diff --git a/.travis.yml b/.travis.yml
index 4ee8a0e7..3da1dce8 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -6,6 +6,7 @@ sudo: required
         
 branches:
     - master
+  only:
     - tle94112
 
 env:
diff --git a/examples/Control2Motors/Control2Motors.ino b/examples/Control2Motors/Control2Motors.ino
index 3ec162d7..6d7c2281 100644
--- a/examples/Control2Motors/Control2Motors.ino
+++ b/examples/Control2Motors/Control2Motors.ino
@@ -1,4 +1,30 @@
-#include <Tle94112.h>
+/*!
+ * \name        Control2Motors
+ * \author      Infineon Technologies AG
+ * \copyright   2019 Infineon Technologies AG
+ * \version     1.4.1
+ * \brief
+ * This example demonstrates how to control two motors, their speed and direction
+ * with the TLE94112 shield
+ * \detail
+ * By attaching a Tle94112 controller object to two Tle94112Motor objects, we can generate
+ * an easy to handle motor object for each motor. We can easily attach this motor object
+ * two any of the halfbridges and to any of the PWM units. This is done in the setup part.
+ * Keep in mind that you have to initialize the Tle94112 controller and each motor object, 
+ * which is done in the setup function.
+ * After that we can take the motor start, stop and setSpeed function to easily control
+ * each motor.
+ * 
+ * \attention Motors have depending on there size a very big latency until a motor has
+ * fully started or is stoped to 0. Specially the time between a start and stop and vice versa
+ * is much higher than higher than the processing speed of any microcontroller. This
+ * is solved in this example with the delay command, but there are better solutions than that.
+ * This delays are needed because a direct switch between start and stop will lead to high currents
+ * and the TLE94112 will signal an overcurrent. 
+ * 
+ */
+
+#include <TLE94112.h>
 #include <Tle94112Motor.h>
 
 // Tle94112 Object
@@ -78,4 +104,4 @@ void loop()
   motor1.stop(255);
 
   delay(5000);
-}
\ No newline at end of file
+}
diff --git a/examples/rampSpeedTest/rampSpeedTest.ino b/examples/rampSpeedTest/rampSpeedTest.ino
index b85c2362..a29f1858 100644
--- a/examples/rampSpeedTest/rampSpeedTest.ino
+++ b/examples/rampSpeedTest/rampSpeedTest.ino
@@ -1,8 +1,25 @@
-#include <Tle94112.h>
+/*!
+ * \name        rampSpeedTest
+ * \author      Infineon Technologies AG
+ * \copyright   2019 Infineon Technologies AG
+ * \version     1.4.1
+ * \brief
+ * This example measure the rampspeed of an attached motor with the TLE94112 shield
+ * \detail
+ * By attaching a motor to the TLE94112 and running a testcase scenario, we can measure the
+ * optimal values for the rampSpeed function. This function allows us to smoothly start, stop,
+ * raise or break the motor.
+ * 
+ * \attention A free running motor ramps very different that the same motor with load attached.
+ * So you have to measure different scenarios.
+ *
+ */
+
+#include <TLE94112.h>
 #include <Tle94112Motor.h>
 
 
-// Tle94112 Object on Shiled 1
+// Tle94112 Object on Shield 1
 Tle94112 controller1 = Tle94112();
 
 // Tle94112Motor Objects on controller1
@@ -15,6 +32,7 @@ typedef struct {
   uint16_t slope;
 } RampMeasurement_t, *RampMeasurement_p;
 
