Merge branch 'master' of https://github.com/ChibiOS/ChibiOS-Contrib

author: Diego Ismirlian <dismirlian@gmail.com> 2019-08-24 17:45:41 -0300
committer: Diego Ismirlian <dismirlian@gmail.com> 2019-08-24 17:45:41 -0300
commit: 7b2c61a676e024163057ec5ccc508a29ab3b9ed4 (patch)
tree: 5d1f5423a4e720d657681794ac81dc2a2004cbb0 /testhal
parent: 81391097156ce2c9fc71c3350457522841e10095 (diff)
parent: e346e779339636f578536785014609e46866fb9c (diff)
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183 files changed, 22347 insertions, 6263 deletions
diff --git a/testhal/KINETIS/FRDM-K20D50M/I2C/Makefile b/testhal/KINETIS/FRDM-K20D50M/I2C/Makefile
index a4de448..cb528f9 100644
--- a/testhal/KINETIS/FRDM-K20D50M/I2C/Makefile
+++ b/testhal/KINETIS/FRDM-K20D50M/I2C/Makefile
@@ -87,8 +87,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x5.mk
 # HAL-OSAL files (optional).
@@ -106,18 +108,13 @@ LDSCRIPT= $(STARTUPLD)/MK20DX128.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -140,13 +137,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/FRDM-K20D50M/I2C/chconf.h b/testhal/KINETIS/FRDM-K20D50M/I2C/chconf.h
index 5f05547..1750f63 100644
--- a/testhal/KINETIS/FRDM-K20D50M/I2C/chconf.h
+++ b/testhal/KINETIS/FRDM-K20D50M/I2C/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
-
-#define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#ifndef CHCONF_H
+#define CHCONF_H
+
+#define _CHIBIOS_RT_CONF_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -272,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -284,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -293,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -304,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -320,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -329,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -338,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -348,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -369,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -379,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -390,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -402,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -410,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -422,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -438,20 +615,20 @@
 #define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
   /* Context switch code here.*/                                            \
 }
-
-/**
- * @brief   ISR enter hook.
- */
-#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
-  /* IRQ prologue code here.*/                                              \
-}
-
-/**
- * @brief   ISR exit hook.
- */
-#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
-  /* IRQ epilogue code here.*/                                              \
-}
+
+/**
+ * @brief   ISR enter hook.
+ */
+#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
+  /* IRQ prologue code here.*/                                              \
+}
+
+/**
+ * @brief   ISR exit hook.
+ */
+#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
+  /* IRQ epilogue code here.*/                                              \
+}
 
 /**
  * @brief   Idle thread enter hook.
@@ -460,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -469,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -496,15 +675,15 @@
 #define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
-
-/**
- * @brief   Trace hook.
- * @details This hook is invoked each time a new record is written in the
- *          trace buffer.
- */
-#define CH_CFG_TRACE_HOOK(tep) {                                            \
-  /* Trace code here.*/                                                     \
-}
+
+/**
+ * @brief   Trace hook.
+ * @details This hook is invoked each time a new record is written in the
+ *          trace buffer.
+ */
+#define CH_CFG_TRACE_HOOK(tep) {                                            \
+  /* Trace code here.*/                                                     \
+}
 
 /** @} */
 
@@ -512,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/FRDM-K20D50M/I2C/halconf_community.h b/testhal/KINETIS/FRDM-K20D50M/I2C/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/FRDM-K20D50M/I2C/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/FRDM-K20D50M/USB_SERIAL/Makefile b/testhal/KINETIS/FRDM-K20D50M/USB_SERIAL/Makefile
index a5f4c68..4b2ede6 100644
--- a/testhal/KINETIS/FRDM-K20D50M/USB_SERIAL/Makefile
+++ b/testhal/KINETIS/FRDM-K20D50M/USB_SERIAL/Makefile
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x5.mk
 # HAL-OSAL files (optional).
@@ -99,7 +101,9 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
+include $(CHIBIOS)/test/lib/test.mk
+include $(CHIBIOS)/test/rt/rt_test.mk
+include $(CHIBIOS)/test/oslib/oslib_test.mk
 include $(CHIBIOS)/os/hal/lib/streams/streams.mk
 include $(CHIBIOS)/os/various/shell/shell.mk
 
@@ -108,22 +112,14 @@ LDSCRIPT= $(STARTUPLD)/MK20DX128.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
-       $(STREAMSSRC) \
-       $(SHELLSRC) \
        usbcfg.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -146,13 +142,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(STREAMSINC) $(SHELLINC) $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/FRDM-K20D50M/USB_SERIAL/chconf.h b/testhal/KINETIS/FRDM-K20D50M/USB_SERIAL/chconf.h
index 222c5ea..0ac7be8 100644
--- a/testhal/KINETIS/FRDM-K20D50M/USB_SERIAL/chconf.h
+++ b/testhal/KINETIS/FRDM-K20D50M/USB_SERIAL/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -272,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -284,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -293,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -304,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -320,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -329,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -338,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -348,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -369,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -379,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -390,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -402,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -410,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -422,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -460,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -469,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -512,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/FRDM-K20D50M/USB_SERIAL/halconf_community.h b/testhal/KINETIS/FRDM-K20D50M/USB_SERIAL/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/FRDM-K20D50M/USB_SERIAL/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/FRDM-KL25Z/ADC/Makefile b/testhal/KINETIS/FRDM-KL25Z/ADC/Makefile
index d5120b9..b5150d5 100644
--- a/testhal/KINETIS/FRDM-KL25Z/ADC/Makefile
+++ b/testhal/KINETIS/FRDM-KL25Z/ADC/Makefile
@@ -5,12 +5,12 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
 ifeq ($(USE_COPT),)
-  USE_COPT = -std=gnu99
+  USE_COPT =
 endif
 
 # C++ specific options here (added to USE_OPT).
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -69,6 +69,11 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 #
 # Architecture or project specific options
 ##############################################################################
@@ -81,34 +86,34 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
-
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
+# Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_kl2x.mk
+# HAL-OSAL files (optional).
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS_CONTRIB)/os/hal/ports/KINETIS/KL2x/platform.mk
 include $(CHIBIOS_CONTRIB)/os/hal/boards/FREESCALE_FREEDOM_KL25Z/board.mk
 include $(CHIBIOS)/os/hal/osal/rt/osal.mk
+# RTOS files (optional).
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
+# Other files (optional).
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/MKL2xZ128.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -131,13 +136,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
@@ -160,6 +163,7 @@ LD   = $(TRGT)gcc
 #LD   = $(TRGT)g++
 CP   = $(TRGT)objcopy
 AS   = $(TRGT)gcc -x assembler-with-cpp
+AR   = $(TRGT)ar
 OD   = $(TRGT)objdump
 SZ   = $(TRGT)size
 HEX  = $(CP) -O ihex
diff --git a/testhal/KINETIS/FRDM-KL25Z/ADC/chconf.h b/testhal/KINETIS/FRDM-KL25Z/ADC/chconf.h
index 5f05547..1750f63 100644
--- a/testhal/KINETIS/FRDM-KL25Z/ADC/chconf.h
+++ b/testhal/KINETIS/FRDM-KL25Z/ADC/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
-
-#define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#ifndef CHCONF_H
+#define CHCONF_H
+
+#define _CHIBIOS_RT_CONF_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -272,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -284,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -293,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -304,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -320,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -329,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -338,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -348,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -369,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -379,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -390,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -402,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -410,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -422,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -438,20 +615,20 @@
 #define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
   /* Context switch code here.*/                                            \
 }
-
-/**
- * @brief   ISR enter hook.
- */
-#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
-  /* IRQ prologue code here.*/                                              \
-}
-
-/**
- * @brief   ISR exit hook.
- */
-#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
-  /* IRQ epilogue code here.*/                                              \
-}
+
+/**
+ * @brief   ISR enter hook.
+ */
+#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
+  /* IRQ prologue code here.*/                                              \
+}
+
+/**
+ * @brief   ISR exit hook.
+ */
+#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
+  /* IRQ epilogue code here.*/                                              \
+}
 
 /**
  * @brief   Idle thread enter hook.
@@ -460,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -469,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -496,15 +675,15 @@
 #define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
-
-/**
- * @brief   Trace hook.
- * @details This hook is invoked each time a new record is written in the
- *          trace buffer.
- */
-#define CH_CFG_TRACE_HOOK(tep) {                                            \
-  /* Trace code here.*/                                                     \
-}
+
+/**
+ * @brief   Trace hook.
+ * @details This hook is invoked each time a new record is written in the
+ *          trace buffer.
+ */
+#define CH_CFG_TRACE_HOOK(tep) {                                            \
+  /* Trace code here.*/                                                     \
+}
 
 /** @} */
 
@@ -512,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/FRDM-KL25Z/ADC/halconf_community.h b/testhal/KINETIS/FRDM-KL25Z/ADC/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/FRDM-KL25Z/ADC/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/FRDM-KL25Z/GPT/Makefile b/testhal/KINETIS/FRDM-KL25Z/GPT/Makefile
index 8ea9026..b5150d5 100644
--- a/testhal/KINETIS/FRDM-KL25Z/GPT/Makefile
+++ b/testhal/KINETIS/FRDM-KL25Z/GPT/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -69,6 +69,11 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 #
 # Architecture or project specific options
 ##############################################################################
@@ -81,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_kl2x.mk
 # HAL-OSAL files (optional).
@@ -94,25 +101,19 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/MKL2xZ128.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -135,12 +136,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC)
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/FRDM-KL25Z/GPT/chconf.h b/testhal/KINETIS/FRDM-KL25Z/GPT/chconf.h
index 5d231c8..1750f63 100644
--- a/testhal/KINETIS/FRDM-KL25Z/GPT/chconf.h
+++ b/testhal/KINETIS/FRDM-KL25Z/GPT/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    FRDM-KL25Z/GPT/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/FRDM-KL25Z/GPT/halconf_community.h b/testhal/KINETIS/FRDM-KL25Z/GPT/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/FRDM-KL25Z/GPT/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/FRDM-KL25Z/PWM/Makefile b/testhal/KINETIS/FRDM-KL25Z/PWM/Makefile
index 8ea9026..b5150d5 100644
--- a/testhal/KINETIS/FRDM-KL25Z/PWM/Makefile
+++ b/testhal/KINETIS/FRDM-KL25Z/PWM/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -69,6 +69,11 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 #
 # Architecture or project specific options
 ##############################################################################
@@ -81,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_kl2x.mk
 # HAL-OSAL files (optional).
@@ -94,25 +101,19 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/MKL2xZ128.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -135,12 +136,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC)
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/FRDM-KL25Z/PWM/chconf.h b/testhal/KINETIS/FRDM-KL25Z/PWM/chconf.h
index 2a25a25..1750f63 100644
--- a/testhal/KINETIS/FRDM-KL25Z/PWM/chconf.h
+++ b/testhal/KINETIS/FRDM-KL25Z/PWM/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    FRDM-KL25Z/PWM/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/FRDM-KL25Z/PWM/halconf_community.h b/testhal/KINETIS/FRDM-KL25Z/PWM/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/FRDM-KL25Z/PWM/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/FRDM-KL25Z/USB_HID/Makefile b/testhal/KINETIS/FRDM-KL25Z/USB_HID/Makefile
index 39c7ccd..3d4844d 100644
--- a/testhal/KINETIS/FRDM-KL25Z/USB_HID/Makefile
+++ b/testhal/KINETIS/FRDM-KL25Z/USB_HID/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 --specs=nosys.specs -lnosys
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -69,6 +69,11 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 #
 # Architecture or project specific options
 ##############################################################################
@@ -81,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_kl2x.mk
 # HAL-OSAL files (optional).
@@ -94,27 +101,24 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
-#include $(CHIBIOS)/test/rt/test.mk
-#include $(CHIBIOS)/os/hal/lib/streams/streams.mk
+include $(CHIBIOS)/test/lib/test.mk
+include $(CHIBIOS)/test/rt/rt_test.mk
+include $(CHIBIOS)/test/oslib/oslib_test.mk
+include $(CHIBIOS)/os/hal/lib/streams/streams.mk
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/MKL2xZ128.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
        usbcfg.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -137,13 +141,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
-
-INCDIR = $(CHIBIOS)/os/license \
-		 $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
@@ -153,7 +155,7 @@ INCDIR = $(CHIBIOS)/os/license \
 # Compiler settings
 #
 
-MCU  = cortex-m0
+MCU  = cortex-m0plus
 
 #TRGT = arm-elf-
 TRGT = arm-none-eabi-
diff --git a/testhal/KINETIS/FRDM-KL25Z/USB_HID/chconf.h b/testhal/KINETIS/FRDM-KL25Z/USB_HID/chconf.h
index 424cf02..1750f63 100644
--- a/testhal/KINETIS/FRDM-KL25Z/USB_HID/chconf.h
+++ b/testhal/KINETIS/FRDM-KL25Z/USB_HID/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -272,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -284,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -293,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -304,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -320,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -329,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -338,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -348,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -369,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -379,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -390,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -402,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -410,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -422,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -433,7 +610,14 @@
 
 /**
  * @brief   Context switch hook.
- * @details This hook is invoked jus * @brief   ISR enter hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* Context switch code here.*/                                            \
+}
+
+/**
+ * @brief   ISR enter hook.
  */
 #define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
   /* IRQ prologue code here.*/                                              \
@@ -447,19 +631,13 @@
 }
 
 /**
-t before switching between threads.
- */
-#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
-  /* Context switch code here.*/                                            \
-}
-
-/**
  * @brief   Idle thread enter hook.
  * @note    This hook is invoked within a critical zone, no OS functions
  *          should be invoked from here.
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -469,6 +647,7 @@ t before switching between threads.
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
diff --git a/testhal/KINETIS/FRDM-KL25Z/USB_HID/halconf_community.h b/testhal/KINETIS/FRDM-KL25Z/USB_HID/halconf_community.h
index b2f75af..fb7ebf6 100644
--- a/testhal/KINETIS/FRDM-KL25Z/USB_HID/halconf_community.h
+++ b/testhal/KINETIS/FRDM-KL25Z/USB_HID/halconf_community.h
@@ -81,14 +81,35 @@
 #endif
 
 /**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
  * @brief   Enables the USBH subsystem.
  */
 #if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
-#define HAL_USE_USBH                 FALSE
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
 #endif
 
 /**
- * @brief   Enables the USB HID subsystem.
+ * @brief   Enables the USB_HID subsystem.
  */
 #if !defined(HAL_USE_USB_HID) || defined(__DOXYGEN__)
 #define HAL_USE_USB_HID             TRUE
@@ -121,7 +142,25 @@
  */
 #define ONEWIRE_USE_SEARCH_ROM      TRUE
 
- /*===========================================================================*/
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
 /* EEProm driver related settings.                                           */
 /*===========================================================================*/
 
@@ -129,13 +168,12 @@
  * @brief   Enables 24xx series I2C eeprom device driver.
  * @note    Disabling this option saves both code and data space.
  */
-#define EEPROM_USE_EE24XX TRUE
+#define EEPROM_USE_EE24XX FALSE
  /**
  * @brief   Enables 25xx series SPI eeprom device driver.
  * @note    Disabling this option saves both code and data space.
  */
-#define EEPROM_USE_EE25XX TRUE
-
+#define EEPROM_USE_EE25XX FALSE
 
 #endif /* HALCONF_COMMUNITY_H */
 
diff --git a/testhal/KINETIS/FRDM-KL25Z/USB_SERIAL/Makefile b/testhal/KINETIS/FRDM-KL25Z/USB_SERIAL/Makefile
index 57ab9e8..038f796 100644
--- a/testhal/KINETIS/FRDM-KL25Z/USB_SERIAL/Makefile
+++ b/testhal/KINETIS/FRDM-KL25Z/USB_SERIAL/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -69,6 +69,11 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 #
 # Architecture or project specific options
 ##############################################################################
@@ -81,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_kl2x.mk
 # HAL-OSAL files (optional).
@@ -94,7 +101,9 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
+include $(CHIBIOS)/test/lib/test.mk
+include $(CHIBIOS)/test/rt/rt_test.mk
+include $(CHIBIOS)/test/oslib/oslib_test.mk
 include $(CHIBIOS)/os/hal/lib/streams/streams.mk
 include $(CHIBIOS)/os/various/shell/shell.mk
 
@@ -103,22 +112,14 @@ LDSCRIPT= $(STARTUPLD)/MKL2xZ128.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
-       $(STREAMSSRC) \
-       $(SHELLSRC) \
        usbcfg.c \
-       main.c \
+       main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -141,13 +142,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(STREAMSINC) $(SHELLINC)
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/FRDM-KL25Z/USB_SERIAL/chconf.h b/testhal/KINETIS/FRDM-KL25Z/USB_SERIAL/chconf.h
index e89ec1f..1750f63 100644
--- a/testhal/KINETIS/FRDM-KL25Z/USB_SERIAL/chconf.h
+++ b/testhal/KINETIS/FRDM-KL25Z/USB_SERIAL/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    FRDM-KL25Z/USB_SERIAL/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/FRDM-KL25Z/USB_SERIAL/halconf_community.h b/testhal/KINETIS/FRDM-KL25Z/USB_SERIAL/halconf_community.h
new file mode 100644
index 0000000..cf0b508
--- /dev/null
+++ b/testhal/KINETIS/FRDM-KL25Z/USB_SERIAL/halconf_community.h
@@ -0,0 +1,180 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_HID subsystem.
+ */
+#if !defined(HAL_USE_USB_HID) || defined(__DOXYGEN__)
+#define HAL_USE_USB_HID             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/FRDM-KL26Z/I2C/Makefile b/testhal/KINETIS/FRDM-KL26Z/I2C/Makefile
index 597f431..713d772 100644
--- a/testhal/KINETIS/FRDM-KL26Z/I2C/Makefile
+++ b/testhal/KINETIS/FRDM-KL26Z/I2C/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -DCRT0_INIT_STACKS=0
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -69,6 +69,11 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 #
 # Architecture or project specific options
 ##############################################################################
@@ -81,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_kl2x.mk
 # HAL-OSAL files (optional).
@@ -100,18 +107,13 @@ LDSCRIPT= $(STARTUPLD)/MKL2xZ128.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -134,12 +136,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC)
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/FRDM-KL26Z/I2C/chconf.h b/testhal/KINETIS/FRDM-KL26Z/I2C/chconf.h
index 5f05547..1750f63 100644
--- a/testhal/KINETIS/FRDM-KL26Z/I2C/chconf.h
+++ b/testhal/KINETIS/FRDM-KL26Z/I2C/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
-
-#define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#ifndef CHCONF_H
+#define CHCONF_H
+
+#define _CHIBIOS_RT_CONF_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -272,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -284,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -293,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -304,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -320,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -329,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -338,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -348,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -369,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -379,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -390,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -402,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -410,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -422,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -438,20 +615,20 @@
 #define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
   /* Context switch code here.*/                                            \
 }
-
-/**
- * @brief   ISR enter hook.
- */
-#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
-  /* IRQ prologue code here.*/                                              \
-}
-
-/**
- * @brief   ISR exit hook.
- */
-#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
-  /* IRQ epilogue code here.*/                                              \
-}
+
+/**
+ * @brief   ISR enter hook.
+ */
+#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
+  /* IRQ prologue code here.*/                                              \
+}
+
+/**
+ * @brief   ISR exit hook.
+ */
+#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
+  /* IRQ epilogue code here.*/                                              \
+}
 
 /**
  * @brief   Idle thread enter hook.
@@ -460,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -469,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -496,15 +675,15 @@
 #define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
-
-/**
- * @brief   Trace hook.
- * @details This hook is invoked each time a new record is written in the
- *          trace buffer.
- */
-#define CH_CFG_TRACE_HOOK(tep) {                                            \
-  /* Trace code here.*/                                                     \
-}
+
+/**
+ * @brief   Trace hook.
+ * @details This hook is invoked each time a new record is written in the
+ *          trace buffer.
+ */
+#define CH_CFG_TRACE_HOOK(tep) {                                            \
+  /* Trace code here.*/                                                     \
+}
 
 /** @} */
 
@@ -512,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/FRDM-KL26Z/I2C/halconf_community.h b/testhal/KINETIS/FRDM-KL26Z/I2C/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/FRDM-KL26Z/I2C/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/FRDM-KL26Z/PWM/Makefile b/testhal/KINETIS/FRDM-KL26Z/PWM/Makefile
index bca626d..713d772 100644
--- a/testhal/KINETIS/FRDM-KL26Z/PWM/Makefile
+++ b/testhal/KINETIS/FRDM-KL26Z/PWM/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -69,6 +69,11 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 #
 # Architecture or project specific options
 ##############################################################################
@@ -81,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_kl2x.mk
 # HAL-OSAL files (optional).
@@ -94,25 +101,19 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/MKL2xZ128.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -135,12 +136,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC)
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/FRDM-KL26Z/PWM/chconf.h b/testhal/KINETIS/FRDM-KL26Z/PWM/chconf.h
index 9f9b3e9..1750f63 100644
--- a/testhal/KINETIS/FRDM-KL26Z/PWM/chconf.h
+++ b/testhal/KINETIS/FRDM-KL26Z/PWM/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    FRDM-KL26Z/PWM/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/FRDM-KL26Z/PWM/halconf_community.h b/testhal/KINETIS/FRDM-KL26Z/PWM/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/FRDM-KL26Z/PWM/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/FRDM-KL26Z/USB_SERIAL/Makefile b/testhal/KINETIS/FRDM-KL26Z/USB_SERIAL/Makefile
index 3cf61b4..7327b35 100644
--- a/testhal/KINETIS/FRDM-KL26Z/USB_SERIAL/Makefile
+++ b/testhal/KINETIS/FRDM-KL26Z/USB_SERIAL/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -69,6 +69,11 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 #
 # Architecture or project specific options
 ##############################################################################
@@ -81,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_kl2x.mk
 # HAL-OSAL files (optional).
@@ -94,7 +101,9 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
+include $(CHIBIOS)/test/lib/test.mk
+include $(CHIBIOS)/test/rt/rt_test.mk
+include $(CHIBIOS)/test/oslib/oslib_test.mk
 include $(CHIBIOS)/os/hal/lib/streams/streams.mk
 include $(CHIBIOS)/os/various/shell/shell.mk
 
@@ -103,22 +112,14 @@ LDSCRIPT= $(STARTUPLD)/MKL2xZ128.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
-       $(STREAMSSRC) \
-       $(SHELLSRC) \
-       main.c \
        usbcfg.c \
+       main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -141,13 +142,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(STREAMSINC) $(SHELLINC)
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/FRDM-KL26Z/USB_SERIAL/chconf.h b/testhal/KINETIS/FRDM-KL26Z/USB_SERIAL/chconf.h
index 9c9a479..1750f63 100644
--- a/testhal/KINETIS/FRDM-KL26Z/USB_SERIAL/chconf.h
+++ b/testhal/KINETIS/FRDM-KL26Z/USB_SERIAL/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    FRDM-KL26Z/USB_SERIAL/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/FRDM-KL26Z/USB_SERIAL/halconf_community.h b/testhal/KINETIS/FRDM-KL26Z/USB_SERIAL/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/FRDM-KL26Z/USB_SERIAL/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/KL27Z/BLINK/Makefile b/testhal/KINETIS/KL27Z/BLINK/Makefile
index 16025f3..8348654 100644
--- a/testhal/KINETIS/KL27Z/BLINK/Makefile
+++ b/testhal/KINETIS/KL27Z/BLINK/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -69,6 +69,11 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 #
 # Architecture or project specific options
 ##############################################################################
@@ -81,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_kl2x.mk
 # HAL-OSAL files (optional).
@@ -100,18 +107,13 @@ LDSCRIPT= $(STARTUPLD)/MKL27Z256.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -134,13 +136,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/KL27Z/BLINK/board/board.mk b/testhal/KINETIS/KL27Z/BLINK/board/board.mk
index 14102c4..b410cdb 100644
--- a/testhal/KINETIS/KL27Z/BLINK/board/board.mk
+++ b/testhal/KINETIS/KL27Z/BLINK/board/board.mk
@@ -3,3 +3,7 @@ BOARDSRC = ./board/board.c
 
 # Required include directories
 BOARDINC = ./board
+
+# Shared variables
+ALLCSRC += $(BOARDSRC)
+ALLINC  += $(BOARDINC)
diff --git a/testhal/KINETIS/KL27Z/BLINK/chconf.h b/testhal/KINETIS/KL27Z/BLINK/chconf.h
index 49d21ae..1750f63 100644
--- a/testhal/KINETIS/KL27Z/BLINK/chconf.h
+++ b/testhal/KINETIS/KL27Z/BLINK/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,7 +15,7 @@
 */
 
 /**
- * @file    KL27Z/BLINK/chconf.h
+ * @file    templates/chconf.h
  * @brief   Configuration file template.
  * @details A copy of this file must be placed in each project directory, it
  *          contains the application specific kernel settings.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#define CH_CFG_USE_SEMAPHORES_PRIORITY      TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -272,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -284,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -293,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -304,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -320,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -329,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -338,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -348,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -369,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -379,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -390,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -402,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -410,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -422,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -460,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -469,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -512,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/KL27Z/BLINK/halconf_community.h b/testhal/KINETIS/KL27Z/BLINK/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/KL27Z/BLINK/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/MCHCK/BOOTLOADER/Makefile b/testhal/KINETIS/MCHCK/BOOTLOADER/Makefile
index 884d20e..c2fa3a0 100644
--- a/testhal/KINETIS/MCHCK/BOOTLOADER/Makefile
+++ b/testhal/KINETIS/MCHCK/BOOTLOADER/Makefile
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x5.mk
 # HAL-OSAL files (optional).
@@ -106,19 +108,13 @@ LDSCRIPT= $(STARTUPLD)/MK20DX128BLDR4.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -141,13 +137,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/MCHCK/BOOTLOADER/chconf.h b/testhal/KINETIS/MCHCK/BOOTLOADER/chconf.h
index a185459..1750f63 100644
--- a/testhal/KINETIS/MCHCK/BOOTLOADER/chconf.h
+++ b/testhal/KINETIS/MCHCK/BOOTLOADER/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    MCHCK/BOOTLOADER/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#define CH_CFG_USE_SEMAPHORES_PRIORITY      TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/MCHCK/BOOTLOADER/halconf_community.h b/testhal/KINETIS/MCHCK/BOOTLOADER/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/MCHCK/BOOTLOADER/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/MCHCK/PWM/Makefile b/testhal/KINETIS/MCHCK/PWM/Makefile
index 884d20e..c2fa3a0 100644
--- a/testhal/KINETIS/MCHCK/PWM/Makefile
+++ b/testhal/KINETIS/MCHCK/PWM/Makefile
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x5.mk
 # HAL-OSAL files (optional).
@@ -106,19 +108,13 @@ LDSCRIPT= $(STARTUPLD)/MK20DX128BLDR4.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -141,13 +137,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/MCHCK/PWM/chconf.h b/testhal/KINETIS/MCHCK/PWM/chconf.h
index 2f2938a..1750f63 100644
--- a/testhal/KINETIS/MCHCK/PWM/chconf.h
+++ b/testhal/KINETIS/MCHCK/PWM/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    MCHCK/PWM/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/MCHCK/PWM/halconf_community.h b/testhal/KINETIS/MCHCK/PWM/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/MCHCK/PWM/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/MCHCK/USB_SERIAL/Makefile b/testhal/KINETIS/MCHCK/USB_SERIAL/Makefile
index b4d1ef8..31862bd 100644
--- a/testhal/KINETIS/MCHCK/USB_SERIAL/Makefile
+++ b/testhal/KINETIS/MCHCK/USB_SERIAL/Makefile
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x5.mk
 # HAL-OSAL files (optional).
@@ -99,7 +101,9 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
+include $(CHIBIOS)/test/lib/test.mk
+include $(CHIBIOS)/test/rt/rt_test.mk
+include $(CHIBIOS)/test/oslib/oslib_test.mk
 include $(CHIBIOS)/os/hal/lib/streams/streams.mk
 include $(CHIBIOS)/os/various/shell/shell.mk
 
@@ -109,22 +113,14 @@ LDSCRIPT= $(STARTUPLD)/MK20DX128BLDR4.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
-       $(STREAMSSRC) \
-       $(SHELLSRC) \
        usbcfg.c \
-       main.c \
+       main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -147,13 +143,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(STREAMSINC) $(SHELLINC)
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/MCHCK/USB_SERIAL/chconf.h b/testhal/KINETIS/MCHCK/USB_SERIAL/chconf.h
index 22272b1..1750f63 100644
--- a/testhal/KINETIS/MCHCK/USB_SERIAL/chconf.h
+++ b/testhal/KINETIS/MCHCK/USB_SERIAL/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    MCHCK/USB_SERIAL/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,15 +119,20 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
  * @details When this option is activated the function @p chSysInit()
  *          does not spawn the idle thread. The application @p main()
  *          function becomes the idle thread and must implement an
- *          infinite loop. */
+ *          infinite loop.
+ */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -120,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -138,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -146,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -155,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -163,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -174,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -182,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -192,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -202,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -212,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -220,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -230,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -239,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -250,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -260,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -269,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -281,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -290,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -301,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -317,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -326,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -335,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -345,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -366,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -376,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -387,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -399,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -407,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -419,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -433,7 +613,7 @@
  * @details This hook is invoked just before switching between threads.
  */
 #define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
-  /* System halt code here.*/                                               \
+  /* Context switch code here.*/                                            \
 }
 
 /**
@@ -456,7 +636,8 @@
  *          should be invoked from here.
  * @note    This macro can be used to activate a power saving mode.
  */
-#define CH_CFG_IDLE_ENTER_HOOK() {                                         \
+#define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -465,7 +646,8 @@
  *          should be invoked from here.
  * @note    This macro can be used to deactivate a power saving mode.
  */
-#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -509,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/MCHCK/USB_SERIAL/halconf_community.h b/testhal/KINETIS/MCHCK/USB_SERIAL/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/MCHCK/USB_SERIAL/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/ADC/Makefile b/testhal/KINETIS/TEENSY3_x/ADC/Makefile
index 6510052..eee81be 100644
--- a/testhal/KINETIS/TEENSY3_x/ADC/Makefile
+++ b/testhal/KINETIS/TEENSY3_x/ADC/Makefile
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x7.mk
 # HAL-OSAL files (optional).
@@ -105,19 +107,13 @@ LDSCRIPT= $(STARTUPLD)/MK20DX256.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -140,13 +136,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/TEENSY3_x/ADC/chconf.h b/testhal/KINETIS/TEENSY3_x/ADC/chconf.h
index 029e4ec..1750f63 100644
--- a/testhal/KINETIS/TEENSY3_x/ADC/chconf.h
+++ b/testhal/KINETIS/TEENSY3_x/ADC/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015 RedoX https://github.com/RedoXyde
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    TEENSY3_x/ADC/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/ADC/halconf_community.h b/testhal/KINETIS/TEENSY3_x/ADC/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/TEENSY3_x/ADC/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/EEPROM_EMU/Makefile b/testhal/KINETIS/TEENSY3_x/EEPROM_EMU/Makefile
index fa5084c..626a52f 100644
--- a/testhal/KINETIS/TEENSY3_x/EEPROM_EMU/Makefile
+++ b/testhal/KINETIS/TEENSY3_x/EEPROM_EMU/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x7.mk
 # HAL-OSAL files (optional).
@@ -105,19 +107,14 @@ LDSCRIPT= $(STARTUPLD)/MK20DX256.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
        eeprom.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -140,13 +137,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/TEENSY3_x/EEPROM_EMU/chconf.h b/testhal/KINETIS/TEENSY3_x/EEPROM_EMU/chconf.h
index 3bb57de..1750f63 100644
--- a/testhal/KINETIS/TEENSY3_x/EEPROM_EMU/chconf.h
+++ b/testhal/KINETIS/TEENSY3_x/EEPROM_EMU/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,7 +15,7 @@
 */
 
 /**
- * @file    TEENSY3_x/EEPROM_EMU/chconf.h
+ * @file    templates/chconf.h
  * @brief   Configuration file template.
  * @details A copy of this file must be placed in each project directory, it
  *          contains the application specific kernel settings.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#define CH_CFG_USE_SEMAPHORES_PRIORITY      TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -272,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -284,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -293,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -304,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -320,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -329,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -338,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -348,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -369,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -379,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -390,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -402,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -410,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -422,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -460,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -469,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -512,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/EEPROM_EMU/halconf_community.h b/testhal/KINETIS/TEENSY3_x/EEPROM_EMU/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/TEENSY3_x/EEPROM_EMU/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/EXT/Makefile b/testhal/KINETIS/TEENSY3_x/EXT/Makefile
index 6510052..eee81be 100644
--- a/testhal/KINETIS/TEENSY3_x/EXT/Makefile
+++ b/testhal/KINETIS/TEENSY3_x/EXT/Makefile
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x7.mk
 # HAL-OSAL files (optional).
@@ -105,19 +107,13 @@ LDSCRIPT= $(STARTUPLD)/MK20DX256.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -140,13 +136,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/TEENSY3_x/EXT/chconf.h b/testhal/KINETIS/TEENSY3_x/EXT/chconf.h
index 0be6605..1750f63 100644
--- a/testhal/KINETIS/TEENSY3_x/EXT/chconf.h
+++ b/testhal/KINETIS/TEENSY3_x/EXT/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015 RedoX https://github.com/RedoXyde
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    TEENSY3_x/EXT/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/EXT/halconf_community.h b/testhal/KINETIS/TEENSY3_x/EXT/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/TEENSY3_x/EXT/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/GPT/Makefile b/testhal/KINETIS/TEENSY3_x/GPT/Makefile
index 6510052..eee81be 100644
--- a/testhal/KINETIS/TEENSY3_x/GPT/Makefile
+++ b/testhal/KINETIS/TEENSY3_x/GPT/Makefile
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x7.mk
 # HAL-OSAL files (optional).
@@ -105,19 +107,13 @@ LDSCRIPT= $(STARTUPLD)/MK20DX256.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -140,13 +136,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/TEENSY3_x/GPT/chconf.h b/testhal/KINETIS/TEENSY3_x/GPT/chconf.h
index 93ba7b8..1750f63 100644
--- a/testhal/KINETIS/TEENSY3_x/GPT/chconf.h
+++ b/testhal/KINETIS/TEENSY3_x/GPT/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015 RedoX https://github.com/RedoXyde
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    TEENSY3_x/GPT/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/GPT/halconf_community.h b/testhal/KINETIS/TEENSY3_x/GPT/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/TEENSY3_x/GPT/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/PWM/Makefile b/testhal/KINETIS/TEENSY3_x/PWM/Makefile
index 6510052..eee81be 100644
--- a/testhal/KINETIS/TEENSY3_x/PWM/Makefile
+++ b/testhal/KINETIS/TEENSY3_x/PWM/Makefile
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x7.mk
 # HAL-OSAL files (optional).
@@ -105,19 +107,13 @@ LDSCRIPT= $(STARTUPLD)/MK20DX256.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -140,13 +136,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/TEENSY3_x/PWM/chconf.h b/testhal/KINETIS/TEENSY3_x/PWM/chconf.h
index a661f7e..1750f63 100644
--- a/testhal/KINETIS/TEENSY3_x/PWM/chconf.h
+++ b/testhal/KINETIS/TEENSY3_x/PWM/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,7 +15,7 @@
 */
 
 /**
- * @file    TEENSY3_x/PWM/chconf.h
+ * @file    templates/chconf.h
  * @brief   Configuration file template.
  * @details A copy of this file must be placed in each project directory, it
  *          contains the application specific kernel settings.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -272,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -284,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -293,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -304,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -320,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -329,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -338,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -348,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -369,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -379,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -390,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -402,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -410,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -422,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -460,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -469,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -512,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/PWM/halconf_community.h b/testhal/KINETIS/TEENSY3_x/PWM/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/TEENSY3_x/PWM/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/SERIAL/Makefile b/testhal/KINETIS/TEENSY3_x/SERIAL/Makefile
index 6510052..eee81be 100644
--- a/testhal/KINETIS/TEENSY3_x/SERIAL/Makefile
+++ b/testhal/KINETIS/TEENSY3_x/SERIAL/Makefile
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x7.mk
 # HAL-OSAL files (optional).
@@ -105,19 +107,13 @@ LDSCRIPT= $(STARTUPLD)/MK20DX256.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -140,13 +136,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/TEENSY3_x/SERIAL/chconf.h b/testhal/KINETIS/TEENSY3_x/SERIAL/chconf.h
index 27ed81c..1750f63 100644
--- a/testhal/KINETIS/TEENSY3_x/SERIAL/chconf.h
+++ b/testhal/KINETIS/TEENSY3_x/SERIAL/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015 RedoX https://github.com/RedoXyde
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    TEENSY3_x/SERIAL/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/SERIAL/halconf_community.h b/testhal/KINETIS/TEENSY3_x/SERIAL/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/TEENSY3_x/SERIAL/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/USB_SERIAL/Makefile b/testhal/KINETIS/TEENSY3_x/USB_SERIAL/Makefile
index 055c3dc..4273fc6 100644
--- a/testhal/KINETIS/TEENSY3_x/USB_SERIAL/Makefile
+++ b/testhal/KINETIS/TEENSY3_x/USB_SERIAL/Makefile
@@ -1,225 +1,219 @@
-##############################################################################
-# Build global options
-# NOTE: Can be overridden externally.
-#
-
-# Compiler options here.
-ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
-endif
-
-# C specific options here (added to USE_OPT).
-ifeq ($(USE_COPT),)
-  USE_COPT =
-endif
-
-# C++ specific options here (added to USE_OPT).
-ifeq ($(USE_CPPOPT),)
-  USE_CPPOPT = -fno-rtti
-endif
-
-# Enable this if you want the linker to remove unused code and data
-ifeq ($(USE_LINK_GC),)
-  USE_LINK_GC = yes
-endif
-
-# Linker extra options here.
-ifeq ($(USE_LDOPT),)
-  USE_LDOPT =
-endif
-
-# Enable this if you want link time optimizations (LTO)
-ifeq ($(USE_LTO),)
-  USE_LTO = no
-endif
-
-# If enabled, this option allows to compile the application in THUMB mode.
-ifeq ($(USE_THUMB),)
-  USE_THUMB = yes
-endif
-
-# Enable this if you want to see the full log while compiling.
-ifeq ($(USE_VERBOSE_COMPILE),)
-  USE_VERBOSE_COMPILE = no
-endif
-
-# If enabled, this option makes the build process faster by not compiling
-# modules not used in the current configuration.
-ifeq ($(USE_SMART_BUILD),)
-  USE_SMART_BUILD = yes
-endif
-
-#
-# Build global options
-##############################################################################
-
-##############################################################################
-# Architecture or project specific options
-#
-
-# Stack size to be allocated to the Cortex-M process stack. This stack is
-# the stack used by the main() thread.
-ifeq ($(USE_PROCESS_STACKSIZE),)
-  USE_PROCESS_STACKSIZE = 0x200
-endif
-
-# Stack size to the allocated to the Cortex-M main/exceptions stack. This
-# stack is used for processing interrupts and exceptions.
-ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
-  USE_EXCEPTIONS_STACKSIZE = 0x400
-endif
-
-# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
-ifeq ($(USE_FPU),)
-  USE_FPU = no
-endif
-
-#
-# Architecture or project specific options
-##############################################################################
-
-##############################################################################
-# Project, sources and paths
-#
-
-# Define project name here
-PROJECT = ch
-
-# Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
-CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
-# Startup files.
-include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x7.mk
-# HAL-OSAL files (optional).
-include $(CHIBIOS)/os/hal/hal.mk
-include $(CHIBIOS_CONTRIB)/os/hal/ports/KINETIS/K20x/platform.mk
-include $(CHIBIOS_CONTRIB)/os/hal/boards/PJRC_TEENSY_3_1/board.mk
-include $(CHIBIOS)/os/hal/osal/rt/osal.mk
-# RTOS files (optional).
-include $(CHIBIOS)/os/rt/rt.mk
-include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
-# Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
-include $(CHIBIOS)/os/hal/lib/streams/streams.mk
-include $(CHIBIOS)/os/various/shell/shell.mk
-
-# Define linker script file here
-LDSCRIPT= $(STARTUPLD)/MK20DX256.ld
-
-# C sources that can be compiled in ARM or THUMB mode depending on the global
-# setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
-       $(TESTSRC) \
-       $(STREAMSSRC) \
-       $(SHELLSRC) \
-       usbcfg.c \
-       main.c \
-
-# C++ sources that can be compiled in ARM or THUMB mode depending on the global
-# setting.
-CPPSRC =
-
-# C sources to be compiled in ARM mode regardless of the global setting.
-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
-#       option that results in lower performance and larger code size.
-ACSRC =
-
-# C++ sources to be compiled in ARM mode regardless of the global setting.
-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
-#       option that results in lower performance and larger code size.
-ACPPSRC =
-
-# C sources to be compiled in THUMB mode regardless of the global setting.
-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
-#       option that results in lower performance and larger code size.
-TCSRC =
-
-# C sources to be compiled in THUMB mode regardless of the global setting.
-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
-#       option that results in lower performance and larger code size.
-TCPPSRC =
-
-# List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
-
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(STREAMSINC) $(SHELLINC)
-
-#
-# Project, sources and paths
-##############################################################################
-
-##############################################################################
-# Compiler settings
-#
-
-MCU  = cortex-m4
-
-#TRGT = arm-elf-
-TRGT = arm-none-eabi-
-CC   = $(TRGT)gcc
-CPPC = $(TRGT)g++
-# Enable loading with g++ only if you need C++ runtime support.
-# NOTE: You can use C++ even without C++ support if you are careful. C++
-#       runtime support makes code size explode.
-LD   = $(TRGT)gcc
-#LD   = $(TRGT)g++
-CP   = $(TRGT)objcopy
-AS   = $(TRGT)gcc -x assembler-with-cpp
-AR   = $(TRGT)ar
-OD   = $(TRGT)objdump
-SZ   = $(TRGT)size
-HEX  = $(CP) -O ihex
-BIN  = $(CP) -O binary
-SREC = $(CP) -O srec
-
-# ARM-specific options here
-AOPT =
-
-# THUMB-specific options here
-TOPT = -mthumb -DTHUMB
-
-# Define C warning options here
-CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes
-
-# Define C++ warning options here
-CPPWARN = -Wall -Wextra -Wundef
-
-#
-# Compiler settings
-##############################################################################
-
-##############################################################################
-# Start of user section
-#
-
-# List all user C define here, like -D_DEBUG=1
-UDEFS =
-
-# Define ASM defines here
-UADEFS =
-
-# List all user directories here
-UINCDIR =
-
-# List the user directory to look for the libraries here
-ULIBDIR =
-
-# List all user libraries here
-ULIBS =
-
-#
-# End of user defines
-##############################################################################
-
-RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
-include $(RULESPATH)/rules.mk
+##############################################################################
+# Build global options
+# NOTE: Can be overridden externally.
+#
+
+# Compiler options here.
+ifeq ($(USE_OPT),)
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
+endif
+
+# C specific options here (added to USE_OPT).
+ifeq ($(USE_COPT),)
+  USE_COPT =
+endif
+
+# C++ specific options here (added to USE_OPT).
+ifeq ($(USE_CPPOPT),)
+  USE_CPPOPT = -fno-rtti
+endif
+
+# Enable this if you want the linker to remove unused code and data
+ifeq ($(USE_LINK_GC),)
+  USE_LINK_GC = yes
+endif
+
+# Linker extra options here.
+ifeq ($(USE_LDOPT),)
+  USE_LDOPT =
+endif
+
+# Enable this if you want link time optimizations (LTO)
+ifeq ($(USE_LTO),)
+  USE_LTO = yes
+endif
+
+# If enabled, this option allows to compile the application in THUMB mode.
+ifeq ($(USE_THUMB),)
+  USE_THUMB = yes
+endif
+
+# Enable this if you want to see the full log while compiling.
+ifeq ($(USE_VERBOSE_COMPILE),)
+  USE_VERBOSE_COMPILE = no
+endif
+
+# If enabled, this option makes the build process faster by not compiling
+# modules not used in the current configuration.
+ifeq ($(USE_SMART_BUILD),)
+  USE_SMART_BUILD = yes
+endif
+
+#
+# Build global options
+##############################################################################
+
+##############################################################################
+# Architecture or project specific options
+#
+
+# Stack size to be allocated to the Cortex-M process stack. This stack is
+# the stack used by the main() thread.
+ifeq ($(USE_PROCESS_STACKSIZE),)
+  USE_PROCESS_STACKSIZE = 0x200
+endif
+
+# Stack size to the allocated to the Cortex-M main/exceptions stack. This
+# stack is used for processing interrupts and exceptions.
+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
+  USE_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
+#
+# Architecture or project specific options
+##############################################################################
+
+##############################################################################
+# Project, sources and paths
+#
+
+# Define project name here
+PROJECT = ch
+
+# Imported source files and paths
+CHIBIOS = ../../../../../ChibiOS
+CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
+# Startup files.
+include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x7.mk
+# HAL-OSAL files (optional).
+include $(CHIBIOS)/os/hal/hal.mk
+include $(CHIBIOS_CONTRIB)/os/hal/ports/KINETIS/K20x/platform.mk
+include $(CHIBIOS_CONTRIB)/os/hal/boards/PJRC_TEENSY_3_1/board.mk
+include $(CHIBIOS)/os/hal/osal/rt/osal.mk
+# RTOS files (optional).
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
+# Other files (optional).
+include $(CHIBIOS)/test/lib/test.mk
+include $(CHIBIOS)/test/rt/rt_test.mk
+include $(CHIBIOS)/test/oslib/oslib_test.mk
+include $(CHIBIOS)/os/hal/lib/streams/streams.mk
+include $(CHIBIOS)/os/various/shell/shell.mk
+
+# Define linker script file here
+LDSCRIPT= $(STARTUPLD)/MK20DX256.ld
+
+# C sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
+       usbcfg.c \
+       main.c
+
+# C++ sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CPPSRC = $(ALLCPPSRC)
+
+# C sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACSRC =
+
+# C++ sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACPPSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCPPSRC =
+
+# List ASM source files here
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
+
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
+
+#
+# Project, sources and paths
+##############################################################################
+
+##############################################################################
+# Compiler settings
+#
+
+MCU  = cortex-m4
+
+#TRGT = arm-elf-
+TRGT = arm-none-eabi-
+CC   = $(TRGT)gcc
+CPPC = $(TRGT)g++
+# Enable loading with g++ only if you need C++ runtime support.
+# NOTE: You can use C++ even without C++ support if you are careful. C++
+#       runtime support makes code size explode.
+LD   = $(TRGT)gcc
+#LD   = $(TRGT)g++
+CP   = $(TRGT)objcopy
+AS   = $(TRGT)gcc -x assembler-with-cpp
+AR   = $(TRGT)ar
+OD   = $(TRGT)objdump
+SZ   = $(TRGT)size
+HEX  = $(CP) -O ihex
+BIN  = $(CP) -O binary
+SREC = $(CP) -O srec
+
+# ARM-specific options here
+AOPT =
+
+# THUMB-specific options here
+TOPT = -mthumb -DTHUMB
+
+# Define C warning options here
+CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes
+
+# Define C++ warning options here
+CPPWARN = -Wall -Wextra -Wundef
+
+#
+# Compiler settings
+##############################################################################
+
+##############################################################################
+# Start of user section
+#
+
+# List all user C define here, like -D_DEBUG=1
+UDEFS =
+
+# Define ASM defines here
+UADEFS =
+
+# List all user directories here
+UINCDIR =
+
+# List the user directory to look for the libraries here
+ULIBDIR =
+
+# List all user libraries here
+ULIBS =
+
+#
+# End of user defines
+##############################################################################
+
+RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
+include $(RULESPATH)/rules.mk
diff --git a/testhal/KINETIS/TEENSY3_x/USB_SERIAL/chconf.h b/testhal/KINETIS/TEENSY3_x/USB_SERIAL/chconf.h
index 6dbecb5..1750f63 100644
--- a/testhal/KINETIS/TEENSY3_x/USB_SERIAL/chconf.h
+++ b/testhal/KINETIS/TEENSY3_x/USB_SERIAL/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    TEENSY3_x/USB_SERIAL/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,15 +119,20 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
  * @details When this option is activated the function @p chSysInit()
  *          does not spawn the idle thread. The application @p main()
  *          function becomes the idle thread and must implement an
- *          infinite loop. */
+ *          infinite loop.
+ */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -120,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -138,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -146,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -155,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -163,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -174,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -182,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -192,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -202,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -212,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -220,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -230,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -239,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -250,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -260,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -269,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -281,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -290,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -301,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -317,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -326,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -335,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -345,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -366,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -376,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -387,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -399,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -407,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -419,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -433,7 +613,7 @@
  * @details This hook is invoked just before switching between threads.
  */
 #define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
-  /* System halt code here.*/                                               \
+  /* Context switch code here.*/                                            \
 }
 
