tar'd chibi

23 files changed, 0 insertions, 6439 deletions

diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/lcd/ili9341.c b/ChibiOS_16.1.5/community/os/various/devices_lib/lcd/ili9341.c
deleted file mode 100644
index 979e502..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/lcd/ili9341.c
+++ /dev/null
@@ -1,418 +0,0 @@
-/*
-    Copyright (C) 2013-2015 Andrea Zoppi
-
-    Licensed under the Apache License, Version 2.0 (the "License");
-    you may not use this file except in compliance with the License.
-    You may obtain a copy of the License at
-
-        http://www.apache.org/licenses/LICENSE-2.0
-
-    Unless required by applicable law or agreed to in writing, software
-    distributed under the License is distributed on an "AS IS" BASIS,
-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-    See the License for the specific language governing permissions and
-    limitations under the License.
-*/
-
-/**
- * @file    ili9341.c
- * @brief   ILI9341 TFT LCD diaplay controller driver.
- * @note    Does not support multiple calling threads natively.
- */
-
-#include "ch.h"
-#include "hal.h"
-#include "ili9341.h"
-
-/**
- * @addtogroup ili9341
- * @{
- */
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-#if !ILI9341_USE_CHECKS && !defined(__DOXYGEN__)
-/* Disable checks as needed.*/
-
-#ifdef osalDbgCheck
-#undef osalDbgCheck
-#endif
-#define osalDbgCheck(c, func) {                                               \
-  (void)(c), (void)__QUOTE_THIS(func)"()";                                  \
-}
-
-#ifdef osalDbgAssert
-#undef osalDbgAssert
-#endif
-#define osalDbgAssert(c, m, r) {                                              \
-  (void)(c);                                                                \
-}
-
-#ifdef osalDbgCheckClassS
-#undef osalDbgCheckClassS
-#endif
-#define osalDbgCheckClassS() {}
-
-#ifdef osalDbgCheckClassS
-#undef osalDbgCheckClassS
-#endif
-#define osalDbgCheckClassI() {}
-
-#endif /* ILI9341_USE_CHECKS */
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/** @brief ILI9341D1 driver identifier.*/
-ILI9341Driver ILI9341D1;
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-/**
- * @brief   Initializes the standard part of a @p ILI9341Driver structure.
- *
- * @param[out] driverp  pointer to the @p ILI9341Driver object
- *
- * @init
- */
-void ili9341ObjectInit(ILI9341Driver *driverp) {
-
-  osalDbgCheck(driverp != NULL);
-
-  driverp->state = ILI9341_STOP;
-  driverp->config = NULL;
-#if (TRUE == ILI9341_USE_MUTUAL_EXCLUSION)
-#if (TRUE == CH_CFG_USE_MUTEXES)
-  chMtxObjectInit(&driverp->lock);
-#else
-  chSemObjectInit(&driverp->lock, 1);
-#endif
-#endif /* (TRUE == ILI9341_USE_MUTUAL_EXCLUSION) */
-}
-
-/**
- * @brief   Configures and activates the ILI9341 peripheral.
- * @pre     ILI9341 is stopped.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- * @param[in] configp   pointer to the @p ILI9341Config object
- *
- * @api
- */
-void ili9341Start(ILI9341Driver *driverp, const ILI9341Config *configp) {
-
-  chSysLock();
-  osalDbgCheck(driverp != NULL);
-  osalDbgCheck(configp != NULL);
-  osalDbgCheck(configp->spi != NULL);
-  osalDbgAssert(driverp->state == ILI9341_STOP, "invalid state");
-
-  spiSelectI(configp->spi);
-  spiUnselectI(configp->spi);
-  driverp->config = configp;
-  driverp->state = ILI9341_READY;
-  chSysUnlock();
-}
-
-/**
- * @brief   Deactivates the ILI9341 peripheral.
- * @pre     ILI9341 is ready.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- *
- * @api
- */
-void ili9341Stop(ILI9341Driver *driverp) {
-
-  chSysLock();
-  osalDbgCheck(driverp != NULL);
-  osalDbgAssert(driverp->state == ILI9341_READY, "invalid state");
-
-  driverp->state = ILI9341_STOP;
-  chSysUnlock();
-}
-
-#if ILI9341_USE_MUTUAL_EXCLUSION
-
-/**
- * @brief   Gains exclusive access to the ILI9341 module.
- * @details This function tries to gain ownership to the ILI9341 module, if the
- *          module is already being used then the invoking thread is queued.
- * @pre     In order to use this function the option
- *          @p ILI9341_USE_MUTUAL_EXCLUSION must be enabled.
- * @pre     ILI9341 is ready.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- *
- * @sclass
- */
-void ili9341AcquireBusS(ILI9341Driver *driverp) {
-
-  osalDbgCheckClassS();
-  osalDbgCheck(driverp == &ILI9341D1);
-  osalDbgAssert(driverp->state == ILI9341_READY, "not ready");
-
-#if (TRUE == CH_CFG_USE_MUTEXES)
-  chMtxLockS(&driverp->lock);
-#else
-  chSemWaitS(&driverp->lock);
-#endif
-}
-
-/**
- * @brief   Gains exclusive access to the ILI9341 module.
- * @details This function tries to gain ownership to the ILI9341 module, if the
- *          module is already being used then the invoking thread is queued.
- * @pre     In order to use this function the option
- *          @p ILI9341_USE_MUTUAL_EXCLUSION must be enabled.
- * @pre     ILI9341 is ready.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- *
- * @api
- */
-void ili9341AcquireBus(ILI9341Driver *driverp) {
-
-  chSysLock();
-  ili9341AcquireBusS(driverp);
-  chSysUnlock();
-}
-
-/**
- * @brief   Releases exclusive access to the ILI9341 module.
- * @pre     In order to use this function the option
- *          @p ILI9341_USE_MUTUAL_EXCLUSION must be enabled.
- * @pre     ILI9341 is ready.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- *
- * @sclass
- */
-void ili9341ReleaseBusS(ILI9341Driver *driverp) {
-
-  osalDbgCheckClassS();
-  osalDbgCheck(driverp == &ILI9341D1);
-  osalDbgAssert(driverp->state == ILI9341_READY, "not ready");
-
-#if (TRUE == CH_CFG_USE_MUTEXES)
-  chMtxUnlockS(&driverp->lock);
-#else
-  chSemSignalI(&driverp->lock);
-#endif
-}
-
-/**
- * @brief   Releases exclusive access to the ILI9341 module.
- * @pre     In order to use this function the option
- *          @p ILI9341_USE_MUTUAL_EXCLUSION must be enabled.
- * @pre     ILI9341 is ready.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- *
- * @api
- */
-void ili9341ReleaseBus(ILI9341Driver *driverp) {
-
-  chSysLock();
-  ili9341ReleaseBusS(driverp);
-  chSysUnlock();
-}
-
-#endif /* ILI9341_USE_MUTUAL_EXCLUSION */
-
-#if ILI9341_IM == ILI9341_IM_4LSI_1 /* 4-wire, half-duplex */
-
-/**
- * @brief   Asserts the slave select signal and prepares for transfers.
- * @pre     ILI9341 is ready.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- *
- * @iclass
- */
-void ili9341SelectI(ILI9341Driver *driverp) {
-
-  osalDbgCheckClassI();
-  osalDbgCheck(driverp != NULL);
-  osalDbgAssert(driverp->state == ILI9341_READY, "invalid state");
-
-  driverp->state = ILI9341_ACTIVE;
-  spiSelectI(driverp->config->spi);
-}
-
-/**
- * @brief   Asserts the slave select signal and prepares for transfers.
- * @pre     ILI9341 is ready.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- *
- * @api
- */
-void ili9341Select(ILI9341Driver *driverp) {
-
-  chSysLock();
-  ili9341SelectI(driverp);
-  chSysUnlock();
-}
-
-/**
- * @brief   Deasserts the slave select signal.
- * @details The previously selected peripheral is unselected.
- * @pre     ILI9341 is active.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- *
- * @iclass
- */
-void ili9341UnselectI(ILI9341Driver *driverp) {
-
-  osalDbgCheckClassI();
-  osalDbgCheck(driverp != NULL);
-  osalDbgAssert(driverp->state == ILI9341_ACTIVE, "invalid state");
-
-  spiUnselectI(driverp->config->spi);
-  driverp->state = ILI9341_READY;
-}
-
-/**
- * @brief   Deasserts the slave select signal.
- * @details The previously selected peripheral is unselected.
- * @pre     ILI9341 is active.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- *
- * @iclass
- */
-void ili9341Unselect(ILI9341Driver *driverp) {
-
-  chSysLock();
-  ili9341UnselectI(driverp);
-  chSysUnlock();
-}
-
-/**
- * @brief   Write command byte.
- * @details Sends a command byte via SPI.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- * @param[in] cmd       command byte
- *
- * @api
- */
-void ili9341WriteCommand(ILI9341Driver *driverp, uint8_t cmd) {
-
-  osalDbgCheck(driverp != NULL);
-  osalDbgAssert(driverp->state == ILI9341_ACTIVE, "invalid state");
-
-  driverp->value = cmd;
-  palClearPad(driverp->config->dcx_port, driverp->config->dcx_pad);  /* !Cmd */
-  spiSend(driverp->config->spi, 1, &driverp->value);
-}
-
-/**
- * @brief   Write data byte.
- * @details Sends a data byte via SPI.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- * @param[in] value     data byte
- *
- * @api
- */
-void ili9341WriteByte(ILI9341Driver *driverp, uint8_t value) {
-
-  osalDbgCheck(driverp != NULL);
-  osalDbgAssert(driverp->state == ILI9341_ACTIVE, "invalid state");
-
-  driverp->value = value;
-  palSetPad(driverp->config->dcx_port, driverp->config->dcx_pad);  /* Data */
-  spiSend(driverp->config->spi, 1, &driverp->value);
-}
-
-/**
- * @brief   Read data byte.
- * @details Receives a data byte via SPI.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- *
- * @return              data byte
- *
- * @api
- */
-uint8_t ili9341ReadByte(ILI9341Driver *driverp) {
-
-  osalDbgAssert(FALSE, "should not be used");
-
-  osalDbgCheck(driverp != NULL);
-  osalDbgAssert(driverp->state == ILI9341_ACTIVE, "invalid state");
-
-  palSetPad(driverp->config->dcx_port, driverp->config->dcx_pad);  /* Data */
-  spiReceive(driverp->config->spi, 1, &driverp->value);
-  return driverp->value;
-}
-
-/**
- * @brief   Write data chunk.
- * @details Sends a data chunk via SPI.
- * @pre     The chunk must be accessed by DMA.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- * @param[in] chunk     chunk bytes
- * @param[in] length    chunk length
- *
- * @api
- */
-void ili9341WriteChunk(ILI9341Driver *driverp, const uint8_t chunk[],
-                       size_t length) {
-
-  osalDbgCheck(driverp != NULL);
-  osalDbgCheck(chunk != NULL);
-  osalDbgAssert(driverp->state == ILI9341_ACTIVE, "invalid state");
-
-  if (length != 0) {
-    palSetPad(driverp->config->dcx_port, driverp->config->dcx_pad);  /* Data */
-    spiSend(driverp->config->spi, length, chunk);
-  }
-}
-
-/**
- * @brief   Read data chunk.
- * @details Receives a data chunk via SPI.
- * @pre     The chunk must be accessed by DMA.
- *
- * @param[in] driverp   pointer to the @p ILI9341Driver object
- * @param[out] chunk    chunk bytes
- * @param[in] length    chunk length
- *
- * @api
- */
-void ili9341ReadChunk(ILI9341Driver *driverp, uint8_t chunk[],
-                      size_t length) {
-
-  osalDbgCheck(driverp != NULL);
-  osalDbgCheck(chunk != NULL);
-  osalDbgAssert(driverp->state == ILI9341_ACTIVE, "invalid state");
-
-  if (length != 0) {
-    palSetPad(driverp->config->dcx_port, driverp->config->dcx_pad);  /* Data */
-    spiReceive(driverp->config->spi, length, chunk);
-  }
-}
-
-#else /* ILI9341_IM == * */
-#error "Only the ILI9341_IM_4LSI_1 interface mode is currently supported"
-#endif /* ILI9341_IM == * */
-
-/** @} */
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/lcd/ili9341.h b/ChibiOS_16.1.5/community/os/various/devices_lib/lcd/ili9341.h
deleted file mode 100644
index 007c4fd..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/lcd/ili9341.h
+++ /dev/null
@@ -1,593 +0,0 @@
-/*
-    Copyright (C) 2013-2015 Andrea Zoppi
-
-    Licensed under the Apache License, Version 2.0 (the "License");
-    you may not use this file except in compliance with the License.
-    You may obtain a copy of the License at
-
-        http://www.apache.org/licenses/LICENSE-2.0
-
-    Unless required by applicable law or agreed to in writing, software
-    distributed under the License is distributed on an "AS IS" BASIS,
-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-    See the License for the specific language governing permissions and
-    limitations under the License.
-*/
-
-/**
- * @file    ili9341.h
- * @brief   ILI9341 TFT LCD diaplay controller driver.
- */
-
-#ifndef _ILI9341_H_
-#define _ILI9341_H_
-
-/**
- * @addtogroup ili9341
- * @{
- */
-
-/*===========================================================================*/
-/* Driver constants.                                                         */
-/*===========================================================================*/
-
-/**
- * @name    ILI9341 regulative commands
- * @{
- */
-#define ILI9341_CMD_NOP                 (0x00)  /**< No operation.*/
-#define ILI9341_CMD_RESET               (0x01)  /**< Software reset.*/
-#define ILI9341_GET_ID_INFO             (0x04)  /**< Get ID information.*/
-#define ILI9341_GET_STATUS              (0x09)  /**< Get status.*/
-#define ILI9341_GET_PWR_MODE            (0x0A)  /**< Get power mode.*/
-#define ILI9341_GET_MADCTL              (0x0B)  /**< Get MADCTL.*/
-#define ILI9341_GET_PIX_FMT             (0x0C)  /**< Get pixel format.*/
-#define ILI9341_GET_IMG_FMT             (0x0D)  /**< Get image format.*/
-#define ILI9341_GET_SIG_MODE            (0x0E)  /**< Get signal mode.*/
-#define ILI9341_GET_SELF_DIAG           (0x0F)  /**< Get self-diagnostics.*/
-#define ILI9341_CMD_SLEEP_ON            (0x10)  /**< Enter sleep mode.*/
-#define ILI9341_CMD_SLEEP_OFF           (0x11)  /**< Exist sleep mode.*/
-#define ILI9341_CMD_PARTIAL_ON          (0x12)  /**< Enter partial mode.*/
-#define ILI9341_CMD_PARTIAL_OFF         (0x13)  /**< Exit partial mode.*/
-#define ILI9341_CMD_INVERT_ON           (0x20)  /**< Enter inverted mode.*/
-#define ILI9341_CMD_INVERT_OFF          (0x21)  /**< Exit inverted mode.*/
-#define ILI9341_SET_GAMMA               (0x26)  /**< Set gamma params.*/
-#define ILI9341_CMD_DISPLAY_OFF         (0x28)  /**< Disable display.*/
-#define ILI9341_CMD_DISPLAY_ON          (0x29)  /**< Enable display.*/
-#define ILI9341_SET_COL_ADDR            (0x2A)  /**< Set column address.*/
-#define ILI9341_SET_PAGE_ADDR           (0x2B)  /**< Set page address.*/
-#define ILI9341_SET_MEM                 (0x2C)  /**< Set memory.*/
-#define ILI9341_SET_COLOR               (0x2D)  /**< Set color.*/
-#define ILI9341_GET_MEM                 (0x2E)  /**< Get memory.*/
-#define ILI9341_SET_PARTIAL_AREA        (0x30)  /**< Set partial area.*/
-#define ILI9341_SET_VSCROLL             (0x33)  /**< Set vertical scroll def.*/
-#define ILI9341_CMD_TEARING_ON          (0x34)  /**< Tearing line enabled.*/
-#define ILI9341_CMD_TEARING_OFF         (0x35)  /**< Tearing line disabled.*/
-#define ILI9341_SET_MEM_ACS_CTL         (0x36)  /**< Set mem access ctl.*/
-#define ILI9341_SET_VSCROLL_ADDR        (0x37)  /**< Set vscroll start addr.*/
-#define ILI9341_CMD_IDLE_OFF            (0x38)  /**< Exit idle mode.*/
-#define ILI9341_CMD_IDLE_ON             (0x39)  /**< Enter idle mode.*/
-#define ILI9341_SET_PIX_FMT             (0x3A)  /**< Set pixel format.*/
-#define ILI9341_SET_MEM_CONT            (0x3C)  /**< Set memory continue.*/
-#define ILI9341_GET_MEM_CONT            (0x3E)  /**< Get memory continue.*/
-#define ILI9341_SET_TEAR_SCANLINE       (0x44)  /**< Set tearing scanline.*/
-#define ILI9341_GET_TEAR_SCANLINE       (0x45)  /**< Get tearing scanline.*/
-#define ILI9341_SET_BRIGHTNESS          (0x51)  /**< Set brightness.*/
-#define ILI9341_GET_BRIGHTNESS          (0x52)  /**< Get brightness.*/
-#define ILI9341_SET_DISPLAY_CTL         (0x53)  /**< Set display ctl.*/
-#define ILI9341_GET_DISPLAY_CTL         (0x54)  /**< Get display ctl.*/
-#define ILI9341_SET_CABC                (0x55)  /**< Set CABC.*/
-#define ILI9341_GET_CABC                (0x56)  /**< Get CABC.*/
-#define ILI9341_SET_CABC_MIN            (0x5E)  /**< Set CABC min.*/
-#define ILI9341_GET_CABC_MIN            (0x5F)  /**< Set CABC max.*/
-#define ILI9341_GET_ID1                 (0xDA)  /**< Get ID1.*/
-#define ILI9341_GET_ID2                 (0xDB)  /**< Get ID2.*/
-#define ILI9341_GET_ID3                 (0xDC)  /**< Get ID3.*/
-/** @} */
-
-/**
- * @name    ILI9341 extended commands
- * @{
- */
-#define ILI9341_SET_RGB_IF_SIG_CTL      (0xB0)  /**< RGB IF signal ctl.*/
-#define ILI9341_SET_FRAME_CTL_NORMAL    (0xB1)  /**< Set frame ctl (normal).*/
-#define ILI9341_SET_FRAME_CTL_IDLE      (0xB2)  /**< Set frame ctl (idle).*/
-#define ILI9341_SET_FRAME_CTL_PARTIAL   (0xB3)  /**< Set frame ctl (partial).*/
-#define ILI9341_SET_INVERSION_CTL       (0xB4)  /**< Set inversion ctl.*/
-#define ILI9341_SET_BLANKING_PORCH_CTL  (0xB5)  /**< Set blanking porch ctl.*/
-#define ILI9341_SET_FUNCTION_CTL        (0xB6)  /**< Set function ctl.*/
-#define ILI9341_SET_ENTRY_MODE          (0xB7)  /**< Set entry mode.*/
-#define ILI9341_SET_LIGHT_CTL_1         (0xB8)  /**< Set backlight ctl 1.*/
-#define ILI9341_SET_LIGHT_CTL_2         (0xB9)  /**< Set backlight ctl 2.*/
-#define ILI9341_SET_LIGHT_CTL_3         (0xBA)  /**< Set backlight ctl 3.*/
-#define ILI9341_SET_LIGHT_CTL_4         (0xBB)  /**< Set backlight ctl 4.*/
-#define ILI9341_SET_LIGHT_CTL_5         (0xBC)  /**< Set backlight ctl 5.*/
-#define ILI9341_SET_LIGHT_CTL_7         (0xBE)  /**< Set backlight ctl 7.*/
-#define ILI9341_SET_LIGHT_CTL_8         (0xBF)  /**< Set backlight ctl 8.*/
-#define ILI9341_SET_POWER_CTL_1         (0xC0)  /**< Set power ctl 1.*/
-#define ILI9341_SET_POWER_CTL_2         (0xC1)  /**< Set power ctl 2.*/
-#define ILI9341_SET_VCOM_CTL_1          (0xC5)  /**< Set VCOM ctl 1.*/
-#define ILI9341_SET_VCOM_CTL_2          (0xC6)  /**< Set VCOM ctl 2.*/
-#define ILI9341_SET_NVMEM               (0xD0)  /**< Set NVMEM data.*/
-#define ILI9341_GET_NVMEM_KEY           (0xD1)  /**< Get NVMEM protect key.*/
-#define ILI9341_GET_NVMEM_STATUS        (0xD2)  /**< Get NVMEM status.*/
-#define ILI9341_GET_ID4                 (0xD3)  /**< Get ID4.*/
-#define ILI9341_SET_PGAMMA              (0xE0)  /**< Set positive gamma.*/
-#define ILI9341_SET_NGAMMA              (0xE1)  /**< Set negative gamma.*/
-#define ILI9341_SET_DGAMMA_CTL_1        (0xE2)  /**< Set digital gamma ctl 1.*/
-#define ILI9341_SET_DGAMMA_CTL_2        (0xE3)  /**< Set digital gamma ctl 2.*/
-#define ILI9341_SET_IF_CTL              (0xF6)  /**< Set interface control.*/
-/** @} */
-
-/**
- * @name    ILI9341 interface modes
- * @{
- */
-#define ILI9341_IM_3LSI_1               (0x5)   /**< 3-line serial, mode 1.*/
-#define ILI9341_IM_3LSI_2               (0xD)   /**< 3-line serial, mode 2.*/
-#define ILI9341_IM_4LSI_1               (0x6)   /**< 4-line serial, mode 1.*/
-#define ILI9341_IM_4LSI_2               (0xE)   /**< 4-line serial, mode 2.*/
-/** @} */
-
-/*===========================================================================*/
-/* Driver pre-compile time settings.                                         */
-/*===========================================================================*/
-
-/**
- * @name    ILI9341 configuration options
- * @{
- */
-
-/**
- * @brief   Enables the @p ili9341AcquireBus() and @p ili9341ReleaseBus() APIs.
- * @note    Disabling this option saves both code and data space.
- */
-#if !defined(ILI9341_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
-#define ILI9341_USE_MUTUAL_EXCLUSION        TRUE
-#endif
-
-/**
- * @brief   ILI9341 Interface Mode.
- */
-#if !defined(ILI9341_IM) || defined(__DOXYGEN__)
-#define ILI9341_IM                          (ILI9341_IM_4LSI_1)
-#endif
-
-/**
- * @brief   Enables checks for ILI9341 functions.
- * @note    Disabling this option saves both code and data space.
- * @note    Disabling checks by ChibiOS will automatically disable ILI9341
- *          checks.
- */
-#if !defined(ILI9341_USE_CHECKS) || defined(__DOXYGEN__)
-#define ILI9341_USE_CHECKS                  TRUE
-#endif
-
-/** @} */
-
-/*===========================================================================*/
-/* Derived constants and error checks.                                       */
-/*===========================================================================*/
-
-#if ((TRUE == ILI9341_USE_MUTUAL_EXCLUSION) && \
-     (TRUE != CH_CFG_USE_MUTEXES) && \
-     (TRUE != CH_CFG_USE_SEMAPHORES))
-#error "ILI9341_USE_MUTUAL_EXCLUSION requires CH_CFG_USE_MUTEXES and/or CH_CFG_USE_SEMAPHORES"
-#endif
-
-/* TODO: Add the remaining modes.*/
-#if (ILI9341_IM != ILI9341_IM_4LSI_1)
-#error "Only ILI9341_IM_4LSI_1 interface mode is supported currently"
-#endif
-
-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/* Complex types forwarding.*/
-typedef struct ILI9341Config ILI9341Config;
-typedef enum ili9341state_t ili9341state_t;
-typedef struct ILI9341Driver ILI9341Driver;
-
-/**
- * @brief   ILI9341 driver configuration.
- */
-typedef struct ILI9341Config {
-  SPIDriver     *spi;               /**< SPI driver used by ILI9341.*/
-#if (ILI9341_IM == ILI9341_IM_4LSI_1)
-  ioportid_t    dcx_port;           /**< <tt>D/!C</tt> signal port.*/
-  uint16_t      dcx_pad;            /**< <tt>D/!C</tt> signal pad.*/
-#endif /* ILI9341_IM == * */ /* TODO: Add all modes.*/
-} ILI9341Config;
-
-/**
- * @brief   ILI9341 driver state.
- */
-typedef enum ili9341state_t {
-  ILI9341_UNINIT = (0),             /**< Not initialized.*/
-  ILI9341_STOP   = (1),             /**< Stopped.*/
-  ILI9341_READY  = (2),             /**< Ready.*/
-  ILI9341_ACTIVE = (3),             /**< Exchanging data.*/
-} ili9341state_t;
-
-/**
- * @brief   ILI9341 driver.
- */
-typedef struct ILI9341Driver {
-  ili9341state_t        state;      /**< Driver state.*/
-  const ILI9341Config   *config;    /**< Driver configuration.*/
-
-  /* Multithreading stuff.*/
-#if (TRUE == ILI9341_USE_MUTUAL_EXCLUSION)
-#if (TRUE == CH_CFG_USE_MUTEXES)
-  mutex_t               lock;       /**< Multithreading lock.*/
-#elif (TRUE == CH_CFG_USE_SEMAPHORES)
-  semaphore_t           lock;       /**< Multithreading lock.*/
-#endif
-#endif /* (TRUE == ILI9341_USE_MUTUAL_EXCLUSION) */
-
-  /* Temporary variables.*/
-  uint8_t               value;      /**< Non-stacked value, for SPI with CCM.*/
-} ILI9341Driver;
-
-/**
- * @name    ILI9341 command params (little endian)
- * @{
- */
-#pragma pack(push, 1)
-
-typedef union {
-  struct ILI9341ParamBits_GET_ID_INFO {
-    uint8_t reserved_;
-    uint8_t ID1;
-    uint8_t ID2;
-    uint8_t ID3;
-  } bits;
-  uint8_t   bytes[4];
-} ILI9341Params_GET_ID_INFO;
-
-typedef union {
-  struct ILI9341ParamBits_GET_STATUS {
-    unsigned  _reserved_1       : 5;    /* D[ 4: 0] */
-    unsigned  tearing_mode      : 1;    /* D[ 5] */
-    unsigned  gamma_curve       : 3;    /* D[ 8: 6] */
-    unsigned  tearing           : 1;    /* D[ 9] */
-    unsigned  display           : 1;    /* D[10] */
-    unsigned  all_on            : 1;    /* D[11] */
-    unsigned  all_off           : 1;    /* D[12] */
-    unsigned  invert            : 1;    /* D[13] */
-    unsigned  _reserved_2       : 1;    /* D[14] */
-    unsigned  vscroll           : 1;    /* D[15] */
-    unsigned  normal            : 1;    /* D[16] */
-    unsigned  sleep             : 1;    /* D[17] */
-    unsigned  partial           : 1;    /* D[18] */
-    unsigned  idle              : 1;    /* D[19] */
-    unsigned  pixel_format      : 3;    /* D[22:20] */
-    unsigned  _reserved_3       : 2;    /* D[24:23] */
-    unsigned  hrefr_rtl_nltr    : 1;    /* D[25] */
-    unsigned  bgr_nrgb          : 1;    /* D[26] */
-    unsigned  vrefr_btt_nttb    : 1;    /* D[27] */
-    unsigned  transpose         : 1;    /* D[28] */
-    unsigned  coladr_rtl_nltr   : 1;    /* D[29] */
-    unsigned  rowadr_btt_nttb   : 1;    /* D[30] */
-    unsigned  booster           : 1;    /* D[31] */
-  } bits;
-  uint8_t   bytes[4];
-} ILI9341Params_GET_STATUS;
-
-typedef union {
-  struct ILI9341ParamBits_GET_PWR_MODE {
-    unsigned  _reserved_1       : 2;    /* D[1:0] */
-    unsigned  display           : 1;    /* D[2] */
-    unsigned  normal            : 1;    /* D[3] */
-    unsigned  sleep             : 1;    /* D[4] */
-    unsigned  partial           : 1;    /* D[5] */
-    unsigned  idle              : 1;    /* D[6] */
-    unsigned  booster           : 1;    /* D[7] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_GET_PWR_MODE;
-
-typedef union {
-  struct ILI9341ParamBits_GET_MADCTL {
-    unsigned  _reserved_1       : 2;    /* D[1:0] */
-    unsigned  refr_rtl_nltr     : 1;    /* D[2] */
-    unsigned  bgr_nrgb          : 1;    /* D[3] */
-    unsigned  refr_btt_nttb     : 1;    /* D[4] */
-    unsigned  invert            : 1;    /* D[5] */
-    unsigned  rtl_nltr          : 1;    /* D[6] */
-    unsigned  btt_nttb          : 1;    /* D[7] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_GET_MADCTL;
-
-typedef union {
-  struct ILI9341ParamBits_GET_PIX_FMT {
-    unsigned  DBI               : 3;    /* D[2:0] */
-    unsigned  _reserved_1       : 1;    /* D[3] */
-    unsigned  DPI               : 3;    /* D[6:4] */
-    unsigned  RIM               : 1;    /* D[7] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_GET_PIX_FMT;
-
-typedef union {
-  struct ILI9341ParamBits_GET_IMG_FMT {
-    unsigned  gamma_curve       : 3;    /* D[2:0] */
-    unsigned  _reserved_1       : 5;    /* D[7:3] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_GET_IMG_FMT;
-
-typedef union {
-  struct ILI9341ParamBits_GET_SIG_MODE {
-    unsigned  _reserved_1       : 2;    /* D[1:0] */
-    unsigned  data_enable       : 1;    /* D[2] */
-    unsigned  pixel_clock       : 1;    /* D[3] */
-    unsigned  vsync             : 1;    /* D[4] */
-    unsigned  hsync             : 1;    /* D[5] */
-    unsigned  tearing_mode      : 1;    /* D[6] */
-    unsigned  tearing           : 1;    /* D[7] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_GET_SIG_MODE;
-
-typedef union {
-  struct ILI9341ParamBits_GET_SELF_DIAG {
-    unsigned  _reserved_1       : 6;    /* D[5:0] */
-    unsigned  func_err          : 1;    /* D[6] */
-    unsigned  reg_err           : 1;    /* D[7] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_GET_SELF_DIAG;
-
-typedef union {
-  struct ILI9341ParamBits_SET_GAMMA {
-    uint8_t   gamma_curve;              /* D[7:0] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_SET_GAMMA;
-
-typedef union {
-  struct ILI9341ParamBits_SET_COL_ADDR {
-    uint8_t   SC_15_8;                  /* D[ 7: 0] */
-    uint8_t   SC_7_0;                   /* D[15: 8] */
-    uint8_t   EC_15_8;                  /* D[23:16] */
-    uint8_t   EC_7_0;                   /* D[31:24] */
-  } bits;
-  uint8_t   bytes[4];
-} ILI9341Params_SET_COL_ADDR;
-
-typedef union {
-  struct ILI9341ParamBits_SET_PAGE_ADDR {
-    uint8_t   SP_15_8;                  /* D[ 7: 0] */
-    uint8_t   SP_7_0;                   /* D[15: 8] */
-    uint8_t   EP_15_8;                  /* D[23:16] */
-    uint8_t   EP_7_0;                   /* D[31:24] */
-  } bits;
-  uint8_t   bytes[4];
-} ILI9341Params_SET_PAGE_ADDR;
-
-typedef union {
-  struct ILI9341ParamBits_SET_PARTIAL_AREA {
-    uint8_t   SR_15_8;                  /* D[ 7: 0] */
-    uint8_t   SR_7_0;                   /* D[15: 8] */
-    uint8_t   ER_15_8;                  /* D[23:16] */
-    uint8_t   ER_7_0;                   /* D[31:24] */
-  } bits;
-  uint8_t   bytes[4];
-} ILI9341Params_SET_PARTIAL_AREA;
-
-typedef union {
-  struct ILI9341ParamBits_SET_VSCROLL {
-    uint8_t   TFA_15_8;                 /* D[ 7: 0] */
-    uint8_t   TFA_7_0;                  /* D[15: 8] */
-    uint8_t   VSA_15_8;                 /* D[23:16] */
-    uint8_t   VSA_7_0;                  /* D[31:24] */
-    uint8_t   BFA_15_8;                 /* D[39:32] */
-    uint8_t   BFA_7_0;                  /* D[47:40] */
-  } bits;
-  uint8_t   bytes[6];
-} ILI9341Params_SET_VSCROLL;
-
-typedef union {
-  struct ILI9341ParamBits_CMD_TEARING_ON {
-    unsigned  M                 : 1;    /* D[0] */
-    unsigned  _reserved_1       : 7;    /* D[7:1] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_CMD_TEARING_ON;
-
-typedef union {
-  struct ILI9341ParamBits_SET_MEM_ACS_CTL {
-    unsigned  _reserved_1       : 2;    /* D[1:0] */
-    unsigned  MH                : 1;    /* D[2] */
-    unsigned  BGR               : 1;    /* D[3] */
-    unsigned  ML                : 1;    /* D[4] */
-    unsigned  MV                : 1;    /* D[5] */
-    unsigned  MX                : 1;    /* D[6] */
-    unsigned  MY                : 1;    /* D[7] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_SET_MEM_ACS_CTL;
-
-typedef union {
-  struct ILI9341ParamBits_SET_VSCROLL_ADDR {
-    uint8_t   VSP_15_8;                 /* D[ 7: 0] */
-    uint8_t   VSP_7_0;                  /* D[15: 8] */
-  } bits;
-  uint8_t   bytes[2];
-} ILI9341Params_SET_VSCROLL_ADDR;
-
-typedef union {
-  struct ILI9341ParamBits_SET_PIX_FMT {
-    unsigned  DBI               : 3;    /* D[2:0] */
-    unsigned  _reserved_1       : 1;    /* D[3] */
-    unsigned  DPI               : 3;    /* D[4:6] */
-    unsigned  _reserved_2       : 1;    /* D[7] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_SET_PIX_FMT;
-
-typedef union {
-  struct ILI9341ParamBits_SET_TEAR_SCANLINE {
-    uint8_t   STS_8;                    /* D[ 7: 0] */
-    uint8_t   STS_7_0;                  /* D[15: 8] */
-  } bits;
-  uint8_t   bytes[4];
-} ILI9341Params_SET_TEAR_SCANLINE;
-
-typedef union {
-  struct ILI9341ParamBits_GET_TEAR_SCANLINE {
-    uint8_t   GTS_9_8;                  /* D[ 7: 0] */
-    uint8_t   GTS_7_0;                  /* D[15: 8] */
-  } bits;
-  uint8_t   bytes[2];
-} ILI9341Params_GET_TEAR_SCANLINE;
-
-typedef union {
-  struct ILI9341ParamBits_SET_BRIGHTNESS {
-    uint8_t   DBV;                      /* D[7:0] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_SET_BRIGHTNESS;
-
-typedef union {
-  struct ILI9341ParamBits_GET_BRIGHTNESS {
-    uint8_t   DBV;                      /* D[7:0] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_GET_BRIGHTNESS;
-
-typedef union {
-  struct ILI9341ParamBits_SET_DISPLAY_CTL {
-    unsigned  _reserved_1       : 2;    /* D[1:0] */
-    unsigned  BL                : 1;    /* D[2] */
-    unsigned  DD                : 1;    /* D[3] */
-    unsigned  _reserved_2       : 1;    /* D[4] */
-    unsigned  BCTRL             : 1;    /* D[5] */
-    unsigned  _reserved_3       : 1;    /* D[7:6] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_SET_DISPLAY_CTL;
-
-typedef union {
-  struct ILI9341ParamBits_GET_DISPLAY_CTL {
-    unsigned  _reserved_1       : 2;    /* D[1:0] */
-    unsigned  BL                : 1;    /* D[2] */
-    unsigned  DD                : 1;    /* D[3] */
-    unsigned  _reserved_2       : 1;    /* D[4] */
-    unsigned  BCTRL             : 1;    /* D[5] */
-    unsigned  _reserved_3       : 1;    /* D[7:6] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_GET_DISPLAY_CTL;
-
-typedef union {
-  struct ILI9341ParamBits_SET_CABC {
-    unsigned  C                 : 2;    /* D[1:0] */
-    unsigned  _reserved_1       : 6;    /* D[7:2] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_SET_CABC;
-
-typedef union {
-  struct ILI9341ParamBits_GET_CABC {
-    unsigned  C                 : 2;    /* D[1:0] */
-    unsigned  _reserved_1       : 6;    /* D[7:2] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_GET_CABC;
-
-typedef union {
-  struct ILI9341ParamBits_SET_CABC_MIN {
-    uint8_t   CMB;                      /* D[7:0] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_SET_CABC_MIN;
-
-typedef union {
-  struct ILI9341ParamBits_GET_CABC_MIN {
-    uint8_t   CMB;                      /* D[7:0] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_GET_CABC_MIN;
-
-#if 0 /* TODO: Extended command structs.*/
-
-typedef union {
-  struct ILI9341ParamBits {
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_;
-
-typedef union {
-  struct ILI9341ParamBits {
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-    unsigned    : 1;  /* D[] */
-  } bits;
-  uint8_t   bytes[1];
-} ILI9341Params_;
-
-#endif /*0*/
-
-#pragma pack(pop)
-
-/** @} */
-
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-extern ILI9341Driver ILI9341D1;
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-  void ili9341ObjectInit(ILI9341Driver *driverp);
-  void ili9341Start(ILI9341Driver *driverp, const ILI9341Config *configp);
-  void ili9341Stop(ILI9341Driver *driverp);
-#if (ILI9341_USE_MUTUAL_EXCLUSION == TRUE)
-  void ili9341AcquireBusS(ILI9341Driver *driverp);
-  void ili9341AcquireBus(ILI9341Driver *driverp);
-  void ili9341ReleaseBusS(ILI9341Driver *driverp);
-  void ili9341ReleaseBus(ILI9341Driver *driverp);
-#endif /* (ILI9341_USE_MUTUAL_EXCLUSION == TRUE) */
-  void ili9341SelectI(ILI9341Driver *driverp);
-  void ili9341Select(ILI9341Driver *driverp);
-  void ili9341UnselectI(ILI9341Driver *driverp);
-  void ili9341Unselect(ILI9341Driver *driverp);
-  void ili9341WriteCommand(ILI9341Driver *driverp, uint8_t cmd);
-  void ili9341WriteByte(ILI9341Driver *driverp, uint8_t value);
-  uint8_t ili9341ReadByte(ILI9341Driver *driverp);
-  void ili9341WriteChunk(ILI9341Driver *driverp, const uint8_t chunk[],
-                         size_t length);
-  void ili9341ReadChunk(ILI9341Driver *driverp, uint8_t chunk[],
-                        size_t length);
-
-#ifdef __cplusplus
-}
-#endif
-
-/** @} */
-
-#endif /* _ILI9341_H_ */
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/l3gd20.c b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/l3gd20.c
deleted file mode 100644
index 1cc52c9..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/l3gd20.c
+++ /dev/null
@@ -1,123 +0,0 @@
-/*
-    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
-	
-    This file is part of PLAY for ChibiOS/RT.