+// lets define an array with different 
 #define NUM_TESTS 6
 RampMeasurement_t testcases[NUM_TESTS] = {
   { 0,    255,  5000 }, 
@@ -78,4 +96,4 @@ void loop() {
   {
     measureRampTime(i);
   }
-}
\ No newline at end of file
+}
diff --git a/examples/rampTest/rampTest.ino b/examples/rampTest/rampTest.ino
index bce223f0..47310e81 100644
--- a/examples/rampTest/rampTest.ino
+++ b/examples/rampTest/rampTest.ino
@@ -1,111 +1,122 @@
-#include <Tle94112.h>
-#include <Tle94112Motor.h>
-/*
- ============================================================================
- Name        : Lego Robot III
- Author      : Dr. Olaf Filies, Marcus Gordon Filies
- Version     : 0.9
- Description : ramping the motor speed of a high current motor
- ============================================================================
- */
-
-// Tle94112 Object on Shiled 1
-Tle94112 controller1 = Tle94112();
-
-// Tle94112Motor Objects on controller1
-Tle94112Motor motor1(controller1);
-
-
-void setup() {
-  Serial.begin(115200);     // Switch on comunication
-  Serial.println("Init ready");
-
-  // Enable MotorController on all Shields and Motors
-  // Note: Required to be done before starting to configure the motor
-  // controller1 is set to default CS1 pin
-  controller1.begin();
-
-  //-Motor1-high current motor between out1/out2 = HB1/HB2 and out3/out4 = HB3/HB4-------------------
- 
-  // Connect motor1 to HB1/HB2 highside and HB3/HB4 lowside
-  // IMPORTANT connect PWM to Lowside as higside is active Free wheeling
-  motor1.initConnector(motor1.HIGHSIDE, controller1.TLE_NOPWM, controller1.TLE_HB1, controller1.TLE_HB2, controller1.TLE_NOHB, controller1.TLE_NOHB);
-  motor1.initConnector(motor1.LOWSIDE, controller1.TLE_PWM1, controller1.TLE_HB3, controller1.TLE_HB4, controller1.TLE_NOHB, controller1.TLE_NOHB);
-
-  // start motor1
-  motor1.begin();
-}
-
-void loop() {
-
-  motor1.coast();
-  delay(1000);
-
-// max forward/backward
-  Serial.println("max forward/backward");
-  motor1.start(255);
-  delay(1000);
-  motor1.coast();
-  delay(1000);
-  motor1.start(-255);
-  delay(1000);
-  motor1.coast();
-  delay(1000);
-
-// ramp rippel forward/backward    
-  Serial.println("ramp rippel forward/backward");
-  motor1.start(255);
-  delay(1000);
-  motor1.rampSpeed(0,5000);
-  delay(1000);
-  motor1.start(-255);
-  delay(1000);
-  motor1.rampSpeed(0,5000);
-  delay(1000);
-
-// ramp up/down forward
-  Serial.println("ramp up/down forward");
-  motor1.start(50); // start above 0 to allow motor to start
-  motor1.rampSpeed(255,5000);
-  delay(1000);
-  motor1.rampSpeed(100,5000);
-  delay(1000);
-  motor1.rampSpeed(255,5000);
-  delay(1000);
-  motor1.rampSpeed(0,5000);
-  
-// ramp up/down backward
-  Serial.println("ramp up/down backward");
-  motor1.start(50);
-  motor1.rampSpeed(-255,5000);
-  delay(1000);
-  motor1.rampSpeed(-100,5000);
-  delay(1000);
-  motor1.rampSpeed(-255,5000);
-  delay(1000);
-  motor1.rampSpeed(0,5000);
-
-// ramp transient
-  Serial.println("ramp transient");
-  motor1.rampSpeed(-255,1000);
-  delay(1000);
-  motor1.rampSpeed(255,1000);
-  delay(1000);
-  motor1.rampSpeed(-255,1000);
-  delay(1000);
-  motor1.rampSpeed(0,1000);
-  delay(1000);
-
-// stop and coast
-  Serial.println("stop and coast");
-  motor1.stop(255);
-  delay(1000);
-  motor1.coast();
-  delay(1000);
-  
-
-}
-
-
-
-
+/*!
+ * \name        rampTest
+ * \author      Infineon Technologies AG
+ * \copyright   2019 Infineon Technologies AG
+ * \version     1.4.1
+ * \brief
+ * This example to run a motor with the rampSpeed function
+ * \detail
+ * This example also demonstrats how to attach a bigger motor on 4 halfbridges with a total 
+ * current of 1.8 A. Originally designed to test Lego (R) Powerfunktions or Mindstorm motors,
+ * this sketch can be used to simply run a motor smoothly with different speeds
+ * in different directions.
+ *
+ */
+
+#include <TLE94112.h>
+#include <Tle94112Motor.h>
+/*
+ ============================================================================
+ Name        : Lego Robot III
+ Author      : Dr. Olaf Filies, Marcus Gordon Filies
+ Version     : 0.9
+ Description : ramping the motor speed of a high current motor
+ ============================================================================
+ */
+
+// Tle94112 Object on Shield 1
+Tle94112 controller1 = Tle94112();
+
+// Tle94112Motor Objects on controller1
+Tle94112Motor motor1(controller1);
+
+
+void setup() {
+  Serial.begin(115200);     // Switch on communications
+  Serial.println("Init ready");
+
+  // Enable MotorController on all Shields and Motors
+  // Note: Required to be done before starting to configure the motor
+  // controller1 is set to default CS1 pin
+  controller1.begin();
+
+  //-Motor1-high current motor between out1/out2 = HB1/HB2 and out3/out4 = HB3/HB4-------------------
+ 
+  // Connect motor1 to HB1/HB2 highside and HB3/HB4 lowside
+  // IMPORTANT connect PWM to Lowside as higside is active Free wheeling
+  motor1.initConnector(motor1.HIGHSIDE, controller1.TLE_NOPWM, controller1.TLE_HB1, controller1.TLE_HB2, controller1.TLE_NOHB, controller1.TLE_NOHB);
+  motor1.initConnector(motor1.LOWSIDE, controller1.TLE_PWM1, controller1.TLE_HB3, controller1.TLE_HB4, controller1.TLE_NOHB, controller1.TLE_NOHB);
+
+  // start motor1
+  motor1.begin();
+}
+
+void loop() {
+
+  motor1.coast();
+  delay(1000);
+
+// max forward/backward
+  Serial.println("max forward/backward");
+  motor1.start(255);
+  delay(1000);
+  motor1.coast();
+  delay(1000);
+  motor1.start(-255);
+  delay(1000);
+  motor1.coast();
+  delay(1000);
+
+// ramp ripple forward/backward    
+  Serial.println("ramp ripple forward/backward");
+  motor1.start(255);
+  delay(1000);
+  motor1.rampSpeed(0,5000);
+  delay(1000);
+  motor1.start(-255);
+  delay(1000);
+  motor1.rampSpeed(0,5000);
+  delay(1000);
+
+// ramp up/down forward
