULL);
+  apalDbgAssert(power != NULL);
+
+  apalControlGpioState_t gpio_state;
+  apalExitStatus_t status = apalControlGpioGet(&tps62113->gpio_power, &gpio_state);
+  *power = (gpio_state == APAL_GPIO_ON) ? TPS62113_LLD_POWER_ENABLED : TPS62113_LLD_POWER_DISABLED;
+  return status;
+}
+
+/**
+ * @brief Set the value of the POWER_EN Gpio pin.
+ * @param[in]   tpsd        tps62113 drivers
+ * @param[in]   pinstate    new value of the gpio pin
+ * @return                  An indicator whether the call was successfull
+ */
+inline apalExitStatus_t
+tps62113_lld_set_power_en(const TPS62113Driver* const tps62113, const tps62113_lld_power_en_t power)
+{
+  apalDbgAssert(tps62113 != NULL);
+
+  return apalControlGpioSet(&tps62113->gpio_power, (power == TPS62113_LLD_POWER_ENABLED) ? APAL_GPIO_ON : APAL_GPIO_OFF);
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_TPS62113) */
diff --git a/source/alld_vcnl4020.c b/source/alld_vcnl4020.c
new file mode 100644
index 0000000..b21b4b6
--- /dev/null
+++ b/source/alld_vcnl4020.c
@@ -0,0 +1,264 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#include <alld_vcnl4020.h>
+
+#if defined(AMIROLLD_CFG_USE_VCNL4020) || defined(__DOXYGEN__)
+
+/*============================================================================*/
+/* general single register access                                             */
+/*============================================================================*/
+
+/**
+ * @brief Read the 8-bit data from any register.
+ * @param[in]   vcnld     The VCNL402 driver to use.
+ * @param[in]   reg       The register to read.
+ * @param[out]  data      The data read from the VCNL4020.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds)
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+vcnl4020_lld_readreg(const VCNL4020Driver* const vcnld, const vcnl4020_lld_regaddr_t reg, uint8_t* const data, const apalTime_t timeout)
+{
+  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);
+  apalDbgAssert(data != NULL);
+
+  return apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, (uint8_t*)&reg, 1, data, 1, timeout);
+}
+
+/**
+ * @brief Write data to any 8-bit register.
+ * @param[in]   vcnld     The VCNL402 driver to use.
+ * @param[in]   reg       The register to write to.
+ * @param[in]   data      The data to write.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds)
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+vcnl4020_lld_writereg(const VCNL4020Driver* const vcnld, const vcnl4020_lld_regaddr_t reg, const uint8_t data, const apalTime_t timeout)
+{
+  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);
+
+  uint8_t txbuf[2] = { reg, data };
+  return apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 2, NULL, 0, timeout);
+}
+
+/*============================================================================*/
+/* sensor result access                                                       */
+/*============================================================================*/
+
+/**
+ * @brief Read the result of the latest ambient light measurement.
+ *
+ * @param[in]   vcnld     The VCNL402 driver to use.
+ * @param[out]  als       Result of the latest ambient light measuremenet.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds).
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+vcnl4020_lld_readals(const VCNL4020Driver* const vcnld, uint16_t* const als, const apalTime_t timeout)
+{
+  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);
+  apalDbgAssert(als != NULL);
+
+  uint8_t txbuf[1] = { VCNL4020_LLD_REGADDR_ALRES_HIGH };
+  uint8_t rxbuf[2];
+  apalExitStatus_t status = apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 1, rxbuf, 2, timeout);
+  *als = (rxbuf[0] << 8) | rxbuf[1];
+  return status;
+}
+
+/**
+ * @brief Read the result of the latest proximity measurement.
+ *
+ * @param[in]   vcnld     The VCNL402 driver to use.
+ * @param[out]  prox      Result of the latest proximity measuremenet.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds).
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+vcnl4020_lld_readprox(const VCNL4020Driver* const vcnld, uint16_t* const prox, const apalTime_t timeout)
+{
+  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);
+  apalDbgAssert(prox != NULL);
+
+  uint8_t txbuf[1] = { VCNL4020_LLD_REGADDR_PROXRES_HIGH };
+  uint8_t rxbuf[2];
+  apalExitStatus_t status = apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 1, rxbuf, 2, timeout);
+  *prox = (rxbuf[0] << 8) | rxbuf[1];
+  return status;
+}
+
+/**
+ * @brief Read the results of the latest ambient light and proximity measurements.