 /**
@@ -456,7 +636,8 @@
  *          should be invoked from here.
  * @note    This macro can be used to activate a power saving mode.
  */
-#define CH_CFG_IDLE_ENTER_HOOK() {                                         \
+#define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -465,7 +646,8 @@
  *          should be invoked from here.
  * @note    This macro can be used to deactivate a power saving mode.
  */
-#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -509,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/TEENSY3_x/USB_SERIAL/halconf_community.h b/testhal/KINETIS/TEENSY3_x/USB_SERIAL/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/TEENSY3_x/USB_SERIAL/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/TEENSY_LC/BOOTLOADER/Makefile b/testhal/KINETIS/TEENSY_LC/BOOTLOADER/Makefile
index f868337..ba07396 100644
--- a/testhal/KINETIS/TEENSY_LC/BOOTLOADER/Makefile
+++ b/testhal/KINETIS/TEENSY_LC/BOOTLOADER/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -69,6 +69,11 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 #
 # Architecture or project specific options
 ##############################################################################
@@ -81,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_kl2x.mk
 # HAL-OSAL files (optional).
@@ -100,18 +107,13 @@ LDSCRIPT= $(STARTUPLD)/MKL26Z64.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -134,13 +136,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/TEENSY_LC/BOOTLOADER/chconf.h b/testhal/KINETIS/TEENSY_LC/BOOTLOADER/chconf.h
index f0c238c..1750f63 100644
--- a/testhal/KINETIS/TEENSY_LC/BOOTLOADER/chconf.h
+++ b/testhal/KINETIS/TEENSY_LC/BOOTLOADER/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    TEENSY_LC/BOOTLOADER/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#define CH_CFG_USE_SEMAPHORES_PRIORITY      TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/TEENSY_LC/BOOTLOADER/halconf_community.h b/testhal/KINETIS/TEENSY_LC/BOOTLOADER/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/TEENSY_LC/BOOTLOADER/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/TEENSY_LC/EEPROM_EMU/Makefile b/testhal/KINETIS/TEENSY_LC/EEPROM_EMU/Makefile
index a9534fc..79b377a 100644
--- a/testhal/KINETIS/TEENSY_LC/EEPROM_EMU/Makefile
+++ b/testhal/KINETIS/TEENSY_LC/EEPROM_EMU/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -69,6 +69,11 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 #
 # Architecture or project specific options
 ##############################################################################
@@ -81,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_kl2x.mk
 # HAL-OSAL files (optional).
@@ -96,23 +103,18 @@ include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
 
 # Define linker script file here
-LDSCRIPT = MKL26Z64.ld
+LDSCRIPT= MKL26Z64.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
        eeprom.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -135,13 +137,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/TEENSY_LC/EEPROM_EMU/chconf.h b/testhal/KINETIS/TEENSY_LC/EEPROM_EMU/chconf.h
index 97c98b7..1750f63 100644
--- a/testhal/KINETIS/TEENSY_LC/EEPROM_EMU/chconf.h
+++ b/testhal/KINETIS/TEENSY_LC/EEPROM_EMU/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    TEENSY_LC/EEPROM_EMU/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#define CH_CFG_USE_SEMAPHORES_PRIORITY      TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/TEENSY_LC/EEPROM_EMU/halconf_community.h b/testhal/KINETIS/TEENSY_LC/EEPROM_EMU/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/TEENSY_LC/EEPROM_EMU/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/KINETIS/TEENSY_LC/PWM/Makefile b/testhal/KINETIS/TEENSY_LC/PWM/Makefile
index f868337..ba07396 100644
--- a/testhal/KINETIS/TEENSY_LC/PWM/Makefile
+++ b/testhal/KINETIS/TEENSY_LC/PWM/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
@@ -30,7 +30,7 @@ endif
 
 # Enable this if you want link time optimizations (LTO)
 ifeq ($(USE_LTO),)
-  USE_LTO = no
+  USE_LTO = yes
 endif
 
 # If enabled, this option allows to compile the application in THUMB mode.
@@ -69,6 +69,11 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 #
 # Architecture or project specific options
 ##############################################################################
@@ -81,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_kl2x.mk
 # HAL-OSAL files (optional).
@@ -100,18 +107,13 @@ LDSCRIPT= $(STARTUPLD)/MKL26Z64.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -134,13 +136,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
-         $(CHIBIOS)/os/various
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/KINETIS/TEENSY_LC/PWM/chconf.h b/testhal/KINETIS/TEENSY_LC/PWM/chconf.h
index d910706..1750f63 100644
--- a/testhal/KINETIS/TEENSY_LC/PWM/chconf.h
+++ b/testhal/KINETIS/TEENSY_LC/PWM/chconf.h
@@ -1,5 +1,5 @@
 /*
-    ChibiOS - (C) 2015-2016 flabbergast <s3+flabbergast@sdfeu.org>
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -15,19 +15,21 @@
 */
 
 /**
- * @file    TEENSY_LC/PWM/chconf.h
- * @brief   Configuration file.
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
  *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -40,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -57,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -80,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -93,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -102,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -121,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -139,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -147,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -156,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -164,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -175,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -183,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -193,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -203,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -213,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -221,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -231,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -240,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -251,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -270,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -282,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -291,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -302,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -318,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -327,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -336,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -346,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -367,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -377,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -388,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -400,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -408,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -420,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -458,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -467,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -510,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/KINETIS/TEENSY_LC/PWM/halconf_community.h b/testhal/KINETIS/TEENSY_LC/PWM/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/KINETIS/TEENSY_LC/PWM/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/MSP430X/EXP430FR5969/ADC/Makefile b/testhal/MSP430X/EXP430FR5969/ADC/Makefile
index 89c32e0..0169cb1 100644
--- a/testhal/MSP430X/EXP430FR5969/ADC/Makefile
+++ b/testhal/MSP430X/EXP430FR5969/ADC/Makefile
@@ -100,7 +100,7 @@ endif
 PROJECT = nil
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = ../../../..
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/MSP430X/compilers/GCC/mk/startup_msp430fr5xxx.mk
diff --git a/testhal/MSP430X/EXP430FR5969/DMA/Makefile b/testhal/MSP430X/EXP430FR5969/DMA/Makefile
index cf81f18..5fe3473 100644
--- a/testhal/MSP430X/EXP430FR5969/DMA/Makefile
+++ b/testhal/MSP430X/EXP430FR5969/DMA/Makefile
@@ -100,7 +100,7 @@ endif
 PROJECT = nil
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = ../../../..
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/MSP430X/compilers/GCC/mk/startup_msp430fr5xxx.mk
diff --git a/testhal/MSP430X/EXP430FR5969/SPI/Makefile b/testhal/MSP430X/EXP430FR5969/SPI/Makefile
index cf81f18..5fe3473 100644
--- a/testhal/MSP430X/EXP430FR5969/SPI/Makefile
+++ b/testhal/MSP430X/EXP430FR5969/SPI/Makefile
@@ -100,7 +100,7 @@ endif
 PROJECT = nil
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = ../../../..
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/MSP430X/compilers/GCC/mk/startup_msp430fr5xxx.mk
diff --git a/testhal/MSP430X/EXP430FR6989/ADC/Makefile b/testhal/MSP430X/EXP430FR6989/ADC/Makefile
index b86021e..e79020d 100644
--- a/testhal/MSP430X/EXP430FR6989/ADC/Makefile
+++ b/testhal/MSP430X/EXP430FR6989/ADC/Makefile
@@ -100,7 +100,7 @@ endif
 PROJECT = nil
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = ../../../..
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/MSP430X/compilers/GCC/mk/startup_msp430fr5xxx.mk
diff --git a/testhal/NRF51/NRF51822/ADC/Makefile b/testhal/NRF51/NRF51822/ADC/Makefile
index 9024eb1..8ee59f9 100644
--- a/testhal/NRF51/NRF51822/ADC/Makefile
+++ b/testhal/NRF51/NRF51822/ADC/Makefile
@@ -81,8 +81,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_nrf51.mk
 # HAL-OSAL files (optional).
@@ -94,26 +96,20 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
+#include $(CHIBIOS)/test/rt/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/NRF51822.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -136,11 +132,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various $(CHIBIOS)/os/license
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/NRF51/NRF51822/ADC/chconf.h b/testhal/NRF51/NRF51822/ADC/chconf.h
index 790132e..1750f63 100644
--- a/testhal/NRF51/NRF51822/ADC/chconf.h
+++ b/testhal/NRF51/NRF51822/ADC/chconf.h
@@ -1,5 +1,5 @@
 /*
-    Copyright (C) 2015 Stephen Caudle
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,15 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
-
-/**
- * @brief   I/O Queues APIs.
- * @details If enabled then the I/O queues APIs are included in the kernel.
- *
- * @note    The default is @p TRUE.
- */
-#define CH_CFG_USE_QUEUES                   TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -280,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -292,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -301,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -312,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -328,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -337,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -346,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -356,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -377,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -387,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -398,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -410,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -418,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -430,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -468,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -477,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -520,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/NRF51/NRF51822/ADC/halconf_community.h b/testhal/NRF51/NRF51822/ADC/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/NRF51/NRF51822/ADC/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/NRF51/NRF51822/GPT/Makefile b/testhal/NRF51/NRF51822/GPT/Makefile
index 9024eb1..8ee59f9 100644
--- a/testhal/NRF51/NRF51822/GPT/Makefile
+++ b/testhal/NRF51/NRF51822/GPT/Makefile
@@ -81,8 +81,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_nrf51.mk
 # HAL-OSAL files (optional).
@@ -94,26 +96,20 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
+#include $(CHIBIOS)/test/rt/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/NRF51822.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -136,11 +132,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various $(CHIBIOS)/os/license
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/NRF51/NRF51822/GPT/chconf.h b/testhal/NRF51/NRF51822/GPT/chconf.h
index 790132e..1750f63 100644
--- a/testhal/NRF51/NRF51822/GPT/chconf.h
+++ b/testhal/NRF51/NRF51822/GPT/chconf.h
@@ -1,5 +1,5 @@
 /*
-    Copyright (C) 2015 Stephen Caudle
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,15 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
-
-/**
- * @brief   I/O Queues APIs.
- * @details If enabled then the I/O queues APIs are included in the kernel.
- *
- * @note    The default is @p TRUE.
- */
-#define CH_CFG_USE_QUEUES                   TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -280,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -292,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -301,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -312,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -328,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -337,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -346,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -356,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -377,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -387,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -398,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -410,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -418,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -430,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -468,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -477,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -520,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/NRF51/NRF51822/GPT/halconf_community.h b/testhal/NRF51/NRF51822/GPT/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/NRF51/NRF51822/GPT/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/NRF51/NRF51822/I2C/Makefile b/testhal/NRF51/NRF51822/I2C/Makefile
index 21c415a..ce37f2f 100644
--- a/testhal/NRF51/NRF51822/I2C/Makefile
+++ b/testhal/NRF51/NRF51822/I2C/Makefile
@@ -80,8 +80,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_nrf51.mk
 # HAL-OSAL files (optional).
@@ -93,26 +95,20 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
+#include $(CHIBIOS)/test/rt/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/NRF51822.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -135,11 +131,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various $(CHIBIOS)/os/license
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/NRF51/NRF51822/I2C/chconf.h b/testhal/NRF51/NRF51822/I2C/chconf.h
index 3f6766a..1750f63 100644
--- a/testhal/NRF51/NRF51822/I2C/chconf.h
+++ b/testhal/NRF51/NRF51822/I2C/chconf.h
@@ -1,5 +1,5 @@
 /*
-    Copyright (C) 2015 Stephen Caudle
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
-#define CH_CFG_USE_MESSAGES                 FALSE
+#if !defined(CH_CFG_USE_MESSAGES)
+#define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,15 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#define CH_CFG_USE_MAILBOXES                FALSE
-
-/**
- * @brief   I/O Queues APIs.
- * @details If enabled then the I/O queues APIs are included in the kernel.
- *
- * @note    The default is @p TRUE.
- */
-#define CH_CFG_USE_QUEUES                   FALSE
+#if !defined(CH_CFG_USE_MAILBOXES)
+#define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -280,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
-#define CH_CFG_USE_MEMCORE                  FALSE
+#if !defined(CH_CFG_USE_MEMCORE)
+#define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -292,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
-#define CH_CFG_USE_HEAP                     FALSE
+#if !defined(CH_CFG_USE_HEAP)
+#define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -301,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
-#define CH_CFG_USE_MEMPOOLS                 FALSE
+#if !defined(CH_CFG_USE_MEMPOOLS)
+#define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -312,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
-#define CH_CFG_USE_DYNAMIC                  FALSE
+#if !defined(CH_CFG_USE_DYNAMIC)
+#define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -328,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -337,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -346,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -356,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -377,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -387,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -398,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -410,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -418,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -430,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -468,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -477,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -520,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/NRF51/NRF51822/I2C/halconf_community.h b/testhal/NRF51/NRF51822/I2C/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/NRF51/NRF51822/I2C/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/NRF51/NRF51822/EXT/Makefile b/testhal/NRF51/NRF51822/PAL/Makefile
index 21c415a..79e226d 100644
--- a/testhal/NRF51/NRF51822/EXT/Makefile
+++ b/testhal/NRF51/NRF51822/PAL/Makefile
@@ -43,6 +43,12 @@ ifeq ($(USE_VERBOSE_COMPILE),)
   USE_VERBOSE_COMPILE = no
 endif
 
+# If enabled, this option makes the build process faster by not compiling
+# modules not used in the current configuration.
+ifeq ($(USE_SMART_BUILD),)
+  USE_SMART_BUILD = yes
+endif
+
 #
 # Build global options
 ##############################################################################
@@ -80,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_nrf51.mk
 # HAL-OSAL files (optional).
@@ -93,26 +101,20 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
+#include $(CHIBIOS)/test/rt/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/NRF51822.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -135,11 +137,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various $(CHIBIOS)/os/license
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/NRF51/NRF51822/EXT/chconf.h b/testhal/NRF51/NRF51822/PAL/chconf.h
index eeb3fa3..0ac7be8 100644
--- a/testhal/NRF51/NRF51822/EXT/chconf.h
+++ b/testhal/NRF51/NRF51822/PAL/chconf.h
@@ -1,5 +1,5 @@
 /*
-    Copyright (C) 2015 Stephen Caudle
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,15 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
-
-/**
- * @brief   I/O Queues APIs.
- * @details If enabled then the I/O queues APIs are included in the kernel.
- *
- * @note    The default is @p TRUE.
- */
-#define CH_CFG_USE_QUEUES                   TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -280,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -292,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -301,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -312,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -328,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -337,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -346,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -356,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -377,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -387,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -398,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -410,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -418,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -430,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -468,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -477,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -520,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/NRF51/NRF51822/EXT/halconf.h b/testhal/NRF51/NRF51822/PAL/halconf.h
index 407dd2f..c8c556a 100644
--- a/testhal/NRF51/NRF51822/EXT/halconf.h
+++ b/testhal/NRF51/NRF51822/PAL/halconf.h
@@ -55,7 +55,7 @@
  * @brief   Enables the EXT subsystem.
  */
 #if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
-#define HAL_USE_EXT                 TRUE
+#define HAL_USE_EXT                 FALSE
 #endif
 
 /**
diff --git a/testhal/NRF51/NRF51822/PAL/halconf_community.h b/testhal/NRF51/NRF51822/PAL/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/NRF51/NRF51822/PAL/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/NRF51/NRF51822/EXT/main.c b/testhal/NRF51/NRF51822/PAL/main.c
index f24eb5d..313291c 100644
--- a/testhal/NRF51/NRF51822/EXT/main.c
+++ b/testhal/NRF51/NRF51822/PAL/main.c
@@ -42,11 +42,9 @@ static void led2toggle(void *arg) {
   debouncing2 = false;
 }
 
-static void extcb1(EXTDriver *extp, expchannel_t channel)
+static void extcb1(void *arg)
 {
-  (void)extp;
-  (void)channel;
-
+  (void)arg;
   uint8_t pad1 = palReadPad(IOPORT1, KEY1);
 
   if (!debouncing1 && (pad1 == PAL_LOW)) {
@@ -63,11 +61,9 @@ static void extcb1(EXTDriver *extp, expchannel_t channel)
   }
 }
 
-static void extcb2(EXTDriver *extp, expchannel_t channel)
+static void extcb2(void *arg)
 {
-  (void)extp;
-  (void)channel;
-
+  (void)arg;
   uint8_t pad2 = palReadPad(IOPORT1, KEY2);
 
   if (!debouncing2 && (pad2 == PAL_LOW)) {
@@ -84,14 +80,6 @@ static void extcb2(EXTDriver *extp, expchannel_t channel)
   }
 }
 
-static const EXTConfig extcfg =
-{
-  {
-    {EXT_CH_MODE_FALLING_EDGE | EXT_CH_MODE_AUTOSTART | (KEY1 << EXT_MODE_GPIO_OFFSET), extcb1},
-    {EXT_CH_MODE_RISING_EDGE | EXT_CH_MODE_AUTOSTART | (KEY2 << EXT_MODE_GPIO_OFFSET), extcb2},
-  }
-};
-
 /*
  * Application entry point.
  */
@@ -106,8 +94,9 @@ int main(void)
    */
   halInit();
   chSysInit();
-
-  extStart(&EXTD1, &extcfg);
+  
+  palSetPadCallback(IOPORT1, KEY1, extcb1, NULL);
+  palSetPadCallback(IOPORT1, KEY2, extcb2, NULL);
 
   /*
    * Normal main() thread activity, in this demo it enables and disables the
@@ -116,12 +105,12 @@ int main(void)
   while (TRUE) {
     palSetPad(IOPORT1, LED0);
     chThdSleepMilliseconds(5000);
-    extChannelDisable(&EXTD1, 0);
-    extChannelDisable(&EXTD1, 1);
+    palDisablePadEvent(IOPORT1, KEY1);
+    palDisablePadEvent(IOPORT1, KEY2);
     palClearPad(IOPORT1, LED0);
     chThdSleepMilliseconds(5000);
-    extChannelEnable(&EXTD1, 0);
-    extChannelEnable(&EXTD1, 1);
+    palEnablePadEvent(IOPORT1, KEY1, PAL_EVENT_MODE_FALLING_EDGE);
+    palEnablePadEvent(IOPORT1, KEY2, PAL_EVENT_MODE_RISING_EDGE);
   }
 
   return 0;
diff --git a/testhal/NRF51/NRF51822/EXT/mcuconf.h b/testhal/NRF51/NRF51822/PAL/mcuconf.h
index f3a0d85..f3a0d85 100644
--- a/testhal/NRF51/NRF51822/EXT/mcuconf.h
+++ b/testhal/NRF51/NRF51822/PAL/mcuconf.h
diff --git a/testhal/NRF51/NRF51822/PWM/Makefile b/testhal/NRF51/NRF51822/PWM/Makefile
index de6ba9f..1924cfb 100644
--- a/testhal/NRF51/NRF51822/PWM/Makefile
+++ b/testhal/NRF51/NRF51822/PWM/Makefile
@@ -86,11 +86,13 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_nrf51.mk
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # HAL-OSAL files (optional).
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS_CONTRIB)/os/hal/ports/NRF5/NRF51822/platform.mk
@@ -100,25 +102,20 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
+#include $(CHIBIOS)/test/rt/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/NRF51822.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -141,13 +138,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-	 $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
-         $(CHIBIOS)/os/various $(CHIBIOS)/os/license
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/NRF51/NRF51822/PWM/chconf.h b/testhal/NRF51/NRF51822/PWM/chconf.h
index 14c1bf3..1750f63 100644
--- a/testhal/NRF51/NRF51822/PWM/chconf.h
+++ b/testhal/NRF51/NRF51822/PWM/chconf.h
@@ -1,5 +1,5 @@
 /*
-    Copyright (C) 2015 Fabio Utzig
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,15 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
-
-/**
- * @brief   I/O Queues APIs.
- * @details If enabled then the I/O queues APIs are included in the kernel.
- *
- * @note    The default is @p TRUE.
- */
-#define CH_CFG_USE_QUEUES                   TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -280,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -292,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -301,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -312,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -328,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -337,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -346,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -356,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -377,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -387,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -398,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -410,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -418,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -430,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -468,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -477,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -520,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/NRF51/NRF51822/PWM/halconf_community.h b/testhal/NRF51/NRF51822/PWM/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/NRF51/NRF51822/PWM/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/NRF51/NRF51822/PWM/main.c b/testhal/NRF51/NRF51822/PWM/main.c
index 51179d8..5e7e825 100644
--- a/testhal/NRF51/NRF51822/PWM/main.c
+++ b/testhal/NRF51/NRF51822/PWM/main.c
@@ -46,8 +46,6 @@ int main(void) {
 	.ioline         = LINE_LED2,
 	.gpiote_channel = 0,
 	.ppi_channel    = { 0, 1 } },
-      { .mode           = PWM_OUTPUT_DISABLED,
-	.callback       = NULL, },
     },
   };
 
diff --git a/testhal/NRF51/NRF51822/RNG/Makefile b/testhal/NRF51/NRF51822/RNG/Makefile
index 1c2acf2..4a71207 100644
--- a/testhal/NRF51/NRF51822/RNG/Makefile
+++ b/testhal/NRF51/NRF51822/RNG/Makefile
@@ -81,13 +81,14 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_nrf51.mk
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # HAL-OSAL files (optional).
-include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS_CONTRIB)/os/hal/hal.mk
 include $(CHIBIOS_CONTRIB)/os/hal/ports/NRF5/NRF51822/platform.mk
 include $(CHIBIOS_CONTRIB)/os/hal/boards/NRF51-DK/board.mk
@@ -96,8 +97,11 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
+include $(CHIBIOS)/test/lib/test.mk
+include $(CHIBIOS)/test/rt/rt_test.mk
+include $(CHIBIOS)/test/oslib/oslib_test.mk
 include $(CHIBIOS)/os/various/shell/shell.mk
+include $(CHIBIOS)/os/hal/lib/streams/streams.mk
 
 
 # Define linker script file here
@@ -105,22 +109,13 @@ LDSCRIPT= $(STARTUPLD)/NRF51822.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
-       $(SHELLSRC) \
-       $(CHIBIOS)/os/hal/lib/streams/memstreams.c \
-       $(CHIBIOS)/os/hal/lib/streams/chprintf.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -143,15 +138,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
-
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-	 $(SHELLINC) \
-         $(CHIBIOS)/os/hal/lib/streams \
-         $(CHIBIOS)/os/various
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
+
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/NRF51/NRF51822/RNG/chconf.h b/testhal/NRF51/NRF51822/RNG/chconf.h
index ed43625..1750f63 100644
--- a/testhal/NRF51/NRF51822/RNG/chconf.h
+++ b/testhal/NRF51/NRF51822/RNG/chconf.h
@@ -1,5 +1,5 @@
 /*
-    Copyright (C) 2016 Stephane D'Alu
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -272,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -284,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -293,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -304,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -320,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -329,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -338,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -348,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -356,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -375,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -385,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -396,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -408,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -416,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
diff --git a/testhal/NRF51/NRF51822/RNG/halconf_community.h b/testhal/NRF51/NRF51822/RNG/halconf_community.h
index a85b95f..e655bfc 100644
--- a/testhal/NRF51/NRF51822/RNG/halconf_community.h
+++ b/testhal/NRF51/NRF51822/RNG/halconf_community.h
@@ -1,5 +1,5 @@
 /*
-    Copyright (C) 2016 Stéphane D'Alu
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -14,8 +14,8 @@
     limitations under the License.
 */
 
-#ifndef _HALCONF_COMMUNITY_H_
-#define _HALCONF_COMMUNITY_H_
+#ifndef HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
 
 /**
  * @brief   Enables the community overlay.
@@ -23,6 +23,7 @@
 #if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
 #define HAL_USE_COMMUNITY           TRUE
 #endif
+
 /**
  * @brief   Enables the FSMC subsystem.
  */
@@ -52,19 +53,61 @@
 #endif
 
 /**
- * @brief   Enables the community subsystem.
+ * @brief   Enables the CRC subsystem.
  */
 #if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
 #define HAL_USE_CRC                 FALSE
 #endif
 
 /**
- * @brief   Enables the community subsystem.
+ * @brief   Enables the RNG subsystem.
  */
 #if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
 #define HAL_USE_RNG                 TRUE
 #endif
 
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
 /*===========================================================================*/
 /* FSMCNAND driver related settings.                                         */
 /*===========================================================================*/
@@ -74,7 +117,7 @@
  * @note    Disabling this option saves both code and data space.
  */
 #if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
-#define NAND_USE_MUTUAL_EXCLUSION   FALSE
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
 #endif
 
 /*===========================================================================*/
@@ -90,28 +133,41 @@
  * @brief   Enables search ROM feature.
  * @note    Disabling this option saves both code and data space.
  */
-#define ONEWIRE_USE_SEARCH_ROM      FALSE
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
 
 /*===========================================================================*/
-/* CRC driver settings.                                                      */
+/* QEI driver related settings.                                              */
 /*===========================================================================*/
 
 /**
- * @brief   Enables DMA engine when performing CRC transactions.
- * @note    Enabling this option also enables asynchronous API.
+ * @brief   Enables discard of overlow
  */
-#if !defined(CRC_USE_DMA) || defined(__DOXYGEN__)
-#define CRC_USE_DMA                 FALSE
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
 #endif
 
 /**
- * @brief   Enables the @p crcAcquireUnit() and @p crcReleaseUnit() APIs.
- * @note    Disabling this option saves both code and data space.
+ * @brief   Enables min max of overlow
  */
-#if !defined(CRC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
-#define CRC_USE_MUTUAL_EXCLUSION    FALSE
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
 #endif
 
-#endif /* _HALCONF_COMMUNITY_H_ */
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
 
 /** @} */
diff --git a/testhal/NRF51/NRF51822/SPI/Makefile b/testhal/NRF51/NRF51822/SPI/Makefile
index b04500e..fa799b9 100644
--- a/testhal/NRF51/NRF51822/SPI/Makefile
+++ b/testhal/NRF51/NRF51822/SPI/Makefile
@@ -80,8 +80,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_nrf51.mk
 # HAL-OSAL files (optional).
@@ -93,26 +95,20 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
-include $(CHIBIOS)/test/rt/test.mk
+#include $(CHIBIOS)/test/rt/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(STARTUPLD)/NRF51822.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -135,11 +131,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various $(CHIBIOS)/os/license
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/NRF51/NRF51822/SPI/chconf.h b/testhal/NRF51/NRF51822/SPI/chconf.h
index 49a050a..1750f63 100644
--- a/testhal/NRF51/NRF51822/SPI/chconf.h
+++ b/testhal/NRF51/NRF51822/SPI/chconf.h
@@ -1,5 +1,5 @@
 /*
-    Copyright (C) 2015 Stephen Caudle
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,15 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
-
-/**
- * @brief   I/O Queues APIs.
- * @details If enabled then the I/O queues APIs are included in the kernel.
- *
- * @note    The default is @p TRUE.
- */
-#define CH_CFG_USE_QUEUES                   TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -280,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -292,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -301,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -312,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -328,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -337,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -346,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_CHECKS                FALSE
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -356,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_ENABLE_ASSERTS               FALSE
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -377,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -387,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
-#define CH_DBG_FILL_THREADS                 FALSE
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -398,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -410,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -418,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -430,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -468,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -477,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -520,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/NRF51/NRF51822/SPI/halconf_community.h b/testhal/NRF51/NRF51822/SPI/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/NRF51/NRF51822/SPI/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/NRF51/NRF51822/WDG/Makefile b/testhal/NRF51/NRF51822/WDG/Makefile
index caa8b18..8cadfce 100644
--- a/testhal/NRF51/NRF51822/WDG/Makefile
+++ b/testhal/NRF51/NRF51822/WDG/Makefile
@@ -81,8 +81,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_nrf51.mk
 # HAL-OSAL files (optional).
@@ -99,19 +101,13 @@ LDSCRIPT= $(STARTUPLD)/NRF51822.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -134,11 +130,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various $(CHIBIOS)/os/license
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
 
 #
 # Project, sources and paths
diff --git a/testhal/NRF51/NRF51822/WDG/chconf.h b/testhal/NRF51/NRF51822/WDG/chconf.h
index 9952575..1750f63 100644
--- a/testhal/NRF51/NRF51822/WDG/chconf.h
+++ b/testhal/NRF51/NRF51822/WDG/chconf.h
@@ -1,5 +1,5 @@
 /*
-    Copyright (C) 2016 Stephane D'Alu
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -25,11 +25,11 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,14 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -59,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -82,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 20
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -95,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -104,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -123,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -141,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -149,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -158,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -166,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -177,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -185,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -195,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -205,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -215,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -223,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -233,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -242,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -253,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -263,15 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
-
-/**
- * @brief   I/O Queues APIs.
- * @details If enabled then the I/O queues APIs are included in the kernel.
- *
- * @note    The default is @p TRUE.
- */
-#define CH_CFG_USE_QUEUES                   TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -280,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -292,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -301,7 +355,20 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -312,7 +379,73 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -328,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -337,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -346,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -356,16 +495,28 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 TRUE
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -377,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -387,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -398,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -410,6 +567,22 @@
 /*===========================================================================*/
 
