commit 8376530cd66c686f351ea98dd4acadcd899d2c80
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Tue Nov 6 14:46:50 2018 +0100

    enhanced UML component diagrams

diff --git a/doc/AMiRo-OS.svg b/doc/AMiRo-OS.svg
index c82e1f0..345ba87 100644
--- a/doc/AMiRo-OS.svg
+++ b/doc/AMiRo-OS.svg
@@ -1,41 +1,91 @@
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stroke-width: 1.0;"/><!--
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stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="53" x="453.5" y="374.9951">cmsis.h</text><!--entity ch.h--><ellipse cx="384" cy="345" fill="#D3D3D3" filter="url(#f1k9y4sveys4mv)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="30" x="369" y="374.9951">ch.h</text><!--entity ch.hpp--><ellipse cx="581" cy="345" fill="#D3D3D3" filter="url(#f1k9y4sveys4mv)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="48" x="557" y="374.9951">ch.hpp</text><!--entity ChibiOS_HAL--><rect fill="#D3D3D3" filter="url(#f1k9y4sveys4mv)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="125" x="667.5" y="437"/><rect fill="#D3D3D3" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="772.5" y="442"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="770.5" y="444"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="770.5" y="448"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="85" x="682.5" y="469.9951">ChibiOS/HAL</text><!--entity ChibiOS_RT--><rect fill="#D3D3D3" filter="url(#f1k9y4sveys4mv)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="118" x="514" y="437"/><rect fill="#D3D3D3" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="612" y="442"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="610" y="444"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="610" y="448"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="78" x="529" y="469.9951">ChibiOS/RT</text><!--entity periphAL.h--><ellipse cx="1384" cy="345" fill="#FEFECE" filter="url(#f1k9y4sveys4mv)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="73" x="1347.5" y="374.9951">periphAL.h</text><!--entity AMiRoLLD--><rect fill="#FEFECE" filter="url(#f1k9y4sveys4mv)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="113" x="1334.5" y="437"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="1427.5" y="442"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="1425.5" y="444"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="1425.5" y="448"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="73" x="1349.5" y="469.9951">AMiRo-LLD</text><!--entity osconf.h--><ellipse cx="779" cy="93" fill="#FEFECE" filter="url(#f1k9y4sveys4mv)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="60" x="749" y="122.9951">osconf.h</text><!--link AMiRoBLT to OpenBLT--><path d="M212.017,483.274 C189.866,501.561 158.095,527.787 132.526,548.8949 " fill="none" id="AMiRoBLT-OpenBLT" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="136.662,554.5573,116.782,561.8913,127.749,543.7607,136.662,554.5573" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="31" x="175" y="528.0669">forks</text><!--link AMiRoBLT to STM32Flash--><path d="M239,483.274 C239,503.912 239,534.663 239,556.7547 " fill="none" id="AMiRoBLT-STM32Flash" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="239,561.8913,243,552.8913,239,556.8913,235,552.8913,239,561.8913" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="44" x="240" y="528.0669">utilizes</text><!--link amiroblt.h to AMiRoBLT--><path d="M248.281,354.127 C246.767,371.231 243.207,411.457 240.963,436.822 " fill="none" id="amiroblt.h-AMiRoBLT" style="stroke: #A80036; stroke-width: 1.0;"/><!--link mcuconf.h to ChibiOS_HAL--><path d="M1102.83,361.634 C1091.16,373.498 1073.57,389.217 1055,398 C969.886,438.249 860.444,451.963 792.775,456.622 " fill="none" id="mcuconf.h-ChibiOS_HAL" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1101.6436,350.5879 A9,9 0 0 0 1113.9222 362.2212" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link halconf.h to ChibiOS_HAL--><path d="M985.312,361.929 C974.597,373.472 958.746,388.636 942,398 C895.368,424.075 836.607,439.846 792.782,448.8 " fill="none" id="halconf.h-ChibiOS_HAL" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M983.7929,350.9496 A9,9 0 0 0 996.3912 362.2359" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link hal.h to ChibiOS_HAL--><path d="M763.411,354.127 C757.962,371.231 745.146,411.457 737.065,436.822 " fill="none" id="hal.h-ChibiOS_HAL" style="stroke: #A80036; stroke-width: 1.0;"/><!