Moved RT version to 6.0, updated all chconf.h files.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@12106 110e8d01-0319-4d1e-a829-52ad28d1bb01

236 files changed, 20774 insertions, 352 deletions

diff --git a/demos/ATSAMA5D2/RT-SAMA-LWIP-WOLFSSL/cfg/chconf.h b/demos/ATSAMA5D2/RT-SAMA-LWIP-WOLFSSL/cfg/chconf.h
index e08a34ce7..be4331e51 100644
--- a/demos/ATSAMA5D2/RT-SAMA-LWIP-WOLFSSL/cfg/chconf.h
+++ b/demos/ATSAMA5D2/RT-SAMA-LWIP-WOLFSSL/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +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.

@@ -410,7 +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.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

@@ -604,13 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */

 /*===========================================================================*/

 

-/**

- * @brief   Trust zone configuration.

- * @details If enabled the kernel is configured for the secure world

- *          and can access specific devices.

- */

-#define CH_CFG_SEC_WORLD                    TRUE

-

 #endif  /* CHCONF_H */

 

 /** @} */

diff --git a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-HTTPS-NSEC/chconf.h b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-HTTPS-NSEC/chconf.h
index 8d645a087..be4331e51 100755
--- a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-HTTPS-NSEC/chconf.h
+++ b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-HTTPS-NSEC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +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.

@@ -410,7 +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.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

@@ -568,8 +655,7 @@
  * @details This hook is continuously invoked by the idle thread loop.

  */

 #define CH_CFG_IDLE_LOOP_HOOK() {                                           \

-  void tsIdle(void);                                                        \

-  tsIdle();                                                                 \

+  /* Idle loop code here.*/                                                 \

 }

 

 /**

diff --git a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-HTTPS-SEC/cfg/chconf.h b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-HTTPS-SEC/cfg/chconf.h
index 6db52ba06..1941dc79e 100755
--- a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-HTTPS-SEC/cfg/chconf.h
+++ b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-HTTPS-SEC/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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          /* periodic tick.*/

-#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less.*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +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.

@@ -410,7 +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.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

diff --git a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP-HTTP-CLIENT/cfg/chconf.h b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP-HTTP-CLIENT/cfg/chconf.h
index e08a34ce7..be4331e51 100644
--- a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP-HTTP-CLIENT/cfg/chconf.h
+++ b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP-HTTP-CLIENT/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +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.

@@ -410,7 +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.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

@@ -604,13 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */

 /*===========================================================================*/

 

-/**

- * @brief   Trust zone configuration.

- * @details If enabled the kernel is configured for the secure world

- *          and can access specific devices.

- */

-#define CH_CFG_SEC_WORLD                    TRUE

-

 #endif  /* CHCONF_H */

 

 /** @} */

diff --git a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP-HTTPS-CLIENT-SNI/cfg/chconf.h b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP-HTTPS-CLIENT-SNI/cfg/chconf.h
index e08a34ce7..be4331e51 100644
--- a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP-HTTPS-CLIENT-SNI/cfg/chconf.h
+++ b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP-HTTPS-CLIENT-SNI/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +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.

@@ -410,7 +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.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

@@ -604,13 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */

 /*===========================================================================*/

 

-/**

- * @brief   Trust zone configuration.

- * @details If enabled the kernel is configured for the secure world

- *          and can access specific devices.

- */

-#define CH_CFG_SEC_WORLD                    TRUE

-

 #endif  /* CHCONF_H */

 

 /** @} */

diff --git a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP-HTTPS-CLIENT/cfg/chconf.h b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP-HTTPS-CLIENT/cfg/chconf.h
index e08a34ce7..be4331e51 100644
--- a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP-HTTPS-CLIENT/cfg/chconf.h
+++ b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP-HTTPS-CLIENT/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +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.

@@ -410,7 +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.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

@@ -604,13 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */

 /*===========================================================================*/

 

-/**

- * @brief   Trust zone configuration.

- * @details If enabled the kernel is configured for the secure world

- *          and can access specific devices.

- */

-#define CH_CFG_SEC_WORLD                    TRUE

-

 #endif  /* CHCONF_H */

 

 /** @} */

diff --git a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP/cfg/chconf.h b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP/cfg/chconf.h
index e08a34ce7..be4331e51 100644
--- a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP/cfg/chconf.h
+++ b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-LWIP/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +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.

@@ -410,7 +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.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

@@ -604,13 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */

 /*===========================================================================*/

 

-/**

- * @brief   Trust zone configuration.

- * @details If enabled the kernel is configured for the secure world

- *          and can access specific devices.

