diff --git a/src/entrypoints/anakin-demo-board.cpp b/src/entrypoints/anakin-demo-board.cpp
index 7ee1603c436d6c5733e922439ad52f189a0487b7..f5201511bca342597e29206986b29da13aabc010 100644
--- a/src/entrypoints/anakin-demo-board.cpp
+++ b/src/entrypoints/anakin-demo-board.cpp
@@ -38,6 +38,7 @@
 #include <ethernet/UdpManager.h>
 
 using namespace miosix;
+using std::vector;
 
 //#define ENABLE_ETHERNET
 constexpr uint32_t lp_alpha = 250;
diff --git a/src/entrypoints/dma-lowlevel-test.cpp b/src/entrypoints/dma-lowlevel-test.cpp
index b508b9d23266e3230bfc90c70a32c5ffd16a5e8b..a77a1d25b833a0a29e5de072b2262a0b401bf9ed 100644
--- a/src/entrypoints/dma-lowlevel-test.cpp
+++ b/src/entrypoints/dma-lowlevel-test.cpp
@@ -31,6 +31,8 @@
 #include <DMA/DMA.h>
 #include <DMA/SensorSampling.h>
 
+using namespace miosix;
+
 typedef Gpio<GPIOA_BASE, 5> GpioSck;
 typedef Gpio<GPIOA_BASE, 6> GpioMiso;
 typedef Gpio<GPIOA_BASE, 7> GpioMosi;
@@ -43,8 +45,6 @@ typedef ProtocolSPI<busSPI1, Gpio<GPIOG_BASE,  9>> spiINEMOG;
 typedef MPU9250<spiMPU9250> mpu_t;
 typedef iNEMOLSM9DS0<spiINEMOG,spiINEMOA> inemo_t;
 
-typedef SensorADC<0,0,Gpio<GPIOA_BASE,0>> adc1;
-
 int main()
 {
     puts("\n\n---");
diff --git a/src/shared/BusTemplate.h b/src/shared/BusTemplate.h
index 44e3a66392de95e256489d51471dd2de48fc93da..2a52ea0315b9936051c5cc08edc0beb99a4e24df 100644
--- a/src/shared/BusTemplate.h
+++ b/src/shared/BusTemplate.h
@@ -34,9 +34,6 @@
 #include <util/software_i2c.h>
 #include <DMA/DMA.h>
 
-using namespace std;
-using namespace miosix;
-
 static const int csDelay=20;
 
 template<unsigned N, class GpioMosi, class GpioMiso, class GpioSclk>
@@ -99,13 +96,13 @@ private:
         if(getSPIAddr(N) == SPI1)
             SPIDriver::instance();
         else {
-            FastInterruptDisableLock dLock;
+            miosix::FastInterruptDisableLock dLock;
             IRQenableSPIBus(getSPIAddr(N));
-            GpioMosi::mode(Mode::ALTERNATE);
+            GpioMosi::mode(miosix::Mode::ALTERNATE);
             GpioMosi::alternateFunction(GetAlternativeFunctionNumber(N));
-            GpioMiso::mode(Mode::ALTERNATE);
+            GpioMiso::mode(miosix::Mode::ALTERNATE);
             GpioMiso::alternateFunction(GetAlternativeFunctionNumber(N));
-            GpioSclk::mode(Mode::ALTERNATE);
+            GpioSclk::mode(miosix::Mode::ALTERNATE);
             GpioSclk::alternateFunction(GetAlternativeFunctionNumber(N));
             getSPIAddr(N)->CR1 = SPI_CR1_SSM  //Software cs
                     | SPI_CR1_SSI  //Hardware cs internally tied high
@@ -139,7 +136,7 @@ template<class Bus, class GpioCS>
 class ProtocolSPI {
 public:
     static inline void init() {
-        GpioCS::mode(Mode::OUTPUT);
+        GpioCS::mode(miosix::Mode::OUTPUT);
         GpioCS::high();
         Bus::init();
     }
diff --git a/src/shared/boards/AnakinBoard.cpp b/src/shared/boards/AnakinBoard.cpp
index abcf58d503ec30d21f4a91bab80ca20a19e5bb15..170598263a915cbb70e0afd4d9267b7df18e82ee 100644
--- a/src/shared/boards/AnakinBoard.cpp
+++ b/src/shared/boards/AnakinBoard.cpp
@@ -111,7 +111,7 @@ bool AnakinBoard::init()
         sEventScheduler->add(std::bind(& type ## SensorSampler::Update,name),\
                 rate, #name "-" #rate "ms",start)
 