+ *
+ * @param[in]   vcnld     The VCNL402 driver to use.
+ * @param[out]  als       Result of the latest ambient light measuremenet.
+ * @param[out]  prox      Result of the latest proximity measuremenet.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds).
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+vcnl4020_lld_readalsandprox(const VCNL4020Driver* const vcnld, uint16_t* const als, uint16_t* const prox, const apalTime_t timeout)
+{
+  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);
+  apalDbgAssert(als != NULL);
+  apalDbgAssert(prox != NULL);
+
+  uint8_t txbuf[1] = { VCNL4020_LLD_REGADDR_ALRES_HIGH };
+  uint8_t rxbuf[4];
+  apalExitStatus_t status = apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 1, rxbuf, 4, timeout);
+  *als = (rxbuf[0] << 8) | rxbuf[1];
+  *prox = (rxbuf[2] << 8) | rxbuf[3];
+  return status;
+}
+
+/*============================================================================*/
+/* threshold register access                                                  */
+/*============================================================================*/
+
+/**
+ * @brief Read the current value of the low threshold.
+ *
+ * @param[in]   vcnld     The VCNL402 driver to use.
+ * @param[out]  th        Current value of the low threshold.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds).
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+vcnl4020_lld_readlth(const VCNL4020Driver* const vcnld, uint16_t* const th, const apalTime_t timeout)
+{
+  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);
+  apalDbgAssert(th != NULL);
+
+  uint8_t txbuf[1] = { VCNL4020_LLD_REGADDR_LTH_HIGH };
+  uint8_t rxbuf[2];
+  apalExitStatus_t status = apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 1, rxbuf, 2, timeout);
+  *th = (rxbuf[0] << 8) | rxbuf[1];
+  return status;
+}
+
+/**
+ * @brief Read the current value of the high threshold.
+ *
+ * @param[in]   vcnld     The VCNL402 driver to use.
+ * @param[out]  th        Current value of the high threshold.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds).
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+vcnl4020_lld_readhth(const VCNL4020Driver* const vcnld, uint16_t* const th, const apalTime_t timeout)
+{
+  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);
+  apalDbgAssert(th != NULL);
+
+  uint8_t txbuf[1] = { VCNL4020_LLD_REGADDR_HTH_HIGH };
+  uint8_t rxbuf[2];
+  apalExitStatus_t status = apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 1, rxbuf, 2, timeout);
+  *th = (rxbuf[0] << 8) | rxbuf[1];
+  return status;
+}
+
+/**
+ * @brief Read the current value of both (high and low) thresholds.
+ *
+ * @param[in]   vcnld     The VCNL402 driver to use.
+ * @param[out]  lth       Current value of the low threshold.
+ * @param[out]  hth       Current value of the high threshold.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds).
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+vcnl4020_lld_readth(const VCNL4020Driver* const vcnld, uint16_t* const lth, uint16_t* const hth, const apalTime_t timeout)
+{
+  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);
+  apalDbgAssert(lth != NULL);
+  apalDbgAssert(hth != NULL);
+
+  uint8_t txbuf[1] = { VCNL4020_LLD_REGADDR_LTH_HIGH };
+  uint8_t rxbuf[4];
+  apalExitStatus_t status = apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 1, rxbuf, 4, timeout);
+  *lth = (rxbuf[0] << 8) | rxbuf[1];
+  *hth = (rxbuf[2] << 8) | rxbuf[3];
+  return status;
+}
+
+/**
+ * @brief Set the low threshold value.
+ *
+ * @param[in]   vcnld     The VCNL402 driver to use.
+ * @param[in]   th        The new threshold value to write.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds).
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+vcnl4020_lld_writelth(const VCNL4020Driver* const vcnld, const uint16_t th, const apalTime_t timeout)
+{
+  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);
+
+  uint8_t txbuf[3] = { VCNL4020_LLD_REGADDR_LTH_HIGH ,(th & 0xFF00u) >> 8, th & 0x00FFu };
+  return apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 3, NULL, 0, timeout);
+}
+
+/**
+ * @brief Set the high threshold value.
+ *
+ * @param[in]   vcnld     The VCNL402 driver to use.
+ * @param[in]   th        The new threshold value to write.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds).