- */

-#define CH_CFG_SEC_WORLD                    TRUE

-

 #endif  /* CHCONF_H */

 

 /** @} */

diff --git a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-NSEC-LWIP/cfg/chconf.h b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-NSEC-LWIP/cfg/chconf.h
index 8d645a087..be4331e51 100644
--- a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-NSEC-LWIP/cfg/chconf.h
+++ b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-NSEC-LWIP/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +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.

@@ -410,7 +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.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

@@ -568,8 +655,7 @@
  * @details This hook is continuously invoked by the idle thread loop.

  */

 #define CH_CFG_IDLE_LOOP_HOOK() {                                           \

-  void tsIdle(void);                                                        \

-  tsIdle();                                                                 \

+  /* Idle loop code here.*/                                                 \

 }

 

 /**

diff --git a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-NSEC/chconf.h b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-NSEC/chconf.h
index 8d645a087..be4331e51 100755
--- a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-NSEC/chconf.h
+++ b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-NSEC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +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.

@@ -410,7 +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.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

@@ -568,8 +655,7 @@
  * @details This hook is continuously invoked by the idle thread loop.

  */

 #define CH_CFG_IDLE_LOOP_HOOK() {                                           \

-  void tsIdle(void);                                                        \

-  tsIdle();                                                                 \

+  /* Idle loop code here.*/                                                 \

 }

 

 /**

diff --git a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-SEC/chconf.h b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-SEC/chconf.h
index b4155a3b5..578ca3ffb 100755
--- a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-SEC/chconf.h
+++ b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-SEC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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          /* periodic tick.*/

-#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less.*/

+#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.

@@ -72,7 +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                 6

+#endif

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +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.

@@ -410,7 +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.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

diff --git a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-WOLFSSL-HALCRYPTO/cfg/chconf.h b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-WOLFSSL-HALCRYPTO/cfg/chconf.h
index 8093b6f33..c3ca56ff4 100644
--- a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-WOLFSSL-HALCRYPTO/cfg/chconf.h
+++ b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED-WOLFSSL-HALCRYPTO/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

@@ -603,13 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */

 /*===========================================================================*/

 

-/**

- * @brief   Trust zone configuration.

- * @details If enabled the kernel is configured for the secure world

- *          and can access specific devices.

- */

-#define CH_CFG_SEC_WORLD                    TRUE

-

 #endif  /* CHCONF_H */

 

 /** @} */

diff --git a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED/chconf.h b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED/chconf.h
index 33b59452e..d6155beea 100755
--- a/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED/chconf.h
+++ b/demos/ATSAMA5D2/RT-SAMA5D2-XPLAINED/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +472,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)

 #define CH_DBG_SYSTEM_STATE_CHECK           FALSE

+#endif

 

 /**

  * @brief   Debug option, parameters checks.

@@ -410,7 +483,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_CHECKS)

 #define CH_DBG_ENABLE_CHECKS                FALSE

+#endif

 

 /**

  * @brief   Debug option, consistency checks.

@@ -420,7 +495,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_ASSERTS)

 #define CH_DBG_ENABLE_ASSERTS               FALSE

+#endif

 

 /**

  * @brief   Debug option, trace buffer.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

diff --git a/demos/AVR/RT-ARDUINO-LEONARDO/chconf.h b/demos/AVR/RT-ARDUINO-LEONARDO/chconf.h
index 4ecd81a8e..ffc6a66b2 100644
--- a/demos/AVR/RT-ARDUINO-LEONARDO/chconf.h
+++ b/demos/AVR/RT-ARDUINO-LEONARDO/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/AVR/RT-ARDUINO-MEGA/chconf.h b/demos/AVR/RT-ARDUINO-MEGA/chconf.h
index 4ecd81a8e..ffc6a66b2 100644
--- a/demos/AVR/RT-ARDUINO-MEGA/chconf.h
+++ b/demos/AVR/RT-ARDUINO-MEGA/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/AVR/RT-ARDUINO-MINI/chconf.h b/demos/AVR/RT-ARDUINO-MINI/chconf.h
index 4ecd81a8e..ffc6a66b2 100644
--- a/demos/AVR/RT-ARDUINO-MINI/chconf.h
+++ b/demos/AVR/RT-ARDUINO-MINI/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/AVR/RT-ARDUINO-NANO/chconf.h b/demos/AVR/RT-ARDUINO-NANO/chconf.h
index 4ecd81a8e..ffc6a66b2 100644
--- a/demos/AVR/RT-ARDUINO-NANO/chconf.h
+++ b/demos/AVR/RT-ARDUINO-NANO/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/AVR/RT-ARDUINO-UNO/chconf.h b/demos/AVR/RT-ARDUINO-UNO/chconf.h
index 4ecd81a8e..ffc6a66b2 100644
--- a/demos/AVR/RT-ARDUINO-UNO/chconf.h
+++ b/demos/AVR/RT-ARDUINO-UNO/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/AVR/RT-DIGISPARK-ATTINY-167/chconf.h b/demos/AVR/RT-DIGISPARK-ATTINY-167/chconf.h
index ded53d2f4..162e979b2 100644
--- a/demos/AVR/RT-DIGISPARK-ATTINY-167/chconf.h
+++ b/demos/AVR/RT-DIGISPARK-ATTINY-167/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 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                 128