--link osal.h to ChibiOS_HAL--><path d="M684.324,363.42 C693.75,383.143 709.127,415.321 719.402,436.822 " fill="none" id="osal.h-ChibiOS_HAL" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M673.5811,360.5515 A9,9 0 0 0 688.8418 353.257" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link chconf.h to ChibiOS_RT--><path d="M869.592,360.199 C854.429,371.909 831.417,388.143 809,398 C742.393,427.288 720.327,418.335 650,437 C644.222,438.534 638.212,440.173 632.212,441.838 " fill="none" id="chconf.h-ChibiOS_RT" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M869.8897,349.1839 A9,9 0 0 0 880.3785 362.4537" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link hal.h to ChibiOS_RT--><path d="M754.842,362.564 C746.586,373.791 734.472,388.297 721,398 C694.277,417.247 660.582,431.746 632.096,441.768 " fill="none" id="hal.h-ChibiOS_RT" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M752.1287,351.7292 A9,9 0 0 0 765.9592 361.4666" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link osal.h to ChibiOS_RT--><path d="M668.897,354.167 C659.918,364.46 643.946,382.661 630,398 C618.202,410.976 604.823,425.314 593.993,436.826 " fill="none" id="osal.h-ChibiOS_RT" style="stroke: #A80036; stroke-width: 1.0;"/><!--link cmsis.h to ChibiOS_RT--><path d="M486.688,354.127 C500.766,371.231 533.872,411.457 554.748,436.822 " fill="none" id="cmsis.h-ChibiOS_RT" style="stroke: #A80036; stroke-width: 1.0;"/><!--link ch.h to ChibiOS_RT--><path d="M389.04,354.071 C396.388,365.268 411.033,385.541 428,398 C453.755,416.912 486.256,431.279 513.957,441.305 " fill="none" id="ch.h-ChibiOS_RT" style="stroke: #A80036; stroke-width: 1.0;"/><!--link ch.hpp to ChibiOS_RT--><path d="M580.425,354.127 C579.214,371.231 576.366,411.457 574.57,436.822 " fill="none" id="ch.hpp-ChibiOS_RT" style="stroke: #A80036; stroke-width: 1.0;"/><!--link alldconf.h to AMiRoLLD--><path d="M1254.26,358.661 C1280.02,377.567 1328.91,413.443 1360.72,436.778 " fill="none" id="alldconf.h-AMiRoLLD" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1243.64,361.3671 A9,9 0 0 0 1253.6599 347.7399" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link periphAL.h to AMiRoLLD--><path d="M1384.5,354.127 C1385.56,371.231 1388.05,411.457 1389.63,436.822 " fill="none" id="periphAL.h-AMiRoLLD" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoOS to mcuconf.h--><path d="M957.009,221.328 C987.678,231.188 1025.68,246.438 1055,268 C1081.34,287.369 1103.04,320.434 1112.25,335.757 " fill="none" id="AMiRoOS-mcuconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoOS to halconf.h--><path d="M918.424,229.011 C940.155,260.023 978.752,315.104 993.268,335.82 " fill="none" id="AMiRoOS-halconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoOS to chconf.h--><path d="M900.429,229.011 C896.808,260.023 890.375,315.104 887.955,335.82 " fill="none" id="AMiRoOS-chconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoOS to hal.h--><path d="M876.002,229.091 C862.685,240.343 846.603,254.475 833,268 C813.214,287.673 792.224,312.145 779.119,327.916 " fill="none" id="AMiRoOS-hal.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M781.1911,338.7003 A9,9 0 0 0 768.1382 327.9429" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoOS to ch.h--><path d="M848.908,215.284 C774.502,226.486 636.33,246.604 518,260 C498.049,262.259 444.933,257.21 428,268 C407.246,281.225 395.171,307.987 389.082,325.958 " fill="none" id="AMiRoOS-ch.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M395.0922,335.1422 A9,9 0 0 0 378.9335 330.1426" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoOS to amiroblt.h--><path d="M848.908,208.927 C726.504,213.919 431.875,229.656 341,268 C309.177,281.427 279.784,309.599 263.153,327.616 " fill="none" id="AMiRoOS-amiroblt.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M264.4121,338.8854 A9,9 0 0 0 251.8138 327.5991" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoOS to alldconf.h--><path d="M957.232,208.314 C1015.87,212.048 1110.03,224.964 1178,268 C1205.38,285.336 1225.14,320.042 1233.11,335.836 " fill="none" id="AMiRoOS-alldconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoOS to periphAL.h--><path d="M957.148,206.378 C1035.12,207.444 1181.96,216.885 1294,268 C1325.02,282.152 1353.81,310.104 1370.11,327.88 " fill="none" id="AMiRoOS-periphAL.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1381.3374,327.76 A9,9 0 0 0 1368.7075 339.011" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link osconf.h to AMiRoOS--><path d="M795.92,109.146 C817.217,128.21 853.96,161.101 878.372,182.954 " fill="none" id="osconf.h-AMiRoOS" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M784.9738,110.6978 A9,9 0 0 0 796.2537 98.0937" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link amiroos.h to AMiRoOS--><path d="M903,102.343 C903,119.284 903,158.2 903,182.954 " fill="none" id="amiroos.h-AMiRoOS" style="stroke: #A80036; stroke-width: 1.0;"/><!--
 @startuml
 skinparam componentStyle uml2
 