 /**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
@@ -418,9 +591,9 @@
 
 /**
  * @brief   Threads initialization hook.
- * @details User initialization code added to the @p chThdInit() API.
+ * @details User initialization code added to the @p _thread_init() function.
  *
- * @note    It is invoked from within @p chThdInit() and implicitly from all
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
  *          the threads creation APIs.
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
@@ -430,10 +603,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -468,6 +637,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -477,6 +647,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -520,6 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */
diff --git a/testhal/NRF51/NRF51822/WDG/halconf_community.h b/testhal/NRF51/NRF51822/WDG/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/NRF51/NRF51822/WDG/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/NRF52/NRF52832/I2C/Makefile b/testhal/NRF52/NRF52832/I2C/Makefile
new file mode 100644
index 0000000..edb407e
--- /dev/null
+++ b/testhal/NRF52/NRF52832/I2C/Makefile
@@ -0,0 +1,207 @@
+##############################################################################
+# Build global options
+# NOTE: Can be overridden externally.
+#
+
+# Compiler options here.
+ifeq ($(USE_OPT),)
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
+endif
+
+# C specific options here (added to USE_OPT).
+ifeq ($(USE_COPT),)
+  USE_COPT =
+endif
+
+# C++ specific options here (added to USE_OPT).
+ifeq ($(USE_CPPOPT),)
+  USE_CPPOPT = -fno-rtti
+endif
+
+# Enable this if you want the linker to remove unused code and data
+ifeq ($(USE_LINK_GC),)
+  USE_LINK_GC = yes
+endif
+
+# Linker extra options here.
+ifeq ($(USE_LDOPT),)
+  USE_LDOPT =
+endif
+
+# Enable this if you want link time optimizations (LTO)
+ifeq ($(USE_LTO),)
+  USE_LTO = yes
+endif
+
+# If enabled, this option allows to compile the application in THUMB mode.
+ifeq ($(USE_THUMB),)
+  USE_THUMB = yes
+endif
+
+# Enable this if you want to see the full log while compiling.
+ifeq ($(USE_VERBOSE_COMPILE),)
+  USE_VERBOSE_COMPILE = no
+endif
+
+#
+# Build global options
+##############################################################################
+
+##############################################################################
+# Architecture or project specific options
+#
+
+# Stack size to be allocated to the Cortex-M process stack. This stack is
+# the stack used by the main() thread.
+ifeq ($(USE_PROCESS_STACKSIZE),)
+  USE_PROCESS_STACKSIZE = 0x400
+endif
+
+# Stack size to the allocated to the Cortex-M main/exceptions stack. This
+# stack is used for processing interrupts and exceptions.
+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
+  USE_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
+#
+# Architecture or project specific options
+##############################################################################
+
+##############################################################################
+# Project, sources and paths
+#
+
+# Define project name here
+PROJECT = ch
+
+# Imported source files and paths
+CHIBIOS = ../../../../../ChibiOS
+CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
+# Startup files.
+include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_nrf52.mk
+# HAL-OSAL files (optional).
+include $(CHIBIOS)/os/hal/hal.mk
+include $(CHIBIOS_CONTRIB)/os/hal/ports/NRF5/NRF52832/platform.mk
+include $(CHIBIOS_CONTRIB)/os/hal/boards/NRF52-E73-2G4M04S/board.mk
+include $(CHIBIOS)/os/hal/osal/rt/osal.mk
+# RTOS files (optional).
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
+# Other files (optional).
+#include $(CHIBIOS)/test/rt/test.mk
+
+# Define linker script file here
+LDSCRIPT= $(STARTUPLD)/NRF52832.ld
+
+# C sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
+       main.c
+
+# C++ sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CPPSRC = $(ALLCPPSRC)
+
+# C sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACSRC =
+
+# C++ sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACPPSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCPPSRC =
+
+# List ASM source files here
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
+
+INCDIR = $(ALLINC) $(TESTINC) \
+         $(TESTHAL)
+
+#
+# Project, sources and paths
+##############################################################################
+
+##############################################################################
+# Compiler settings
+#
+
+MCU  = cortex-m4
+
+TRGT = arm-none-eabi-
+CC   = $(TRGT)gcc
+CPPC = $(TRGT)g++
+# Enable loading with g++ only if you need C++ runtime support.
+# NOTE: You can use C++ even without C++ support if you are careful. C++
+#       runtime support makes code size explode.
+LD   = $(TRGT)gcc
+#LD   = $(TRGT)g++
+CP   = $(TRGT)objcopy
+AS   = $(TRGT)gcc -x assembler-with-cpp
+AR   = $(TRGT)ar
+OD   = $(TRGT)objdump
+SZ   = $(TRGT)size
+HEX  = $(CP) -O ihex
+BIN  = $(CP) -O binary
+SREC = $(CP) -O srec
+
+# ARM-specific options here
+AOPT =
+
+# THUMB-specific options here
+TOPT = -mthumb -DTHUMB
+
+# Define C warning options here
+CWARN = -Wall -Wextra -Wstrict-prototypes
+
+# Define C++ warning options here
+CPPWARN = -Wall -Wextra
+
+#
+# Compiler settings
+##############################################################################
+
+##############################################################################
+# Start of user section
+#
+
+# List all user C define here, like -D_DEBUG=1
+UDEFS =
+
+# Define ASM defines here
+UADEFS =
+
+# List all user directories here
+UINCDIR =
+
+# List the user directory to look for the libraries here
+ULIBDIR =
+
+# List all user libraries here
+ULIBS =
+
+#
+# End of user defines
+##############################################################################
+
+RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
+include $(RULESPATH)/rules.mk
diff --git a/testhal/NRF52/NRF52832/I2C/chconf.h b/testhal/NRF52/NRF52832/I2C/chconf.h
new file mode 100644
index 0000000..1750f63
--- /dev/null
+++ b/testhal/NRF52/NRF52832/I2C/chconf.h
@@ -0,0 +1,696 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    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    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
+ *
+ * @addtogroup config
+ * @details Kernel related settings and hooks.
+ * @{
+ */
+
+#ifndef CHCONF_H
+#define CHCONF_H
+
+#define _CHIBIOS_RT_CONF_
+#define _CHIBIOS_RT_CONF_VER_5_1_
+
+/*===========================================================================*/
+/**
+ * @name System timers settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   System time counter resolution.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_ST_RESOLUTION)
+#define CH_CFG_ST_RESOLUTION                32
+#endif
+
+/**
+ * @brief   System tick frequency.
+ * @details Frequency of the system timer that drives the system ticks. This
+ *          setting also defines the system tick time unit.
+ */
+#if !defined(CH_CFG_ST_FREQUENCY)
+#define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#if !defined(CH_CFG_ST_TIMEDELTA)
+#define CH_CFG_ST_TIMEDELTA                 0
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Round robin interval.
+ * @details This constant is the number of system ticks allowed for the
+ *          threads before preemption occurs. Setting this value to zero
+ *          disables the preemption for threads with equal priority and the
+ *          round robin becomes cooperative. Note that higher priority
+ *          threads can still preempt, the kernel is always preemptive.
+ * @note    Disabling the round robin preemption makes the kernel more compact
+ *          and generally faster.
+ * @note    The round robin preemption is not supported in tickless mode and
+ *          must be set to zero in that case.
+ */
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
+
+/**
+ * @brief   Managed RAM size.
+ * @details Size of the RAM area to be managed by the OS. If set to zero
+ *          then the whole available RAM is used. The core memory is made
+ *          available to the heap allocator and/or can be used directly through
+ *          the simplified core memory allocator.
+ *
+ * @note    In order to let the OS manage the whole RAM the linker script must
+ *          provide the @p __heap_base__ and @p __heap_end__ symbols.
+ * @note    Requires @p CH_CFG_USE_MEMCORE.
+ */
+#if !defined(CH_CFG_MEMCORE_SIZE)
+#define CH_CFG_MEMCORE_SIZE                 0
+#endif
+
+/**
+ * @brief   Idle thread automatic spawn suppression.
+ * @details When this option is activated the function @p chSysInit()
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop.
+ */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
+#define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Performance options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   OS optimization.
+ * @details If enabled then time efficient rather than space efficient code
+ *          is used when two possible implementations exist.
+ *
+ * @note    This is not related to the compiler optimization options.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Subsystem options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_TM)
+#define CH_CFG_USE_TM                       FALSE
+#endif
+
+/**
+ * @brief   Threads registry APIs.
+ * @details If enabled then the registry APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_REGISTRY)
+#define CH_CFG_USE_REGISTRY                 TRUE
+#endif
+
+/**
+ * @brief   Threads synchronization APIs.
+ * @details If enabled then the @p chThdWait() function is included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_WAITEXIT)
+#define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
+
+/**
+ * @brief   Semaphores APIs.
+ * @details If enabled then the Semaphores APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_SEMAPHORES)
+#define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
+
+/**
+ * @brief   Semaphores queuing mode.
+ * @details If enabled then the threads are enqueued on semaphores by
+ *          priority rather than in FIFO order.
+ *
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
+
+/**
+ * @brief   Mutexes APIs.
+ * @details If enabled then the mutexes APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MUTEXES)
+#define CH_CFG_USE_MUTEXES                  TRUE
+#endif
+
+/**
+ * @brief   Enables recursive behavior on mutexes.
+ * @note    Recursive mutexes are heavier and have an increased
+ *          memory footprint.
+ *
+ * @note    The default is @p FALSE.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
+ */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
+#define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
+
+/**
+ * @brief   Conditional Variables APIs.
+ * @details If enabled then the conditional variables APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
+ */
+#if !defined(CH_CFG_USE_CONDVARS)
+#define CH_CFG_USE_CONDVARS                 TRUE
+#endif
+
+/**
+ * @brief   Conditional Variables APIs with timeout.
+ * @details If enabled then the conditional variables APIs with timeout
+ *          specification are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_CONDVARS.
+ */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
+
+/**
+ * @brief   Events Flags APIs.
+ * @details If enabled then the event flags APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_EVENTS)
+#define CH_CFG_USE_EVENTS                   TRUE
+#endif
+
+/**
+ * @brief   Events Flags APIs with timeout.
+ * @details If enabled then the events APIs with timeout specification
+ *          are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_EVENTS.
+ */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
+
+/**
+ * @brief   Synchronous Messages APIs.
+ * @details If enabled then the synchronous messages APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MESSAGES)
+#define CH_CFG_USE_MESSAGES                 TRUE
+#endif
+
+/**
+ * @brief   Synchronous Messages queuing mode.
+ * @details If enabled then messages are served by priority rather than in
+ *          FIFO order.
+ *
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_MESSAGES.
+ */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
+
+/**
+ * @brief   Mailboxes APIs.
+ * @details If enabled then the asynchronous messages (mailboxes) APIs are
+ *          included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#if !defined(CH_CFG_USE_MAILBOXES)
+#define CH_CFG_USE_MAILBOXES                TRUE
+#endif
+
+/**
+ * @brief   Core Memory Manager APIs.
+ * @details If enabled then the core memory manager APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCORE)
+#define CH_CFG_USE_MEMCORE                  TRUE
+#endif
+
+/**
+ * @brief   Heap Allocator APIs.
+ * @details If enabled then the memory heap allocator APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
+ *          @p CH_CFG_USE_SEMAPHORES.
+ * @note    Mutexes are recommended.
+ */
+#if !defined(CH_CFG_USE_HEAP)
+#define CH_CFG_USE_HEAP                     TRUE
+#endif
+
+/**
+ * @brief   Memory Pools Allocator APIs.
+ * @details If enabled then the memory pools allocator APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMPOOLS)
+#define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
+
+/**
+ * @brief   Dynamic Threads APIs.
+ * @details If enabled then the dynamic threads creation APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_WAITEXIT.
+ * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
+ */
+#if !defined(CH_CFG_USE_DYNAMIC)
+#define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Debug options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_STATISTICS)
+#define CH_DBG_STATISTICS                   FALSE
+#endif
+
+/**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
+
+/**
+ * @brief   Debug option, parameters checks.
+ * @details If enabled then the checks on the API functions input
+ *          parameters are activated.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
+
+/**
+ * @brief   Debug option, consistency checks.
+ * @details If enabled then all the assertions in the kernel code are
+ *          activated. This includes consistency checks inside the kernel,
+ *          runtime anomalies and port-defined checks.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
+
+/**
+ * @brief   Debug option, trace buffer.
+ * @details If enabled then the trace buffer is activated.
+ *
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
+
+/**
+ * @brief   Debug option, stack checks.
+ * @details If enabled then a runtime stack check is performed.
+ *
+ * @note    The default is @p FALSE.
+ * @note    The stack check is performed in a architecture/port dependent way.
+ *          It may not be implemented or some ports.
+ * @note    The default failure mode is to halt the system with the global
+ *          @p panic_msg variable set to @p NULL.
+ */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
+
+/**
+ * @brief   Debug option, stacks initialization.
+ * @details If enabled then the threads working area is filled with a byte
+ *          value when a thread is created. This can be useful for the
+ *          runtime measurement of the used stack.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
+
+/**
+ * @brief   Debug option, threads profiling.
+ * @details If enabled then a field is added to the @p thread_t structure that
+ *          counts the system ticks occurred while executing the thread.
+ *
+ * @note    The default is @p FALSE.
+ * @note    This debug option is not currently compatible with the
+ *          tickless mode.
+ */
+#if !defined(CH_DBG_THREADS_PROFILING)
+#define CH_DBG_THREADS_PROFILING            FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel hooks
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
+ * @brief   Threads descriptor structure extension.
+ * @details User fields added to the end of the @p thread_t structure.
+ */
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   Threads initialization hook.
+ * @details User initialization code added to the @p _thread_init() function.
+ *
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
+ *          the threads creation APIs.
+ */
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
+ * @brief   Threads finalization hook.
+ * @details User finalization code added to the @p chThdExit() API.
+ */
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
+  /* Add threads finalization code here.*/                                  \
+}
+
+/**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* Context switch code here.*/                                            \
+}
+
+/**
+ * @brief   ISR enter hook.
+ */
+#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
+  /* IRQ prologue code here.*/                                              \
+}
+
+/**
+ * @brief   ISR exit hook.
+ */
+#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
+  /* IRQ epilogue code here.*/                                              \
+}
+
+/**
+ * @brief   Idle thread enter hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to activate a power saving mode.
+ */
+#define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
+}
+
+/**
+ * @brief   Idle thread leave hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to deactivate a power saving mode.
+ */
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
+}
+
+/**
+ * @brief   Idle Loop hook.
+ * @details This hook is continuously invoked by the idle thread loop.
+ */
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
+  /* Idle loop code here.*/                                                 \
+}
+
+/**
+ * @brief   System tick event hook.
+ * @details This hook is invoked in the system tick handler immediately
+ *          after processing the virtual timers queue.
+ */
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
+  /* System tick event code here.*/                                         \
+}
+
+/**
+ * @brief   System halt hook.
+ * @details This hook is invoked in case to a system halting error before
+ *          the system is halted.
+ */
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
+  /* System halt code here.*/                                               \
+}
+
+/**
+ * @brief   Trace hook.
+ * @details This hook is invoked each time a new record is written in the
+ *          trace buffer.
+ */
+#define CH_CFG_TRACE_HOOK(tep) {                                            \
+  /* Trace code here.*/                                                     \
+}
+
+/** @} */
+
+/*===========================================================================*/
+/* Port-specific settings (override port settings defaulted in chcore.h).    */
+/*===========================================================================*/
+
+#endif  /* CHCONF_H */
+
+/** @} */
diff --git a/testhal/NRF52/NRF52832/I2C/halconf.h b/testhal/NRF52/NRF52832/I2C/halconf.h
new file mode 100644
index 0000000..1c3036a
--- /dev/null
+++ b/testhal/NRF52/NRF52832/I2C/halconf.h
@@ -0,0 +1,327 @@
+/*
+    Copyright (C) 2015 Stephen Caudle
+
+    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    templates/halconf.h
+ * @brief   HAL configuration header.
+ * @details HAL configuration file, this file allows to enable or disable the
+ *          various device drivers from your application. You may also use
+ *          this file in order to override the device drivers default settings.
+ *
+ * @addtogroup HAL_CONF
+ * @{
+ */
+
+#ifndef _HALCONF_H_
+#define _HALCONF_H_
+
+#include "mcuconf.h"
+
+/**
+ * @brief   Enables the PAL subsystem.
+ */
+#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
+#define HAL_USE_PAL                 TRUE
+#endif
+
+/**
+ * @brief   Enables the ADC subsystem.
+ */
+#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
+#define HAL_USE_ADC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the CAN subsystem.
+ */
+#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
+#define HAL_USE_CAN                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EXT subsystem.
+ */
+#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
+#define HAL_USE_EXT                 FALSE
+#endif
+
+/**
+ * @brief   Enables the GPT subsystem.
+ */
+#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
+#define HAL_USE_GPT                 FALSE
+#endif
+
+/**
+ * @brief   Enables the I2C subsystem.
+ */
+#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
+#define HAL_USE_I2C                 TRUE
+#endif
+
+/**
+ * @brief   Enables the I2S subsystem.
+ */
+#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)
+#define HAL_USE_I2S                 FALSE
+#endif
+
+/**
+ * @brief   Enables the ICU subsystem.
+ */
+#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
+#define HAL_USE_ICU                 FALSE
+#endif
+
+/**
+ * @brief   Enables the MAC subsystem.
+ */
+#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
+#define HAL_USE_MAC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the MMC_SPI subsystem.
+ */
+#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_MMC_SPI             FALSE
+#endif
+
+/**
+ * @brief   Enables the PWM subsystem.
+ */
+#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
+#define HAL_USE_PWM                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RTC subsystem.
+ */
+#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
+#define HAL_USE_RTC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the SDC subsystem.
+ */
+#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
+#define HAL_USE_SDC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the SERIAL subsystem.
+ */
+#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL              FALSE
+#endif
+
+/**
+ * @brief   Enables the SERIAL over USB subsystem.
+ */
+#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL_USB          FALSE
+#endif
+
+/**
+ * @brief   Enables the SPI subsystem.
+ */
+#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_SPI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the UART subsystem.
+ */
+#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
+#define HAL_USE_UART                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB subsystem.
+ */
+#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
+#define HAL_USE_USB                 FALSE
+#endif
+
+/*===========================================================================*/
+/* ADC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
+#define ADC_USE_WAIT                TRUE
+#endif
+
+/**
+ * @brief   Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define ADC_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+/*===========================================================================*/
+/* CAN driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Sleep mode related APIs inclusion switch.
+ */
+#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
+#define CAN_USE_SLEEP_MODE          TRUE
+#endif
+
+/*===========================================================================*/
+/* I2C driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the mutual exclusion APIs on the I2C bus.
+ */
+#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define I2C_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+/*===========================================================================*/
+/* MAC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables an event sources for incoming packets.
+ */
+#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)
+#define MAC_USE_ZERO_COPY           FALSE
+#endif
+
+/**
+ * @brief   Enables an event sources for incoming packets.
+ */
+#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__)
+#define MAC_USE_EVENTS              TRUE
+#endif
+
+/*===========================================================================*/
+/* MMC_SPI driver related settings.                                          */
+/*===========================================================================*/
+
+/**
+ * @brief   Delays insertions.
+ * @details If enabled this options inserts delays into the MMC waiting
+ *          routines releasing some extra CPU time for the threads with
+ *          lower priority, this may slow down the driver a bit however.
+ *          This option is recommended also if the SPI driver does not
+ *          use a DMA channel and heavily loads the CPU.
+ */
+#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
+#define MMC_NICE_WAITING            TRUE
+#endif
+
+/*===========================================================================*/
+/* SDC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Number of initialization attempts before rejecting the card.
+ * @note    Attempts are performed at 10mS intervals.
+ */
+#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__)
+#define SDC_INIT_RETRY              100
+#endif
+
+/**
+ * @brief   Include support for MMC cards.
+ * @note    MMC support is not yet implemented so this option must be kept
+ *          at @p FALSE.
+ */
+#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__)
+#define SDC_MMC_SUPPORT             FALSE
+#endif
+
+/**
+ * @brief   Delays insertions.
+ * @details If enabled this options inserts delays into the MMC waiting
+ *          routines releasing some extra CPU time for the threads with
+ *          lower priority, this may slow down the driver a bit however.
+ */
+#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__)
+#define SDC_NICE_WAITING            TRUE
+#endif
+
+/*===========================================================================*/
+/* SERIAL driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Default bit rate.
+ * @details Configuration parameter, this is the baud rate selected for the
+ *          default configuration.
+ */
+#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
+#define SERIAL_DEFAULT_BITRATE      38400
+#endif
+
+/**
+ * @brief   Serial buffers size.
+ * @details Configuration parameter, you can change the depth of the queue
+ *          buffers depending on the requirements of your application.
+ * @note    The default is 64 bytes for both the transmission and receive
+ *          buffers.
+ */
+#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_BUFFERS_SIZE         16
+#endif
+
+/*===========================================================================*/
+/* SERIAL_USB driver related setting.                                        */
+/*===========================================================================*/
+
+/**
+ * @brief   Serial over USB buffers size.
+ * @details Configuration parameter, the buffer size must be a multiple of
+ *          the USB data endpoint maximum packet size.
+ * @note    The default is 64 bytes for both the transmission and receive
+ *          buffers.
+ */
+#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_USB_BUFFERS_SIZE     256
+#endif
+
+/*===========================================================================*/
+/* SPI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
+#define SPI_USE_WAIT                TRUE
+#endif
+
+/**
+ * @brief   Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define SPI_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+#endif /* _HALCONF_H_ */
+
+/** @} */
diff --git a/testhal/NRF52/NRF52832/I2C/halconf_community.h b/testhal/NRF52/NRF52832/I2C/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/NRF52/NRF52832/I2C/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/NRF52/NRF52832/I2C/main.c b/testhal/NRF52/NRF52832/I2C/main.c
new file mode 100644
index 0000000..88fb1e8
--- /dev/null
+++ b/testhal/NRF52/NRF52832/I2C/main.c
@@ -0,0 +1,165 @@
+/*
+    Copyright (C) 2015 Stephen Caudle
+
+    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.
+*/
+
+/*
+    This demo:
+    1) Writes bytes to the EEPROM
+    2) Reads the same bytes back
+    3) Inverts the byte values
+    4) Writes them
+    5) Reads them back
+ */
+
+#include <stdlib.h>
+
+#include "ch.h"
+#include "hal.h"
+
+#define I2C_ADDR 0x50
+#define I2C_FAKE_ADDR 0x4C
+#define EEPROM_START_ADDR 0x00
+
+/*
+ * EEPROM thread.
+ */
+static THD_WORKING_AREA(PollEepromThreadWA, 1024);
+static THD_FUNCTION(PollEepromThread, arg) {
+
+  unsigned i;
+  uint8_t tx_data[6];
+  uint8_t rx_data[4];
+  msg_t status;
+
+  (void)arg;
+
+  chRegSetThreadName("PollEeprom");
+
+  /* set initial data to write */
+  tx_data[0] = EEPROM_START_ADDR;
+  tx_data[1] = EEPROM_START_ADDR;
+  tx_data[2] = 0xA0;
+  tx_data[3] = 0xA1;
+  tx_data[4] = 0xA2;
+  tx_data[5] = 0xA3;
+
+  while (true) {
+
+    /* write out initial data */
+    i2cAcquireBus(&I2CD1);
+    status = i2cMasterTransmitTimeout(&I2CD1, I2C_ADDR, tx_data, sizeof(tx_data), NULL, 0, TIME_INFINITE);
+    i2cReleaseBus(&I2CD1);
+    osalDbgCheck(MSG_OK == status);
+
+    /* read back inital data */
+    osalThreadSleepMilliseconds(2);
+    i2cAcquireBus(&I2CD1);
+    status = i2cMasterTransmitTimeout(&I2CD1, I2C_ADDR, tx_data, 2, rx_data, sizeof(rx_data), TIME_INFINITE);
+    i2cReleaseBus(&I2CD1);
+    osalDbgCheck(MSG_OK == status);
+
+    /* invert the data */
+    for (i = 2; i < sizeof(tx_data); i++)
+      tx_data[i] ^= 0xff;
+
+    /* write out inverted data */
+    osalThreadSleepMilliseconds(2);
+    i2cAcquireBus(&I2CD1);
+    status = i2cMasterTransmitTimeout(&I2CD1, I2C_ADDR, tx_data, sizeof(tx_data), NULL, 0, TIME_INFINITE);
+    i2cReleaseBus(&I2CD1);
+    osalDbgCheck(MSG_OK == status);
+
+    /* read back inverted data */
+    osalThreadSleepMilliseconds(2);
+    i2cAcquireBus(&I2CD1);
+    status = i2cMasterTransmitTimeout(&I2CD1, I2C_ADDR, tx_data, 2, rx_data, sizeof(rx_data), TIME_INFINITE);
+    i2cReleaseBus(&I2CD1);
+    osalDbgCheck(MSG_OK == status);
+
+    osalThreadSleepMilliseconds(TIME_INFINITE);
+  }
+}
+
+/*
+ * Fake polling thread.
+ */
+static THD_WORKING_AREA(PollFakeThreadWA, 256);
+static THD_FUNCTION(PollFakeThread, arg) {
+
+  (void)arg;
+
+  chRegSetThreadName("PollFake");
+  while (true) {
+
+    msg_t status;
+    uint8_t rx_data[2];
+    i2cflags_t errors;
+
+    i2cAcquireBus(&I2CD1);
+    status = i2cMasterReceiveTimeout(&I2CD1, I2C_FAKE_ADDR, rx_data, 2, TIME_MS2I(4));
+    i2cReleaseBus(&I2CD1);
+
+    if (status == MSG_RESET){
+      errors = i2cGetErrors(&I2CD1);
+      osalDbgCheck(I2C_ACK_FAILURE == errors);
+    }
+
+    palTogglePad(IOPORT1, LED1); /* on */
+    osalThreadSleepMilliseconds(1000);
+  }
+}
+
+/*
+ * I2C1 config.
+ */
+static const I2CConfig i2cfg = {
+    100000,
+    I2C_SCL,
+    I2C_SDA,
+};
+
+/*
+ * Entry point, note, the main() function is already a thread in the system
+ * on entry.
+ */
+int main(void) {
+
+  halInit();
+  chSysInit();
+
+  i2cStart(&I2CD1, &i2cfg);
+
+  /* Create EEPROM thread. */
+  chThdCreateStatic(PollEepromThreadWA,
+          sizeof(PollEepromThreadWA),
+          NORMALPRIO,
+          PollEepromThread,
+          NULL);
+
+  /* Create not responding thread. */
+  chThdCreateStatic(PollFakeThreadWA,
+          sizeof(PollFakeThreadWA),
+          NORMALPRIO,
+          PollFakeThread,
+          NULL);
+
+  /* main loop handles LED */
+  while (true) {
+    palTogglePad(IOPORT1, LED2); /* on */
+    osalThreadSleepMilliseconds(500);
+  }
+
+  return 0;
+}
diff --git a/testhal/NRF52/NRF52832/I2C/mcuconf.h b/testhal/NRF52/NRF52832/I2C/mcuconf.h
new file mode 100644
index 0000000..fd238a2
--- /dev/null
+++ b/testhal/NRF52/NRF52832/I2C/mcuconf.h
@@ -0,0 +1,25 @@
+/*
+    Copyright (C) 2015 Stephen Caudle
+
+    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 _MCUCONF_H_
+#define _MCUCONF_H_
+
+/*
+ * HAL driver system settings.
+ */
+#define NRF5_I2C_USE_I2C0                 TRUE
+
+#endif /* _MCUCONF_H_ */
diff --git a/testhal/NRF52/NRF52832/I2C/readme.txt b/testhal/NRF52/NRF52832/I2C/readme.txt
new file mode 100644
index 0000000..281bd3e
--- /dev/null
+++ b/testhal/NRF52/NRF52832/I2C/readme.txt
@@ -0,0 +1,21 @@
+*****************************************************************************
+** ChibiOS/HAL - I2C driver demo for NRF52832.                             **
+*****************************************************************************
+
+** TARGET **
+
+The demo runs on an EByte E73-2G4M04S board.
+
+** The Demo **
+
+The application demonstrates the use of the NRF52832 I2C driver.
+
+** Board Setup **
+
+- Connect AT24CXX EEPROM board to I2C port on E73-2G4M04S board
+
+** Build Procedure **
+
+The demo has been tested using the free Codesourcery GCC-based toolchain
+and YAGARTO.
+Just modify the TRGT line in the makefile in order to use different GCC ports.
diff --git a/testhal/NRF52/NRF52832/PWM-ICU/Makefile b/testhal/NRF52/NRF52832/PWM-ICU/Makefile
new file mode 100644
index 0000000..237bcbe
--- /dev/null
+++ b/testhal/NRF52/NRF52832/PWM-ICU/Makefile
@@ -0,0 +1,228 @@
+##############################################################################
+# Build global options
+# NOTE: Can be overridden externally.
+#
+
+# Compiler options here.
+ifeq ($(USE_OPT),)
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
+endif
+
+# C specific options here (added to USE_OPT).
+ifeq ($(USE_COPT),)
+  USE_COPT = 
+endif
+
+# C++ specific options here (added to USE_OPT).
+ifeq ($(USE_CPPOPT),)
+  USE_CPPOPT = -fno-rtti
+endif
+
+# Enable this if you want the linker to remove unused code and data
+ifeq ($(USE_LINK_GC),)
+  USE_LINK_GC = yes
+endif
+
+# Linker extra options here.
+ifeq ($(USE_LDOPT),)
+  USE_LDOPT =
+endif
+
+# Enable this if you want link time optimizations (LTO)
+ifeq ($(USE_LTO),)
+  USE_LTO = yes
+endif
+
+# If enabled, this option allows to compile the application in THUMB mode.
+ifeq ($(USE_THUMB),)
+  USE_THUMB = yes
+endif
+
+# Enable this if you want to see the full log while compiling.
+ifeq ($(USE_VERBOSE_COMPILE),)
+  USE_VERBOSE_COMPILE = no
+endif
+
+# If enabled, this option makes the build process faster by not compiling
+# modules not used in the current configuration.
+ifeq ($(USE_SMART_BUILD),)
+  USE_SMART_BUILD = yes
+endif
+
+#
+# Build global options
+##############################################################################
+
+##############################################################################
+# Architecture or project specific options
+#
+
+# Stack size to be allocated to the Cortex-M process stack. This stack is
+# the stack used by the main() thread.
+ifeq ($(USE_PROCESS_STACKSIZE),)
+  USE_PROCESS_STACKSIZE = 0x400
+endif
+
+# Stack size to the allocated to the Cortex-M main/exceptions stack. This
+# stack is used for processing interrupts and exceptions.
+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
+  USE_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
+#
+# Architecture or project specific options
+##############################################################################
+
+##############################################################################
+# Project, sources and paths
+#
+
+# Define project name here
+PROJECT = ch
+
+# Imported source files and paths
+CHIBIOS = ../../../../../ChibiOS
+CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+
+# Startup files.
+include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_nrf52.mk
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
+# HAL-OSAL files (optional).
+include $(CHIBIOS)/os/hal/hal.mk
+include $(CHIBIOS_CONTRIB)/os/hal/ports/NRF5/NRF52832/platform.mk
+include $(CHIBIOS_CONTRIB)/os/hal/boards/NRF52-E73-2G4M04S/board.mk
+include $(CHIBIOS)/os/hal/osal/rt/osal.mk
+# RTOS files (optional).
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
+# Other files (optional).
+#include $(CHIBIOS)/test/rt/test.mk
+
+# Define linker script file here
+LDSCRIPT= $(STARTUPLD)/NRF52832.ld
+
+# C sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
+       $(CHIBIOS)/os/hal/lib/streams/memstreams.c \
+       $(CHIBIOS)/os/hal/lib/streams/chprintf.c \
+       main.c
+
+# C++ sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CPPSRC = $(ALLCPPSRC)
+
+# C sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACSRC =
+
+# C++ sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACPPSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCPPSRC =
+
+# List ASM source files here
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
+
+INCDIR = $(ALLINC) $(TESTINC) \
+		 $(CHIBIOS)/os/hal/lib/streams \
+         $(TESTHAL)
+
+#
+# Project, sources and paths
+##############################################################################
+
+##############################################################################
+# Compiler settings
+#
+
+MCU  = cortex-m4
+
+TRGT = arm-none-eabi-
+CC   = $(TRGT)gcc
+CPPC = $(TRGT)g++
+# Enable loading with g++ only if you need C++ runtime support.
+# NOTE: You can use C++ even without C++ support if you are careful. C++
+#       runtime support makes code size explode.
+LD   = $(TRGT)gcc
+#LD   = $(TRGT)g++
+CP   = $(TRGT)objcopy
+AS   = $(TRGT)gcc -x assembler-with-cpp
+AR   = $(TRGT)ar
+OD   = $(TRGT)objdump
+SZ   = $(TRGT)size
+HEX  = $(CP) -O ihex
+BIN  = $(CP) -O binary
+SREC = $(CP) -O srec
+
+# ARM-specific options here
+AOPT =
+
+# THUMB-specific options here
+TOPT = -mthumb -DTHUMB
+
+# Define C warning options here
+CWARN = -Wall -Wextra -Wstrict-prototypes
+
+# Define C++ warning options here
+CPPWARN = -Wall -Wextra
+
+#
+# Compiler settings
+##############################################################################
+
+##############################################################################
+# Start of user section
+#
+
+# List all user C define here, like -D_DEBUG=1
+UDEFS =
+
+# Define ASM defines here
+UADEFS =
+
+# List all user directories here
+UINCDIR =
+
+# List the user directory to look for the libraries here
+ULIBDIR =
+
+# List all user libraries here
+ULIBS =
+
+#
+# End of user defines
+##############################################################################
+
+RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
+include $(RULESPATH)/rules.mk
+
+
+include $(CHIBIOS_CONTRIB)/os/various/jlink.mk
+
+
+JLINK_DEVICE    = nrf51422
+JLINK_PRE_FLASH = w4 4001e504 1
+JLINK_ERASE_ALL = w4 4001e504 2\nw4 4001e50c 1\nsleep 100
+
+flash: all jlink-flash
+
diff --git a/testhal/NRF52/NRF52832/PWM-ICU/chconf.h b/testhal/NRF52/NRF52832/PWM-ICU/chconf.h
new file mode 100644
index 0000000..1750f63
--- /dev/null
+++ b/testhal/NRF52/NRF52832/PWM-ICU/chconf.h
@@ -0,0 +1,696 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    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    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
+ *
+ * @addtogroup config
+ * @details Kernel related settings and hooks.
+ * @{
+ */
+
+#ifndef CHCONF_H
+#define CHCONF_H
+
+#define _CHIBIOS_RT_CONF_
+#define _CHIBIOS_RT_CONF_VER_5_1_
+
+/*===========================================================================*/
+/**
+ * @name System timers settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   System time counter resolution.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_ST_RESOLUTION)
+#define CH_CFG_ST_RESOLUTION                32
+#endif
+
+/**
+ * @brief   System tick frequency.
+ * @details Frequency of the system timer that drives the system ticks. This
+ *          setting also defines the system tick time unit.
+ */
+#if !defined(CH_CFG_ST_FREQUENCY)
+#define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#if !defined(CH_CFG_ST_TIMEDELTA)
+#define CH_CFG_ST_TIMEDELTA                 0
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Round robin interval.
+ * @details This constant is the number of system ticks allowed for the
+ *          threads before preemption occurs. Setting this value to zero
+ *          disables the preemption for threads with equal priority and the
+ *          round robin becomes cooperative. Note that higher priority
+ *          threads can still preempt, the kernel is always preemptive.
+ * @note    Disabling the round robin preemption makes the kernel more compact
+ *          and generally faster.
+ * @note    The round robin preemption is not supported in tickless mode and
+ *          must be set to zero in that case.
+ */
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
+
+/**
+ * @brief   Managed RAM size.
+ * @details Size of the RAM area to be managed by the OS. If set to zero
+ *          then the whole available RAM is used. The core memory is made
+ *          available to the heap allocator and/or can be used directly through
+ *          the simplified core memory allocator.
+ *
+ * @note    In order to let the OS manage the whole RAM the linker script must
+ *          provide the @p __heap_base__ and @p __heap_end__ symbols.
+ * @note    Requires @p CH_CFG_USE_MEMCORE.
+ */
+#if !defined(CH_CFG_MEMCORE_SIZE)
+#define CH_CFG_MEMCORE_SIZE                 0
+#endif
+
+/**
+ * @brief   Idle thread automatic spawn suppression.
+ * @details When this option is activated the function @p chSysInit()
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop.
+ */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
+#define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Performance options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   OS optimization.
+ * @details If enabled then time efficient rather than space efficient code
+ *          is used when two possible implementations exist.
+ *
+ * @note    This is not related to the compiler optimization options.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Subsystem options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_TM)
+#define CH_CFG_USE_TM                       FALSE
+#endif
+
+/**
+ * @brief   Threads registry APIs.
+ * @details If enabled then the registry APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_REGISTRY)
+#define CH_CFG_USE_REGISTRY                 TRUE
+#endif
+
+/**
+ * @brief   Threads synchronization APIs.
+ * @details If enabled then the @p chThdWait() function is included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_WAITEXIT)
+#define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
+
+/**
+ * @brief   Semaphores APIs.
+ * @details If enabled then the Semaphores APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_SEMAPHORES)
+#define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
+
+/**
+ * @brief   Semaphores queuing mode.
+ * @details If enabled then the threads are enqueued on semaphores by
+ *          priority rather than in FIFO order.
+ *
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
+
+/**
+ * @brief   Mutexes APIs.
+ * @details If enabled then the mutexes APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MUTEXES)
+#define CH_CFG_USE_MUTEXES                  TRUE
+#endif
+
+/**
+ * @brief   Enables recursive behavior on mutexes.
+ * @note    Recursive mutexes are heavier and have an increased
+ *          memory footprint.
+ *
+ * @note    The default is @p FALSE.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
+ */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
+#define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
+
+/**
+ * @brief   Conditional Variables APIs.
+ * @details If enabled then the conditional variables APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
+ */
+#if !defined(CH_CFG_USE_CONDVARS)
+#define CH_CFG_USE_CONDVARS                 TRUE
+#endif
+
+/**
+ * @brief   Conditional Variables APIs with timeout.
+ * @details If enabled then the conditional variables APIs with timeout
+ *          specification are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_CONDVARS.
+ */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
+
+/**
+ * @brief   Events Flags APIs.
+ * @details If enabled then the event flags APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_EVENTS)
+#define CH_CFG_USE_EVENTS                   TRUE
+#endif
+
+/**
+ * @brief   Events Flags APIs with timeout.
+ * @details If enabled then the events APIs with timeout specification
+ *          are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_EVENTS.
+ */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
+
+/**
+ * @brief   Synchronous Messages APIs.
+ * @details If enabled then the synchronous messages APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MESSAGES)
+#define CH_CFG_USE_MESSAGES                 TRUE
+#endif
+
+/**
+ * @brief   Synchronous Messages queuing mode.
+ * @details If enabled then messages are served by priority rather than in
+ *          FIFO order.
+ *
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_MESSAGES.
+ */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
+
+/**
+ * @brief   Mailboxes APIs.
+ * @details If enabled then the asynchronous messages (mailboxes) APIs are
+ *          included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#if !defined(CH_CFG_USE_MAILBOXES)
+#define CH_CFG_USE_MAILBOXES                TRUE
+#endif
+
+/**
+ * @brief   Core Memory Manager APIs.
+ * @details If enabled then the core memory manager APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCORE)
+#define CH_CFG_USE_MEMCORE                  TRUE
+#endif
+
+/**
+ * @brief   Heap Allocator APIs.
+ * @details If enabled then the memory heap allocator APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
+ *          @p CH_CFG_USE_SEMAPHORES.
+ * @note    Mutexes are recommended.
+ */
+#if !defined(CH_CFG_USE_HEAP)
+#define CH_CFG_USE_HEAP                     TRUE
+#endif
+
+/**
+ * @brief   Memory Pools Allocator APIs.
+ * @details If enabled then the memory pools allocator APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMPOOLS)
+#define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
+
+/**
+ * @brief   Dynamic Threads APIs.
+ * @details If enabled then the dynamic threads creation APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_WAITEXIT.
+ * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
+ */
+#if !defined(CH_CFG_USE_DYNAMIC)
+#define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Debug options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_STATISTICS)
+#define CH_DBG_STATISTICS                   FALSE
+#endif
+
+/**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
+
+/**
+ * @brief   Debug option, parameters checks.
+ * @details If enabled then the checks on the API functions input
+ *          parameters are activated.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
+
+/**
+ * @brief   Debug option, consistency checks.
+ * @details If enabled then all the assertions in the kernel code are
+ *          activated. This includes consistency checks inside the kernel,
+ *          runtime anomalies and port-defined checks.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
+
+/**
+ * @brief   Debug option, trace buffer.
+ * @details If enabled then the trace buffer is activated.
+ *
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
+
+/**
+ * @brief   Debug option, stack checks.
+ * @details If enabled then a runtime stack check is performed.
+ *
+ * @note    The default is @p FALSE.
+ * @note    The stack check is performed in a architecture/port dependent way.
+ *          It may not be implemented or some ports.
+ * @note    The default failure mode is to halt the system with the global
+ *          @p panic_msg variable set to @p NULL.
+ */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
+
+/**
+ * @brief   Debug option, stacks initialization.
+ * @details If enabled then the threads working area is filled with a byte
+ *          value when a thread is created. This can be useful for the
+ *          runtime measurement of the used stack.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
+
+/**
+ * @brief   Debug option, threads profiling.
+ * @details If enabled then a field is added to the @p thread_t structure that
+ *          counts the system ticks occurred while executing the thread.
+ *
+ * @note    The default is @p FALSE.
+ * @note    This debug option is not currently compatible with the
+ *          tickless mode.
+ */
+#if !defined(CH_DBG_THREADS_PROFILING)
+#define CH_DBG_THREADS_PROFILING            FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel hooks
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
+ * @brief   Threads descriptor structure extension.
+ * @details User fields added to the end of the @p thread_t structure.
+ */
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   Threads initialization hook.
+ * @details User initialization code added to the @p _thread_init() function.
+ *
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
+ *          the threads creation APIs.
+ */
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
+ * @brief   Threads finalization hook.
+ * @details User finalization code added to the @p chThdExit() API.
+ */
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
+  /* Add threads finalization code here.*/                                  \
+}
+
+/**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* Context switch code here.*/                                            \
+}
+
+/**