+  Serial.println("ramp up/down forward");
+  motor1.start(50); // start above 0 to allow motor to start
+  motor1.rampSpeed(255,5000);
+  delay(1000);
+  motor1.rampSpeed(100,5000);
+  delay(1000);
+  motor1.rampSpeed(255,5000);
+  delay(1000);
+  motor1.rampSpeed(0,5000);
+  
+// ramp up/down backward
+  Serial.println("ramp up/down backward");
+  motor1.start(50);
+  motor1.rampSpeed(-255,5000);
+  delay(1000);
+  motor1.rampSpeed(-100,5000);
+  delay(1000);
+  motor1.rampSpeed(-255,5000);
+  delay(1000);
+  motor1.rampSpeed(0,5000);
+
+// ramp transient
+  Serial.println("ramp transient");
+  motor1.rampSpeed(-255,1000);
+  delay(1000);
+  motor1.rampSpeed(255,1000);
+  delay(1000);
+  motor1.rampSpeed(-255,1000);
+  delay(1000);
+  motor1.rampSpeed(0,1000);
+  delay(1000);
+
+// stop and coast
+  Serial.println("stop and coast");
+  motor1.stop(255);
+  delay(1000);
+  motor1.coast();
+  delay(1000);
+  
+
+}
diff --git a/examples/speedControl/speedControl.ino b/examples/speedControl/speedControl.ino
index e2f2edcf..082d06b0 100644
--- a/examples/speedControl/speedControl.ino
+++ b/examples/speedControl/speedControl.ino
@@ -1,41 +1,58 @@
-#include <Tle94112.h>
-
-// Tle94112 Object
-Tle94112 controller = Tle94112();
-
-#define pinDir    5
-#define pinSpeed  A0
-//connect motor between halfbridge 1 and halfbridge 2
-
-
-void setup() 
-{
-  // Enable MotorController Tle94112
-  // Note: Required to be done before starting to configure the motor
-  controller.begin();
-
-  pinMode(pinDir, INPUT);
-  pinMode(pinSpeed, INPUT);
-}
-
-
-void loop() {
-  // get desired direction from digital pin
-  uint8_t dir = digitalRead(pinDir);
-  if(dir == HIGH)
-  {
-    controller.configHB(controller.TLE_HB1, controller.TLE_HIGH, controller.TLE_PWM1);
-    controller.configHB(controller.TLE_HB2, controller.TLE_LOW, controller.TLE_NOPWM);
-  }
-  else
-  {
-    controller.configHB(controller.TLE_HB1, controller.TLE_LOW, controller.TLE_NOPWM);
-    controller.configHB(controller.TLE_HB2, controller.TLE_HIGH, controller.TLE_PWM1);
-  }
-  
-  // get desired motor speed from analog input
-  uint8_t dc = analogRead(pinSpeed) >> 2;
-  
-  // update motor speed
-  controller.configPWM(controller.TLE_PWM1, controller.TLE_FREQ80HZ, dc);
-}
\ No newline at end of file
+/*!
+ * \name        speedControl
+ * \author      Infineon Technologies AG
+ * \copyright   2019 Infineon Technologies AG
+ * \version     1.4.1
+ * \brief
+ * This example demonstrates how to control the speed of motor by using the PWM units 
+ * of the TLE94112 shield
+ * \detail
+ * Attaching a potentiometer on an analog input pin, which will than controll the 
+ * setting of the TLE94112 internal PWM unit and therefore the speed of the motor.
+ * The TLE94112 has three seperat PWM units which can be attached to any combination
+ * of halfbridges. So try out to change the TLE_PWM1 to TLE_PWM2 or TLE_PWM3 to see this.
+ * You can change the motor direction by changing the HIGH/LOW status of the halfbridges
+ * 
+ */
+
+#include <TLE94112.h>
+
+//! Tle94112 Object
+Tle94112 controller = Tle94112();
+
+//! Select pins for speed and direction setings
+#define pinDir    5
+#define pinSpeed  A0
+
+//! connect motor between halfbridge 1 and halfbridge 2
+void setup() 
+{
+  // Enable MotorController Tle94112
+  // Note: Required to be done before starting to configure the motor
+  controller.begin();
+
+  pinMode(pinDir, INPUT);
+  pinMode(pinSpeed, INPUT);
+}
+
+
+void loop() {
+  // get desired direction from digital pin
+  uint8_t dir = digitalRead(pinDir);
+  if(dir == HIGH)
+  {
+    controller.configHB(controller.TLE_HB1, controller.TLE_HIGH, controller.TLE_PWM1);
+    controller.configHB(controller.TLE_HB2, controller.TLE_LOW, controller.TLE_NOPWM);
+  }
+  else
+  {
+    controller.configHB(controller.TLE_HB1, controller.TLE_LOW, controller.TLE_NOPWM);
+    controller.configHB(controller.TLE_HB2, controller.TLE_HIGH, controller.TLE_PWM1);
+  }
+  
+  // get desired motor speed from analog input
+  uint8_t dc = analogRead(pinSpeed) >> 2;
+  
+  // update motor speed
+  controller.configPWM(controller.TLE_PWM1, controller.TLE_FREQ80HZ, dc);
+}
diff --git a/src/TLE94112.cpp b/src/TLE94112.cpp
index 1bc75007..6479683a 100644
--- a/src/TLE94112.cpp
+++ b/src/TLE94112.cpp
@@ -1,19 +1,25 @@
-/*
- *	Arduino library to control Infineon's DC Motor Control Shield with TLE94112
- *
- *	The shield contains twelve independent halfbridges, 
- *	so it can drive up to 6 independent (+5 cascaded) bidirectional DC motor(s).
- *	Each halfbridge provides a high-Voltage (nominal 5.5-18 V) tristate output,  
- *	which is also capable of PWM with 3 different frequencies. 
+/*!
+ * \file 		Tle94112.cpp
+ * \name        Tle94112.cpp - Arduino library to control Infineon's DC Motor Control Shield with Tle94112
+ * \author      Infineon Technologies AG
+ * \copyright   2019 Infineon Technologies AG
+ * \version     1.4.1
+ * \brief 		This file has to be included in projects that use Infineon's DC Motor Control Shield with TLE94112      
+ * \details
+ * The Infineon TLE94112EL DC motor controller shield is able to handle 6 motors with a max. current of 0.9 A
+ * independently and additional 5 motors cascaded. The twelve half-bridges can be arranged also together,
+ * so that 3 motors with 1.8 A current or one motor with 3.6 A can be used. Each half bridge can
+ * provide a high-Voltage (nominal 5.5-18 V) tristate output and max. input voltage of 40V. It is also
+ * capable of PWM with 3 different frequencies for controlling the speed of each motor.
+ * Have a look at the datasheet for more information.
+ * 
+ * This library include the basic functions to access the half-bridges.
  *
  *	Have a look at the datasheet for more information. 
  */
- 
-/*!	\file TLE94112.cpp
- *	\brief This file defines functions and predefined instances from TLE94112.h
- */
 