+#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                 FALSE

+#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                 FALSE

+#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                 FALSE

+#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         FALSE

+#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                 FALSE

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/AVR/RT-MT-DB-X4/chconf.h b/demos/AVR/RT-MT-DB-X4/chconf.h
index 9b4b25770..861e4398f 100644
--- a/demos/AVR/RT-MT-DB-X4/chconf.h
+++ b/demos/AVR/RT-MT-DB-X4/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 14545

+#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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/AVR/RT-PRO-MICRO/chconf.h b/demos/AVR/RT-PRO-MICRO/chconf.h
index 4ecd81a8e..ffc6a66b2 100644
--- a/demos/AVR/RT-PRO-MICRO/chconf.h
+++ b/demos/AVR/RT-PRO-MICRO/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/AVR/RT-TEENSY2-USB/chconf.h b/demos/AVR/RT-TEENSY2-USB/chconf.h
index d9e5e9197..4dc5bf2d2 100644
--- a/demos/AVR/RT-TEENSY2-USB/chconf.h
+++ b/demos/AVR/RT-TEENSY2-USB/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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               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                 128

+#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                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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/AVR/TEST-SUITE-OSLIB/chconf.h b/demos/AVR/TEST-SUITE-OSLIB/chconf.h
index 4ecd81a8e..ffc6a66b2 100644
--- a/demos/AVR/TEST-SUITE-OSLIB/chconf.h
+++ b/demos/AVR/TEST-SUITE-OSLIB/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/AVR/TEST-SUITE-RT/chconf.h b/demos/AVR/TEST-SUITE-RT/chconf.h
index 4ecd81a8e..ffc6a66b2 100644
--- a/demos/AVR/TEST-SUITE-RT/chconf.h
+++ b/demos/AVR/TEST-SUITE-RT/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/LPC21xx/RT-LPC214x-OLIMEX/chconf.h b/demos/LPC21xx/RT-LPC214x-OLIMEX/chconf.h
index 468ffe85e..c6ed2e7ea 100644
--- a/demos/LPC21xx/RT-LPC214x-OLIMEX/chconf.h
+++ b/demos/LPC21xx/RT-LPC214x-OLIMEX/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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            TRUE

+#endif

 

 /** @} */

 

diff --git a/demos/SPC5/RT-SPC560B-EVB/chconf.h b/demos/SPC5/RT-SPC560B-EVB/chconf.h
index 468ffe85e..c6ed2e7ea 100644
--- a/demos/SPC5/RT-SPC560B-EVB/chconf.h
+++ b/demos/SPC5/RT-SPC560B-EVB/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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            TRUE

+#endif

 

 /** @} */

 

diff --git a/demos/SPC5/RT-SPC560D-EVB/chconf.h b/demos/SPC5/RT-SPC560D-EVB/chconf.h
index 468ffe85e..c6ed2e7ea 100644
--- a/demos/SPC5/RT-SPC560D-EVB/chconf.h
+++ b/demos/SPC5/RT-SPC560D-EVB/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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            TRUE

+#endif

 

 /** @} */

 

diff --git a/demos/SPC5/RT-SPC560P-EVB/chconf.h b/demos/SPC5/RT-SPC560P-EVB/chconf.h
index 468ffe85e..c6ed2e7ea 100644
--- a/demos/SPC5/RT-SPC560P-EVB/chconf.h
+++ b/demos/SPC5/RT-SPC560P-EVB/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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            TRUE

+#endif

 

 /** @} */

 

diff --git a/demos/SPC5/RT-SPC563M-EVB/chconf.h b/demos/SPC5/RT-SPC563M-EVB/chconf.h
index 468ffe85e..c6ed2e7ea 100644
--- a/demos/SPC5/RT-SPC563M-EVB/chconf.h
+++ b/demos/SPC5/RT-SPC563M-EVB/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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            TRUE

+#endif

 