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+vcnl4020_lld_writehth(const VCNL4020Driver* const vcnld, const uint16_t th, const apalTime_t timeout)
+{
+  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);
+
+  uint8_t txbuf[3] = { VCNL4020_LLD_REGADDR_HTH_HIGH, (th & 0xFF00u) >> 8, th & 0x00FFu };
+  return apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 3, NULL, 0, timeout);
+}
+
+/**
+ * @brief Set both (high and low) threshold values.
+ *
+ * @param[in]   vcnld     The VCNL402 driver to use.
+ * @param[in]   lth       The new value of the low threshold.
+ * @param[in]   hth       The new value of the high threshold.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds).
+ *
+ * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
+ */
+inline apalExitStatus_t
+vcnl4020_lld_writeth(const VCNL4020Driver* const vcnld, const uint16_t lth, const uint16_t hth, const apalTime_t timeout)
+{
+  apalDbgAssert(vcnld != NULL && vcnld->i2cd != NULL);
+
+  uint8_t txbuf[5] = { VCNL4020_LLD_REGADDR_LTH_HIGH, (lth & 0xFF00u) >> 8, lth & 0x00FFu, (hth & 0xFF00u) >> 8, hth & 0x00FFu };
+  return apalI2CMasterTransmit(vcnld->i2cd, (apalI2Caddr_t)VCNL4020_LLD_I2C_ADDR, txbuf, 5, NULL, 0, timeout);
+}
+
+#endif /* defined(AMIROLLD_CFG_USE_VCNL4020) */
diff --git a/templates/alldconf.h b/templates/alldconf.h
new file mode 100644
index 0000000..e026581
--- /dev/null
+++ b/templates/alldconf.h
@@ -0,0 +1,135 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _ALLDCONF_H_
+#define _ALLDCONF_H_
+
+/*
+ * compatibility guards
+ */
+#define _AMIRO_LLD_CFG_
+#define AMIRO_LLD_CFG_VERSION_MAJOR         1
+#define AMIRO_LLD_CFG_VERSION_MINOR         0
+
+/*
+ * DEACTIVATE DRIVERS BY UNDEFINING (i.e. commenting) THE ACCORDING MACROS.
+ */
+
+/**
+ * @brief   Enable flag for the A3906 motor driver.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_A3906
+
+/**
+ * @brief   Enable flag for the AT24C01BN-SH-B EEPROM.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_AT24C01BN
+
+/**
+ * @brief   Enable flag for the BQ24103A battery charger.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_BQ24103A
+
+/**
+ * @brief   Enable flag for the BQ27500 fuel gauge.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_BQ27500
+
+/**
+ * @brief   Enable flag for the MHC5883L compass.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_HMC5883L
+
+/**
+ * @brief   Enable flag for the INA219 power monitor.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_INA219
+
+/**
+ * @brief   Enable flag for the L3G4200D gyroscope.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_L3G4200D
+
+/**
+ * @brief   Enable flag for the status LED.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_LED
+
+/**
+ * @brief   Enable flag for the LIS331DLH accelerometer.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_LIS331DLH
+
+/**
+ * @brief   Enable flag for the LTC4412 power path controller.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_LTC4412
+
+/**
+ * @brief   Enable flag for the MPR121 touch sensor.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_MPR121
+
+/**
+ * @brief   Enable flag for the PCA9544A I2C multiplexer.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_PCA9544A
+
+/**
+ * @brief   Enable flag for the PKLCS1212E4001 buzzer.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_PKLCS2121E4001
+
+/**
+ * @brief   Enable flag for the TLC5947 LED driver.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_TLC5947
+
+/**
+ * @brief   Enable flag for the TPS2051BDBV power switch.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_TPS2051BDBV
+
+/**
+ * @brief   Enable flag for the TPS62113 step-down converter.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_TPS62113
+
+/**
+ * @brief   Enable flag for the VCNL4020 proximity sensor.
+ * @note    Comment to disable.
+ */
+#define AMIROLLD_CFG_USE_VCNL4020
+
+#endif /* _ALLDCONF_H_ */
diff --git a/templates/periphAL.h b/templates/periphAL.h
new file mode 100644
index 0000000..15053b2
--- /dev/null
+++ b/templates/periphAL.h
@@ -0,0 +1,337 @@
+/*
+AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2018  Thomas Schöpping et al.
+
+This program 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.
+
+This program 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/>.
+*/
+
+#ifndef _AMIROLLD_PERIPHAL_H_
+#define _AMIROLLD_PERIPHAL_H_
+
+/*============================================================================*/
+/* VERSION                                                                    */
+/*============================================================================*/
+
+/**
+ * @brief   The periphery abstraction layer interface major version.