-#include "Tle94112.h"
+
+#include "TLE94112.h"
 #include "./util/tle94112_conf.h"
 
 //SPI address commands
diff --git a/src/TLE94112.h b/src/TLE94112.h
index 6ec7663a..81fd0697 100644
--- a/src/TLE94112.h
+++ b/src/TLE94112.h
@@ -1,15 +1,19 @@
 /*!
- * \file Tle94112.h
- * \brief This file has to be included in projects that use Infineon's DC Motor Control Shield with TLE94112
- *
- *	Arduino library to control Infineon's DC Motor Control Shield with Tle94112
- *
- *	The shield contains twelve independent halfbridges,
- *	so it can drive up to 6 independent (+5 cascaded) bidirectional DC motor(s).
- *	Each halfbridge provides a high-Voltage (nominal 5.5-18 V) tristate output,
- *	which is also capable of PWM with 3 different frequencies.
- *
- *	Have a look at the datasheet for more information.
+ * \file 		Tle94112.h
+ * \name        Tle94112.h - Arduino library to control Infineon's DC Motor Control Shield with Tle94112
+ * \author      Infineon Technologies AG
+ * \copyright   2019 Infineon Technologies AG
+ * \version     1.4.1
+ * \brief 		This file has to be included in projects that use Infineon's DC Motor Control Shield with TLE94112      
+ * \details
+ * The Infineon TLE94112EL DC motor controller shield is able to handle 6 motors with a max. current of 0.9 A
+ * independently and additional 5 motors cascaded. The twelve half-bridges can be arranged also together,
+ * so that 3 motors with 1.8 A current or one motor with 3.6 A can be used. Each half bridge can
+ * provide a high-Voltage (nominal 5.5-18 V) tristate output and max. input voltage of 40V. It is also
+ * capable of PWM with 3 different frequencies for controlling the speed of each motor.
+ * Have a look at the datasheet for more information.
+ * 
+ * This library include the basic functions to access the half-bridges.
  *
  *
  * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
diff --git a/src/Tle94112Motor.cpp b/src/Tle94112Motor.cpp
index c0ae1005..ceff2671 100644
--- a/src/Tle94112Motor.cpp
+++ b/src/Tle94112Motor.cpp
@@ -1,3 +1,43 @@
+/*!
+ * \file 		Tle94112Motor.cpp
+ * \name        Tle94112Motor.cpp - optionally include library
+ * \author      Infineon Technologies AG
+ * \copyright   2019 Infineon Technologies AG
+ * \version     1.4.1
+ * \brief 		This file can optionally be included in projects that use Infineon's 
+ * 				DC Motor Control Shield with TLE94112
+ * 				It provides a higher abstraction for controlling motors with the TLE94112 
+ * 				acting as an output driver
+ * \details
+ * The Infineon TLE94112EL DC motor controller shield is able to handle 6 motors with a max. current of 0.9 A
+ * independently and additional 5 motors cascaded. The twelve half-bridges can be arranged also together,
+ * so that 3 motors with 1.8 A current or one motor with 3.6 A can be used. Each half bridge can
+ * provide a high-Voltage (nominal 5.5-18 V) tristate output and max. input voltage of 40V. It is also
+ * capable of PWM with 3 different frequencies for controlling the speed of each motor.
+ * Have a look at the datasheet for more information.
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
+ * following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the following
+ * disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided with the distribution.
+ *
+ * Neither the name of the copyright holders nor the names of its contributors may be used to endorse or promote
+ * products derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE  FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY,OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * 
+ */
+
 #include "Tle94112Motor.h"
 