+ * @brief   ISR enter hook.
+ */
+#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
+  /* IRQ prologue code here.*/                                              \
+}
+
+/**
+ * @brief   ISR exit hook.
+ */
+#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
+  /* IRQ epilogue code here.*/                                              \
+}
+
+/**
+ * @brief   Idle thread enter hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to activate a power saving mode.
+ */
+#define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
+}
+
+/**
+ * @brief   Idle thread leave hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to deactivate a power saving mode.
+ */
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
+}
+
+/**
+ * @brief   Idle Loop hook.
+ * @details This hook is continuously invoked by the idle thread loop.
+ */
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
+  /* Idle loop code here.*/                                                 \
+}
+
+/**
+ * @brief   System tick event hook.
+ * @details This hook is invoked in the system tick handler immediately
+ *          after processing the virtual timers queue.
+ */
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
+  /* System tick event code here.*/                                         \
+}
+
+/**
+ * @brief   System halt hook.
+ * @details This hook is invoked in case to a system halting error before
+ *          the system is halted.
+ */
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
+  /* System halt code here.*/                                               \
+}
+
+/**
+ * @brief   Trace hook.
+ * @details This hook is invoked each time a new record is written in the
+ *          trace buffer.
+ */
+#define CH_CFG_TRACE_HOOK(tep) {                                            \
+  /* Trace code here.*/                                                     \
+}
+
+/** @} */
+
+/*===========================================================================*/
+/* Port-specific settings (override port settings defaulted in chcore.h).    */
+/*===========================================================================*/
+
+#endif  /* CHCONF_H */
+
+/** @} */
diff --git a/testhal/NRF52/NRF52832/PWM-ICU/halconf.h b/testhal/NRF52/NRF52832/PWM-ICU/halconf.h
new file mode 100644
index 0000000..6674ab5
--- /dev/null
+++ b/testhal/NRF52/NRF52832/PWM-ICU/halconf.h
@@ -0,0 +1,327 @@
+/*
+    Copyright (C) 2015 Fabio Utzig
+
+    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    templates/halconf.h
+ * @brief   HAL configuration header.
+ * @details HAL configuration file, this file allows to enable or disable the
+ *          various device drivers from your application. You may also use
+ *          this file in order to override the device drivers default settings.
+ *
+ * @addtogroup HAL_CONF
+ * @{
+ */
+
+#ifndef _HALCONF_H_
+#define _HALCONF_H_
+
+#include "mcuconf.h"
+
+/**
+ * @brief   Enables the PAL subsystem.
+ */
+#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
+#define HAL_USE_PAL                 TRUE
+#endif
+
+/**
+ * @brief   Enables the ADC subsystem.
+ */
+#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
+#define HAL_USE_ADC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the CAN subsystem.
+ */
+#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
+#define HAL_USE_CAN                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EXT subsystem.
+ */
+#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
+#define HAL_USE_EXT                 FALSE
+#endif
+
+/**
+ * @brief   Enables the GPT subsystem.
+ */
+#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
+#define HAL_USE_GPT                 FALSE
+#endif
+
+/**
+ * @brief   Enables the I2C subsystem.
+ */
+#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
+#define HAL_USE_I2C                 FALSE
+#endif
+
+/**
+ * @brief   Enables the I2S subsystem.
+ */
+#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)
+#define HAL_USE_I2S                 FALSE
+#endif
+
+/**
+ * @brief   Enables the ICU subsystem.
+ */
+#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
+#define HAL_USE_ICU                 TRUE
+#endif
+
+/**
+ * @brief   Enables the MAC subsystem.
+ */
+#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
+#define HAL_USE_MAC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the MMC_SPI subsystem.
+ */
+#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_MMC_SPI             FALSE
+#endif
+
+/**
+ * @brief   Enables the PWM subsystem.
+ */
+#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
+#define HAL_USE_PWM                 TRUE
+#endif
+
+/**
+ * @brief   Enables the RTC subsystem.
+ */
+#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
+#define HAL_USE_RTC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the SDC subsystem.
+ */
+#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
+#define HAL_USE_SDC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the SERIAL subsystem.
+ */
+#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL              TRUE
+#endif
+
+/**
+ * @brief   Enables the SERIAL over USB subsystem.
+ */
+#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL_USB          FALSE
+#endif
+
+/**
+ * @brief   Enables the SPI subsystem.
+ */
+#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_SPI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the UART subsystem.
+ */
+#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
+#define HAL_USE_UART                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB subsystem.
+ */
+#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
+#define HAL_USE_USB                 FALSE
+#endif
+
+/*===========================================================================*/
+/* ADC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
+#define ADC_USE_WAIT                TRUE
+#endif
+
+/**
+ * @brief   Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define ADC_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+/*===========================================================================*/
+/* CAN driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Sleep mode related APIs inclusion switch.
+ */
+#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
+#define CAN_USE_SLEEP_MODE          TRUE
+#endif
+
+/*===========================================================================*/
+/* I2C driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the mutual exclusion APIs on the I2C bus.
+ */
+#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define I2C_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+/*===========================================================================*/
+/* MAC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables an event sources for incoming packets.
+ */
+#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)
+#define MAC_USE_ZERO_COPY           FALSE
+#endif
+
+/**
+ * @brief   Enables an event sources for incoming packets.
+ */
+#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__)
+#define MAC_USE_EVENTS              TRUE
+#endif
+
+/*===========================================================================*/
+/* MMC_SPI driver related settings.                                          */
+/*===========================================================================*/
+
+/**
+ * @brief   Delays insertions.
+ * @details If enabled this options inserts delays into the MMC waiting
+ *          routines releasing some extra CPU time for the threads with
+ *          lower priority, this may slow down the driver a bit however.
+ *          This option is recommended also if the SPI driver does not
+ *          use a DMA channel and heavily loads the CPU.
+ */
+#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
+#define MMC_NICE_WAITING            TRUE
+#endif
+
+/*===========================================================================*/
+/* SDC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Number of initialization attempts before rejecting the card.
+ * @note    Attempts are performed at 10mS intervals.
+ */
+#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__)
+#define SDC_INIT_RETRY              100
+#endif
+
+/**
+ * @brief   Include support for MMC cards.
+ * @note    MMC support is not yet implemented so this option must be kept
+ *          at @p FALSE.
+ */
+#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__)
+#define SDC_MMC_SUPPORT             FALSE
+#endif
+
+/**
+ * @brief   Delays insertions.
+ * @details If enabled this options inserts delays into the MMC waiting
+ *          routines releasing some extra CPU time for the threads with
+ *          lower priority, this may slow down the driver a bit however.
+ */
+#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__)
+#define SDC_NICE_WAITING            TRUE
+#endif
+
+/*===========================================================================*/
+/* SERIAL driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Default bit rate.
+ * @details Configuration parameter, this is the baud rate selected for the
+ *          default configuration.
+ */
+#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
+#define SERIAL_DEFAULT_BITRATE      38400
+#endif
+
+/**
+ * @brief   Serial buffers size.
+ * @details Configuration parameter, you can change the depth of the queue
+ *          buffers depending on the requirements of your application.
+ * @note    The default is 64 bytes for both the transmission and receive
+ *          buffers.
+ */
+#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_BUFFERS_SIZE         16
+#endif
+
+/*===========================================================================*/
+/* SERIAL_USB driver related setting.                                        */
+/*===========================================================================*/
+
+/**
+ * @brief   Serial over USB buffers size.
+ * @details Configuration parameter, the buffer size must be a multiple of
+ *          the USB data endpoint maximum packet size.
+ * @note    The default is 64 bytes for both the transmission and receive
+ *          buffers.
+ */
+#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_USB_BUFFERS_SIZE     256
+#endif
+
+/*===========================================================================*/
+/* SPI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
+#define SPI_USE_WAIT                TRUE
+#endif
+
+/**
+ * @brief   Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define SPI_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+#endif /* _HALCONF_H_ */
+
+/** @} */
diff --git a/testhal/NRF52/NRF52832/PWM-ICU/halconf_community.h b/testhal/NRF52/NRF52832/PWM-ICU/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/NRF52/NRF52832/PWM-ICU/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/NRF52/NRF52832/PWM-ICU/main.c b/testhal/NRF52/NRF52832/PWM-ICU/main.c
new file mode 100644
index 0000000..6ad8a4c
--- /dev/null
+++ b/testhal/NRF52/NRF52832/PWM-ICU/main.c
@@ -0,0 +1,122 @@
+/*
+    Copyright (C) 2018 andru
+
+    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.
+*/
+
+#include "ch.h"
+#include "hal.h"
+#include "chprintf.h"
+
+static icucnt_t last_width, last_period;
+
+static SerialConfig serial_config = {
+    .speed   = 38400,
+    .tx_pad  = UART_TX,
+    .rx_pad  = UART_RX,
+#if NRF5_SERIAL_USE_HWFLOWCTRL  == TRUE
+    .rts_pad = UART_RTS,
+    .cts_pad = UART_CTS,
+#endif
+};
+
+static void pwm_cb_period(PWMDriver *pwmp) {
+  (void)pwmp;
+  palTogglePad(IOPORT1, LED1);
+}
+
+void icu_width_cb(ICUDriver *icup) {
+  last_width = icuGetWidthX(icup);
+}
+
+void icu_period_cb(ICUDriver *icup) {
+  last_period = icuGetPeriodX(icup);
+}
+
+ICUConfig icucfg = {
+  .frequency = ICU_FREQUENCY_250KHZ,
+  .width_cb = icu_width_cb,
+  .period_cb = icu_period_cb,
+  NULL,
+  .iccfgp = {
+	{
+      .ioline = { BTN1, BTN2 },
+	  .mode = ICU_INPUT_ACTIVE_HIGH,
+	  .gpiote_channel = { 0, 1 },
+	  .ppi_channel = { 0, 1 },
+    },
+  },
+};
+
+PWMConfig pwmcfg = {
+  .frequency = PWM_FREQUENCY_125KHZ,
+  .period = 12500,
+  .callback = pwm_cb_period,
+  {
+	{ .mode = PWM_OUTPUT_DISABLED,
+    },
+    { .mode = PWM_OUTPUT_ACTIVE_HIGH,
+  	.ioline = LINE_LED2,
+    },
+  },
+};
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+  /*
+   * System initializations.
+   * - HAL initialization, this also initializes the configured device drivers
+   *   and performs the board-specific initializations.
+   * - Kernel initialization, the main() function becomes a thread and the
+   *   RTOS is active.
+   */
+  halInit();
+  chSysInit();
+
+  sdStart(&SD1, &serial_config);
+
+  /*
+   *
+   */
+  pwmStart(&PWMD1, &pwmcfg);
+  pwmEnablePeriodicNotification(&PWMD1);
+
+  icuStart(&ICUD1, &icucfg);
+  icuStartCapture(&ICUD1);
+
+  pwmEnableChannel(&PWMD1, 1, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));	// 25%
+  chThdSleepMilliseconds(5000);
+  chprintf((BaseSequentialStream *) &SD1, "period=%d, width=%d\r\n", last_period, last_width);
+
+  pwmEnableChannel(&PWMD1, 1, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));	// 50%
+  chThdSleepMilliseconds(5000);
+  chprintf((BaseSequentialStream *) &SD1, "period=%d, width=%d\r\n", last_period, last_width);
+
+  pwmEnableChannel(&PWMD1, 1, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));	// 75%
+  chThdSleepMilliseconds(5000);
+  chprintf((BaseSequentialStream *) &SD1, "period=%d, width=%d\r\n", last_period, last_width);
+
+  pwmChangePeriod(&PWMD1, 5000);
+  chThdSleepMilliseconds(5000);
+
+  pwmDisableChannel(&PWMD1, 1);
+  pwmStop(&PWMD1);
+  icuStopCapture(&ICUD1);
+  icuStop(&ICUD1);
+
+  while (true) {
+    chThdSleepMilliseconds(500);
+  }
+}
diff --git a/testhal/NRF52/NRF52832/PWM-ICU/mcuconf.h b/testhal/NRF52/NRF52832/PWM-ICU/mcuconf.h
new file mode 100644
index 0000000..e2fbdb8
--- /dev/null
+++ b/testhal/NRF52/NRF52832/PWM-ICU/mcuconf.h
@@ -0,0 +1,33 @@
+/*
+    Copyright (C) 2015 Fabio Utzig
+
+    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 _MCUCONF_H_
+#define _MCUCONF_H_
+
+/*
+ * HAL driver system settings.
+ */
+#define NRF5_SERIAL_USE_UART0             TRUE
+#define NRF5_ST_USE_RTC0                  TRUE
+#define NRF5_ST_USE_RTC1                  FALSE
+#define NRF5_ST_USE_TIMER0                FALSE
+#define NRF5_PWM_USE_PWM0                 TRUE
+#define NRF5_PWM_PWM0_PRIORITY            6
+#define NRF5_ICU_USE_TIMER0               TRUE
+#define NRF5_ICU_GPIOTE_IRQ_PRIORITY      4
+#define NRF5_ICU_TIMER0_IRQ_PRIORITY      4
+
+#endif /* _MCUCONF_H_ */
diff --git a/testhal/NRF52/NRF52832/RADIO-ESB/Makefile b/testhal/NRF52/NRF52832/RADIO-ESB/Makefile
new file mode 100644
index 0000000..a01eb88
--- /dev/null
+++ b/testhal/NRF52/NRF52832/RADIO-ESB/Makefile
@@ -0,0 +1,212 @@
+##############################################################################
+# Build global options
+# NOTE: Can be overridden externally.
+#
+
+# Compiler options here.
+ifeq ($(USE_OPT),)
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
+endif
+
+# C specific options here (added to USE_OPT).
+ifeq ($(USE_COPT),)
+  USE_COPT =
+endif
+
+# C++ specific options here (added to USE_OPT).
+ifeq ($(USE_CPPOPT),)
+  USE_CPPOPT = -fno-rtti
+endif
+
+# Enable this if you want the linker to remove unused code and data
+ifeq ($(USE_LINK_GC),)
+  USE_LINK_GC = yes
+endif
+
+# Linker extra options here.
+ifeq ($(USE_LDOPT),)
+  USE_LDOPT =
+endif
+
+# Enable this if you want link time optimizations (LTO)
+ifeq ($(USE_LTO),)
+  USE_LTO = yes
+endif
+
+# If enabled, this option allows to compile the application in THUMB mode.
+ifeq ($(USE_THUMB),)
+  USE_THUMB = yes
+endif
+
+# Enable this if you want to see the full log while compiling.
+ifeq ($(USE_VERBOSE_COMPILE),)
+  USE_VERBOSE_COMPILE = no
+endif
+
+#
+# Build global options
+##############################################################################
+
+##############################################################################
+# Architecture or project specific options
+#
+
+# Stack size to be allocated to the Cortex-M process stack. This stack is
+# the stack used by the main() thread.
+ifeq ($(USE_PROCESS_STACKSIZE),)
+  USE_PROCESS_STACKSIZE = 0x400
+endif
+
+# Stack size to the allocated to the Cortex-M main/exceptions stack. This
+# stack is used for processing interrupts and exceptions.
+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
+  USE_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
+#
+# Architecture or project specific options
+##############################################################################
+
+##############################################################################
+# Project, sources and paths
+#
+
+# Define project name here
+PROJECT = ch
+
+# Imported source files and paths
+CHIBIOS = ../../../../../ChibiOS
+CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
+# Startup files.
+include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_nrf52.mk
+# HAL-OSAL files (optional).
+include $(CHIBIOS)/os/hal/hal.mk
+include $(CHIBIOS_CONTRIB)/os/hal/ports/NRF5/NRF52832/platform.mk
+include $(CHIBIOS_CONTRIB)/os/hal/boards/NRF52-E73-2G4M04S/board.mk
+include $(CHIBIOS)/os/hal/osal/rt/osal.mk
+# RTOS files (optional).
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
+# Other files (optional).
+#include $(CHIBIOS)/test/rt/test.mk
+
+# Define linker script file here
+LDSCRIPT= $(STARTUPLD)/NRF52832.ld
+
+# C sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
+       $(CHIBIOS)/os/various/syscalls.c \
+       $(CHIBIOS)/os/hal/lib/streams/memstreams.c \
+       $(CHIBIOS)/os/hal/lib/streams/chprintf.c \
+       nrf52_radio.c \
+       main.c
+
+# C++ sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CPPSRC = $(ALLCPPSRC)
+
+# C sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACSRC =
+
+# C++ sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACPPSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCPPSRC =
+
+# List ASM source files here
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
+
+INCDIR = $(ALLINC) $(TESTINC) \
+		 $(CHIBIOS)/os/hal/lib/streams \
+         $(TESTHAL)
+
+#
+# Project, sources and paths
+##############################################################################
+
+##############################################################################
+# Compiler settings
+#
+
+MCU  = cortex-m4
+
+TRGT = arm-none-eabi-
+CC   = $(TRGT)gcc
+CPPC = $(TRGT)g++
+# Enable loading with g++ only if you need C++ runtime support.
+# NOTE: You can use C++ even without C++ support if you are careful. C++
+#       runtime support makes code size explode.
+LD   = $(TRGT)gcc
+#LD   = $(TRGT)g++
+CP   = $(TRGT)objcopy
+AS   = $(TRGT)gcc -x assembler-with-cpp
+AR   = $(TRGT)ar
+OD   = $(TRGT)objdump
+SZ   = $(TRGT)size
+HEX  = $(CP) -O ihex
+BIN  = $(CP) -O binary
+SREC = $(CP) -O srec
+
+# ARM-specific options here
+AOPT =
+
+# THUMB-specific options here
+TOPT = -mthumb -DTHUMB
+
+# Define C warning options here
+CWARN = -Wall -Wextra -Wstrict-prototypes
+
+# Define C++ warning options here
+CPPWARN = -Wall -Wextra
+
+#
+# Compiler settings
+##############################################################################
+
+##############################################################################
+# Start of user section
+#
+
+# List all user C define here, like -D_DEBUG=1
+UDEFS =
+
+# Define ASM defines here
+UADEFS =
+
+# List all user directories here
+UINCDIR =
+
+# List the user directory to look for the libraries here
+ULIBDIR =
+
+# List all user libraries here
+ULIBS =
+
+#
+# End of user defines
+##############################################################################
+
+RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
+include $(RULESPATH)/rules.mk
diff --git a/testhal/NRF52/NRF52832/RADIO-ESB/chconf.h b/testhal/NRF52/NRF52832/RADIO-ESB/chconf.h
new file mode 100644
index 0000000..1750f63
--- /dev/null
+++ b/testhal/NRF52/NRF52832/RADIO-ESB/chconf.h
@@ -0,0 +1,696 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    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    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
+ *
+ * @addtogroup config
+ * @details Kernel related settings and hooks.
+ * @{
+ */
+
+#ifndef CHCONF_H
+#define CHCONF_H
+
+#define _CHIBIOS_RT_CONF_
+#define _CHIBIOS_RT_CONF_VER_5_1_
+
+/*===========================================================================*/
+/**
+ * @name System timers settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   System time counter resolution.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_ST_RESOLUTION)
+#define CH_CFG_ST_RESOLUTION                32
+#endif
+
+/**
+ * @brief   System tick frequency.
+ * @details Frequency of the system timer that drives the system ticks. This
+ *          setting also defines the system tick time unit.
+ */
+#if !defined(CH_CFG_ST_FREQUENCY)
+#define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#if !defined(CH_CFG_ST_TIMEDELTA)
+#define CH_CFG_ST_TIMEDELTA                 0
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Round robin interval.
+ * @details This constant is the number of system ticks allowed for the
+ *          threads before preemption occurs. Setting this value to zero
+ *          disables the preemption for threads with equal priority and the
+ *          round robin becomes cooperative. Note that higher priority
+ *          threads can still preempt, the kernel is always preemptive.
+ * @note    Disabling the round robin preemption makes the kernel more compact
+ *          and generally faster.
+ * @note    The round robin preemption is not supported in tickless mode and
+ *          must be set to zero in that case.
+ */
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 2
+#endif
+
+/**
+ * @brief   Managed RAM size.
+ * @details Size of the RAM area to be managed by the OS. If set to zero
+ *          then the whole available RAM is used. The core memory is made
+ *          available to the heap allocator and/or can be used directly through
+ *          the simplified core memory allocator.
+ *
+ * @note    In order to let the OS manage the whole RAM the linker script must
+ *          provide the @p __heap_base__ and @p __heap_end__ symbols.
+ * @note    Requires @p CH_CFG_USE_MEMCORE.
+ */
+#if !defined(CH_CFG_MEMCORE_SIZE)
+#define CH_CFG_MEMCORE_SIZE                 0
+#endif
+
+/**
+ * @brief   Idle thread automatic spawn suppression.
+ * @details When this option is activated the function @p chSysInit()
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop.
+ */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
+#define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Performance options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   OS optimization.
+ * @details If enabled then time efficient rather than space efficient code
+ *          is used when two possible implementations exist.
+ *
+ * @note    This is not related to the compiler optimization options.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Subsystem options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_TM)
+#define CH_CFG_USE_TM                       FALSE
+#endif
+
+/**
+ * @brief   Threads registry APIs.
+ * @details If enabled then the registry APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_REGISTRY)
+#define CH_CFG_USE_REGISTRY                 TRUE
+#endif
+
+/**
+ * @brief   Threads synchronization APIs.
+ * @details If enabled then the @p chThdWait() function is included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_WAITEXIT)
+#define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
+
+/**
+ * @brief   Semaphores APIs.
+ * @details If enabled then the Semaphores APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_SEMAPHORES)
+#define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
+
+/**
+ * @brief   Semaphores queuing mode.
+ * @details If enabled then the threads are enqueued on semaphores by
+ *          priority rather than in FIFO order.
+ *
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
+
+/**
+ * @brief   Mutexes APIs.
+ * @details If enabled then the mutexes APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MUTEXES)
+#define CH_CFG_USE_MUTEXES                  TRUE
+#endif
+
+/**
+ * @brief   Enables recursive behavior on mutexes.
+ * @note    Recursive mutexes are heavier and have an increased
+ *          memory footprint.
+ *
+ * @note    The default is @p FALSE.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
+ */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
+#define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
+
+/**
+ * @brief   Conditional Variables APIs.
+ * @details If enabled then the conditional variables APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
+ */
+#if !defined(CH_CFG_USE_CONDVARS)
+#define CH_CFG_USE_CONDVARS                 TRUE
+#endif
+
+/**
+ * @brief   Conditional Variables APIs with timeout.
+ * @details If enabled then the conditional variables APIs with timeout
+ *          specification are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_CONDVARS.
+ */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
+
+/**
+ * @brief   Events Flags APIs.
+ * @details If enabled then the event flags APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_EVENTS)
+#define CH_CFG_USE_EVENTS                   TRUE
+#endif
+
+/**
+ * @brief   Events Flags APIs with timeout.
+ * @details If enabled then the events APIs with timeout specification
+ *          are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_EVENTS.
+ */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
+
+/**
+ * @brief   Synchronous Messages APIs.
+ * @details If enabled then the synchronous messages APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MESSAGES)
+#define CH_CFG_USE_MESSAGES                 TRUE
+#endif
+
+/**
+ * @brief   Synchronous Messages queuing mode.
+ * @details If enabled then messages are served by priority rather than in
+ *          FIFO order.
+ *
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_MESSAGES.
+ */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
+
+/**
+ * @brief   Mailboxes APIs.
+ * @details If enabled then the asynchronous messages (mailboxes) APIs are
+ *          included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#if !defined(CH_CFG_USE_MAILBOXES)
+#define CH_CFG_USE_MAILBOXES                TRUE
+#endif
+
+/**
+ * @brief   Core Memory Manager APIs.
+ * @details If enabled then the core memory manager APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCORE)
+#define CH_CFG_USE_MEMCORE                  TRUE
+#endif
+
+/**
+ * @brief   Heap Allocator APIs.
+ * @details If enabled then the memory heap allocator APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
+ *          @p CH_CFG_USE_SEMAPHORES.
+ * @note    Mutexes are recommended.
+ */
+#if !defined(CH_CFG_USE_HEAP)
+#define CH_CFG_USE_HEAP                     TRUE
+#endif
+
+/**
+ * @brief   Memory Pools Allocator APIs.
+ * @details If enabled then the memory pools allocator APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMPOOLS)
+#define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
+
+/**
+ * @brief   Dynamic Threads APIs.
+ * @details If enabled then the dynamic threads creation APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_WAITEXIT.
+ * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
+ */
+#if !defined(CH_CFG_USE_DYNAMIC)
+#define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Debug options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_STATISTICS)
+#define CH_DBG_STATISTICS                   FALSE
+#endif
+
+/**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
+
+/**
+ * @brief   Debug option, parameters checks.
+ * @details If enabled then the checks on the API functions input
+ *          parameters are activated.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
+
+/**
+ * @brief   Debug option, consistency checks.
+ * @details If enabled then all the assertions in the kernel code are
+ *          activated. This includes consistency checks inside the kernel,
+ *          runtime anomalies and port-defined checks.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
+
+/**
+ * @brief   Debug option, trace buffer.
+ * @details If enabled then the trace buffer is activated.
+ *
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
+
+/**
+ * @brief   Debug option, stack checks.
+ * @details If enabled then a runtime stack check is performed.
+ *
+ * @note    The default is @p FALSE.
+ * @note    The stack check is performed in a architecture/port dependent way.
+ *          It may not be implemented or some ports.
+ * @note    The default failure mode is to halt the system with the global
+ *          @p panic_msg variable set to @p NULL.
+ */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
+
+/**
+ * @brief   Debug option, stacks initialization.
+ * @details If enabled then the threads working area is filled with a byte
+ *          value when a thread is created. This can be useful for the
+ *          runtime measurement of the used stack.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
+
+/**
+ * @brief   Debug option, threads profiling.
+ * @details If enabled then a field is added to the @p thread_t structure that
+ *          counts the system ticks occurred while executing the thread.
+ *
+ * @note    The default is @p FALSE.
+ * @note    This debug option is not currently compatible with the
+ *          tickless mode.
+ */
+#if !defined(CH_DBG_THREADS_PROFILING)
+#define CH_DBG_THREADS_PROFILING            FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel hooks
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
+ * @brief   Threads descriptor structure extension.
+ * @details User fields added to the end of the @p thread_t structure.
+ */
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   Threads initialization hook.
+ * @details User initialization code added to the @p _thread_init() function.
+ *
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
+ *          the threads creation APIs.
+ */
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
+ * @brief   Threads finalization hook.
+ * @details User finalization code added to the @p chThdExit() API.
+ */
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
+  /* Add threads finalization code here.*/                                  \
+}
+
+/**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* Context switch code here.*/                                            \
+}
+
+/**
+ * @brief   ISR enter hook.
+ */
+#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
+  /* IRQ prologue code here.*/                                              \
+}
+
+/**
+ * @brief   ISR exit hook.
+ */
+#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
+  /* IRQ epilogue code here.*/                                              \
+}
+
+/**
+ * @brief   Idle thread enter hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to activate a power saving mode.
+ */
+#define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
+}
+
+/**
+ * @brief   Idle thread leave hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to deactivate a power saving mode.
+ */
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
+}
+
+/**
+ * @brief   Idle Loop hook.
+ * @details This hook is continuously invoked by the idle thread loop.
+ */
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
+  /* Idle loop code here.*/                                                 \
+}
+
+/**
+ * @brief   System tick event hook.
+ * @details This hook is invoked in the system tick handler immediately
+ *          after processing the virtual timers queue.
+ */
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
+  /* System tick event code here.*/                                         \
+}
+
+/**
+ * @brief   System halt hook.
+ * @details This hook is invoked in case to a system halting error before
+ *          the system is halted.
+ */
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
+  /* System halt code here.*/                                               \
+}
+
+/**
+ * @brief   Trace hook.
+ * @details This hook is invoked each time a new record is written in the
+ *          trace buffer.
+ */
+#define CH_CFG_TRACE_HOOK(tep) {                                            \
+  /* Trace code here.*/                                                     \
+}
+
+/** @} */
+
+/*===========================================================================*/
+/* Port-specific settings (override port settings defaulted in chcore.h).    */
+/*===========================================================================*/
+
+#endif  /* CHCONF_H */
+
+/** @} */
diff --git a/testhal/NRF52/NRF52832/RADIO-ESB/halconf.h b/testhal/NRF52/NRF52832/RADIO-ESB/halconf.h
new file mode 100644
index 0000000..d7d0f43
--- /dev/null
+++ b/testhal/NRF52/NRF52832/RADIO-ESB/halconf.h
@@ -0,0 +1,327 @@
+/*
+    Copyright (C) 2015 Stephen Caudle
+
+    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    templates/halconf.h
+ * @brief   HAL configuration header.
+ * @details HAL configuration file, this file allows to enable or disable the
+ *          various device drivers from your application. You may also use
+ *          this file in order to override the device drivers default settings.
+ *
+ * @addtogroup HAL_CONF
+ * @{
+ */
+
+#ifndef _HALCONF_H_
+#define _HALCONF_H_
+
+#include "mcuconf.h"
+
+/**
+ * @brief   Enables the PAL subsystem.
+ */
+#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
+#define HAL_USE_PAL                 TRUE
+#endif
+
+/**
+ * @brief   Enables the ADC subsystem.
+ */
+#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
+#define HAL_USE_ADC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the CAN subsystem.
+ */
+#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
+#define HAL_USE_CAN                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EXT subsystem.
+ */
+#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
+#define HAL_USE_EXT                 FALSE
+#endif
+
+/**
+ * @brief   Enables the GPT subsystem.
+ */
+#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
+#define HAL_USE_GPT                 FALSE
+#endif
+
+/**
+ * @brief   Enables the I2C subsystem.
+ */
+#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
+#define HAL_USE_I2C                 FALSE
+#endif
+
+/**
+ * @brief   Enables the I2S subsystem.
+ */
+#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)
+#define HAL_USE_I2S                 FALSE
+#endif
+
+/**
+ * @brief   Enables the ICU subsystem.
+ */
+#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
+#define HAL_USE_ICU                 FALSE
+#endif
+
+/**
+ * @brief   Enables the MAC subsystem.
+ */
+#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
+#define HAL_USE_MAC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the MMC_SPI subsystem.
+ */
+#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_MMC_SPI             FALSE
+#endif
+
+/**
+ * @brief   Enables the PWM subsystem.
+ */
+#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
+#define HAL_USE_PWM                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RTC subsystem.
+ */
+#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
+#define HAL_USE_RTC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the SDC subsystem.
+ */
+#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
+#define HAL_USE_SDC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the SERIAL subsystem.
+ */
+#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL              TRUE
+#endif
+
+/**
+ * @brief   Enables the SERIAL over USB subsystem.
+ */
+#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL_USB          FALSE
+#endif
+
+/**
+ * @brief   Enables the SPI subsystem.
+ */
+#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_SPI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the UART subsystem.
+ */
+#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
+#define HAL_USE_UART                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB subsystem.
+ */
+#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
+#define HAL_USE_USB                 FALSE
+#endif
+
+/*===========================================================================*/
+/* ADC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
+#define ADC_USE_WAIT                TRUE
+#endif
+
+/**
+ * @brief   Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define ADC_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+/*===========================================================================*/
+/* CAN driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Sleep mode related APIs inclusion switch.
+ */
+#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
+#define CAN_USE_SLEEP_MODE          TRUE
+#endif
+
+/*===========================================================================*/
+/* I2C driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the mutual exclusion APIs on the I2C bus.
+ */
+#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define I2C_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+/*===========================================================================*/
+/* MAC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables an event sources for incoming packets.
+ */
+#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)
+#define MAC_USE_ZERO_COPY           FALSE
+#endif
+
+/**
+ * @brief   Enables an event sources for incoming packets.
+ */
+#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__)
+#define MAC_USE_EVENTS              TRUE
+#endif
+
+/*===========================================================================*/
+/* MMC_SPI driver related settings.                                          */
+/*===========================================================================*/
+
+/**
+ * @brief   Delays insertions.
+ * @details If enabled this options inserts delays into the MMC waiting
+ *          routines releasing some extra CPU time for the threads with
+ *          lower priority, this may slow down the driver a bit however.
+ *          This option is recommended also if the SPI driver does not
+ *          use a DMA channel and heavily loads the CPU.
+ */
+#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
+#define MMC_NICE_WAITING            TRUE
+#endif
+
+/*===========================================================================*/
+/* SDC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Number of initialization attempts before rejecting the card.
+ * @note    Attempts are performed at 10mS intervals.
+ */
+#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__)
+#define SDC_INIT_RETRY              100
+#endif
+
+/**
+ * @brief   Include support for MMC cards.
+ * @note    MMC support is not yet implemented so this option must be kept
+ *          at @p FALSE.
+ */
+#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__)
+#define SDC_MMC_SUPPORT             FALSE
+#endif
+
+/**
+ * @brief   Delays insertions.
+ * @details If enabled this options inserts delays into the MMC waiting
+ *          routines releasing some extra CPU time for the threads with
+ *          lower priority, this may slow down the driver a bit however.
+ */
+#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__)
+#define SDC_NICE_WAITING            TRUE
+#endif
+
+/*===========================================================================*/
+/* SERIAL driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Default bit rate.
+ * @details Configuration parameter, this is the baud rate selected for the
+ *          default configuration.
+ */
+#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
+#define SERIAL_DEFAULT_BITRATE      38400
+#endif
+
+/**
+ * @brief   Serial buffers size.
+ * @details Configuration parameter, you can change the depth of the queue
+ *          buffers depending on the requirements of your application.
+ * @note    The default is 64 bytes for both the transmission and receive
+ *          buffers.
+ */
+#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_BUFFERS_SIZE         16
+#endif
+
+/*===========================================================================*/
+/* SERIAL_USB driver related setting.                                        */
+/*===========================================================================*/
+
+/**
+ * @brief   Serial over USB buffers size.
+ * @details Configuration parameter, the buffer size must be a multiple of
+ *          the USB data endpoint maximum packet size.
+ * @note    The default is 64 bytes for both the transmission and receive
+ *          buffers.
+ */
+#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_USB_BUFFERS_SIZE     256
+#endif
+
+/*===========================================================================*/
+/* SPI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
+#define SPI_USE_WAIT                TRUE
+#endif
+
+/**
+ * @brief   Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define SPI_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+#endif /* _HALCONF_H_ */
+
+/** @} */
diff --git a/testhal/NRF52/NRF52832/RADIO-ESB/halconf_community.h b/testhal/NRF52/NRF52832/RADIO-ESB/halconf_community.h
new file mode 100644
index 0000000..43fdbf8
--- /dev/null
+++ b/testhal/NRF52/NRF52832/RADIO-ESB/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                FALSE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/NRF52/NRF52832/RADIO-ESB/main.c b/testhal/NRF52/NRF52832/RADIO-ESB/main.c
new file mode 100644
index 0000000..8971fef
--- /dev/null
+++ b/testhal/NRF52/NRF52832/RADIO-ESB/main.c
@@ -0,0 +1,122 @@
+#include <stdint.h>
+#include <string.h>
+#include <stdio.h>
+
+#include "ch.h"
+#include "hal.h"
+#include "chprintf.h"
+
+#include "nrf52_radio.h"
+
+static SerialConfig serial_config = {
+    .speed   = 38400,
+    .tx_pad  = UART_TX,
+    .rx_pad  = UART_RX,
+#if NRF5_SERIAL_USE_HWFLOWCTRL	== TRUE
+    .rts_pad = UART_RTS,
+    .cts_pad = UART_CTS,
+#endif
+};
+
+static THD_WORKING_AREA(waLEDThread, 64);
+static THD_FUNCTION(LEDThread, arg) {
+    (void)arg;
+    
+    chRegSetThreadName("blinker");
+    palSetPadMode(IOPORT1, LED1, PAL_MODE_OUTPUT_PUSHPULL);
+
+    while (1) {
+      palTogglePad(IOPORT1, LED1);
+      chThdSleepMilliseconds(500);
+    }
+}
+
+static nrf52_config_t radiocfg = {
+	.protocol = NRF52_PROTOCOL_ESB_DPL,
+	.mode = NRF52_MODE_PRX,
+	.bitrate = NRF52_BITRATE_1MBPS,
+	.crc = NRF52_CRC_8BIT,
+	.tx_power = NRF52_TX_POWER_0DBM,
+	.tx_mode = NRF52_TXMODE_MANUAL_START,
+	.selective_auto_ack = false,
+	.retransmit = { 1000, 3 },
+	.payload_length = 0,
+	.address = {
+		.base_addr_p0 = { 0xF3, 0xF3, 0xF3, 0x01 },
+		.base_addr_p1 = { 0x3F, 0x3F, 0x3F, 0x01 },
+		.pipe_prefixes = { 0xF3, 0x3F, },
+		.num_pipes = 2,
+		.addr_length = 5,
+		.rx_pipes = 1 << 0,
+		.rf_channel = 1,
+	},
+};
+
+static uint16_t cnt, fail_pkt, good_pkt;
+static nrf52_payload_t tx_payload = {
+	.pipe = 1,
+};
+static nrf52_payload_t rx_payload;
+
+static THD_WORKING_AREA(waRadioThread, 256);
+static THD_FUNCTION(RadioThread, arg) {
+    (void)arg;
+
+    event_listener_t el;
+    chEvtRegisterMask(&RFD1.eventsrc, &el, EVENT_MASK(0));
+
+    chRegSetThreadName("radio");
+
+    while (1) {
+    	chEvtWaitAny(EVENT_MASK(0));
+    	eventflags_t flags = chEvtGetAndClearFlags(&el);
+    	if (flags & NRF52_EVENT_TX_SUCCESS) {
+        	radio_start_rx();
+    		good_pkt++;
+    	}
+    	if (flags & NRF52_EVENT_TX_FAILED) {
+        	radio_start_rx();
+    		fail_pkt++;
+    	}
+    	if (flags & NRF52_EVENT_RX_RECEIVED) {
+    		memset(rx_payload.data, 0, 32);
+    		radio_read_rx_payload(&rx_payload);
+    	}
+    }
+}
+
+/**@brief Function for application main entry.
+ */
+int main(void) {
+    
+    halInit();
+    chSysInit();
+
+    sdStart(&SD1, &serial_config);
+
+    chThdCreateStatic(waLEDThread, sizeof(waLEDThread), NORMALPRIO, LEDThread, NULL);
+    chThdCreateStatic(waRadioThread, sizeof(waRadioThread), NORMALPRIO, RadioThread, NULL);
+
+    radio_init(&radiocfg);
+    radio_flush_tx();
+    radio_flush_rx();
+    radio_start_rx();
+
+    cnt = good_pkt = fail_pkt = 0;
+
+    while (true) {
+    	memset(tx_payload.data, 0, 32);
+    	sprintf((char*)tx_payload.data, "counter value=%d" , cnt++);
+    	tx_payload.length = strlen((char *)tx_payload.data);
+    	radio_stop_rx();
+        radio_write_payload(&tx_payload);
+    	radio_start_tx();
+    	chprintf((BaseSequentialStream *)&SD1, "packets: good=%d, fail=%d, sent=%s\r\n", good_pkt, fail_pkt, tx_payload.data);
+    	chThdSleepMilliseconds(500);
+    	if (strlen((char*) rx_payload.data)) {
+    		chprintf((BaseSequentialStream *)&SD1, "rssi=%d, received=%s\r\n",	rx_payload.rssi, rx_payload.data);
+    		rx_payload.data[0] = 0;
+    	}
+    }
+}
+
diff --git a/testhal/NRF52/NRF52832/RADIO-ESB/mcuconf.h b/testhal/NRF52/NRF52832/RADIO-ESB/mcuconf.h
new file mode 100644
index 0000000..1ba934e
--- /dev/null
+++ b/testhal/NRF52/NRF52832/RADIO-ESB/mcuconf.h
@@ -0,0 +1,28 @@
+/*
+    Copyright (C) 2015 Stephen Caudle
+
+    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 _MCUCONF_H_
+#define _MCUCONF_H_
+
+/*
+ * HAL driver system settings.
+ */
+#define NRF5_SERIAL_USE_UART0             TRUE
+#define NRF5_ST_USE_RTC0                  TRUE
+#define NRF5_ST_USE_RTC1                  FALSE
+#define NRF5_ST_USE_TIMER0                FALSE
+
+#endif /* _MCUCONF_H_ */
diff --git a/testhal/NRF52/NRF52832/RADIO-ESB/nrf52_radio.c b/testhal/NRF52/NRF52832/RADIO-ESB/nrf52_radio.c
new file mode 100644
index 0000000..e55870f
--- /dev/null
+++ b/testhal/NRF52/NRF52832/RADIO-ESB/nrf52_radio.c
@@ -0,0 +1,1111 @@
+/* Copyright (c) 2014 Nordic Semiconductor. All Rights Reserved.
+ *
+ * The information contained herein is property of Nordic Semiconductor ASA.
+ * Terms and conditions of usage are described in detail in NORDIC
+ * SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT.
+ *
+ * Licensees are granted free, non-transferable use of the information. NO
+ * WARRANTY of ANY KIND is provided. This heading must NOT be removed from
+ * the file.
+ *
+ * Enhanced ShockBurst proprietary protocol to ChibiOS port
+ *
+ *  ported on: 25/10/2018, by andru
+ *
+ */
+
+#include <stdint.h>
+#include <string.h>
+
+#include "ch.h"
+#include "hal.h"
+
+#include "nrf52_radio.h"
+
+
+#define BIT_MASK_UINT_8(x) 					  (0xFF >> (8 - (x)))
+#define NRF52_PIPE_COUNT 					  9
+
+#define RADIO_SHORTS_COMMON ( RADIO_SHORTS_READY_START_Msk | RADIO_SHORTS_END_DISABLE_Msk | \
+            RADIO_SHORTS_ADDRESS_RSSISTART_Msk | RADIO_SHORTS_DISABLED_RSSISTOP_Msk )
+
+// Constant parameters
+#define RX_WAIT_FOR_ACK_TIMEOUT_US_2MBPS      (48)        /**< 2MBit RX wait for ack timeout value. Smallest reliable value - 43 */
+#define RX_WAIT_FOR_ACK_TIMEOUT_US_1MBPS      (64)        /**< 1MBit RX wait for ack timeout value. Smallest reliable value - 59 */
+
+#define NRF52_ADDR_UPDATE_MASK_BASE0          (1 << 0)    /*< Mask value to signal updating BASE0 radio address. */
+#define NRF52_ADDR_UPDATE_MASK_BASE1          (1 << 1)    /*< Mask value to signal updating BASE1 radio address. */
+#define NRF52_ADDR_UPDATE_MASK_PREFIX         (1 << 2)    /*< Mask value to signal updating radio prefixes */
+
+#define NRF52_PID_RESET_VALUE                 0xFF        /**< Invalid PID value which is guaranteed to not collide with any valid PID value. */
+#define NRF52_PID_MAX                         3           /**< Maximum value for PID. */
+#define NRF52_CRC_RESET_VALUE                 0xFFFF      /**< CRC reset value*/
+
+#ifndef NRF52_RADIO_USE_TIMER0
+#define NRF52_RADIO_USE_TIMER0                FALSE
+#endif
+
+#ifndef NRF52_RADIO_USE_TIMER1
+#define NRF52_RADIO_USE_TIMER1                FALSE
+#endif
+
+#ifndef NRF52_RADIO_USE_TIMER2
+#define NRF52_RADIO_USE_TIMER2                FALSE
+#endif
+
+#ifndef NRF52_RADIO_USE_TIMER3
+#define NRF52_RADIO_USE_TIMER3                FALSE
+#endif
+
+#ifndef NRF52_RADIO_USE_TIMER4
+#define NRF52_RADIO_USE_TIMER4                FALSE
+#endif
+
+#ifndef NRF52_RADIO_IRQ_PRIORITY
+#define NRF52_RADIO_IRQ_PRIORITY			  3                   /**< RADIO interrupt priority. */
+#endif
+
+#ifndef NRF52_RADIO_PPI_TIMER_START
+#error "PPI channel NRF52_RADIO_PPI_TIMER_START need to be defined"
+#endif
+
+#ifndef NRF52_RADIO_PPI_TIMER_STOP
+#error "PPI channel NRF52_RADIO_PPI_TIMER_STOP need to be defined"
+#endif
+
+#ifndef NRF52_RADIO_PPI_RX_TIMEOUT
+#error "PPI channel NRF52_RADIO_PPI_RX_TIMEOUT need to be defined"
+#endif
+
+#ifndef NRF52_RADIO_PPI_TX_START
+#error "PPI channel NRF52_RADIO_PPI_TX_START need to be defined"
+#endif
+
+#if (NRF52_RADIO_USE_TIMER0 == FALSE) && (NRF52_RADIO_USE_TIMER1 == FALSE) && \
+	(NRF52_RADIO_USE_TIMER2 == FALSE) && (NRF52_RADIO_USE_TIMER3 == FALSE) && \
+	(NRF52_RADIO_USE_TIMER4 == FALSE)
+#error "At least one hardware TIMER must be defined"
+#endif
+
+#ifndef NRF52_RADIO_INTTHD_PRIORITY
+#error "Interrupt handle thread priority need to be defined"