-
-    PLAY 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.
-
-    PLAY 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/>.
-*/
-
-/*
-    Special thanks to Giovanni Di Sirio for teachings, his moral support and
-    friendship. Note that some or every piece of this file could be part of
-    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
-    Please refer to ChibiOS/RT license before use this file.
-	
-	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
- */
-
-/**
- * @file    l3gd20.c
- * @brief   L3GD20 MEMS interface module code.
- *
- * @addtogroup l3gd20
- * @{
- */
-
-#include "ch.h"
-#include "hal.h"
-
-#include "l3gd20.h"
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-/**
- * @brief   Reads a generic register value.
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- * @param[in] reg       register number
- * @return              register value.
- */
-uint8_t l3gd20ReadRegister(SPIDriver *spip, uint8_t reg) {
-  uint8_t txbuf[2] = {L3GD20_RW | reg, 0xFF};
-  uint8_t rxbuf[2] = {0x00, 0x00};
-  spiSelect(spip);
-  spiExchange(spip, 2, txbuf, rxbuf);
-  spiUnselect(spip);
-  return rxbuf[1];
-}
-
-
-void l3gd20WriteRegister(SPIDriver *spip, uint8_t reg, uint8_t value) {
-
-  switch (reg) {
-
-    default:
-      /* Reserved register must not be written, according to the datasheet
-       * this could permanently damage the device.
-       */
-      chDbgAssert(FALSE, "lg3d20WriteRegister(), reserved register");
-    case L3GD20_AD_WHO_AM_I:
-    case L3GD20_AD_OUT_TEMP :
-    case L3GD20_AD_STATUS_REG:
-    case L3GD20_AD_OUT_X_L:
-    case L3GD20_AD_OUT_X_H:
-    case L3GD20_AD_OUT_Y_L:
-    case L3GD20_AD_OUT_Y_H:
-    case L3GD20_AD_OUT_Z_L:
-    case L3GD20_AD_OUT_Z_H:
-    case L3GD20_AD_FIFO_SRC_REG:
-    case L3GD20_AD_INT1_SRC:
-    /* Read only registers cannot be written, the command is ignored.*/
-      return;
-    case L3GD20_AD_CTRL_REG1:
-    case L3GD20_AD_CTRL_REG2:
-    case L3GD20_AD_CTRL_REG3:
-    case L3GD20_AD_CTRL_REG4:
-    case L3GD20_AD_CTRL_REG5:
-    case L3GD20_AD_REFERENCE:
-    case L3GD20_AD_FIFO_CTRL_REG:
-    case L3GD20_AD_INT1_CFG:
-    case L3GD20_AD_INT1_TSH_XH:
-    case L3GD20_AD_INT1_TSH_XL:
-    case L3GD20_AD_INT1_TSH_YH:
-    case L3GD20_AD_INT1_TSH_YL:
-    case L3GD20_AD_INT1_TSH_ZH:
-    case L3GD20_AD_INT1_TSH_ZL:
-    case L3GD20_AD_INT1_DURATION:
-      spiSelect(spip);
-      uint8_t txbuf[2] = {reg, value};
-      spiSend(spip, 2, txbuf);
-      spiUnselect(spip);
-  }
-}
-/** @} */
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/l3gd20.h b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/l3gd20.h
deleted file mode 100644
index 08d9092..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/l3gd20.h
+++ /dev/null
@@ -1,243 +0,0 @@
-/*
-    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
-	
-    This file is part of PLAY for ChibiOS/RT.
-
-    PLAY 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.
-
-    PLAY 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/>.
-*/
-
-/*
-    Special thanks to Giovanni Di Sirio for teachings, his moral support and
-    friendship. Note that some or every piece of this file could be part of
-    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
-    Please refer to ChibiOS/RT license before use this file.
-	
-	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
- */
-
-/**
- * @file    l3gd20.h
- * @brief   L3GD20 MEMS interface module header.
- *
- * @{
- */
-
-#ifndef _L3GD20_H_
-#define _L3GD20_H_
-
-/*===========================================================================*/
-/* Driver constants.                                                         */
-/*===========================================================================*/
-
-#define  L3GD20_SENS_250DPS                      ((float)131.072f)          /*!< gyroscope sensitivity with 250 dps full scale [LSB/dps] */
-#define  L3GD20_SENS_500DPS                      ((float)65.536f)           /*!< gyroscope sensitivity with 500 dps full scale [LSB/dps] */
-#define  L3GD20_SENS_2000DPS                     ((float)16.384f)           /*!< gyroscope sensitivity with 2000 dps full scale [LSB/dps] */
-/**
- * @name    L3GD20 register names
- * @{
- */
-/******************************************************************************/
-/*                                                                            */
-/*                        L3GD20 on board MEMS                                */
-/*                                                                            */
-/******************************************************************************/
-/*******************  Bit definition for SPI communication  *******************/
-#define  L3GD20_DI                               ((uint8_t)0xFF)            /*!< DI[7:0] Data input */
-#define  L3GD20_DI_0                             ((uint8_t)0x01)            /*!< bit 0 */
-#define  L3GD20_DI_1                             ((uint8_t)0x02)            /*!< bit 1 */
-#define  L3GD20_DI_2                             ((uint8_t)0x04)            /*!< bit 2 */
-#define  L3GD20_DI_3                             ((uint8_t)0x08)            /*!< bit 3 */
-#define  L3GD20_DI_4                             ((uint8_t)0x10)            /*!< bit 4 */
-#define  L3GD20_DI_5                             ((uint8_t)0x20)            /*!< bit 5 */
-#define  L3GD20_DI_6                             ((uint8_t)0x40)            /*!< bit 6 */
-#define  L3GD20_DI_7                             ((uint8_t)0x80)            /*!< bit 7 */
-
-#define  L3GD20_AD                               ((uint8_t)0x3F)            /*!< AD[5:0] Address Data */
-#define  L3GD20_AD_0                             ((uint8_t)0x01)            /*!< bit 0 */
-#define  L3GD20_AD_1                             ((uint8_t)0x02)            /*!< bit 1 */
-#define  L3GD20_AD_2                             ((uint8_t)0x04)            /*!< bit 2 */
-#define  L3GD20_AD_3                             ((uint8_t)0x08)            /*!< bit 3 */
-#define  L3GD20_AD_4                             ((uint8_t)0x10)            /*!< bit 4 */
-#define  L3GD20_AD_5                             ((uint8_t)0x20)            /*!< bit 5 */
-
-#define  L3GD20_MS                               ((uint8_t)0x40)            /*!< Multiple read write */
-#define  L3GD20_RW                               ((uint8_t)0x80)            /*!< Read Write, 1 0 */
-
-/******************  Bit definition for Registers Addresses *******************/
-#define  L3GD20_AD_WHO_AM_I                      ((uint8_t)0x0F)            /*!< WHO I AM */
-#define  L3GD20_AD_CTRL_REG1                     ((uint8_t)0x20)            /*!< CONTROL REGISTER 1 */
-#define  L3GD20_AD_CTRL_REG2                     ((uint8_t)0x21)            /*!< CONTROL REGISTER 2 */
-#define  L3GD20_AD_CTRL_REG3                     ((uint8_t)0x22)            /*!< CONTROL REGISTER 3 */
-#define  L3GD20_AD_CTRL_REG4                     ((uint8_t)0x23)            /*!< CONTROL REGISTER 4 */
-#define  L3GD20_AD_CTRL_REG5                     ((uint8_t)0x24)            /*!< CONTROL REGISTER 5 */
-#define  L3GD20_AD_REFERENCE                     ((uint8_t)0x25)            /*!< REFERENCE/DATACAPTURE */
-#define  L3GD20_AD_OUT_TEMP                      ((uint8_t)0x26)            /*!< MEMS ONBOARD TEMP SENSOR */
-#define  L3GD20_AD_STATUS_REG                    ((uint8_t)0x27)            /*!< STATUS REGISTER */
-#define  L3GD20_AD_OUT_X_L                       ((uint8_t)0x28)            /*!< OUTPUT X-AXIS LOW */
-#define  L3GD20_AD_OUT_X_H                       ((uint8_t)0x29)            /*!< OUTPUT X-AXIS HIGH */
-#define  L3GD20_AD_OUT_Y_L                       ((uint8_t)0x2A)            /*!< OUTPUT Y-AXIS LOW */
-#define  L3GD20_AD_OUT_Y_H                       ((uint8_t)0x2B)            /*!< OUTPUT Y-AXIS HIGH */
-#define  L3GD20_AD_OUT_Z_L                       ((uint8_t)0x2C)            /*!< OUTPUT Z-AXIS LOW */
-#define  L3GD20_AD_OUT_Z_H                       ((uint8_t)0x2D)            /*!< OUTPUT Z-AXIS HIGH */
-#define  L3GD20_AD_FIFO_CTRL_REG                 ((uint8_t)0x2E)            /*!< FIFO CONTROL REGISTER */
-#define  L3GD20_AD_FIFO_SRC_REG                  ((uint8_t)0x2F)            /*!< FIFO SOURCE REGISTER */
-#define  L3GD20_AD_INT1_CFG                      ((uint8_t)0x30)            /*!< INTERRUPT1 CONFIG REGISTER */
-#define  L3GD20_AD_INT1_SRC                      ((uint8_t)0x31)            /*!< INTERRUPT1 SOURCE REGISTER */
-#define  L3GD20_AD_INT1_TSH_XH                   ((uint8_t)0x32)            /*!< INTERRUPT1 THRESHOLD X-AXIS HIGH */
-#define  L3GD20_AD_INT1_TSH_XL                   ((uint8_t)0x33)            /*!< INTERRUPT1 THRESHOLD X-AXIS LOW */
-#define  L3GD20_AD_INT1_TSH_YH                   ((uint8_t)0x34)            /*!< INTERRUPT1 THRESHOLD Y-AXIS HIGH */
-#define  L3GD20_AD_INT1_TSH_YL                   ((uint8_t)0x35)            /*!< INTERRUPT1 THRESHOLD Y-AXIS LOW */
-#define  L3GD20_AD_INT1_TSH_ZH                   ((uint8_t)0x36)            /*!< INTERRUPT1 THRESHOLD Z-AXIS HIGH */
-#define  L3GD20_AD_INT1_TSH_ZL                   ((uint8_t)0x37)            /*!< INTERRUPT1 THRESHOLD Z-AXIS LOW */
-#define  L3GD20_AD_INT1_DURATION                 ((uint8_t)0x38)            /*!< INTERRUPT1 DURATION */
-
-/** @} */
-
-/*===========================================================================*/
-/* Driver pre-compile time settings.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Derived constants and error checks.                                       */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/**
- * @name    Gyroscope data structures and types
- * @{
- */
-
-/**
- * @brief  Gyroscope Output Data Rate
- */
-typedef enum {
-  L3GD20_ODR_95Hz_Fc_12_5  = 0x00,          /*!< Output Data Rate = 95 Hz -  LPF Cut-Off = 12.5 Hz */
-  L3GD20_ODR_95Hz_Fc_25    = 0x10,          /*!< Output Data Rate = 95 Hz -  LPF Cut-Off = 25 Hz */
-  L3GD20_ODR_190Hz_Fc_12_5 = 0x40,          /*!< Output Data Rate = 190 Hz -  LPF Cut-Off = 12.5 Hz */
-  L3GD20_ODR_190Hz_Fc_25   = 0x50,          /*!< Output Data Rate = 190 Hz -  LPF Cut-Off = 25 Hz */
-  L3GD20_ODR_190Hz_Fc_50   = 0x60,          /*!< Output Data Rate = 190 Hz -  LPF Cut-Off = 50 Hz */
-  L3GD20_ODR_190Hz_Fc_70   = 0x70,          /*!< Output Data Rate = 190 Hz -  LPF Cut-Off = 70 Hz */
-  L3GD20_ODR_380Hz_Fc_20   = 0x80,          /*!< Output Data Rate = 380 Hz -  LPF Cut-Off = 20 Hz */
-  L3GD20_ODR_380Hz_Fc_25   = 0x90,          /*!< Output Data Rate = 380 Hz -  LPF Cut-Off = 25 Hz */
-  L3GD20_ODR_380Hz_Fc_50   = 0xA0,          /*!< Output Data Rate = 380 Hz -  LPF Cut-Off = 50 Hz */
-  L3GD20_ODR_380Hz_Fc_100  = 0xB0,          /*!< Output Data Rate = 380 Hz -  LPF Cut-Off = 100 Hz */
-  L3GD20_ODR_760Hz_Fc_30   = 0xC0,          /*!< Output Data Rate = 760 Hz -  LPF Cut-Off = 30 Hz */
-  L3GD20_ODR_760Hz_Fc_35   = 0xD0,          /*!< Output Data Rate = 760 Hz -  LPF Cut-Off = 35 Hz */
-  L3GD20_ODR_760Hz_Fc_50   = 0xE0,          /*!< Output Data Rate = 760 Hz -  LPF Cut-Off = 50 Hz */
-  L3GD20_ODR_760Hz_Fc_100  = 0xF0           /*!< Output Data Rate = 760 Hz -  LPF Cut-Off = 100 Hz */
-}L3GD20_ODR_t;
-
-/**
- * @brief  Gyroscope Power Mode
- */
-typedef enum {
-  L3GD20_PM_POWER_DOWN   = 0x00,            /*!< Normal mode enabled */
-  L3GD20_PM_SLEEP_NORMAL = 0x08             /*!< Low Power mode enabled */
-}L3GD20_PM_t;
-
-/**
- * @brief  Gyroscope Full Scale
- */
-typedef enum {
-  L3GD20_FS_250DPS  = 0x00,                 /*!< ±250 dps */
-  L3GD20_FS_500DPS  = 0x10,                 /*!< ±500 dps */
-  L3GD20_FS_2000DPS = 0x20                  /*!< ±200 dps */
-}L3GD20_FS_t;
-
-/**
- * @brief   Gyroscope Axes Enabling
- */
-typedef enum {
-  L3GD20_AE_DISABLED = 0x00,                /*!< All disabled */
-  L3GD20_AE_X        = 0x01,                /*!< Only X */
-  L3GD20_AE_Y        = 0x02,                /*!< Only Y */
-  L3GD20_AE_XY       = 0x03,                /*!< X & Y */
-  L3GD20_AE_Z        = 0x04,                /*!< Only Z */
-  L3GD20_AE_XZ       = 0x05,                /*!< X & Z */
-  L3GD20_AE_YZ       = 0x06,                /*!< Y & Z */
-  L3GD20_AE_XYZ      = 0x07                 /*!< All enabled */
-}L3GD20_AE_t;
-
-/**
- * @brief  Gyroscope Block Data Update
- */
-typedef enum {
-  L3GD20_BDU_CONTINOUS = 0x00,              /*!< Continuos Update */
-  L3GD20_BDU_BLOCKED   = 0x80               /*!< Single Update: output registers not updated until MSB and LSB reading */
-}L3GD20_BDU_t;
-
-/**
- * @brief  Gyroscope Endianness
- */
-typedef enum {
-  L3GD20_End_LITTLE = 0x00,                 /*!< Little Endian: data LSB @ lower address */
-  L3GD20_End_BIG    = 0x40                  /*!< Big Endian: data MSB @ lower address */
-}L3GD20_End_t;
-
-
-/**
- * @brief   Gyroscope configuration structure.
- */
-typedef struct {
-  /**
-   * @brief Gyroscope fullscale value.
-   */
-  L3GD20_FS_t    fullscale;
-  /**
-   * @brief Gyroscope power mode selection.
-   */
-  L3GD20_PM_t    powermode;
-  /**
-   * @brief Gyroscope output data rate selection.
-   */
-  L3GD20_ODR_t   outputdatarate;
-  /**
-   * @brief Gyroscope axes enabling.
-   */
-  L3GD20_AE_t    axesenabling;
-  /**
-   * @brief Gyroscope endianess.
-   */
-  L3GD20_End_t   endianess;
-  /**
-   * @brief Gyroscope block data update.
-   */
-  L3GD20_BDU_t   blockdataupdate;
-} L3GD20_Config;
-/** @}  */
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-  uint8_t l3gd20ReadRegister(SPIDriver *spip, uint8_t reg);
-  void l3gd20WriteRegister(SPIDriver *spip, uint8_t reg, uint8_t value);
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _L3GD20_H_ */
-
-/** @} */
-
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lis3mdl.c b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lis3mdl.c
deleted file mode 100644
index 99b71e4..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lis3mdl.c
+++ /dev/null
@@ -1,151 +0,0 @@
-/*
-    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
-	
-    This file is part of PLAY for ChibiOS/RT.
-
-    PLAY 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.
-
-    PLAY 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/>.
-*/
-
-/*
-    Special thanks to Giovanni Di Sirio for teachings, his moral support and
-    friendship. Note that some or every piece of this file could be part of
-    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
-    Please refer to ChibiOS/RT license before use this file.
-	
-	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
- */
-
-/**
- * @file    lis3mdl.c
- * @brief   LIS3MDL MEMS interface module through I2C code.
- *
- * @addtogroup lis3mdl
- * @{
- */
-
-#include "ch.h"
-#include "hal.h"
-
-#include "lis3mdl.h"
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-/**
- * @brief   Reads a generic sub-register value.
- * @pre     The I2C interface must be initialized and the driver started.
- *
- * @param[in] i2cp      pointer to the I2C interface
- * @param[in] sad       slave address without R bit
- * @param[in] sub       sub-register address
- * @param[in] message   pointer to message
- * @return              register value.
- */
-uint8_t lis3mdlReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
-                                 msg_t* message) {
-
-  uint8_t txbuf, rxbuf[2];
-#if defined(STM32F103_MCUCONF)
-  txbuf = LSM303DLHC_SUB_MSB | sub;
-  if(message != NULL){
-    *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
-                                        TIME_INFINITE);
-  }
-  else{
-    i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE);
-  }
-  return rxbuf[0];
-#else
-  txbuf = sub;
-  if(message != NULL){
-    *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1,
-                                        TIME_INFINITE);
-  }
-  else{
-    i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE);
-  }
-  return rxbuf[0];
-#endif
-}
-
-/**
- * @brief   Writes a value into a register.
- * @pre     The I2C interface must be initialized and the driver started.
- *
- * @param[in] i2cp       pointer to the I2C interface
- * @param[in] sad        slave address without R bit
- * @param[in] sub        sub-register address
- * @param[in] value      the value to be written
- * @param[out] message   pointer to message
- */
-void lis3mdlWriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
-                               uint8_t value, msg_t* message) {
-
-  uint8_t txbuf[2];
-  uint8_t rxbuf;
-  switch (sub) {
-  default:
-    /* Reserved register must not be written, according to the datasheet
-     * this could permanently damage the device.
-     */
-    chDbgAssert(FALSE, "lis3mdlWriteRegister(), reserved register");
-  case LIS3MDL_SUB_WHO_AM_I:
-  case LIS3MDL_SUB_STATUS_REG:
-  case LIS3MDL_SUB_OUT_X_L:
-  case LIS3MDL_SUB_OUT_X_H:
-  case LIS3MDL_SUB_OUT_Y_L:
-  case LIS3MDL_SUB_OUT_Y_H:
-  case LIS3MDL_SUB_OUT_Z_L:
-  case LIS3MDL_SUB_OUT_Z_H:
-  case LIS3MDL_SUB_INT_SOURCE:
-  case LIS3MDL_SUB_INT_THS_L:
-  case LIS3MDL_SUB_INT_THS_H:
-  /* Read only registers cannot be written, the command is ignored.*/
-    return;
-  case LIS3MDL_SUB_CTRL_REG1:
-  case LIS3MDL_SUB_CTRL_REG2:
-  case LIS3MDL_SUB_CTRL_REG3:
-  case LIS3MDL_SUB_CTRL_REG4:
-  case LIS3MDL_SUB_CTRL_REG5:
-  case LIS3MDL_SUB_INT_CFG:
-    txbuf[0] = sub;
-    txbuf[1] = value;
-    if(message != NULL){
-      *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0,
-                                          TIME_INFINITE);
-    }
-    else{
-      i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
-    }
-    break;
-  }
-}
-/** @} */
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lis3mdl.h b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lis3mdl.h
deleted file mode 100644
index e55978e..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lis3mdl.h
+++ /dev/null
@@ -1,258 +0,0 @@
-/*
-    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
-	
-    This file is part of PLAY for ChibiOS/RT.
-
-    PLAY 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.
-
-    PLAY 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/>.
-*/
-
-/*
-    Special thanks to Giovanni Di Sirio for teachings, his moral support and
-    friendship. Note that some or every piece of this file could be part of
-    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
-    Please refer to ChibiOS/RT license before use this file.
-	
-	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
- */
-
-/**
- * @file    lis3mdl.h
- * @brief   LIS3MDL MEMS interface module header.
- *
- * @{
- */
-
-#ifndef _LIS3MDL_H_
-#define _LIS3MDL_H_
-
-/*===========================================================================*/
-/* Driver constants.                                                         */
-/*===========================================================================*/
-
-#define  LIS3MDL_COMP_SENS_4GA           ((float)6842.0f)            /*!< compass sensitivity with 4 GA full scale [LSB  / Ga] */
-#define  LIS3MDL_COMP_SENS_8GA           ((float)3421.0f)            /*!< compass sensitivity with 8 GA full scale [LSB  / Ga] */
-#define  LIS3MDL_COMP_SENS_12GA          ((float)2281.0f)            /*!< compass sensitivity with 12 GA full scale [LSB  / Ga] */
-#define  LIS3MDL_COMP_SENS_16GA          ((float)1711.0f)            /*!< compass sensitivity with 16 GA full scale [LSB  / Ga] */
-/**
- * @name    LIS3MDL register names
- * @{
- */
-/******************************************************************************/
-/*                                                                            */
-/*                        LIS3MDL on board MEMS                               */
-/*                                                                            */
-/******************************************************************************/
-/*****************  Bit definition for I2C/SPI communication  *****************/
-#define  LIS3MDL_SUB                             ((uint8_t)0x7F)            /*!< SUB[6:0] Sub-registers address Mask */
-#define  LIS3MDL_SUB_0                           ((uint8_t)0x01)            /*!< bit 0 */
-#define  LIS3MDL_SUB_1                           ((uint8_t)0x02)            /*!< bit 1 */
-#define  LIS3MDL_SUB_2                           ((uint8_t)0x08)            /*!< bit 3 */
-#define  LIS3MDL_SUB_4                           ((uint8_t)0x10)            /*!< bit 4 */
-#define  LIS3MDL_SUB_5                           ((uint8_t)0x20)            /*!< bit 5 */
-#define  LIS3MDL_SUB_6                           ((uint8_t)0x40)            /*!< bit 6 */
-
-#define  LIS3MDL_SUB_MSB                         ((uint8_t)0x80)            /*!< Multiple data read\write bit */
-
-/****************  Bit definition SUB-Registers Addresses  ********************/
-#define  LIS3MDL_SUB_WHO_AM_I                    ((uint8_t)0x0F)            /*!< CONTROL REGISTER 1 */
-#define  LIS3MDL_SUB_CTRL_REG1                   ((uint8_t)0x20)            /*!< CONTROL REGISTER 1 */
-#define  LIS3MDL_SUB_CTRL_REG2                   ((uint8_t)0x21)            /*!< CONTROL REGISTER 2 */
-#define  LIS3MDL_SUB_CTRL_REG3                   ((uint8_t)0x22)            /*!< CONTROL REGISTER 3 */
-#define  LIS3MDL_SUB_CTRL_REG4                   ((uint8_t)0x23)            /*!< CONTROL REGISTER 4 */
-#define  LIS3MDL_SUB_CTRL_REG5                   ((uint8_t)0x24)            /*!< CONTROL REGISTER 5 */
-#define  LIS3MDL_SUB_STATUS_REG                  ((uint8_t)0x27)            /*!< STATUS REGISTER */
-#define  LIS3MDL_SUB_OUT_X_L                     ((uint8_t)0x28)            /*!< OUTPUT X-AXIS LOW */
-#define  LIS3MDL_SUB_OUT_X_H                     ((uint8_t)0x29)            /*!< OUTPUT X-AXIS HIGH */
-#define  LIS3MDL_SUB_OUT_Y_L                     ((uint8_t)0x2A)            /*!< OUTPUT Y-AXIS LOW */
-#define  LIS3MDL_SUB_OUT_Y_H                     ((uint8_t)0x2B)            /*!< OUTPUT Y-AXIS HIGH */
-#define  LIS3MDL_SUB_OUT_Z_L                     ((uint8_t)0x2C)            /*!< OUTPUT Z-AXIS LOW */
-#define  LIS3MDL_SUB_OUT_Z_H                     ((uint8_t)0x2D)            /*!< OUTPUT Z-AXIS HIGH */
-#define  LIS3MDL_SUB_INT_CFG                     ((uint8_t)0x30)            /*!< INTERRUPT1 CONFIG */
-#define  LIS3MDL_SUB_INT_SOURCE                  ((uint8_t)0x31)            /*!< INTERRUPT1 SOURCE */
-#define  LIS3MDL_SUB_INT_THS_L                   ((uint8_t)0x32)            /*!< INTERRUPT1 THRESHOLD */
-#define  LIS3MDL_SUB_INT_THS_H                   ((uint8_t)0x33)            /*!< INTERRUPT1 DURATION */
-
-/** @} */
-
-/*===========================================================================*/
-/* Driver pre-compile time settings.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Derived constants and error checks.                                       */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/**
- * @name    Compass data structures and types
- * @{
- */
-
-/**
- * @brief  Compass Slave Address
- */
-typedef enum {
-  LIS3MDL_SAD_GND = 0x1C,                             /*!< COMPASS Slave Address when SA1 is to GND */
-  LIS3MDL_SAD_VCC = 0x1E                              /*!< COMPASS Slave Address when SA1 is to VCC */
-}LIS3MDL_SAD_t;
-
-/**
- * @brief  Compass Operation Mode for X and Y axes
- */
-typedef enum {
-  LIS3MDL_OMXY_LOW_POWER          = 0x00,             /*!< Operation Mode XY low power */
-  LIS3MDL_OMXY_MEDIUM_PERFORMANCE = 0x20,             /*!< Operation Mode XY medium performance */
-  LIS3MDL_OMXY_HIGH_PERFORMANCE   = 0x40,             /*!< Operation Mode XY high performance */
-  LIS3MDL_OMXY_ULTRA_PERFORMANCE  = 0x60              /*!< Operation Mode XY ultra performance */
-}LIS3MDL_OMXY_t;
-
-/**
- * @brief  Compass Output Data Rate
- */
-typedef enum {
-  LIS3MDL_ODR_0_625Hz = 0x00,                         /*!< Output Data Rate = 0.625 Hz */
-  LIS3MDL_ODR_1_25Hz  = 0x04,                         /*!< Output Data Rate = 1.25 Hz */
-  LIS3MDL_ODR_2_5Hz   = 0x08,                         /*!< Output Data Rate = 2.5 Hz */
-  LIS3MDL_ODR_5Hz     = 0x0C,                         /*!< Output Data Rate = 5 Hz */
-  LIS3MDL_ODR_10Hz    = 0x10,                         /*!< Output Data Rate = 10 Hz */
-  LIS3MDL_ODR_20Hz    = 0x14,                         /*!< Output Data Rate = 20 Hz */
-  LIS3MDL_ODR_40Hz    = 0x18,                         /*!< Output Data Rate = 40 Hz */
-  LIS3MDL_ODR_80Hz    = 0x1C                          /*!< Output Data Rate = 80 Hz */
-}LIS3MDL_ODR_t;
-
-/**
- * @brief  Compass Full Scale
- */
-typedef enum {
-  LIS3MDL_FS_4GA  = 0x00,                             /*!< ±4 Gauss */
-  LIS3MDL_FS_8GA  = 0x02,                             /*!< ±8 Gauss */
-  LIS3MDL_FS_12GA = 0x04,                             /*!< ±12 Gauss */
-  LIS3MDL_FS_16GA = 0x0C                              /*!< ±16 Gauss */
-}LIS3MDL_FS_t;
-
-/**
- * @brief  Compass Low Mode configuration
- */
-typedef enum {
-  LIS3MDL_LOW_POWER_DISABLED = 0x00,                   /*!< Low Power mode disabled */
-  LIS3MDL_LOW_POWER_ENABLED  = 0x20                    /*!< Low Power mode enabled */
-}LIS3MDL_PM_t;
-
-/**
- * @brief  Compass Mode
- */
-typedef enum {
-  LIS3MDL_MD_CONTINOUS_CONVERSION = 0x00,              /*!< Continous conversion mode */
-  LIS3MDL_MD_SINGLE_CONVERSION    = 0x01,              /*!< Single conversion mode */
-  LIS3MDL_MD_POWER_DOWN           = 0x02               /*!< Power down mode */
-}LIS3MDL_MD_t;
-
-
-/**
- * @brief  Compass Operation Mode for Z axis
- */
-typedef enum {
-  LIS3MDL_OMZ_LOW_POWER          = 0x00,               /*!< Operation Mode Z low power */
-  LIS3MDL_OMZ_MEDIUM_PERFORMANCE = 0x04,               /*!< Operation Mode Z medium performance */
-  LIS3MDL_OMZ_HIGH_PERFORMANCE   = 0x08,               /*!< Operation Mode Z high performance */
-  LIS3MDL_OMZ_ULTRA_PERFORMANCE  = 0x0C                /*!< Operation Mode Z ultra performance */
-}LIS3MDL_OMZ_t;
-
-/**
- * @brief  Compass Endianness
- */
-typedef enum {
-  LIS3MDL_End_LITTLE = 0x00,                 /*!< Little Endian: data LSB @ lower address */
-  LIS3MDL_End_BIG    = 0x02                  /*!< Big Endian: data MSB @ lower address */
-}LIS3MDL_End_t;
-
-/**
- * @brief  Compass Block Data Update
- */
-typedef enum {
-  LIS3MDL_BDU_CONTINOUS = 0x00,              /*!< Continuos Update */
-  LIS3MDL_BDU_BLOCKED   = 0x40               /*!< Single Update: output registers not updated until MSB and LSB reading */
-}LIS3MDL_BDU_t;
-
-
-
-
-/**
- * @brief   Gyroscope configuration structure.