 #define TLE94112_MAX_SPEED	255
@@ -64,8 +104,7 @@ void Tle94112Motor::initConnector(Tle94112Motor::ePolarity pol,
 	}
 }
 
-void Tle94112Motor::connect(Tle94112Motor::ePolarity pol, 
-		Tle94112::HalfBridge connector)
+void Tle94112Motor::connect(Tle94112Motor::ePolarity pol, Tle94112::HalfBridge connector)
 {
 	if(mEnabled == FALSE)
 	{
@@ -97,8 +136,7 @@ void Tle94112Motor::disconnect(Tle94112::HalfBridge connector)
 	}
 }
 
-void Tle94112Motor::setPwm(Tle94112Motor::ePolarity pol, 
-		Tle94112::PWMChannel channel)
+void Tle94112Motor::setPwm(Tle94112Motor::ePolarity pol, Tle94112::PWMChannel channel)
 {
 	if(mEnabled == FALSE)
 	{
@@ -116,8 +154,7 @@ void Tle94112Motor::setPwm(Tle94112Motor::ePolarity pol,
 	}
 }
 
-void Tle94112Motor::setPwmFreq(Tle94112Motor::ePolarity pol, 
-		Tle94112::PWMFreq freq)
+void Tle94112Motor::setPwmFreq(Tle94112Motor::ePolarity pol, Tle94112::PWMFreq freq)
 {
 	if(mEnabled == FALSE)
 	{
@@ -235,24 +272,24 @@ void Tle94112Motor::setSpeed(int16_t speed)
 				mSpeed = static_cast<uint8_t>(speed);
 				for(uint8_t idx = 0u; idx < TLE94112MOTOR_MAX_CONNECTORS; idx++)
 				{
-					mDriver->configHB(mConnectors[HIGHSIDE].halfbridges[idx], 
-							Tle94112::TLE_HIGH, 
-							mConnectors[HIGHSIDE].channel, 
-							mConnectors[HIGHSIDE].active_fw);
-					mDriver->configHB(mConnectors[LOWSIDE].halfbridges[idx], 
-							Tle94112::TLE_LOW, 
-							mConnectors[LOWSIDE].channel, 
-							mConnectors[LOWSIDE].active_fw);
+					mDriver->configHB(
+								mConnectors[HIGHSIDE].halfbridges[idx], 
+								Tle94112::TLE_HIGH, 
+								mConnectors[HIGHSIDE].channel, 
+								mConnectors[HIGHSIDE].active_fw);
+					mDriver->configHB(
+								mConnectors[LOWSIDE].halfbridges[idx], 
+								Tle94112::TLE_LOW, 
+								mConnectors[LOWSIDE].channel, 
+								mConnectors[LOWSIDE].active_fw);
 				}
 			}
 		}
 		else	// speed < 0
 		{
 			mSpeed = static_cast<uint8_t>(-speed);
-			mDriver->configPWM(mConnectors[HIGHSIDE].channel, 
-					mConnectors[HIGHSIDE].freq, mSpeed);
-			mDriver->configPWM(mConnectors[LOWSIDE].channel, 
-					mConnectors[LOWSIDE].freq, mSpeed);
+			mDriver->configPWM(mConnectors[HIGHSIDE].channel, mConnectors[HIGHSIDE].freq, mSpeed);
+			mDriver->configPWM(mConnectors[LOWSIDE].channel, mConnectors[LOWSIDE].freq, mSpeed);
 			if(mMode != BACKWARD)
 			{
 				//change configuration to running backward
@@ -293,7 +330,8 @@ int16_t Tle94112Motor::getSpeed(void)
 
