diff --git a/src/lsm303agr/lsm303agr.c b/src/lsm303agr/lsm303agr.c
index 04c87766..f1559881 100644
--- a/src/lsm303agr/lsm303agr.c
+++ b/src/lsm303agr/lsm303agr.c
@@ -32,6 +32,17 @@
 
 #include "lsm303agr.h"
 
+// some useful macros to save on typing and text wrapping
+#undef _SHIFT
+#define _SHIFT(x) (_LSM303AGR_##x##_SHIFT)
+
+#undef _MASK
+#define _MASK(x) (_LSM303AGR_##x##_MASK)
+
+#undef _SHIFTMASK
+#define _SHIFTMASK(x) (_MASK(x) << _SHIFT(x))
+
+
 // init
 lsm303agr_context lsm303agr_init(int bus, int acc_addr, int mag_addr)
 {
@@ -112,7 +123,7 @@ lsm303agr_context lsm303agr_init(int bus, int acc_addr, int mag_addr)
 
         if (chipID != LSM303AGR_CHIPID_MAG)
         {
-            printf("%s: invalid accelerometer chip id: %02x.  Expected %02x\n",
+            printf("%s: invalid magnetometer chip id: %02x.  Expected %02x\n",
                    __FUNCTION__, chipID, LSM303AGR_CHIPID_MAG);
             lsm303agr_close(dev);
             return NULL;
@@ -157,10 +168,10 @@ upm_result_t lsm303agr_devinit(const lsm303agr_context dev,
         // enable temp compensation and continuous mode
         uint8_t reg = lsm303agr_read_reg(dev, LSM303AGR_REG_CFG_REG_A_M);
 
-        reg &= ~_LSM303AGR_SHIFTMASK(CFG_REG_A_M_MD);
+        reg &= ~_SHIFTMASK(CFG_REG_A_M_MD);
         reg |= LSM303AGR_CFG_REG_A_M_COMP_TEMP_EN;
         reg |= (LSM303AGR_CFG_A_M_MD_CONTINUOUS
-                << _LSM303AGR_SHIFT(CFG_REG_A_M_MD));
+                << _SHIFT(CFG_REG_A_M_MD));
 
         if (lsm303agr_write_reg(dev, LSM303AGR_REG_CFG_REG_A_M, reg))
         {
@@ -206,9 +217,9 @@ upm_result_t lsm303agr_devinit(const lsm303agr_context dev,
 
         // enable temperature measurement
         reg = lsm303agr_read_reg(dev, LSM303AGR_REG_TEMP_CFG_REG_A);
-        reg &= ~_LSM303AGR_SHIFTMASK(TEMP_CFG_REG_A_TEMP_EN);
+        reg &= ~_SHIFTMASK(TEMP_CFG_REG_A_TEMP_EN);
         reg |= (LSM303AGR_TEMP_EN_ON
-                << _LSM303AGR_SHIFT(TEMP_CFG_REG_A_TEMP_EN));
+                << _SHIFT(TEMP_CFG_REG_A_TEMP_EN));
 
         if (lsm303agr_write_reg(dev, LSM303AGR_REG_TEMP_CFG_REG_A, reg))
         {
@@ -311,8 +322,8 @@ upm_result_t lsm303agr_set_full_scale(const lsm303agr_context dev,
     {
         uint8_t reg = lsm303agr_read_reg(dev, LSM303AGR_REG_CTRL_REG4_A);
 
-        reg &= ~_LSM303AGR_SHIFTMASK(CTRL_REG4_A_FS);
-        reg |= (fs << _LSM303AGR_SHIFT(CTRL_REG4_A_FS));
+        reg &= ~_SHIFTMASK(CTRL_REG4_A_FS);
+        reg |= (fs << _SHIFT(CTRL_REG4_A_FS));
 
         if (lsm303agr_write_reg(dev, LSM303AGR_REG_CTRL_REG4_A, reg))
             return UPM_ERROR_OPERATION_FAILED;
@@ -569,8 +580,8 @@ upm_result_t lsm303agr_set_acc_odr(const lsm303agr_context dev,
         return UPM_ERROR_NO_RESOURCES;
 
     uint8_t reg = lsm303agr_read_reg(dev, LSM303AGR_REG_CTRL_REG1_A);
-    reg &= ~_LSM303AGR_SHIFTMASK(CTRL_REG1_A_ODR);
-    reg |= (odr << _LSM303AGR_SHIFT(CTRL_REG1_A_ODR));
+    reg &= ~_SHIFTMASK(CTRL_REG1_A_ODR);
+    reg |= (odr << _SHIFT(CTRL_REG1_A_ODR));
 
     if (lsm303agr_write_reg(dev, LSM303AGR_REG_CTRL_REG1_A, reg))
         return UPM_ERROR_OPERATION_FAILED;
@@ -587,8 +598,8 @@ upm_result_t lsm303agr_set_mag_odr(const lsm303agr_context dev,
         return UPM_ERROR_NO_RESOURCES;
 