- */
-typedef struct {
-  /**
-   * @brief  Compass Slave Address
-   */
-  LIS3MDL_SAD_t   slaveaddress;
-  /**
-   * @brief  Compass Operation Mode for X and Y axes
-   */
-  LIS3MDL_OMXY_t  opmodexy;
-  /**
-   * @brief  Compass Output Data Rate
-   */
-  LIS3MDL_ODR_t   outputdatarate;
-  /**
-   * @brief  Compass Full Scale
-   */
-  LIS3MDL_FS_t    fullscale;
-  /**
-   * @brief  Compass Low Mode configuration
-   */
-  LIS3MDL_PM_t    lowpowermode;
-  /**
-   * @brief  Compass Mode
-   */
-  LIS3MDL_MD_t    mode;
-  /**
-   * @brief  Compass Operation Mode for Z axis
-   */
-  LIS3MDL_OMZ_t   opmodez;
-  /**
-   * @brief  Compass Endianness
-   */
-  LIS3MDL_End_t   endianess;
-  /**
-   * @brief  Compass Block Data Update
-   */
-  LIS3MDL_BDU_t   blockdataupdate;
-} LIS3MDL_Config;
-/** @}  */
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-  uint8_t lis3mdlReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
-                                 msg_t* message);
-  void lis3mdlWriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
-                                 uint8_t value, msg_t* message);
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _LIS3MDL_H_ */
-
-/** @} */
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm303dlhc.c b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm303dlhc.c
deleted file mode 100644
index 070c49c..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm303dlhc.c
+++ /dev/null
@@ -1,205 +0,0 @@
-/*
-    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
-	
-    This file is part of PLAY for ChibiOS/RT.
-
-    PLAY 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.
-
-    PLAY 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/>.
-*/
-
-/*
-    Special thanks to Giovanni Di Sirio for teachings, his moral support and
-    friendship. Note that some or every piece of this file could be part of
-    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
-    Please refer to ChibiOS/RT license before use this file.
-	
-	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
- */
-
-/**
- * @file    lsm303dlhc.c
- * @brief   LSM303DLHC MEMS interface module through I2C code.
- *
- * @addtogroup lsm303dlhc
- * @{
- */
-
-#include "ch.h"
-#include "hal.h"
-
-#include "lsm303dlhc.h"
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-/**
- * @brief   Reads a generic sub-register value.
- * @pre     The I2C interface must be initialized and the driver started.
- *
- * @param[in] i2cp      pointer to the I2C interface
- * @param[in] sad       slave address without R bit
- * @param[in] sub       sub-register address
- * @param[in] message   pointer to message
- * @return              register value.
- */
-uint8_t lsm303dlhcReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
-                               msg_t* message) {
-
-  uint8_t txbuf, rxbuf[2];
-#if defined(STM32F103_MCUCONF)
-  txbuf = LSM303DLHC_SUB_MSB | sub;
-  if(message != NULL){
-    *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
-                                        TIME_INFINITE);
-  }
-  else{
-    i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE);
-  }
-  return rxbuf[0];
-#else
-  txbuf = sub;
-  if(message != NULL){
-    *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1,
-                                        TIME_INFINITE);
-  }
-  else{
-    i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE);
-  }
-  return rxbuf[0];
-#endif
-
-
-}
-
-/**
- * @brief   Writes a value into a register.
- * @pre     The I2C interface must be initialized and the driver started.
- *
- * @param[in] i2cp       pointer to the I2C interface
- * @param[in] sad        slave address without R bit
- * @param[in] sub        sub-register address
- * @param[in] value      the value to be written
- * @param[out] message   pointer to message
- */
-void lsm303dlhcWriteRegister(I2CDriver *i2cp,uint8_t sad, uint8_t sub,
-                             uint8_t value, msg_t* message) {
-
-  uint8_t txbuf[2];
-  uint8_t rxbuf;
-  if(sad == LSM303DLHC_SAD_ACCEL){
-    switch (sub) {
-    default:
-      /* Reserved register must not be written, according to the datasheet
-       * this could permanently damage the device.
-       */
-      chDbgAssert(FALSE, "lsm303dlhcWriteRegister(), reserved register");
-    case LSM303DLHC_SUB_ACC_STATUS_REG:
-    case LSM303DLHC_SUB_ACC_OUT_X_L:
-    case LSM303DLHC_SUB_ACC_OUT_X_H:
-    case LSM303DLHC_SUB_ACC_OUT_Y_L:
-    case LSM303DLHC_SUB_ACC_OUT_Y_H:
-    case LSM303DLHC_SUB_ACC_OUT_Z_L:
-    case LSM303DLHC_SUB_ACC_OUT_Z_H:
-    case LSM303DLHC_SUB_ACC_FIFO_SRC_REG:
-    case LSM303DLHC_SUB_ACC_INT1_SOURCE:
-    case LSM303DLHC_SUB_ACC_INT2_SOURCE:
-    case LSM303DLHC_SUB_ACC_CLICK_SRC:
-    /* Read only registers cannot be written, the command is ignored.*/
-      return;
-    case LSM303DLHC_SUB_ACC_CTRL_REG1:
-    case LSM303DLHC_SUB_ACC_CTRL_REG2:
-    case LSM303DLHC_SUB_ACC_CTRL_REG3:
-    case LSM303DLHC_SUB_ACC_CTRL_REG4:
-    case LSM303DLHC_SUB_ACC_CTRL_REG5:
-    case LSM303DLHC_SUB_ACC_CTRL_REG6:
-    case LSM303DLHC_SUB_ACC_REFERENCE:
-    case LSM303DLHC_SUB_ACC_FIFO_CTRL_REG:
-    case LSM303DLHC_SUB_ACC_INT1_CFG:
-    case LSM303DLHC_SUB_ACC_INT1_THS:
-    case LSM303DLHC_SUB_ACC_INT1_DURATION:
-    case LSM303DLHC_SUB_ACC_INT2_CFG:
-    case LSM303DLHC_SUB_ACC_INT2_THS:
-    case LSM303DLHC_SUB_ACC_INT2_DURATION:
-    case LSM303DLHC_SUB_ACC_CLICK_CFG:
-    case LSM303DLHC_SUB_ACC_CLICK_THS:
-    case LSM303DLHC_SUB_ACC_TIME_LIMIT:
-    case LSM303DLHC_SUB_ACC_TIME_LATENCY:
-    case LSM303DLHC_SUB_ACC_TIME_WINDOW:
-      txbuf[0] = sub;
-      txbuf[1] = value;
-      if(message != NULL){
-        *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0,
-                                            TIME_INFINITE);
-      }
-      else{
-        i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
-      }
-      break;
-    }
-  }
-  else if(sad == LSM303DLHC_SAD_COMPASS){
-    switch (sub) {
-    default:
-      /* Reserved register must not be written, according to the datasheet
-       * this could permanently damage the device.
-       */
-      chDbgAssert(FALSE, "lsm303dlhcWriteRegister(), reserved register");
-    case LSM303DLHC_SUB_COMP_OUT_X_H:
-    case LSM303DLHC_SUB_COMP_OUT_X_L:
-    case LSM303DLHC_SUB_COMP_OUT_Z_H:
-    case LSM303DLHC_SUB_COMP_OUT_Z_L:
-    case LSM303DLHC_SUB_COMP_OUT_Y_H:
-    case LSM303DLHC_SUB_COMP_OUT_Y_L:
-    case LSM303DLHC_SUB_COMP_SR_REG:
-    case LSM303DLHC_SUB_COMP_IRA_REG:
-    case LSM303DLHC_SUB_COMP_IRB_REG:
-    case LSM303DLHC_SUB_COMP_IRC_REG:
-    case LSM303DLHC_SUB_COMP_TEMP_OUT_H:
-    case LSM303DLHC_SUB_COMP_TEMP_OUT_L:
-      /* Read only registers cannot be written, the command is ignored.*/
-      return;
-    case LSM303DLHC_SUB_COMP_CRA_REG:
-    case LSM303DLHC_SUB_COMP_CRB_REG:
-    case LSM303DLHC_SUB_COMP_MR_REG:
-      txbuf[0] = sub;
-      txbuf[1] = value;
-      if(message != NULL){
-        *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0,
-                                            TIME_INFINITE);
-      }
-      else{
-        i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
-      }
-      break;
-    }
-  }
-}
-/** @} */
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm303dlhc.h b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm303dlhc.h
deleted file mode 100644
index 46b51bc..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm303dlhc.h
+++ /dev/null
@@ -1,352 +0,0 @@
-/*
-    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
-	
-    This file is part of PLAY for ChibiOS/RT.
-
-    PLAY 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.
-
-    PLAY 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/>.
-*/
-
-/*
-    Special thanks to Giovanni Di Sirio for teachings, his moral support and
-    friendship. Note that some or every piece of this file could be part of
-    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
-    Please refer to ChibiOS/RT license before use this file.
-	
-	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
- */
-
-/**
- * @file    lsm303dlhc.h
- * @brief   LSM303DLHC MEMS interface module through I2C header.
- *
- * @addtogroup lsm303dlhc
- * @{
- */
-
-#ifndef _LSM303DLHC_H_
-#define _LSM303DLHC_H_
-
-/*===========================================================================*/
-/* Driver constants.                                                         */
-/*===========================================================================*/
-
-#define  LSM303DLHC_ACC_SENS_2G                  ((float)1671.836f)          /*!< Accelerometer sensitivity with 2 G full scale [LSB * s^2 / m] */
-#define  LSM303DLHC_ACC_SENS_4G                  ((float)835.918f)           /*!< Accelerometer sensitivity with 4 G full scale [LSB * s^2 / m] */
-#define  LSM303DLHC_ACC_SENS_8G                  ((float)417.959f)           /*!< Accelerometer sensitivity with 8 G full scale [LSB * s^2 / m] */
-#define  LSM303DLHC_ACC_SENS_16G                 ((float)208.979f)           /*!< Accelerometer sensitivity with 16 G full scale [LSB * s^2 / m] */
-
-#define  LSM303DLHC_COMP_SENS_XY_1_3GA           ((float)1100.0f)            /*!< Compass sensitivity with 1.3 GA full scale [LSB  / Ga] */
-#define  LSM303DLHC_COMP_SENS_XY_1_9GA           ((float)855.0f)             /*!< Compass sensitivity with 1.9 GA full scale [LSB  / Ga] */
-#define  LSM303DLHC_COMP_SENS_XY_2_5GA           ((float)670.0f)             /*!< Compass sensitivity with 2.5 GA full scale [LSB  / Ga] */
-#define  LSM303DLHC_COMP_SENS_XY_4_0GA           ((float)450.0f)             /*!< Compass sensitivity with 4.0 GA full scale [LSB  / Ga] */
-#define  LSM303DLHC_COMP_SENS_XY_4_7GA           ((float)400.0f)             /*!< Compass sensitivity with 4.7 GA full scale [LSB  / Ga] */
-#define  LSM303DLHC_COMP_SENS_XY_5_6GA           ((float)330.0f)             /*!< Compass sensitivity with 5.6 GA full scale [LSB  / Ga] */
-#define  LSM303DLHC_COMP_SENS_XY_8_1GA           ((float)230.0f)             /*!< Compass sensitivity with 8.1 GA full scale [LSB  / Ga] */
-
-#define  LSM303DLHC_COMP_SENS_Z_1_3GA            ((float)980.0f)             /*!< Compass sensitivity with 1.3 GA full scale [LSB  / Ga] */
-#define  LSM303DLHC_COMP_SENS_Z_1_9GA            ((float)765.0f)             /*!< Compass sensitivity with 1.9 GA full scale [LSB  / Ga] */
-#define  LSM303DLHC_COMP_SENS_Z_2_5GA            ((float)600.0f)             /*!< Compass sensitivity with 2.5 GA full scale [LSB  / Ga] */
-#define  LSM303DLHC_COMP_SENS_Z_4_0GA            ((float)400.0f)             /*!< Compass sensitivity with 4.0 GA full scale [LSB  / Ga] */
-#define  LSM303DLHC_COMP_SENS_Z_4_7GA            ((float)355.0f)             /*!< Compass sensitivity with 4.7 GA full scale [LSB  / Ga] */
-#define  LSM303DLHC_COMP_SENS_Z_5_6GA            ((float)295.0f)             /*!< Compass sensitivity with 5.6 GA full scale [LSB  / Ga] */
-#define  LSM303DLHC_COMP_SENS_Z_8_1GA            ((float)205.0f)             /*!< Compass sensitivity with 8.1 GA full scale [LSB  / Ga] */
-/**
- * @name    LSM303DLHC register names
- * @{
- */
-/******************************************************************************/
-/*                                                                            */
-/*                       LSM303DLHC on board MEMS                             */
-/*                                                                            */
-/******************************************************************************/
-/*******************  Bit definition for I2C communication  *******************/
-#define  LSM303DLHC_SAD                          ((uint8_t)0x7F)            /*!< SAD[6:0] Slave Address Mask */
-#define  LSM303DLHC_SAD_ACCEL                    ((uint8_t)0x19)            /*!< ACCELEROMETER Slave Address */
-#define  LSM303DLHC_SAD_COMPASS                  ((uint8_t)0x1E)            /*!< MAGNETOMETER  Slave Address */
-
-#define  LSM303DLHC_SUB                          ((uint8_t)0x7F)            /*!< SUB[6:0] Sub-registers address Mask */
-#define  LSM303DLHC_SUB_0                        ((uint8_t)0x01)            /*!< bit 0 */
-#define  LSM303DLHC_SUB_1                        ((uint8_t)0x02)            /*!< bit 1 */
-#define  LSM303DLHC_SUB_2                        ((uint8_t)0x08)            /*!< bit 3 */
-#define  LSM303DLHC_SUB_4                        ((uint8_t)0x10)            /*!< bit 4 */
-#define  LSM303DLHC_SUB_5                        ((uint8_t)0x20)            /*!< bit 5 */
-#define  LSM303DLHC_SUB_6                        ((uint8_t)0x40)            /*!< bit 6 */
-
-#define  LSM303DLHC_SUB_MSB                      ((uint8_t)0x80)            /*!< Multiple data read\write bit */
-
-/********  Bit definition for Accelerometer SUB-Registers Addresses  **********/
-#define  LSM303DLHC_SUB_ACC_CTRL_REG1            ((uint8_t)0x20)            /*!< CONTROL REGISTER 1 FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_CTRL_REG2            ((uint8_t)0x21)            /*!< CONTROL REGISTER 2 FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_CTRL_REG3            ((uint8_t)0x22)            /*!< CONTROL REGISTER 3 FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_CTRL_REG4            ((uint8_t)0x23)            /*!< CONTROL REGISTER 4 FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_CTRL_REG5            ((uint8_t)0x24)            /*!< CONTROL REGISTER 5 FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_CTRL_REG6            ((uint8_t)0x25)            /*!< CONTROL REGISTER 6 FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_REFERENCE            ((uint8_t)0x26)            /*!< REFERENCE/DATACAPTURE FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_STATUS_REG           ((uint8_t)0x27)            /*!< STATUS REGISTER FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_OUT_X_L              ((uint8_t)0x28)            /*!< OUTPUT X-AXIS LOW FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_OUT_X_H              ((uint8_t)0x29)            /*!< OUTPUT X-AXIS HIGH FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_OUT_Y_L              ((uint8_t)0x2A)            /*!< OUTPUT Y-AXIS LOW FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_OUT_Y_H              ((uint8_t)0x2B)            /*!< OUTPUT Y-AXIS HIGH FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_OUT_Z_L              ((uint8_t)0x2C)            /*!< OUTPUT Z-AXIS LOW FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_OUT_Z_H              ((uint8_t)0x2D)            /*!< OUTPUT Z-AXIS HIGH FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_FIFO_CTRL_REG        ((uint8_t)0x2E)            /*!< FIFO CONTROL REGISTER FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_FIFO_SRC_REG         ((uint8_t)0x2F)            /*!< FIFO SOURCE REGISTER FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_INT1_CFG             ((uint8_t)0x30)            /*!< INTERRUPT1 CONFIG FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_INT1_SOURCE          ((uint8_t)0x31)            /*!< INTERRUPT1 SOURCE FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_INT1_THS             ((uint8_t)0x32)            /*!< INTERRUPT1 THRESHOLD FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_INT1_DURATION        ((uint8_t)0x33)            /*!< INTERRUPT1 DURATION FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_INT2_CFG             ((uint8_t)0x34)            /*!< INTERRUPT2 CONFIG FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_INT2_SOURCE          ((uint8_t)0x35)            /*!< INTERRUPT2 SOURCE FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_INT2_THS             ((uint8_t)0x36)            /*!< INTERRUPT2 THRESHOLD FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_INT2_DURATION        ((uint8_t)0x37)            /*!< INTERRUPT2 DURATION FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_CLICK_CFG            ((uint8_t)0x38)            /*!< CLICK CONFIG FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_CLICK_SRC            ((uint8_t)0x39)            /*!< CLICK SOURCE FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_CLICK_THS            ((uint8_t)0x3A)            /*!< CLICK THRESHOLD FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_TIME_LIMIT           ((uint8_t)0x3B)            /*!< TIME LIMIT FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_TIME_LATENCY         ((uint8_t)0x3C)            /*!< TIME LATENCY FOR ACCELEROMETER */
-#define  LSM303DLHC_SUB_ACC_TIME_WINDOW          ((uint8_t)0x3D)            /*!< TIME WINDOW FOR ACCELEROMETER */
-
-/*********  Bit definition for Compass SUB-Registers Addresses  **********/
-#define  LSM303DLHC_SUB_COMP_CRA_REG             ((uint8_t)0x00)            /*!< CONTROL REGISTER A FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_CRB_REG             ((uint8_t)0x01)            /*!< CONTROL REGISTER B FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_MR_REG              ((uint8_t)0x02)            /*!< STATUS REGISTER FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_OUT_X_H             ((uint8_t)0x03)            /*!< OUTPUT X-AXIS HIGH FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_OUT_X_L             ((uint8_t)0x04)            /*!< OUTPUT X-AXIS LOW FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_OUT_Z_H             ((uint8_t)0x05)            /*!< OUTPUT Z-AXIS HIGH FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_OUT_Z_L             ((uint8_t)0x06)            /*!< OUTPUT Z-AXIS LOW FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_OUT_Y_H             ((uint8_t)0x07)            /*!< OUTPUT Y-AXIS HIGH FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_OUT_Y_L             ((uint8_t)0x08)            /*!< OUTPUT Y-AXIS LOW FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_SR_REG              ((uint8_t)0x09)            /*!< SR REGISTER FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_IRA_REG             ((uint8_t)0x0A)            /*!< IR A REGISTER FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_IRB_REG             ((uint8_t)0x0B)            /*!< IR B REGISTER FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_IRC_REG             ((uint8_t)0x0C)            /*!< IR C REGISTER FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_TEMP_OUT_H          ((uint8_t)0x31)            /*!< OUTPUT TEMP HIGH FOR MAGNETOMETER */
-#define  LSM303DLHC_SUB_COMP_TEMP_OUT_L          ((uint8_t)0x32)            /*!< OUTPUT TEMP LOW FOR MAGNETOMETER */
-
-/** @}  */
-
-/*===========================================================================*/
-/* Driver pre-compile time settings.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Derived constants and error checks.                                       */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/**
- * @name    Accelerometer data structures and types
- * @{
- */
-
-/**
- * @brief  Accelerometer Output Data Rate
- */
-typedef enum
-{
-  LSM303DLHC_ACC_ODR_PD        = 0x00,         /*!< Power down */
-  LSM303DLHC_ACC_ODR_1Hz       = 0x10,         /*!< Output Data Rate = 1 Hz */
-  LSM303DLHC_ACC_ODR_10Hz      = 0x20,         /*!< Output Data Rate = 10 Hz */
-  LSM303DLHC_ACC_ODR_25Hz      = 0x30,         /*!< Output Data Rate = 25 Hz */
-  LSM303DLHC_ACC_ODR_50Hz      = 0x40,         /*!< Output Data Rate = 50 Hz */
-  LSM303DLHC_ACC_ODR_100Hz     = 0x50,         /*!< Output Data Rate = 100 Hz */
-  LSM303DLHC_ACC_ODR_200Hz     = 0x60,         /*!< Output Data Rate = 200 Hz */
-  LSM303DLHC_ACC_ODR_400Hz     = 0x70,         /*!< Output Data Rate = 400 Hz */
-  LSM303DLHC_ACC_ODR_1620Hz    = 0x80,         /*!< Output Data Rate = 1620 Hz Low Power mode only */
-  LSM303DLHC_ACC_ODR_1344Hz    = 0x90          /*!< Output Data Rate = 1344 Hz in Normal mode and 5376 Hz in Low Power Mode */
-}LSM303DLHC_ACC_ODR_t;
-
-/**
- * @brief  Accelerometer Power Mode
- */
-typedef enum
-{
-  LSM303DLHC_ACC_PM_NORMAL    = 0x00,         /*!< Normal mode enabled */
-  LSM303DLHC_ACC_PM_LOW_POWER = 0x08          /*!< Low Power mode enabled */
-}LSM303DLHC_ACC_PM_t;
-
-/**
- * @brief  Accelerometer Full Scale
- */
-typedef enum
-{
-  LSM303DLHC_ACC_FS_2G   = 0x00,               /*!< ±2 g m/s^2 */
-  LSM303DLHC_ACC_FS_4G   = 0x10,               /*!< ±4 g m/s^2 */
-  LSM303DLHC_ACC_FS_8G   = 0x20,               /*!< ±8 g m/s^2 */
-  LSM303DLHC_ACC_FS_16G  = 0x30                /*!< ±16 g m/s^2 */
-}LSM303DLHC_ACC_FS_t;
-
-/**
- * @brief   Accelerometer Axes Enabling
- */
-typedef enum{
-  LSM303DLHC_ACC_AE_DISABLED = 0x00,           /*!< Axes all disabled */
-  LSM303DLHC_ACC_AE_X        = 0x01,           /*!< Only X-axis enabled */
-  LSM303DLHC_ACC_AE_Y        = 0x02,           /*!< Only Y-axis enabled */
-  LSM303DLHC_ACC_AE_XY       = 0x03,           /*!< X & Y axes enabled */
-  LSM303DLHC_ACC_AE_Z        = 0x04,           /*!< Only Z-axis enabled */
-  LSM303DLHC_ACC_AE_XZ       = 0x05,           /*!< X & Z axes enabled  */
-  LSM303DLHC_ACC_AE_YZ       = 0x06,           /*!< Y & Z axes enabled  */
-  LSM303DLHC_ACC_AE_XYZ      = 0x07            /*!< All axes enabled */
-}LSM303DLHC_ACC_AE_t;
-
-/**
- * @brief  Accelerometer Block Data Update
- */
-typedef enum
-{
-  LSM303DLHC_ACC_BDU_CONTINOUS = 0x00,          /*!< Continuos Update */
-  LSM303DLHC_ACC_BDU_BLOCKED   = 0x80           /*!< Single Update: output registers not updated until MSB and LSB reading */
-}LSM303DLHC_ACC_BDU_t;
-
-/**
- * @brief  Accelerometer Endianness
- */
-typedef enum
-{
-  LSM303DLHC_ACC_End_LITTLE = 0x00,            /*!< Little Endian: data LSB @ lower address */
-  LSM303DLHC_ACC_End_BIG    = 0x40             /*!< Big Endian: data MSB @ lower address */
-}LSM303DLHC_ACC_End_t;
-
-/**
- * @brief  Accelerometer High Resolution mode
- */
-typedef enum
-{
-  LSM303DLHC_ACC_HR_Enabled  = 0x08,            /*!< High resolution output mode enabled */
-  LSM303DLHC_ACC_HR_Disabled = 0x00             /*!< High resolution output mode disabled */
-}LSM303DLHC_ACC_HR_t;
-
-/**
- * @brief   Accelerometer configuration structure.
- */
-typedef struct {
-  /**
-   * @brief Accelerometer fullscale value.
-   */
-  LSM303DLHC_ACC_FS_t    fullscale;
-  /**
-   * @brief Accelerometer power mode selection.
-   */
-  LSM303DLHC_ACC_PM_t    powermode;
-  /**
-   * @brief Accelerometer output data rate selection.
-   */
-  LSM303DLHC_ACC_ODR_t   outputdatarate;
-  /**
-   * @brief Accelerometer axes enabling.
-   */
-  LSM303DLHC_ACC_AE_t    axesenabling;
-  /**
-   * @brief Accelerometer block data update.
-   */
-  LSM303DLHC_ACC_BDU_t   blockdataupdate;
-  /**
-   * @brief Accelerometer block data update.
-   */
-  LSM303DLHC_ACC_HR_t    highresmode;
-} LSM303DLHC_ACC_Config;
-/** @}  */
-
-
-/**
- * @name    Compass data types
- * @{
- */
-
-/**
- * @brief  Compass Output Data Rate
- */
-typedef enum
-{
-  LSM303DLHC_COMP_ODR_0_75_Hz = 0x00,                  /*!< Output Data Rate = 0.75 Hz */
-  LSM303DLHC_COMP_ODR_1_5_Hz  = 0x04,                  /*!< Output Data Rate = 1.5 Hz */
-  LSM303DLHC_COMP_ODR_3_0_Hz  = 0x08,                  /*!< Output Data Rate = 3 Hz */
-  LSM303DLHC_COMP_ODR_7_5_Hz  = 0x0C,                  /*!< Output Data Rate = 7.5 Hz */
-  LSM303DLHC_COMP_ODR_15_Hz   = 0x10,                  /*!< Output Data Rate = 15 Hz */
-  LSM303DLHC_COMP_ODR_30_Hz   = 0x14,                  /*!< Output Data Rate = 30 Hz */
-  LSM303DLHC_COMP_ODR_75_Hz   = 0x18,                  /*!< Output Data Rate = 75 Hz */
-  LSM303DLHC_COMP_ODR_220_Hz  = 0x1C                   /*!< Output Data Rate = 220 Hz */
-}LSM303DLHC_COMP_ODR_t;
-
-
-/**
- * @brief  Compass Full Scale
- */
-typedef enum
-{
-  LSM303DLHC_COMP_FS_1_3_GA  = 0x20,                   /*!< Full scale = ±1.3 Gauss */
-  LSM303DLHC_COMP_FS_1_9_GA  = 0x40,                   /*!< Full scale = ±1.9 Gauss */
-  LSM303DLHC_COMP_FS_2_5_GA  = 0x60,                   /*!< Full scale = ±2.5 Gauss */
-  LSM303DLHC_COMP_FS_4_0_GA  = 0x80,                   /*!< Full scale = ±4.0 Gauss */
-  LSM303DLHC_COMP_FS_4_7_GA  = 0xA0,                   /*!< Full scale = ±4.7 Gauss */
-  LSM303DLHC_COMP_FS_5_6_GA  = 0xC0,                   /*!< Full scale = ±5.6 Gauss */
-  LSM303DLHC_COMP_FS_8_1_GA  = 0xE0                    /*!< Full scale = ±8.1 Gauss */
-}LSM303DLHC_COMP_FS_t;
-
-
-/**
- * @brief  Compass Working Mode
- */
-typedef enum
-{
-  LSM303DLHC_COMP_WM_CONTINUOS = 0x00,                 /*!< Continuous-Conversion Mode */
-  LSM303DLHC_COMP_WM_BLOCKED   = 0x01,                 /*!< Single-Conversion Mode */
-  LSM303DLHC_COMP_WM_SLEEP     = 0x02                  /*!< Sleep Mode */
-}LSM303DLHC_COMP_WM_t;
-
-/**
- * @brief   Compass configuration structure.
- */
-typedef struct {
-  /**
-   * @brief Compass fullscale value.
-   */
-  LSM303DLHC_COMP_FS_t    fullscale;
-  /**
-   * @brief Compass output data rate selection.
-   */
-  LSM303DLHC_COMP_ODR_t   outputdatarate;
-  /**
-   * @brief Compass working mode.
-   */
-  LSM303DLHC_COMP_WM_t    workingmode;
-} LSM303DLHC_COMP_Config;
-/** @}  */
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-  uint8_t lsm303dlhcReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
-                                 msg_t* message);
-  void lsm303dlhcWriteRegister(I2CDriver *i2cp,uint8_t sad, uint8_t sub,
-                                 uint8_t value, msg_t* message);
-
-#ifdef __cplusplus
-}
-#endif
-#endif /* _LSM303DLHC_H_ */
-/** @} */
-
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm6ds0.c b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm6ds0.c
deleted file mode 100644
index da67f12..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm6ds0.c
+++ /dev/null
@@ -1,184 +0,0 @@
-/*
-    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
-	
-    This file is part of PLAY for ChibiOS/RT.
-
-    PLAY 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.
-
-    PLAY 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/>.
-*/
-
-/*
-    Special thanks to Giovanni Di Sirio for teachings, his moral support and
-    friendship. Note that some or every piece of this file could be part of
-    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
-    Please refer to ChibiOS/RT license before use this file.
-	
-	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
- */
-
-/**
- * @file    lsm6ds0.c
- * @brief   LSM6DS0 MEMS interface module through I2C code.
- *
- * @addtogroup lsm6ds0
- * @{
- */
-
-#include "ch.h"
-#include "hal.h"
-
-#include "lsm6ds0.h"
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-/**
- * @brief   Reads a generic sub-register value.
- * @pre     The I2C interface must be initialized and the driver started.
- *
- * @param[in] i2cp      pointer to the I2C interface
- * @param[in] sad       slave address without R bit
- * @param[in] sub       sub-register address
- * @param[in] message   pointer to message
- * @return              register value.
- */
-uint8_t lsm6ds0ReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
-                                 msg_t* message) {
-
-  uint8_t txbuf, rxbuf[2];
-#if defined(STM32F103_MCUCONF)
-  txbuf = LSM303DLHC_SUB_MSB | sub;
-  if(message != NULL){
-    *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
-                                        TIME_INFINITE);
-  }
-  else{
-    i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE);
-  }
-  return rxbuf[0];
-#else
-  txbuf = sub;
-  if(message != NULL){
-    *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1,
-                                        TIME_INFINITE);
-  }
-  else{
-    i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE);
-  }
-  return rxbuf[0];
-#endif
-}
-
-/**
- * @brief   Writes a value into a register.
- * @pre     The I2C interface must be initialized and the driver started.
- *
- * @param[in] i2cp       pointer to the I2C interface
- * @param[in] sad        slave address without R bit
- * @param[in] sub        sub-register address
- * @param[in] value      the value to be written
- * @param[out] message   pointer to message
- */
-void lsm6ds0WriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
-                               uint8_t value, msg_t* message) {
-
-  uint8_t txbuf[2];
-  uint8_t rxbuf;
-  switch (sub) {
-  default:
-    /* Reserved register must not be written, according to the datasheet
-     * this could permanently damage the device.