 uint32_t Tle94112Motor::measureSetSpeedDuration(int16_t speed, int16_t start_speed)
 {
-	if(start_speed == 0) {
+	if(start_speed == 0)
+	{
 		// changing direction is additional effort
 		// don't let this have an effect on the setSpeed duration measurement
 		start_speed = SIGNUM(speed);
@@ -309,7 +347,8 @@ void Tle94112Motor::performSpeedStepping(int16_t start_speed,
 		int16_t ramp_delta_speed, int16_t num_steps, uint16_t steptime) 
 {
 	uint32_t Timer = millis();		//!> none blocking delay
-	if(num_steps > 0) {
+	if(num_steps > 0)
+	{
 		// normal ramp loop
 		for(uint16_t i=1u; i<=num_steps; i++)
 		{
@@ -326,10 +365,12 @@ void Tle94112Motor::performSpeedStepping(int16_t start_speed,
 		setSpeed(start_speed+ramp_delta_speed);
 	}
 }
+
 void Tle94112Motor::rampSpeed(int16_t speed, uint16_t slope)
 {
 	int16_t start_speed = getSpeed();
-	if (mEnabled == TRUE && speed != start_speed) {
+	if (mEnabled == TRUE && speed != start_speed)
+	{
 		uint32_t duration = measureSetSpeedDuration(speed, start_speed);
 		//mDriver->clearErrors();
 		// calc full ramp deltas
@@ -339,7 +380,8 @@ void Tle94112Motor::rampSpeed(int16_t speed, uint16_t slope)
 		int16_t num_steps = ramp_delta_time / duration - 1;
 		uint16_t steptime = 0;
 		// correction of step deltas for very flat ramps
-		if (abs(ramp_delta_speed) < num_steps) {
+		if (abs(ramp_delta_speed) < num_steps)
+		{
 			num_steps = abs(ramp_delta_speed);
 			steptime = ramp_delta_time / abs(ramp_delta_speed) - duration;
 		}
diff --git a/src/Tle94112Motor.h b/src/Tle94112Motor.h
index 2c759456..633b6ea1 100644
--- a/src/Tle94112Motor.h
+++ b/src/Tle94112Motor.h
@@ -1,16 +1,47 @@
-/**
- * @file Tle94112Motor.h
- * @brief This file can optionally be included in projects that use Infineon's 
- * DC Motor Control Shield with TLE94112
+/*!
+ * \file 		Tle94112Motor.h
+ * \name        Tle94112Motor.h - optionally include library
+ * \author      Infineon Technologies AG
+ * \copyright   2019 Infineon Technologies AG
+ * \version     1.4.1
+ * \brief 		This file can optionally be included in projects that use Infineon's 
+ * 				DC Motor Control Shield with TLE94112
+ * 				It provides a higher abstraction for controlling motors with the TLE94112 
+ * 				acting as an output driver
+ * \details
+ * The Infineon TLE94112EL DC motor controller shield is able to handle 6 motors with a max. current of 0.9 A
+ * independently and additional 5 motors cascaded. The twelve half-bridges can be arranged also together,
+ * so that 3 motors with 1.8 A current or one motor with 3.6 A can be used. Each half bridge can
+ * provide a high-Voltage (nominal 5.5-18 V) tristate output and max. input voltage of 40V. It is also
+ * capable of PWM with 3 different frequencies for controlling the speed of each motor.
+ * Have a look at the datasheet for more information.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
+ * following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the following
+ * disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided with the distribution.
+ *
+ * Neither the name of the copyright holders nor the names of its contributors may be used to endorse or promote
+ * products derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE  FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY,OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  * 
- * It provides a higher abstraction for controlling motors with the TLE94112 
- * acting as an output driver
  */
 
 #ifndef TLE94112MOTOR_H
 #define TLE94112MOTOR_H
 
-#include "Tle94112.h"
+#include "TLE94112.h"
 
 
 /**
@@ -94,7 +125,7 @@ class Tle94112Motor
 	 * @brief configures most important settings for one motor connector
 	 * 
 	 * Call this function twice to setup motor configuration for both the 
-	 * + and - connector of the motor. If there is no setup for one poarity, 
+	 * + and - connector of the motor. If there is no setup for one polarity, 
 	 * the library assumes that the motor is constantly connected to + or -. 
 	 * 
 	 * @param pol Polarity of the motor connector to be configured
@@ -115,7 +146,7 @@ class Tle94112Motor
 	 * @brief configures most important settings for one motor connector
 	 * 
 	 * Call this function twice to setup motor configuration for both the 
-	 * + and - connector of the motor. If there is no setup for one poarity, 
+	 * + and - connector of the motor. If there is no setup for one polarity, 
 	 * the library assumes that the motor is constantly connected to + or -. 
 	 * 
 	 * @param pol Polarity of the motor connector to be configured
@@ -211,8 +242,7 @@ class Tle94112Motor
 	 * coast, run and break. Speed values greater or smaller than 0 are treated 
 	 * like -255 or 255, respectively. 
 	 * 
-	 * @param speed An integer in a range from -255 to 255 to set motor speed
-	 * 		and direction
+	 * @param speed An integer in a range from -255 to 255 to set motor speed and direction
 	 */
 	void start(int16_t speed);
 