-    int64_t start=getTick(); //Synchronize activation
+    int64_t start=miosix::getTick(); //Synchronize activation
     ADD_SAMPLER(DMA, m100HzDMA, 10); // 10ms
     ADD_SAMPLER(DMA, m25HzDMA, 40);  // 25ms
     ADD_SAMPLER(Simple, m10HzSimple, 100); // 100ms
diff --git a/src/shared/boards/AnakinBoard.h b/src/shared/boards/AnakinBoard.h
index 5bb9c39f6b63268f3601f31211ff550344dc5e9b..1d4929f795146121daa3035a88c2ba7d45aac759 100644
--- a/src/shared/boards/AnakinBoard.h
+++ b/src/shared/boards/AnakinBoard.h
@@ -36,19 +36,19 @@
 #include <DMA/DMA.h>
 #include <DMA/SensorSampling.h>
 
-typedef Gpio<GPIOA_BASE, 5> GpioSck;
-typedef Gpio<GPIOA_BASE, 6> GpioMiso;
-typedef Gpio<GPIOA_BASE, 7> GpioMosi;
+typedef miosix::Gpio<GPIOA_BASE, 5> GpioSck;
+typedef miosix::Gpio<GPIOA_BASE, 6> GpioMiso;
+typedef miosix::Gpio<GPIOA_BASE, 7> GpioMosi;
 typedef BusSPI < 1, GpioMosi, GpioMiso, GpioSck> busSPI1;
 
-typedef ProtocolSPI<busSPI1, Gpio<GPIOD_BASE, 13>> spiMPU9250;
-typedef ProtocolSPI<busSPI1, Gpio<GPIOG_BASE, 11>> spiINEMOA;
-typedef ProtocolSPI<busSPI1, Gpio<GPIOG_BASE,  9>> spiINEMOG;
-typedef ProtocolSPI<busSPI1, Gpio<GPIOG_BASE, 10>> spiFXAS21002;
-typedef ProtocolSPI<busSPI1, Gpio<GPIOE_BASE,  4>> spiLPS331AP;
-typedef ProtocolSPI<busSPI1, Gpio<GPIOE_BASE,  2>> spiMAX21105;
-typedef ProtocolSPI<busSPI1, Gpio<GPIOB_BASE, 10>> spiMS580301BA07;
-//typedef ProtocolSPI<busSPI1, Gpio<GPIOB_BASE, 11>> spiMAX31856;
+typedef ProtocolSPI<busSPI1, miosix::Gpio<GPIOD_BASE, 13>> spiMPU9250;
+typedef ProtocolSPI<busSPI1, miosix::Gpio<GPIOG_BASE, 11>> spiINEMOA;
+typedef ProtocolSPI<busSPI1, miosix::Gpio<GPIOG_BASE,  9>> spiINEMOG;
+typedef ProtocolSPI<busSPI1, miosix::Gpio<GPIOG_BASE, 10>> spiFXAS21002;
+typedef ProtocolSPI<busSPI1, miosix::Gpio<GPIOE_BASE,  4>> spiLPS331AP;
+typedef ProtocolSPI<busSPI1, miosix::Gpio<GPIOE_BASE,  2>> spiMAX21105;
+typedef ProtocolSPI<busSPI1, miosix::Gpio<GPIOB_BASE, 10>> spiMS580301BA07;
+//typedef ProtocolSPI<busSPI1, miosix::Gpio<GPIOB_BASE, 11>> spiMAX31856;
 
 typedef MPU9250<spiMPU9250> mpu_t;
 typedef iNEMOLSM9DS0<spiINEMOG,spiINEMOA> inemo_t;
diff --git a/src/shared/sensors/FXAS21002.h b/src/shared/sensors/FXAS21002.h
index cfba4bf2807a26b4b412bff882cd46576d39b965..3e2d1d32d34fbcc14a9d869d6942ac55fb44d862 100644
--- a/src/shared/sensors/FXAS21002.h
+++ b/src/shared/sensors/FXAS21002.h
@@ -50,7 +50,7 @@ public:
         uint8_t timeout = 20;
         while((Bus::read(REG_CTRL1) & 0b01000000) && --timeout > 0)
         {
-            Thread::sleep(1);
+            miosix::Thread::sleep(1);
         }
 
         if(timeout == 0)
@@ -76,7 +76,7 @@ public:
         timeout = 20;
         while(!(Bus::read(REG_INT_SRC_FLAG) & 0b00001000) && --timeout > 0)
         {
-            Thread::sleep(1);
+            miosix::Thread::sleep(1);
         }
 