-     */
-    chDbgAssert(FALSE, "lsm6ds0WriteRegister(), reserved register");
-  case LSM6DS0_SUB_WHO_AM_I:
-  case LSM6DS0_SUB_INT_GEN_SRC_G:
-  case LSM6DS0_SUB_OUT_TEMP_L:
-  case LSM6DS0_SUB_OUT_TEMP_H:
-  case LSM6DS0_SUB_STATUS_REG1:
-  case LSM6DS0_SUB_OUT_X_L_G:
-  case LSM6DS0_SUB_OUT_X_H_G:
-  case LSM6DS0_SUB_OUT_Y_L_G:
-  case LSM6DS0_SUB_OUT_Y_H_G:
-  case LSM6DS0_SUB_OUT_Z_L_G:
-  case LSM6DS0_SUB_OUT_Z_H_G:
-  case LSM6DS0_SUB_INT_GEN_SRC_XL:
-  case LSM6DS0_SUB_STATUS_REG2:
-  case LSM6DS0_SUB_OUT_X_L_XL:
-  case LSM6DS0_SUB_OUT_X_H_XL:
-  case LSM6DS0_SUB_OUT_Y_L_XL:
-  case LSM6DS0_SUB_OUT_Y_H_XL:
-  case LSM6DS0_SUB_OUT_Z_L_XL:
-  case LSM6DS0_SUB_OUT_Z_H_XL:
-  case LSM6DS0_SUB_FIFO_SRC:
-  /* Read only registers cannot be written, the command is ignored.*/
-    return;
-  case LSM6DS0_SUB_ACT_THS:
-  case LSM6DS0_SUB_ACT_DUR:
-  case LSM6DS0_SUB_INT_GEN_CFG_XL:
-  case LSM6DS0_SUB_INT_GEN_THS_X_XL:
-  case LSM6DS0_SUB_INT_GEN_THS_Y_XL:
-  case LSM6DS0_SUB_INT_GEN_THS_Z_XL:
-  case LSM6DS0_SUB_INT_GEN_DUR_XL:
-  case LSM6DS0_SUB_REFERENCE_G:
-  case LSM6DS0_SUB_INT_CTRL:
-  case LSM6DS0_SUB_CTRL_REG1_G:
-  case LSM6DS0_SUB_CTRL_REG2_G:
-  case LSM6DS0_SUB_CTRL_REG3_G:
-  case LSM6DS0_SUB_ORIENT_CFG_G:
-  case LSM6DS0_SUB_CTRL_REG4:
-  case LSM6DS0_SUB_CTRL_REG5_XL:
-  case LSM6DS0_SUB_CTRL_REG6_XL:
-  case LSM6DS0_SUB_CTRL_REG7_XL:
-  case LSM6DS0_SUB_CTRL_REG8:
-  case LSM6DS0_SUB_CTRL_REG9:
-  case LSM6DS0_SUB_CTRL_REG10:
-  case LSM6DS0_SUB_FIFO_CTRL:
-  case LSM6DS0_SUB_INT_GEN_CFG_G:
-  case LSM6DS0_SUB_INT_GEN_THS_XH_G:
-  case LSM6DS0_SUB_INT_GEN_THS_XL_G:
-  case LSM6DS0_SUB_INT_GEN_THS_YH_G:
-  case LSM6DS0_SUB_INT_GEN_THS_YL_G:
-  case LSM6DS0_SUB_INT_GEN_THS_ZH_G:
-  case LSM6DS0_SUB_INT_GEN_THS_ZL_G:
-  case LSM6DS0_SUB_INT_GEN_DUR_G:
-    txbuf[0] = sub;
-    txbuf[1] = value;
-    if(message != NULL){
-      *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0,
-                                          TIME_INFINITE);
-    }
-    else{
-      i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
-    }
-    break;
-  }
-}
-
-/** @} */
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm6ds0.h b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm6ds0.h
deleted file mode 100644
index 57e2057..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm6ds0.h
+++ /dev/null
@@ -1,482 +0,0 @@
-/*
-    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
-	
-    This file is part of PLAY for ChibiOS/RT.
-
-    PLAY 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.
-
-    PLAY 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/>.
-*/
-
-/*
-    Special thanks to Giovanni Di Sirio for teachings, his moral support and
-    friendship. Note that some or every piece of this file could be part of
-    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
-    Please refer to ChibiOS/RT license before use this file.
-	
-	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
- */
-
-/**
- * @file    lsm6ds0.h
- * @brief   LSM6DS0 MEMS interface module header.
- *
- * @{
- */
-
-#ifndef _LSM6DS0_H_
-#define _LSM6DS0_H_
-
-/*===========================================================================*/
-/* Driver constants.                                                         */
-/*===========================================================================*/
-
-#define  LSM6DS0_ACC_SENS_2G                     ((float)1671.095f)         /*!< Accelerometer sensitivity with 2 G full scale [LSB * s^2 / m] */
-#define  LSM6DS0_ACC_SENS_4G                     ((float)835.547f)          /*!< Accelerometer sensitivity with 4 G full scale [LSB * s^2 / m] */
-#define  LSM6DS0_ACC_SENS_8G                     ((float)417.774)           /*!< Accelerometer sensitivity with 8 G full scale [LSB * s^2 / m] */
-#define  LSM6DS0_ACC_SENS_16G                    ((float)139.258f)          /*!< Accelerometer sensitivity with 16 G full scale [LSB * s^2 / m] */
-
-#define  LSM6DS0_GYRO_SENS_245DPS                ((float)114.286f)          /*!< Gyroscope sensitivity with 245 dps full scale [LSB * s / °] */
-#define  LSM6DS0_GYRO_SENS_500DPS                ((float)57.143f)           /*!< Gyroscope sensitivity with 500 dps full scale [LSB * s / °] */
-#define  LSM6DS0_GYRO_SENS_2000DPS               ((float)14.286f)           /*!< Gyroscope sensitivity with 2000 dps full scale [LSB * s / °] */
-/**
- * @name    LSM6DS0 register names
- * @{
- */
-/******************************************************************************/
-/*                                                                            */
-/*                        LSM6DS0 on board MEMS                               */
-/*                                                                            */
-/******************************************************************************/
-/*****************  Bit definition for I2C/SPI communication  *****************/
-#define  LSM6DS0_SUB                             ((uint8_t)0x7F)            /*!< SUB[6:0] Sub-registers address Mask */
-#define  LSM6DS0_SUB_0                           ((uint8_t)0x01)            /*!< bit 0 */
-#define  LSM6DS0_SUB_1                           ((uint8_t)0x02)            /*!< bit 1 */
-#define  LSM6DS0_SUB_2                           ((uint8_t)0x08)            /*!< bit 3 */
-#define  LSM6DS0_SUB_4                           ((uint8_t)0x10)            /*!< bit 4 */
-#define  LSM6DS0_SUB_5                           ((uint8_t)0x20)            /*!< bit 5 */
-#define  LSM6DS0_SUB_6                           ((uint8_t)0x40)            /*!< bit 6 */
-
-#define  LSM6DS0_SUB_MSB                         ((uint8_t)0x80)            /*!< Multiple data read\write bit */
-
-/*****************  Bit definition for Registers Addresses  *******************/
-#define  LSM6DS0_SUB_ACT_THS                     ((uint8_t)0x04)            /*!< Activity threshold register */
-#define  LSM6DS0_SUB_ACT_DUR                     ((uint8_t)0x05)            /*!< Inactivity duration register */
-#define  LSM6DS0_SUB_INT_GEN_CFG_XL              ((uint8_t)0x06)            /*!< Accelerometer interrupt generator configuration register */
-#define  LSM6DS0_SUB_INT_GEN_THS_X_XL            ((uint8_t)0x07)            /*!< Accelerometer X-axis interrupt threshold register */
-#define  LSM6DS0_SUB_INT_GEN_THS_Y_XL            ((uint8_t)0x08)            /*!< Accelerometer Y-axis interrupt threshold register */
-#define  LSM6DS0_SUB_INT_GEN_THS_Z_XL            ((uint8_t)0x09)            /*!< Accelerometer Z-axis interrupt threshold register */
-#define  LSM6DS0_SUB_INT_GEN_DUR_XL              ((uint8_t)0x0A)            /*!< Accelerometer interrupt duration register */
-#define  LSM6DS0_SUB_REFERENCE_G                 ((uint8_t)0x0B)            /*!< Gyroscope reference value register for digital high-pass filter */
-#define  LSM6DS0_SUB_INT_CTRL                    ((uint8_t)0x0C)            /*!< INT pin control register */
-#define  LSM6DS0_SUB_WHO_AM_I                    ((uint8_t)0x0F)            /*!< Who_AM_I register */
-#define  LSM6DS0_SUB_CTRL_REG1_G                 ((uint8_t)0x10)            /*!< Gyroscope control register 1 */
-#define  LSM6DS0_SUB_CTRL_REG2_G                 ((uint8_t)0x11)            /*!< Gyroscope control register 2 */
-#define  LSM6DS0_SUB_CTRL_REG3_G                 ((uint8_t)0x12)            /*!< Gyroscope control register 3 */
-#define  LSM6DS0_SUB_ORIENT_CFG_G                ((uint8_t)0x13)            /*!< Gyroscope sign and orientation register */
-#define  LSM6DS0_SUB_INT_GEN_SRC_G               ((uint8_t)0x14)            /*!< Gyroscope interrupt source register */
-#define  LSM6DS0_SUB_OUT_TEMP_L                  ((uint8_t)0x15)            /*!< Temperature data output low register */
-#define  LSM6DS0_SUB_OUT_TEMP_H                  ((uint8_t)0x16)            /*!< Temperature data output high register */
-#define  LSM6DS0_SUB_STATUS_REG1                 ((uint8_t)0x17)            /*!< Status register 1 */
-#define  LSM6DS0_SUB_OUT_X_L_G                   ((uint8_t)0x18)            /*!< Gyroscope X-axis low output register */
-#define  LSM6DS0_SUB_OUT_X_H_G                   ((uint8_t)0x19)            /*!< Gyroscope X-axis high output register */
-#define  LSM6DS0_SUB_OUT_Y_L_G                   ((uint8_t)0x1A)            /*!< Gyroscope Y-axis low output register */
-#define  LSM6DS0_SUB_OUT_Y_H_G                   ((uint8_t)0x1B)            /*!< Gyroscope Y-axis high output register */
-#define  LSM6DS0_SUB_OUT_Z_L_G                   ((uint8_t)0x1C)            /*!< Gyroscope Z-axis low output register */
-#define  LSM6DS0_SUB_OUT_Z_H_G                   ((uint8_t)0x1D)            /*!< Gyroscope Z-axis high output register */
-#define  LSM6DS0_SUB_CTRL_REG4                   ((uint8_t)0x1E)            /*!< Control register 4 */
-#define  LSM6DS0_SUB_CTRL_REG5_XL                ((uint8_t)0x1F)            /*!< Accelerometer Control Register 5 */
-#define  LSM6DS0_SUB_CTRL_REG6_XL                ((uint8_t)0x20)            /*!< Accelerometer Control Register 6 */
-#define  LSM6DS0_SUB_CTRL_REG7_XL                ((uint8_t)0x21)            /*!< Accelerometer Control Register 7 */
-#define  LSM6DS0_SUB_CTRL_REG8                   ((uint8_t)0x22)            /*!< Control register 8 */
-#define  LSM6DS0_SUB_CTRL_REG9                   ((uint8_t)0x23)            /*!< Control register 9 */
-#define  LSM6DS0_SUB_CTRL_REG10                  ((uint8_t)0x24)            /*!< Control register 10 */
-#define  LSM6DS0_SUB_INT_GEN_SRC_XL              ((uint8_t)0x26)            /*!< Accelerometer interrupt source register */
-#define  LSM6DS0_SUB_STATUS_REG2                 ((uint8_t)0x27)            /*!< Status register */
-#define  LSM6DS0_SUB_OUT_X_L_XL                  ((uint8_t)0x28)            /*!< Accelerometer X-axis low output register */
-#define  LSM6DS0_SUB_OUT_X_H_XL                  ((uint8_t)0x29)            /*!< Accelerometer X-axis high output register */
-#define  LSM6DS0_SUB_OUT_Y_L_XL                  ((uint8_t)0x2A)            /*!< Accelerometer Y-axis low output register */
-#define  LSM6DS0_SUB_OUT_Y_H_XL                  ((uint8_t)0x2B)            /*!< Accelerometer Y-axis high output register */
-#define  LSM6DS0_SUB_OUT_Z_L_XL                  ((uint8_t)0x2C)            /*!< Accelerometer Z-axis low output register */
-#define  LSM6DS0_SUB_OUT_Z_H_XL                  ((uint8_t)0x2D)            /*!< Accelerometer Z-axis high output register */
-#define  LSM6DS0_SUB_FIFO_CTRL                   ((uint8_t)0x2E)            /*!< FIFO control register */
-#define  LSM6DS0_SUB_FIFO_SRC                    ((uint8_t)0x2F)            /*!< FIFO status control register */
-#define  LSM6DS0_SUB_INT_GEN_CFG_G               ((uint8_t)0x30)            /*!< Gyroscope interrupt generator configuration register */
-#define  LSM6DS0_SUB_INT_GEN_THS_XH_G            ((uint8_t)0x31)            /*!< Gyroscope X-axis low interrupt generator threshold registers */
-#define  LSM6DS0_SUB_INT_GEN_THS_XL_G            ((uint8_t)0x32)            /*!< Gyroscope X-axis high interrupt generator threshold registers  */
-#define  LSM6DS0_SUB_INT_GEN_THS_YH_G            ((uint8_t)0x33)            /*!< Gyroscope Y-axis low interrupt generator threshold registers */
-#define  LSM6DS0_SUB_INT_GEN_THS_YL_G            ((uint8_t)0x34)            /*!< Gyroscope Y-axis high interrupt generator threshold registers */
-#define  LSM6DS0_SUB_INT_GEN_THS_ZH_G            ((uint8_t)0x35)            /*!< Gyroscope Z-axis low interrupt generator threshold registers */
-#define  LSM6DS0_SUB_INT_GEN_THS_ZL_G            ((uint8_t)0x36)            /*!< Gyroscope Z-axis high interrupt generator threshold registers */
-#define  LSM6DS0_SUB_INT_GEN_DUR_G               ((uint8_t)0x37)            /*!< Gyroscope interrupt generator duration register */
-
-/** @} */
-
-/*===========================================================================*/
-/* Driver pre-compile time settings.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Derived constants and error checks.                                       */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/**
- * @name    Generic LSM6DS0 data structures and types
- * @{
- */
-
-/**
- * @brief  Accelerometer and Gyroscope Slave Address
- */
-typedef enum {
-  LSM6DS0_SAD_GND = 0x6A,                             /*!< LSM6DS0 Slave Address when SA1 is to GND */
-  LSM6DS0_SAD_VCC = 0x6B                              /*!< LSM6DS0 Slave Address when SA1 is to VCC */
-}LSM6DS0_SAD_t;
-
-/**
- * @brief  Accelerometer and Gyroscope Block Data Update
- */
-typedef enum
-{
-  LSM6DS0_BDU_CONTINOUS = 0x00,                       /*!< Continuos Update */
-  LSM6DS0_BDU_BLOCKED   = 0x40                        /*!< Single Update: output registers not updated until MSB and LSB reading */
-}LSM6DS0_BDU_t;
-
-/**
- * @brief  Accelerometer and Gyroscope Endianness
- */
-typedef enum
-{
-  LSM6DS0_END_LITTLE = 0x00,                          /*!< Little Endian: data LSB @ lower address */
-  LSM6DS0_END_BIG    = 0x20                           /*!< Big Endian: data MSB @ lower address */
-}LSM6DS0_END_t;
-/** @}  */
-
-/**
- * @name    Accelerometer data structures and types
- * @{
- */
-
-/**
- * @brief  Accelerometer Decimation Mode
- */
-typedef enum {
-  LSM6DS0_ACC_DEC_DISABLED = 0x00,                    /*!< NO decimation */
-  LSM6DS0_ACC_DEC_X2       = 0x40,                    /*!< Decimation update every 2 sample */
-  LSM6DS0_ACC_DEC_X4       = 0x80,                    /*!< Decimation update every 4 sample */
-  LSM6DS0_ACC_DEC_X8       = 0xC0                     /*!< Decimation update every 8 sample */
-}LSM6DS0_ACC_DEC_t;
-
-/**
- * @brief   Accelerometer Axes Enabling
- */
-typedef enum{
-  LSM6DS0_ACC_AE_DISABLED = 0x00,                     /*!< Axes all disabled */
-  LSM6DS0_ACC_AE_X        = 0x08,                     /*!< Only X-axis enabled */
-  LSM6DS0_ACC_AE_Y        = 0x10,                     /*!< Only Y-axis enabled */
-  LSM6DS0_ACC_AE_XY       = 0x18,                     /*!< X & Y axes enabled */
-  LSM6DS0_ACC_AE_Z        = 0x20,                     /*!< Only Z-axis enabled */
-  LSM6DS0_ACC_AE_XZ       = 0x28,                     /*!< X & Z axes enabled  */
-  LSM6DS0_ACC_AE_YZ       = 0x30,                     /*!< Y & Z axes enabled  */
-  LSM6DS0_ACC_AE_XYZ      = 0x38                      /*!< All axes enabled */
-}LSM6DS0_ACC_AE_t;
-
-/**
- * @brief  Accelerometer Output Data Rate
- */
-typedef enum {
-  LSM6DS0_ACC_ODR_PD    = 0x00,                       /*!< Power down */
-  LSM6DS0_ACC_ODR_10Hz  = 0x20,                       /*!< Output Data Rate = 10 Hz */
-  LSM6DS0_ACC_ODR_50Hz  = 0x40,                       /*!< Output Data Rate = 50 Hz */
-  LSM6DS0_ACC_ODR_119Hz = 0x60,                       /*!< Output Data Rate = 119 Hz */
-  LSM6DS0_ACC_ODR_238Hz = 0x80,                       /*!< Output Data Rate = 238 Hz */
-  LSM6DS0_ACC_ODR_476Hz = 0xA0,                       /*!< Output Data Rate = 476 Hz */
-  LSM6DS0_ACC_ODR_952Hz = 0xC0                        /*!< Output Data Rate = 952 Hz */
-}LSM6DS0_ACC_ODR_t;
-
-/**
- * @brief  Accelerometer Full Scale
- */
-typedef enum {
-  LSM6DS0_ACC_FS_2G  = 0x00,                          /*!< ±2 g m/s^2 */
-  LSM6DS0_ACC_FS_4G  = 0x10,                          /*!< ±4 g m/s^2 */
-  LSM6DS0_ACC_FS_8G  = 0x18,                          /*!< ±8 g m/s^2 */
-  LSM6DS0_ACC_FS_16G = 0x08                           /*!< ±16 g m/s^2 */
-}LSM6DS0_ACC_FS_t;
-
-/**
- * @brief  Accelerometer Antialiasing filter Bandwidth Selection
- */
-typedef enum {
-  LSM6DS0_ACC_BW_408Hz    = 0x00,                     /*!< AA filter bandwidth = 408 Hz  */
-  LSM6DS0_ACC_BW_211Hz    = 0x01,                     /*!< AA filter bandwidth = 211 Hz */
-  LSM6DS0_ACC_BW_105Hz    = 0x02,                     /*!< AA filter bandwidth = 105 Hz */
-  LSM6DS0_ACC_BW_50Hz     = 0x03,                     /*!< AA filter bandwidth = 50 Hz */
-  LSM6DS0_ACC_BW_ACCORDED = 0x04,                     /*!< AA filter bandwidth chosen by ODR selection */
-}LSM6DS0_ACC_BW_t;
-
-/**
- * @brief  Accelerometer High Resolution mode
- */
-typedef enum
-{
-  LSM6DS0_ACC_HR_Disabled = 0x00,                     /*!< High resolution output mode disabled, FDS bypassed */
-  LSM6DS0_ACC_HR_EN_9     = 0xC4,                     /*!< High resolution output mode enabled, LP cutoff = ODR/9, FDS enabled */
-  LSM6DS0_ACC_HR_EN_50    = 0x84,                     /*!< High resolution output mode enabled, LP cutoff = ODR/50, FDS enabled */
-  LSM6DS0_ACC_HR_EN_100   = 0xA4,                     /*!< High resolution output mode enabled, LP cutoff = ODR/100, FDS enabled */
-  LSM6DS0_ACC_HR_EN_400   = 0xE4,                     /*!< High resolution output mode enabled, LP cutoff = ODR/400, FDS enabled */
-}LSM6DS0_ACC_HR_t;
-
-/**
- * @brief  HP filter for interrupt
- */
-typedef enum
-{
-  LSM6DS0_ACC_HPIS1_BYPASSED = 0x00,                  /*!< High-pass filter bypassed */
-  LSM6DS0_ACC_HPIS1_ENABLED  = 0x01                   /*!< High-pass filter enabled for accelerometer interrupt function on interrupt */
-}LSM6DS0_ACC_HPIS1_t;
-
-/**
- * @brief   Accelerometer configuration structure.
- */
-typedef struct {
-
-  /**
-   * @brief  LSM6DS0 Slave Address
-   */
-  LSM6DS0_SAD_t       slaveaddress;
-  /**
-   * @brief  Accelerometer Decimation Mode
-   */
-  LSM6DS0_ACC_DEC_t   decimation;
-  /**
-   * @brief  Accelerometer Output Data Rate
-   */
-  LSM6DS0_ACC_ODR_t   outputdatarate;
-  /**
-   * @brief  Accelerometer Antialiasing filter Bandwidth Selection
-   */
-  LSM6DS0_ACC_BW_t    bandwidth;
-  /**
-   * @brief  Accelerometer Full Scale
-   */
-  LSM6DS0_ACC_FS_t    fullscale;
-  /**
-   * @brief   Accelerometer Axes Enabling
-   */
-  LSM6DS0_ACC_AE_t    axesenabling;
-  /**
-   * @brief  Accelerometer High Resolution mode
-   */
-  LSM6DS0_ACC_HR_t    highresmode;
-  /**
-   * @brief  HP filter for interrupt
-   */
-  LSM6DS0_ACC_HPIS1_t hpfirq;
-  /**
-   * @brief  LSM6DS0 Endianness
-   */
-  LSM6DS0_END_t       endianess;
-  /**
-   * @brief  LSM6DS0 Block Data Update
-   */
-  LSM6DS0_BDU_t       blockdataupdate;
-} LSM6DS0_ACC_Config;
-/** @}  */
-
-/**
- * @name    Gyroscope data structures and types
- * @{
- */
-
-/**
- * @brief  Gyroscope Output Data Rate
- */
-typedef enum {
-  LSM6DS0_GYRO_ODR_PD             = 0x00,             /*!< Power down */
-  LSM6DS0_GYRO_ODR_14_9Hz_CO_5Hz  = 0x20,             /*!< Output Data Rate = 14.9 Hz, CutOff = 5Hz */
-  LSM6DS0_GYRO_ODR_59_5Hz_CO_16Hz = 0x40,             /*!< Output Data Rate = 59.5 Hz, CutOff = 16Hz */
-  LSM6DS0_GYRO_ODR_119Hz_CO_14Hz  = 0x60,             /*!< Output Data Rate = 119 Hz, CutOff = 14Hz */
-  LSM6DS0_GYRO_ODR_119Hz_CO_31Hz  = 0x61,             /*!< Output Data Rate = 119 Hz, CutOff = 31Hz */
-  LSM6DS0_GYRO_ODR_238Hz_CO_14Hz  = 0x80,             /*!< Output Data Rate = 238 Hz, CutOff = 14Hz */
-  LSM6DS0_GYRO_ODR_238Hz_CO_29Hz  = 0x81,             /*!< Output Data Rate = 328 Hz, CutOff = 29Hz */
-  LSM6DS0_GYRO_ODR_238Hz_CO_63Hz  = 0x82,             /*!< Output Data Rate = 238 Hz, CutOff = 63Hz */
-  LSM6DS0_GYRO_ODR_238Hz_CO_78Hz  = 0x83,             /*!< Output Data Rate = 476 Hz, CutOff = 78Hz */
-  LSM6DS0_GYRO_ODR_476Hz_CO_21Hz  = 0xA0,             /*!< Output Data Rate = 476 Hz, CutOff = 21Hz */
-  LSM6DS0_GYRO_ODR_476Hz_CO_28Hz  = 0xA1,             /*!< Output Data Rate = 238 Hz, CutOff = 28Hz */
-  LSM6DS0_GYRO_ODR_476Hz_CO_57Hz  = 0xA2,             /*!< Output Data Rate = 476 Hz, CutOff = 57Hz */
-  LSM6DS0_GYRO_ODR_476Hz_CO_100Hz = 0xA3,             /*!< Output Data Rate = 476 Hz, CutOff = 100Hz */
-  LSM6DS0_GYRO_ODR_952Hz_CO_33Hz  = 0xC0,             /*!< Output Data Rate = 952 Hz, CutOff = 33Hz */
-  LSM6DS0_GYRO_ODR_952Hz_CO_40Hz  = 0xC1,             /*!< Output Data Rate = 952 Hz, CutOff = 40Hz */
-  LSM6DS0_GYRO_ODR_952Hz_CO_58Hz  = 0xC2,             /*!< Output Data Rate = 952 Hz, CutOff = 58Hz */
-  LSM6DS0_GYRO_ODR_952Hz_CO_100Hz = 0xC3              /*!< Output Data Rate = 952 Hz, CutOff = 100Hz */
-}LSM6DS0_GYRO_ODR_t;
-
-/**
- * @brief  Gyroscope Full Scale
- */
-typedef enum {
-  LSM6DS0_GYRO_FS_245DSP  = 0x00,                     /*!< ±245 degrees per second */
-  LSM6DS0_GYRO_FS_500DSP  = 0x08,                     /*!< ±500 degrees per second */
-  LSM6DS0_GYRO_FS_2000DSP = 0x18                      /*!< ±2000 degrees per second */
-}LSM6DS0_GYRO_FS_t;
-
-/**
- * @brief  Gyroscope Output Selection
- */
-typedef enum {
-  LSM6DS0_GYRO_OUT_SEL_BYPASS    = 0x00,              /*!< Output not filtered */
-  LSM6DS0_GYRO_OUT_SEL_FILTERED  = 0x01,              /*!< Output filtered */
-}LSM6DS0_GYRO_OUT_SEL_t;
-
-/**
- * @brief  Gyroscope Interrupt Selection
- */
-typedef enum {
-  LSM6DS0_GYRO_INT_SEL_BYPASS    = 0x00,              /*!< Interrupt generator signal not filtered */
-  LSM6DS0_GYRO_INT_SEL_FILTERED  = 0x08,              /*!< Interrupt generator signal filtered */
-}LSM6DS0_GYRO_INT_SEL_t;
-
-/**
- * @brief  Gyroscope Low Power Mode
- */
-typedef enum {
-  LSM6DS0_GYRO_LP_MODE_HIGH_PERFORMANCE = 0x00,       /*!< High performance */
-  LSM6DS0_GYRO_LP_MODE_LOW_POWER        = 0x80,       /*!< Low power */
-}LSM6DS0_GYRO_LP_MODE_t;
-
-/**
- * @brief  Gyroscope High Pass Filter Cutoff Selection
- */
-typedef enum {
-  LSM6DS0_GYRO_HPCF_DISABLED = 0x00,                  /*!< HP filter disabled  */
-  LSM6DS0_GYRO_HPCF_0        = 0x40,                  /*!< Config 0 refer to table 48 of DOcID025604 Rev 3  */
-  LSM6DS0_GYRO_HPCF_1        = 0x41,                  /*!< Config 1 refer to table 48 of DOcID025604 Rev 3  */
-  LSM6DS0_GYRO_HPCF_2        = 0x42,                  /*!< Config 2 refer to table 48 of DOcID025604 Rev 3  */
-  LSM6DS0_GYRO_HPCF_3        = 0x43,                  /*!< Config 3 refer to table 48 of DOcID025604 Rev 3  */
-  LSM6DS0_GYRO_HPCF_4        = 0x44,                  /*!< Config 4 refer to table 48 of DOcID025604 Rev 3  */
-  LSM6DS0_GYRO_HPCF_5        = 0x45,                  /*!< Config 5 refer to table 48 of DOcID025604 Rev 3  */
-  LSM6DS0_GYRO_HPCF_6        = 0x46,                  /*!< Config 6 refer to table 48 of DOcID025604 Rev 3  */
-  LSM6DS0_GYRO_HPCF_7        = 0x47,                  /*!< Config 7 refer to table 48 of DOcID025604 Rev 3  */
-  LSM6DS0_GYRO_HPCF_8        = 0x48,                  /*!< Config 8 refer to table 48 of DOcID025604 Rev 3  */
-  LSM6DS0_GYRO_HPCF_9        = 0x49,                  /*!< Config 9 refer to table 48 of DOcID025604 Rev 3  */
-  LSM6DS0_GYRO_HPCF_10       = 0x4A                   /*!< Config 10 refer to table 48 of DOcID025604 Rev 3  */
-}LSM6DS0_GYRO_HPCF_t;
-
-/**
- * @brief   Gyroscope Axes Enabling
- */
-typedef enum{
-  LSM6DS0_GYRO_AE_DISABLED = 0x00,                    /*!< Axes all disabled */
-  LSM6DS0_GYRO_AE_X        = 0x08,                    /*!< Only X-axis enabled */
-  LSM6DS0_GYRO_AE_Y        = 0x10,                    /*!< Only Y-axis enabled */
-  LSM6DS0_GYRO_AE_XY       = 0x18,                    /*!< X & Y axes enabled */
-  LSM6DS0_GYRO_AE_Z        = 0x20,                    /*!< Only Z-axis enabled */
-  LSM6DS0_GYRO_AE_XZ       = 0x28,                    /*!< X & Z axes enabled  */
-  LSM6DS0_GYRO_AE_YZ       = 0x30,                    /*!< Y & Z axes enabled  */
-  LSM6DS0_GYRO_AE_XYZ      = 0x38                     /*!< All axes enabled */
-}LSM6DS0_GYRO_AE_t;
-
-/**
- * @brief  Gyroscope Decimation Mode
- */
-typedef enum {
-  LSM6DS0_GYRO_DEC_DISABLED = 0x00,                   /*!< NO decimation */
-  LSM6DS0_GYRO_DEC_X2       = 0x40,                   /*!< Decimation update every 2 sample */
-  LSM6DS0_GYRO_DEC_X4       = 0x80,                   /*!< Decimation update every 4 sample */
-  LSM6DS0_GYRO_DEC_X8       = 0xC0                    /*!< Decimation update every 8 sample */
-}LSM6DS0_GYRO_DEC_t;
-
-/**
- * @brief  Gyroscope Sleep Mode
- */
-typedef enum {
-  LSM6DS0_GYRO_SLP_DISABLED = 0x00,                   /*!< Gyroscope sleep mode disabled */
-  LSM6DS0_GYRO_SLP_ENABLED  = 0x40                    /*!< Gyroscope sleep mode enabled */
-}LSM6DS0_GYRO_SLP_t;
-/**
- * @brief   Gyroscope configuration structure.
- */
-typedef struct {
-  /**
-   * @brief  LSM6DS0 Slave Address
-   */
-  LSM6DS0_SAD_t   slaveaddress;
-  /**
-   * @brief  Gyroscope Output Data Rate
-   */
-  LSM6DS0_GYRO_ODR_t   outputdatarate;
-  /**
-   * @brief  Gyroscope Full Scale
-   */
-  LSM6DS0_GYRO_FS_t    fullscale;
-  /**
-   * @brief  Gyroscope Output Selection
-   */
-  LSM6DS0_GYRO_OUT_SEL_t outputselect;
-  /**
-   * @brief  Gyroscope Interrupt Selection
-   */
-  LSM6DS0_GYRO_INT_SEL_t irqselect;
-  /**
-   * @brief  Gyroscope Low Power Mode
-   */
-  LSM6DS0_GYRO_LP_MODE_t lowpowermode;
-  /**
-   * @brief  Gyroscope High Pass Filter Cutoff Selection
-   */
-  LSM6DS0_GYRO_HPCF_t HPCfrequency;
-  /**
-   * @brief   Gyroscope Axes Enabling
-   */
-  LSM6DS0_GYRO_AE_t axesenabling;
-  /**
-   * @brief  Gyroscope Decimation Mode
-   */
-  LSM6DS0_GYRO_DEC_t decimation;
-  /**
-   * @brief  LSM6DS0 Endianness
-   */
-  LSM6DS0_END_t   endianess;
-  /**
-   * @brief  LSM6DS0 Block Data Update
-   */
-  LSM6DS0_BDU_t   blockdataupdate;
-} LSM6DS0_GYRO_Config;
-/** @}  */
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-  uint8_t lsm6ds0ReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
-                                 msg_t* message);
-  void lsm6ds0WriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
-                                 uint8_t value, msg_t* message);
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _LSM6DS0_H_ */
-
-/** @} */
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/others/max7219.c b/ChibiOS_16.1.5/community/os/various/devices_lib/others/max7219.c
deleted file mode 100644
index 0e51167..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/others/max7219.c
+++ /dev/null
@@ -1,94 +0,0 @@
-/*
-    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
-	
-    This file is part of PLAY for ChibiOS/RT.
-
-    PLAY 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.
-
-    PLAY 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/>.
-*/
-
-/*
-    Special thanks to Giovanni Di Sirio for teachings, his moral support and
-    friendship. Note that some or every piece of this file could be part of
-    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
-    Please refer to ChibiOS/RT license before use this file.
-	
-	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
- */
-
-/**
- * @file    max7219.c
- * @brief   MAX7219 display driver module code.
- *
- * @addtogroup max7219
- * @{
- */
-
-#include "ch.h"
-#include "hal.h"
-
-#include "max7219.h"
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-/**
- * @brief   Reads a generic register value.
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- * @param[in] adr       address number
- * @param[in] data      data value.
- */
-void max7219WriteRegister(SPIDriver *spip, uint16_t adr, uint8_t data) {
-
-  switch (adr) {
-    default:
-      return;
-    case MAX7219_AD_DIGIT_0:
-    case MAX7219_AD_DIGIT_1:
-    case MAX7219_AD_DIGIT_2:
-    case MAX7219_AD_DIGIT_3:
-    case MAX7219_AD_DIGIT_4:
-    case MAX7219_AD_DIGIT_5:
-    case MAX7219_AD_DIGIT_6:
-    case MAX7219_AD_DIGIT_7:
-    case MAX7219_AD_DECODE_MODE:
-    case MAX7219_AD_INTENSITY:
-    case MAX7219_AD_SCAN_LIMIT:
-    case MAX7219_AD_SHUTDOWN:
-    case MAX7219_AD_DISPLAY_TEST:
-      spiSelect(spip);
-      uint16_t txbuf = {adr | data};
-      spiSend(spip, 1, &txbuf);
-      spiUnselect(spip);
-  }
-}
-/** @} */
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/others/max7219.h b/ChibiOS_16.1.5/community/os/various/devices_lib/others/max7219.h
deleted file mode 100644
index e672be9..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/others/max7219.h
+++ /dev/null
@@ -1,187 +0,0 @@
-/*
-    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
-	
-    This file is part of PLAY for ChibiOS/RT.
-
-    PLAY 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.
-
-    PLAY 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/>.
-*/
-
-/*
-    Special thanks to Giovanni Di Sirio for teachings, his moral support and
-    friendship. Note that some or every piece of this file could be part of
-    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
-    Please refer to ChibiOS/RT license before use this file.