@@ -230,8 +260,7 @@ class Tle94112Motor
 	 * coast, run and break. Speed values greater or smaller than 0 are treated 
 	 * like -255 or 255, respectively. 
 	 * 
-	 * @param speed An integer in a range from -255 to 255 to set motor speed
-	 * 		and direction
+	 * @param speed An integer in a range from -255 to 255 to set motor speed and direction
 	 * @see start
 	 */
 	void setSpeed(int16_t speed);
@@ -264,7 +293,8 @@ class Tle94112Motor
 	};
 
 	//! @brief struct representing one motor connector
-	typedef struct {
+	typedef struct
+	{
 		Tle94112::HalfBridge halfbridges[TLE94112MOTOR_MAX_CONNECTORS];
 		Tle94112::PWMChannel channel;
 		Tle94112::PWMFreq freq;
@@ -272,7 +302,8 @@ class Tle94112Motor
 	} Connector_t, *Connector_p;
 
 	//! @brief array of motor connectors
-	Connector_t mConnectors[2] = {
+	Connector_t mConnectors[2] =
+	{
 		{
 			.halfbridges = {Tle94112::TLE_NOHB, 
 					Tle94112::TLE_NOHB, 
@@ -305,10 +336,27 @@ class Tle94112Motor
 	//! @brief value of the current motor speed
 	uint8_t mSpeed;
 	
-	//! @brief private function needed by rampSpeed
+	//! 
+
+	/*
+	 * @brief private function needed by rampSpeed
+	 * 
+	 * @param speed An integer in a range from -255 to 255 to set motor speed
+	 *    and direction. Here the target speed.
+	 * @param start_speed An integer a range from -255 to 255 to set motor speed
+	 *    and direction. Here the source speed
+	 */
 	uint32_t measureSetSpeedDuration(int16_t speed, int16_t start_speed);
 
-	//! @brief private function needed by rampSpeed
+	/* @brief private function needed by rampSpeed
+	 *
+	 * @param start_speed An integer a range from -255 to 255 to set motor speed
+	 *    	and direction. Here the source speed
+	 * @param ramp_delta_speed a slope value how fast the speed change 
+	 * 		should raise or fall
+	 * @param num_steps The number of steps to raise or fall the speed
+	 * @param steptime The time to be needed for each step
+	 */
 	void performSpeedStepping(int16_t start_speed, int16_t ramp_delta_speed, 
 			int16_t num_steps, uint16_t steptime);
 };
diff --git a/src/util/tle94112_conf.cpp b/src/util/tle94112_conf.cpp
index 8b2ae007..f68903ed 100644
--- a/src/util/tle94112_conf.cpp
+++ b/src/util/tle94112_conf.cpp
@@ -1,25 +1,44 @@
-/*
- *	Arduino library to control Infineon's DC Motor Control Shield with TLE94112
+/*!
+ * \file 		TLE94112_conf.cpp
+ * \name        TLE94112_conf.cpp - automatically included library
+ * \author      Infineon Technologies AG
+ * \copyright   2019 Infineon Technologies AG
+ * \version     1.4.1
+ * \brief 		This file can optionally be included in projects that use Infineon's 
+ * 				DC Motor Control Shield with TLE94112
+ * 				It provides a higher abstraction for controlling motors with the TLE94112 
+ * 				acting as an output driver
+ * 
+ * 
+ * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
+ * following conditions are met:
  *
- *	The shield contains twelve independent halfbridges, 
- *	so it can drive up to 6 indipendent (+5 cascaded) bidirectional DC motor(s). 
- *	Each halfbridge provides a high-Voltage (nominal 5.5-18 V) tristate output,  
- *	which is also capable of PWM with 3 different frequencies. 
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the following
+ * disclaimer.
  *
- *	Have a look at the datasheet for more information. 
- */
- 
-/*!	\file TLE94112_conf.cpp
- *	\brief This file contains the initialization of a TLE94112 with all its magic numbers
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided with the distribution.
+ *
+ * Neither the name of the copyright holders nor the names of its contributors may be used to endorse or promote
+ * products derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE  FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY,OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * 
  */
 
-#include "tle94112_conf.h"
-#include "Tle94112.h"
 
+#include "tle94112_conf.h"
+#include "TLE94112.h"
 
 void Tle94112::init(void)
 {
-	//initial control register configuration
+	//!< initial control register configuration
 	mCtrlRegAddresses[static_cast<int>(Tle94112::HB_ACT_1_CTRL)] 	= 0x03;
 	mCtrlRegData[HB_ACT_1_CTRL] 		= 0;
 	mCtrlRegAddresses[HB_ACT_2_CTRL] 	= 0x43;
@@ -45,7 +64,7 @@ void Tle94112::init(void)
 	mCtrlRegAddresses[FW_CTRL] 			= 0x6B;
 	mCtrlRegData[FW_CTRL] 				= 0;
 	