+ * @note    Changes of the major version imply incompatibilities.
+ */
+#define PERIPHAL_VERSION_MAJOR    1
+
+/**
+ * @brief   The periphery abstraction layer interface minor version.
+ * @note    A higher minor version implies new functionalty, but all old interfaces are still available.
+ */
+#define PERIPHAL_VERSION_MINOR    0
+
+/*============================================================================*/
+/* DEPENDENCIES                                                               */
+/*============================================================================*/
+
+#include <periphALtypes.h>
+
+/*============================================================================*/
+/* GENERAL                                                                    */
+/*============================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Delay execution by a specific number of microseconds.
+ *
+ * @param[in]   us    Time to sleep until execution continues in microseconds.
+ */
+void usleep(apalTime_t us);
+
+#ifdef __cplusplus
+}
+#endif
+
+/*============================================================================*/
+/* GPIO                                                                       */
+/*============================================================================*/
+
+typedef osGpio_t apalGpio_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Read the current value of a GPIO pin.
+ *
+ * @param[in]   gpio  GPIO to read.
+ * @param[out]  val   Current value of the GPIO.
+ *
+ * @return The status indicates whether the function call was successful.
+ */
+apalExitStatus_t apalGpioRead(apalGpio_t* gpio, apalGpioState_t* const val);
+
+/**
+ * @brief Set the value of a GPIO pin.
+ *
+ * @param[in] gpio  GPIO to write.
+ * @param[in] val   Value to set for the GPIO.
+ *
+ * @return The status indicates whether the function call was successful.
+ */
+apalExitStatus_t apalGpioWrite(apalGpio_t* gpio, const apalGpioState_t val);
+
+/**
+ * @brief Toggle the output of a GPIO.
+ *
+ * @param[in] gpio  GPIO to toggle.
+ *
+ * @return The status indicates whether the function call was successful.
+ */
+apalExitStatus_t apalGpioToggle(apalGpio_t* gpio);
+
+/**
+ * @brief Get the current on/off state of a control GPIO.
+ *
+ * @param[in]   gpio  Control GPIO to read.
+ * @param[out]  val   Current activation status of the control GPIO.
+ *
+ * @return The status indicates whether the function call was successful.
+ */
+apalExitStatus_t apalControlGpioGet(const apalControlGpio_t* const cgpio, apalControlGpioState_t* const val);
+
+/**
+ * @brief Turn a control GPIO 'on' or 'off' respectively.
+ *
+ * @param[in] gpio  Control GPIO to set.
+ * @param[in] val   Activation value to set for the control GPIO.
+ *
+ * @return The status indicates whether the function call was successful.
+ */
+apalExitStatus_t apalControlGpioSet(const apalControlGpio_t* const cgpio, const apalControlGpioState_t val);
+
+#ifdef __cplusplus
+}
+#endif
+
+/*============================================================================*/
+/* PWM                                                                        */
+/*============================================================================*/
+
+/**
+ * @brief PWM driver type.
+ */
+typedef osPWMDriver_t apalPWMDriver_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   Set the PWM with given parameters.
+ *
+ * @param[in] pwm       PWM driver to set.
+ * @param[in] channel   Channel of the PWM driver to set.
+ * @param[in] width     Width to set the channel to.
+ *
+ * @return  The status indicates whether the function call was successful.
+ */
+apalExitStatus_t apalPWMSet(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width);
+
+/**
+ * @brief   Retrieve the current frequency of the PWM.
+ *
+ * @param[in]  pwm        PWM driver to read.
+ * @param[out] frequency  The currently set frequency.
+ *
+ * @return  The status indicates whether the function call was successful.
+ */
+apalExitStatus_t apalPWMGetFrequency(apalPWMDriver_t* pwm, apalPWMfrequency_t* const frequency);
+
+/**
+ * @brief   Retrieve the current period of the PWM.
+ *
+ * @param[in]   pwm     PWM driver to read.
+ * @param[out]  period  The currently set period.
+ *
+ * @return  The status indicates whether the function call was successful.
+ */
+apalExitStatus_t apalPWMGetPeriod(apalPWMDriver_t* pwm, apalPWMperiod_t* const period);
+
+#ifdef __cplusplus
+}
+#endif
+
+/*============================================================================*/
+/* QEI                                                                        */
+/*============================================================================*/
+
+/**
+ * @brief QEI driver type.