-	
-	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
- */
-
-/**
- * @file    MAX7219.h
- * @brief   MAX7219 display driver module header.
- *
- * @{
- */
-
-#ifndef _MAX7219_H_
-#define _MAX7219_H_
-
-/*===========================================================================*/
-/* Driver constants.                                                         */
-/*===========================================================================*/
-
-/**
- * @name    MAX7219 register names
- * @{
- */
-/******************************************************************************/
-/*                                                                            */
-/*                        MAX7219 display driver                              */
-/*                                                                            */
-/******************************************************************************/
-/*******************  Bit definition for SPI communication  *******************/
-#define  MAX7219_DI                              ((uint16_t)0x00FF)          /*!< DI[7:0] Data input */
-#define  MAX7219_DI_0                            ((uint16_t)0x0001)          /*!< bit 0 */
-#define  MAX7219_DI_1                            ((uint16_t)0x0002)          /*!< bit 1 */
-#define  MAX7219_DI_2                            ((uint16_t)0x0004)          /*!< bit 2 */
-#define  MAX7219_DI_3                            ((uint16_t)0x0008)          /*!< bit 3 */
-#define  MAX7219_DI_4                            ((uint16_t)0x0010)          /*!< bit 4 */
-#define  MAX7219_DI_5                            ((uint16_t)0x0020)          /*!< bit 5 */
-#define  MAX7219_DI_6                            ((uint16_t)0x0040)          /*!< bit 6 */
-#define  MAX7219_DI_7                            ((uint16_t)0x0080)          /*!< bit 7 */
-
-#define  MAX7219_AD                              ((uint16_t)0x0F00)          /*!< AD[11:8] Data input */
-#define  MAX7219_AD_0                            ((uint16_t)0x0100)          /*!< bit 8 */
-#define  MAX7219_AD_1                            ((uint16_t)0x0200)          /*!< bit 9 */
-#define  MAX7219_AD_2                            ((uint16_t)0x0400)          /*!< bit 10 */
-#define  MAX7219_AD_3                            ((uint16_t)0x0800)          /*!< bit 11 */
-
-/******************  Bit definition for Registers Addresses *******************/
-#define  MAX7219_AD_NOP                          ((uint16_t)0x0000)          /*!< No operation */
-#define  MAX7219_AD_DIGIT_0                      ((uint16_t)0x0100)          /*!< Digit 0 */
-#define  MAX7219_AD_DIGIT_1                      ((uint16_t)0x0200)          /*!< Digit 1 */
-#define  MAX7219_AD_DIGIT_2                      ((uint16_t)0x0300)          /*!< Digit 2 */
-#define  MAX7219_AD_DIGIT_3                      ((uint16_t)0x0400)          /*!< Digit 3 */
-#define  MAX7219_AD_DIGIT_4                      ((uint16_t)0x0500)          /*!< Digit 4 */
-#define  MAX7219_AD_DIGIT_5                      ((uint16_t)0x0600)          /*!< Digit 5 */
-#define  MAX7219_AD_DIGIT_6                      ((uint16_t)0x0700)          /*!< Digit 6 */
-#define  MAX7219_AD_DIGIT_7                      ((uint16_t)0x0800)          /*!< Digit 7 */
-#define  MAX7219_AD_DECODE_MODE                  ((uint16_t)0x0900)          /*!< Decode mode */
-#define  MAX7219_AD_INTENSITY                    ((uint16_t)0x0A00)          /*!< Intensity */
-#define  MAX7219_AD_SCAN_LIMIT                   ((uint16_t)0x0B00)          /*!< Scan limit */
-#define  MAX7219_AD_SHUTDOWN                     ((uint16_t)0x0C00)          /*!< Shutdown */
-#define  MAX7219_AD_DISPLAY_TEST                 ((uint16_t)0x0F00)          /*!< Display test */
-
-/***************  Bit definition for Registers Configuration  *****************/
-/** @} */
-
-/*===========================================================================*/
-/* Driver pre-compile time settings.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Derived constants and error checks.                                       */
-/*===========================================================================*/
-
-#if !HAL_USE_SPI
-#error "MAX7219 requires HAL_USE_SPI"
-#endif
-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/**
- * @name    MAX7219 data structures and types
- * @{
- *
- */
-
-/**
- * @brief  MAX7219 operation mode
- */
-typedef enum {
-  MAX7219_OM_Shutdown  = 0x00,                 /*!< Shutdown mode */
-  MAX7219_OM_Normal    = 0x01                  /*!< Normal mode */
-} MAX7219_OM_t;
-
-/**
- * @brief  MAX7219 decoder mode
- */
-typedef enum {
-  MAX7219_DM_No_decode  = 0x00,                 /*!< No decode */
-  MAX7219_DM_CodeB_0    = 0x01,                 /*!< Code B on Digit 0 */
-  MAX7219_DM_CodeB_1    = 0x03,                 /*!< Code B on Digits 0-1 */
-  MAX7219_DM_CodeB_2    = 0x07,                 /*!< Code B on Digits from 0 to 2 */
-  MAX7219_DM_CodeB_3    = 0x0F,                 /*!< Code B on Digits from 0 to 3 */
-  MAX7219_DM_CodeB_4    = 0x1F,                 /*!< Code B on Digits from 0 to 4 */
-  MAX7219_DM_CodeB_5    = 0x3F,                 /*!< Code B on Digits from 0 to 5 */
-  MAX7219_DM_CodeB_6    = 0x7F,                 /*!< Code B on Digits from 0 to 6 */
-  MAX7219_DM_CodeB_7    = 0xFF                  /*!< Code B on every digit */
-} MAX7219_DM_t;
-
-/**
- * @brief  MAX7219 intensity mode
- */
-typedef enum {
-  MAX7219_IM_1_32       = 0x00,                 /*!< 1/32 intensity */
-  MAX7219_IM_3_32       = 0x01,                 /*!< 3/32 intensity */
-  MAX7219_IM_5_32       = 0x02,                 /*!< 5/32 intensity */
-  MAX7219_IM_7_32       = 0x03,                 /*!< 7/32 intensity */
-  MAX7219_IM_9_32       = 0x04,                 /*!< 9/32 intensity */
-  MAX7219_IM_11_32      = 0x05,                 /*!< 11/32 intensity */
-  MAX7219_IM_13_32      = 0x06,                 /*!< 13/32 intensity */
-  MAX7219_IM_15_32      = 0x07,                 /*!< 15/32 intensity */
-  MAX7219_IM_17_32      = 0x08,                 /*!< 17/32 intensity */
-  MAX7219_IM_19_32      = 0x09,                 /*!< 19/32 intensity */
-  MAX7219_IM_21_32      = 0x0A,                 /*!< 21/32 intensity */
-  MAX7219_IM_23_32      = 0x0B,                 /*!< 23/32 intensity */
-  MAX7219_IM_25_32      = 0x0C,                 /*!< 25/32 intensity */
-  MAX7219_IM_27_32      = 0x0D,                 /*!< 27/32 intensity */
-  MAX7219_IM_29_32      = 0x0E,                 /*!< 29/32 intensity */
-  MAX7219_IM_31_32      = 0x0F                  /*!< 31/32 intensity */
-} MAX7219_IM_t;
-
-/**
- * @brief  MAX7219 scan line mode
- */
-typedef enum {
-  MAX7219_SL_0          = 0x00,                 /*!< Scanned digit 0 only */
-  MAX7219_SL_1          = 0x01,                 /*!< Scanned digit 0 & 1 */
-  MAX7219_SL_2          = 0x02,                 /*!< Scanned digit 0 - 2 */
-  MAX7219_SL_3          = 0x03,                 /*!< Scanned digit 0 - 3 */
-  MAX7219_SL_4          = 0x04,                 /*!< Scanned digit 0 - 4 */
-  MAX7219_SL_5          = 0x05,                 /*!< Scanned digit 0 - 5 */
-  MAX7219_SL_6          = 0x06,                 /*!< Scanned digit 0 - 6 */
-  MAX7219_SL_7          = 0x07                  /*!< Scanned digit 0 - 7 */
-} MAX7219_SL_t;
-/** @}  */
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-  void max7219WriteRegister(SPIDriver *spip, uint16_t adr, uint8_t data);
-#ifdef __cplusplus
-}
-#endif
-#endif /* _MAX7219_H_ */
-
-/** @} */
-
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/rf/nrf24l01.c b/ChibiOS_16.1.5/community/os/various/devices_lib/rf/nrf24l01.c
deleted file mode 100644
index f526fbe..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/rf/nrf24l01.c
+++ /dev/null
@@ -1,440 +0,0 @@
-/*
-    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
-	
-    This file is part of PLAY for ChibiOS/RT.
-
-    PLAY 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.
-
-    PLAY 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/>.
-*/
-
-/*
-    Special thanks to Giovanni Di Sirio for teachings, his moral support and
-    friendship. Note that some or every piece of this file could be part of
-    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
-    Please refer to ChibiOS/RT license before use this file.
-	
-	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
- */
-
-/**
- * @file    nrf24l01.c
- * @brief   NRF24L01 interface module code.
- *
- * @addtogroup nrf24l01
- * @{
- */
-
-#include "ch.h"
-#include "hal.h"
-
-#include "nrf24l01.h"
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-#define ACTIVATE                  0x73
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-/**
- * @brief   Gets the status register value.
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- *
- * @return              the status register value
- */
-NRF24L01_status_t nrf24l01GetStatus(SPIDriver *spip) {
-  uint8_t txbuf = NRF24L01_CMD_NOP;
-  uint8_t status;
-  spiSelect(spip);
-  spiExchange(spip, 1, &txbuf, &status);
-  spiUnselect(spip);
-  return status;
-}
-
-/**
- * @brief   Reads a generic register value.
- *
- * @note    Cannot be used to set addresses
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- * @param[in] reg       register number
- * @param[out] pvalue   pointer to a data buffer
- *
- * @return              the status register value
- */
-NRF24L01_status_t nrf24l01ReadRegister(SPIDriver *spip, uint8_t reg,
-                                       uint8_t* pvalue) {
-  uint8_t txbuf = (NRF24L01_CMD_READ | reg);
-  uint8_t status = 0xFF;
-  spiSelect(spip);
-  spiExchange(spip, 1, &txbuf, &status);
-  spiReceive(spip, 1, pvalue);
-  spiUnselect(spip);
-  return status;
-}
-
-/**
- * @brief   Writes a generic register value.
- *
- * @note    Cannot be used to set addresses
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- * @param[in] reg       register number
- * @param[in] value     data value
- *
- * @return              the status register value
- */
-NRF24L01_status_t nrf24l01WriteRegister(SPIDriver *spip, uint8_t reg,
-                                        uint8_t value) {
-
-  uint8_t txbuf[2] = {(NRF24L01_CMD_WRITE | reg), value};
-  uint8_t rxbuf[2] = {0xFF, 0xFF};
-  switch (reg) {
-
-    default:
-      /* Reserved register must not be written, according to the datasheet
-       * this could permanently damage the device.
-       */
-      chDbgAssert(FALSE, "lg3d20WriteRegister(), reserved register");
-    case NRF24L01_AD_OBSERVE_TX:
-    case NRF24L01_AD_CD:
-    case NRF24L01_AD_RX_ADDR_P0:
-    case NRF24L01_AD_RX_ADDR_P1:
-    case NRF24L01_AD_RX_ADDR_P2:
-    case NRF24L01_AD_RX_ADDR_P3:
-    case NRF24L01_AD_RX_ADDR_P4:
-    case NRF24L01_AD_RX_ADDR_P5:
-    case NRF24L01_AD_TX_ADDR:
-    /* Read only or addresses registers cannot be written,
-     * the command is ignored.
-     */
-      return 0;
-    case NRF24L01_AD_CONFIG:
-    case NRF24L01_AD_EN_AA:
-    case NRF24L01_AD_EN_RXADDR:
-    case NRF24L01_AD_SETUP_AW:
-    case NRF24L01_AD_SETUP_RETR:
-    case NRF24L01_AD_RF_CH:
-    case NRF24L01_AD_RF_SETUP:
-    case NRF24L01_AD_STATUS:
-    case NRF24L01_AD_RX_PW_P0:
-    case NRF24L01_AD_RX_PW_P1:
-    case NRF24L01_AD_RX_PW_P2:
-    case NRF24L01_AD_RX_PW_P3:
-    case NRF24L01_AD_RX_PW_P4:
-    case NRF24L01_AD_RX_PW_P5:
-    case NRF24L01_AD_FIFO_STATUS:
-    case NRF24L01_AD_DYNPD:
-    case NRF24L01_AD_FEATURE:
-      spiSelect(spip);
-      spiExchange(spip, 2, txbuf, rxbuf);
-      spiUnselect(spip);
-      return rxbuf[0];
-  }
-}
-
-
-/**
- * @brief   Writes an address.
- *
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- * @param[in] reg       register number
- * @param[in] pvalue    pointer to address value
- * @param[in] addlen    address len
- *
- * @return              the status register value
- */
-NRF24L01_status_t nrf24l01WriteAddress(SPIDriver *spip, uint8_t reg,
-                                       uint8_t *pvalue, uint8_t addlen) {
-
-  uint8_t txbuf[NRF24L01_MAX_ADD_LENGHT + 1];
-  uint8_t rxbuf[NRF24L01_MAX_ADD_LENGHT + 1];
-  unsigned i;
-
-  if(addlen > NRF24L01_MAX_ADD_LENGHT) {
-    chDbgAssert(FALSE, "nrf24l01WriteAddress(), wrong address length");
-    return 0;
-  }
-  txbuf[0] = (NRF24L01_CMD_WRITE | reg);
-  rxbuf[0] = 0xFF;
-  for(i = 1; i <= addlen; i++) {
-    txbuf[i] = *(pvalue + (i - 1));
-    rxbuf[i] = 0xFF;
-  }
-  switch (reg) {
-
-    default:
-      /* Reserved register must not be written, according to the datasheet
-       * this could permanently damage the device.
-       */
-      chDbgAssert(FALSE, "nrf24l01WriteAddress(), reserved register");
-    case NRF24L01_AD_OBSERVE_TX:
-    case NRF24L01_AD_CD:
-    case NRF24L01_AD_CONFIG:
-    case NRF24L01_AD_EN_AA:
-    case NRF24L01_AD_EN_RXADDR:
-    case NRF24L01_AD_SETUP_AW:
-    case NRF24L01_AD_SETUP_RETR:
-    case NRF24L01_AD_RF_CH:
-    case NRF24L01_AD_RF_SETUP:
-    case NRF24L01_AD_STATUS:
-    case NRF24L01_AD_RX_PW_P0:
-    case NRF24L01_AD_RX_PW_P1:
-    case NRF24L01_AD_RX_PW_P2:
-    case NRF24L01_AD_RX_PW_P3:
-    case NRF24L01_AD_RX_PW_P4:
-    case NRF24L01_AD_RX_PW_P5:
-    case NRF24L01_AD_FIFO_STATUS:
-    case NRF24L01_AD_DYNPD:
-    case NRF24L01_AD_FEATURE:
-    /* Not address registers cannot be written, the command is ignored.*/
-      return 0;
-    case NRF24L01_AD_RX_ADDR_P0:
-    case NRF24L01_AD_RX_ADDR_P1:
-    case NRF24L01_AD_RX_ADDR_P2:
-    case NRF24L01_AD_RX_ADDR_P3:
-    case NRF24L01_AD_RX_ADDR_P4:
-    case NRF24L01_AD_RX_ADDR_P5:
-    case NRF24L01_AD_TX_ADDR:
-      spiSelect(spip);
-      spiExchange(spip, addlen + 1, txbuf, rxbuf);
-      spiUnselect(spip);
-      return rxbuf[0];
-  }
-}
-/**
- * @brief   Reads RX payload from FIFO.
- *
- * @note    Payload is deleted from FIFO after it is read. Used in RX mode.
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- * @param[in] paylen    payload length
- * @param[in] rxbuf     pointer to a buffer
- *
- * @return              the status register value
- */
-NRF24L01_status_t nrf24l01GetRxPl(SPIDriver *spip, uint8_t paylen,
-                                  uint8_t* rxbuf) {
-
-  uint8_t txbuf = NRF24L01_CMD_R_RX_PAYLOAD;
-  uint8_t status;
-  if(paylen > NRF24L01_MAX_PL_LENGHT) {
-    return 0;
-  }
-  spiSelect(spip);
-  spiExchange(spip, 1, &txbuf, &status);
-  spiReceive(spip, paylen, rxbuf);
-  spiUnselect(spip);
-  return status;
-}
-
-/**
- * @brief   Writes TX payload on FIFO.
- *
- * @note    Used in TX mode.
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- * @param[in] paylen    payload length
- * @param[in] rxbuf     pointer to a buffer
- *
- * @return              the status register value
- */
-NRF24L01_status_t nrf24l01WriteTxPl(SPIDriver *spip, uint8_t paylen,
-                                    uint8_t* txbuf) {
-
-  uint8_t cmd = NRF24L01_CMD_W_TX_PAYLOAD;
-  uint8_t status;
-  if(paylen > NRF24L01_MAX_PL_LENGHT) {
-    return 0;
-  }
-  spiSelect(spip);
-  spiExchange(spip, 1, &cmd, &status);
-  spiSend(spip, paylen, txbuf);
-  spiUnselect(spip);
-  return status;
-}
-
-/**
- * @brief   Flush TX FIFO.
- *
- * @note    Used in TX mode.
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- *
- * @return              the status register value
- */
-NRF24L01_status_t nrf24l01FlushTx(SPIDriver *spip) {
-
-  uint8_t txbuf = NRF24L01_CMD_FLUSH_TX;
-  uint8_t status;
-  spiSelect(spip);
-  spiExchange(spip, 1, &txbuf, &status);
-  spiUnselect(spip);
-  return status;
-}
-
-/**
- * @brief   Flush RX FIFO.
- *
- * @note    Used in RX mode. Should not be executed during transmission of
-            acknowledge, that is, acknowledge package will not be completed.
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- *
- * @return              the status register value
- */
-NRF24L01_status_t nrf24l01FlushRx(SPIDriver *spip) {
-
-  uint8_t txbuf = NRF24L01_CMD_FLUSH_RX;
-  uint8_t status;
-  spiSelect(spip);
-  spiExchange(spip, 1, &txbuf, &status);
-  spiUnselect(spip);
-  return status;
-}
-
-#if NRF24L01_USE_FEATURE || defined(__DOXYGEN__)
-/**
- * @brief   Activates the following features:
- *          R_RX_PL_WID        -> (In order to enable DPL the EN_DPL bit in the
- *                                 FEATURE register must be set)
- *          W_ACK_PAYLOAD      -> (In order to enable PL with ACK the EN_ACK_PAY
- *                                 bit in the FEATURE register must be set)
- *          W_TX_PAYLOAD_NOACK -> (In order to send a PL without ACK
- *                                 the EN_DYN_ACK it in the FEATURE register
- *                                 must be set)
- *
- * @note    A new ACTIVATE command with the same data deactivates them again.
- *          This is executable in power down or stand by modes only.
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- *
- * @return              the status register value
- */
-NRF24L01_status_t nrf24l01Activate(SPIDriver *spip) {
-
-  uint8_t txbuf[2] = {NRF24L01_CMD_FLUSH_RX, ACTIVATE};
-  uint8_t rxbuf[2];
-  spiSelect(spip);
-  spiExchange(spip, 2, txbuf, rxbuf);
-  spiUnselect(spip);
-  return rxbuf[0];
-}
-
-/**
- * @brief   Reads RX payload lenght for the top R_RX_PAYLOAD
- *          in the RX FIFO when Dynamic Payload Length is activated.
- *
- * @note    R_RX_PL_WID must be set and activated.
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- * @param[in] ppaylen   pointer to the payload length variable
- *
- * @return              the status register value
- */
-NRF24L01_status_t nrf24l01ReadRxPlWid(SPIDriver *spip, uint8_t *ppaylen) {
-
-  uint8_t txbuf[2] = {NRF24L01_CMD_R_RX_PL_WID, 0xFF};
-  uint8_t rxbuf[2];
-  spiSelect(spip);
-  spiExchange(spip, 2, txbuf, rxbuf);
-  spiUnselect(spip);
-  *ppaylen = rxbuf[1];
-  return rxbuf[0];
-}
-
-/**
- * @brief   Writes TX payload associateted to ACK.
- *
- * @note    Used in RX mode. Write Payload to be transmitted together with
- *          ACK packet on PIPE PPP. (PPP valid in the range from 000 to 101).
- * @note    EN_ACK_PAY must be set and activated.
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- * @param[in] paylen    payload length
- * @param[in] rxbuf     pointer to a buffer
- *
- * @return              the status register value
- */
-NRF24L01_status_t nrf24l01WriteAckPl(SPIDriver *spip, uint8_t ppp, uint8_t paylen,
-                                       uint8_t* payload){
-
-  payload[0] = NRF24L01_CMD_W_ACK_PAYLOAD | NRF24L01_MAX_PPP;
-  uint8_t status;
-  if((paylen > NRF24L01_MAX_PL_LENGHT) || (ppp > NRF24L01_MAX_PPP)) {
-    return 0;
-  }
-  spiSelect(spip);
-  spiExchange(spip, 1, payload, &status);
-  spiSend(spip, paylen, payload);
-  spiUnselect(spip);
-  return status;
-}
-
-/**
- * @brief   Writes next TX payload without ACK.
- *
- * @note    Used in TX mode.
- * @note    EN_DYN_ACK must be set and activated.
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- * @param[in] paylen    payload length
- * @param[in] rxbuf     pointer to a buffer
- *
- * @return              the status register value
- */
-NRF24L01_status_t nrf24l01WriteTxPlNoAck(SPIDriver *spip, uint8_t paylen,
-                                    uint8_t* txbuf) {
-
-  txbuf[0] = NRF24L01_CMD_W_TX_PAYLOAD_NOACK;
-  uint8_t status;
-  if(paylen > NRF24L01_MAX_PL_LENGHT) {
-    return 0;
-  }
-  spiSelect(spip);
-  spiExchange(spip, 1, txbuf, &status);
-  spiSend(spip, paylen, txbuf);
-  spiUnselect(spip);
-  return status;
-}
-#endif /* NRF24L01_USE_FEATURE */
-
-/** @} */
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/rf/nrf24l01.h b/ChibiOS_16.1.5/community/os/various/devices_lib/rf/nrf24l01.h
deleted file mode 100644
index 86ba127..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/rf/nrf24l01.h
+++ /dev/null
@@ -1,575 +0,0 @@
-/*
-    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
-	
-    This file is part of PLAY for ChibiOS/RT.
-
-    PLAY 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.
-
-    PLAY 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/>.
-*/
-
-/*
-    Special thanks to Giovanni Di Sirio for teachings, his moral support and
-    friendship. Note that some or every piece of this file could be part of
-    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
-    Please refer to ChibiOS/RT license before use this file.
-	
-	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
- */
-
-/**
- * @file    nrf24l01.h
- * @brief   NRF24L01 Radio frequency module interface module header.
- *
- * @{
- */
-
-#ifndef _NRF24L01_H_
-#define _NRF24L01_H_
-
-/*===========================================================================*/
-/* Driver constants.                                                         */
-/*===========================================================================*/
-
-#define  NRF24L01_MAX_ADD_LENGHT                 ((uint8_t)  5)
-#define  NRF24L01_MAX_PL_LENGHT                  ((uint8_t) 32)
-#define  NRF24L01_MAX_PPP                        ((uint8_t)  5)
-
-/**
- * @brief   Enables Advanced Features.
- */
-#if !defined(NRF24L01_USE_FEATURE) || defined(__DOXYGEN__)
-#define NRF24L01_USE_FEATURE                     TRUE
-#endif
-
-/**
- * @name    NRF24L01 register names
- * @{
- */
-/******************************************************************************/
-/*                                                                            */
-/*                        NRF24L01 RF Transceiver                             */
-/*                                                                            */
-/******************************************************************************/
-/******************  Bit definition for SPI communication  ********************/
-#define  NRF24L01_DI                             ((uint8_t)0xFF)             /*!< DI[7:0] Data input */
-#define  NRF24L01_DI_0                           ((uint8_t)0x01)             /*!< bit 0 */
-#define  NRF24L01_DI_1                           ((uint8_t)0x02)             /*!< bit 1 */
-#define  NRF24L01_DI_2                           ((uint8_t)0x04)             /*!< bit 2 */
-#define  NRF24L01_DI_3                           ((uint8_t)0x08)             /*!< bit 3 */
-#define  NRF24L01_DI_4                           ((uint8_t)0x10)             /*!< bit 4 */
-#define  NRF24L01_DI_5                           ((uint8_t)0x20)             /*!< bit 5 */
-#define  NRF24L01_DI_6                           ((uint8_t)0x40)             /*!< bit 6 */
-#define  NRF24L01_DI_7                           ((uint8_t)0x80)             /*!< bit 7 */
-
-#define  NRF24L01_AD                             ((uint8_t)0x1F)             /*!< AD[4:0] Address Data */
-#define  NRF24L01_AD_0                           ((uint8_t)0x01)             /*!< bit 0 */
-#define  NRF24L01_AD_1                           ((uint8_t)0x02)             /*!< bit 1 */
-#define  NRF24L01_AD_2                           ((uint8_t)0x04)             /*!< bit 2 */
-#define  NRF24L01_AD_3                           ((uint8_t)0x08)             /*!< bit 3 */
-#define  NRF24L01_AD_4                           ((uint8_t)0x10)             /*!< bit 4 */
-
-#define  NRF24L01_CMD_READ                       ((uint8_t)0x00)             /*!< Read command */
-#define  NRF24L01_CMD_WRITE                      ((uint8_t)0x20)             /*!< Write command */
-#define  NRF24L01_CMD_R_RX_PAYLOAD               ((uint8_t)0x61)             /*!< Read RX-payload*/
-#define  NRF24L01_CMD_W_TX_PAYLOAD               ((uint8_t)0xA0)             /*!< Write TX-payload */
-#define  NRF24L01_CMD_FLUSH_TX                   ((uint8_t)0xE1)             /*!< Flush TX FIFO */
-#define  NRF24L01_CMD_FLUSH_RX                   ((uint8_t)0xE2)             /*!< Flush RX FIFO */
-#define  NRF24L01_CMD_REUSE_TX_PL                ((uint8_t)0xE3)             /*!< Used for a PTX device */
-#define  NRF24L01_CMD_ACTIVATE                   ((uint8_t)0x50)             /*!< Activate command */
-#define  NRF24L01_CMD_R_RX_PL_WID                ((uint8_t)0x60)             /*!< Read RX-payload width */
-#define  NRF24L01_CMD_W_ACK_PAYLOAD              ((uint8_t)0xA8)             /*!< Write Payload for ACK */
-#define  NRF24L01_CMD_W_TX_PAYLOAD_NOACK         ((uint8_t)0xB0)             /*!< Disables AUTOACK*/
-#define  NRF24L01_CMD_NOP                        ((uint8_t)0xFF)             /*!< No Operation */
-
-/******************  Bit definition for Registers Addresses *******************/
-#define  NRF24L01_AD_CONFIG                      ((uint8_t)0x00)             /*!< Configuration Register */
-#define  NRF24L01_AD_EN_AA                       ((uint8_t)0x01)             /*!< Enable ‘Auto Acknowledgment’ */
-#define  NRF24L01_AD_EN_RXADDR                   ((uint8_t)0x02)             /*!< Enabled RX Addresses */
-#define  NRF24L01_AD_SETUP_AW                    ((uint8_t)0x03)             /*!< Setup of Address Widths */
-#define  NRF24L01_AD_SETUP_RETR                  ((uint8_t)0x04)             /*!< Setup of Automatic Retransmission */
-#define  NRF24L01_AD_RF_CH                       ((uint8_t)0x05)             /*!< RF Channel */
-#define  NRF24L01_AD_RF_SETUP                    ((uint8_t)0x06)             /*!< RF Setup Register */
-#define  NRF24L01_AD_STATUS                      ((uint8_t)0x07)             /*!< Status Register */
-#define  NRF24L01_AD_OBSERVE_TX                  ((uint8_t)0x08)             /*!< Transmit observe register */
-#define  NRF24L01_AD_CD                          ((uint8_t)0x09)             /*!< CD */
-#define  NRF24L01_AD_RX_ADDR_P0                  ((uint8_t)0x0A)             /*!< Receive address data pipe 0 */
-#define  NRF24L01_AD_RX_ADDR_P1                  ((uint8_t)0x0B)             /*!< Receive address data pipe 1 */
-#define  NRF24L01_AD_RX_ADDR_P2                  ((uint8_t)0x0C)             /*!< Receive address data pipe 2 */
-#define  NRF24L01_AD_RX_ADDR_P3                  ((uint8_t)0x0D)             /*!< Receive address data pipe 3 */
-#define  NRF24L01_AD_RX_ADDR_P4                  ((uint8_t)0x0E)             /*!< Receive address data pipe 4 */
-#define  NRF24L01_AD_RX_ADDR_P5                  ((uint8_t)0x0F)             /*!< Receive address data pipe 5 */
-#define  NRF24L01_AD_TX_ADDR                     ((uint8_t)0x10)             /*!< Transmit address */
-#define  NRF24L01_AD_RX_PW_P0                    ((uint8_t)0x11)             /*!< Number of bytes in RX payload in data pipe 0 */
-#define  NRF24L01_AD_RX_PW_P1                    ((uint8_t)0x12)             /*!< Number of bytes in RX payload in data pipe 1 */
-#define  NRF24L01_AD_RX_PW_P2                    ((uint8_t)0x13)             /*!< Number of bytes in RX payload in data pipe 2 */
-#define  NRF24L01_AD_RX_PW_P3                    ((uint8_t)0x14)             /*!< Number of bytes in RX payload in data pipe 3 */
-#define  NRF24L01_AD_RX_PW_P4                    ((uint8_t)0x15)             /*!< Number of bytes in RX payload in data pipe 4 */
-#define  NRF24L01_AD_RX_PW_P5                    ((uint8_t)0x16)             /*!< Number of bytes in RX payload in data pipe 5 */
-#define  NRF24L01_AD_FIFO_STATUS                 ((uint8_t)0x17)             /*!< FIFO Status Register */
-#define  NRF24L01_AD_DYNPD                       ((uint8_t)0x1C)             /*!< Enable dynamic payload length */
-#define  NRF24L01_AD_FEATURE                     ((uint8_t)0x1D)             /*!< Feature Register */
-
-/***************  Bit definition for Registers Configuration  *****************/
-#define  NRF24L01_DI_CONFIG                      ((uint8_t)0x7F)             /*!< CONTROL REGISTER BIT MASK*/
-#define  NRF24L01_DI_CONFIG_PRIM_RX              ((uint8_t)0x01)             /*!< RX/TX control - 1: PRX, 0: PTX */
-#define  NRF24L01_DI_CONFIG_PWR_UP               ((uint8_t)0x02)             /*!< 1: POWER UP, 0:POWER DOWN */
-#define  NRF24L01_DI_CONFIG_CRCO                 ((uint8_t)0x04)             /*!< CRC encoding scheme - 1:two bytes, 0:one byte */
-#define  NRF24L01_DI_CONFIG_EN_CRC               ((uint8_t)0x08)             /*!< Enable CRC. Forced high if one of the bits in the EN_AA is high */
-#define  NRF24L01_DI_CONFIG_MASK_MAX_RT          ((uint8_t)0x10)             /*!< Mask interrupt caused by MAX_RT - 1: Interrupt disabled, 0: Interrupt reflected on IRQ pin */
-#define  NRF24L01_DI_CONFIG_MASK_TX_DS           ((uint8_t)0x20)             /*!< Mask interrupt caused by TX_DS - 1: Interrupt disabled, 0: Interrupt reflected on IRQ pin */
-#define  NRF24L01_DI_CONFIG_MASK_RX_DR           ((uint8_t)0x40)             /*!< Mask interrupt caused by RX_DR - 1: Interrupt disabled, 0: Interrupt reflected on IRQ pin */
-
-#define  NRF24L01_DI_EN_AA                       ((uint8_t)0x3F)             /*!< ENABLE AUTO ACKNOLEDGMENT REGISTER BIT MASK */
-#define  NRF24L01_DI_EN_AA_P0                    ((uint8_t)0x01)             /*!< Enable auto acknowledgement data pipe 0 */
-#define  NRF24L01_DI_EN_AA_P1                    ((uint8_t)0x02)             /*!< Enable auto acknowledgement data pipe 1 */
-#define  NRF24L01_DI_EN_AA_P2                    ((uint8_t)0x04)             /*!< Enable auto acknowledgement data pipe 2 */
-#define  NRF24L01_DI_EN_AA_P3                    ((uint8_t)0x08)             /*!< Enable auto acknowledgement data pipe 3 */
-#define  NRF24L01_DI_EN_AA_P4                    ((uint8_t)0x10)             /*!< Enable auto acknowledgement data pipe 4 */
-#define  NRF24L01_DI_EN_AA_P5                    ((uint8_t)0x20)             /*!< Enable auto acknowledgement data pipe 5 */
-
-#define  NRF24L01_DI_EN_RXADDR                   ((uint8_t)0x3F)             /*!< ENABLE RX ADDRESSES REGISTER BIT MASK */
-#define  NRF24L01_DI_EN_RXADDR_P0                ((uint8_t)0x01)             /*!< Enable data pipe 0 */
