Merged to master and fixed build errors on target

Signed-off-by: Olli Vanhoja <olli.vanhoja@ninjaware.fi>
Updated some comments.

Signed-off-by: Olli Vanhoja <olli.vanhoja@ninjaware.fi>
Commenting

Signed-off-by: Olli Vanhoja <olli.vanhoja@ninjaware.fi>
+ Improved doxygen documentation
+ Removing some notes related to CMSIS consistency and compatibility as scope has shifted a bit

Signed-off-by: Olli Vanhoja <olli.vanhoja@ninjaware.fi>
Updated README
Merge remote-tracking branch 'origin/master' into dev