+ */
+typedef osQEIDriver_t apaQEIDriver_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Gets the direction of the last transition.
+ *
+ * @param[in]   qei         The QEI driver to use.
+ * @param[out]  direction   The direction of the last transition.
+ *
+ * @return The status indicates whether the function call was successful.
+ */
+apalExitStatus_t apalQEIGetDirection(apalQEIDriver_t* qei, apalQEIDirection_t* const direction);
+
+/**
+ * @brief Gets the current position of the ecnoder.
+ *
+ * @param[in]   qei       The QEI driver to use.
+ * @param[out]  position  The current position of the encoder.
+ *
+ * @return The status indicates whether the function call was successful.
+ */
+apalExitStatus_t apalQEIGetPosition(apalQEIDriver_t* qei, apalQEICount_t* const position);
+
+/**
+ * @brief Gets the value range of the encoder.
+ *
+ * @param[in]   qei     The QEI driver to use.
+ * @param[out]  range   The value range of the encoder.
+ *
+ * @return The status indicates whether the function call was successful.
+ */
+apalExitStatus_t apalQEIGetRange(apalQEIDriver_t* qei, apalQEICount_t* const range);
+
+#ifdef __cplusplus
+}
+#endif
+
+/*============================================================================*/
+/* I2C                                                                        */
+/*============================================================================*/
+
+/**
+ * @brief I2C driver type.
+ */
+typedef osI2CDriver_t apalI2CDriver_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Transmit data and receive a response.
+ *
+ * @param[in]   i2cd      The I2C driver to use.
+ * @param[in]   addr      Address to write to.
+ * @param[in]   txbuf     Buffer containing data to send.
+ * @param[in]   txbytes   Number of bytes to send.
+ * @param[out]  rxbuf     Buffer to store a response to.
+ * @param[in]   rxbytes   Number of bytes to receive.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds).
+ *
+ * @return The status indicates whether the function call was succesful or a timeout occurred.
+ */
+apalExitStatus_t apalI2CMasterTransmit(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, const uint8_t* const txbuf, const size_t txbytes, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout);
+
+/**
+ * @brief Read data from a specific address.
+ *
+ * @param[in]   i2cd      The I2C driver to use.
+ * @param[in]   addr      Address to read.
+ * @param[out]  rxbuf     Buffer to store the response to.
+ * @param[in]   rxbytes   Number of bytes to receive.
+ * @param[in]   timeout   Timeout for the function to return (in microseconds).
+ *
+ * @return The status indicates whether the function call was succesful or a timeout occurred.
+ */
+apalExitStatus_t apalI2CMasterReceive(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout);
+
+#ifdef __cplusplus
+}
+#endif
+
+/*============================================================================*/
+/* SPI                                                                        */
+/*============================================================================*/
+
+/**
+ * @brief SPI driver type.
+ */
+typedef osSPIDriver_t apalSPIDriver_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Transmit and receive data from SPI
+ *
+ * @param[in]   spid      The SPI driver to use.
+ * @param[in]   txData    Buffer containing data to send.
+ * @param[out]  rxData    Buffer to store.
+ * @param[in]   length    Number of bytes to send.
+ *
+ * @return The status indicates whether the function call was succesful.
+ */
+apalExitStatus_t apalSPIExchange(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t length);
+
+/**
+ * @brief Receive data from SPI
+ *
+ * @param[in]   spid      The SPI driver to use.
+ * @param[out]  data      Buffer to store.
+ * @param[in]   length    Number of bytes to send.
+ *
+ * @return The status indicates whether the function call was succesful.
+ */
+apalExitStatus_t apalSPIReceive(apalSPIDriver_t* spid, uint8_t* const data, const size_t length);
+
+/**
+ * @brief Transmit data to SPI
+ *
+ * @param[in]   spid      The SPI driver to use.
+ * @param[in]   data      Buffer containing data to send.
+ * @param[in]   length    Number of bytes to send.
+ *
+ * @return The status indicates whether the function call was succesful.
+ */
+apalExitStatus_t apalSPITransmit(apalSPIDriver_t* spid, const uint8_t* const data, const size_t length);
+
+#ifdef __cplusplus
+}
+#endif
+
+/*============================================================================*/
+/* DEBUG                                                                      */
+/*============================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Assert function to check a given condition.
+ * @note  Using a macro is preferable.
+ *
+ * @param[in] c   The condition to check.
+ */
+void apalDbgAssert(bool c);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _AMIROOS_PERIPHAL_H_ */