-#define  NRF24L01_DI_EN_RXADDR_P1                ((uint8_t)0x02)             /*!< Enable data pipe 1 */
-#define  NRF24L01_DI_EN_RXADDR_P2                ((uint8_t)0x04)             /*!< Enable data pipe 2 */
-#define  NRF24L01_DI_EN_RXADDR_P3                ((uint8_t)0x08)             /*!< Enable data pipe 3 */
-#define  NRF24L01_DI_EN_RXADDR_P4                ((uint8_t)0x10)             /*!< Enable data pipe 4 */
-#define  NRF24L01_DI_EN_RXADDR_P5                ((uint8_t)0x20)             /*!< Enable data pipe 5 */
-
-#define  NRF24L01_DI_SETUP_AW                    ((uint8_t)0x03)             /*!< SETUP OF ADDRESSES WIDTHS REGISTER BIT MASK */
-#define  NRF24L01_DI_SETUP_AW_0                  ((uint8_t)0x01)             /*!< Addressed widths bit 0 */
-#define  NRF24L01_DI_SETUP_AW_1                  ((uint8_t)0x02)             /*!< Addressed widths bit 1 */
-
-#define  NRF24L01_DI_SETUP_RETR                  ((uint8_t)0xFF)             /*!< SETUP OF AUTOMATIC RETRANSMISSION REGISTER BIT MASK */
-#define  NRF24L01_DI_SETUP_RETR_ARC_0            ((uint8_t)0x01)             /*!< Auto Retransmit Count bit 0 */
-#define  NRF24L01_DI_SETUP_RETR_ARC_1            ((uint8_t)0x02)             /*!< Auto Retransmit Count bit 1 */
-#define  NRF24L01_DI_SETUP_RETR_ARC_2            ((uint8_t)0x04)             /*!< Auto Retransmit Count bit 2 */
-#define  NRF24L01_DI_SETUP_RETR_ARC_3            ((uint8_t)0x08)             /*!< Auto Retransmit Count bit 3 */
-#define  NRF24L01_DI_SETUP_RETR_ARD_0            ((uint8_t)0x10)             /*!< Auto Retransmit Delay bit 0 */
-#define  NRF24L01_DI_SETUP_RETR_ARD_1            ((uint8_t)0x20)             /*!< Auto Retransmit Delay bit 1 */
-#define  NRF24L01_DI_SETUP_RETR_ARD_2            ((uint8_t)0x40)             /*!< Auto Retransmit Delay bit 2 */
-#define  NRF24L01_DI_SETUP_RETR_ARD_3            ((uint8_t)0x80)             /*!< Auto Retransmit Delay bit 3 */
-
-
-#define  NRF24L01_DI_RF_CH                       ((uint8_t)0x7F)             /*!< RF CHANNEL REGISTER BIT MASK */
-#define  NRF24L01_DI_RF_CH_0                     ((uint8_t)0x01)             /*!< RF channel bit 0 */
-#define  NRF24L01_DI_RF_CH_1                     ((uint8_t)0x02)             /*!< RF channel bit 1 */
-#define  NRF24L01_DI_RF_CH_2                     ((uint8_t)0x04)             /*!< RF channel bit 2 */
-#define  NRF24L01_DI_RF_CH_3                     ((uint8_t)0x08)             /*!< RF channel bit 3 */
-#define  NRF24L01_DI_RF_CH_4                     ((uint8_t)0x10)             /*!< RF channel bit 4 */
-#define  NRF24L01_DI_RF_CH_5                     ((uint8_t)0x20)             /*!< RF channel bit 5 */
-#define  NRF24L01_DI_RF_CH_6                     ((uint8_t)0x40)             /*!< RF channel bit 6 */
-
-
-#define  NRF24L01_DI_RF_SETUP                    ((uint8_t)0x1F)             /*!< RF SETUP REGISTER BIT MASK */
-#define  NRF24L01_DI_RF_SETUP_LNA_HCURR          ((uint8_t)0x01)             /*!< Setup LNA gain */
-#define  NRF24L01_DI_RF_SETUP_RF_PWR_0           ((uint8_t)0x02)             /*!< RF output power bit 0 */
-#define  NRF24L01_DI_RF_SETUP_RF_PWR_1           ((uint8_t)0x04)             /*!< RF output power bit 1 */
-#define  NRF24L01_DI_RF_SETUP_RF_DR              ((uint8_t)0x08)             /*!< Air Data rate - 0: 1Mbps, 1: 2Mbps */
-#define  NRF24L01_DI_RF_SETUP_PLL_LOCK           ((uint8_t)0x10)             /*!< Force PLL lock signal */
-
-#define  NRF24L01_DI_STATUS                      ((uint8_t)0x7F)             /*!< STATUS REGISTER BIT MASK */
-#define  NRF24L01_DI_STATUS_TX_FULL              ((uint8_t)0x01)             /*!< TX FIFO full flag - 0: Available locations, 1: Full */
-#define  NRF24L01_DI_STATUS_RX_P_NO_0            ((uint8_t)0x02)             /*!< RX payload number bit 0 */
-#define  NRF24L01_DI_STATUS_RX_P_NO_1            ((uint8_t)0x04)             /*!< RX payload number bit 1 */
-#define  NRF24L01_DI_STATUS_RX_P_NO_2            ((uint8_t)0x08)             /*!< RX payload number bit 2 */
-#define  NRF24L01_DI_STATUS_MAX_RT               ((uint8_t)0x10)             /*!< Maximum number of TX retransmits interrupt */
-#define  NRF24L01_DI_STATUS_TX_DS                ((uint8_t)0x20)             /*!< Data Sent TX FIFO interrupt */
-#define  NRF24L01_DI_STATUS_RX_DR                ((uint8_t)0x40)             /*!< Data Ready RX FIFO interrupt */
-
-#define  NRF24L01_DI_OBSERVE_TX                  ((uint8_t)0xFF)             /*!< TRANSMIT OBSERVE REGISTER BIT MASK */
-#define  NRF24L01_DI_ARC_CNT_0                   ((uint8_t)0x01)             /*!< Count retransmitted packets bit 0 */
-#define  NRF24L01_DI_ARC_CNT_1                   ((uint8_t)0x02)             /*!< Count retransmitted packets bit 1 */
-#define  NRF24L01_DI_ARC_CNT_2                   ((uint8_t)0x04)             /*!< Count retransmitted packets bit 2 */
-#define  NRF24L01_DI_ARC_CNT_3                   ((uint8_t)0x08)             /*!< Count retransmitted packets bit 3 */
-#define  NRF24L01_DI_PLOS_CNT_0                  ((uint8_t)0x10)             /*!< Count lost packets bit 0 */
-#define  NRF24L01_DI_PLOS_CNT_1                  ((uint8_t)0x20)             /*!< Count lost packets bit 1 */
-#define  NRF24L01_DI_PLOS_CNT_2                  ((uint8_t)0x40)             /*!< Count lost packets bit 2 */
-#define  NRF24L01_DI_PLOS_CNT_3                  ((uint8_t)0x80)             /*!< Count lost packets bit 3 */
-
-#define  NRF24L01_DI_CD                          ((uint8_t)0x01)             /*!< REGISTER BIT MASK */
-#define  NRF24L01_DI_CARRIER_DETECT              ((uint8_t)0x01)             /*!< Carrier detect */
-
-#define  NRF24L01_DI_RX_PW_P0                    ((uint8_t)0x3F)             /*!< RX PAYLOAD WIDTH FOR PIPE 0 REGISTER BIT MASK */
-#define  NRF24L01_DI_RX_PW_P0_0                  ((uint8_t)0x01)             /*!< Bit 0 */
-#define  NRF24L01_DI_RX_PW_P0_1                  ((uint8_t)0x02)             /*!< Bit 1 */
-#define  NRF24L01_DI_RX_PW_P0_2                  ((uint8_t)0x04)             /*!< Bit 2 */
-#define  NRF24L01_DI_RX_PW_P0_3                  ((uint8_t)0x08)             /*!< Bit 3 */
-#define  NRF24L01_DI_RX_PW_P0_4                  ((uint8_t)0x10)             /*!< Bit 4 */
-#define  NRF24L01_DI_RX_PW_P0_5                  ((uint8_t)0x20)             /*!< Bit 5 */
-
-#define  NRF24L01_DI_RX_PW_P1                    ((uint8_t)0x3F)             /*!< RX PAYLOAD WIDTH FOR PIPE 1 REGISTER BIT MASK */
-#define  NRF24L01_DI_RX_PW_P1_0                  ((uint8_t)0x01)             /*!< Bit 0 */
-#define  NRF24L01_DI_RX_PW_P1_1                  ((uint8_t)0x02)             /*!< Bit 1 */
-#define  NRF24L01_DI_RX_PW_P1_2                  ((uint8_t)0x04)             /*!< Bit 2 */
-#define  NRF24L01_DI_RX_PW_P1_3                  ((uint8_t)0x08)             /*!< Bit 3 */
-#define  NRF24L01_DI_RX_PW_P1_4                  ((uint8_t)0x10)             /*!< Bit 4 */
-#define  NRF24L01_DI_RX_PW_P1_5                  ((uint8_t)0x20)             /*!< Bit 5 */
-
-#define  NRF24L01_DI_RX_PW_P2                    ((uint8_t)0x3F)             /*!< RX PAYLOAD WIDTH FOR PIPE 2 REGISTER BIT MASK */
-#define  NRF24L01_DI_RX_PW_P2_0                  ((uint8_t)0x01)             /*!< Bit 0 */
-#define  NRF24L01_DI_RX_PW_P2_1                  ((uint8_t)0x02)             /*!< Bit 1 */
-#define  NRF24L01_DI_RX_PW_P2_2                  ((uint8_t)0x04)             /*!< Bit 2 */
-#define  NRF24L01_DI_RX_PW_P2_3                  ((uint8_t)0x08)             /*!< Bit 3 */
-#define  NRF24L01_DI_RX_PW_P2_4                  ((uint8_t)0x10)             /*!< Bit 4 */
-#define  NRF24L01_DI_RX_PW_P2_5                  ((uint8_t)0x20)             /*!< Bit 5 */
-
-#define  NRF24L01_DI_RX_PW_P3                    ((uint8_t)0x3F)             /*!< RX PAYLOAD WIDTH FOR PIPE 3 REGISTER BIT MASK */
-#define  NRF24L01_DI_RX_PW_P3_0                  ((uint8_t)0x01)             /*!< Bit 0 */
-#define  NRF24L01_DI_RX_PW_P3_1                  ((uint8_t)0x02)             /*!< Bit 1 */
-#define  NRF24L01_DI_RX_PW_P3_2                  ((uint8_t)0x04)             /*!< Bit 2 */
-#define  NRF24L01_DI_RX_PW_P3_3                  ((uint8_t)0x08)             /*!< Bit 3 */
-#define  NRF24L01_DI_RX_PW_P3_4                  ((uint8_t)0x10)             /*!< Bit 4 */
-#define  NRF24L01_DI_RX_PW_P3_5                  ((uint8_t)0x20)             /*!< Bit 5 */
-
-#define  NRF24L01_DI_RX_PW_P4                    ((uint8_t)0x3F)             /*!< RX PAYLOAD WIDTH FOR PIPE 4 REGISTER BIT MASK */
-#define  NRF24L01_DI_RX_PW_P4_0                  ((uint8_t)0x01)             /*!< Bit 0 */
-#define  NRF24L01_DI_RX_PW_P4_1                  ((uint8_t)0x02)             /*!< Bit 1 */
-#define  NRF24L01_DI_RX_PW_P4_2                  ((uint8_t)0x04)             /*!< Bit 2 */
-#define  NRF24L01_DI_RX_PW_P4_3                  ((uint8_t)0x08)             /*!< Bit 3 */
-#define  NRF24L01_DI_RX_PW_P4_4                  ((uint8_t)0x10)             /*!< Bit 4 */
-#define  NRF24L01_DI_RX_PW_P4_5                  ((uint8_t)0x20)             /*!< Bit 5 */
-
-#define  NRF24L01_DI_RX_PW_P5                    ((uint8_t)0x3F)             /*!< RX PAYLOAD WIDTH FOR PIPE 5 REGISTER BIT MASK */
-#define  NRF24L01_DI_RX_PW_P5_0                  ((uint8_t)0x01)             /*!< Bit 0 */
-#define  NRF24L01_DI_RX_PW_P5_1                  ((uint8_t)0x02)             /*!< Bit 1 */
-#define  NRF24L01_DI_RX_PW_P5_2                  ((uint8_t)0x04)             /*!< Bit 2 */
-#define  NRF24L01_DI_RX_PW_P5_3                  ((uint8_t)0x08)             /*!< Bit 3 */
-#define  NRF24L01_DI_RX_PW_P5_4                  ((uint8_t)0x10)             /*!< Bit 4 */
-#define  NRF24L01_DI_RX_PW_P5_5                  ((uint8_t)0x20)             /*!< Bit 5 */
-
-#define  NRF24L01_DI_FIFO_STATUS                 ((uint8_t)0x73)             /*!< FIFO STATUS REGISTER BIT MASK*/
-#define  NRF24L01_DI_FIFO_STATUS_RX_EMPTY        ((uint8_t)0x01)             /*!< RX FIFO empty flag - 0:Data in RX FIFO, 1:RX FIFO empty */
-#define  NRF24L01_DI_FIFO_STATUS_RX_FULL         ((uint8_t)0x02)             /*!< RX FIFO full flag - 0:Available locations in RX FIFO, 1:RX FIFO empty */
-#define  NRF24L01_DI_FIFO_STATUS_TX_EMPTY        ((uint8_t)0x10)             /*!< TX FIFO empty flag - 0:Data in TX FIFO, 1:TX FIFO empty */
-#define  NRF24L01_DI_FIFO_STATUS_TX_FULL         ((uint8_t)0x20)             /*!< TX FIFO full flag - 0:Available locations in TX FIFO, 1:TX FIFO empty */
-#define  NRF24L01_DI_FIFO_STATUS_TX_REUSE        ((uint8_t)0x40)             /*!< Reuse last transmitted data packet if set high */
-
-#define  NRF24L01_DI_DYNPD                       ((uint8_t)0x3F)             /*!< ENABLE DYNAMIC PAYLOAD LENGHT REGISTER BIT MASK */
-#define  NRF24L01_DI_DYNPD_DPL_P0                ((uint8_t)0x01)             /*!< Enable dyn. payload length data pipe 0 */
-#define  NRF24L01_DI_DYNPD_DPL_P1                ((uint8_t)0x02)             /*!< Enable dyn. payload length data pipe 1 */
-#define  NRF24L01_DI_DYNPD_DPL_P2                ((uint8_t)0x04)             /*!< Enable dyn. payload length data pipe 2 */
-#define  NRF24L01_DI_DYNPD_DPL_P3                ((uint8_t)0x08)             /*!< Enable dyn. payload length data pipe 3 */
-#define  NRF24L01_DI_DYNPD_DPL_P4                ((uint8_t)0x10)             /*!< Enable dyn. payload length data pipe 4 */
-#define  NRF24L01_DI_DYNPD_DPL_P5                ((uint8_t)0x20)             /*!< Enable dyn. payload length data pipe 5 */
-
-#define  NRF24L01_DI_FEATURE                     ((uint8_t)0x07)             /*!< FEATURE REGISTER REGISTER BIT MASK */
-#define  NRF24L01_DI_FEATURE_EN_DYN_ACK          ((uint8_t)0x01)             /*!< Enables the W_TX_PAYLOAD_NOACK command */
-#define  NRF24L01_DI_FEATURE_EN_ACK_PAY          ((uint8_t)0x02)             /*!< Enables Payload with ACK */
-#define  NRF24L01_DI_FEATURE_EN_DPL              ((uint8_t)0x04)             /*!< Enables Dynamic Payload Length */
-/** @} */
-
-/*===========================================================================*/
-/* Driver pre-compile time settings.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Derived constants and error checks.                                       */
-/*===========================================================================*/
-
-#if !(HAL_USE_SPI)
-#error "RF_NRF24L01 requires HAL_USE_SPI."
-#endif
-
-#if !(HAL_USE_EXT)
-#error "RF_NRF24L01 requires HAL_USE_EXT."
-#endif
-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/**
- * @name    RF Transceiver data structures and types
- * @{
- */
-
-/**
- * @brief   RF Transceiver RX/TX Address field width
- */
-typedef enum {
-
-  NRF24L01_AW_3_bytes = 0x01,               /*!< 3 bytes width */
-  NRF24L01_AW_4_bytes = 0x02,               /*!< 4 bytes width */
-  NRF24L01_AW_5_bytes = 0x03                /*!< 5 bytes width */
-} NRF24L01_AW_t;
-
-/**
- * @brief   RF Transceiver Auto Retransmit Delay
- */
-typedef enum {
-
-  NRF24L01_ARD_250us =  0x00,               /*!< Wait 250us */
-  NRF24L01_ARD_500us =  0x10,               /*!< Wait 500us */
-  NRF24L01_ARD_750us =  0x20,               /*!< Wait 750us */
-  NRF24L01_ARD_1000us = 0x30,               /*!< Wait 1000us */
-  NRF24L01_ARD_1250us = 0x40,               /*!< Wait 1250us */
-  NRF24L01_ARD_1500us = 0x50,               /*!< Wait 1500us */
-  NRF24L01_ARD_1750us = 0x60,               /*!< Wait 1750us */
-  NRF24L01_ARD_2000us = 0x70,               /*!< Wait 2000us */
-  NRF24L01_ARD_2250us = 0x80,               /*!< Wait 2250us */
-  NRF24L01_ARD_2500us = 0x90,               /*!< Wait 2500us */
-  NRF24L01_ARD_2750us = 0xA0,               /*!< Wait 2750us */
-  NRF24L01_ARD_3000us = 0xB0,               /*!< Wait 3000us */
-  NRF24L01_ARD_3250us = 0xC0,               /*!< Wait 3250us */
-  NRF24L01_ARD_3500us = 0xD0,               /*!< Wait 3500us */
-  NRF24L01_ARD_3750us = 0xE0,               /*!< Wait 3750us */
-  NRF24L01_ARD_4000us = 0xF0                /*!< Wait 4000us */
-} NRF24L01_ARD_t;
-
-/**
- * @brief   RF Transceiver Auto Retransmit Count
- */
-typedef enum {
-
-  NRF24L01_ARC_disabled = 0x00,             /*!< Re-Transmit disabled */
-  NRF24L01_ARC_1_time   = 0x01,             /*!< Up to 1 Re-Transmit on fail of AA */
-  NRF24L01_ARC_2_times  = 0x02,             /*!< Up to 2 Re-Transmit on fail of AA */
-  NRF24L01_ARC_3_times  = 0x03,             /*!< Up to 3 Re-Transmit on fail of AA */
-  NRF24L01_ARC_4_times  = 0x04,             /*!< Up to 4 Re-Transmit on fail of AA */
-  NRF24L01_ARC_5_times  = 0x05,             /*!< Up to 5 Re-Transmit on fail of AAs */
-  NRF24L01_ARC_6_times  = 0x06,             /*!< Up to 6 Re-Transmit on fail of AA */
-  NRF24L01_ARC_7_times  = 0x07,             /*!< Up to 7 Re-Transmit on fail of AA */
-  NRF24L01_ARC_8_times  = 0x08,             /*!< Up to 8 Re-Transmit on fail of AA */
-  NRF24L01_ARC_9_times  = 0x09,             /*!< Up to 9 Re-Transmit on fail of AA */
-  NRF24L01_ARC_10_times = 0x0A,             /*!< Up to 10 Re-Transmit on fail of AA */
-  NRF24L01_ARC_11_times = 0x0B,             /*!< Up to 11 Re-Transmit on fail of AA */
-  NRF24L01_ARC_12_times = 0x0C,             /*!< Up to 12 Re-Transmit on fail of AA */
-  NRF24L01_ARC_13_times = 0x0D,             /*!< Up to 13 Re-Transmit on fail of AA */
-  NRF24L01_ARC_14_times = 0x0E,             /*!< Up to 14 Re-Transmit on fail of AA */
-  NRF24L01_ARC_15_times = 0x0F              /*!< Up to 15 Re-Transmit on fail of AA */
-} NRF24L01_ARC_t;
-
-
-/**
- * @brief   RF Transceiver configuration typedef.
- *
- * @detail  This will select frequency channel beetween 2,4 GHz and 2,525 GHz
- * @detail  according to formula 2,4GHz + RF_CH[MHz]. This value must be included
- * @detail  between 0 and 125.
- */
-typedef uint8_t NRF24L01_RF_CH_t;
-
-/**
- * @brief   RF Transceiver Air Data Rate
- */
-typedef enum {
-
-  NRF24L01_ADR_1Mbps = 0x00,             /*!< Air data rate 1 Mbps */
-  NRF24L01_ADR_2Mbps = 0x08              /*!< Air data rate 2 Mbps */
-} NRF24L01_ADR_t;
-
-/**
- * @brief   RF Transceiver Output Power
- */
-typedef enum {
-
-  NRF24L01_PWR_0dBm     = 0x06,          /*!< RF output power 0 dBm */
-  NRF24L01_PWR_neg6dBm  = 0x04,          /*!< RF output power -6 dBm */
-  NRF24L01_PWR_neg12dBm = 0x02,          /*!< RF output power -12 dBm */
-  NRF24L01_PWR_neg18dBm = 0x00           /*!< RF output power -18 dBm */
-} NRF24L01_PWR_t;
-
-/**
- * @brief   RF Transceiver Low Noise Amplifier
- *
- * @details Reduce current consumption in RX mode with 0.8 mA at cost of 1.5dB
- *          reduction in receiver sensitivity.
- */
-typedef  enum {
-  NRF24L01_LNA_enabled =  0x01,          /*!< LNA_CURR enabled */
-  NRF24L01_LNA_disabled = 0x00           /*!< LNA_CURR disabled */
-} NRF24L01_LNA_t;
-
-/**
- * @brief   RF Transceiver Backward Compatibility
- *
- * @details This type specifies if trasmission must be compatible to receive
- *          from an nRF2401/nRF2402/nRF24E1/nRF24E.
- */
-typedef  bool_t                   NRF24L01_bckwrdcmp_t;
-
-#if NRF24L01_USE_FEATURE || defined(__doxigen__)
-/**
- * @brief   RF Transceiver Dynamic Payload enabler
- *
- * @details Enables Dynamic Payload Length
- */
-typedef  enum {
-  NRF24L01_DPL_enabled =  0x04,          /*!< EN_DPL enabled */
-  NRF24L01_DPL_disabled = 0x00           /*!< EN_DPL disabled */
-} NRF24L01_DPL_t;
-
-/**
- * @brief   RF Transceiver Dynamic Acknowledge with Payload enabler
- *
- * @details Enables Payload with ACK
- */
-typedef  enum {
-  NRF24L01_ACK_PAY_enabled =  0x02,          /*!< EN_ACK_PAY enabled */
-  NRF24L01_ACK_PAY_disabled = 0x00           /*!< EN_ACK_PAY disabled */
-} NRF24L01_ACK_PAY_t;
-
-/**
- * @brief   RF Transceiver Dynamic Acknowledge enabler
- *
- * @details Enables the W_TX_PAYLOAD_NOACK command
- */
-typedef  enum {
-  NRF24L01_DYN_ACK_enabled =  0x01,          /*!< EN_DYN_ACK enabled */
-  NRF24L01_DYN_ACK_disabled = 0x00           /*!< EN_DYN_ACK disabled */
-} NRF24L01_DYN_ACK_t;
-#endif /* NRF24L01_USE_FEATURE */
-
-/**
- * @brief   RF Transceiver configuration structure.
- */
-typedef struct {
-
-  /**
-   * @brief The chip enable line port.
-   */
-  ioportid_t                ceport;
-  /**
-   * @brief The chip enable line pad number.
-   */
-  uint16_t                  cepad;
-  /**
-   * @brief The interrupt line port.
-   */
-  ioportid_t                irqport;
-  /**
-   * @brief The interrupt line pad number.
-   */
-  uint16_t                  irqpad;
-  /**
-   * @brief Pointer to the SPI driver associated to this RF.
-   */
-  SPIDriver                 *spip;
-  /**
-   * @brief Pointer to the SPI configuration .
-   */
-  const SPIConfig           *spicfg;
-  /**
-   * @brief Pointer to the EXT driver associated to this RF.
-   */
-  EXTDriver                 *extp;
-  /**
-   * @brief EXT configuration.
-   */
-  EXTConfig                 *extcfg;
-  /**
-   * @brief RF Transceiver auto retransmit count.
-   */
-  NRF24L01_ARC_t            auto_retr_count;
-  /**
-   * @brief RF Transceiver auto retransmit delay.
-   */
-  NRF24L01_ARD_t            auto_retr_delay;
-  /**
-   * @brief RF Transceiver address width.
-   */
-  NRF24L01_AW_t             address_width;
-  /**
-   * @brief RF Transceiver channel frequency.
-   */
-  NRF24L01_RF_CH_t          channel_freq;
-  /**
-   * @brief RF Transceiver air data rate.
-   */
-  NRF24L01_ADR_t            data_rate;
-  /**
-   * @brief RF Transceiver output power.
-   */
-  NRF24L01_PWR_t            out_pwr;
-  /**
-   * @brief   RF Transceiver Low Noise Amplifier
-   */
-  NRF24L01_LNA_t            lna;
-#if NRF24L01_USE_FEATURE || defined(__doxigen__)
-  /**
-  * @brief    RF Transceiver Dynamic Payload enabler
-  */
-  NRF24L01_DPL_t            en_dpl;
-
-  /**
-   * @brief   RF Transceiver Dynamic Acknowledge with Payload enabler
-   */
-  NRF24L01_ACK_PAY_t        en_ack_pay;
-
-  /**
-   * @brief   RF Transceiver Dynamic Acknowledge enabler
-   */
-  NRF24L01_DYN_ACK_t        en_dyn_ack;
-#endif /* NRF24L01_USE_FEATURE */
-} NRF24L01_Config;
-
-/**
- * @brief   RF Transceiver status register value.
- */
-typedef  uint8_t             NRF24L01_status_t;
-/** @}  */
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-/**
- * @brief   Flushes FIFOs and resets all Status flags.
- *
- * @pre     The SPI interface must be initialized and the driver started.
- *
- * @param[in] spip      pointer to the SPI interface
- *
- * @return              the status register value
- */
-#define  nrf24l01Reset(spip) {                                               \
-                                                                             \
-  nrf24l01WriteRegister(spip, NRF24L01_AD_STATUS,                            \
-                                NRF24L01_DI_STATUS_MAX_RT |                  \
-                                NRF24L01_DI_STATUS_RX_DR |                   \
-                                NRF24L01_DI_STATUS_TX_DS);                   \
-}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-NRF24L01_status_t nrf24l01GetStatus(SPIDriver *spip);
-NRF24L01_status_t nrf24l01ReadRegister(SPIDriver *spip, uint8_t reg,
-                                       uint8_t* pvalue);
-NRF24L01_status_t nrf24l01WriteRegister(SPIDriver *spip, uint8_t reg,
-                                        uint8_t value);
-NRF24L01_status_t nrf24l01WriteAddress(SPIDriver *spip, uint8_t reg,
-                                       uint8_t *pvalue, uint8_t addlen);
-NRF24L01_status_t nrf24l01GetRxPl(SPIDriver *spip, uint8_t paylen,
-                                  uint8_t* rxbuf);
-NRF24L01_status_t nrf24l01WriteTxPl(SPIDriver *spip, uint8_t paylen,
-                                    uint8_t* txbuf);
-NRF24L01_status_t nrf24l01FlushTx(SPIDriver *spip);
-NRF24L01_status_t nrf24l01FlushRx(SPIDriver *spip);
-#if NRF24L01_USE_FEATURE || defined(__DOXYGEN__)
-NRF24L01_status_t nrf24l01Activate(SPIDriver *spip);
-NRF24L01_status_t nrf24l01ReadRxPlWid(SPIDriver *spip, uint8_t* ppaylen);
-NRF24L01_status_t nrf24l01WriteAckPl(SPIDriver *spip, uint8_t ppp, uint8_t paylen,
-                                     uint8_t* payload);
-NRF24L01_status_t nrf24l01WriteTxPlNoAck(SPIDriver *spip, uint8_t paylen,
-                                         uint8_t* txbuf);
-#endif /* NRF24L01_USE_FEATURE */
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _NRF24L01_H_ */
-
-/** @} */
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/hdc1000.c b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/hdc1000.c
deleted file mode 100644
index 39e47ec..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/hdc1000.c
+++ /dev/null
@@ -1,265 +0,0 @@
-/*
-    HDC100x for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu
-
-    Licensed under the Apache License, Version 2.0 (the "License");
-    you may not use this file except in compliance with the License.
-    You may obtain a copy of the License at
-
-        http://www.apache.org/licenses/LICENSE-2.0
-
-    Unless required by applicable law or agreed to in writing, software
-    distributed under the License is distributed on an "AS IS" BASIS,
-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-    See the License for the specific language governing permissions and
-    limitations under the License.
-*/
-
-/**
- * @file    HDC1000.c
- * @brief   HDC1000 interface module code.
- *
- * @addtogroup hdc1000
- * @{
- */
-
-#define I2C_HELPERS_AUTOMATIC_DRV TRUE
-
-#include "hal.h"
-#include "i2c_helpers.h"
-#include "hdc1000.h"
-
-/* DOC: http://www.ti.com/lit/ds/symlink/hdc1008.pdf
- */
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-/* I2C Register */
-#define HDC1000_REG_TEMP_HUMID     0x00
-#define HDC1000_REG_TEMP           0x00
-#define HDC1000_REG_HUMID          0x01
-#define HDC1000_REG_CONFIG         0x02
-#define HDC1000_REG_SERIAL         0xFB
-#define HDC1000_REG_SERIAL_1       0xFB
-#define HDC1000_REG_SERIAL_2       0xFC
-#define HDC1000_REG_SERIAL_3       0xFD
-#define HDC1000_REG_MANUF_ID       0xFE
-#define HDC1000_REG_DEVICE_ID      0xFF
-
-/* Configuration */
-#define HDC1000_CONFIG_RST         (1 << 15)
-#define HDC1000_CONFIG_HEATER      (1 << 13)
-#define HDC1000_CONFIG_MODE_ONE    (0 << 12)
-#define HDC1000_CONFIG_MODE_BOTH   (1 << 12)
-#define HDC1000_CONFIG_BATT        (1 << 11)
-#define HDC1000_CONFIG_TRES_14     (0)
-#define HDC1000_CONFIG_TRES_11     (1 << 10)
-#define HDC1000_CONFIG_HRES_14     (0)
-#define HDC1000_CONFIG_HRES_11     (1 << 8)
-#define HDC1000_CONFIG_HRES_8      (1 << 9)
-
-/* Value */
-#define HDC1000_MANUF_ID           0x5449
-#define HDC1000_DEVICE_ID          0x1000
-
-/* Delay in micro seconds */
-#define HDC1000_DELAY_ACQUIRE_SAFETY     1000
-#define HDC1000_DELAY_ACQUIRE_TRES_14    6350
-#define HDC1000_DELAY_ACQUIRE_TRES_11    3650
-#define HDC1000_DELAY_ACQUIRE_HRES_14    6500
-#define HDC1000_DELAY_ACQUIRE_HRES_11    3850
-#define HDC1000_DELAY_ACQUIRE_HRES_8     2500
-#define HDC1000_DELAY_STARTUP           15000
-
-// Deefault config (high res)
-#define HDC1000_CONFIG_RES    (HDC1000_CONFIG_TRES_14        |		\
-			       HDC1000_CONFIG_HRES_14)
-#define HDC1000_DELAY_ACQUIRE (HDC1000_DELAY_ACQUIRE_TRES_14 + 		\
-			       HDC1000_DELAY_ACQUIRE_HRES_14)
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-static inline msg_t
-_apply_config(HDC1000_drv *drv) {
-    struct __attribute__((packed)) {
-	uint8_t  reg;
-	uint16_t conf;
-    } tx = { HDC1000_REG_CONFIG, cpu_to_be16(drv->cfg) };
-    
-    return i2c_send((uint8_t*)&tx, sizeof(tx));
-}
-
-static inline msg_t
-_decode_measure(HDC1000_drv *drv,
-	uint32_t val, float *temperature, float *humidity) {
-    (void)drv;
-    
-    /* Temperature */
-    if (temperature) {
-	float temp = (val >> 16);
-	temp /= 65536;
-	temp *= 165;
-	temp -= 40;
-	*temperature = temp;
-    }
-
-    /* Humidiy */
-    if (humidity) {
-	float hum  = (val & 0xFFFF);
-	hum /= 65535;
-	hum *= 100;
-	*humidity = hum;
-    }
-
-    /* ok */
-    return MSG_OK;
-}
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-void
-HDC1000_init(HDC1000_drv *drv, HDC1000_config *config) {
-    drv->config   = config;
-    drv->cfg      =  HDC1000_CONFIG_RST | HDC1000_CONFIG_MODE_BOTH |
-	             HDC1000_CONFIG_RES;
-    drv->delay    = (HDC1000_DELAY_ACQUIRE +
-		     HDC1000_DELAY_ACQUIRE_SAFETY) / 1000;
-    drv->state    = SENSOR_INIT;
-}
-
-msg_t
-HDC1000_check(HDC1000_drv *drv) {
-    uint16_t manuf, device;
-
-    msg_t msg;
-    if (((msg = i2c_reg_recv16_be(HDC1000_REG_MANUF_ID,  &manuf )) < MSG_OK) ||
-	((msg = i2c_reg_recv16_be(HDC1000_REG_DEVICE_ID, &device)) < MSG_OK))
-	return msg;
-    
-    if ((manuf != HDC1000_MANUF_ID) || (device != HDC1000_DEVICE_ID))
-	return SENSOR_NOTFOUND;
-
-    return MSG_OK;
-}
-
-
-msg_t
-HDC1000_start(HDC1000_drv *drv) {
-    osalDbgAssert((drv->state == SENSOR_INIT   ) ||
-		  (drv->state == SENSOR_ERROR  ) ||
-		  (drv->state == SENSOR_STOPPED),
-		  "invalid state");
-    msg_t msg;    
-    if ((msg = _apply_config(drv)) < MSG_OK) {
-	drv->state = SENSOR_ERROR;
-	return msg;
-    }
-    drv->state = SENSOR_STARTED;
-    return MSG_OK;
-}
-
-msg_t
-HDC1000_stop(HDC1000_drv *drv) {
-    drv->state = SENSOR_STOPPED;
-    return MSG_OK;
-}
-
-msg_t
-HDC1000_setHeater(HDC1000_drv *drv, bool on) {
-    if (on) { drv->cfg |=  HDC1000_CONFIG_HEATER; }
-    else    { drv->cfg &= ~HDC1000_CONFIG_HEATER; }
-
-    msg_t msg;    
-    if ((msg = _apply_config(drv)) < MSG_OK) {
-	drv->state = SENSOR_ERROR;
-	return msg;
-    }
-    return MSG_OK;
-}
-
-msg_t
-HDC1000_startMeasure(HDC1000_drv *drv) {
-    msg_t msg;
-    osalDbgAssert(drv->state == SENSOR_STARTED, "invalid state");
-    if ((msg = i2c_reg(HDC1000_REG_TEMP_HUMID)) < MSG_OK)
-	return msg;
-    drv->state = SENSOR_MEASURING;
-    return MSG_OK;
-}
-
-
-msg_t
-HDC1000_readSerial(HDC1000_drv *drv, uint8_t *serial) {
-    msg_t msg;
-    osalDbgAssert(drv->state == SENSOR_STARTED, "invalid state");
-
-    if (((msg = i2c_reg_recv16(HDC1000_REG_SERIAL_1,
-			       (uint16_t*)&serial[0])) < MSG_OK) ||
-	((msg = i2c_reg_recv16(HDC1000_REG_SERIAL_2,
-			       (uint16_t*)&serial[2])) < MSG_OK) ||
-	((msg = i2c_reg_recv8 (HDC1000_REG_SERIAL_3,
-			       (uint8_t*) &serial[4])) < MSG_OK))
-	return msg;
-    return MSG_OK;
-}
-
-
-msg_t
-HDC1000_readMeasure(HDC1000_drv *drv,
-	float *temperature, float *humidity) {
-    msg_t    msg;
-    uint32_t val;
-
-    osalDbgAssert((drv->state == SENSOR_MEASURING) ||
-		  (drv->state == SENSOR_READY    ),
-		  "invalid state");
-
-    if ((msg = i2c_recv32_be(&val)) < MSG_OK) {
-	drv->state = SENSOR_ERROR;
-	return msg;
-    }
-
-    drv->state = SENSOR_STARTED;
-
-    return _decode_measure(drv, val, temperature, humidity);
-}
-
-msg_t
-HDC1000_readTemperatureHumidity(HDC1000_drv *drv,
-	float *temperature, float *humidity) {
-    msg_t    msg;
-    uint32_t val;
-
-    osalDbgAssert(drv->state == SENSOR_STARTED, "invalid state");
-
-    /* Request value */
-    if ((msg = i2c_reg(HDC1000_REG_TEMP_HUMID)) < MSG_OK)
-	return msg;
-
-    /* Wait */
-    osalThreadSleepMilliseconds(drv->delay);
-	
-    /* Get value */
-    if ((msg = i2c_recv32_be(&val)) < MSG_OK) {
-	drv->state = SENSOR_ERROR;
-	return msg;
-    }
-
-    return _decode_measure(drv, val, temperature, humidity);
-}
-
-
-/** @} */
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/hdc1000.h b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/hdc1000.h
deleted file mode 100644
index e4eae4c..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/hdc1000.h
+++ /dev/null
@@ -1,240 +0,0 @@
-/*
-    HDC100x for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu
-
-    Licensed under the Apache License, Version 2.0 (the "License");
-    you may not use this file except in compliance with the License.