+#endif
+
+#ifndef NRF52_RADIO_EVTTHD_PRIORITY
+#error "Event thread priority need to be defined"
+#endif
+
+#define VERIFY_PAYLOAD_LENGTH(p)                            \
+do                                                          \
+{                                                           \
+    if(p->length == 0 ||                                    \
+       p->length > NRF52_MAX_PAYLOAD_LENGTH ||              \
+       (RFD1.config.protocol == NRF52_PROTOCOL_ESB &&       \
+        p->length > RFD1.config.payload_length))            \
+    {                                                       \
+        return NRF52_ERROR_INVALID_LENGTH;                  \
+    }                                                       \
+}while(0)
+
+//Structure holding pipe info PID and CRC and ack payload.
+typedef struct
+{
+    uint16_t            m_crc;
+    uint8_t             m_pid;
+    uint8_t             m_ack_payload;
+} pipe_info_t;
+
+// First in first out queue of payloads to be transmitted.
+typedef struct
+{
+    nrf52_payload_t *   p_payload[NRF52_TX_FIFO_SIZE];      /**< Pointer to the actual queue. */
+    uint32_t            entry_point;                        /**< Current start of queue. */
+    uint32_t            exit_point;                         /**< Current end of queue. */
+    uint32_t            count;                              /**< Current number of elements in the queue. */
+} nrf52_payload_tx_fifo_t;
+
+// First in first out queue of received payloads.
+typedef struct
+{
+    nrf52_payload_t *   p_payload[NRF52_RX_FIFO_SIZE];      /**< Pointer to the actual queue. */
+    uint32_t            entry_point;                        /**< Current start of queue. */
+    uint32_t            exit_point;                         /**< Current end of queue. */
+    uint32_t            count;                              /**< Current number of elements in the queue. */
+} nrf52_payload_rx_fifo_t;
+
+// These function pointers are changed dynamically, depending on protocol configuration and state.
+//static void (*on_radio_end)(RFDriver *rfp) = NULL;
+static void (*set_rf_payload_format)(RFDriver *rfp, uint32_t payload_length) = NULL;
+
+// The following functions are assigned to the function pointers above.
+static void on_radio_disabled_tx_noack(RFDriver *rfp);
+static void on_radio_disabled_tx(RFDriver *rfp);
+static void on_radio_disabled_tx_wait_for_ack(RFDriver *rfp);
+static void on_radio_disabled_rx(RFDriver *rfp);
+static void on_radio_disabled_rx_ack(RFDriver *rfp);
+
+static volatile uint16_t wait_for_ack_timeout_us;
+static nrf52_payload_t * p_current_payload;
+
+// TX FIFO
+static nrf52_payload_t            tx_fifo_payload[NRF52_TX_FIFO_SIZE];
+static nrf52_payload_tx_fifo_t    tx_fifo;
+
+// RX FIFO
+static nrf52_payload_t            rx_fifo_payload[NRF52_RX_FIFO_SIZE];
+static nrf52_payload_rx_fifo_t    rx_fifo;
+
+// Payload buffers
+static uint8_t                    tx_payload_buffer[NRF52_MAX_PAYLOAD_LENGTH + 2];
+static uint8_t                    rx_payload_buffer[NRF52_MAX_PAYLOAD_LENGTH + 2];
+
+static uint8_t                    pids[NRF52_PIPE_COUNT];
+static pipe_info_t                rx_pipe_info[NRF52_PIPE_COUNT];
+
+ // disable and events semaphores.
+static binary_semaphore_t disable_sem;
+static binary_semaphore_t events_sem;
+
+RFDriver RFD1;
+
+// Function to do bytewise bit-swap on a unsigned 32 bit value
+static uint32_t bytewise_bit_swap(uint8_t const * p_inp) {
+    uint32_t inp = (*(uint32_t*)p_inp);
+
+    return __REV((uint32_t)__RBIT(inp)); //lint -esym(628, __rev) -esym(526, __rev) -esym(628, __rbit) -esym(526, __rbit) */
+}
+
+// Internal function to convert base addresses from nRF24L type addressing to nRF52 type addressing
+static uint32_t addr_conv(uint8_t const* p_addr) {
+    return __REV(bytewise_bit_swap(p_addr)); //lint -esym(628, __rev) -esym(526, __rev) */
+}
+
+static thread_t *rfEvtThread_p;
+static THD_WORKING_AREA(waRFEvtThread, 64);
+static THD_FUNCTION(rfEvtThread, arg) {
+    (void)arg;
+
+    chRegSetThreadName("rfevent");
+
+    while (!chThdShouldTerminateX()) {
+    	chBSemWait(&events_sem);
+
+    	nrf52_int_flags_t interrupts = RFD1.flags;
+        RFD1.flags = 0;
+
+        if (interrupts & NRF52_INT_TX_SUCCESS_MSK) {
+            chEvtBroadcastFlags(&RFD1.eventsrc, (eventflags_t) NRF52_EVENT_TX_SUCCESS);
+        }
+        if (interrupts & NRF52_INT_TX_FAILED_MSK) {
+        	chEvtBroadcastFlags(&RFD1.eventsrc, (eventflags_t) NRF52_EVENT_TX_FAILED);
+        }
+        if (interrupts & NRF52_INT_RX_DR_MSK) {
+        	chEvtBroadcastFlags(&RFD1.eventsrc, (eventflags_t) NRF52_EVENT_RX_RECEIVED);
+        }
+    }
+    chThdExit((msg_t) 0);
+}
+
+static thread_t *rfIntThread_p;
+static THD_WORKING_AREA(waRFIntThread, 64);
+static THD_FUNCTION(rfIntThread, arg) {
+    (void)arg;
+
+    chRegSetThreadName("rfint");
+
+    while (!chThdShouldTerminateX()) {
+    	chBSemWait(&disable_sem);
+    	switch (RFD1.state) {
+    	  case NRF52_STATE_PTX_TX:
+    		  on_radio_disabled_tx_noack(&RFD1);
+    		  break;
+    	  case NRF52_STATE_PTX_TX_ACK:
+    		  on_radio_disabled_tx(&RFD1);
+    		  break;
+    	  case NRF52_STATE_PTX_RX_ACK:
+    		  on_radio_disabled_tx_wait_for_ack(&RFD1);
+    		  break;
+    	  case NRF52_STATE_PRX:
+    		  on_radio_disabled_rx(&RFD1);
+    		  break;
+    	  case NRF52_STATE_PRX_SEND_ACK:
+    		  on_radio_disabled_rx_ack(&RFD1);
+    		  break;
+    	  default:
+    		  break;
+    	}
+    }
+	chThdExit((msg_t) 0);
+}
+
+static void serve_radio_interrupt(RFDriver *rfp) {
+	(void) rfp;
+    if ((NRF_RADIO->INTENSET & RADIO_INTENSET_READY_Msk) && NRF_RADIO->EVENTS_READY) {
+        NRF_RADIO->EVENTS_READY = 0;
+        (void) NRF_RADIO->EVENTS_READY;
+    }
+    if ((NRF_RADIO->INTENSET & RADIO_INTENSET_DISABLED_Msk) && NRF_RADIO->EVENTS_DISABLED) {
+        NRF_RADIO->EVENTS_DISABLED = 0;
+        (void) NRF_RADIO->EVENTS_DISABLED;
+        chSysLockFromISR();
+       	chBSemSignalI(&disable_sem);
+       	chSysUnlockFromISR();
+    }
+}
+
+/**
+ * @brief   RADIO events interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(Vector44) {
+
+  OSAL_IRQ_PROLOGUE();
+
+  serve_radio_interrupt(&RFD1);
+
+  OSAL_IRQ_EPILOGUE();
+}
+
+static void set_rf_payload_format_esb_dpl(RFDriver *rfp, uint32_t payload_length) {
+	(void)payload_length;
+#if (NRF52_MAX_PAYLOAD_LENGTH <= 32)
+    // Using 6 bits for length
+    NRF_RADIO->PCNF0 = (0 << RADIO_PCNF0_S0LEN_Pos) |
+                       (6 << RADIO_PCNF0_LFLEN_Pos) |
+                       (3 << RADIO_PCNF0_S1LEN_Pos) ;
+#else
+    // Using 8 bits for length
+    NRF_RADIO->PCNF0 = (0 << RADIO_PCNF0_S0LEN_Pos) |
+                       (8 << RADIO_PCNF0_LFLEN_Pos) |
+                       (3 << RADIO_PCNF0_S1LEN_Pos) ;
+#endif
+    NRF_RADIO->PCNF1 = (RADIO_PCNF1_WHITEEN_Disabled    << RADIO_PCNF1_WHITEEN_Pos) |
+                       (RADIO_PCNF1_ENDIAN_Big          << RADIO_PCNF1_ENDIAN_Pos)  |
+                       ((rfp->config.address.addr_length - 1)  << RADIO_PCNF1_BALEN_Pos)   |
+                       (0                               << RADIO_PCNF1_STATLEN_Pos) |
+                       (NRF52_MAX_PAYLOAD_LENGTH        << RADIO_PCNF1_MAXLEN_Pos);
+}
+
+static void set_rf_payload_format_esb(RFDriver *rfp, uint32_t payload_length) {
+    NRF_RADIO->PCNF0 = (1 << RADIO_PCNF0_S0LEN_Pos) |
+                       (0 << RADIO_PCNF0_LFLEN_Pos) |
+                       (1 << RADIO_PCNF0_S1LEN_Pos);
+
+    NRF_RADIO->PCNF1 = (RADIO_PCNF1_WHITEEN_Disabled    << RADIO_PCNF1_WHITEEN_Pos) |
+                       (RADIO_PCNF1_ENDIAN_Big          << RADIO_PCNF1_ENDIAN_Pos)  |
+                       ((rfp->config.address.addr_length - 1)  << RADIO_PCNF1_BALEN_Pos)   |
+                       (payload_length                  << RADIO_PCNF1_STATLEN_Pos) |
+                       (payload_length                  << RADIO_PCNF1_MAXLEN_Pos);
+}
+
+/* Set BASE0 and BASE1 addresses & prefixes registers
+ *   NRF52 { prefixes[0], base0_addr[0], base0_addr[1], base0_addr[2], base0_addr[3] } ==
+ *   NRF24 { addr[0], addr[1], addr[2], addr[3], addr[4] }
+ */
+static void set_addresses(RFDriver *rfp, uint8_t update_mask) {
+    if (update_mask & NRF52_ADDR_UPDATE_MASK_BASE0) {
+        NRF_RADIO->BASE0 = addr_conv(rfp->config.address.base_addr_p0);
+        NRF_RADIO->DAB[0] = addr_conv(rfp->config.address.base_addr_p0);
+    }
+
+    if (update_mask & NRF52_ADDR_UPDATE_MASK_BASE1) {
+        NRF_RADIO->BASE1 = addr_conv(rfp->config.address.base_addr_p1);
+        NRF_RADIO->DAB[1] = addr_conv(rfp->config.address.base_addr_p1);
+    }
+
+    if (update_mask & NRF52_ADDR_UPDATE_MASK_PREFIX) {
+        NRF_RADIO->PREFIX0 = bytewise_bit_swap(&rfp->config.address.pipe_prefixes[0]);
+        NRF_RADIO->DAP[0] = bytewise_bit_swap(&rfp->config.address.pipe_prefixes[0]);
+        NRF_RADIO->PREFIX1 = bytewise_bit_swap(&rfp->config.address.pipe_prefixes[4]);
+        NRF_RADIO->DAP[1] = bytewise_bit_swap(&rfp->config.address.pipe_prefixes[4]);
+    }
+}
+
+static void set_tx_power(RFDriver *rfp) {
+    NRF_RADIO->TXPOWER = rfp->config.tx_power << RADIO_TXPOWER_TXPOWER_Pos;
+}
+
+static void set_bitrate(RFDriver *rfp) {
+    NRF_RADIO->MODE = rfp->config.bitrate << RADIO_MODE_MODE_Pos;
+
+    switch (rfp->config.bitrate) {
+        case NRF52_BITRATE_2MBPS:
+            wait_for_ack_timeout_us = RX_WAIT_FOR_ACK_TIMEOUT_US_2MBPS;
+            break;
+        case NRF52_BITRATE_1MBPS:
+            wait_for_ack_timeout_us = RX_WAIT_FOR_ACK_TIMEOUT_US_1MBPS;
+            break;
+    }
+}
+
+static void set_protocol(RFDriver *rfp) {
+    switch (rfp->config.protocol) {
+        case NRF52_PROTOCOL_ESB_DPL:
+            set_rf_payload_format = set_rf_payload_format_esb_dpl;
+            break;
+        case NRF52_PROTOCOL_ESB:
+            set_rf_payload_format = set_rf_payload_format_esb;
+            break;
+    }
+}
+
+static void set_crc(RFDriver *rfp) {
+    NRF_RADIO->CRCCNF = rfp->config.crc << RADIO_CRCCNF_LEN_Pos;
+
+    if (rfp->config.crc == RADIO_CRCCNF_LEN_Two)
+    {
+        NRF_RADIO->CRCINIT = 0xFFFFUL;      // Initial value
+        NRF_RADIO->CRCPOLY = 0x11021UL;     // CRC poly: x^16+x^12^x^5+1
+    }
+    else if (rfp->config.crc == RADIO_CRCCNF_LEN_One)
+    {
+        NRF_RADIO->CRCINIT = 0xFFUL;        // Initial value
+        NRF_RADIO->CRCPOLY = 0x107UL;       // CRC poly: x^8+x^2^x^1+1
+    }
+}
+
+static void ppi_init(RFDriver *rfp) {
+    NRF_PPI->CH[NRF52_RADIO_PPI_TIMER_START].EEP = (uint32_t)&NRF_RADIO->EVENTS_READY;
+    NRF_PPI->CH[NRF52_RADIO_PPI_TIMER_START].TEP = (uint32_t)&rfp->timer->TASKS_START;
+
+    NRF_PPI->CH[NRF52_RADIO_PPI_TIMER_STOP].EEP  = (uint32_t)&NRF_RADIO->EVENTS_ADDRESS;
+    NRF_PPI->CH[NRF52_RADIO_PPI_TIMER_STOP].TEP  = (uint32_t)&rfp->timer->TASKS_STOP;
+
+    NRF_PPI->CH[NRF52_RADIO_PPI_RX_TIMEOUT].EEP  = (uint32_t)&rfp->timer->EVENTS_COMPARE[0];
+    NRF_PPI->CH[NRF52_RADIO_PPI_RX_TIMEOUT].TEP  = (uint32_t)&NRF_RADIO->TASKS_DISABLE;
+
+    NRF_PPI->CH[NRF52_RADIO_PPI_TX_START].EEP    = (uint32_t)&rfp->timer->EVENTS_COMPARE[1];
+    NRF_PPI->CH[NRF52_RADIO_PPI_TX_START].TEP    = (uint32_t)&NRF_RADIO->TASKS_TXEN;
+}
+
+static void set_parameters(RFDriver *rfp) {
+    set_tx_power(rfp);
+    set_bitrate(rfp);
+    set_protocol(rfp);
+    set_crc(rfp);
+    set_rf_payload_format(rfp, rfp->config.payload_length);
+}
+
+static void reset_fifo(void) {
+    tx_fifo.entry_point = 0;
+    tx_fifo.exit_point  = 0;
+    tx_fifo.count       = 0;
+
+    rx_fifo.entry_point = 0;
+    rx_fifo.exit_point  = 0;
+    rx_fifo.count       = 0;
+}
+
+static void init_fifo(void) {
+	uint8_t i;
+    reset_fifo();
+
+    for (i = 0; i < NRF52_TX_FIFO_SIZE; i++) {
+        tx_fifo.p_payload[i] = &tx_fifo_payload[i];
+    }
+
+    for (i = 0; i < NRF52_RX_FIFO_SIZE; i++) {
+        rx_fifo.p_payload[i] = &rx_fifo_payload[i];
+    }
+}
+
+static void tx_fifo_remove_last(void) {
+    if (tx_fifo.count > 0) {
+        nvicDisableVector(RADIO_IRQn);
+
+        tx_fifo.count--;
+        if (++tx_fifo.exit_point >= NRF52_TX_FIFO_SIZE) {
+            tx_fifo.exit_point = 0;
+        }
+
+        nvicEnableVector(RADIO_IRQn, NRF52_RADIO_IRQ_PRIORITY);
+    }
+}
+
+/** @brief  Function to push the content of the rx_buffer to the RX FIFO.
+ *
+ *  The module will point the register NRF_RADIO->PACKETPTR to a buffer for receiving packets.
+ *  After receiving a packet the module will call this function to copy the received data to
+ *  the RX FIFO.
+ *
+ *  @param  pipe Pipe number to set for the packet.
+ *  @param  pid  Packet ID.
+ *
+ *  @retval true   Operation successful.
+ *  @retval false  Operation failed.
+ */
+static bool rx_fifo_push_rfbuf(RFDriver *rfp, uint8_t pipe, uint8_t pid) {
+    if (rx_fifo.count < NRF52_RX_FIFO_SIZE) {
+        if (rfp->config.protocol == NRF52_PROTOCOL_ESB_DPL) {
+            if (rx_payload_buffer[0] > NRF52_MAX_PAYLOAD_LENGTH) {
+                return false;
+            }
+
+            rx_fifo.p_payload[rx_fifo.entry_point]->length = rx_payload_buffer[0];
+        }
+        else if (rfp->state == NRF52_STATE_PTX_RX_ACK) {
+            // Received packet is an acknowledgment
+            rx_fifo.p_payload[rx_fifo.entry_point]->length = 0;
+        }
+        else {
+            rx_fifo.p_payload[rx_fifo.entry_point]->length = rfp->config.payload_length;
+        }
+
+        memcpy(rx_fifo.p_payload[rx_fifo.entry_point]->data, &rx_payload_buffer[2],
+               rx_fifo.p_payload[rx_fifo.entry_point]->length);
+
+        rx_fifo.p_payload[rx_fifo.entry_point]->pipe = pipe;
+        rx_fifo.p_payload[rx_fifo.entry_point]->rssi = NRF_RADIO->RSSISAMPLE;
+        rx_fifo.p_payload[rx_fifo.entry_point]->pid = pid;
+        if (++rx_fifo.entry_point >= NRF52_RX_FIFO_SIZE) {
+            rx_fifo.entry_point = 0;
+        }
+        rx_fifo.count++;
+
+        return true;
+    }
+
+    return false;
+}
+
+static void timer_init(RFDriver *rfp) {
+    // Configure the system timer with a 1 MHz base frequency
+    rfp->timer->PRESCALER = 4;
+    rfp->timer->BITMODE   = TIMER_BITMODE_BITMODE_16Bit;
+    rfp->timer->SHORTS    = TIMER_SHORTS_COMPARE1_CLEAR_Msk | TIMER_SHORTS_COMPARE1_STOP_Msk;
+}
+
+static void start_tx_transaction(RFDriver *rfp) {
+    bool ack;
+
+    rfp->tx_attempt = 1;
+    rfp->tx_remaining = rfp->config.retransmit.count;
+
+    // Prepare the payload
+    p_current_payload = tx_fifo.p_payload[tx_fifo.exit_point];
+
+    // Handling ack if noack is set to false or if selctive auto ack is turned turned off
+    ack = !p_current_payload->noack || !rfp->config.selective_auto_ack;
+
+    switch (rfp->config.protocol) {
+        case NRF52_PROTOCOL_ESB:
+            set_rf_payload_format(rfp, p_current_payload->length);
+            tx_payload_buffer[0] = p_current_payload->pid;
+            tx_payload_buffer[1] = 0;
+            memcpy(&tx_payload_buffer[2], p_current_payload->data, p_current_payload->length);
+
+            NRF_RADIO->SHORTS   = RADIO_SHORTS_COMMON | RADIO_SHORTS_DISABLED_RXEN_Msk;
+            NRF_RADIO->INTENSET = RADIO_INTENSET_DISABLED_Msk | RADIO_INTENSET_READY_Msk;
+
+            // Configure the retransmit counter
+            rfp->tx_remaining = rfp->config.retransmit.count;
+            rfp->state = NRF52_STATE_PTX_TX_ACK;
+            break;
+
+        case NRF52_PROTOCOL_ESB_DPL:
+            tx_payload_buffer[0] = p_current_payload->length;
+            tx_payload_buffer[1] = p_current_payload->pid << 1;
+            tx_payload_buffer[1] |= ack ? 0x00 : 0x01;
+            memcpy(&tx_payload_buffer[2], p_current_payload->data, p_current_payload->length);
+
+            if (ack) {
+                NRF_RADIO->SHORTS   = RADIO_SHORTS_COMMON | RADIO_SHORTS_DISABLED_RXEN_Msk;
+                NRF_RADIO->INTENSET = RADIO_INTENSET_DISABLED_Msk | RADIO_INTENSET_READY_Msk;
+
+                // Configure the retransmit counter
+                rfp->tx_remaining = rfp->config.retransmit.count;
+                rfp->state = NRF52_STATE_PTX_TX_ACK;
+            }
+            else {
+                NRF_RADIO->SHORTS   = RADIO_SHORTS_COMMON;
+                NRF_RADIO->INTENSET = RADIO_INTENSET_DISABLED_Msk;
+                rfp->state = NRF52_STATE_PTX_TX;
+            }
+            break;
+    }
+
+    NRF_RADIO->TXADDRESS    = p_current_payload->pipe;
+    NRF_RADIO->RXADDRESSES  = 1 << p_current_payload->pipe;
+
+    NRF_RADIO->FREQUENCY    = rfp->config.address.rf_channel;
+    NRF_RADIO->PACKETPTR    = (uint32_t)tx_payload_buffer;
+
+    NRF_RADIO->EVENTS_READY = 0;
+    NRF_RADIO->EVENTS_DISABLED = 0;
+    (void)NRF_RADIO->EVENTS_READY;
+    (void)NRF_RADIO->EVENTS_DISABLED;
+
+    nvicClearPending(RADIO_IRQn);
+    nvicEnableVector(RADIO_IRQn, NRF52_RADIO_IRQ_PRIORITY);
+
+    NRF_RADIO->TASKS_TXEN  = 1;
+}
+
+static void on_radio_disabled_tx_noack(RFDriver *rfp) {
+    rfp->flags |= NRF52_INT_TX_SUCCESS_MSK;
+    tx_fifo_remove_last();
+
+	chBSemSignal(&events_sem);
+
+	if (tx_fifo.count == 0) {
+        rfp->state = NRF52_STATE_IDLE;
+    }
+    else {
+        start_tx_transaction(rfp);
+    }
+}
+
+static void on_radio_disabled_tx(RFDriver *rfp) {
+    // Remove the DISABLED -> RXEN shortcut, to make sure the radio stays
+    // disabled after the RX window
+    NRF_RADIO->SHORTS = RADIO_SHORTS_COMMON;
+
+    // Make sure the timer is started the next time the radio is ready,
+    // and that it will disable the radio automatically if no packet is
+    // received by the time defined in m_wait_for_ack_timeout_us
+    rfp->timer->CC[0]    = wait_for_ack_timeout_us + 130;
+    rfp->timer->CC[1]    = rfp->config.retransmit.delay - 130;
+    rfp->timer->TASKS_CLEAR = 1;
+    rfp->timer->EVENTS_COMPARE[0] = 0;
+    rfp->timer->EVENTS_COMPARE[1] = 0;
+    (void)rfp->timer->EVENTS_COMPARE[0];
+    (void)rfp->timer->EVENTS_COMPARE[1];
+
+    NRF_PPI->CHENSET = (1 << NRF52_RADIO_PPI_TIMER_START) |
+                       (1 << NRF52_RADIO_PPI_RX_TIMEOUT) |
+                       (1 << NRF52_RADIO_PPI_TIMER_STOP);
+    NRF_PPI->CHENCLR = (1 << NRF52_RADIO_PPI_TX_START);
+
+    NRF_RADIO->EVENTS_END = 0;
+    (void)NRF_RADIO->EVENTS_END;
+
+    if (rfp->config.protocol == NRF52_PROTOCOL_ESB) {
+        set_rf_payload_format(rfp, 0);
+    }
+
+    NRF_RADIO->PACKETPTR = (uint32_t)rx_payload_buffer;
+    rfp->state = NRF52_STATE_PTX_RX_ACK;
+}
+
+static void on_radio_disabled_tx_wait_for_ack(RFDriver *rfp) {
+    // This marks the completion of a TX_RX sequence (TX with ACK)
+
+    // Make sure the timer will not deactivate the radio if a packet is received
+    NRF_PPI->CHENCLR = (1 << NRF52_RADIO_PPI_TIMER_START) |
+                       (1 << NRF52_RADIO_PPI_RX_TIMEOUT)  |
+                       (1 << NRF52_RADIO_PPI_TIMER_STOP);
+
+    // If the radio has received a packet and the CRC status is OK
+    if (NRF_RADIO->EVENTS_END && NRF_RADIO->CRCSTATUS != 0) {
+        rfp->timer->TASKS_STOP = 1;
+        NRF_PPI->CHENCLR = (1 << NRF52_RADIO_PPI_TX_START);
+        rfp->flags |= NRF52_INT_TX_SUCCESS_MSK;
+        rfp->tx_attempt++;// = rfp->config.retransmit.count - rfp->tx_remaining + 1;
+
+        tx_fifo_remove_last();
+
+        if (rfp->config.protocol != NRF52_PROTOCOL_ESB && rx_payload_buffer[0] > 0) {
+            if (rx_fifo_push_rfbuf(rfp, (uint8_t)NRF_RADIO->TXADDRESS, 0)) {
+                rfp->flags |= NRF52_INT_RX_DR_MSK;
+            }
+        }
+
+    	chBSemSignal(&events_sem);
+
+        if ((tx_fifo.count == 0) || (rfp->config.tx_mode == NRF52_TXMODE_MANUAL)) {
+            rfp->state = NRF52_STATE_IDLE;
+        }
+        else {
+            start_tx_transaction(rfp);
+        }
+    }
+    else {
+        if (rfp->tx_remaining-- == 0) {
+            rfp->timer->TASKS_STOP = 1;
+            NRF_PPI->CHENCLR = (1 << NRF52_RADIO_PPI_TX_START);
+            // All retransmits are expended, and the TX operation is suspended
+            rfp->tx_attempt = rfp->config.retransmit.count + 1;
+            rfp->flags |= NRF52_INT_TX_FAILED_MSK;
+
+            chBSemSignal(&events_sem);
+
+            rfp->state = NRF52_STATE_IDLE;
+        }
+        else {
+            // There are still have more retransmits left, TX mode should be
+            // entered again as soon as the system timer reaches CC[1].
+            NRF_RADIO->SHORTS = RADIO_SHORTS_COMMON | RADIO_SHORTS_DISABLED_RXEN_Msk;
+            set_rf_payload_format(rfp, p_current_payload->length);
+            NRF_RADIO->PACKETPTR = (uint32_t)tx_payload_buffer;
+            rfp->state = NRF52_STATE_PTX_TX_ACK;
+            rfp->timer->TASKS_START = 1;
+            NRF_PPI->CHENSET = (1 << NRF52_RADIO_PPI_TX_START);
+            if (rfp->timer->EVENTS_COMPARE[1])
+                NRF_RADIO->TASKS_TXEN = 1;
+        }
+    }
+}
+
+static void clear_events_restart_rx(RFDriver *rfp) {
+    NRF_RADIO->SHORTS = RADIO_SHORTS_COMMON;
+    set_rf_payload_format(rfp, rfp->config.payload_length);
+    NRF_RADIO->PACKETPTR = (uint32_t)rx_payload_buffer;
+
+    NRF_RADIO->INTENCLR = RADIO_INTENCLR_DISABLED_Msk;
+    NRF_RADIO->EVENTS_DISABLED = 0;
+    (void) NRF_RADIO->EVENTS_DISABLED;
+
+    NRF_RADIO->TASKS_DISABLE = 1;
+    while (NRF_RADIO->EVENTS_DISABLED == 0);
+
+    NRF_RADIO->EVENTS_DISABLED = 0;
+    (void) NRF_RADIO->EVENTS_DISABLED;
+    NRF_RADIO->INTENSET = RADIO_INTENSET_DISABLED_Msk;
+
+    NRF_RADIO->SHORTS = RADIO_SHORTS_COMMON | RADIO_SHORTS_DISABLED_TXEN_Msk;
+    NRF_RADIO->TASKS_RXEN = 1;
+}
+
+static void on_radio_disabled_rx(RFDriver *rfp) {
+    bool            ack                = false;
+    bool            retransmit_payload = false;
+    bool            send_rx_event      = true;
+    pipe_info_t *   p_pipe_info;
+
+    if (NRF_RADIO->CRCSTATUS == 0) {
+        clear_events_restart_rx(rfp);
+        return;
+    }
+
+    if(rx_fifo.count >= NRF52_RX_FIFO_SIZE) {
+        clear_events_restart_rx(rfp);
+        return;
+    }
+
+    p_pipe_info = &rx_pipe_info[NRF_RADIO->RXMATCH];
+    if (NRF_RADIO->RXCRC           == p_pipe_info->m_crc &&
+       (rx_payload_buffer[1] >> 1) == p_pipe_info->m_pid  ) {
+        retransmit_payload = true;
+        send_rx_event = false;
+    }
+
+    p_pipe_info->m_pid = rx_payload_buffer[1] >> 1;
+    p_pipe_info->m_crc = NRF_RADIO->RXCRC;
+
+    if(rfp->config.selective_auto_ack == false || ((rx_payload_buffer[1] & 0x01) == 0))
+        ack = true;
+
+    if(ack) {
+        NRF_RADIO->SHORTS = RADIO_SHORTS_COMMON | RADIO_SHORTS_DISABLED_RXEN_Msk;
+
+        switch(rfp->config.protocol) {
+            case NRF52_PROTOCOL_ESB_DPL:
+                {
+                    if (tx_fifo.count > 0 &&
+                        (tx_fifo.p_payload[tx_fifo.exit_point]->pipe == NRF_RADIO->RXMATCH))
+                    {
+                        // Pipe stays in ACK with payload until TX fifo is empty
+                        // Do not report TX success on first ack payload or retransmit
+                        if (p_pipe_info->m_ack_payload != 0 && !retransmit_payload) {
+                            if(++tx_fifo.exit_point >= NRF52_TX_FIFO_SIZE) {
+                                tx_fifo.exit_point = 0;
+                            }
+
+                            tx_fifo.count--;
+
+                            // ACK payloads also require TX_DS
+                            // (page 40 of the 'nRF24LE1_Product_Specification_rev1_6.pdf').
+                            rfp->flags |= NRF52_INT_TX_SUCCESS_MSK;
+                        }
+
+                        p_pipe_info->m_ack_payload = 1;
+
+                        p_current_payload = tx_fifo.p_payload[tx_fifo.exit_point];
+
+                        set_rf_payload_format(rfp, p_current_payload->length);
+                        tx_payload_buffer[0] = p_current_payload->length;
+                        memcpy(&tx_payload_buffer[2],
+                               p_current_payload->data,
+                               p_current_payload->length);
+                    }
+                    else {
+                        p_pipe_info->m_ack_payload = 0;
+                        set_rf_payload_format(rfp, 0);
+                        tx_payload_buffer[0] = 0;
+                    }
+
+                    tx_payload_buffer[1] = rx_payload_buffer[1];
+                }
+                break;
+
+            case NRF52_PROTOCOL_ESB:
+                {
+                    set_rf_payload_format(rfp, 0);
+                    tx_payload_buffer[0] = rx_payload_buffer[0];
+                    tx_payload_buffer[1] = 0;
+                }
+                break;
+        }
+
+        rfp->state = NRF52_STATE_PRX_SEND_ACK;
+        NRF_RADIO->TXADDRESS = NRF_RADIO->RXMATCH;
+        NRF_RADIO->PACKETPTR = (uint32_t)tx_payload_buffer;
+    }
+    else {
+        clear_events_restart_rx(rfp);
+    }
+
+    if (send_rx_event) {
+        // Push the new packet to the RX buffer and trigger a received event if the operation was
+        // successful.
+        if (rx_fifo_push_rfbuf(rfp, NRF_RADIO->RXMATCH, p_pipe_info->m_pid)) {
+            rfp->flags |= NRF52_INT_RX_DR_MSK;
+            chBSemSignal(&events_sem);
+        }
+    }
+}
+
+static void on_radio_disabled_rx_ack(RFDriver *rfp) {
+    NRF_RADIO->SHORTS = RADIO_SHORTS_COMMON | RADIO_SHORTS_DISABLED_TXEN_Msk;
+    set_rf_payload_format(rfp, rfp->config.payload_length);
+
+    NRF_RADIO->PACKETPTR = (uint32_t)rx_payload_buffer;
+
+    rfp->state = NRF52_STATE_PRX;
+}
+
+nrf52_error_t radio_disable(void) {
+    RFD1.state = NRF52_STATE_IDLE;
+
+    // Clear PPI
+    NRF_PPI->CHENCLR = (1 << NRF52_RADIO_PPI_TIMER_START) |
+                       (1 << NRF52_RADIO_PPI_TIMER_STOP)  |
+                       (1 << NRF52_RADIO_PPI_RX_TIMEOUT);
+
+    reset_fifo();
+
+    memset(rx_pipe_info, 0, sizeof(rx_pipe_info));
+    memset(pids, 0, sizeof(pids));
+
+    // Disable the radio
+    NRF_RADIO->SHORTS = RADIO_SHORTS_READY_START_Enabled << RADIO_SHORTS_READY_START_Pos |
+                        RADIO_SHORTS_END_DISABLE_Enabled << RADIO_SHORTS_END_DISABLE_Pos;
+
+    nvicDisableVector(RADIO_IRQn);
+
+    // Terminate interrupts handle thread
+    chThdTerminate(rfIntThread_p);
+    chBSemSignal(&disable_sem);
+    chThdWait(rfIntThread_p);
+
+    // Terminate events handle thread
+    chThdTerminate(rfEvtThread_p);
+    RFD1.flags = 0;
+    chBSemSignal(&events_sem);
+    chThdWait(rfEvtThread_p);
+
+    RFD1.state = NRF52_STATE_UNINIT;
+
+    return NRF52_SUCCESS;
+}
+
+//
+nrf52_error_t radio_init(nrf52_config_t const *config) {
+	osalDbgAssert(config != NULL,
+		"config must be defined");
+	osalDbgAssert(&config->address != NULL,
+		"address must be defined");
+	osalDbgAssert(NRF52_RADIO_IRQ_PRIORITY <= 7,
+		"wrong radio irq priority");
+
+    if (RFD1.state != NRF52_STATE_UNINIT) {
+    	nrf52_error_t err = radio_disable();
+        if (err != NRF52_SUCCESS)
+            return err;
+    }
+
+    RFD1.radio = NRF_RADIO;
+	RFD1.config = *config;
+    RFD1.flags    = 0;
+
+    init_fifo();
+
+#if NRF52_RADIO_USE_TIMER0
+    RFD1.timer = NRF_TIMER0;
+#endif
+#if NRF52_RADIO_USE_TIMER1
+    RFD1.timer = NRF_TIMER1;
+#endif
+#if NRF52_RADIO_USE_TIMER2
+    RFD1.timer = NRF_TIMER2;
+#endif
+#if NRF52_RADIO_USE_TIMER3
+    RFD1.timer = NRF_TIMER3;
+#endif
+#if NRF52_RADIO_USE_TIMER4
+    RFD1.timer = NRF_TIMER4;
+#endif
+
+    set_parameters(&RFD1);
+
+    set_addresses(&RFD1, NRF52_ADDR_UPDATE_MASK_BASE0);
+    set_addresses(&RFD1, NRF52_ADDR_UPDATE_MASK_BASE1);
+    set_addresses(&RFD1, NRF52_ADDR_UPDATE_MASK_PREFIX);
+
+    ppi_init(&RFD1);
+    timer_init(&RFD1);
+
+    chBSemObjectInit(&disable_sem, TRUE);
+    chBSemObjectInit(&events_sem, TRUE);
+
+    chEvtObjectInit(&RFD1.eventsrc);
+
+    // interrupt handle thread
+    rfIntThread_p = chThdCreateStatic(waRFIntThread, sizeof(waRFIntThread),
+    		NRF52_RADIO_INTTHD_PRIORITY, rfIntThread, NULL);
+
+    // events handle thread
+    rfEvtThread_p = chThdCreateStatic(waRFEvtThread, sizeof(waRFEvtThread),
+    		NRF52_RADIO_EVTTHD_PRIORITY, rfEvtThread, NULL);
+
+    nvicEnableVector(RADIO_IRQn, NRF52_RADIO_IRQ_PRIORITY);
+
+    RFD1.state = NRF52_STATE_IDLE;
+
+    return NRF52_SUCCESS;
+}
+
+nrf52_error_t radio_write_payload(nrf52_payload_t const * p_payload) {
+    if (RFD1.state == NRF52_STATE_UNINIT)
+    	return NRF52_INVALID_STATE;
+    if(p_payload == NULL)
+    	return NRF52_ERROR_NULL;
+    VERIFY_PAYLOAD_LENGTH(p_payload);
+    if (tx_fifo.count >= NRF52_TX_FIFO_SIZE)
+    	return NRF52_ERROR_INVALID_LENGTH;
+
+    if (RFD1.config.mode == NRF52_MODE_PTX &&
+        p_payload->noack && !RFD1.config.selective_auto_ack )
+    {
+        return NRF52_ERROR_NOT_SUPPORTED;
+    }
+
+    nvicDisableVector(RADIO_IRQn);
+
+    memcpy(tx_fifo.p_payload[tx_fifo.entry_point], p_payload, sizeof(nrf52_payload_t));
+
+    pids[p_payload->pipe] = (pids[p_payload->pipe] + 1) % (NRF52_PID_MAX + 1);
+    tx_fifo.p_payload[tx_fifo.entry_point]->pid = pids[p_payload->pipe];
+
+    if (++tx_fifo.entry_point >= NRF52_TX_FIFO_SIZE) {
+        tx_fifo.entry_point = 0;
+    }
+
+    tx_fifo.count++;
+
+    nvicEnableVector(RADIO_IRQn, NRF52_RADIO_IRQ_PRIORITY);
+
+    if (RFD1.config.mode == NRF52_MODE_PTX &&
+        RFD1.config.tx_mode == NRF52_TXMODE_AUTO &&
+        RFD1.state == NRF52_STATE_IDLE)
+    {
+        start_tx_transaction(&RFD1);
+    }
+
+    return NRF52_SUCCESS;
+}
+
+nrf52_error_t radio_read_rx_payload(nrf52_payload_t * p_payload) {
+    if (RFD1.state == NRF52_STATE_UNINIT)
+    	return NRF52_INVALID_STATE;
+    if (p_payload == NULL)
+    	return NRF52_ERROR_NULL;
+
+    if (rx_fifo.count == 0) {
+        return NRF52_ERROR_INVALID_LENGTH;
+    }
+
+    nvicDisableVector(RADIO_IRQn);
+
+    p_payload->length = rx_fifo.p_payload[rx_fifo.exit_point]->length;
+    p_payload->pipe   = rx_fifo.p_payload[rx_fifo.exit_point]->pipe;
+    p_payload->rssi   = rx_fifo.p_payload[rx_fifo.exit_point]->rssi;
+    p_payload->pid    = rx_fifo.p_payload[rx_fifo.exit_point]->pid;
+    memcpy(p_payload->data, rx_fifo.p_payload[rx_fifo.exit_point]->data, p_payload->length);
+
+    if (++rx_fifo.exit_point >= NRF52_RX_FIFO_SIZE) {
+        rx_fifo.exit_point = 0;
+    }
+
+    rx_fifo.count--;
+
+    nvicEnableVector(RADIO_IRQn, NRF52_RADIO_IRQ_PRIORITY);
+
+    return NRF52_SUCCESS;
+}
+
+nrf52_error_t radio_start_tx(void) {
+    if (RFD1.state != NRF52_STATE_IDLE)
+    	return NRF52_ERROR_BUSY;
+
+    if (tx_fifo.count == 0) {
+        return NRF52_ERROR_INVALID_LENGTH;
+    }
+
+    start_tx_transaction(&RFD1);
+
+    return NRF52_SUCCESS;
+}
+
+nrf52_error_t radio_start_rx(void) {
+    if (RFD1.state != NRF52_STATE_IDLE)
+    	return NRF52_ERROR_BUSY;
+
+    NRF_RADIO->INTENCLR = 0xFFFFFFFF;
+    NRF_RADIO->EVENTS_DISABLED = 0;
+    (void) NRF_RADIO->EVENTS_DISABLED;
+
+    NRF_RADIO->SHORTS      = RADIO_SHORTS_COMMON | RADIO_SHORTS_DISABLED_TXEN_Msk;
+    NRF_RADIO->INTENSET    = RADIO_INTENSET_DISABLED_Msk;
+    RFD1.state             = NRF52_STATE_PRX;
+
+    NRF_RADIO->RXADDRESSES  = RFD1.config.address.rx_pipes;
+    NRF_RADIO->FREQUENCY    = RFD1.config.address.rf_channel;
+    NRF_RADIO->PACKETPTR    = (uint32_t)rx_payload_buffer;
+
+    nvicClearPending(RADIO_IRQn);
+    nvicEnableVector(RADIO_IRQn, NRF52_RADIO_IRQ_PRIORITY);
+
+    NRF_RADIO->EVENTS_ADDRESS = 0;
+    NRF_RADIO->EVENTS_PAYLOAD = 0;
+    NRF_RADIO->EVENTS_DISABLED = 0;
+    (void) NRF_RADIO->EVENTS_ADDRESS;
+    (void) NRF_RADIO->EVENTS_PAYLOAD;
+    (void) NRF_RADIO->EVENTS_DISABLED;
+
+    NRF_RADIO->TASKS_RXEN  = 1;
+
+    return NRF52_SUCCESS;
+}
+
+nrf52_error_t radio_stop_rx(void) {
+    if (RFD1.state != NRF52_STATE_PRX) {
+        return NRF52_INVALID_STATE;
+    }
+
+    NRF_RADIO->SHORTS = 0;
+    NRF_RADIO->INTENCLR = 0xFFFFFFFF;
+    NRF_RADIO->EVENTS_DISABLED = 0;
+    (void) NRF_RADIO->EVENTS_DISABLED;
+    NRF_RADIO->TASKS_DISABLE = 1;
+    while (NRF_RADIO->EVENTS_DISABLED == 0);
+    RFD1.state = NRF52_STATE_IDLE;
+
+    return NRF52_SUCCESS;
+}
+
+nrf52_error_t radio_flush_tx(void) {
+    if (RFD1.state == NRF52_STATE_UNINIT)
+    	return NRF52_INVALID_STATE;
+
+    nvicDisableVector(RADIO_IRQn);
+
+    tx_fifo.count = 0;
+    tx_fifo.entry_point = 0;
+    tx_fifo.exit_point = 0;
+
+    nvicEnableVector(RADIO_IRQn, NRF52_RADIO_IRQ_PRIORITY);
+
+    return NRF52_SUCCESS;
+}
+
+nrf52_error_t radio_pop_tx(void) {
+    if (RFD1.state == NRF52_STATE_UNINIT)
+    	return NRF52_INVALID_STATE;
+    if (tx_fifo.count == 0)
+    	return NRF52_ERROR_INVALID_LENGTH;
+
+    nvicDisableVector(RADIO_IRQn);
+
+    if (++tx_fifo.entry_point >= NRF52_TX_FIFO_SIZE) {
+        tx_fifo.entry_point = 0;
+    }
+    tx_fifo.count--;
+
+    nvicEnableVector(RADIO_IRQn, NRF52_RADIO_IRQ_PRIORITY);
+
+    return NRF52_SUCCESS;
+}
+
+nrf52_error_t radio_flush_rx(void) {
+    if (RFD1.state == NRF52_STATE_UNINIT)
+    	return NRF52_INVALID_STATE;
+
+    nvicDisableVector(RADIO_IRQn);
+
+    rx_fifo.count = 0;
+    rx_fifo.entry_point = 0;
+    rx_fifo.exit_point = 0;
+
+    memset(rx_pipe_info, 0, sizeof(rx_pipe_info));
+
+    nvicEnableVector(RADIO_IRQn, NRF52_RADIO_IRQ_PRIORITY);
+
+    return NRF52_SUCCESS;
+}
+
+nrf52_error_t radio_set_base_address_0(uint8_t const * p_addr) {
+    if (RFD1.state != NRF52_STATE_IDLE)
+    	return NRF52_ERROR_BUSY;
+    if (p_addr == NULL)
+        return NRF52_ERROR_NULL;
+
+    memcpy(RFD1.config.address.base_addr_p0, p_addr, 4);
+    set_addresses(&RFD1, NRF52_ADDR_UPDATE_MASK_BASE0);
+
+    return NRF52_SUCCESS;
+}
+
+nrf52_error_t radio_set_base_address_1(uint8_t const * p_addr) {
+    if (RFD1.state != NRF52_STATE_IDLE)
+    	return NRF52_ERROR_BUSY;
+    if (p_addr == NULL)
+        return NRF52_ERROR_NULL;
+
+    memcpy(RFD1.config.address.base_addr_p1, p_addr, 4);
+    set_addresses(&RFD1, NRF52_ADDR_UPDATE_MASK_BASE1);
+
+    return NRF52_SUCCESS;
+}
+
+nrf52_error_t radio_set_prefixes(uint8_t const * p_prefixes, uint8_t num_pipes) {
+    if (RFD1.state != NRF52_STATE_IDLE)
+    	return NRF52_ERROR_BUSY;
+    if (p_prefixes == NULL)
+        return NRF52_ERROR_NULL;
+    if (num_pipes > 8)
+    	return NRF52_ERROR_INVALID_PARAM;
+
+    memcpy(RFD1.config.address.pipe_prefixes, p_prefixes, num_pipes);
+    RFD1.config.address.num_pipes = num_pipes;
+    RFD1.config.address.rx_pipes = BIT_MASK_UINT_8(num_pipes);
+
+    set_addresses(&RFD1, NRF52_ADDR_UPDATE_MASK_PREFIX);
+
+    return NRF52_SUCCESS;
+}
+
+nrf52_error_t radio_set_prefix(uint8_t pipe, uint8_t prefix) {
+    if (RFD1.state != NRF52_STATE_IDLE)
+    	return NRF52_ERROR_BUSY;
+    if (pipe > 8)
+    	return NRF52_ERROR_INVALID_PARAM;
+
+    RFD1.config.address.pipe_prefixes[pipe] = prefix;
+
+    NRF_RADIO->PREFIX0 = bytewise_bit_swap(&RFD1.config.address.pipe_prefixes[0]);
+    NRF_RADIO->PREFIX1 = bytewise_bit_swap(&RFD1.config.address.pipe_prefixes[4]);
+
+    return NRF52_SUCCESS;
+}
diff --git a/testhal/NRF52/NRF52832/RADIO-ESB/nrf52_radio.h b/testhal/NRF52/NRF52832/RADIO-ESB/nrf52_radio.h
new file mode 100644
index 0000000..2f94465
--- /dev/null
+++ b/testhal/NRF52/NRF52832/RADIO-ESB/nrf52_radio.h
@@ -0,0 +1,256 @@
+/* Copyright (c) 2014 Nordic Semiconductor. All Rights Reserved.
+ *
+ * The information contained herein is property of Nordic Semiconductor ASA.
+ * Terms and conditions of usage are described in detail in NORDIC
+ * SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT.
+ *
+ * Licensees are granted free, non-transferable use of the information. NO
+ * WARRANTY of ANY KIND is provided. This heading must NOT be removed from
+ * the file.
+ *
+ * @brief Enhanced ShockBurst (ESB) is a basic protocol supporting two-way data
+ *        packet communication including packet buffering, packet acknowledgment
+ *        and automatic retransmission of lost packets.
+ *
+ * ported on: 25/10/2018, by andru
+ *
+ */
+
+#ifndef NRF52_RADIO_H_
+#define NRF52_RADIO_H_
+
+// Hard coded parameters - change if necessary
+#ifndef NRF52_MAX_PAYLOAD_LENGTH
+#define NRF52_MAX_PAYLOAD_LENGTH            32                  /**< The max size of the payload. Valid values are 1 to 252 */
+#endif
+
+#define NRF52_CRC_RESET_VALUE             	0xFFFF              /**< CRC reset value*/
+
+#define NRF52_TX_FIFO_SIZE                  8                   /**< The size of the transmission first in first out buffer. */
+#define NRF52_RX_FIFO_SIZE                  8                   /**< The size of the reception first in first out buffer. */
+
+#define NRF52_RADIO_USE_TIMER0            	FALSE               /**< TIMER0 will be used by the module. */
+#define NRF52_RADIO_USE_TIMER1            	TRUE                /**< TIMER1 will be used by the module. */
+#define NRF52_RADIO_USE_TIMER2            	FALSE               /**< TIMER2 will be used by the module. */
+#define NRF52_RADIO_USE_TIMER3            	FALSE               /**< TIMER3 will be used by the module. */
+#define NRF52_RADIO_USE_TIMER4            	FALSE               /**< TIMER4 will be used by the module. */
+
+#define NRF52_RADIO_IRQ_PRIORITY			3                   /**< RADIO interrupt priority. */
+#define NRF52_RADIO_INTTHD_PRIORITY         (NORMALPRIO+2)      /**< Interrupts handle thread priority. */
+#define NRF52_RADIO_EVTTHD_PRIORITY         (NORMALPRIO+1)      /**< Events handle thread priority */
+
+#define NRF52_RADIO_PPI_TIMER_START         10                  /**< The PPI channel used for timer start. */
+#define NRF52_RADIO_PPI_TIMER_STOP          11                  /**< The PPI channel used for timer stop. */
+#define NRF52_RADIO_PPI_RX_TIMEOUT          12                  /**< The PPI channel used for RX timeout. */
+#define NRF52_RADIO_PPI_TX_START            13                  /**< The PPI channel used for starting TX. */
+
+
+typedef enum {
+	NRF52_SUCCESS,                                        /* Call was successful.                  */
+	NRF52_INVALID_STATE,                                  /* Module is not initialized.            */
+	NRF52_ERROR_BUSY,                                     /* Module was not in idle state.         */
+	NRF52_ERROR_NULL,                                     /* Required parameter was NULL.          */
+	NRF52_ERROR_INVALID_PARAM,                            /* Required parameter is invalid         */
+	NRF52_ERROR_NOT_SUPPORTED,                            /* p_payload->noack was false while selective ack was not enabled. */
+	NRF52_ERROR_INVALID_LENGTH,                           /* Payload length was invalid (zero or larger than max allowed).   */
+} nrf52_error_t;
+
+// Internal radio module state.
+typedef enum {
+    NRF52_STATE_UNINIT,                                   /**< Module not initialized. */
+    NRF52_STATE_IDLE,                                     /**< Module idle. */
+    NRF52_STATE_PTX_TX,                                   /**< Module transmitting without ack. */
+    NRF52_STATE_PTX_TX_ACK,                               /**< Module transmitting with ack. */
+    NRF52_STATE_PTX_RX_ACK,                               /**< Module transmitting with ack and reception of payload with the ack response. */
+    NRF52_STATE_PRX,                                      /**< Module receiving packets without ack. */
+    NRF52_STATE_PRX_SEND_ACK,                             /**< Module transmitting ack in RX mode. */
+} nrf52_state_t;
+
+/**@brief Events to indicate the last transmission/receiving status. */
+typedef enum {
+    NRF52_EVENT_TX_SUCCESS  = 0x01,   /**< Event triggered on TX success.     */
+    NRF52_EVENT_TX_FAILED   = 0x02,   /**< Event triggered on TX failed.      */
+    NRF52_EVENT_RX_RECEIVED = 0x04,   /**< Event triggered on RX Received.    */
+} nrf52_event_t;
+
+// Interrupt flags
+typedef enum {
+	NRF52_INT_TX_SUCCESS_MSK = 0x01,  /**< The flag used to indicate a success since last event. */
+	NRF52_INT_TX_FAILED_MSK  = 0x02,  /**< The flag used to indicate a failiure since last event. */
+	NRF52_INT_RX_DR_MSK 	 = 0x04,  /**< The flag used to indicate a received packet since last event. */
+} nrf52_int_flags_t;
+
+/**Macro to create initializer for a TX data packet.
+ *
+ * @details This macro generates an initializer. It is more efficient
+ *          than setting the individual parameters dynamically.
+ *
+ * @param[in]   _pipe   The pipe to use for the data packet.
+ * @param[in]   ...     Comma separated list of character data to put in the TX buffer.
+ *                      Supported values are from 1 to 63 characters.
+ *
+ * @return  Initializer that sets up pipe, length and the byte array for content of the TX data.
+ */
+#define NRF52_CREATE_PAYLOAD(_pipe, ...)                                                  \
+        {.pipe = _pipe, .length = NUM_VA_ARGS(__VA_ARGS__), .data = {__VA_ARGS__}};         \
+        STATIC_ASSERT(NUM_VA_ARGS(__VA_ARGS__) > 0 && NUM_VA_ARGS(__VA_ARGS__) <= 63)
+
+/**@brief Enhanced ShockBurst protocol. */
+typedef enum {
+    NRF52_PROTOCOL_ESB,      /*< Enhanced ShockBurst with fixed payload length.                                            */
+    NRF52_PROTOCOL_ESB_DPL   /*< Enhanced ShockBurst with dynamic payload length.                                          */
+} nrf52_protocol_t;
+
+/**@brief Enhanced ShockBurst mode. */
+typedef enum {
+    NRF52_MODE_PTX,          /*< Primary transmitter mode. */
+    NRF52_MODE_PRX           /*< Primary receiver mode.    */
+} nrf52_mode_t;
+
+/**@brief Enhanced ShockBurst bitrate mode. */
+typedef enum {
+    NRF52_BITRATE_2MBPS     = RADIO_MODE_MODE_Nrf_2Mbit,      /**< 2Mbit radio mode.                                             */
+    NRF52_BITRATE_1MBPS     = RADIO_MODE_MODE_Nrf_1Mbit,      /**< 1Mbit radio mode.                                             */
+} nrf52_bitrate_t;
+
+/**@brief Enhanced ShockBurst CRC modes. */
+typedef enum {
+    NRF52_CRC_16BIT         = RADIO_CRCCNF_LEN_Two,                   /**< Use two byte CRC. */
+    NRF52_CRC_8BIT          = RADIO_CRCCNF_LEN_One,                   /**< Use one byte CRC. */
+    NRF52_CRC_OFF           = RADIO_CRCCNF_LEN_Disabled               /**< Disable CRC.      */
+} nrf52_crc_t;
+
+/**@brief Enhanced ShockBurst radio transmission power modes. */
+typedef enum {
+    NRF52_TX_POWER_4DBM     = RADIO_TXPOWER_TXPOWER_Pos4dBm,  /**< 4 dBm radio transmit power.   */
+    NRF52_TX_POWER_0DBM     = RADIO_TXPOWER_TXPOWER_0dBm,     /**< 0 dBm radio transmit power.   */
+    NRF52_TX_POWER_NEG4DBM  = RADIO_TXPOWER_TXPOWER_Neg4dBm,  /**< -4 dBm radio transmit power.  */
+    NRF52_TX_POWER_NEG8DBM  = RADIO_TXPOWER_TXPOWER_Neg8dBm,  /**< -8 dBm radio transmit power.  */
+    NRF52_TX_POWER_NEG12DBM = RADIO_TXPOWER_TXPOWER_Neg12dBm, /**< -12 dBm radio transmit power. */
+    NRF52_TX_POWER_NEG16DBM = RADIO_TXPOWER_TXPOWER_Neg16dBm, /**< -16 dBm radio transmit power. */
+    NRF52_TX_POWER_NEG20DBM = RADIO_TXPOWER_TXPOWER_Neg20dBm, /**< -20 dBm radio transmit power. */
+    NRF52_TX_POWER_NEG30DBM = RADIO_TXPOWER_TXPOWER_Neg30dBm  /**< -30 dBm radio transmit power. */
+} nrf52_tx_power_t;
+
+/**@brief Enhanced ShockBurst transmission modes. */
+typedef enum {
+    NRF52_TXMODE_AUTO,        /*< Automatic TX mode - When the TX fifo is non-empty and the radio is idle packets will be sent automatically. */
+    NRF52_TXMODE_MANUAL,      /*< Manual TX mode - Packets will not be sent until radio_start_tx() is called. Can be used to ensure consistent packet timing. */
+    NRF52_TXMODE_MANUAL_START /*< Manual start TX mode - Packets will not be sent until radio_start_tx() is called, but transmission will continue automatically until the TX fifo is empty. */
+} nrf52_tx_mode_t;
+
+/**@brief Enhanced ShockBurst addresses.
+ *
+ * @details The module is able to transmit packets with the TX address stored in tx_address.
+            The module can also receive packets from peers with up to eight different tx_addresses
+            stored in esb_addr_p0 - esb_addr_p7. esb_addr_p0 can have 5 arbitrary bytes
+            independent of the other addresses. esb_addr_p1 - esb_addr_p7 will share the
+            same four byte base address found in the last four bytes of esb_addr_p1.
+            They have an independent prefix byte found in esb_addr_p1[0] and esb_addr_p2 -
+            esb_addr_p7.
+*/
+typedef struct {
+    uint8_t base_addr_p0[4];        /**< Base address for pipe 0 encoded in big endian. */
+    uint8_t base_addr_p1[4];        /**< Base address for pipe 1-7 encoded in big endian. */
+    uint8_t pipe_prefixes[8];       /**< Address prefix for pipe P0 to P7. */
+    uint8_t num_pipes;              /**< Number of pipes available. */
+    uint8_t addr_length;            /**< Length of address including prefix */
+    uint8_t rx_pipes;		        /**< Bitfield for enabled RX pipes. */
+    uint8_t rf_channel;             /**< Which channel is to be used. Must be in range 0 and 125 to be valid. */
+} nrf52_address_t;
+
+/**@brief Enhanced ShockBurst payload.
+ *
+ * @note The payload is used both for transmission and receive with ack and payload.
+*/
+typedef struct
+{
+    uint8_t length;                              /**< Length of the packet. Should be equal or less than NRF_ESB_MAX_PAYLOAD_LENGTH. */
+    uint8_t pipe;                                /**< Pipe used for this payload. */
+    int8_t  rssi;                                /**< RSSI for received packet. */
+    uint8_t noack;                               /**< Flag indicating that this packet will not be acknowledged. */
+    uint8_t pid;                                 /**< PID assigned during communication. */
+    uint8_t data[NRF52_MAX_PAYLOAD_LENGTH];      /**< The payload data. */
+} nrf52_payload_t;
+
+/**@brief Retransmit attempts delay and counter. */
+typedef struct {
+    uint16_t              delay;                  /**< The delay between each retransmission of unacked packets. */
+    uint16_t              count;                  /**< The number of retransmissions attempts before transmission fail. */
+} nrf52_retransmit_t;
+
+/**@brief Main nrf_esb configuration struct. */
+typedef struct {
+    nrf52_protocol_t      protocol;               /**< Enhanced ShockBurst protocol. */
+    nrf52_mode_t          mode;                   /**< Enhanced ShockBurst default RX or TX mode. */
+
+    // General RF parameters
+    nrf52_bitrate_t       bitrate;                /**< Enhanced ShockBurst bitrate mode. */
+    nrf52_crc_t           crc;                    /**< Enhanced ShockBurst CRC mode. */
+    nrf52_tx_power_t      tx_power;   		      /**< Enhanced ShockBurst radio transmission power mode.*/
+
+    // Control settings
+    nrf52_tx_mode_t       tx_mode;                /**< Enhanced ShockBurst transmit mode. */
+
+    bool                  selective_auto_ack;     /**< Enable or disable selective auto acknowledgement. */
+
+    nrf52_retransmit_t    retransmit;             /**< Packet retransmit parameters */
+
+    uint8_t               payload_length;         /**< Enhanced ShockBurst static payload length */
+
+    nrf52_address_t    	  address;                /**< Address parameters structure */
+} nrf52_config_t;
+
+typedef struct {
+  /**
+   * @brief NRF52 radio peripheral.
+   */
+  NRF_RADIO_Type          *radio;
+  /**
+   * @brief NRF52 timer peripheral.
+   */
+  NRF_TIMER_Type          *timer;
+  /**
+   * @brief Driver state.
+   */
+  nrf52_state_t           state;
+  /**
+   * @brief RF parameters.
+   */
+  nrf52_config_t          config;
+  /**
+   * @brief Interrupts flag.
+   */
+  nrf52_int_flags_t	      flags;
+  /**
+   * @brief TX attempt number.
+   */
+  uint16_t                tx_attempt;
+  /**
+   * @brief TX retransmits remaining.
+   */
+  uint16_t                tx_remaining;
+  /**
+   * @brief Radio events source.
+   */
+  event_source_t eventsrc;
+} RFDriver;
+
+extern RFDriver RFD1;
+
+nrf52_error_t radio_init(nrf52_config_t const *config);
+nrf52_error_t radio_disable(void);
+nrf52_error_t radio_write_payload(nrf52_payload_t const * p_payload);
+nrf52_error_t radio_read_rx_payload(nrf52_payload_t * p_payload);
+nrf52_error_t radio_start_tx(void);
+nrf52_error_t radio_start_rx(void);
+nrf52_error_t radio_stop_rx(void);
+nrf52_error_t radio_flush_tx(void);
+nrf52_error_t radio_flush_rx(void);
+nrf52_error_t radio_pop_tx(void);
+nrf52_error_t radio_set_base_address_0(uint8_t const * p_addr);
+nrf52_error_t radio_set_base_address_1(uint8_t const * p_addr);
+nrf52_error_t radio_set_prefixes(uint8_t const * p_prefixes, uint8_t num_pipes);
+nrf52_error_t radio_set_prefix(uint8_t pipe, uint8_t prefix);
+
+#endif /* NRF52_RADIO_H_ */
diff --git a/testhal/STM32/STM32F0xx/crc/Makefile b/testhal/STM32/STM32F0xx/crc/Makefile
index 7dfc020..0c36874 100644
--- a/testhal/STM32/STM32F0xx/crc/Makefile
+++ b/testhal/STM32/STM32F0xx/crc/Makefile
@@ -81,8 +81,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f0xx.mk
 # HAL-OSAL files (optional).
@@ -103,19 +105,13 @@ LDSCRIPT= $(STARTUPLD)/STM32F051x8.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -138,12 +134,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
+INCDIR = $(ALLINC) $(TESTINC) \
          $(CHIBIOS_CONTRIB)/os/various
 