         if(timeout == 0)
diff --git a/src/shared/sensors/MAX21105.h b/src/shared/sensors/MAX21105.h
index fc74175831d271194e5165f64ab468ba52b9eddf..0df5c4f16be6f3bba79810220fb6dfbb2a149e00 100644
--- a/src/shared/sensors/MAX21105.h
+++ b/src/shared/sensors/MAX21105.h
@@ -84,7 +84,7 @@ public:
         for(size_t i=0; i < sizeof(init_data)/sizeof(init_data[0]); i++)
         {
             Bus::write(init_data[i][0], init_data[i][1]);
-            Thread::sleep(1);
+            miosix::Thread::sleep(1);
         }
 
         return true;
diff --git a/src/shared/sensors/MPL3115.h b/src/shared/sensors/MPL3115.h
index e294f88829365601bdb805bae10c3adaa0628b4e..5262c5b420f4757251339709d0eb88ebba89cd57 100644
--- a/src/shared/sensors/MPL3115.h
+++ b/src/shared/sensors/MPL3115.h
@@ -41,7 +41,8 @@ public:
         mLastAltitude = 0.0f;
     }
     
-    bool init() {
+    bool init()
+    {
         setMode(MODE_BAROMETER);
         
         // raise and event flag on new pressure/altitude 
@@ -52,7 +53,8 @@ public:
         return true;
     }
     
-    bool selfTest() {
+    bool selfTest()
+    {
         uint8_t value = 0;
         BusType::read(devAddr,WHO_AM_I,&value,1);
                 
@@ -63,7 +65,8 @@ public:
         return false;
     }
     
-    bool onSimpleUpdate() {
+    bool onSimpleUpdate()
+    {
         /* To start a new one-shot conversion we have to set OST bit whith
          * SBYB bit cleared; these bit are, respectively, the second and 
          * first bits from right in control register 1.
@@ -80,12 +83,11 @@ public:
         temp |= 0x02;       //set second bit
         BusType::write(devAddr,CTRL_REG1,&temp,1);
 
-        do{
-            
+        do
+        {
             BusType::read(devAddr,CTRL_REG1,&temp,1);
-            Thread::sleep(6);   //minimum sample time is 6 ms
-
-        }while(!(temp & 0x02));
+            miosix::Thread::sleep(6);   //minimum sample time is 6 ms
+        } while(!(temp & 0x02));
         
         /* This device supports register pointer auto-increment when reading
          * registers from 0x00 to 0x05, so with one read of 6 bytes we get 
@@ -102,7 +104,8 @@ public:
         uint8_t data[7];
         BusType::read(devAddr,OUT_P_MSB,data,7);
         
-        if(sensorMode == MODE_BAROMETER) {            
+        if(sensorMode == MODE_BAROMETER)
+        {
 
             // See datasheet at page 21 for more informations about 
             // calculations below
@@ -112,7 +115,8 @@ public:
             mLastPressure = static_cast<float>(press) / 64;                    
         }
         
-        if(sensorMode == MODE_ALTIMETER) {
+        if(sensorMode == MODE_ALTIMETER)
+        {
             uint32_t altitude = (static_cast<uint32_t>(data[0]) << 24) 
                               | (static_cast<uint32_t>(data[1]) << 16) 
                               | (static_cast<uint32_t>(data[2]) << 8);
@@ -131,8 +135,8 @@ public:
      * true is returned in case of success, false if 
      * the value passed in @param mode was not recognized
      */
-    bool setMode(uint8_t mode) {
-        
+    bool setMode(uint8_t mode)
+    {
         if(sensorMode == mode)
             return true;
         
@@ -156,7 +160,8 @@ public:
      * @param offset offset trim value as 8 bit two's complement number.
      * Range is from -8 to +7.9375°C, 0.0625°C per LSB
      */
-    void setTempOffset(int8_t offset) { 
+    void setTempOffset(int8_t offset)
+    {
         BusType::write(devAddr,TEMP_OFFSET,&offset,1); 
     }
     
@@ -165,7 +170,8 @@ public:
      * @param offset offset trim value as 8 bit two's complement number.
      * Range is from -512 to +508 Pa, 4 Pa per LSB
      */
-    void setPressOffset(int8_t offset) { 
+    void setPressOffset(int8_t offset)
+    {
         BusType::write(devAddr,PRESS_OFFSET,&offset,1); 
     }
     
@@ -174,7 +180,8 @@ public:
      * @param offset offset trim value as 8 bit two's complement number.
      * The range of values are from -128 to +127 meters
      */
-    void setAltOffset(int8_t offset) { 
+    void setAltOffset(int8_t offset)
+    {
         BusType::write(devAddr,ALTIT_OFFSET,&offset,1); 
     }
     