 /** @} */

 

diff --git a/demos/SPC5/RT-SPC564A-EVB/chconf.h b/demos/SPC5/RT-SPC564A-EVB/chconf.h
index 468ffe85e..c6ed2e7ea 100644
--- a/demos/SPC5/RT-SPC564A-EVB/chconf.h
+++ b/demos/SPC5/RT-SPC564A-EVB/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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            TRUE

+#endif

 

 /** @} */

 

diff --git a/demos/SPC5/RT-SPC56EC-EVB/chconf.h b/demos/SPC5/RT-SPC56EC-EVB/chconf.h
index 468ffe85e..c6ed2e7ea 100644
--- a/demos/SPC5/RT-SPC56EC-EVB/chconf.h
+++ b/demos/SPC5/RT-SPC56EC-EVB/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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            TRUE

+#endif

 

 /** @} */

 

diff --git a/demos/SPC5/RT-SPC56EL-EVB/chconf.h b/demos/SPC5/RT-SPC56EL-EVB/chconf.h
index 468ffe85e..c6ed2e7ea 100644
--- a/demos/SPC5/RT-SPC56EL-EVB/chconf.h
+++ b/demos/SPC5/RT-SPC56EL-EVB/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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            TRUE

+#endif

 

 /** @} */

 

diff --git a/demos/STM32/CMSIS-STM32F407-DISCOVERY/chconf.h b/demos/STM32/CMSIS-STM32F407-DISCOVERY/chconf.h
index 532a70333..3b032d822 100644
--- a/demos/STM32/CMSIS-STM32F407-DISCOVERY/chconf.h
+++ b/demos/STM32/CMSIS-STM32F407-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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                       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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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            TRUE

+#endif

 

 /** @} */

 

diff --git a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/chconf.h b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/chconf.h
index a9f17bfeb..0a39bdd08 100644
--- a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/chconf.h
+++ b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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                       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                  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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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            TRUE

+#endif

 

 /** @} */

 

@@ -499,8 +587,7 @@
  * @details User fields added to the end of the @p thread_t structure.

  */

 #define CH_CFG_THREAD_EXTRA_FIELDS                                          \

-  /* Add threads custom fields here.*/                                      \

-  void *osal_delete_handler;

+  /* Add threads custom fields here.*/

 

 /**

  * @brief   Threads initialization hook.

@@ -511,7 +598,6 @@
  */

 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \

   /* Add threads initialization code here.*/                                \

-  tp->osal_delete_handler = NULL;                                           \

 }

 

 /**

diff --git a/demos/STM32/NASA-OSAL-STM32F746G-DISCOVERY/chconf.h b/demos/STM32/NASA-OSAL-STM32F746G-DISCOVERY/chconf.h
index 773585b9c..f18a85f7c 100644
--- a/demos/STM32/NASA-OSAL-STM32F746G-DISCOVERY/chconf.h
+++ b/demos/STM32/NASA-OSAL-STM32F746G-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                  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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

@@ -499,8 +587,7 @@
  * @details User fields added to the end of the @p thread_t structure.

  */

 #define CH_CFG_THREAD_EXTRA_FIELDS                                          \

-  /* Add threads custom fields here.*/                                      \

-  void *osal_delete_handler;

+  /* Add threads custom fields here.*/

 

 /**

  * @brief   Threads initialization hook.

@@ -511,7 +598,6 @@
  */

 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \

   /* Add threads initialization code here.*/                                \

-  tp->osal_delete_handler = NULL;                                           \

 }

 