 #
diff --git a/testhal/STM32/STM32F0xx/crc/chconf.h b/testhal/STM32/STM32F0xx/crc/chconf.h
index 53bd676..58cd5db 100644
--- a/testhal/STM32/STM32F0xx/crc/chconf.h
+++ b/testhal/STM32/STM32F0xx/crc/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F0xx/onewire/Makefile b/testhal/STM32/STM32F0xx/onewire/Makefile
index cb248f6..c598f7f 100644
--- a/testhal/STM32/STM32F0xx/onewire/Makefile
+++ b/testhal/STM32/STM32F0xx/onewire/Makefile
@@ -81,9 +81,11 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 TESTHAL = $(CHIBIOS_CONTRIB)/testhal/common/onewire
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f0xx.mk
 # HAL-OSAL files (optional).
@@ -104,20 +106,14 @@ LDSCRIPT= $(STARTUPLD)/STM32F051x8.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c \
        $(TESTHAL)/testhal_onewire.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -140,13 +136,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS_CONTRIB)/os/various \
+INCDIR = $(ALLINC) $(TESTINC) \
          $(TESTHAL)
 
 #
diff --git a/testhal/STM32/STM32F0xx/onewire/chconf.h b/testhal/STM32/STM32F0xx/onewire/chconf.h
index 9339775..1f43bf9 100644
--- a/testhal/STM32/STM32F0xx/onewire/chconf.h
+++ b/testhal/STM32/STM32F0xx/onewire/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                16
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               16
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              16
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 0
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F0xx/qei/Makefile b/testhal/STM32/STM32F0xx/qei/Makefile
index 7dfc020..3fd75c3 100644
--- a/testhal/STM32/STM32F0xx/qei/Makefile
+++ b/testhal/STM32/STM32F0xx/qei/Makefile
@@ -81,8 +81,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f0xx.mk
 # HAL-OSAL files (optional).
@@ -103,19 +105,13 @@ LDSCRIPT= $(STARTUPLD)/STM32F051x8.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -138,13 +134,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS_CONTRIB)/os/various
+INCDIR = $(ALLINC) $(TESTINC)
 
 #
 # Project, sources and paths
diff --git a/testhal/STM32/STM32F0xx/qei/chconf.h b/testhal/STM32/STM32F0xx/qei/chconf.h
index 53bd676..58cd5db 100644
--- a/testhal/STM32/STM32F0xx/qei/chconf.h
+++ b/testhal/STM32/STM32F0xx/qei/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F1xx/onewire/Makefile b/testhal/STM32/STM32F1xx/onewire/Makefile
index 5b72418..4d217ed 100644
--- a/testhal/STM32/STM32F1xx/onewire/Makefile
+++ b/testhal/STM32/STM32F1xx/onewire/Makefile
@@ -86,9 +86,11 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 TESTHAL = $(CHIBIOS_CONTRIB)/testhal/common/onewire
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.mk
 # HAL-OSAL files (optional).
@@ -109,20 +111,14 @@ LDSCRIPT= $(STARTUPLD)/STM32F103xB.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c \
        $(TESTHAL)/testhal_onewire.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -145,13 +141,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS_CONTRIB)/os/various \
+INCDIR = $(ALLINC) $(TESTINC) \
          $(TESTHAL)
 
 #
diff --git a/testhal/STM32/STM32F1xx/onewire/chconf.h b/testhal/STM32/STM32F1xx/onewire/chconf.h
index 42ee69b..c0052b1 100644
--- a/testhal/STM32/STM32F1xx/onewire/chconf.h
+++ b/testhal/STM32/STM32F1xx/onewire/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                16
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F1xx/qei/Makefile b/testhal/STM32/STM32F1xx/qei/Makefile
index f7a7450..ff058da 100644
--- a/testhal/STM32/STM32F1xx/qei/Makefile
+++ b/testhal/STM32/STM32F1xx/qei/Makefile
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.mk
 # HAL-OSAL files (optional).
@@ -108,19 +110,13 @@ LDSCRIPT= $(STARTUPLD)/STM32F103xB.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -143,13 +139,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS_CONTRIB)/os/various
+INCDIR = $(ALLINC) $(TESTINC)
 
 #
 # Project, sources and paths
diff --git a/testhal/STM32/STM32F1xx/qei/chconf.h b/testhal/STM32/STM32F1xx/qei/chconf.h
index 42ee69b..c0052b1 100644
--- a/testhal/STM32/STM32F1xx/qei/chconf.h
+++ b/testhal/STM32/STM32F1xx/qei/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                16
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F3xx/COMP/Makefile b/testhal/STM32/STM32F3xx/COMP/Makefile
index 0e3d04d..e2dac00 100644
--- a/testhal/STM32/STM32F3xx/COMP/Makefile
+++ b/testhal/STM32/STM32F3xx/COMP/Makefile
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f3xx.mk
 # HAL-OSAL files (optional).
@@ -108,19 +110,13 @@ LDSCRIPT= $(STARTUPLD)/STM32F303xC.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -143,13 +139,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS_CONTRIB)/os/various
+INCDIR = $(ALLINC) $(TESTINC)
 
 #
 # Project, sources and paths
diff --git a/testhal/STM32/STM32F3xx/COMP/chconf.h b/testhal/STM32/STM32F3xx/COMP/chconf.h
index 53bd676..58cd5db 100644
--- a/testhal/STM32/STM32F3xx/COMP/chconf.h
+++ b/testhal/STM32/STM32F3xx/COMP/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F3xx/EEProm/Makefile b/testhal/STM32/STM32F3xx/EEProm/Makefile
index 0e3d04d..e2dac00 100644
--- a/testhal/STM32/STM32F3xx/EEProm/Makefile
+++ b/testhal/STM32/STM32F3xx/EEProm/Makefile
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f3xx.mk
 # HAL-OSAL files (optional).
@@ -108,19 +110,13 @@ LDSCRIPT= $(STARTUPLD)/STM32F303xC.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -143,13 +139,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS_CONTRIB)/os/various
+INCDIR = $(ALLINC) $(TESTINC)
 
 #
 # Project, sources and paths
diff --git a/testhal/STM32/STM32F3xx/EEProm/chconf.h b/testhal/STM32/STM32F3xx/EEProm/chconf.h
index 53bd676..58cd5db 100644
--- a/testhal/STM32/STM32F3xx/EEProm/chconf.h
+++ b/testhal/STM32/STM32F3xx/EEProm/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F3xx/OPAMP/Makefile b/testhal/STM32/STM32F3xx/OPAMP/Makefile
new file mode 100644
index 0000000..e2dac00
--- /dev/null
+++ b/testhal/STM32/STM32F3xx/OPAMP/Makefile
@@ -0,0 +1,214 @@
+##############################################################################
+# Build global options
+# NOTE: Can be overridden externally.
+#
+
+# Compiler options here.
+ifeq ($(USE_OPT),)
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
+endif
+
+# C specific options here (added to USE_OPT).
+ifeq ($(USE_COPT),)
+  USE_COPT = 
+endif
+
+# C++ specific options here (added to USE_OPT).
+ifeq ($(USE_CPPOPT),)
+  USE_CPPOPT = -fno-rtti
+endif
+
+# Enable this if you want the linker to remove unused code and data
+ifeq ($(USE_LINK_GC),)
+  USE_LINK_GC = yes
+endif
+
+# Linker extra options here.
+ifeq ($(USE_LDOPT),)
+  USE_LDOPT = 
+endif
+
+# Enable this if you want link time optimizations (LTO)
+ifeq ($(USE_LTO),)
+  USE_LTO = yes
+endif
+
+# If enabled, this option allows to compile the application in THUMB mode.
+ifeq ($(USE_THUMB),)
+  USE_THUMB = yes
+endif
+
+# Enable this if you want to see the full log while compiling.
+ifeq ($(USE_VERBOSE_COMPILE),)
+  USE_VERBOSE_COMPILE = no
+endif
+
+# If enabled, this option makes the build process faster by not compiling
+# modules not used in the current configuration.
+ifeq ($(USE_SMART_BUILD),)
+  USE_SMART_BUILD = yes
+endif
+
+#
+# Build global options
+##############################################################################
+
+##############################################################################
+# Architecture or project specific options
+#
+
+# Stack size to be allocated to the Cortex-M process stack. This stack is
+# the stack used by the main() thread.
+ifeq ($(USE_PROCESS_STACKSIZE),)
+  USE_PROCESS_STACKSIZE = 0x400
+endif
+
+# Stack size to the allocated to the Cortex-M main/exceptions stack. This
+# stack is used for processing interrupts and exceptions.
+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
+  USE_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
+# Enables the use of FPU (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
+#
+# Architecture or project specific options
+##############################################################################
+
+##############################################################################
+# Project, sources and paths
+#
+
+# Define project name here
+PROJECT = ch
+
+# Imported source files and paths
+CHIBIOS = ../../../../../ChibiOS
+CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
+# Startup files.
+include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f3xx.mk
+# HAL-OSAL files (optional).
+include $(CHIBIOS_CONTRIB)/os/hal/hal.mk
+include $(CHIBIOS_CONTRIB)/os/hal/ports/STM32/STM32F3xx/platform.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32F3_DISCOVERY/board.mk
+include $(CHIBIOS)/os/hal/osal/rt/osal.mk
+# RTOS files (optional).
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
+# Other files (optional).
+#include $(CHIBIOS)/test/lib/test.mk
+#include $(CHIBIOS)/test/rt/rt_test.mk
+#include $(CHIBIOS)/test/oslib/oslib_test.mk
+
+# Define linker script file here
+LDSCRIPT= $(STARTUPLD)/STM32F303xC.ld
+
+# C sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CSRC = $(ALLCSRC) \
+       $(TESTSRC) \
+       main.c
+
+# C++ sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CPPSRC = $(ALLCPPSRC)
+
+# C sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACSRC =
+
+# C++ sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACPPSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCPPSRC =
+
+# List ASM source files here
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
+
+INCDIR = $(ALLINC) $(TESTINC)
+
+#
+# Project, sources and paths
+##############################################################################
+
+##############################################################################
+# Compiler settings
+#
+
+MCU  = cortex-m4
+
+#TRGT = arm-elf-
+TRGT = arm-none-eabi-
+CC   = $(TRGT)gcc
+CPPC = $(TRGT)g++
+# Enable loading with g++ only if you need C++ runtime support.
+# NOTE: You can use C++ even without C++ support if you are careful. C++
+#       runtime support makes code size explode.
+LD   = $(TRGT)gcc
+#LD   = $(TRGT)g++
+CP   = $(TRGT)objcopy
+AS   = $(TRGT)gcc -x assembler-with-cpp
+AR   = $(TRGT)ar
+OD   = $(TRGT)objdump
+SZ   = $(TRGT)size
+HEX  = $(CP) -O ihex
+BIN  = $(CP) -O binary
+
+# ARM-specific options here
+AOPT =
+
+# THUMB-specific options here
+TOPT = -mthumb -DTHUMB
+
+# Define C warning options here
+CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes
+
+# Define C++ warning options here
+CPPWARN = -Wall -Wextra -Wundef
+
+#
+# Compiler settings
+##############################################################################
+
+##############################################################################
+# Start of user section
+#
+
+# List all user C define here, like -D_DEBUG=1
+UDEFS =
+
+# Define ASM defines here
+UADEFS =
+
+# List all user directories here
+UINCDIR =
+
+# List the user directory to look for the libraries here
+ULIBDIR =
+
+# List all user libraries here
+ULIBS =
+
+#
+# End of user defines
+##############################################################################
+
+RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
+include $(RULESPATH)/rules.mk
diff --git a/testhal/STM32/STM32F3xx/OPAMP/chconf.h b/testhal/STM32/STM32F3xx/OPAMP/chconf.h
new file mode 100644
index 0000000..58cd5db
--- /dev/null
+++ b/testhal/STM32/STM32F3xx/OPAMP/chconf.h
@@ -0,0 +1,696 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    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    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
+ *
+ * @addtogroup config
+ * @details Kernel related settings and hooks.
+ * @{
+ */
+
+#ifndef CHCONF_H
+#define CHCONF_H
+
+#define _CHIBIOS_RT_CONF_
+#define _CHIBIOS_RT_CONF_VER_5_1_
+
+/*===========================================================================*/
+/**
+ * @name System timers settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   System time counter resolution.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_ST_RESOLUTION)
+#define CH_CFG_ST_RESOLUTION                32
+#endif
+
+/**
+ * @brief   System tick frequency.
+ * @details Frequency of the system timer that drives the system ticks. This
+ *          setting also defines the system tick time unit.
+ */
+#if !defined(CH_CFG_ST_FREQUENCY)
+#define CH_CFG_ST_FREQUENCY                 10000
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               32
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#if !defined(CH_CFG_ST_TIMEDELTA)
+#define CH_CFG_ST_TIMEDELTA                 2
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Round robin interval.
+ * @details This constant is the number of system ticks allowed for the
+ *          threads before preemption occurs. Setting this value to zero
+ *          disables the preemption for threads with equal priority and the
+ *          round robin becomes cooperative. Note that higher priority
+ *          threads can still preempt, the kernel is always preemptive.
+ * @note    Disabling the round robin preemption makes the kernel more compact
+ *          and generally faster.
+ * @note    The round robin preemption is not supported in tickless mode and
+ *          must be set to zero in that case.
+ */
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 0
+#endif
+
+/**
+ * @brief   Managed RAM size.
+ * @details Size of the RAM area to be managed by the OS. If set to zero
+ *          then the whole available RAM is used. The core memory is made
+ *          available to the heap allocator and/or can be used directly through
+ *          the simplified core memory allocator.
+ *
+ * @note    In order to let the OS manage the whole RAM the linker script must
+ *          provide the @p __heap_base__ and @p __heap_end__ symbols.
+ * @note    Requires @p CH_CFG_USE_MEMCORE.
+ */
+#if !defined(CH_CFG_MEMCORE_SIZE)
+#define CH_CFG_MEMCORE_SIZE                 0
+#endif
+
+/**
+ * @brief   Idle thread automatic spawn suppression.
+ * @details When this option is activated the function @p chSysInit()
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop.
+ */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
+#define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Performance options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   OS optimization.
+ * @details If enabled then time efficient rather than space efficient code
+ *          is used when two possible implementations exist.
+ *
+ * @note    This is not related to the compiler optimization options.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Subsystem options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_TM)
+#define CH_CFG_USE_TM                       FALSE
+#endif
+
+/**
+ * @brief   Threads registry APIs.
+ * @details If enabled then the registry APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_REGISTRY)
+#define CH_CFG_USE_REGISTRY                 TRUE
+#endif
+
+/**
+ * @brief   Threads synchronization APIs.
+ * @details If enabled then the @p chThdWait() function is included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_WAITEXIT)
+#define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
+
+/**
+ * @brief   Semaphores APIs.
+ * @details If enabled then the Semaphores APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_SEMAPHORES)
+#define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
+
+/**
+ * @brief   Semaphores queuing mode.
+ * @details If enabled then the threads are enqueued on semaphores by
+ *          priority rather than in FIFO order.
+ *
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
+
+/**
+ * @brief   Mutexes APIs.
+ * @details If enabled then the mutexes APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MUTEXES)
+#define CH_CFG_USE_MUTEXES                  TRUE
+#endif
+
+/**
+ * @brief   Enables recursive behavior on mutexes.
+ * @note    Recursive mutexes are heavier and have an increased
+ *          memory footprint.
+ *
+ * @note    The default is @p FALSE.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
+ */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
+#define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
+
+/**
+ * @brief   Conditional Variables APIs.
+ * @details If enabled then the conditional variables APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
+ */
+#if !defined(CH_CFG_USE_CONDVARS)
+#define CH_CFG_USE_CONDVARS                 TRUE
+#endif
+
+/**
+ * @brief   Conditional Variables APIs with timeout.
+ * @details If enabled then the conditional variables APIs with timeout
+ *          specification are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_CONDVARS.
+ */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
+
+/**
+ * @brief   Events Flags APIs.
+ * @details If enabled then the event flags APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_EVENTS)
+#define CH_CFG_USE_EVENTS                   TRUE
+#endif
+
+/**
+ * @brief   Events Flags APIs with timeout.
+ * @details If enabled then the events APIs with timeout specification
+ *          are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_EVENTS.
+ */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
+
+/**
+ * @brief   Synchronous Messages APIs.
+ * @details If enabled then the synchronous messages APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MESSAGES)
+#define CH_CFG_USE_MESSAGES                 TRUE
+#endif
+
+/**
+ * @brief   Synchronous Messages queuing mode.
+ * @details If enabled then messages are served by priority rather than in
+ *          FIFO order.
+ *
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_MESSAGES.
+ */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
+
+/**
+ * @brief   Mailboxes APIs.
+ * @details If enabled then the asynchronous messages (mailboxes) APIs are
+ *          included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#if !defined(CH_CFG_USE_MAILBOXES)
+#define CH_CFG_USE_MAILBOXES                TRUE
+#endif
+
+/**
+ * @brief   Core Memory Manager APIs.
+ * @details If enabled then the core memory manager APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCORE)
+#define CH_CFG_USE_MEMCORE                  TRUE
+#endif
+
+/**
+ * @brief   Heap Allocator APIs.
+ * @details If enabled then the memory heap allocator APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
+ *          @p CH_CFG_USE_SEMAPHORES.
+ * @note    Mutexes are recommended.
+ */
+#if !defined(CH_CFG_USE_HEAP)
+#define CH_CFG_USE_HEAP                     TRUE
+#endif
+
+/**
+ * @brief   Memory Pools Allocator APIs.
+ * @details If enabled then the memory pools allocator APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMPOOLS)
+#define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
+
+/**
+ * @brief   Dynamic Threads APIs.
+ * @details If enabled then the dynamic threads creation APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_WAITEXIT.
+ * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
+ */
+#if !defined(CH_CFG_USE_DYNAMIC)
+#define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  TRUE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Debug options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_STATISTICS)
+#define CH_DBG_STATISTICS                   FALSE
+#endif
+
+/**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
+
+/**
+ * @brief   Debug option, parameters checks.
+ * @details If enabled then the checks on the API functions input
+ *          parameters are activated.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
+
+/**
+ * @brief   Debug option, consistency checks.
+ * @details If enabled then all the assertions in the kernel code are
+ *          activated. This includes consistency checks inside the kernel,
+ *          runtime anomalies and port-defined checks.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
+
+/**
+ * @brief   Debug option, trace buffer.
+ * @details If enabled then the trace buffer is activated.
+ *
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
+
+/**
+ * @brief   Debug option, stack checks.
+ * @details If enabled then a runtime stack check is performed.
+ *
+ * @note    The default is @p FALSE.
+ * @note    The stack check is performed in a architecture/port dependent way.
+ *          It may not be implemented or some ports.
+ * @note    The default failure mode is to halt the system with the global
+ *          @p panic_msg variable set to @p NULL.
+ */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
+
+/**
+ * @brief   Debug option, stacks initialization.
+ * @details If enabled then the threads working area is filled with a byte
+ *          value when a thread is created. This can be useful for the
+ *          runtime measurement of the used stack.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
+
+/**
+ * @brief   Debug option, threads profiling.
+ * @details If enabled then a field is added to the @p thread_t structure that
+ *          counts the system ticks occurred while executing the thread.
+ *
+ * @note    The default is @p FALSE.
+ * @note    This debug option is not currently compatible with the
+ *          tickless mode.
+ */
+#if !defined(CH_DBG_THREADS_PROFILING)
+#define CH_DBG_THREADS_PROFILING            FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel hooks
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
+ * @brief   Threads descriptor structure extension.
+ * @details User fields added to the end of the @p thread_t structure.
+ */
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   Threads initialization hook.
+ * @details User initialization code added to the @p _thread_init() function.
+ *
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
+ *          the threads creation APIs.
+ */
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
+ * @brief   Threads finalization hook.
+ * @details User finalization code added to the @p chThdExit() API.
+ */
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
+  /* Add threads finalization code here.*/                                  \
+}
+
+/**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* Context switch code here.*/                                            \
+}
+
+/**
+ * @brief   ISR enter hook.
+ */
+#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
+  /* IRQ prologue code here.*/                                              \
+}
+
+/**
+ * @brief   ISR exit hook.
+ */
+#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
+  /* IRQ epilogue code here.*/                                              \
+}
+
+/**
+ * @brief   Idle thread enter hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to activate a power saving mode.
+ */
+#define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
+}
+
+/**
+ * @brief   Idle thread leave hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to deactivate a power saving mode.
+ */
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
+}
+
+/**
+ * @brief   Idle Loop hook.
+ * @details This hook is continuously invoked by the idle thread loop.
+ */
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
+  /* Idle loop code here.*/                                                 \
+}
+
+/**
+ * @brief   System tick event hook.
+ * @details This hook is invoked in the system tick handler immediately
+ *          after processing the virtual timers queue.
+ */
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
+  /* System tick event code here.*/                                         \
+}
+
+/**
+ * @brief   System halt hook.
+ * @details This hook is invoked in case to a system halting error before
+ *          the system is halted.
+ */
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
+  /* System halt code here.*/                                               \
+}
+
+/**
+ * @brief   Trace hook.
+ * @details This hook is invoked each time a new record is written in the
+ *          trace buffer.
+ */
+#define CH_CFG_TRACE_HOOK(tep) {                                            \
+  /* Trace code here.*/                                                     \
+}
+
+/** @} */
+
+/*===========================================================================*/
+/* Port-specific settings (override port settings defaulted in chcore.h).    */
+/*===========================================================================*/
+
+#endif  /* CHCONF_H */
+
+/** @} */
diff --git a/testhal/STM32/STM32F3xx/OPAMP/halconf.h b/testhal/STM32/STM32F3xx/OPAMP/halconf.h
new file mode 100644
index 0000000..9192b27
--- /dev/null
+++ b/testhal/STM32/STM32F3xx/OPAMP/halconf.h
@@ -0,0 +1,419 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    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    templates/halconf.h
+ * @brief   HAL configuration header.
+ * @details HAL configuration file, this file allows to enable or disable the
+ *          various device drivers from your application. You may also use
+ *          this file in order to override the device drivers default settings.
+ *
+ * @addtogroup HAL_CONF
+ * @{
+ */
+
+#ifndef HALCONF_H
+#define HALCONF_H
+
+#include "mcuconf.h"
+
+/**
+ * @brief   Enables the PAL subsystem.
+ */
+#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
+#define HAL_USE_PAL                 TRUE
+#endif
+
+/**
+ * @brief   Enables the ADC subsystem.
+ */
+#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
+#define HAL_USE_ADC                 TRUE
+#endif
+
+/**
+ * @brief   Enables the CAN subsystem.
+ */
+#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
+#define HAL_USE_CAN                 FALSE
+#endif
+
+/**
+ * @brief   Enables the cryptographic subsystem.
+ */
+#if !defined(HAL_USE_CRY) || defined(__DOXYGEN__)
+#define HAL_USE_CRY                 FALSE
+#endif
+
+/**
+ * @brief   Enables the DAC subsystem.
+ */
+#if !defined(HAL_USE_DAC) || defined(__DOXYGEN__)
+#define HAL_USE_DAC                 TRUE
+#endif
+
+/**
+ * @brief   Enables the EXT subsystem.
+ */
+#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
+#define HAL_USE_EXT                 FALSE
+#endif
+
+/**
+ * @brief   Enables the GPT subsystem.
+ */
+#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
+#define HAL_USE_GPT                 TRUE
+#endif
+
+/**
+ * @brief   Enables the I2C subsystem.
+ */
+#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
+#define HAL_USE_I2C                 FALSE
+#endif
+
+/**
+ * @brief   Enables the I2S subsystem.
+ */
+#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)
+#define HAL_USE_I2S                 FALSE
+#endif
+
+/**
+ * @brief   Enables the ICU subsystem.
+ */
+#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
+#define HAL_USE_ICU                 FALSE
+#endif
+
+/**
+ * @brief   Enables the MAC subsystem.
+ */
+#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
+#define HAL_USE_MAC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the MMC_SPI subsystem.
+ */
+#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_MMC_SPI             FALSE
+#endif
+
+/**
+ * @brief   Enables the PWM subsystem.
+ */
+#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
+#define HAL_USE_PWM                 FALSE
+#endif
+
+/**
+ * @brief   Enables the QSPI subsystem.
+ */
+#if !defined(HAL_USE_QSPI) || defined(__DOXYGEN__)
+#define HAL_USE_QSPI                FALSE
+#endif
+
+/**
+ * @brief   Enables the RTC subsystem.
+ */
+#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
+#define HAL_USE_RTC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the SDC subsystem.
+ */
+#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
+#define HAL_USE_SDC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the SERIAL subsystem.
+ */
+#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL              FALSE
+#endif
+
+/**
+ * @brief   Enables the SERIAL over USB subsystem.
+ */
+#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL_USB          FALSE
+#endif
+
+/**
+ * @brief   Enables the SPI subsystem.
+ */
+#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_SPI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the UART subsystem.
+ */
+#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
+#define HAL_USE_UART                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB subsystem.
+ */
+#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
+#define HAL_USE_USB                 FALSE
+#endif
+
+/**
+ * @brief   Enables the WDG subsystem.
+ */
+#if !defined(HAL_USE_WDG) || defined(__DOXYGEN__)
+#define HAL_USE_WDG                 FALSE
+#endif
+
+/*===========================================================================*/
+/* ADC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
+#define ADC_USE_WAIT                TRUE
+#endif
+
+/**
+ * @brief   Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define ADC_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+/*===========================================================================*/
+/* CAN driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Sleep mode related APIs inclusion switch.
+ */
+#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
+#define CAN_USE_SLEEP_MODE          TRUE
+#endif
+
+/*===========================================================================*/
+/* CRY driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the SW fall-back of the cryptographic driver.
+ * @details When enabled, this option, activates a fall-back software
+ *          implementation for algorithms not supported by the underlying
+ *          hardware.
+ * @note    Fall-back implementations may not be present for all algorithms.
+ */
+#if !defined(HAL_CRY_USE_FALLBACK) || defined(__DOXYGEN__)
+#define HAL_CRY_USE_FALLBACK                FALSE
+#endif
+
+/**
+ * @brief   Makes the driver forcibly use the fall-back implementations.
+ */
+#if !defined(HAL_CRY_ENFORCE_FALLBACK) || defined(__DOXYGEN__)
+#define HAL_CRY_ENFORCE_FALLBACK            FALSE
+#endif
+
+/*===========================================================================*/
+/* I2C driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the mutual exclusion APIs on the I2C bus.
+ */
+#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define I2C_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+/*===========================================================================*/
+/* MAC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables an event sources for incoming packets.
+ */
+#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)
+#define MAC_USE_ZERO_COPY           FALSE
+#endif
+
+/**
+ * @brief   Enables an event sources for incoming packets.
+ */
+#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__)
+#define MAC_USE_EVENTS              TRUE
+#endif
+
+/*===========================================================================*/
+/* MMC_SPI driver related settings.                                          */
+/*===========================================================================*/
+
+/**
+ * @brief   Delays insertions.
+ * @details If enabled this options inserts delays into the MMC waiting
+ *          routines releasing some extra CPU time for the threads with
+ *          lower priority, this may slow down the driver a bit however.
+ *          This option is recommended also if the SPI driver does not
+ *          use a DMA channel and heavily loads the CPU.
+ */
+#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
+#define MMC_NICE_WAITING            TRUE
+#endif
+
+/*===========================================================================*/
+/* SDC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Number of initialization attempts before rejecting the card.
+ * @note    Attempts are performed at 10mS intervals.
+ */
+#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__)
+#define SDC_INIT_RETRY              100
+#endif
+
+/**
+ * @brief   Include support for MMC cards.
+ * @note    MMC support is not yet implemented so this option must be kept
+ *          at @p FALSE.
+ */
+#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__)
+#define SDC_MMC_SUPPORT             FALSE
+#endif
+
+/**
+ * @brief   Delays insertions.
+ * @details If enabled this options inserts delays into the MMC waiting
+ *          routines releasing some extra CPU time for the threads with
+ *          lower priority, this may slow down the driver a bit however.
+ */
+#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__)
+#define SDC_NICE_WAITING            TRUE
+#endif
+
+/*===========================================================================*/
+/* SERIAL driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Default bit rate.
+ * @details Configuration parameter, this is the baud rate selected for the
+ *          default configuration.
+ */
+#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
+#define SERIAL_DEFAULT_BITRATE      38400
+#endif
+
+/**
+ * @brief   Serial buffers size.
+ * @details Configuration parameter, you can change the depth of the queue
+ *          buffers depending on the requirements of your application.
+ * @note    The default is 16 bytes for both the transmission and receive
+ *          buffers.
+ */
+#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_BUFFERS_SIZE         16
+#endif
+
+/*===========================================================================*/
+/* SERIAL_USB driver related setting.                                        */
+/*===========================================================================*/
+
+/**
+ * @brief   Serial over USB buffers size.
+ * @details Configuration parameter, the buffer size must be a multiple of
+ *          the USB data endpoint maximum packet size.
+ * @note    The default is 256 bytes for both the transmission and receive
+ *          buffers.
+ */
+#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_USB_BUFFERS_SIZE     256
+#endif
+
+/**
+ * @brief   Serial over USB number of buffers.
+ * @note    The default is 2 buffers.
+ */
+#if !defined(SERIAL_USB_BUFFERS_NUMBER) || defined(__DOXYGEN__)
+#define SERIAL_USB_BUFFERS_NUMBER   2
+#endif
+
+/*===========================================================================*/
+/* SPI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
+#define SPI_USE_WAIT                TRUE
+#endif
+
+/**
+ * @brief   Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define SPI_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+/*===========================================================================*/
+/* UART driver related settings.                                             */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(UART_USE_WAIT) || defined(__DOXYGEN__)
+#define UART_USE_WAIT               FALSE
+#endif
+
+/**
+ * @brief   Enables the @p uartAcquireBus() and @p uartReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(UART_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define UART_USE_MUTUAL_EXCLUSION   FALSE
+#endif
+
+/*===========================================================================*/
+/* USB driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(USB_USE_WAIT) || defined(__DOXYGEN__)
+#define USB_USE_WAIT                FALSE
+#endif
+
+#include "halconf_community.h"
+
+#endif /* HALCONF_H */
+
+/** @} */
diff --git a/testhal/STM32/STM32F3xx/OPAMP/halconf_community.h b/testhal/STM32/STM32F3xx/OPAMP/halconf_community.h
new file mode 100644
index 0000000..6f56cd8
--- /dev/null
+++ b/testhal/STM32/STM32F3xx/OPAMP/halconf_community.h
@@ -0,0 +1,180 @@
+/*
+    ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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 HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief   Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY           TRUE
+#endif
+
+/**
+ * @brief   Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC                FALSE
+#endif
+
+/**
+ * @brief   Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND                FALSE
+#endif
+
+/**
+ * @brief   Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE             FALSE
+#endif
+
+/**
+ * @brief   Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU                FALSE
+#endif
+
+/**
+ * @brief   Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP              FALSE
+#endif
+
+/**
+ * @brief   Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP                TRUE
+#endif
+
+/**
+ * @brief   Enables the OPAMP subsystem.
+ */
+#if !defined(HAL_USE_OPAMP) || defined(__DOXYGEN__)
+#define HAL_USE_OPAMP                TRUE
+#endif
+
+/**
+ * @brief   Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD             FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION   TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings.                                           */
+/*===========================================================================*/
+/**
+ * @brief   Enables strong pull up feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP   FALSE
+
+/**
+ * @brief   Enables search ROM feature.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM      TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables 24xx series I2C eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief   Enables 25xx series SPI eeprom device driver.
+ * @note    Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/testhal/STM32/STM32F3xx/OPAMP/main.c b/testhal/STM32/STM32F3xx/OPAMP/main.c
new file mode 100644
index 0000000..39af13c
--- /dev/null
+++ b/testhal/STM32/STM32F3xx/OPAMP/main.c
@@ -0,0 +1,132 @@
+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+    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.
+*/
+
+#include "ch.h"
+#include "hal.h"
+
+#define DAC_BUFFER_SIZE 360
+
+/*
+ * DAC test buffer (sine wave).
+ */
+static const dacsample_t dac_buffer[DAC_BUFFER_SIZE] = {
+  2047, 2082, 2118, 2154, 2189, 2225, 2260, 2296, 2331, 2367, 2402, 2437,
+  2472, 2507, 2542, 2576, 2611, 2645, 2679, 2713, 2747, 2780, 2813, 2846,
+  2879, 2912, 2944, 2976, 3008, 3039, 3070, 3101, 3131, 3161, 3191, 3221,
+  3250, 3278, 3307, 3335, 3362, 3389, 3416, 3443, 3468, 3494, 3519, 3544,
+  3568, 3591, 3615, 3637, 3660, 3681, 3703, 3723, 3744, 3763, 3782, 3801,
+  3819, 3837, 3854, 3870, 3886, 3902, 3917, 3931, 3944, 3958, 3970, 3982,
+  3993, 4004, 4014, 4024, 4033, 4041, 4049, 4056, 4062, 4068, 4074, 4078,
+  4082, 4086, 4089, 4091, 4092, 4093, 4094, 4093, 4092, 4091, 4089, 4086,
+  4082, 4078, 4074, 4068, 4062, 4056, 4049, 4041, 4033, 4024, 4014, 4004,
+  3993, 3982, 3970, 3958, 3944, 3931, 3917, 3902, 3886, 3870, 3854, 3837,
+  3819, 3801, 3782, 3763, 3744, 3723, 3703, 3681, 3660, 3637, 3615, 3591,
+  3568, 3544, 3519, 3494, 3468, 3443, 3416, 3389, 3362, 3335, 3307, 3278,
+  3250, 3221, 3191, 3161, 3131, 3101, 3070, 3039, 3008, 2976, 2944, 2912,
+  2879, 2846, 2813, 2780, 2747, 2713, 2679, 2645, 2611, 2576, 2542, 2507,
+  2472, 2437, 2402, 2367, 2331, 2296, 2260, 2225, 2189, 2154, 2118, 2082,
+  2047, 2012, 1976, 1940, 1905, 1869, 1834, 1798, 1763, 1727, 1692, 1657,
+  1622, 1587, 1552, 1518, 1483, 1449, 1415, 1381, 1347, 1314, 1281, 1248,
+  1215, 1182, 1150, 1118, 1086, 1055, 1024,  993,  963,  933,  903,  873,
+   844,  816,  787,  759,  732,  705,  678,  651,  626,  600,  575,  550,
+   526,  503,  479,  457,  434,  413,  391,  371,  350,  331,  312,  293,
+   275,  257,  240,  224,  208,  192,  177,  163,  150,  136,  124,  112,
+   101,   90,   80,   70,   61,   53,   45,   38,   32,   26,   20,   16,
+    12,    8,    5,    3,    2,    1,    0,    1,    2,    3,    5,    8,
+    12,   16,   20,   26,   32,   38,   45,   53,   61,   70,   80,   90,
+   101,  112,  124,  136,  150,  163,  177,  192,  208,  224,  240,  257,
+   275,  293,  312,  331,  350,  371,  391,  413,  434,  457,  479,  503,
+   526,  550,  575,  600,  626,  651,  678,  705,  732,  759,  787,  816,
+   844,  873,  903,  933,  963,  993, 1024, 1055, 1086, 1118, 1150, 1182,
+  1215, 1248, 1281, 1314, 1347, 1381, 1415, 1449, 1483, 1518, 1552, 1587,
+  1622, 1657, 1692, 1727, 1763, 1798, 1834, 1869, 1905, 1940, 1976, 2012
+};
+
+static const DACConfig dac1cfg1 = {
+  .init         = 2047U,
+  .datamode     = DAC_DHRM_12BIT_RIGHT,
+  .cr           = 0
+};
+
+static const DACConversionGroup dacgrpcfg1 = {
+  .num_channels = 1U,
+  .end_cb       = NULL,
+  .error_cb     = NULL,
+  .trigger      = DAC_TRG(0)
+};
+
+/*
+ * GPT6 configuration.
+ */
+static const GPTConfig gpt6cfg1 = {
+  .frequency    = 10000U,
+  .callback     = NULL,
+  .cr2          = TIM_CR2_MMS_1,    /* MMS = 010 = TRGO on Update Event.    */
+  .dier         = 0U
+};
+
+/*
+ * OpAmp configuration.
+ * We will double the input voltage
+ */
+static const OPAMPConfig opamp1_conf = {
+  OPAMP1_CSR_VPSEL_PA01 |  // INP connectd to PA1
+  OPAMP1_CSR_VMSEL_PGA  |  // INM connected to PGA
+  OPAMPx_CSR_PGAGAIN_x2 |  // Gain of 2x
+  OPAMPx_CSR_PGACONNECT_GROUND // PGA connected to ground
+};
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+
+  halInit();
+  chSysInit();
+
+  /*
+  * Set PA3 - PA1 to Analog (DAC1_CH1, OPAMP1_INP)
+  * You will have to connect these with a jumper wire
+  */
+  palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
+  palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
+
+  /*
+   * Start peripherals
+   */
+  dacStart(&DACD1, &dac1cfg1);
+  opampStart(&OPAMPD1, &opamp1_conf);
+  gptStart(&GPTD6, &gpt6cfg1);
+
+  /*
+   * Starting a continuous conversion.
+   */
+  dacStartConversion(&DACD1, &dacgrpcfg1, dac_buffer, DAC_BUFFER_SIZE);
+  gptStartContinuous(&GPTD6, 2U);
+
+  opampEnable(&OPAMPD1);
+  opampCalibrate();
+
+  /*
+   * Normal main() thread activity.
+   */
+  while (true) {
+
+    chThdSleepMilliseconds(250);
+    palToggleLine(LINE_LED3_RED);
+  }
+  return 0;
+}
diff --git a/testhal/STM32/STM32F3xx/OPAMP/mcuconf.h b/testhal/STM32/STM32F3xx/OPAMP/mcuconf.h
new file mode 100644
index 0000000..9b14ad7
--- /dev/null
+++ b/testhal/STM32/STM32F3xx/OPAMP/mcuconf.h
@@ -0,0 +1,255 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    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 MCUCONF_H
+#define MCUCONF_H
+
+/*
+ * STM32F3xx drivers configuration.
+ * The following settings override the default settings present in
+ * the various device driver implementation headers.
+ * Note that the settings for each driver only have effect if the whole
+ * driver is enabled in halconf.h.
+ *
+ * IRQ priorities:
+ * 15...0       Lowest...Highest.
+ *
+ * DMA priorities:
+ * 0...3        Lowest...Highest.
+ */
+
+#define STM32F3xx_MCUCONF
+
+/*
+ * HAL driver system settings.
+ */
+#define STM32_NO_INIT                       FALSE
+#define STM32_PVD_ENABLE                    FALSE
+#define STM32_PLS                           STM32_PLS_LEV0
+#define STM32_HSI_ENABLED                   TRUE
+#define STM32_LSI_ENABLED                   TRUE
+#define STM32_HSE_ENABLED                   TRUE
+#define STM32_LSE_ENABLED                   FALSE
+#define STM32_SW                            STM32_SW_PLL
+#define STM32_PLLSRC                        STM32_PLLSRC_HSE
+#define STM32_PREDIV_VALUE                  1
+#define STM32_PLLMUL_VALUE                  9
+#define STM32_HPRE                          STM32_HPRE_DIV1
+#define STM32_PPRE1                         STM32_PPRE1_DIV2
+#define STM32_PPRE2                         STM32_PPRE2_DIV2
+#define STM32_MCOSEL                        STM32_MCOSEL_NOCLOCK
+#define STM32_ADC12PRES                     STM32_ADC12PRES_DIV1
+#define STM32_ADC34PRES                     STM32_ADC34PRES_DIV1
+#define STM32_USART1SW                      STM32_USART1SW_PCLK
+#define STM32_USART2SW                      STM32_USART2SW_PCLK
+#define STM32_USART3SW                      STM32_USART3SW_PCLK
+#define STM32_UART4SW                       STM32_UART4SW_PCLK
+#define STM32_UART5SW                       STM32_UART5SW_PCLK
+#define STM32_I2C1SW                        STM32_I2C1SW_SYSCLK
+#define STM32_I2C2SW                        STM32_I2C2SW_SYSCLK
+#define STM32_TIM1SW                        STM32_TIM1SW_PCLK2
+#define STM32_TIM8SW                        STM32_TIM8SW_PCLK2
+#define STM32_RTCSEL                        STM32_RTCSEL_LSI
+#define STM32_USB_CLOCK_REQUIRED            TRUE
+#define STM32_USBPRE                        STM32_USBPRE_DIV1P5
+
+/*
+ * IRQ system settings.
+ */
+#define STM32_IRQ_EXTI0_PRIORITY            6
+#define STM32_IRQ_EXTI1_PRIORITY            6
+#define STM32_IRQ_EXTI2_PRIORITY            6
+#define STM32_IRQ_EXTI3_PRIORITY            6
+#define STM32_IRQ_EXTI4_PRIORITY            6
+#define STM32_IRQ_EXTI5_9_PRIORITY          6
+#define STM32_IRQ_EXTI10_15_PRIORITY        6
+#define STM32_IRQ_EXTI16_PRIORITY           6
+#define STM32_IRQ_EXTI17_PRIORITY           6
+#define STM32_IRQ_EXTI18_PRIORITY           6
+#define STM32_IRQ_EXTI19_PRIORITY           6
+#define STM32_IRQ_EXTI20_PRIORITY           6
+#define STM32_IRQ_EXTI21_22_29_PRIORITY     6
+#define STM32_IRQ_EXTI30_32_PRIORITY        6
+#define STM32_IRQ_EXTI33_PRIORITY           6
+
+/*
+ * ADC driver system settings.
+ */
+#define STM32_ADC_DUAL_MODE                 FALSE
+#define STM32_ADC_COMPACT_SAMPLES           FALSE
+#define STM32_ADC_USE_ADC1                  TRUE
+#define STM32_ADC_USE_ADC2                  TRUE
+#define STM32_ADC_USE_ADC3                  TRUE
+#define STM32_ADC_USE_ADC4                  TRUE
+#define STM32_ADC_ADC1_DMA_STREAM           STM32_DMA_STREAM_ID(1, 1)
+#define STM32_ADC_ADC2_DMA_STREAM           STM32_DMA_STREAM_ID(2, 1)
+#define STM32_ADC_ADC3_DMA_STREAM           STM32_DMA_STREAM_ID(2, 5)
+#define STM32_ADC_ADC4_DMA_STREAM           STM32_DMA_STREAM_ID(2, 2)
+#define STM32_ADC_ADC1_DMA_PRIORITY         2
+#define STM32_ADC_ADC2_DMA_PRIORITY         2
+#define STM32_ADC_ADC3_DMA_PRIORITY         2
+#define STM32_ADC_ADC4_DMA_PRIORITY         2
+#define STM32_ADC_ADC12_IRQ_PRIORITY        5
+#define STM32_ADC_ADC3_IRQ_PRIORITY         5
+#define STM32_ADC_ADC4_IRQ_PRIORITY         5
+#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY     5
+#define STM32_ADC_ADC2_DMA_IRQ_PRIORITY     5
+#define STM32_ADC_ADC3_DMA_IRQ_PRIORITY     5
+#define STM32_ADC_ADC4_DMA_IRQ_PRIORITY     5
+#define STM32_ADC_ADC12_CLOCK_MODE          ADC_CCR_CKMODE_AHB_DIV1
+#define STM32_ADC_ADC34_CLOCK_MODE          ADC_CCR_CKMODE_AHB_DIV1
+
+/*
+ * CAN driver system settings.
+ */
+#define STM32_CAN_USE_CAN1                  FALSE
+#define STM32_CAN_CAN1_IRQ_PRIORITY         11
+
+/*
+ * DAC driver system settings.
+ */
+#define STM32_DAC_DUAL_MODE                 FALSE
+#define STM32_DAC_USE_DAC1_CH1              TRUE
+#define STM32_DAC_USE_DAC1_CH2              TRUE
+#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY     10
+#define STM32_DAC_DAC1_CH2_IRQ_PRIORITY     10
+#define STM32_DAC_DAC1_CH1_DMA_PRIORITY     2
+#define STM32_DAC_DAC1_CH2_DMA_PRIORITY     2
+
+/*
+ * GPT driver system settings.
+ */
+#define STM32_GPT_USE_TIM1                  FALSE
+#define STM32_GPT_USE_TIM2                  FALSE
+#define STM32_GPT_USE_TIM3                  FALSE
+#define STM32_GPT_USE_TIM4                  FALSE
+#define STM32_GPT_USE_TIM6                  TRUE
+#define STM32_GPT_USE_TIM7                  FALSE
+#define STM32_GPT_USE_TIM8                  FALSE
+#define STM32_GPT_TIM1_IRQ_PRIORITY         7
+#define STM32_GPT_TIM2_IRQ_PRIORITY         7
+#define STM32_GPT_TIM3_IRQ_PRIORITY         7
+#define STM32_GPT_TIM4_IRQ_PRIORITY         7
+#define STM32_GPT_TIM6_IRQ_PRIORITY         7
+#define STM32_GPT_TIM7_IRQ_PRIORITY         7
+#define STM32_GPT_TIM8_IRQ_PRIORITY         7
+
+/*
+ * I2C driver system settings.
+ */
+#define STM32_I2C_USE_I2C1                  FALSE
+#define STM32_I2C_USE_I2C2                  FALSE
+#define STM32_I2C_BUSY_TIMEOUT              50
+#define STM32_I2C_I2C1_IRQ_PRIORITY         10
+#define STM32_I2C_I2C2_IRQ_PRIORITY         10
+#define STM32_I2C_USE_DMA                   TRUE
+#define STM32_I2C_I2C1_DMA_PRIORITY         1
+#define STM32_I2C_I2C2_DMA_PRIORITY         1
+#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      osalSysHalt("DMA failure")
+
+/*
+ * ICU driver system settings.
+ */
+#define STM32_ICU_USE_TIM1                  FALSE
+#define STM32_ICU_USE_TIM2                  FALSE
+#define STM32_ICU_USE_TIM3                  FALSE
+#define STM32_ICU_USE_TIM4                  FALSE
+#define STM32_ICU_USE_TIM8                  FALSE
+#define STM32_ICU_TIM1_IRQ_PRIORITY         7
+#define STM32_ICU_TIM2_IRQ_PRIORITY         7
+#define STM32_ICU_TIM3_IRQ_PRIORITY         7
+#define STM32_ICU_TIM4_IRQ_PRIORITY         7
+#define STM32_ICU_TIM8_IRQ_PRIORITY         7
+
+/*
+ * PWM driver system settings.
+ */
+#define STM32_PWM_USE_ADVANCED              FALSE
+#define STM32_PWM_USE_TIM1                  FALSE
+#define STM32_PWM_USE_TIM2                  FALSE
+#define STM32_PWM_USE_TIM3                  FALSE
+#define STM32_PWM_USE_TIM4                  FALSE
+#define STM32_PWM_USE_TIM8                  FALSE
+#define STM32_PWM_TIM1_IRQ_PRIORITY         7
+#define STM32_PWM_TIM2_IRQ_PRIORITY         7
+#define STM32_PWM_TIM3_IRQ_PRIORITY         7
+#define STM32_PWM_TIM4_IRQ_PRIORITY         7
+#define STM32_PWM_TIM8_IRQ_PRIORITY         7
+
+/*
+ * SERIAL driver system settings.
+ */
+#define STM32_SERIAL_USE_USART1             FALSE
+#define STM32_SERIAL_USE_USART2             FALSE
+#define STM32_SERIAL_USE_USART3             FALSE
+#define STM32_SERIAL_USE_UART4              FALSE
+#define STM32_SERIAL_USE_UART5              FALSE
+#define STM32_SERIAL_USART1_PRIORITY        12
+#define STM32_SERIAL_USART2_PRIORITY        12
+#define STM32_SERIAL_USART3_PRIORITY        12
+#define STM32_SERIAL_UART4_PRIORITY         12
+#define STM32_SERIAL_UART5_PRIORITY         12
+
+/*
+ * SPI driver system settings.
+ */
+#define STM32_SPI_USE_SPI1                  FALSE
+#define STM32_SPI_USE_SPI2                  FALSE
+#define STM32_SPI_USE_SPI3                  FALSE
+#define STM32_SPI_SPI1_DMA_PRIORITY         1
+#define STM32_SPI_SPI2_DMA_PRIORITY         1
+#define STM32_SPI_SPI3_DMA_PRIORITY         1
+#define STM32_SPI_SPI1_IRQ_PRIORITY         10
+#define STM32_SPI_SPI2_IRQ_PRIORITY         10
+#define STM32_SPI_SPI3_IRQ_PRIORITY         10
+#define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
+
+/*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+#define STM32_ST_USE_TIMER                  2
+
+/*
+ * UART driver system settings.
+ */
+#define STM32_UART_USE_USART1               FALSE
+#define STM32_UART_USE_USART2               FALSE
+#define STM32_UART_USE_USART3               FALSE
+#define STM32_UART_USART1_IRQ_PRIORITY      12
+#define STM32_UART_USART2_IRQ_PRIORITY      12
+#define STM32_UART_USART3_IRQ_PRIORITY      12
+#define STM32_UART_USART1_DMA_PRIORITY      0
+#define STM32_UART_USART2_DMA_PRIORITY      0
+#define STM32_UART_USART3_DMA_PRIORITY      0
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
+
+/*
+ * USB driver system settings.
+ */
+#define STM32_USB_USE_USB1                  FALSE
+#define STM32_USB_LOW_POWER_ON_SUSPEND      FALSE
+#define STM32_USB_USB1_HP_IRQ_PRIORITY      13
+#define STM32_USB_USB1_LP_IRQ_PRIORITY      14
+
+/*
+ * WDG driver system settings.
+ */
+#define STM32_WDG_USE_IWDG                  FALSE
+
+#include "mcuconf_community.h"
+
+#endif /* MCUCONF_H */
diff --git a/testhal/STM32/STM32F3xx/OPAMP/mcuconf_community.h b/testhal/STM32/STM32F3xx/OPAMP/mcuconf_community.h
new file mode 100644
index 0000000..2f44dc1
--- /dev/null
+++ b/testhal/STM32/STM32F3xx/OPAMP/mcuconf_community.h
@@ -0,0 +1,165 @@
+/*
+    ChibiOS/RT - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+    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.
+*/
+
+/*
+ * FSMC driver system settings.
+ */
+#define STM32_FSMC_USE_FSMC1                FALSE
+#define STM32_FSMC_FSMC1_IRQ_PRIORITY       10
+
+/*
+ * FSMC NAND driver system settings.
+ */
+#define STM32_NAND_USE_FSMC_NAND1           FALSE
+#define STM32_NAND_USE_FSMC_NAND2           FALSE
+#define STM32_NAND_USE_EXT_INT              FALSE
+#define STM32_NAND_DMA_STREAM               STM32_DMA_STREAM_ID(2, 7)
+#define STM32_NAND_DMA_PRIORITY             0
+#define STM32_NAND_DMA_ERROR_HOOK(nandp)    osalSysHalt("DMA failure")
+
+/*
+ * FSMC SRAM driver system settings.
+ */
+#define STM32_USE_FSMC_SRAM                 FALSE
+#define STM32_SRAM_USE_FSMC_SRAM1           FALSE
+#define STM32_SRAM_USE_FSMC_SRAM2           FALSE
+#define STM32_SRAM_USE_FSMC_SRAM3           FALSE
+#define STM32_SRAM_USE_FSMC_SRAM4           FALSE
+
+/*
+ * FSMC SDRAM driver system settings.
+ */
+#define STM32_USE_FSMC_SDRAM                FALSE
+
+/*
+ * TIMCAP driver system settings.
+ */
+#define STM32_TIMCAP_USE_TIM1                  TRUE
+#define STM32_TIMCAP_USE_TIM2                  FALSE
+#define STM32_TIMCAP_USE_TIM3                  TRUE
+#define STM32_TIMCAP_USE_TIM4                  TRUE
+#define STM32_TIMCAP_USE_TIM5                  TRUE
+#define STM32_TIMCAP_USE_TIM8                  TRUE
+#define STM32_TIMCAP_USE_TIM9                  TRUE
+#define STM32_TIMCAP_TIM1_IRQ_PRIORITY         3
+#define STM32_TIMCAP_TIM2_IRQ_PRIORITY         3
+#define STM32_TIMCAP_TIM3_IRQ_PRIORITY         3
+#define STM32_TIMCAP_TIM4_IRQ_PRIORITY         3
+#define STM32_TIMCAP_TIM5_IRQ_PRIORITY         3
+#define STM32_TIMCAP_TIM8_IRQ_PRIORITY         3
+#define STM32_TIMCAP_TIM9_IRQ_PRIORITY         3
+
+/*
+ * COMP driver system settings.
+ */
+#define STM32_COMP_USE_COMP1                  TRUE
+#define STM32_COMP_USE_COMP2                  TRUE
+#define STM32_COMP_USE_COMP3                  TRUE
+#define STM32_COMP_USE_COMP4                  TRUE
+#define STM32_COMP_USE_COMP5                  TRUE
+#define STM32_COMP_USE_COMP6                  TRUE
+#define STM32_COMP_USE_COMP7                  TRUE
+
+#define STM32_COMP_USE_INTERRUPTS             TRUE
+#define STM32_COMP_1_2_3_IRQ_PRIORITY         5
+#define STM32_COMP_4_5_6_IRQ_PRIORITY         5
+#define STM32_COMP_7_IRQ_PRIORITY             5
+
+#if STM32_COMP_USE_INTERRUPTS
+#define STM32_DISABLE_EXTI21_22_29_HANDLER
+#define STM32_DISABLE_EXTI30_32_HANDLER
+#define STM32_DISABLE_EXTI33_HANDLER
+#endif
+
+/*
+ * OPAMP driver system settings.
+ */
+
+#define STM32_OPAMP_USE_OPAMP1                  TRUE
+#define STM32_OPAMP_USE_OPAMP2                  TRUE
+#define STM32_OPAMP_USE_OPAMP3                  TRUE
+#define STM32_OPAMP_USE_OPAMP4                  TRUE
+#define STM32_OPAMP_USER_TRIM_ENABLED           TRUE
+
+/*
+ * USBH driver system settings.
+ */
+#define STM32_OTG1_CHANNELS_NUMBER          8
+#define STM32_OTG2_CHANNELS_NUMBER          12
+
+#define STM32_USBH_USE_OTG1                 1
+#define STM32_OTG1_RXFIFO_SIZE              1024
+#define STM32_OTG1_PTXFIFO_SIZE             128
+#define STM32_OTG1_NPTXFIFO_SIZE            128
+
+#define STM32_USBH_USE_OTG2                 0
+#define STM32_OTG2_RXFIFO_SIZE              2048
+#define STM32_OTG2_PTXFIFO_SIZE             1024
+#define STM32_OTG2_NPTXFIFO_SIZE            1024
+
+#define STM32_USBH_MIN_QSPACE               4
+#define STM32_USBH_CHANNELS_NP              4
+
+/*
+ * CRC driver system settings.
+ */
+#define STM32_CRC_USE_CRC1                  TRUE
+#define STM32_CRC_CRC1_DMA_IRQ_PRIORITY     1
+#define STM32_CRC_CRC1_DMA_PRIORITY         2
+#define STM32_CRC_CRC1_DMA_STREAM           STM32_DMA1_STREAM2
+
+#define CRCSW_USE_CRC1                      FALSE
+#define CRCSW_CRC32_TABLE                   TRUE
+#define CRCSW_CRC16_TABLE                   TRUE
+#define CRCSW_PROGRAMMABLE                  TRUE
+
+/*
+ * EICU driver system settings.
+ */
+#define STM32_EICU_USE_TIM1                 TRUE
+#define STM32_EICU_USE_TIM2                 FALSE
+#define STM32_EICU_USE_TIM3                 TRUE
+#define STM32_EICU_USE_TIM4                 TRUE
+#define STM32_EICU_USE_TIM5                 TRUE
+#define STM32_EICU_USE_TIM8                 TRUE
+#define STM32_EICU_USE_TIM9                 TRUE
+#define STM32_EICU_USE_TIM10                TRUE
+#define STM32_EICU_USE_TIM11                TRUE
+#define STM32_EICU_USE_TIM12                TRUE
+#define STM32_EICU_USE_TIM13                TRUE
+#define STM32_EICU_USE_TIM14                TRUE
+#define STM32_EICU_TIM1_IRQ_PRIORITY        7
+#define STM32_EICU_TIM2_IRQ_PRIORITY        7
+#define STM32_EICU_TIM3_IRQ_PRIORITY        7
+#define STM32_EICU_TIM4_IRQ_PRIORITY        7
+#define STM32_EICU_TIM5_IRQ_PRIORITY        7
+#define STM32_EICU_TIM8_IRQ_PRIORITY        7
+#define STM32_EICU_TIM9_IRQ_PRIORITY        7
+#define STM32_EICU_TIM10_IRQ_PRIORITY       7
+#define STM32_EICU_TIM11_IRQ_PRIORITY       7
+#define STM32_EICU_TIM12_IRQ_PRIORITY       7
+#define STM32_EICU_TIM13_IRQ_PRIORITY       7
+#define STM32_EICU_TIM14_IRQ_PRIORITY       7
+
+/*
+ * QEI driver system settings.
+ */
+#define STM32_QEI_USE_TIM1                TRUE
+#define STM32_QEI_USE_TIM2                FALSE
+#define STM32_QEI_USE_TIM3                TRUE
+#define STM32_QEI_TIM1_IRQ_PRIORITY         3
+#define STM32_QEI_TIM2_IRQ_PRIORITY         3
+#define STM32_QEI_TIM3_IRQ_PRIORITY         3
diff --git a/testhal/STM32/STM32F3xx/TIMCAP/Makefile b/testhal/STM32/STM32F3xx/TIMCAP/Makefile
index b67e7f1..418518d 100644
--- a/testhal/STM32/STM32F3xx/TIMCAP/Makefile
+++ b/testhal/STM32/STM32F3xx/TIMCAP/Makefile
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f3xx.mk
 # HAL-OSAL files (optional).
@@ -108,19 +110,13 @@ LDSCRIPT= $(STARTUPLD)/STM32F303xC.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -143,13 +139,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS_CONTRIB)/os/various
+INCDIR = $(ALLINC) $(TESTINC)
 