-	//status register configuration
+	//!< status register configuration
 	mStatusRegAddresses[SYS_DIAG1]			= 0x1B;
 	mStatusRegAddresses[OP_ERROR_1_STAT]	= 0x5B;
 	mStatusRegAddresses[OP_ERROR_2_STAT]	= 0x3B;
@@ -54,7 +73,7 @@ void Tle94112::init(void)
 	mStatusRegAddresses[OP_ERROR_5_STAT]	= 0x47;
 	mStatusRegAddresses[OP_ERROR_6_STAT]	= 0x27;
 	
-	//bit masking for all halfbridges
+	//!< bit masking for all halfbridges
 	mHalfBridges[TLE_NOHB] = { HB_ACT_1_CTRL, 0x00, 0, HB_MODE_1_CTRL, 0x00, 0, FW_OL_CTRL, 0x00, 0, OP_ERROR_1_STAT, 0x00, 0, OP_ERROR_4_STAT, 0x00, 0 };
 	mHalfBridges[TLE_HB1] = { HB_ACT_1_CTRL, 0x03, 0, HB_MODE_1_CTRL, 0x03, 0, FW_OL_CTRL, 0x04, 2, OP_ERROR_1_STAT, 0x03, 0, OP_ERROR_4_STAT, 0x03, 0 };
 	mHalfBridges[TLE_HB2] = { HB_ACT_1_CTRL, 0x0C, 2, HB_MODE_1_CTRL, 0x0C, 2, FW_OL_CTRL, 0x08, 3, OP_ERROR_1_STAT, 0x0C, 2, OP_ERROR_4_STAT, 0x0C, 2 };
@@ -69,10 +88,10 @@ void Tle94112::init(void)
 	mHalfBridges[TLE_HB11] = { HB_ACT_3_CTRL, 0x30, 4, HB_MODE_3_CTRL, 0x30, 4, FW_CTRL, 0x10, 4, OP_ERROR_3_STAT, 0x30, 4, OP_ERROR_6_STAT, 0x30, 4 };
 	mHalfBridges[TLE_HB12] = { HB_ACT_3_CTRL, 0xC0, 6, HB_MODE_3_CTRL, 0xC0, 6, FW_CTRL, 0x20, 5, OP_ERROR_3_STAT, 0xC0, 6, OP_ERROR_6_STAT, 0xC0, 6 };
 	
-	//bit masking for all pwm channels
+	//!< bit masking for all pwm channels
 	mPwmChannels[TLE_NOPWM] = { PWM_CH_FREQ_CTRL, 0x00, 0, 0, 0x00, 0};	//dummy channel for NOPWM
 	mPwmChannels[TLE_PWM1] = { PWM_CH_FREQ_CTRL, 0x03, 0, PWM1_DC_CTRL, 0xFF, 0};
 	mPwmChannels[TLE_PWM2] = { PWM_CH_FREQ_CTRL, 0x0C, 2, PWM2_DC_CTRL, 0xFF, 0};
 	mPwmChannels[TLE_PWM3] = { PWM_CH_FREQ_CTRL, 0x30, 4, PWM3_DC_CTRL, 0xFF, 0};
 	
-}
\ No newline at end of file
+}
diff --git a/src/util/tle94112_conf.h b/src/util/tle94112_conf.h
index 466e2a78..130230bd 100644
--- a/src/util/tle94112_conf.h
+++ b/src/util/tle94112_conf.h
@@ -1,19 +1,37 @@
-/*
- *	Arduino library to control Infineon's DC Motor Control Shield with TLE94112
+/*!
+ * \file 		TLE94112_conf.h
+ * \name        TLE94112_conf.h - automatically included library
+ * \author      Infineon Technologies AG
+ * \copyright   2019 Infineon Technologies AG
+ * \version     1.4.1
+ * \brief 		This file can optionally be included in projects that use Infineon's 
+ * 				DC Motor Control Shield with TLE94112
+ * 				It provides a higher abstraction for controlling motors with the TLE94112 
+ * 				acting as an output driver
+ * 
+ * 
+ * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
+ * following conditions are met:
  *
- *	The shield contains twelve independent halfbridges, 
- *	so it can drive up to 6 indipendent (+5 cascaded) bidirectional DC motor(s). 
- *	Each halfbridge provides a high-Voltage (nominal 5.5-18 V) tristate output,  
- *	which is also capable of PWM with 3 different frequencies. 
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the following
+ * disclaimer.
  *
- *	Have a look at the datasheet for more information. 
- */
- 
-/*!	\file TLE94112_conf.h
- *	\brief This file is automatically included
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided with the distribution.
+ *
+ * Neither the name of the copyright holders nor the names of its contributors may be used to endorse or promote
+ * products derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE  FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY,OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * 
  */
 
-
 #ifndef TLE94112_CONF_H
 #define TLE94112_CONF_H
 
@@ -50,5 +68,4 @@ typedef struct
 	uint8_t dcShift;
 } PWMchannel_t;
 
-
 #endif
\ No newline at end of file