-interface hal.h #lightgrey
-interface ch.h #lightgrey
-component ChibiOS #lightgrey
-ChibiOS -up- hal.h
-ChibiOS -up- ch.h
 
 skinparam componentStyle uml2
 
-component OpenBLT #lightgrey
-component STM32Flash #lightgrey
 
-interface amiroblt.h
+node "AMiRo-BLT" as AMiRoBLT_node {
+	component OpenBLT #lightgrey
+	component STM32Flash #lightgrey
 
-component "AMiRo-BLT" as AMiRoBLT
-AMiRoBLT -down-|> OpenBLT
-AMiRoBLT .down.> STM32Flash
-AMiRoBLT -up- amiroblt.h
+	interface amiroblt.h
+
+	component "AMiRo-BLT" as AMiRoBLT
+	AMiRoBLT -down-|> OpenBLT : forks
+	AMiRoBLT .down.> STM32Flash : utilizes
+	AMiRoBLT -up- amiroblt.h
+}
+
+
+
+node "AMiRo-OS" as AMiRoOS_node {
+	interface mcuconf.h
+	interface halconf.h
+	interface chconf.h
+}
+
+node "ChibiOS" as ChibiOS_node{
+	interface hal.h #lightgrey
+	interface osal.h #lightgrey
+	interface cmsis.h #lightgrey
+	interface ch.h #lightgrey
+	interface ch.hpp #lightgrey
+
+	component "ChibiOS/HAL" as ChibiOS_HAL #lightgrey
+	ChibiOS_HAL -up-( mcuconf.h
+	ChibiOS_HAL -up-( halconf.h
+	ChibiOS_HAL -up- hal.h
+	ChibiOS_HAL -up-( osal.h
+
+	component "ChibiOS/RT" as ChibiOS_RT #lightgrey
+	ChibiOS_RT -up-( chconf.h
+	ChibiOS_RT -up-( hal.h
+	ChibiOS_RT -up- osal.h
+	ChibiOS_RT -up- cmsis.h
+	ChibiOS_RT -up- ch.h
+	ChibiOS_RT -up- ch.hpp
+}
+
+
+node "AMiRo-OS" as AMiRoOS_node {
+	interface alldconf.h
+}
 
 skinparam componentStyle uml2
 
-interface periphAL.h
 
-component "AMiRo-LLD" as AMiRoLLD
-AMiRoLLD -up- periphAL.h
+interface alldconf.h
+
+node "AMiRo-LLD" as AMiRoLLD_node {
+	interface periphAL.h
+
+	component "AMiRo-LLD" as AMiRoLLD
+	AMiRoLLD -up-( alldconf.h
+	AMiRoLLD -up- periphAL.h
+}
+
+
+
 
+interface osconf.h
 
-interface amiroos.h
+node "AMiRo-OS" as AMiRoOS_node {
+	interface amiroos.h
 
-component "AMiRo-OS" as AMiRoOS
-AMiRoOS -down-( hal.h
-AMiRoOS -down-( ch.h
-AMiRoOS -down-( amiroblt.h
-AMiRoOS -down-( periphAL.h
-AMiRoOS -up- amiroos.h
+	component "AMiRo-OS" as AMiRoOS
+	AMiRoOS - - mcuconf.h
+	AMiRoOS - - halconf.h
+	AMiRoOS - - chconf.h
+	AMiRoOS - -( hal.h
+	AMiRoOS - -( ch.h
+	AMiRoOS - -( amiroblt.h
+	AMiRoOS - - alldconf.h
+	AMiRoOS - -( periphAL.h
+	AMiRoOS -up-( osconf.h
+	AMiRoOS -up- amiroos.h
+}
 
 @enduml
 