 #
 # Project, sources and paths
diff --git a/testhal/STM32/STM32F3xx/TIMCAP/chconf.h b/testhal/STM32/STM32F3xx/TIMCAP/chconf.h
index 53bd676..58cd5db 100644
--- a/testhal/STM32/STM32F3xx/TIMCAP/chconf.h
+++ b/testhal/STM32/STM32F3xx/TIMCAP/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F4xx/EICU/EICU_F4x.config b/testhal/STM32/STM32F4xx/EICU/EICU_F4x.config
deleted file mode 100644
index e0284f4..0000000
--- a/testhal/STM32/STM32F4xx/EICU/EICU_F4x.config
+++ /dev/null
@@ -1,2 +0,0 @@
-// Add predefined macros for your project here. For example:
-// #define THE_ANSWER 42
diff --git a/testhal/STM32/STM32F4xx/EICU/EICU_F4x.creator b/testhal/STM32/STM32F4xx/EICU/EICU_F4x.creator
deleted file mode 100644
index e94cbbd..0000000
--- a/testhal/STM32/STM32F4xx/EICU/EICU_F4x.creator
+++ /dev/null
@@ -1 +0,0 @@
-[General]
diff --git a/testhal/STM32/STM32F4xx/EICU/EICU_F4x.creator.user b/testhal/STM32/STM32F4xx/EICU/EICU_F4x.creator.user
deleted file mode 100644
index 80d783a..0000000
--- a/testhal/STM32/STM32F4xx/EICU/EICU_F4x.creator.user
+++ /dev/null
@@ -1,156 +0,0 @@
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diff --git a/testhal/STM32/STM32F4xx/EICU/EICU_F4x.files b/testhal/STM32/STM32F4xx/EICU/EICU_F4x.files
deleted file mode 100644
index f154876..0000000
--- a/testhal/STM32/STM32F4xx/EICU/EICU_F4x.files
+++ /dev/null
@@ -1,3443 +0,0 @@
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-community/demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/halconf.h
-community/demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/halconf_community.h
-community/demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/main.c
-community/demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/mcuconf.h
-community/demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/mcuconf_community.h
-community/demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/usbcfg.c
-community/demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/usbcfg.h
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-community/demos/TIVA/RT-TM4C123G-LAUNCHPAD/chconf.h
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-os/hal/boards/ST_STM32VL_DISCOVERY/board.c
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-os/hal/osal/rt/osal.c
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-os/hal/ports/AVR/avr_pins.h
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-os/hal/ports/AVR/gpt_lld.h
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-os/hal/ports/common/ARMCMx/nvic.c
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-os/hal/ports/KINETIS/KL2x/pwm_lld.h
-os/hal/ports/KINETIS/KL2x/serial_lld.c
-os/hal/ports/KINETIS/KL2x/serial_lld.h
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-os/hal/ports/KINETIS/KL2x/st_lld.h
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-os/hal/ports/KINETIS/LLD/adc_lld.h
-os/hal/ports/KINETIS/LLD/ext_lld.c
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-os/hal/ports/KINETIS/LLD/i2c_lld.h
-os/hal/ports/LPC/LPC214x/hal_lld.c
-os/hal/ports/LPC/LPC214x/hal_lld.h
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-os/hal/ports/LPC/LPC214x/pal_lld.h
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-os/hal/ports/simulator/win32/hal_lld.c
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-os/hal/ports/simulator/console.h
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-os/hal/ports/simulator/pal_lld.h
-os/hal/ports/simulator/st_lld.c
-os/hal/ports/simulator/st_lld.h
-os/hal/ports/STM32/LLD/DACv1/dac_lld.c
-os/hal/ports/STM32/LLD/DACv1/dac_lld.h
-os/hal/ports/STM32/LLD/DMAv1/stm32_dma.c
-os/hal/ports/STM32/LLD/DMAv1/stm32_dma.h
-os/hal/ports/STM32/LLD/GPIOv1/pal_lld.c
-os/hal/ports/STM32/LLD/GPIOv1/pal_lld.h
-os/hal/ports/STM32/LLD/GPIOv2/pal_lld.c
-os/hal/ports/STM32/LLD/GPIOv2/pal_lld.h
-os/hal/ports/STM32/LLD/I2Cv1/i2c_lld.c
-os/hal/ports/STM32/LLD/I2Cv1/i2c_lld.h
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-os/hal/ports/STM32/LLD/I2Cv2/i2c_lld.h
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-os/hal/ports/STM32/LLD/OTGv1/usb_lld.c
-os/hal/ports/STM32/LLD/OTGv1/usb_lld.h
-os/hal/ports/STM32/LLD/RTCv1/rtc_lld.c
-os/hal/ports/STM32/LLD/RTCv1/rtc_lld.h
-os/hal/ports/STM32/LLD/RTCv2/rtc_lld.c
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-os/hal/ports/STM32/LLD/SPIv1/i2s_lld.h
-os/hal/ports/STM32/LLD/SPIv1/spi_lld.c
-os/hal/ports/STM32/LLD/SPIv1/spi_lld.h
-os/hal/ports/STM32/LLD/SPIv2/spi_lld.c
-os/hal/ports/STM32/LLD/SPIv2/spi_lld.h
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-os/hal/ports/STM32/LLD/TIMv1/gpt_lld.h
-os/hal/ports/STM32/LLD/TIMv1/icu_lld.c
-os/hal/ports/STM32/LLD/TIMv1/icu_lld.h
-os/hal/ports/STM32/LLD/TIMv1/pwm_lld.c
-os/hal/ports/STM32/LLD/TIMv1/pwm_lld.h
-os/hal/ports/STM32/LLD/TIMv1/st_lld.c
-os/hal/ports/STM32/LLD/TIMv1/st_lld.h
-os/hal/ports/STM32/LLD/TIMv1/stm32_tim.h
-os/hal/ports/STM32/LLD/USARTv1/serial_lld.c
-os/hal/ports/STM32/LLD/USARTv1/serial_lld.h
-os/hal/ports/STM32/LLD/USARTv1/uart_lld.c
-os/hal/ports/STM32/LLD/USARTv1/uart_lld.h
-os/hal/ports/STM32/LLD/USARTv2/serial_lld.c
-os/hal/ports/STM32/LLD/USARTv2/serial_lld.h
-os/hal/ports/STM32/LLD/USARTv2/uart_lld.c
-os/hal/ports/STM32/LLD/USARTv2/uart_lld.h
-os/hal/ports/STM32/LLD/USBv1/stm32_usb.h
-os/hal/ports/STM32/LLD/USBv1/usb_lld.c
-os/hal/ports/STM32/LLD/USBv1/usb_lld.h
-os/hal/ports/STM32/LLD/can_lld.c
-os/hal/ports/STM32/LLD/can_lld.h
-os/hal/ports/STM32/LLD/ext_lld.c
-os/hal/ports/STM32/LLD/ext_lld.h
-os/hal/ports/STM32/LLD/mac_lld.c
-os/hal/ports/STM32/LLD/mac_lld.h
-os/hal/ports/STM32/LLD/sdc_lld.c
-os/hal/ports/STM32/LLD/sdc_lld.h
-os/hal/ports/STM32/STM32F0xx/adc_lld.c
-os/hal/ports/STM32/STM32F0xx/adc_lld.h
-os/hal/ports/STM32/STM32F0xx/ext_lld_isr.c
-os/hal/ports/STM32/STM32F0xx/ext_lld_isr.h
-os/hal/ports/STM32/STM32F0xx/hal_lld.c
-os/hal/ports/STM32/STM32F0xx/hal_lld.h
-os/hal/ports/STM32/STM32F0xx/stm32_dma.c
-os/hal/ports/STM32/STM32F0xx/stm32_dma.h
-os/hal/ports/STM32/STM32F0xx/stm32_isr.h
-os/hal/ports/STM32/STM32F0xx/stm32_rcc.h
-os/hal/ports/STM32/STM32F0xx/stm32_registry.h
-os/hal/ports/STM32/STM32F1xx/adc_lld.c
-os/hal/ports/STM32/STM32F1xx/adc_lld.h
-os/hal/ports/STM32/STM32F1xx/ext_lld_isr.c
-os/hal/ports/STM32/STM32F1xx/ext_lld_isr.h
-os/hal/ports/STM32/STM32F1xx/hal_lld.c
-os/hal/ports/STM32/STM32F1xx/hal_lld.h
-os/hal/ports/STM32/STM32F1xx/hal_lld_f100.h
-os/hal/ports/STM32/STM32F1xx/hal_lld_f103.h
-os/hal/ports/STM32/STM32F1xx/hal_lld_f105_f107.h
-os/hal/ports/STM32/STM32F1xx/stm32_dma.c
-os/hal/ports/STM32/STM32F1xx/stm32_dma.h
-os/hal/ports/STM32/STM32F1xx/stm32_isr.h
-os/hal/ports/STM32/STM32F1xx/stm32_rcc.h
-os/hal/ports/STM32/STM32F1xx/stm32_registry.h
-os/hal/ports/STM32/STM32F37x/adc_lld.c
-os/hal/ports/STM32/STM32F37x/adc_lld.h
-os/hal/ports/STM32/STM32F37x/ext_lld_isr.c
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-os/hal/ports/STM32/STM32F37x/hal_lld.c
-os/hal/ports/STM32/STM32F37x/hal_lld.h
-os/hal/ports/STM32/STM32F37x/stm32_dma.c
-os/hal/ports/STM32/STM32F37x/stm32_dma.h
-os/hal/ports/STM32/STM32F37x/stm32_isr.h
-os/hal/ports/STM32/STM32F37x/stm32_rcc.h
-os/hal/ports/STM32/STM32F37x/stm32_registry.h
-os/hal/ports/STM32/STM32F3xx/adc_lld.c
-os/hal/ports/STM32/STM32F3xx/adc_lld.h
-os/hal/ports/STM32/STM32F3xx/ext_lld_isr.c
-os/hal/ports/STM32/STM32F3xx/ext_lld_isr.h
-os/hal/ports/STM32/STM32F3xx/hal_lld.c
-os/hal/ports/STM32/STM32F3xx/hal_lld.h
-os/hal/ports/STM32/STM32F3xx/stm32_dma.c
-os/hal/ports/STM32/STM32F3xx/stm32_dma.h
-os/hal/ports/STM32/STM32F3xx/stm32_isr.h
-os/hal/ports/STM32/STM32F3xx/stm32_rcc.h
-os/hal/ports/STM32/STM32F3xx/stm32_registry.h
-os/hal/ports/STM32/STM32F4xx/adc_lld.c
-os/hal/ports/STM32/STM32F4xx/adc_lld.h
-os/hal/ports/STM32/STM32F4xx/ext_lld_isr.c
-os/hal/ports/STM32/STM32F4xx/ext_lld_isr.h
-os/hal/ports/STM32/STM32F4xx/hal_lld.c
-os/hal/ports/STM32/STM32F4xx/hal_lld.h
-os/hal/ports/STM32/STM32F4xx/stm32_dma.c
-os/hal/ports/STM32/STM32F4xx/stm32_dma.h
-os/hal/ports/STM32/STM32F4xx/stm32_isr.h
-os/hal/ports/STM32/STM32F4xx/stm32_rcc.h
-os/hal/ports/STM32/STM32F4xx/stm32_registry.h
-os/hal/ports/STM32/STM32L1xx/adc_lld.c
-os/hal/ports/STM32/STM32L1xx/adc_lld.h
-os/hal/ports/STM32/STM32L1xx/ext_lld_isr.c
-os/hal/ports/STM32/STM32L1xx/ext_lld_isr.h
-os/hal/ports/STM32/STM32L1xx/hal_lld.c
-os/hal/ports/STM32/STM32L1xx/hal_lld.h
-os/hal/ports/STM32/STM32L1xx/stm32_dma.c
-os/hal/ports/STM32/STM32L1xx/stm32_dma.h
-os/hal/ports/STM32/STM32L1xx/stm32_isr.h
-os/hal/ports/STM32/STM32L1xx/stm32_rcc.h
-os/hal/ports/STM32/STM32L1xx/stm32_registry.h
-os/hal/src/adc.c
-os/hal/src/can.c
-os/hal/src/dac.c
-os/hal/src/ext.c
-os/hal/src/gpt.c
-os/hal/src/hal.c
-os/hal/src/hal_mmcsd.c
-os/hal/src/hal_queues.c
-os/hal/src/i2c.c
-os/hal/src/i2s.c
-os/hal/src/icu.c
-os/hal/src/mac.c
-os/hal/src/mmc_spi.c
-os/hal/src/pal.c
-os/hal/src/pwm.c
-os/hal/src/rtc.c
-os/hal/src/sdc.c
-os/hal/src/serial.c
-os/hal/src/serial_usb.c
-os/hal/src/spi.c
-os/hal/src/st.c
-os/hal/src/uart.c
-os/hal/src/usb.c
-os/hal/templates/osal/osal.c
-os/hal/templates/osal/osal.h
-os/hal/templates/adc_lld.c
-os/hal/templates/adc_lld.h
-os/hal/templates/can_lld.c
-os/hal/templates/can_lld.h
-os/hal/templates/dac_lld.c
-os/hal/templates/dac_lld.h
-os/hal/templates/ext_lld.c
-os/hal/templates/ext_lld.h
-os/hal/templates/gpt_lld.c
-os/hal/templates/gpt_lld.h
-os/hal/templates/hal_lld.c
-os/hal/templates/hal_lld.h
-os/hal/templates/halconf.h
-os/hal/templates/i2c_lld.c
-os/hal/templates/i2c_lld.h
-os/hal/templates/i2s_lld.c
-os/hal/templates/i2s_lld.h
-os/hal/templates/icu_lld.c
-os/hal/templates/icu_lld.h
-os/hal/templates/mac_lld.c
-os/hal/templates/mac_lld.h
-os/hal/templates/mcuconf.h
-os/hal/templates/pal_lld.c
-os/hal/templates/pal_lld.h
-os/hal/templates/pwm_lld.c
-os/hal/templates/pwm_lld.h
-os/hal/templates/rtc_lld.c
-os/hal/templates/rtc_lld.h
-os/hal/templates/sdc_lld.c
-os/hal/templates/sdc_lld.h
-os/hal/templates/serial_lld.c
-os/hal/templates/serial_lld.h
-os/hal/templates/spi_lld.c
-os/hal/templates/spi_lld.h
-os/hal/templates/st_lld.c
-os/hal/templates/st_lld.h
-os/hal/templates/uart_lld.c
-os/hal/templates/uart_lld.h
-os/hal/templates/usb_lld.c
-os/hal/templates/usb_lld.h
-os/nil/include/nil.h
-os/nil/ports/ARMCMx/compilers/GCC/niltypes.h
-os/nil/ports/ARMCMx/nilcore.c
-os/nil/ports/ARMCMx/nilcore.h
-os/nil/ports/ARMCMx/nilcore_timer.h
-os/nil/ports/ARMCMx/nilcore_v6m.c
-os/nil/ports/ARMCMx/nilcore_v6m.h
-os/nil/ports/ARMCMx/nilcore_v7m.c
-os/nil/ports/ARMCMx/nilcore_v7m.h
-os/nil/ports/AVR/compilers/GCC/niltypes.h
-os/nil/ports/AVR/nilcore.c
-os/nil/ports/AVR/nilcore.h
-os/nil/ports/AVR/nilcore_timer.h
-os/nil/ports/e200/compilers/GCC/niltypes.h
-os/nil/ports/e200/nilcore.c
-os/nil/ports/e200/nilcore.h
-os/nil/src/nil.c
-os/nil/templates/nilconf.h
-os/nil/templates/nilcore.c
-os/nil/templates/nilcore.h
-os/nil/templates/nilcore_timer.h
-os/nil/templates/niltypes.h
-os/rt/include/ch.h
-os/rt/include/chbsem.h
-os/rt/include/chcond.h
-os/rt/include/chdebug.h
-os/rt/include/chdynamic.h
-os/rt/include/chevents.h
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-os/rt/include/chlicense.h
-os/rt/include/chmboxes.h
-os/rt/include/chmemcore.h
-os/rt/include/chmempools.h
-os/rt/include/chmsg.h
-os/rt/include/chmtx.h
-os/rt/include/chqueues.h
-os/rt/include/chregistry.h
-os/rt/include/chschd.h
-os/rt/include/chsem.h
-os/rt/include/chstats.h
-os/rt/include/chstreams.h
-os/rt/include/chsys.h
-os/rt/include/chsystypes.h
-os/rt/include/chthreads.h
-os/rt/include/chtm.h
-os/rt/include/chvt.h
-os/rt/ports/ARM/compilers/GCC/chtypes.h
-os/rt/ports/ARM/chcore.c
-os/rt/ports/ARM/chcore.h
-os/rt/ports/ARM/chcore_timer.h
-os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c
-os/rt/ports/ARMCMx/cmsis_os/cmsis_os.h
-os/rt/ports/ARMCMx/compilers/GCC/chtypes.h
-os/rt/ports/ARMCMx/compilers/IAR/chtypes.h
-os/rt/ports/ARMCMx/compilers/RVCT/chtypes.h
-os/rt/ports/ARMCMx/chcore.c
-os/rt/ports/ARMCMx/chcore.h
-os/rt/ports/ARMCMx/chcore_timer.h
-os/rt/ports/ARMCMx/chcore_v6m.c
-os/rt/ports/ARMCMx/chcore_v6m.h
-os/rt/ports/ARMCMx/chcore_v7m.c
-os/rt/ports/ARMCMx/chcore_v7m.h
-os/rt/ports/AVR/compilers/GCC/chtypes.h
-os/rt/ports/AVR/chcore.c
-os/rt/ports/AVR/chcore.h
-os/rt/ports/e200/compilers/GCC/chtypes.h
-os/rt/ports/e200/chcore.c
-os/rt/ports/e200/chcore.h
-os/rt/ports/SIMIA32/compilers/GCC/chtypes.h
-os/rt/ports/SIMIA32/chcore.c
-os/rt/ports/SIMIA32/chcore.h
-os/rt/src/chcond.c
-os/rt/src/chdebug.c
-os/rt/src/chdynamic.c
-os/rt/src/chevents.c
-os/rt/src/chheap.c
-os/rt/src/chmboxes.c
-os/rt/src/chmemcore.c
-os/rt/src/chmempools.c
-os/rt/src/chmsg.c
-os/rt/src/chmtx.c
-os/rt/src/chqueues.c
-os/rt/src/chregistry.c
-os/rt/src/chschd.c
-os/rt/src/chsem.c
-os/rt/src/chstats.c
-os/rt/src/chsys.c
-os/rt/src/chthreads.c
-os/rt/src/chtm.c
-os/rt/src/chvt.c
-os/rt/templates/meta/module.c
-os/rt/templates/meta/module.h
-os/rt/templates/chconf.h
-os/rt/templates/chcore.c
-os/rt/templates/chcore.h
-os/rt/templates/chtypes.h
-os/various/cpp_wrappers/ch.cpp
-os/various/cpp_wrappers/ch.hpp
-os/various/cpp_wrappers/syscalls_cpp.cpp
-os/various/cpp_wrappers/syscalls_cpp.hpp
-os/various/devices_lib/accel/lis302dl.c
-os/various/devices_lib/accel/lis302dl.h
-os/various/devices_lib/lcd/lcd3310.c
-os/various/devices_lib/lcd/lcd3310.h
-os/various/fatfs_bindings/fatfs_diskio.c
-os/various/fatfs_bindings/fatfs_syscall.c
-os/various/lwip_bindings/arch/cc.h
-os/various/lwip_bindings/arch/perf.h
-os/various/lwip_bindings/arch/sys_arch.c
-os/various/lwip_bindings/arch/sys_arch.h
-os/various/lwip_bindings/lwipthread.c
-os/various/lwip_bindings/lwipthread.h
-os/various/evtimer.c
-os/various/evtimer.h
-os/various/shell.c
-os/various/shell.h
-os/various/syscalls.c
-chconf.h
-halconf.h
-halconf_community.h
-main.c
-mcuconf.h
-mcuconf_community.h
-Makefile
diff --git a/testhal/STM32/STM32F4xx/EICU/EICU_F4x.includes b/testhal/STM32/STM32F4xx/EICU/EICU_F4x.includes
deleted file mode 100644
index a5e7917..0000000
--- a/testhal/STM32/STM32F4xx/EICU/EICU_F4x.includes
+++ /dev/null
@@ -1,769 +0,0 @@
-.
-community/demos/NRF51/RT-WVSHARE_BLE400
-community/demos/STM32/RT-STM32F429-DISCOVERY-DMA2D
-community/demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/res
-community/demos/TIVA/RT-TM4C123G-LAUNCHPAD
-community/demos/TIVA/RT-TM4C1294-LAUNCHPAD
-community/demos/TIVA/RT-TM4C1294-LAUNCHPAD-LWIP
-community/demos/TIVA/RT-TM4C1294-LAUNCHPAD-LWIP/web
-community/os/common/ports/ARMCMx/devices/NRF51822
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-os/hal/ports/STM32/LLD/DACv1
-os/hal/ports/STM32/LLD/DMAv1
-os/hal/ports/STM32/LLD/GPIOv1
-os/hal/ports/STM32/LLD/GPIOv2
-os/hal/ports/STM32/LLD/I2Cv1
-os/hal/ports/STM32/LLD/I2Cv2
-os/hal/ports/STM32/LLD/OTGv1
-os/hal/ports/STM32/LLD/RTCv1
-os/hal/ports/STM32/LLD/RTCv2
-os/hal/ports/STM32/LLD/SPIv1
-os/hal/ports/STM32/LLD/SPIv2
-os/hal/ports/STM32/LLD/TIMv1
-os/hal/ports/STM32/LLD/USARTv1
-os/hal/ports/STM32/LLD/USARTv2
-os/hal/ports/STM32/LLD/USBv1
-os/hal/ports/STM32/STM32F0xx
-os/hal/ports/STM32/STM32F1xx
-os/hal/ports/STM32/STM32F37x
-os/hal/ports/STM32/STM32F3xx
-os/hal/ports/STM32/STM32F4xx
-os/hal/ports/STM32/STM32L1xx
-os/hal/templates
-os/hal/templates/osal
-os/nil/include
-os/nil/ports/ARMCMx
-os/nil/ports/ARMCMx/compilers/GCC
-os/nil/ports/AVR
-os/nil/ports/AVR/compilers/GCC
-os/nil/ports/e200
-os/nil/ports/e200/compilers/GCC
-os/nil/templates
-os/rt/include
-os/rt/ports/ARM
-os/rt/ports/ARM/compilers/GCC
-os/rt/ports/ARMCMx
-os/rt/ports/ARMCMx/cmsis_os
-os/rt/ports/ARMCMx/compilers/GCC
-os/rt/ports/ARMCMx/compilers/IAR
-os/rt/ports/ARMCMx/compilers/RVCT
-os/rt/ports/AVR
-os/rt/ports/AVR/compilers/GCC
-os/rt/ports/e200
-os/rt/ports/e200/compilers/GCC
-os/rt/ports/SIMIA32
-os/rt/ports/SIMIA32/compilers/GCC
-os/rt/templates
-os/rt/templates/meta
-os/various
-os/various/devices_lib/accel
-os/various/devices_lib/lcd
-os/various/lwip_bindings
-os/various/lwip_bindings/arch
diff --git a/testhal/STM32/STM32F4xx/EICU/Makefile b/testhal/STM32/STM32F4xx/EICU/Makefile
index c1eae62..b7a0ff1 100644
--- a/testhal/STM32/STM32F4xx/EICU/Makefile
+++ b/testhal/STM32/STM32F4xx/EICU/Makefile
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
 # HAL-OSAL files (optional).
@@ -108,19 +110,13 @@ LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -143,13 +139,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS_CONTRIB)/os/various
+INCDIR = $(ALLINC) $(TESTINC)
 