     uint8_t reg = lsm303agr_read_reg(dev, LSM303AGR_REG_CFG_REG_A_M);
-    reg &= ~_LSM303AGR_SHIFTMASK(CFG_REG_A_M_ODR);
-    reg |= (odr << _LSM303AGR_SHIFT(CFG_REG_A_M_ODR));
+    reg &= ~_SHIFTMASK(CFG_REG_A_M_ODR);
+    reg |= (odr << _SHIFT(CFG_REG_A_M_ODR));
 
     if (lsm303agr_write_reg(dev, LSM303AGR_REG_CFG_REG_A_M, reg))
         return UPM_ERROR_OPERATION_FAILED;
diff --git a/src/lsm303agr/lsm303agr.h b/src/lsm303agr/lsm303agr.h
index e238a671..24e1b3cc 100644
--- a/src/lsm303agr/lsm303agr.h
+++ b/src/lsm303agr/lsm303agr.h
@@ -181,7 +181,7 @@ extern "C" {
      * mode set at high resolution.
      *
      * @param dev The device context
-     * @param usage One of the LSM303AGR_POWER_MODE_T values.  This
+     * @param mode One of the LSM303AGR_POWER_MODE_T values.  This
      * parameter is passed to a call to lsm303agr_set_power_mode() and
      * will set the appropriate mode for both the accelerometer and
      * magnetometer.  The default set by the constructor is
@@ -196,7 +196,7 @@ extern "C" {
      * power, normal, and high resolution.
      *
      * @param dev The device context
-     * @param usage One of the LSM303AGR_POWER_MODE_T values.  The
+     * @param mode One of the LSM303AGR_POWER_MODE_T values.  The
      * default set at initialization time is
      * LSM303AGR_POWER_HIGH_RESOLUTION.
      * @return UPM result
@@ -208,7 +208,7 @@ extern "C" {
      * Set the accelerometer (acc) output data rate (odr)
      *
      * @param dev The device context
-     * @param usage One of the LSM303AGR_A_ODR_T values.  The default
+     * @param odr One of the LSM303AGR_A_ODR_T values.  The default
      * set at initialization time is LSM303AGR_A_ODR_100HZ.
      * @return UPM result
      */
@@ -219,7 +219,7 @@ extern "C" {
      * Set the magnetometer (mag) output data rate (odr)
      *
      * @param dev The device context
-     * @param usage One of the LSM303AGR_CFG_A_M_ODR_T values.  The default
+     * @param odr One of the LSM303AGR_CFG_A_M_ODR_T values.  The default
      * set at initialization time is LSM303AGR_CFG_A_M_ODR_10HZ.
      * @return UPM result
      */
diff --git a/src/lsm303agr/lsm303agr.hpp b/src/lsm303agr/lsm303agr.hpp
index 733ccd16..070d522e 100644
--- a/src/lsm303agr/lsm303agr.hpp
+++ b/src/lsm303agr/lsm303agr.hpp
@@ -194,7 +194,7 @@ namespace upm {
          * Set an operating power mode.  There are 3 modes available: low
          * power, normal, and high resolution.
          *
-         * @param usage One of the LSM303AGR_POWER_MODE_T values.  The
+         * @param mode One of the LSM303AGR_POWER_MODE_T values.  The
          * default set at initialization time is
          * LSM303AGR_POWER_HIGH_RESOLUTION.
          * @throws std::runtime_error on failure
@@ -204,7 +204,7 @@ namespace upm {
         /**
          * Set the accelerometer output data rate (ODR)
          *
-         * @param usage One of the LSM303AGR_A_ODR_T values.  The default
+         * @param odr One of the LSM303AGR_A_ODR_T values.  The default
          * set at initialization time is LSM303AGR_A_ODR_100HZ.
          * @throws std::runtime_error on failure
          */
@@ -213,7 +213,7 @@ namespace upm {
         /**
          * Set the magnetometer output data rate (ODR)
          *
-         * @param usage One of the LSM303AGR_CFG_A_M_ODR_T values.
+         * @param odr One of the LSM303AGR_CFG_A_M_ODR_T values.
          * The default set at initialization time is
          * LSM303AGR_CFG_A_M_ODR_10HZ.
          * @throws std::runtime_error on failure
diff --git a/src/lsm303agr/lsm303agr_defs.h b/src/lsm303agr/lsm303agr_defs.h
index 08796d83..a8d9c1df 100644
--- a/src/lsm303agr/lsm303agr_defs.h
+++ b/src/lsm303agr/lsm303agr_defs.h
@@ -669,17 +669,6 @@ extern "C" {
         LSM303AGR_POWER_HIGH_RESOLUTION           = 2,
     } LSM303AGR_POWER_MODE_T;
 
-    // some useful macros to save on typing and text wrapping
-#define _LSM303AGR_SHIFT(x) \
-    (_LSM303AGR_##x##_SHIFT)
-
-#define _LSM303AGR_MASK(x) \
-    (_LSM303AGR_##x##_MASK)
-
-#define _LSM303AGR_SHIFTMASK(x) \
-    (_LSM303AGR_MASK(x) << _LSM303AGR_SHIFT(x))
-
-
 
 #ifdef __cplusplus
 }