-    You may obtain a copy of the License at
-
-        http://www.apache.org/licenses/LICENSE-2.0
-
-    Unless required by applicable law or agreed to in writing, software
-    distributed under the License is distributed on an "AS IS" BASIS,
-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-    See the License for the specific language governing permissions and
-    limitations under the License.
-*/
-
-/**
- * @file    hdc1000.h
- * @brief   HDC1000 Temperature/Humidiry sensor interface module header.
- *
- * When changing sensor settings, you generally need to wait
- * for 2 * getAquisitionTime(), as usually the first acquisition
- * will be corrupted by the change of settings.
- *
- * No locking is done.
- *
- * @{
- */
-
-#ifndef _SENSOR_HDC1000_H_
-#define _SENSOR_HDC1000_H_
-
-#include <math.h>
-#include <stdbool.h>
-#include "i2c_helpers.h"
-#include "sensor.h"
-
-
-/*===========================================================================*/
-/* Driver constants.                                                         */
-/*===========================================================================*/
-
-#define HDC1000_CONTINUOUS_ACQUISITION_SUPPORTED   FALSE
-
-/* I2C address */
-#define HDC1000_I2CADDR_1           0x40
-#define HDC1000_I2CADDR_2           0x41
-#define HDC1000_I2CADDR_3           0x42
-#define HDC1000_I2CADDR_4           0x43
-
-#define HDC1000_SERIAL_SIZE         5  /**< @brief Size of serial (40bits) */
-
-/**
- * @brief Time necessary for the sensor to boot
- */
-#define HDC1000_BOOTUP_TIME		15
-
-/**
- * @brief Time necessary for the sensor to start
- */
-#define HDC1000_STARTUP_TIME		0
-
-
-/*===========================================================================*/
-/* Driver pre-compile time settings.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Derived constants and error checks.                                       */
-/*===========================================================================*/
-
-#define HDC1000_I2CADDR_DEFAULT     HDC1000_I2CADDR_1
-
-
-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/**
- * @brief   HDC1000 configuration structure.
- */
-typedef struct {
-    I2CHelper i2c; /* keep it first */
-} HDC1000_config;
-
-/**
- * @brief   HDC1000 configuration structure.
- */
-typedef struct {
-    HDC1000_config  *config;
-    sensor_state_t   state;
-    unsigned int     delay;    
-    uint16_t         cfg;
-} HDC1000_drv;
-
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
-
-
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-/**
- * @brief Initialize the sensor driver
- */
-void
-HDC1000_init(HDC1000_drv *drv,
-	HDC1000_config *config);
-
-/**
- * @brief Start the sensor
- */
-msg_t
-HDC1000_start(HDC1000_drv *drv);
-
-/**
- * @brief   Stop the sensor
- *
- * @details If the sensor support it, it will be put in low energy mode.
- */
-msg_t
-HDC1000_stop(HDC1000_drv *drv);
-
-/**
- * @brief   Check that the sensor is really present
- */
-msg_t
-HDC1000_check(HDC1000_drv *drv);
-
-
-msg_t
-HDC1000_readSerial(HDC1000_drv *drv, uint8_t *serial);
-
-/**
- * @brief   Control the HD1000 heater.
- */
-msg_t
-HDC1000_setHeater(HDC1000_drv *drv,
-	bool on);
-
-
-
-/**
- * @brief Time in milli-seconds necessary for acquiring a naw measure
- *
- * @returns
- *   unsigned int   time in millis-seconds
- */
-static inline unsigned int
-HDC1000_getAcquisitionTime(HDC1000_drv *drv) {
-    return drv->delay;
-}
-
-/**
- * @brief Trigger a mesure acquisition
- */
-msg_t
-HDC1000_startMeasure(HDC1000_drv *drv);
-
-/**
- * @brief Read the newly acquiered measure
- *
- * @note  According the the sensor design the measure read
- *        can be any value acquired after the acquisition time
- *        and the call to readMeasure.
- */
-msg_t
-HDC1000_readMeasure(HDC1000_drv *drv,
-	float *temperature, float *humidity);
-
-
-/**
- * @brief   Read temperature and humidity
- *
- * @details According to the sensor specification/configuration
- *          (see #HDC1000_CONTINUOUS_ACQUISITION_SUPPORTED), 
- *          if the sensor is doing continuous measurement
- *          it's value will be requested and returned immediately.
- *          Otherwise a measure is started, the necessary amount of
- *          time for acquiring the value is spend sleeping (not spinning),
- *          and finally the measure is read.
- *
- * @note    In continuous measurement mode, if you just started
- *          the sensor, you will need to wait getAcquisitionTime()
- *          in addition to the usual #HDC1000_STARTUP_TIME
-
- * @note    If using several sensors, it is better to start all the
- *          measure together, wait for the sensor having the longuest
- *          aquisition time, and finally read all the values
- */
-msg_t
-HDC1000_readTemperatureHumidity(HDC1000_drv *drv,
-	float *temperature, float *humidity);
-
-/**
- * @brief   Return the humidity value in percent.
- *
- * @details Use readTemperatureHumidity() for returning the humidity value.
- *
- * @note    Prefere readTemperatureHumidity(), if you need both temperature
- *          and humidity, or if you need better error handling.
- *
- * @returns
- *   float  humidity percent
- *   NAN    on failure
- */
-static inline float
-HDC1000_getHumidity(HDC1000_drv *drv) {
-    float humidity   = NAN;
-    HDC1000_readTemperatureHumidity(drv, NULL, &humidity);
-    return humidity;
-}
-
-/**
- * @brief   Return the temperature value in °C.
- *
- * @details Use readTemperatureHumidity() for returning the humidity value.
- *
- * @note    Prefere readTemperatureHumidity(), if you need both temperature
- *          and humidity, or if you need better error handling.
- *
- * @returns
- *   float  humidity percent
- *   NAN    on failure
- */
-static inline float
-HDC1000_getTemperature(HDC1000_drv *drv) {
-    float temperature = NAN;
-    HDC1000_readTemperatureHumidity(drv, &temperature, NULL);
-    return temperature;
-}
-
-
-#endif
-
-/**
- * @}
- */
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/mcp9808.c b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/mcp9808.c
deleted file mode 100644
index 4b22ea9..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/mcp9808.c
+++ /dev/null
@@ -1,207 +0,0 @@
-/*
-    MCP9808 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu
-
-    Licensed under the Apache License, Version 2.0 (the "License");
-    you may not use this file except in compliance with the License.
-    You may obtain a copy of the License at
-
-        http://www.apache.org/licenses/LICENSE-2.0
-
-    Unless required by applicable law or agreed to in writing, software
-    distributed under the License is distributed on an "AS IS" BASIS,
-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-    See the License for the specific language governing permissions and
-    limitations under the License.
-*/
-
-#define I2C_HELPERS_AUTOMATIC_DRV TRUE
-
-#include "hal.h"
-#include "i2c_helpers.h"
-#include "mcp9808.h"
-
-// http://www.mouser.com/ds/2/268/25095A-15487.pdf
-// http://ww1.microchip.com/downloads/en/DeviceDoc/25095A.pdf
-
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-/* I2C Register */
-#define MCP9808_REG_CONFIG             0x01
-#define MCP9808_REG_UPPER_TEMP         0x02
-#define MCP9808_REG_LOWER_TEMP         0x03
-#define MCP9808_REG_CRIT_TEMP          0x04
-#define MCP9808_REG_AMBIENT_TEMP       0x05
-#define MCP9808_REG_MANUF_ID           0x06
-#define MCP9808_REG_DEVICE_ID          0x07
-#define MCP9808_REG_RESOLUTION         0x08
-
-/* Config */
-#define MCP9808_REG_CONFIG_SHUTDOWN    0x0100
-#define MCP9808_REG_CONFIG_CRITLOCKED  0x0080
-#define MCP9808_REG_CONFIG_WINLOCKED   0x0040
-#define MCP9808_REG_CONFIG_INTCLR      0x0020
-#define MCP9808_REG_CONFIG_ALERTSTAT   0x0010
-#define MCP9808_REG_CONFIG_ALERTCTRL   0x0008
-#define MCP9808_REG_CONFIG_ALERTSEL    0x0002
-#define MCP9808_REG_CONFIG_ALERTPOL    0x0002
-#define MCP9808_REG_CONFIG_ALERTMODE   0x0001
-
-/* Device Id */
-#define MCP9808_MANUF_ID               0x0054
-#define MCP9808_DEVICE_ID              0x0400
-
-/* Resolution */
-#define MCP9808_RES_2                  0x00  /* 1/2  = 0.5    */
-#define MCP9808_RES_4                  0x01  /* 1/4  = 0.25   */
-#define MCP9808_RES_8                  0x10  /* 1/8  = 0.125  */
-#define MCP9808_RES_16                 0x11  /* 1/16 = 0.0625 */
-
-/* Time in milli-seconds */
-#define MCP9808_DELAY_ACQUIRE_RES_2   30
-#define MCP9808_DELAY_ACQUIRE_RES_4   65
-#define MCP9808_DELAY_ACQUIRE_RES_8  130
-#define MCP9808_DELAY_ACQUIRE_RES_16 250
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-static inline msg_t
-_apply_config(MCP9808_drv *drv) {
-    struct __attribute__((packed)) {
-	uint8_t  reg;
-	uint16_t conf;
-    } tx = { MCP9808_REG_CONFIG, cpu_to_be16(drv->cfg) };
-    
-    return i2c_send((uint8_t*)&tx, sizeof(tx));
-}
-
-static inline msg_t
-_decode_measure(MCP9808_drv *drv,
-	uint16_t val, float *temperature) {
-    
-    /* Temperature */
-    if (temperature) {
-	float temp   = val & 0x0fff;
-	if (val & 0x1000) temp -= 0x1000;
-
-	float factor = 16.0F;
-	switch(drv->resolution) {
-	case RES_2 : factor =  2.0F; break;
-	case RES_4 : factor =  4.0F; break;
-	case RES_8 : factor =  8.0F; break;
-	case RES_16: factor = 16.0F; break;
-	}
-
-	*temperature = temp / factor;
-    }
-
-    /* Ok */
-    return MSG_OK;
-}
-
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-void
-MCP9808_init(MCP9808_drv *drv, MCP9808_config *config) {
-    drv->config      = config;
-    drv->cfg         = 0;
-    drv->resolution  = RES_16; /* power up default */
-    drv->state       = SENSOR_INIT;
-}
-
-msg_t
-MCP9808_check(MCP9808_drv *drv) {
-    uint16_t manuf, device;
-
-    msg_t msg;
-    if (((msg = i2c_reg_recv16_be(MCP9808_REG_MANUF_ID,  &manuf )) < MSG_OK) ||
-	((msg = i2c_reg_recv16_be(MCP9808_REG_DEVICE_ID, &device)) < MSG_OK))
-	return msg;
-    
-    if ((manuf != MCP9808_MANUF_ID) || (device != MCP9808_DEVICE_ID))
-	return SENSOR_NOTFOUND;
-
-    return MSG_OK;
-}
-
-msg_t
-MCP9808_setResolution(MCP9808_drv *drv, MCP9808_resolution_t res) {
-    struct __attribute__((packed)) {
-	uint8_t reg;
-	uint8_t resolution;
-    } tx = { MCP9808_REG_RESOLUTION, res };
-
-    msg_t msg;
-    if ((msg = i2c_send((uint8_t*)&tx, sizeof(tx))) < MSG_OK)
-	return msg;
-
-    drv->resolution = res;
-    return MSG_OK;
-}
-
-msg_t
-MCP9808_start(MCP9808_drv *drv) {
-    drv->cfg &= ~(MCP9808_REG_CONFIG_SHUTDOWN);
-    return _apply_config(drv);
-}
-
-msg_t
-MCP9808_stop(MCP9808_drv *drv) {
-    drv->cfg |= (MCP9808_REG_CONFIG_SHUTDOWN);
-    return _apply_config(drv);
-}
-
-unsigned int
-MCP9808_getAcquisitionTime(MCP9808_drv *drv) {
-    switch(drv->resolution) {
-    case RES_2 : return MCP9808_DELAY_ACQUIRE_RES_2;
-    case RES_4 : return MCP9808_DELAY_ACQUIRE_RES_4;
-    case RES_8 : return MCP9808_DELAY_ACQUIRE_RES_8;
-    case RES_16: return MCP9808_DELAY_ACQUIRE_RES_16;
-    }
-    osalDbgAssert(false, "OOPS");
-    return 0;
-}
-
-msg_t
-MCP9808_readMeasure(MCP9808_drv *drv,
-	float *temperature) {
-
-    msg_t msg;
-    uint16_t val;
-
-    if ((msg = i2c_reg_recv16_be(MCP9808_REG_AMBIENT_TEMP, &val)) < MSG_OK)
-	return msg;
-
-    return _decode_measure(drv, val, temperature);    
-}
-
-
-msg_t
-MCP9808_readTemperature(MCP9808_drv *drv,
-	float *temperature) {
-    osalDbgAssert(drv->state == SENSOR_STARTED, "invalid state");
-
-    msg_t msg;
-    uint16_t val;
-
-    if ((msg = i2c_reg_recv16_be(MCP9808_REG_AMBIENT_TEMP, &val)) < MSG_OK)
-	return msg;
-
-    return _decode_measure(drv, val, temperature);    
-}
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/mcp9808.h b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/mcp9808.h
deleted file mode 100644
index 857f2f9..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/mcp9808.h
+++ /dev/null
@@ -1,204 +0,0 @@
-/*
-    MCP9808 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu
-
-    Licensed under the Apache License, Version 2.0 (the "License");
-    you may not use this file except in compliance with the License.
-    You may obtain a copy of the License at
-
-        http://www.apache.org/licenses/LICENSE-2.0
-
-    Unless required by applicable law or agreed to in writing, software
-    distributed under the License is distributed on an "AS IS" BASIS,
-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-    See the License for the specific language governing permissions and
-    limitations under the License.
-*/
-
-#ifndef _SENSOR_MCP9808_H_
-#define _SENSOR_MCP9808_H_
-
-#include <math.h>
-#include "i2c_helpers.h"
-#include "sensor.h"
-
-/*===========================================================================*/
-/* Driver constants.                                                         */
-/*===========================================================================*/
-
-#define MCP9808_CONTINUOUS_ACQUISITION_SUPPORTED   TRUE
-
-
-#define MCP9808_I2CADDR_FIXED           0x18
-
-/**
- * @brief Time necessary for the sensor to boot
- */
-#define MCP9808_BOOTUP_TIME		0
-
-/**
- * @brief Time necessary for the sensor to start
- */
-#define MCP9808_STARTUP_TIME		0
-
-/*===========================================================================*/
-/* Driver pre-compile time settings.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Derived constants and error checks.                                       */
-/*===========================================================================*/
-
-#define MCP9808_I2CADDR_DEFAULT       MCP9808_I2CADDR_FIXED
-
-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/**
- * @brief  Different possible resolution
- */
-typedef enum {
-    RES_2  = 0x00,  /**< @brief Resolution of 1/2  = 0.5    */
-    RES_4  = 0x01,  /**< @brief Resolution of 1/4  = 0.25   */
-    RES_8  = 0x10,  /**< @brief Resolution of 1/8  = 0.125  */
-    RES_16 = 0x11,  /**< @brief Resolution of 1/16 = 0.0625 */
-} MCP9808_resolution_t;
-
-/**
- * @brief   MCP9808 configuration structure.
- */
-typedef struct {
-    I2CHelper i2c; /* keep it first */
-} MCP9808_config;
-
-/**
- * @brief   MCP9808 configuration structure.
- */
-typedef struct {
-    MCP9808_config      *config;
-    sensor_state_t       state;
-    MCP9808_resolution_t resolution;
-    uint16_t             cfg;
-} MCP9808_drv;
-
-/**
- * @brief   MCP9808 measure reading
- */
-typedef struct {
-    float temperature;
-} MCP9808_measure;
-
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
-
-
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-/**
- * @brief   Initialize the sensor driver
- */
-void
-MCP9808_init(MCP9808_drv *drv,
-	MCP9808_config *config);
-
-/**
- * @brief   Check that the sensor is really present
- */
-msg_t
-MCP9808_check(MCP9808_drv *drv);
-
-/**
- * @brief   Start the sensor
- */
-msg_t
-MCP9808_start(MCP9808_drv *drv);
-
-/**
- * @brief   Stop the sensor
- *
- * @details If the sensor support it, it will be put in low energy mode.
- */
-msg_t
-MCP9808_stop(MCP9808_drv *drv);
-
-/**
- * @brief   Control the MCP9809 resolution.
- */
-msg_t
-MCP9808_setResolution(MCP9808_drv *drv,
-	MCP9808_resolution_t res);
-
-/**
- * @brief Time in milli-seconds necessary for acquiring a naw measure
- *
- * @returns
- *   unsigned int   time in millis-seconds
- */
-unsigned int
-MCP9808_getAcquisitionTime(MCP9808_drv *drv);
-
-/**
- * @brief Trigger a mesure acquisition
- */
-static inline msg_t
-MCP9808_startMeasure(MCP9808_drv *drv) {
-    (void)drv;
-    return MSG_OK;
-}
-
-/**
- * @brief Read the newly acquiered measure
- *
- * @note  According the the sensor design the measure read
- *        can be any value acquired after the acquisition time
- *        and the call to readMeasure.
- */
-msg_t
-MCP9808_readMeasure(MCP9808_drv *drv,
-	float *temperature);
-
-
-/**
- * @brief   Read temperature and humidity
- *
- * @details According to the sensor specification/configuration
- *          (see #MCP9808_CONTINUOUS_ACQUISITION_SUPPORTED), 
- *          if the sensor is doing continuous measurement
- *          it's value will be requested and returned immediately.
- *          Otherwise a measure is started, the necessary amount of
- *          time for acquiring the value is spend sleeping (not spinning),
- *          and finally the measure is read.
- *
- * @note    In continuous measurement mode, if you just started
- *          the sensor, you will need to wait getAcquisitionTime()
- *          in addition to the usual getStartupTime()
-
- * @note    If using several sensors, it is better to start all the
- *          measure together, wait for the sensor having the longuest
- *          aquisition time, and finally read all the values
- */
-msg_t
-MCP9808_readTemperature(MCP9808_drv *drv,
-	float *temperature);
-
-/**
- * @brief   Return the temperature value in °C.
- *
- * @note    Prefere readTemperature(), if you need better error handling.
- *
- * @return  The temperature in °C
- * @retval  float  humidity percent
- * @retval  NAN    on failure
- */
-static inline float
-MCP9808_getTemperature(MCP9808_drv *drv) {
-    float temperature = NAN;
-    MCP9808_readTemperature(drv, &temperature);
-    return temperature;
-}
-
-#endif
-
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/sensor.h b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/sensor.h
deleted file mode 100644
index bd544b1..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/sensor.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
-    Copyright (C) 2016 Stephane D'Alu
-    Licensed under the Apache License, Version 2.0 (the "License");
-    you may not use this file except in compliance with the License.
-    You may obtain a copy of the License at
-
-        http://www.apache.org/licenses/LICENSE-2.0
-
-    Unless required by applicable law or agreed to in writing, software
-    distributed under the License is distributed on an "AS IS" BASIS,
-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-    See the License for the specific language governing permissions and
-    limitations under the License.
-*/
-
-/**
- * 
- * Example of function calls.
- *
- * @code
- * static SENSOR_config sensor_config = {
- * };
- * static SENSOR_drv    sensor_drv;
- * @endcode
- *
- * 
- * @code
- * osalThreadSleepMilliseconds(SENSOR_BOOTUP_TIME);
- * SENSOR_init(&sensor_drv);
- * @endcode
- *
- * @code
- * SENSOR_start(&sensor_drv, &sensor_config);
- * osalThreadSleepMilliseconds(SENSOR_STARTUP_TIME);
- * @endcode
- *
- * If using SENSOR_startMeasure()/SENSOR_readMeasure()
- * @code
- * while(true) {
- *   SENSOR_startMeasure(&sensor_drv);
- *   osalThreadSleepMilliseconds(SENSOR_getAcquisitionTime());
- *   SENSOR_readMeasure(&sensor_drv, ...);
- * }
- * @endcode
- *
- * If using SENSOR_readValue() or SENSOR_getValue()
- * @code
- * #if SENSOR_CONTINUOUS_ACQUISITION_SUPPORTED == TRUE
- * osalThreadSleepMilliseconds(SENSOR_getAcquisitionTime())
- * #endif
- * 
- * while(true) {
- *   SENSOR_readValue(&sensor_drv, ...);
- * }
- * @encode
- */
-#ifndef _SENSOR_H_
-#define _SENSOR_H_
-
-#define SENSOR_OK        MSG_OK         /**< @brief Operation successful. */
-#define SENSOR_TIMEOUT   MSG_TIMEOUT    /**< @brief Communication timeout */
-#define SENSOR_RESET     MSG_REST       /**< @brief Communication error.  */
-#define SENSOR_NOTFOUND  (msg_t)-20     /**< @brief Sensor not found.     */
-
-
-/**
- * @brief   Driver state machine possible states.
- */
-typedef enum __attribute__ ((__packed__)) {
-    SENSOR_UNINIT    = 0,            /**< Not initialized.                */
-    SENSOR_INIT      = 1,            /**< Initialized.                    */
-    SENSOR_STARTED   = 2,            /**< Started.                        */
-    SENSOR_MEASURING = 4,            /**< Measuring.                      */
-    SENSOR_READY     = 3,            /**< Ready.                          */
-    SENSOR_STOPPED   = 5,            /**< Stopped.                        */
-    SENSOR_ERROR     = 6,            /**< Error.                          */
-} sensor_state_t;
-
-#endif
-
-
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2561.c b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2561.c
deleted file mode 100644
index a4ac8ec..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2561.c
+++ /dev/null
@@ -1,386 +0,0 @@
-/*
-    TSL2561 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu
-
-    Licensed under the Apache License, Version 2.0 (the "License");
-    you may not use this file except in compliance with the License.
-    You may obtain a copy of the License at
-
-        http://www.apache.org/licenses/LICENSE-2.0
-
-    Unless required by applicable law or agreed to in writing, software
-    distributed under the License is distributed on an "AS IS" BASIS,
-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-    See the License for the specific language governing permissions and
-    limitations under the License.