 #
 # Project, sources and paths
diff --git a/testhal/STM32/STM32F4xx/EICU/chconf.h b/testhal/STM32/STM32F4xx/EICU/chconf.h
index 53bd676..58cd5db 100644
--- a/testhal/STM32/STM32F4xx/EICU/chconf.h
+++ b/testhal/STM32/STM32F4xx/EICU/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F4xx/FSMC_NAND/Makefile b/testhal/STM32/STM32F4xx/FSMC_NAND/Makefile
index 5996f17..d4b6572 100644
--- a/testhal/STM32/STM32F4xx/FSMC_NAND/Makefile
+++ b/testhal/STM32/STM32F4xx/FSMC_NAND/Makefile
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
 # HAL-OSAL files (optional).
@@ -108,13 +110,7 @@ LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        $(CHIBIOS_CONTRIB)/os/various/bitmap.c \
        dma_storm_adc.c \
@@ -124,7 +120,7 @@ CSRC = $(STARTUPSRC) \
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -147,12 +143,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
+INCDIR = $(ALLINC) $(TESTINC) \
          $(CHIBIOS_CONTRIB)/os/various
 
 #
diff --git a/testhal/STM32/STM32F4xx/FSMC_NAND/chconf.h b/testhal/STM32/STM32F4xx/FSMC_NAND/chconf.h
index 1843208..be5b6b0 100644
--- a/testhal/STM32/STM32F4xx/FSMC_NAND/chconf.h
+++ b/testhal/STM32/STM32F4xx/FSMC_NAND/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       TRUE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F4xx/FSMC_NAND/dma_storm_adc.c b/testhal/STM32/STM32F4xx/FSMC_NAND/dma_storm_adc.c
index 2c2e1db..431d959 100644
--- a/testhal/STM32/STM32F4xx/FSMC_NAND/dma_storm_adc.c
+++ b/testhal/STM32/STM32F4xx/FSMC_NAND/dma_storm_adc.c
@@ -57,6 +57,8 @@ static const ADCConversionGroup adccg = {
     ADC_SMPR1_SMP_AN14(ADC_SAMPLE_3) |
     ADC_SMPR1_SMP_AN15(ADC_SAMPLE_3),
   0,                        /* SMPR2 */
+  0,
+  0,
   ADC_SQR1_NUM_CH(ADC_NUM_CHANNELS),
   0,
   ADC_SQR3_SQ6_N(ADC_AN33_2)          |
diff --git a/testhal/STM32/STM32F4xx/FSMC_SDRAM/Makefile b/testhal/STM32/STM32F4xx/FSMC_SDRAM/Makefile
index efdd3e9..8e1b5e4 100644
--- a/testhal/STM32/STM32F4xx/FSMC_SDRAM/Makefile
+++ b/testhal/STM32/STM32F4xx/FSMC_SDRAM/Makefile
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
 # HAL-OSAL files (optional).
@@ -109,13 +111,7 @@ LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c \
        membench.c \
@@ -123,7 +119,7 @@ CSRC = $(STARTUPSRC) \
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC = $(CHCPPSRC) \
+CPPSRC = $(ALLCPPSRC) \
          $(CHIBIOS_CONTRIB)/os/various/memtest.cpp
 
 # C sources to be compiled in ARM mode regardless of the global setting.
@@ -147,13 +143,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various/cpp_wrappers \
+INCDIR = $(ALLINC) $(TESTINC) \
          $(CHIBIOS_CONTRIB)/os/various
 
 #
diff --git a/testhal/STM32/STM32F4xx/FSMC_SDRAM/chconf.h b/testhal/STM32/STM32F4xx/FSMC_SDRAM/chconf.h
index 1843208..be5b6b0 100644
--- a/testhal/STM32/STM32F4xx/FSMC_SDRAM/chconf.h
+++ b/testhal/STM32/STM32F4xx/FSMC_SDRAM/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       TRUE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F4xx/FSMC_SRAM/Makefile b/testhal/STM32/STM32F4xx/FSMC_SRAM/Makefile
index 28e3d68..d0d1670 100644
--- a/testhal/STM32/STM32F4xx/FSMC_SRAM/Makefile
+++ b/testhal/STM32/STM32F4xx/FSMC_SRAM/Makefile
@@ -86,8 +86,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
 # HAL-OSAL files (optional).
@@ -109,13 +111,7 @@ LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c \
        membench.c \
@@ -123,7 +119,7 @@ CSRC = $(STARTUPSRC) \
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC = $(CHCPPSRC) \
+CPPSRC = $(ALLCPPSRC) \
          $(CHIBIOS_CONTRIB)/os/various/memtest.cpp
 
 # C sources to be compiled in ARM mode regardless of the global setting.
@@ -147,13 +143,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS)/os/various/cpp_wrappers \
+INCDIR = $(ALLINC) $(TESTINC) \
          $(CHIBIOS_CONTRIB)/os/various
 
 #
diff --git a/testhal/STM32/STM32F4xx/FSMC_SRAM/chconf.h b/testhal/STM32/STM32F4xx/FSMC_SRAM/chconf.h
index 1843208..be5b6b0 100644
--- a/testhal/STM32/STM32F4xx/FSMC_SRAM/chconf.h
+++ b/testhal/STM32/STM32F4xx/FSMC_SRAM/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       TRUE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F4xx/USB_HOST/.cproject b/testhal/STM32/STM32F4xx/USB_HOST/.cproject
index d733e39..8d56b51 100644
--- a/testhal/STM32/STM32F4xx/USB_HOST/.cproject
+++ b/testhal/STM32/STM32F4xx/USB_HOST/.cproject
@@ -14,7 +14,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration buildProperties="" description="" id="0.1003150841" name="Default" parent="org.eclipse.cdt.build.core.prefbase.cfg">
+				<configuration buildProperties="" description="" id="0.1003150841" name="Default" optionalBuildProperties="" parent="org.eclipse.cdt.build.core.prefbase.cfg">
 					<folderInfo id="0.1003150841." name="/" resourcePath="">
 						<toolChain id="org.eclipse.cdt.build.core.prefbase.toolchain.748316353" name="No ToolChain" resourceTypeBasedDiscovery="false" superClass="org.eclipse.cdt.build.core.prefbase.toolchain">
 							<targetPlatform id="org.eclipse.cdt.build.core.prefbase.toolchain.748316353.81353447" name=""/>
diff --git a/testhal/STM32/STM32F4xx/USB_HOST/.project b/testhal/STM32/STM32F4xx/USB_HOST/.project
index e2dd63e..8db459b 100644
--- a/testhal/STM32/STM32F4xx/USB_HOST/.project
+++ b/testhal/STM32/STM32F4xx/USB_HOST/.project
@@ -33,7 +33,7 @@
 		<link>
 			<name>ChibiOS-RT</name>
 			<type>2</type>
-			<locationURI>$%7BPARENT-5-PROJECT_LOC%7D/ChibiOS-RT</locationURI>
+			<locationURI>$%7BPARENT-5-PROJECT_LOC%7D/ChibiOS</locationURI>
 		</link>
 	</linkedResources>
 </projectDescription>
diff --git a/testhal/STM32/STM32F4xx/USB_HOST/.settings/org.eclipse.cdt.core.prefs b/testhal/STM32/STM32F4xx/USB_HOST/.settings/org.eclipse.cdt.core.prefs
new file mode 100644
index 0000000..8ae48ef
--- /dev/null
+++ b/testhal/STM32/STM32F4xx/USB_HOST/.settings/org.eclipse.cdt.core.prefs
@@ -0,0 +1,6 @@
+eclipse.preferences.version=1
+environment/project/0.1003150841/PATH/delimiter=;
+environment/project/0.1003150841/PATH/operation=replace
+environment/project/0.1003150841/PATH/value=${PATH};D\:\\toolchains\\gcc-arm-none-eabi-8-2018-q4-major-win32\\bin;${PATH};D\:\\toolchains\\gcc-arm-none-eabi-4_9-2014q4-20141203-win32\\bin;D\:\\toolchains\\msys64\\usr\\bin
+environment/project/0.1003150841/append=true
+environment/project/0.1003150841/appendContributed=true
diff --git a/testhal/STM32/STM32F4xx/USB_HOST/Makefile b/testhal/STM32/STM32F4xx/USB_HOST/Makefile
index 7bd8ea1..54c23ca 100644
--- a/testhal/STM32/STM32F4xx/USB_HOST/Makefile
+++ b/testhal/STM32/STM32F4xx/USB_HOST/Makefile
@@ -86,7 +86,7 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 
 # Licensing files.
@@ -97,7 +97,7 @@ include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.m
 include $(CHIBIOS_CONTRIB)/os/hal/hal.mk
 include $(CHIBIOS_CONTRIB)/os/hal/ports/STM32/STM32F4xx/platform.mk
 include $(CHIBIOS)/os/hal/boards/ST_STM32F4_DISCOVERY/board.mk
-include $(CHIBIOS)/os/hal/osal/rt/osal.mk
+include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk
 # RTOS files (optional).
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
@@ -118,12 +118,11 @@ LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
 # setting.
 CSRC = $(ALLCSRC) \
        $(TESTSRC) \
-       $(FATFSSRC) \
        main.c usbh_custom_class_example.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -146,11 +145,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(ALLINC) $(TESTINC) $(FATFSINC) \
-         $(CHIBIOS_CONTRIB)/os/various
+INCDIR = $(ALLINC) $(TESTINC)
 
 #
 # Project, sources and paths
diff --git a/testhal/STM32/STM32F4xx/USB_HOST/chconf.h b/testhal/STM32/STM32F4xx/USB_HOST/chconf.h
index 682ae51..17496b1 100644
--- a/testhal/STM32/STM32F4xx/USB_HOST/chconf.h
+++ b/testhal/STM32/STM32F4xx/USB_HOST/chconf.h
@@ -15,7 +15,7 @@
 */
 
 /**
- * @file    templates/chconf.h
+ * @file    rt/templates/chconf.h
  * @brief   Configuration file template.
  * @details A copy of this file must be placed in each project directory, it
  *          contains the application specific kernel settings.
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
-#define CH_CFG_ST_FREQUENCY                 1000
+#if !defined(CH_CFG_ST_FREQUENCY)
+#define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
-#define CH_CFG_ST_TIMEDELTA                 0
+#if !defined(CH_CFG_ST_TIMEDELTA)
+#define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
-#define CH_CFG_USE_TM                       FALSE
+#if !defined(CH_CFG_USE_TM)
+#define CH_CFG_USE_TM                       TRUE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,16 +355,31 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
- * @brief  Objects FIFOs APIs.
+ * @brief   Objects FIFOs APIs.
  * @details If enabled then the objects FIFOs APIs are included
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
+
+/**
+ * @brief   Pipes APIs.
+ * @details If enabled then the pipes APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_PIPES)
+#define CH_CFG_USE_PIPES                    TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +390,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +410,60 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for Pipes.
+ */
+#if !defined(CH_CFG_FACTORY_PIPES) || defined(__DOXYGEN__)
+#define CH_CFG_FACTORY_PIPES                TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +479,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +490,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +501,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +513,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +523,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +546,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +558,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +571,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +596,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F4xx/USB_HOST/ffconf.h b/testhal/STM32/STM32F4xx/USB_HOST/ffconf.h
index 944ffde..c3530a5 100644
--- a/testhal/STM32/STM32F4xx/USB_HOST/ffconf.h
+++ b/testhal/STM32/STM32F4xx/USB_HOST/ffconf.h
@@ -2,10 +2,10 @@
 #include "ch.h"
 
 /*---------------------------------------------------------------------------/
-/  FatFs - Configuration file
+/  FatFs Functional Configurations
 /---------------------------------------------------------------------------*/
 
-#define FFCONF_DEF 87030	/* Revision ID */
+#define FFCONF_DEF	86604	/* Revision ID */
 
 /*---------------------------------------------------------------------------/
 / Function Configurations
@@ -21,7 +21,7 @@
 #define FF_FS_MINIMIZE	0
 /* This option defines minimization level to remove some basic API functions.
 /
-/   0: All basic functions are enabled.
+/   0: Basic functions are fully enabled.
 /   1: f_stat(), f_getfree(), f_unlink(), f_mkdir(), f_truncate() and f_rename()
 /      are removed.
 /   2: f_opendir(), f_readdir() and f_closedir() are removed in addition to 1.
@@ -71,7 +71,7 @@
 / Locale and Namespace Configurations
 /---------------------------------------------------------------------------*/
 
-#define FF_CODE_PAGE      850
+#define FF_CODE_PAGE	437
 /* This option specifies the OEM code page to be used on the target system.
 /  Incorrect code page setting can cause a file open failure.
 /
@@ -100,8 +100,8 @@
 */
 
 
-#define    FF_USE_LFN    3
-#define    FF_MAX_LFN    255
+#define FF_USE_LFN		3
+#define FF_MAX_LFN		255
 /* The FF_USE_LFN switches the support for LFN (long file name).
 /
 /   0: Disable LFN. FF_MAX_LFN has no effect.
@@ -109,32 +109,47 @@
 /   2: Enable LFN with dynamic working buffer on the STACK.
 /   3: Enable LFN with dynamic working buffer on the HEAP.
 /
-/  To enable the LFN, Unicode handling functions (option/unicode.c) must be added
-/  to the project. The working buffer occupies (FF_MAX_LFN + 1) * 2 bytes and
-/  additional 608 bytes at exFAT enabled. FF_MAX_LFN can be in range from 12 to 255.
-/  It should be set 255 to support full featured LFN operations.
+/  To enable the LFN, ffunicode.c needs to be added to the project. The LFN function
+/  requiers certain internal working buffer occupies (FF_MAX_LFN + 1) * 2 bytes and
+/  additional (FF_MAX_LFN + 44) / 15 * 32 bytes when exFAT is enabled.
+/  The FF_MAX_LFN defines size of the working buffer in UTF-16 code unit and it can
+/  be in range of 12 to 255. It is recommended to be set 255 to fully support LFN
+/  specification.
 /  When use stack for the working buffer, take care on stack overflow. When use heap
 /  memory for the working buffer, memory management functions, ff_memalloc() and
-/  ff_memfree(), must be added to the project. */
+/  ff_memfree() in ffsystem.c, need to be added to the project. */
 
 
 #define FF_LFN_UNICODE	0
-/* This option switches character encoding on the API, 0:ANSI/OEM or 1:UTF-16,
-/  when LFN is enabled. Also behavior of string I/O functions will be affected by
-/  this option. When LFN is not enabled, this option has no effect.
-*/
+/* This option switches the character encoding on the API when LFN is enabled.
+/
+/   0: ANSI/OEM in current CP (TCHAR = char)
+/   1: Unicode in UTF-16 (TCHAR = WCHAR)
+/   2: Unicode in UTF-8 (TCHAR = char)
+/   3: Unicode in UTF-32 (TCHAR = DWORD)
+/
+/  Also behavior of string I/O functions will be affected by this option.
+/  When LFN is not enabled, this option has no effect. */
+
+
+#define FF_LFN_BUF		255
+#define FF_SFN_BUF		12
+/* This set of options defines size of file name members in the FILINFO structure
+/  which is used to read out directory items. These values should be suffcient for
+/  the file names to read. The maximum possible length of the read file name depends
+/  on character encoding. When LFN is not enabled, these options have no effect. */
 
 
 #define FF_STRF_ENCODE	3
-/* When FF_LFN_UNICODE = 1 with LFN enabled, string I/O functions, f_gets(),
+/* When FF_LFN_UNICODE >= 1 with LFN enabled, string I/O functions, f_gets(),
 /  f_putc(), f_puts and f_printf() convert the character encoding in it.
 /  This option selects assumption of character encoding ON THE FILE to be
 /  read/written via those functions.
 /
-/   0: ANSI/OEM
-/   1: UTF-16LE
-/   2: UTF-16BE
-/   3: UTF-8
+/   0: ANSI/OEM in current CP
+/   1: Unicode in UTF-16LE
+/   2: Unicode in UTF-16BE
+/   3: Unicode in UTF-8
 */
 
 
@@ -157,11 +172,16 @@
 
 #define FF_STR_VOLUME_ID	0
 #define FF_VOLUME_STRS		"RAM","NAND","CF","SD","SD2","USB","USB2","USB3"
-/* FF_STR_VOLUME_ID switches string support for volume ID.
-/  When FF_STR_VOLUME_ID is set to 1, also pre-defined strings can be used as drive
-/  number in the path name. FF_VOLUME_STRS defines the drive ID strings for each
-/  logical drives. Number of items must be equal to FF_VOLUMES. Valid characters for
-/  the drive ID strings are: A-Z and 0-9. */
+/* FF_STR_VOLUME_ID switches support for volume ID in arbitrary strings.
+/  When FF_STR_VOLUME_ID is set to 1 or 2, arbitrary strings can be used as drive
+/  number in the path name. FF_VOLUME_STRS defines the volume ID strings for each
+/  logical drives. Number of items must not be less than FF_VOLUMES. Valid
+/  characters for the volume ID strings are A-Z, a-z and 0-9, however, they are
+/  compared in case-insensitive. If FF_STR_VOLUME_ID >= 1 and FF_VOLUME_STRS is
+/  not defined, a user defined volume string table needs to be defined as:
+/
+/  const char* VolumeStr[FF_VOLUMES] = {"ram","flash","sd","usb",...
+*/
 
 
 #define FF_MULTI_PARTITION	0
@@ -213,19 +233,19 @@
 /  buffer in the filesystem object (FATFS) is used for the file data transfer. */
 
 
-#define FF_FS_EXFAT       1
+#define FF_FS_EXFAT		1
 /* This option switches support for exFAT filesystem. (0:Disable or 1:Enable)
 /  When enable exFAT, also LFN needs to be enabled.
 /  Note that enabling exFAT discards ANSI C (C89) compatibility. */
 
 
-#define FF_FS_NORTC       1
-#define FF_NORTC_MON	5
+#define FF_FS_NORTC		1
+#define FF_NORTC_MON	1
 #define FF_NORTC_MDAY	1
-#define FF_NORTC_YEAR	2017
+#define FF_NORTC_YEAR	2018
 /* The option FF_FS_NORTC switches timestamp functiton. If the system does not have
 /  any RTC function or valid timestamp is not needed, set FF_FS_NORTC = 1 to disable
-/  the timestamp function. All objects modified by FatFs will have a fixed timestamp
+/  the timestamp function. Every object modified by FatFs will have a fixed timestamp
 /  defined by FF_NORTC_MON, FF_NORTC_MDAY and FF_NORTC_YEAR in local time.
 /  To enable timestamp function (FF_FS_NORTC = 0), get_fattime() function need to be
 /  added to the project to read current time form real-time clock. FF_NORTC_MON,
@@ -245,9 +265,10 @@
 /      lock control is independent of re-entrancy. */
 
 
-#define FF_FS_REENTRANT   0
-#define FF_FS_TIMEOUT     MS2ST(1000)
-#define FF_SYNC_t         semaphore_t*
+/* #include <somertos.h>	// O/S definitions */
+#define FF_FS_REENTRANT	0
+#define FF_FS_TIMEOUT	1000
+#define FF_SYNC_t		HANDLE
 /* The option FF_FS_REENTRANT switches the re-entrancy (thread safe) of the FatFs
 /  module itself. Note that regardless of this option, file access to different
 /  volume is always re-entrant and volume control functions, f_mount(), f_mkfs()
@@ -265,8 +286,6 @@
 /  SemaphoreHandle_t and etc. A header file for O/S definitions needs to be
 /  included somewhere in the scope of ff.h. */
 
-/* #include <windows.h>	// O/S definitions  */
-
 
 
 /*--- End of configuration options ---*/
diff --git a/testhal/STM32/STM32F4xx/USB_HOST/halconf.h b/testhal/STM32/STM32F4xx/USB_HOST/halconf.h
index 26f5eae..8b5d823 100644
--- a/testhal/STM32/STM32F4xx/USB_HOST/halconf.h
+++ b/testhal/STM32/STM32F4xx/USB_HOST/halconf.h
@@ -28,6 +28,9 @@
 #ifndef HALCONF_H
 #define HALCONF_H
 
+#define _CHIBIOS_HAL_CONF_
+#define _CHIBIOS_HAL_CONF_VER_7_1_
+
 #include "mcuconf.h"
 
 /**
@@ -66,10 +69,10 @@
 #endif
 
 /**
- * @brief   Enables the EXT subsystem.
+ * @brief   Enables the EFlash subsystem.
  */
-#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
-#define HAL_USE_EXT                 FALSE
+#if !defined(HAL_USE_EFL) || defined(__DOXYGEN__)
+#define HAL_USE_EFL                         FALSE
 #endif
 
 /**
@@ -122,13 +125,6 @@
 #endif
 
 /**
- * @brief   Enables the QSPI subsystem.
- */
-#if !defined(HAL_USE_QSPI) || defined(__DOXYGEN__)
-#define HAL_USE_QSPI                FALSE
-#endif
-
-/**
  * @brief   Enables the RTC subsystem.
  */
 #if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
@@ -139,7 +135,7 @@
  * @brief   Enables the SDC subsystem.
  */
 #if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
-#define HAL_USE_SDC                 FALSE
+#define HAL_USE_SDC                 TRUE
 #endif
 
 /**
@@ -157,6 +153,13 @@
 #endif
 
 /**
+ * @brief   Enables the SIO subsystem.
+ */
+#if !defined(HAL_USE_SIO) || defined(__DOXYGEN__)
+#define HAL_USE_SIO                         FALSE
+#endif
+
+/**
  * @brief   Enables the SPI subsystem.
  */
 #if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
@@ -164,6 +167,13 @@
 #endif
 
 /**
+ * @brief   Enables the TRNG subsystem.
+ */
+#if !defined(HAL_USE_TRNG) || defined(__DOXYGEN__)
+#define HAL_USE_TRNG                        FALSE
+#endif
+
+/**
  * @brief   Enables the UART subsystem.
  */
 #if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
@@ -184,6 +194,33 @@
 #define HAL_USE_WDG                 FALSE
 #endif
 
+/**
+ * @brief   Enables the WSPI subsystem.
+ */
+#if !defined(HAL_USE_WSPI) || defined(__DOXYGEN__)
+#define HAL_USE_WSPI                        FALSE
+#endif
+
+/*===========================================================================*/
+/* PAL driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(PAL_USE_CALLBACKS) || defined(__DOXYGEN__)
+#define PAL_USE_CALLBACKS                   FALSE
+#endif
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(PAL_USE_WAIT) || defined(__DOXYGEN__)
+#define PAL_USE_WAIT                        FALSE
+#endif
+
 /*===========================================================================*/
 /* ADC driver related settings.                                              */
 /*===========================================================================*/
@@ -215,6 +252,13 @@
 #define CAN_USE_SLEEP_MODE          TRUE
 #endif
 
+/**
+ * @brief   Enforces the driver to use direct callbacks rather than OSAL events.
+ */
+#if !defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)
+#define CAN_ENFORCE_USE_CALLBACKS           FALSE
+#endif
+
 /*===========================================================================*/
 /* CRY driver related settings.                                              */
 /*===========================================================================*/
@@ -238,6 +282,26 @@
 #endif
 
 /*===========================================================================*/
+/* DAC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(DAC_USE_WAIT) || defined(__DOXYGEN__)
+#define DAC_USE_WAIT                        TRUE
+#endif
+
+/**
+ * @brief   Enables the @p dacAcquireBus() and @p dacReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(DAC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define DAC_USE_MUTUAL_EXCLUSION            TRUE
+#endif
+
+/*===========================================================================*/
 /* I2C driver related settings.                                              */
 /*===========================================================================*/
 
@@ -253,7 +317,7 @@
 /*===========================================================================*/
 
 /**
- * @brief   Enables an event sources for incoming packets.
+ * @brief   Enables the zero-copy API.
  */
 #if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)
 #define MAC_USE_ZERO_COPY           FALSE
@@ -313,6 +377,20 @@
 #define SDC_NICE_WAITING            TRUE
 #endif
 
+/**
+ * @brief   OCR initialization constant for V20 cards.
+ */
+#if !defined(SDC_INIT_OCR_V20) || defined(__DOXYGEN__)
+#define SDC_INIT_OCR_V20                    0x50FF8000U
+#endif
+
+/**
+ * @brief   OCR initialization constant for non-V20 cards.
+ */
+#if !defined(SDC_INIT_OCR) || defined(__DOXYGEN__)
+#define SDC_INIT_OCR                        0x80100000U
+#endif
+
 /*===========================================================================*/
 /* SERIAL driver related settings.                                           */
 /*===========================================================================*/
@@ -373,6 +451,14 @@
 #endif
 
 /**
+ * @brief   Enables circular transfers APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_USE_CIRCULAR) || defined(__DOXYGEN__)
+#define SPI_USE_CIRCULAR                    FALSE
+#endif
+
+/**
  * @brief   Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.
  * @note    Disabling this option saves both code and data space.
  */
@@ -380,6 +466,14 @@
 #define SPI_USE_MUTUAL_EXCLUSION    TRUE
 #endif
 
+/**
+ * @brief   Handling method for SPI CS line.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_SELECT_MODE) || defined(__DOXYGEN__)
+#define SPI_SELECT_MODE                     SPI_SELECT_MODE_PAD
+#endif
+
 /*===========================================================================*/
 /* UART driver related settings.                                             */
 /*===========================================================================*/
@@ -412,6 +506,26 @@
 #define USB_USE_WAIT                FALSE
 #endif
 
+/*===========================================================================*/
+/* WSPI driver related settings.                                             */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(WSPI_USE_WAIT) || defined(__DOXYGEN__)
+#define WSPI_USE_WAIT                       TRUE
+#endif
+
+/**
+ * @brief   Enables the @p wspiAcquireBus() and @p wspiReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(WSPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define WSPI_USE_MUTUAL_EXCLUSION           TRUE
+#endif
+
 #include "halconf_community.h"
 
 #endif /* HALCONF_H */
diff --git a/testhal/STM32/STM32F4xx/USB_HOST/main.c b/testhal/STM32/STM32F4xx/USB_HOST/main.c
index 6bc859e..c88880b 100644
--- a/testhal/STM32/STM32F4xx/USB_HOST/main.c
+++ b/testhal/STM32/STM32F4xx/USB_HOST/main.c
@@ -389,14 +389,14 @@ start:
 
         usbDbgPuts("FS: Block driver ready, try mount...");
 
-        res = f_mount(&MSDLUN0FS, FATFSDEV_MSDLUN0_DRIVE, 1);
+        res = f_mount(&MSDLUN0FS, FATFSDEV_MSD_DRIVE, 1);
         if (res != FR_OK) {
             usbDbgPuts("FS: Can't mount. Check file system.");
             continue;
         }
         usbDbgPuts("FS: Mounted.");
 
-        res = f_getfree(FATFSDEV_MSDLUN0_DRIVE, &clusters, &fsp);
+        res = f_getfree(FATFSDEV_MSD_DRIVE, &clusters, &fsp);
         if (res != FR_OK) {
             usbDbgPuts("FS: f_getfree() failed");
             continue;
@@ -420,7 +420,7 @@ start:
         //write test
         if (1) {
             usbDbgPuts("FS: Write test (create file /test.dat, 1MB)");
-            f_open(&file, FATFSDEV_MSDLUN0_DRIVE "/test.dat", FA_CREATE_ALWAYS | FA_WRITE);
+            f_open(&file, FATFSDEV_MSD_DRIVE "/test.dat", FA_CREATE_ALWAYS | FA_WRITE);
             src = start;
             st = chVTGetSystemTime();
             for (j = 0; j < 2048; j++) {
@@ -440,7 +440,7 @@ start:
         //read test
         if (1) {
             usbDbgPuts("FS: Read test (read file /test.dat, 1MB, compare)");
-            f_open(&file, FATFSDEV_MSDLUN0_DRIVE "/test.dat", FA_READ);
+            f_open(&file, FATFSDEV_MSD_DRIVE "/test.dat", FA_READ);
             src = start;
             st = chVTGetSystemTime();
             for (j = 0; j < 2048; j++) {
@@ -464,7 +464,7 @@ start:
         //scan files test
         if (1) {
             usbDbgPuts("FS: Scan files test");
-            strcpy((char *)fbuff, FATFSDEV_MSDLUN0_DRIVE);
+            strcpy((char *)fbuff, FATFSDEV_MSD_DRIVE);
             scan_files(chp, (char *)fbuff);
         }
     }
diff --git a/testhal/STM32/STM32F4xx/USB_HOST/mcuconf.h b/testhal/STM32/STM32F4xx/USB_HOST/mcuconf.h
index d2ff44e..242a0e3 100644
--- a/testhal/STM32/STM32F4xx/USB_HOST/mcuconf.h
+++ b/testhal/STM32/STM32F4xx/USB_HOST/mcuconf.h
@@ -32,11 +32,18 @@
  */
 
 #define STM32F4xx_MCUCONF
+#define STM32F405_MCUCONF
+#define STM32F415_MCUCONF
+#define STM32F407_MCUCONF
+#define STM32F417_MCUCONF
 
 /*
  * HAL driver system settings.
  */
 #define STM32_NO_INIT                       FALSE
+#define STM32_PVD_ENABLE                    FALSE
+#define STM32_PLS                           STM32_PLS_LEV0
+#define STM32_BKPRAM_ENABLE                 FALSE
 #define STM32_HSI_ENABLED                   TRUE
 #define STM32_LSI_ENABLED                   TRUE
 #define STM32_HSE_ENABLED                   TRUE
@@ -60,9 +67,6 @@
 #define STM32_I2SSRC                        STM32_I2SSRC_CKIN
 #define STM32_PLLI2SN_VALUE                 192
 #define STM32_PLLI2SR_VALUE                 5
-#define STM32_PVD_ENABLE                    FALSE
-#define STM32_PLS                           STM32_PLS_LEV0
-#define STM32_BKPRAM_ENABLE                 FALSE
 
 /*
  * IRQ system settings.
@@ -234,6 +238,14 @@
 #define STM32_PWM_TIM9_IRQ_PRIORITY         7
 
 /*
+ * RTC driver system settings.
+ */
+#define STM32_RTC_PRESA_VALUE               32
+#define STM32_RTC_PRESS_VALUE               1024
+#define STM32_RTC_CR_INIT                   0
+#define STM32_RTC_TAMPCR_INIT               0
+
+/*
  * SDC driver system settings.
  */
 #define STM32_SDC_SDIO_DMA_PRIORITY         3
@@ -330,9 +342,7 @@
 #define STM32_USB_OTG2_IRQ_PRIORITY         14
 #define STM32_USB_OTG1_RX_FIFO_SIZE         512
 #define STM32_USB_OTG2_RX_FIFO_SIZE         1024
-#define STM32_USB_OTG_THREAD_PRIO           LOWPRIO
-#define STM32_USB_OTG_THREAD_STACK_SIZE     128
-#define STM32_USB_OTGFIFO_FILL_BASEPRI      0
+#define STM32_USB_HOST_WAKEUP_DURATION      2
 
 /*
  * WDG driver system settings.
diff --git a/testhal/STM32/STM32F4xx/onewire/Makefile b/testhal/STM32/STM32F4xx/onewire/Makefile
index 17b1f31..404ee71 100644
--- a/testhal/STM32/STM32F4xx/onewire/Makefile
+++ b/testhal/STM32/STM32F4xx/onewire/Makefile
@@ -86,9 +86,11 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 TESTHAL = $(CHIBIOS_CONTRIB)/testhal/common/onewire
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
 # HAL-OSAL files (optional).
@@ -109,20 +111,14 @@ LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
        main.c \
        $(TESTHAL)/testhal_onewire.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -145,13 +141,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(CHIBIOS_CONTRIB)/os/various \
+INCDIR = $(ALLINC) $(TESTINC) \
          $(TESTHAL)
 
 #
diff --git a/testhal/STM32/STM32F4xx/onewire/chconf.h b/testhal/STM32/STM32F4xx/onewire/chconf.h
index 53bd676..58cd5db 100644
--- a/testhal/STM32/STM32F4xx/onewire/chconf.h
+++ b/testhal/STM32/STM32F4xx/onewire/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       FALSE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/STM32/STM32F7xx/USB_MSD/Makefile b/testhal/STM32/STM32F7xx/USB_MSD/Makefile
index 10ec19f..870ed6e 100644
--- a/testhal/STM32/STM32F7xx/USB_MSD/Makefile
+++ b/testhal/STM32/STM32F7xx/USB_MSD/Makefile
@@ -91,8 +91,10 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f7xx.mk
 # HAL-OSAL files (optional).
@@ -115,16 +117,8 @@ LDSCRIPT= $(STARTUPLD)/STM32F76xxI.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CSRC = $(STARTUPSRC) \
-       $(KERNSRC) \
-       $(PORTSRC) \
-       $(OSALSRC) \
-       $(HALSRC) \
-       $(PLATFORMSRC) \
-       $(BOARDSRC) \
+CSRC = $(ALLCSRC) \
        $(TESTSRC) \
-       $(STREAMSSRC) \
-       $(SHELLSRC) \
        $(CHIBIOS_CONTRIB)/os/various/ramdisk.c \
        $(CHIBIOS_CONTRIB)/os/various/lib_scsi.c \
        usbcfg.c \
@@ -132,7 +126,7 @@ CSRC = $(STARTUPSRC) \
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
 
 # C sources to be compiled in ARM mode regardless of the global setting.
 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -155,13 +149,10 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
 
-INCDIR = $(CHIBIOS)/os/license \
-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
-         $(STREAMSINC) $(SHELLINC) \
+INCDIR = $(ALLINC) $(TESTINC) \
          $(CHIBIOS_CONTRIB)/os/various
 
 #
diff --git a/testhal/STM32/STM32F7xx/USB_MSD/chconf.h b/testhal/STM32/STM32F7xx/USB_MSD/chconf.h
index b9b2e81..7fa83eb 100644
--- a/testhal/STM32/STM32F7xx/USB_MSD/chconf.h
+++ b/testhal/STM32/STM32F7xx/USB_MSD/chconf.h
@@ -29,7 +29,7 @@
 #define CHCONF_H
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 
 /*===========================================================================*/
 /**
@@ -42,26 +42,34 @@
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_ST_RESOLUTION)
 #define CH_CFG_ST_RESOLUTION                32
+#endif
 
 /**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
+#if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 10000
+#endif
 
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -71,7 +79,9 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
+#if !defined(CH_CFG_ST_TIMEDELTA)
 #define CH_CFG_ST_TIMEDELTA                 2
+#endif
 
 /** @} */
 
@@ -94,7 +104,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -107,7 +119,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -116,7 +130,9 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
 
 /** @} */
 
@@ -135,7 +151,9 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
 
 /** @} */
 
@@ -153,7 +171,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       TRUE
+#endif
 
 /**
  * @brief   Threads registry APIs.
@@ -161,7 +181,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
+#endif
 
 /**
  * @brief   Threads synchronization APIs.
@@ -170,7 +192,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
 
 /**
  * @brief   Semaphores APIs.
@@ -178,7 +202,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
+#endif
 
 /**
  * @brief   Semaphores queuing mode.
@@ -189,7 +215,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -197,7 +225,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
+#endif
 
 /**
  * @brief   Enables recursive behavior on mutexes.
@@ -207,7 +237,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -217,7 +249,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
+#endif
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -227,7 +261,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs.
@@ -235,7 +271,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
+#endif
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -245,7 +283,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -254,7 +294,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
+#endif
 
 /**
  * @brief   Synchronous Messages queuing mode.
@@ -265,7 +307,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -275,7 +319,9 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
+#endif
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,7 +330,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
+#endif
 
 /**
  * @brief   Heap Allocator APIs.
@@ -296,7 +344,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
+#endif
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -305,7 +355,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
+#endif
 
 /**
  * @brief  Objects FIFOs APIs.
@@ -314,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                FALSE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -325,7 +379,9 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
+#endif
 
 /** @} */
 
@@ -343,39 +399,53 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  FALSE
+#endif
 
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
 
 /** @} */
 
@@ -391,7 +461,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   FALSE
+#endif
 
 /**
  * @brief   Debug option, system state check.
@@ -400,7 +472,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, parameters checks.
@@ -409,7 +483,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                TRUE
+#endif
 
 /**
  * @brief   Debug option, consistency checks.
@@ -419,7 +495,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
 
 /**
  * @brief   Debug option, trace buffer.
@@ -427,14 +505,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_ALL
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -446,7 +528,9 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -456,7 +540,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
+#endif
 
 /**
  * @brief   Debug option, threads profiling.
@@ -467,7 +553,9 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
+#endif
 
 /** @} */
 
@@ -490,7 +578,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }
 
diff --git a/testhal/TIVA/TM4C123x/ADC/Makefile b/testhal/TIVA/TM4C123x/ADC/Makefile
index f098dc2..bd998ad 100644
--- a/testhal/TIVA/TM4C123x/ADC/Makefile
+++ b/testhal/TIVA/TM4C123x/ADC/Makefile
@@ -86,7 +86,7 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 
 # Licensing files.
diff --git a/testhal/TIVA/TM4C123x/GPT/Makefile b/testhal/TIVA/TM4C123x/GPT/Makefile
index 00661de..490c89d 100644
--- a/testhal/TIVA/TM4C123x/GPT/Makefile
+++ b/testhal/TIVA/TM4C123x/GPT/Makefile
@@ -86,7 +86,7 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 
 # Licensing files.
diff --git a/testhal/TIVA/TM4C123x/I2C/Makefile b/testhal/TIVA/TM4C123x/I2C/Makefile
index f098dc2..bd998ad 100644
--- a/testhal/TIVA/TM4C123x/I2C/Makefile
+++ b/testhal/TIVA/TM4C123x/I2C/Makefile
@@ -86,7 +86,7 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 
 # Licensing files.
diff --git a/testhal/TIVA/TM4C123x/PWM/Makefile b/testhal/TIVA/TM4C123x/PWM/Makefile
index 00661de..490c89d 100644
--- a/testhal/TIVA/TM4C123x/PWM/Makefile
+++ b/testhal/TIVA/TM4C123x/PWM/Makefile
@@ -86,7 +86,7 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 
 # Licensing files.
diff --git a/testhal/TIVA/TM4C123x/SPI/Makefile b/testhal/TIVA/TM4C123x/SPI/Makefile
index 00661de..490c89d 100644
--- a/testhal/TIVA/TM4C123x/SPI/Makefile
+++ b/testhal/TIVA/TM4C123x/SPI/Makefile
@@ -86,7 +86,7 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 
 # Licensing files.
diff --git a/testhal/TIVA/TM4C123x/UART/Makefile b/testhal/TIVA/TM4C123x/UART/Makefile
index 00661de..490c89d 100644
--- a/testhal/TIVA/TM4C123x/UART/Makefile
+++ b/testhal/TIVA/TM4C123x/UART/Makefile
@@ -86,7 +86,7 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 
 # Licensing files.
diff --git a/testhal/TIVA/TM4C123x/WDG/Makefile b/testhal/TIVA/TM4C123x/WDG/Makefile
index 00661de..490c89d 100644
--- a/testhal/TIVA/TM4C123x/WDG/Makefile
+++ b/testhal/TIVA/TM4C123x/WDG/Makefile
@@ -86,7 +86,7 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 
 # Licensing files.
author	Diego Ismirlian <dismirlian@gmail.com>	2019-08-24 17:45:41 -0300
committer	Diego Ismirlian <dismirlian@gmail.com>	2019-08-24 17:45:41 -0300
commit	7b2c61a676e024163057ec5ccc508a29ab3b9ed4 (patch)
tree	5d1f5423a4e720d657681794ac81dc2a2004cbb0 /testhal
parent	81391097156ce2c9fc71c3350457522841e10095 (diff)
parent	e346e779339636f578536785014609e46866fb9c (diff)
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