@@ -184,13 +191,15 @@ public:
      * For further informations about minimum time between samples and its
      * relation with oversampling ratio see datasheet at page 31
      */
-    void setOversampleRatio(uint8_t ratio) {
+    void setOversampleRatio(uint8_t ratio)
+    {
         uint8_t temp, osr = 0;
         
         BusType::read(devAddr,CTRL_REG1,&temp,1);
         temp &= ~0b00111000;    //oversample ratio bits are 4th to 6th
         
-        switch(ratio) {
+        switch(ratio)
+        {
             case 1:   osr = 0x00; break;
             case 2:   osr = 0x01; break;
             case 4:   osr = 0x02; break;
@@ -206,9 +215,11 @@ public:
         temp |= osr << 3;
         BusType::write(devAddr,CTRL_REG1,&temp,1);
     }
-   enum sensMode {       
-       MODE_BAROMETER = 0x01,
-       MODE_ALTIMETER = 0x02        
+
+    enum sensMode
+    {
+        MODE_BAROMETER = 0x01,
+        MODE_ALTIMETER = 0x02        
     };
     
 private:
@@ -219,7 +230,8 @@ private:
     float lastPress;
     float lastAlt;
     
-    enum registers {
+    enum registers
+    {
         STATUS          = 0x00,
         OUT_P_MSB       = 0x01,
         OUT_P_CSB       = 0x02,
diff --git a/src/shared/sensors/MPU9250.h b/src/shared/sensors/MPU9250.h
index 9c7d2d96f19092b37939ebd4ed195e250f438661..076b77cc1fa0a54704357d22aad20cd202852386 100644
--- a/src/shared/sensors/MPU9250.h
+++ b/src/shared/sensors/MPU9250.h
@@ -145,9 +145,9 @@ public:
         }
 
         akWriteReg(AK8963_CNTL2, 0x01);
-        Thread::sleep(1);
+        miosix::Thread::sleep(1);
         akWriteReg(AK8963_CNTL1, 0x16);
-        Thread::sleep(1);
+        miosix::Thread::sleep(1);
 
         magnetoFSMState = 1;
         return true;
@@ -207,7 +207,7 @@ public:
         // -- SELF TEST ROUTINE --
         Bus::read(REG_ST_GYRO, st_gyro, sizeof(st_gyro)); 
         Bus::read(REG_ST_ACCEL, st_accel, sizeof(st_accel)); 
-        Thread::sleep(10);
+        miosix::Thread::sleep(10);
         readRAWData(test);
 
         // -- DISABLE SELF TEST --
@@ -286,7 +286,7 @@ private:
         while(--timeout >= 0) {
             if(Bus::read(REG_I2C_MST_STATUS) & 0x40)
                 break;
-            Thread::sleep(1);
+            miosix::Thread::sleep(1);
         }
 
         if(timeout < 0)
@@ -329,7 +329,7 @@ private:
         for(size_t i=0;i<sizeof(regs)/sizeof(regs[0]);i++)
             Bus::write(regs[i][0], regs[i][1]);
 
-        Thread::sleep(1);
+        miosix::Thread::sleep(1);
     }
 
     enum magnetoMap 
diff --git a/src/shared/sensors/MS580301BA07.h b/src/shared/sensors/MS580301BA07.h
index f6c47d6075cad92d075fecbaf2482eca1f7c01ce..7dfeafd977238180ad1a8b40e1511ba55b2bc733 100644
--- a/src/shared/sensors/MS580301BA07.h
+++ b/src/shared/sensors/MS580301BA07.h
@@ -53,7 +53,7 @@ public:
             Bus::read(RESET_DEV);
             cd.sens = readReg(PROM_READ_MASK | PROM_SENS_MASK);
             if(cd.sens == 0)
-                Thread::sleep(1);
+                miosix::Thread::sleep(1);
         } while (cd.sens == 0 && --timeout > 0);
 
         if(timeout <= 0)
diff --git a/src/shared/sensors/iNemo.h b/src/shared/sensors/iNemo.h
index 3d1315693a77cae10252e54d495dc82437d68403..eabf311cffd77e1e7316854511d62292725ef1fc 100644
--- a/src/shared/sensors/iNemo.h
+++ b/src/shared/sensors/iNemo.h
@@ -80,7 +80,7 @@ public:
         uint8_t timeout = 10;
 
         while(BusXM::read(CTRL_REG0_XM) != 0x00 && --timeout > 0)
-            Thread::sleep(1);
+            miosix::Thread::sleep(1);
 
         if(timeout == 0)
         {