-*/
-
-/**
- * Illuminance calculation code provided by www.taosinc.com
- * DOC: http://ams.com/eng/content/download/250096/975518/143687
- */
-#define I2C_HELPERS_AUTOMATIC_DRV TRUE
-
-#include "hal.h"
-#include "i2c_helpers.h"
-#include "tsl2561.h"
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-// Integration time in µs
-#define TSL2561_DELAY_INTTIME_SHORT     13700  //   13.7 ms
-#define TSL2561_DELAY_INTTIME_MEDIUM   120000  //  120.0 ms
-#define TSL2561_DELAY_INTTIME_LONG     450000  //  450.0 ms
-
-
-#define TSL2561_COMMAND_BIT       (0x80)
-#define TSL2561_CLEAR_BIT         (0x40)
-#define TSL2561_WORD_BIT          (0x20)
-#define TSL2561_BLOCK_BIT         (0x10)
-
-#define TSL2561_CONTROL_POWERON   (0x03)
-#define TSL2561_CONTROL_POWEROFF  (0x00)
-
-#define TSL2561_LUX_LUXSCALE      (14)
-#define TSL2561_LUX_RATIOSCALE    (9)
-#define TSL2561_LUX_CHSCALE       (10)      // Scale channel values by 2^10
-#define TSL2561_LUX_CHSCALE_TINT0 (0x7517)  // 322/11 * 2^TSL2561_LUX_CHSCALE
-#define TSL2561_LUX_CHSCALE_TINT1 (0x0FE7)  // 322/81 * 2^TSL2561_LUX_CHSCALE
-
-
-// I2C Register
-#define TSL2561_REG_CONTROL           0x00
-#define TSL2561_REG_TIMING            0x01
-#define TSL2561_REG_THRESHHOLDLLOW    0x02
-#define TSL2561_REG_THRESHHOLDLHIGH   0x03
-#define TSL2561_REG_THRESHHOLDHLOW    0x04
-#define TSL2561_REG_THRESHHOLDHHIGH   0x05
-#define TSL2561_REG_INTERRUPT         0x06
-#define TSL2561_REG_CRC               0x08
-#define TSL2561_REG_ID                0x0A
-#define TSL2561_REG_DATA0LOW          0x0C
-#define TSL2561_REG_DATA0HIGH         0x0D
-#define TSL2561_REG_DATA1LOW          0x0E
-#define TSL2561_REG_DATA1HIGH         0x0F
-
-
-// Auto-gain thresholds
-#define TSL2561_AGC_THI_SHORT      (4850)    // Max value at Ti 13ms = 5047
-#define TSL2561_AGC_TLO_SHORT      (100)
-#define TSL2561_AGC_THI_MEDIUM     (36000)   // Max value at Ti 101ms = 37177
-#define TSL2561_AGC_TLO_MEDIUM     (200)
-#define TSL2561_AGC_THI_LONG       (63000)   // Max value at Ti 402ms = 65535
-#define TSL2561_AGC_TLO_LONG       (500)
-
-// Clipping thresholds
-#define TSL2561_CLIPPING_SHORT     (4900)
-#define TSL2561_CLIPPING_MEDIUM    (37000)
-#define TSL2561_CLIPPING_LONG      (65000)
-
-// T, FN and CL package values
-#define TSL2561_LUX_K1T           (0x0040)  // 0.125   * 2^RATIO_SCALE
-#define TSL2561_LUX_B1T           (0x01f2)  // 0.0304  * 2^LUX_SCALE
-#define TSL2561_LUX_M1T           (0x01be)  // 0.0272  * 2^LUX_SCALE
-#define TSL2561_LUX_K2T           (0x0080)  // 0.250   * 2^RATIO_SCALE
-#define TSL2561_LUX_B2T           (0x0214)  // 0.0325  * 2^LUX_SCALE
-#define TSL2561_LUX_M2T           (0x02d1)  // 0.0440  * 2^LUX_SCALE
-#define TSL2561_LUX_K3T           (0x00c0)  // 0.375   * 2^RATIO_SCALE
-#define TSL2561_LUX_B3T           (0x023f)  // 0.0351  * 2^LUX_SCALE
-#define TSL2561_LUX_M3T           (0x037b)  // 0.0544  * 2^LUX_SCALE
-#define TSL2561_LUX_K4T           (0x0100)  // 0.50    * 2^RATIO_SCALE
-#define TSL2561_LUX_B4T           (0x0270)  // 0.0381  * 2^LUX_SCALE
-#define TSL2561_LUX_M4T           (0x03fe)  // 0.0624  * 2^LUX_SCALE
-#define TSL2561_LUX_K5T           (0x0138)  // 0.61    * 2^RATIO_SCALE
-#define TSL2561_LUX_B5T           (0x016f)  // 0.0224  * 2^LUX_SCALE
-#define TSL2561_LUX_M5T           (0x01fc)  // 0.0310  * 2^LUX_SCALE
-#define TSL2561_LUX_K6T           (0x019a)  // 0.80    * 2^RATIO_SCALE
-#define TSL2561_LUX_B6T           (0x00d2)  // 0.0128  * 2^LUX_SCALE
-#define TSL2561_LUX_M6T           (0x00fb)  // 0.0153  * 2^LUX_SCALE
-#define TSL2561_LUX_K7T           (0x029a)  // 1.3     * 2^RATIO_SCALE
-#define TSL2561_LUX_B7T           (0x0018)  // 0.00146 * 2^LUX_SCALE
-#define TSL2561_LUX_M7T           (0x0012)  // 0.00112 * 2^LUX_SCALE
-#define TSL2561_LUX_K8T           (0x029a)  // 1.3     * 2^RATIO_SCALE
-#define TSL2561_LUX_B8T           (0x0000)  // 0.000   * 2^LUX_SCALE
-#define TSL2561_LUX_M8T           (0x0000)  // 0.000   * 2^LUX_SCALE
-
-// CS package values
-#define TSL2561_LUX_K1C           (0x0043)  // 0.130   * 2^RATIO_SCALE
-#define TSL2561_LUX_B1C           (0x0204)  // 0.0315  * 2^LUX_SCALE
-#define TSL2561_LUX_M1C           (0x01ad)  // 0.0262  * 2^LUX_SCALE
-#define TSL2561_LUX_K2C           (0x0085)  // 0.260   * 2^RATIO_SCALE
-#define TSL2561_LUX_B2C           (0x0228)  // 0.0337  * 2^LUX_SCALE
-#define TSL2561_LUX_M2C           (0x02c1)  // 0.0430  * 2^LUX_SCALE
-#define TSL2561_LUX_K3C           (0x00c8)  // 0.390   * 2^RATIO_SCALE
-#define TSL2561_LUX_B3C           (0x0253)  // 0.0363  * 2^LUX_SCALE
-#define TSL2561_LUX_M3C           (0x0363)  // 0.0529  * 2^LUX_SCALE
-#define TSL2561_LUX_K4C           (0x010a)  // 0.520   * 2^RATIO_SCALE
-#define TSL2561_LUX_B4C           (0x0282)  // 0.0392  * 2^LUX_SCALE
-#define TSL2561_LUX_M4C           (0x03df)  // 0.0605  * 2^LUX_SCALE
-#define TSL2561_LUX_K5C           (0x014d)  // 0.65    * 2^RATIO_SCALE
-#define TSL2561_LUX_B5C           (0x0177)  // 0.0229  * 2^LUX_SCALE
-#define TSL2561_LUX_M5C           (0x01dd)  // 0.0291  * 2^LUX_SCALE
-#define TSL2561_LUX_K6C           (0x019a)  // 0.80    * 2^RATIO_SCALE
-#define TSL2561_LUX_B6C           (0x0101)  // 0.0157  * 2^LUX_SCALE
-#define TSL2561_LUX_M6C           (0x0127)  // 0.0180  * 2^LUX_SCALE
-#define TSL2561_LUX_K7C           (0x029a)  // 1.3     * 2^RATIO_SCALE
-#define TSL2561_LUX_B7C           (0x0037)  // 0.00338 * 2^LUX_SCALE
-#define TSL2561_LUX_M7C           (0x002b)  // 0.00260 * 2^LUX_SCALE
-#define TSL2561_LUX_K8C           (0x029a)  // 1.3     * 2^RATIO_SCALE
-#define TSL2561_LUX_B8C           (0x0000)  // 0.000   * 2^LUX_SCALE
-#define TSL2561_LUX_M8C           (0x0000)  // 0.000   * 2^LUX_SCALE
-
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-#define CEILING(x,y) (((x) + (y) - 1) / (y))
-
-static inline unsigned int
-calculateIlluminance(TSL2561_integration_time_t integration_time,
-		     TSL2561_gain_t gain,
-		     uint16_t broadband, uint16_t ir,
-		     unsigned int partno) {
-    unsigned long channel_1;
-    unsigned long channel_0;  
-
-    /* Get value for channel scaling, and clipping */
-    uint16_t      clip_threshold = 0;
-    unsigned long channel_scale  = 0;
-    switch (integration_time) {
-    case TSL2561_INTEGRATIONTIME_SHORT:
-	clip_threshold = TSL2561_CLIPPING_SHORT;
-	channel_scale  = TSL2561_LUX_CHSCALE_TINT0;
- 	break;
-    case TSL2561_INTEGRATIONTIME_MEDIUM:
-	clip_threshold = TSL2561_CLIPPING_MEDIUM;
-	channel_scale  = TSL2561_LUX_CHSCALE_TINT1;
-	break;
-    case TSL2561_INTEGRATIONTIME_LONG:
-	clip_threshold = TSL2561_CLIPPING_LONG;
-	channel_scale  = (1 << TSL2561_LUX_CHSCALE);
-	break;
-    default:
-	// assert failed
-	break;
-    }
-
-    /* Check for saturated sensor (ie: clipping) */
-    if ((broadband > clip_threshold) || (ir > clip_threshold)) {
-	return TSL2561_OVERLOADED;
-    }
-    
-    /* Scale for gain (1x or 16x) */
-    if (gain == TSL2561_GAIN_1X)
-	channel_scale <<= 4;
-    
-    /* Scale the channel values */
-    channel_0 = (broadband * channel_scale) >> TSL2561_LUX_CHSCALE;
-    channel_1 = (ir        * channel_scale) >> TSL2561_LUX_CHSCALE;
-
-    /* Find the ratio of the channel values (Channel_1/Channel_0) */
-    unsigned long _ratio = 0;
-    if (channel_0 != 0)
-	_ratio = (channel_1 << (TSL2561_LUX_RATIOSCALE+1)) / channel_0;
-    unsigned long ratio = (_ratio + 1) >> 1; /* round the ratio value */
-
-    /* Find linear approximation */
-    unsigned int b = 0;
-    unsigned int m = 0;
-
-    switch (partno) {
-#if TSL2561_WITH_CS
-    case 0x1: // 0001 = TSL2561 CS
-	if ((ratio >= 0) && (ratio <= TSL2561_LUX_K1C))
-	    { b=TSL2561_LUX_B1C; m=TSL2561_LUX_M1C; }
-	else if (ratio <= TSL2561_LUX_K2C)
-	    { b=TSL2561_LUX_B2C; m=TSL2561_LUX_M2C; }
-	else if (ratio <= TSL2561_LUX_K3C)
-	    { b=TSL2561_LUX_B3C; m=TSL2561_LUX_M3C; }
-	else if (ratio <= TSL2561_LUX_K4C)
-	    { b=TSL2561_LUX_B4C; m=TSL2561_LUX_M4C; }
-	else if (ratio <= TSL2561_LUX_K5C)
-	    { b=TSL2561_LUX_B5C; m=TSL2561_LUX_M5C; }
-	else if (ratio <= TSL2561_LUX_K6C)
-	    { b=TSL2561_LUX_B6C; m=TSL2561_LUX_M6C; }
-	else if (ratio <= TSL2561_LUX_K7C)
-	    { b=TSL2561_LUX_B7C; m=TSL2561_LUX_M7C; }
-	else if (ratio > TSL2561_LUX_K8C)
-	    { b=TSL2561_LUX_B8C; m=TSL2561_LUX_M8C; }
-	break;
-#endif
-#if TSL2561_WITH_T_FN_CL
-    case 0x5: // 0101 = TSL2561 T/FN/CL
-	if ((ratio >= 0) && (ratio <= TSL2561_LUX_K1T))
-	    { b=TSL2561_LUX_B1T; m=TSL2561_LUX_M1T; }
-	else if (ratio <= TSL2561_LUX_K2T)
-	    { b=TSL2561_LUX_B2T; m=TSL2561_LUX_M2T; }
-	else if (ratio <= TSL2561_LUX_K3T)
-	    { b=TSL2561_LUX_B3T; m=TSL2561_LUX_M3T; }
-	else if (ratio <= TSL2561_LUX_K4T)
-	    { b=TSL2561_LUX_B4T; m=TSL2561_LUX_M4T; }
-	else if (ratio <= TSL2561_LUX_K5T)
-	    { b=TSL2561_LUX_B5T; m=TSL2561_LUX_M5T; }
-	else if (ratio <= TSL2561_LUX_K6T)
-	    { b=TSL2561_LUX_B6T; m=TSL2561_LUX_M6T; }
-	else if (ratio <= TSL2561_LUX_K7T)
-	    { b=TSL2561_LUX_B7T; m=TSL2561_LUX_M7T; }
-	else if (ratio > TSL2561_LUX_K8T)
-	    { b=TSL2561_LUX_B8T; m=TSL2561_LUX_M8T; }
-	break;
-#endif
-    default:
-	// assert failed
-	break;
-    }
-    
-    /* Compute illuminance */
-    long ill = ((channel_0 * b) - (channel_1 * m));
-    if (ill < 0) ill = 0;                /* Do not allow negative lux value */
-    ill  += (1 << (TSL2561_LUX_LUXSCALE-1)); /* Round lsb (2^(LUX_SCALE-1)) */
-    ill >>= TSL2561_LUX_LUXSCALE;                  /* Strip fractional part */
-    
-    /* Signal I2C had no errors */
-    return ill;
-}
-
-static inline msg_t
-_readChannel(TSL2561_drv *drv, uint16_t *broadband, uint16_t *ir) {
-    msg_t msg;
-    if (((msg = i2c_reg_recv16_le(
-	  TSL2561_COMMAND_BIT | TSL2561_WORD_BIT | TSL2561_REG_DATA0LOW,
-	  broadband)) < MSG_OK) ||
-	((msg = i2c_reg_recv16_le(
-	  TSL2561_COMMAND_BIT | TSL2561_WORD_BIT | TSL2561_REG_DATA1LOW,
-	  ir       )) < MSG_OK))
-	return msg;
-    return MSG_OK;
-}
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-void
-TSL2561_init(TSL2561_drv *drv, TSL2561_config *config) {
-    drv->config           = config;
-    drv->gain             = TSL2561_GAIN_1X;
-    drv->integration_time = TSL2561_INTEGRATIONTIME_LONG;
-    drv->state            = SENSOR_INIT;
-
-    i2c_reg_recv8(TSL2561_COMMAND_BIT | TSL2561_REG_ID,
-		 (uint8_t*)&drv->id);
-}
-
-msg_t
-TSL2561_check(TSL2561_drv *drv) {
-    uint8_t rx;
-
-    msg_t msg;
-    if ((msg = i2c_reg_recv8(TSL2561_REG_ID, &rx)) < MSG_OK)
-	return msg;
-    if (!(rx & 0x0A))
-	return SENSOR_NOTFOUND;
-    return MSG_OK;
-}
-  
-msg_t
-TSL2561_stop(TSL2561_drv *drv) {
-    struct __attribute__((packed)) {
-	uint8_t reg;
-	uint8_t conf;
-    } tx = { TSL2561_COMMAND_BIT | TSL2561_REG_CONTROL,
-	     TSL2561_CONTROL_POWEROFF };
-
-    return i2c_send((uint8_t*)&tx, sizeof(tx));
-}
-
-msg_t
-TSL2561_start(TSL2561_drv *drv) {
-    struct __attribute__((packed)) {
-	uint8_t reg;
-	uint8_t conf;
-    } tx = { TSL2561_COMMAND_BIT | TSL2561_REG_CONTROL,
-	     TSL2561_CONTROL_POWERON };
-    
-    return i2c_send((uint8_t*)&tx, sizeof(tx));
-}
-
-msg_t
-TSL2561_setIntegrationTime(TSL2561_drv *drv,
-	TSL2561_integration_time_t time) {
-    struct __attribute__((packed)) {
-	uint8_t reg;
-	uint8_t conf;
-    } tx = { TSL2561_COMMAND_BIT | TSL2561_REG_TIMING,
-	     (uint8_t)(time | drv->gain) };
-        
-    msg_t msg;
-    if ((msg = i2c_send((uint8_t*)&tx, sizeof(tx))) < MSG_OK)
-	return msg;
-    
-    drv->integration_time = time;
-    
-    return MSG_OK;
-}
-
-msg_t
-TSL2561_setGain(TSL2561_drv *drv,
-	TSL2561_gain_t gain) {
-    struct __attribute__((packed)) {
-	uint8_t reg;
-	uint8_t conf;
-    } tx = { TSL2561_COMMAND_BIT | TSL2561_REG_TIMING,
-	     (uint8_t)(drv->integration_time | gain) };
-    
-    msg_t msg;
-    if ((msg = i2c_send((uint8_t*)&tx, sizeof(tx))) < MSG_OK)
-	return msg;
-
-    drv->gain = gain;
-
-    return MSG_OK;
-}
-
-unsigned int
-TSL2561_getAcquisitionTime(TSL2561_drv *drv) {
-    switch (drv->integration_time) {
-    case TSL2561_INTEGRATIONTIME_SHORT:
-	return CEILING(TSL2561_DELAY_INTTIME_SHORT , 1000);
-    case TSL2561_INTEGRATIONTIME_MEDIUM:
-	return CEILING(TSL2561_DELAY_INTTIME_MEDIUM, 1000);
-    case TSL2561_INTEGRATIONTIME_LONG:
-	return CEILING(TSL2561_DELAY_INTTIME_LONG  , 1000);
-    }
-    return -1;
-}
-
-
-msg_t
-TSL2561_readIlluminance(TSL2561_drv *drv,
-	unsigned int *illuminance) {
-    uint16_t broadband;
-    uint16_t ir;
-
-    /* Read channels */
-    msg_t msg;
-    if ((msg = _readChannel(drv, &broadband, &ir)) < MSG_OK)
-	return msg;
-
-    /* Calculate illuminance */
-    *illuminance =
-	calculateIlluminance(drv->integration_time, drv->gain,
-			     broadband, ir, drv->id.partno);
-    /* Ok */
-    return SENSOR_OK;
-}
-
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2561.h b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2561.h
deleted file mode 100644
index 75e7c78..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2561.h
+++ /dev/null
@@ -1,241 +0,0 @@
-/*
-    TSL2561 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu
-
-    Licensed under the Apache License, Version 2.0 (the "License");
-    you may not use this file except in compliance with the License.
-    You may obtain a copy of the License at
-
-        http://www.apache.org/licenses/LICENSE-2.0
-
-    Unless required by applicable law or agreed to in writing, software
-    distributed under the License is distributed on an "AS IS" BASIS,
-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-    See the License for the specific language governing permissions and
-    limitations under the License.
-*/
-
-/**
- * @file    tsl2561.h
- * @brief   TSL2561 Light sensor interface module header.
- *
- * @{
- */
-
-#ifndef _SENSOR_TSL2561_H_
-#define _SENSOR_TSL2561_H_
-
-#include <math.h>
-#include "i2c_helpers.h"
-#include "sensor.h"
-
-
-/*===========================================================================*/
-/* Driver constants.                                                         */
-/*===========================================================================*/
-
-#define TSL2561_CONTINUOUS_ACQUISITION_SUPPORTED   TRUE
-
-#define TSL2561_OVERLOADED        (-1)
-
-
-/* I2C address */
-#define TSL2561_I2CADDR_LOW          (0x29)
-#define TSL2561_I2CADDR_FLOAT        (0x39)
-#define TSL2561_I2CADDR_HIGH         (0x49)
-
-/**
- * @brief Time necessary for the sensor to boot
- */
-#define TSL2561_BOOTUP_TIME		0
-
-/**
- * @brief Time necessary for the sensor to start
- */
-#define TSL2561_STARTUP_TIME		0
-
-
-
-/*===========================================================================*/
-/* Driver pre-compile time settings.                                         */
-/*===========================================================================*/
-
-#ifndef TSL2561_WITH_CS
-#define TSL2561_WITH_CS		  0
-#endif
-
-#ifndef TSL2561_WITH_T_FN_CL
-#define TSL2561_WITH_T_FN_CL	  1
-#endif
-
-
-/*===========================================================================*/
-/* Derived constants and error checks.                                       */
-/*===========================================================================*/
-
-
-#define TSL2561_I2CADDR_DEFAULT        TSL2561_I2CADDR_FLOAT
-
-
-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/**
- * @brief   TSL2561 configuration structure.
- */
-typedef struct {
-    I2CHelper i2c; /* keep it first */
-} TSL2561_config;
-
-/**
- * @brief   Available integration time
- *
- * @details Available integration time are:
- *          13.7ms, 101ms, 402ms
- */
-typedef enum {
-    TSL2561_INTEGRATIONTIME_SHORT      = 0x00,    /**< @brief  13.7ms */
-    TSL2561_INTEGRATIONTIME_MEDIUM     = 0x01,    /**< @brief 101.0ms */
-    TSL2561_INTEGRATIONTIME_LONG       = 0x02,    /**< @brief 402.0ms */
-} TSL2561_integration_time_t;
-
-/**
- * @brief   Available gain
- *
- * @details Available gain are 1x, 16x
- */
-typedef enum {
-    TSL2561_GAIN_1X                    = 0x00,    /**< @brief  1x gain */
-    TSL2561_GAIN_16X                   = 0x10,    /**< @brief 16x gain */
-} TSL2561_gain_t;
-
-/**
- * @brief   TSL2561 configuration structure.
- */
-typedef struct {
-    TSL2561_config  *config;
-    sensor_state_t   state;
-    TSL2561_gain_t   gain;
-    TSL2561_integration_time_t integration_time;
-    struct PACKED {
-	uint8_t revno  : 4;
-	uint8_t partno : 4; }  id;
-} TSL2561_drv;
-
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
-
-
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-/**
- * @brief Initialize the sensor driver
- */
-void
-TSL2561_init(TSL2561_drv *drv,
-	TSL2561_config *config);
-
-/**
- * @brief Start the sensor
- */
-msg_t
-TSL2561_start(TSL2561_drv *drv);
-
-/**
- * @brief   Stop the sensor
- *
- * @details If the sensor support it, it will be put in low energy mode.
- */
-msg_t
-TSL2561_stop(TSL2561_drv *drv);
-
-/**
- * @brief   Check that the sensor is really present
- */
-msg_t
-TSL2561_check(TSL2561_drv *drv);
-
-/**
- * @brief Time in milli-seconds necessary for acquiring a naw measure
- *
- * @returns
- *   unsigned int   time in millis-seconds
- */
-unsigned int
-TSL2561_getAcquisitionTime(TSL2561_drv *drv);
-
-/**
- * @brief Trigger a mesure acquisition
- */
-static inline msg_t
-TSL2561_startMeasure(TSL2561_drv *drv) {
-    (void)drv;
-    return MSG_OK;
-};
-
-/**
- * @brief Read the newly acquiered measure
- *
- * @note  According the the sensor design the measure read
- *        can be any value acquired after the acquisition time
- *        and the call to readMeasure.
- */
-msg_t
-TSL2561_readMeasure(TSL2561_drv *drv,
-	unsigned int illuminance);
-
-msg_t
-TSL2561_setGain(TSL2561_drv *drv,
-	TSL2561_gain_t gain);
-
-msg_t
-TSL2561_setIntegrationTime(TSL2561_drv *drv,
-	TSL2561_integration_time_t time);
-
-/**
- * @brief   Read temperature and humidity
- *
- * @details According to the sensor specification/configuration
- *          (see #TSL2561_CONTINUOUS_ACQUISITION_SUPPORTED), 
- *          if the sensor is doing continuous measurement
- *          it's value will be requested and returned immediately.
- *          Otherwise a measure is started, the necessary amount of
- *          time for acquiring the value is spend sleeping (not spinning),
- *          and finally the measure is read.
- *
- * @note    In continuous measurement mode, if you just started
- *          the sensor, you will need to wait getAcquisitionTime()
- *          in addition to the usual getStartupTime()
-
- * @note    If using several sensors, it is better to start all the
- *          measure together, wait for the sensor having the longuest
- *          aquisition time, and finally read all the values
- */
-msg_t
-TSL2561_readIlluminance(TSL2561_drv *drv,
-	unsigned int *illuminance);
-
-/**
- * @brief   Return the illuminance value in Lux
- *
- * @details Use readIlluminance() for returning the humidity value.
- *
- * @note    Prefere readIlluminance()if you need better error handling.
- *
- * @return Illuminance in Lux
- * @retval  unsigned int illuminace value 
- * @retval  -1           on failure
- */
-static inline unsigned int
-TSL2561_getIlluminance(TSL2561_drv *drv) {
-    unsigned int illuminance = -1;
-    TSL2561_readIlluminance(drv, &illuminance);
-    return illuminance;
-}
-
-
-#endif
-
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2591.c b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2591.c
deleted file mode 100644
index c0bbee0..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2591.c
+++ /dev/null
@@ -1,272 +0,0 @@
-/*
-    TSL2591 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu
-
-    Licensed under the Apache License, Version 2.0 (the "License");
-    you may not use this file except in compliance with the License.
-    You may obtain a copy of the License at
-
-        http://www.apache.org/licenses/LICENSE-2.0
-
-    Unless required by applicable law or agreed to in writing, software
-    distributed under the License is distributed on an "AS IS" BASIS,
-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-    See the License for the specific language governing permissions and
-    limitations under the License.
-*/
-
-/**
- *
- * DOC: http://ams.com/eng/content/download/389383/1251117/221235
- */
-
-#define I2C_HELPERS_AUTOMATIC_DRV TRUE
-
-#include "hal.h"
-#include "i2c_helpers.h"
-#include "tsl2591.h"
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-#define TSL2591_LUX_DF            (408.0F)
-#define TSL2591_LUX_COEFB         (1.64F)  // CH0 coefficient 
-#define TSL2591_LUX_COEFC         (0.59F)  // CH1 coefficient A
-#define TSL2591_LUX_COEFD         (0.86F)  // CH2 coefficient B
-
-/* I2C registers */
-#define TSL2591_REG_ENABLE        0x00
-#define TSL2591_REG_CONFIG        0x01 /**< @brief gain and integration */
-#define TSL2591_REG_AILTL         0x04
-#define TSL2591_REG_AILTH         0x05
-#define TSL2591_REG_AIHTL         0x06
-#define TSL2591_REG_AIHTH         0x07
-#define TSL2591_REG_NPAILTL       0x08
-#define TSL2591_REG_NPAILTH       0x09
-#define TSL2591_REG_NPAIHTL       0x0A
-#define TSL2591_REG_NPAIHTH       0x0B
-#define TSL2591_REG_PERSIST       0x0C
-#define TSL2591_REG_PID           0x11 /**< @brief Package ID */
-#define TSL2591_REG_ID            0x12 /**< @brief Device ID */
-#define TSL2591_REG_STATUS        0x13 /**< @brief Device status */
-#define TSL2591_REG_C0DATAL       0x14 /**< @brief CH0 ADC low  data byte */
-#define TSL2591_REG_C0DATAH       0x15 /**< @brief CH0 ADC high data byte */
-#define TSL2591_REG_C1DATAL       0x16 /**< @brief CH1 ADC low  data byte */
-#define TSL2591_REG_C1DATAH       0x17 /**< @brief CH1 ADC high data byte */
-
-#define TSL2591_REG_COMMAND       0x80 /**< @brief Select command register */
-#define TSL2591_REG_NORMAL        0x20 /**< @brief Normal opearation       */
-#define TSL2591_REG_SPECIAL       0x60 /**< @brief Special function        */
-
-#define TSL2591_ID_TSL2591        0x50
-
-#define TSL2591_VISIBLE           (2)       // channel 0 - channel 1
-#define TSL2591_INFRARED          (1)       // channel 1
-#define TSL2591_FULLSPECTRUM      (0)       // channel 0
-
-#define TSL2591_ENABLE_POWERON    (0x01)
-#define TSL2591_ENABLE_POWEROFF   (0x00)
-#define TSL2591_ENABLE_AEN        (0x02)
-#define TSL2591_ENABLE_AIEN       (0x10)
-
-#define TSL2591_CONTROL_RESET     (0x80)
-
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-static inline uint32_t
-calculateIlluminance(TSL2591_integration_time_t integration_time,
-		     TSL2591_gain_t gain,
-		     uint16_t broadband, uint16_t ir) {
-  uint16_t atime, again;
-
-  /* Check for overflow conditions first */
-  if ((broadband == 0xFFFF) | (ir == 0xFFFF)) {
-      return 0xFFFFFFFF; /* Signal overflow */
-  }
-
-  switch (integration_time) {
-  case TSL2591_INTEGRATIONTIME_100MS : atime =   100; break;
-  case TSL2591_INTEGRATIONTIME_200MS : atime =   200; break;
-  case TSL2591_INTEGRATIONTIME_300MS : atime =   300; break;
-  case TSL2591_INTEGRATIONTIME_400MS : atime =   400; break;
-  case TSL2591_INTEGRATIONTIME_500MS : atime =   500; break;
-  case TSL2591_INTEGRATIONTIME_600MS : atime =   600; break;
-  }
-  
-  switch (gain) {
-  case TSL2591_GAIN_1X              : again =     1; break;
-  case TSL2591_GAIN_25X             : again =    25; break;
-  case TSL2591_GAIN_415X            : again =   415; break;
-  case TSL2591_GAIN_10000X          : again = 10000; break;
-  }
-
-  // cpl = (ATIME * AGAIN) / DF
-  float cpl  = ((float)(atime * again)) / ((float)TSL2591_LUX_DF);
-  float lux1 = ( ((float)broadband) - (TSL2591_LUX_COEFB * (float)ir) ) / cpl;
-  float lux2 = ( (TSL2591_LUX_COEFC * (float)broadband) -
-		 (TSL2591_LUX_COEFD * (float)ir       ) ) / cpl;
-  
-  return (uint32_t) (lux1 > lux2 ? lux1 : lux2);
-}
-
-static inline msg_t
-_readChannel(TSL2591_drv *drv, uint16_t *broadband, uint16_t *ir) {
-    msg_t msg;
-    if (((msg = i2c_reg_recv16_le(
-	  TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_C0DATAL,
-	  broadband)) < MSG_OK) ||
-	((msg = i2c_reg_recv16_le(
-	  TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_C1DATAL,
-	  ir       )) < MSG_OK))
-	return msg;
-
-    return MSG_OK;
-}
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-void
-TSL2591_init(TSL2591_drv *drv, TSL2591_config *config) {
-    drv->config           = config;
-    drv->gain             = TSL2591_GAIN_1X;
-    drv->integration_time = TSL2591_INTEGRATIONTIME_100MS;
-    drv->state            = SENSOR_INIT;
-}
-  
-msg_t
-TSL2591_check(TSL2591_drv *drv) {
-    uint8_t id;
-
-    msg_t msg;
-    if ((msg = i2c_reg_recv8(TSL2591_REG_COMMAND | TSL2591_REG_NORMAL |
-			     TSL2591_REG_ID, &id)) < MSG_OK)
-	return msg;
-
-    if (id != TSL2591_ID_TSL2591)
-	return SENSOR_NOTFOUND;
-
-    return MSG_OK;
-}
-
-msg_t
-TSL2591_start(TSL2591_drv *drv) {
-    struct __attribute__((packed)) {
-	uint8_t reg;
-	uint8_t conf;
-    } tx_config = {
-	TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_CONFIG,
-	(uint8_t)(drv->integration_time | drv->gain) };
-
-    struct __attribute__((packed)) {
-	uint8_t reg;
-	uint8_t conf;
-    } tx_start = {
-	TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_ENABLE,
-	TSL2591_ENABLE_POWERON };
-
-    msg_t msg;
-
-    if (((msg = i2c_send((uint8_t*)&tx_config, sizeof(tx_config))) < MSG_OK) ||
-	((msg = i2c_send((uint8_t*)&tx_start,  sizeof(tx_start ))) < MSG_OK)) {
-	drv->state = SENSOR_ERROR;
-	return msg;
-    }
-    
-    drv->state = SENSOR_STARTED;
-    return MSG_OK;
-}
-
-msg_t
-TSL2591_stop(TSL2591_drv *drv) {
-    struct __attribute__((packed)) {
-	uint8_t reg;
-	uint8_t conf;
-    } tx_stop = {
-	TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_ENABLE,
-	TSL2591_ENABLE_POWEROFF };
-    
-    return i2c_send((uint8_t*)&tx_stop, sizeof(tx_stop));
-}
-
-msg_t
-TSL2591_setIntegrationTime(TSL2591_drv *drv,
-	TSL2591_integration_time_t time) {
-    struct __attribute__((packed)) {
-	uint8_t reg;
-	uint8_t conf;
-    } tx = { TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_CONFIG,
-	     (uint8_t)(time | drv->gain) };
-    
-    msg_t msg;
-    if ((msg = i2c_send((uint8_t*)&tx, sizeof(tx))) < MSG_OK)
-	return msg;
-    
-    drv->integration_time = time;
-    
-    return MSG_OK;
-}
-
-msg_t
-TSL2591_setGain(TSL2591_drv *drv,
-	TSL2591_gain_t gain) {
-    struct __attribute__((packed)) {
-	uint8_t reg;
-	uint8_t conf;
-    } tx = { TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_CONFIG,
-	     (uint8_t)(drv->integration_time | gain) };
-
-    msg_t msg;
-    if ((msg = i2c_send((uint8_t*)&tx, sizeof(tx))) < MSG_OK)
-	return msg;
-
-    drv->gain = gain;
-
-    return MSG_OK;
-}
-
-unsigned int
-TSL2591_getAcquisitionTime(TSL2591_drv *drv) {
-    switch (drv->integration_time) {
-    case TSL2591_INTEGRATIONTIME_100MS : return 100;
-    case TSL2591_INTEGRATIONTIME_200MS : return 200;
-    case TSL2591_INTEGRATIONTIME_300MS : return 300; 
-    case TSL2591_INTEGRATIONTIME_400MS : return 400; 
-    case TSL2591_INTEGRATIONTIME_500MS : return 500; 
-    case TSL2591_INTEGRATIONTIME_600MS : return 600; 
-    }
-    return -1;
-}
-
-
-msg_t
-TSL2591_readIlluminance(TSL2591_drv *drv,
-	unsigned int *illuminance) {
-    uint16_t broadband;
-    uint16_t ir;
-
-    /* Read channels */
-    msg_t msg;
-    if ((msg = _readChannel(drv, &broadband, &ir)) < MSG_OK)
-	return msg;
-
-    /* Calculate illuminance */
-    *illuminance =
-	calculateIlluminance(drv->integration_time, drv->gain,
-			     broadband, ir);
-    /* Ok */
-    return SENSOR_OK;
-}
-
diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2591.h b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2591.h
deleted file mode 100644
index 8320eb8..0000000
--- a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2591.h
+++ /dev/null
@@ -1,238 +0,0 @@
-/*
-    TSL2591 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu
-
-    Licensed under the Apache License, Version 2.0 (the "License");
-    you may not use this file except in compliance with the License.
-    You may obtain a copy of the License at
-
-        http://www.apache.org/licenses/LICENSE-2.0
-
-    Unless required by applicable law or agreed to in writing, software
-    distributed under the License is distributed on an "AS IS" BASIS,
-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-    See the License for the specific language governing permissions and
-    limitations under the License.
-*/
-
-/**
- * @file    tsl2591.h
- * @brief   TSL2591 Light sensor interface module header.
- *
- * @{
- */
-
-#ifndef _SENSOR_TSL2591_H_
-#define _SENSOR_TSL2591_H_
-
-#include <math.h>
-#include "i2c_helpers.h"
-#include "sensor.h"
-
-
-/*===========================================================================*/
-/* Driver constants.                                                         */
-/*===========================================================================*/
-
-/**
- * @brief Device sensor continuous acquisition support.
- */
-#define TSL2591_CONTINUOUS_ACQUISITION_SUPPORTED   TRUE
-
-/**
- * @brief I2C address. 
- */
-#define TSL2591_I2CADDR_FIXED           0x29
-
-/**
- * @brief Time necessary for the sensor to boot
- */
-#define TSL2591_BOOTUP_TIME		0
-
-/**
- * @brief Time necessary for the sensor to start
- */
-#define TSL2591_STARTUP_TIME		0
-
-
-
-/*===========================================================================*/
-/* Driver pre-compile time settings.                                         */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Derived constants and error checks.                                       */
-/*===========================================================================*/
-
-/**
- * @brief Default I2C address (when pin unconfigured)
- */
-#define TSL2591_I2CADDR_DEFAULT     TSL2591_I2CADDR_FIXED
-
-
-/*===========================================================================*/
-/* Driver data structures and types.                                         */
-/*===========================================================================*/
-
-/**
- * @brief   TSL2591 configuration structure.
- */
-typedef struct {
-    I2CHelper i2c; /* keep it first */
-} TSL2591_config;
-
-/**
- * @brief   Available integration time
- *
- * @details Available integration time are:
- *          100ms, 200ms, 300ms, 400ms, 500ms and 600ms
- */
-typedef enum {
-    TSL2591_INTEGRATIONTIME_100MS     = 0x00, /**< @brief 100ms */
-    TSL2591_INTEGRATIONTIME_200MS     = 0x01, /**< @brief 200ms */
-    TSL2591_INTEGRATIONTIME_300MS     = 0x02, /**< @brief 300ms */
-    TSL2591_INTEGRATIONTIME_400MS     = 0x03, /**< @brief 400ms */
-    TSL2591_INTEGRATIONTIME_500MS     = 0x04, /**< @brief 500ms */
-    TSL2591_INTEGRATIONTIME_600MS     = 0x05, /**< @brief 600ms */
-} TSL2591_integration_time_t;
-
-/**
- * @brief   Available gain
- *
- * @details Available gain are 1x, 25x, 415x, 10000x
- */
-typedef enum {
-    TSL2591_GAIN_1X                  = 0x00, /**< @brief     1x gain */
-    TSL2591_GAIN_25X                 = 0x10, /**< @brief    25x gain */
-    TSL2591_GAIN_415X                = 0x20, /**< @brief   415x gain */
-    TSL2591_GAIN_10000X              = 0x30, /**< @brief 10000x gain */
-} TSL2591_gain_t;
-
-/**
- * @brief   TSL2591 configuration structure.
- */
-typedef struct {
-    TSL2591_config  *config;
-    sensor_state_t   state;
-    TSL2591_gain_t gain;
-    TSL2591_integration_time_t integration_time;
-} TSL2591_drv;
-
-/*===========================================================================*/
-/* Driver macros.                                                            */
-/*===========================================================================*/
-
-
-/*===========================================================================*/
-/* External declarations.                                                    */
-/*===========================================================================*/
-
-/**
- * @brief Initialize the sensor driver
- */
-void
-TSL2591_init(TSL2591_drv *drv,
-	TSL2591_config *config);
-
-/**
- * @brief Start the sensor
- */
-msg_t
-TSL2591_start(TSL2591_drv *drv);
-
-/**
- * @brief   Stop the sensor
- *
- * @details If the sensor support it, it will be put in low energy mode.
- */
-msg_t
-TSL2591_stop(TSL2591_drv *drv);
-
-/**
- * @brief   Check that the sensor is really present
- */
-msg_t
-TSL2591_check(TSL2591_drv *drv);
-
-/**
- * @brief Time in milli-seconds necessary for acquiring a naw measure
- *
- * @returns
- *   unsigned int   time in millis-seconds
- */
-unsigned int
-TSL2591_getAcquisitionTime(TSL2591_drv *drv);
-
-/**
- * @brief Trigger a mesure acquisition
- */
-static inline msg_t
-TSL2591_startMeasure(TSL2591_drv *drv) {
-    (void)drv;
-    return MSG_OK;
-};
-
-
-msg_t
-TSL2591_setGain(TSL2591_drv *drv,
-	TSL2591_gain_t gain);
-
-msg_t
-TSL2591_setIntegrationTime(TSL2591_drv *drv,
-	TSL2591_integration_time_t time);
-
-/**
- * @brief Read the newly acquiered measure
- *
- * @note  According the the sensor design the measure read
- *        can be any value acquired after the acquisition time
- *        and the call to readMeasure.
- */
-msg_t
-TSL2591_readMeasure(TSL2591_drv *drv,
-	unsigned int illuminance);
-
-
-/**
- * @brief   Read temperature and humidity
- *
- * @details According to the sensor specification/configuration
- *          (see #TSL2591_CONTINUOUS_ACQUISITION_SUPPORTED), 
- *          if the sensor is doing continuous measurement
- *          it's value will be requested and returned immediately.
- *          Otherwise a measure is started, the necessary amount of
- *          time for acquiring the value is spend sleeping (not spinning),
- *          and finally the measure is read.
- *
- * @note    In continuous measurement mode, if you just started
- *          the sensor, you will need to wait getAcquisitionTime()
- *          in addition to the usual getStartupTime()
-
- * @note    If using several sensors, it is better to start all the
- *          measure together, wait for the sensor having the longuest
- *          aquisition time, and finally read all the values
- */
-msg_t
-TSL2591_readIlluminance(TSL2591_drv *drv,
-	unsigned int *illuminance);
-
-/**
- * @brief   Return the illuminance value in Lux
- *
- * @details Use readIlluminance() for returning the humidity value.
- *
- * @note    Prefere readIlluminance()if you need better error handling.
- *
- * @return Illuminance in Lux
- * @retval  unsigned int illuminace value 
- * @retval  -1           on failure
- */
-static inline unsigned int
-TSL2591_getIlluminance(TSL2591_drv *drv) {
-    unsigned int illuminance = -1;
-    TSL2591_readIlluminance(drv, &illuminance);
-    return illuminance;
-}
-
-
-#endif
-