 /**

diff --git a/demos/STM32/RT-STM32-LWIP-FATFS-USB-HTTPS/cfg-stm32f746_discovery/chconf.h b/demos/STM32/RT-STM32-LWIP-FATFS-USB-HTTPS/cfg-stm32f746_discovery/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32-LWIP-FATFS-USB-HTTPS/cfg-stm32f746_discovery/chconf.h
+++ b/demos/STM32/RT-STM32-LWIP-FATFS-USB-HTTPS/cfg-stm32f746_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32-LWIP-FATFS-USB/cfg-stm32f107_goldbull/chconf.h b/demos/STM32/RT-STM32-LWIP-FATFS-USB/cfg-stm32f107_goldbull/chconf.h
index 56da29fa9..2fc4c2fec 100644
--- a/demos/STM32/RT-STM32-LWIP-FATFS-USB/cfg-stm32f107_goldbull/chconf.h
+++ b/demos/STM32/RT-STM32-LWIP-FATFS-USB/cfg-stm32f107_goldbull/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                       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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32-LWIP-FATFS-USB/cfg-stm32f407_olimex/chconf.h b/demos/STM32/RT-STM32-LWIP-FATFS-USB/cfg-stm32f407_olimex/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32-LWIP-FATFS-USB/cfg-stm32f407_olimex/chconf.h
+++ b/demos/STM32/RT-STM32-LWIP-FATFS-USB/cfg-stm32f407_olimex/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32-LWIP-FATFS-USB/cfg-stm32f746_discovery/chconf.h b/demos/STM32/RT-STM32-LWIP-FATFS-USB/cfg-stm32f746_discovery/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32-LWIP-FATFS-USB/cfg-stm32f746_discovery/chconf.h
+++ b/demos/STM32/RT-STM32-LWIP-FATFS-USB/cfg-stm32f746_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F030R8-NUCLEO64/chconf.h b/demos/STM32/RT-STM32F030R8-NUCLEO64/chconf.h
index 260a1cc82..4cee7677c 100644
--- a/demos/STM32/RT-STM32F030R8-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32F030R8-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F031K6-NUCLEO32/chconf.h b/demos/STM32/RT-STM32F031K6-NUCLEO32/chconf.h
index 0ee744e0c..07bb381e1 100644
--- a/demos/STM32/RT-STM32F031K6-NUCLEO32/chconf.h
+++ b/demos/STM32/RT-STM32F031K6-NUCLEO32/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F042K6-NUCLEO32/chconf.h b/demos/STM32/RT-STM32F042K6-NUCLEO32/chconf.h
index 522791d24..b0263b725 100644
--- a/demos/STM32/RT-STM32F042K6-NUCLEO32/chconf.h
+++ b/demos/STM32/RT-STM32F042K6-NUCLEO32/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F051-DISCOVERY/chconf.h b/demos/STM32/RT-STM32F051-DISCOVERY/chconf.h
index 522791d24..b0263b725 100644
--- a/demos/STM32/RT-STM32F051-DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32F051-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F070RB-NUCLEO64/chconf.h b/demos/STM32/RT-STM32F070RB-NUCLEO64/chconf.h
index dced51a2c..c26ad9344 100644
--- a/demos/STM32/RT-STM32F070RB-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32F070RB-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F072-DISCOVERY/chconf.h b/demos/STM32/RT-STM32F072-DISCOVERY/chconf.h
index 522791d24..b0263b725 100644
--- a/demos/STM32/RT-STM32F072-DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32F072-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F072RB-NUCLEO64/chconf.h b/demos/STM32/RT-STM32F072RB-NUCLEO64/chconf.h
index 522791d24..b0263b725 100644
--- a/demos/STM32/RT-STM32F072RB-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32F072RB-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F091RC-NUCLEO64/chconf.h b/demos/STM32/RT-STM32F091RC-NUCLEO64/chconf.h
index 522791d24..b0263b725 100644
--- a/demos/STM32/RT-STM32F091RC-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32F091RC-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F100-DISCOVERY/chconf.h b/demos/STM32/RT-STM32F100-DISCOVERY/chconf.h
index 260a1cc82..4cee7677c 100644
--- a/demos/STM32/RT-STM32F100-DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32F100-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F103-MAPLEMINI/chconf.h b/demos/STM32/RT-STM32F103-MAPLEMINI/chconf.h
index 0254e3245..a49dd2675 100644
--- a/demos/STM32/RT-STM32F103-MAPLEMINI/chconf.h
+++ b/demos/STM32/RT-STM32F103-MAPLEMINI/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 2000

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F103-OLIMEX_STM32_P103-FATFS/chconf.h b/demos/STM32/RT-STM32F103-OLIMEX_STM32_P103-FATFS/chconf.h
index cfa82178f..ba44a4690 100755
--- a/demos/STM32/RT-STM32F103-OLIMEX_STM32_P103-FATFS/chconf.h
+++ b/demos/STM32/RT-STM32F103-OLIMEX_STM32_P103-FATFS/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 2000

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F103-OLIMEX_STM32_P103/chconf.h b/demos/STM32/RT-STM32F103-OLIMEX_STM32_P103/chconf.h
index cfa82178f..ba44a4690 100644
--- a/demos/STM32/RT-STM32F103-OLIMEX_STM32_P103/chconf.h
+++ b/demos/STM32/RT-STM32F103-OLIMEX_STM32_P103/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 2000

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F103-STM3210E_EVAL-FATFS-USB/chconf.h b/demos/STM32/RT-STM32F103-STM3210E_EVAL-FATFS-USB/chconf.h
index cfa82178f..ba44a4690 100644
--- a/demos/STM32/RT-STM32F103-STM3210E_EVAL-FATFS-USB/chconf.h
+++ b/demos/STM32/RT-STM32F103-STM3210E_EVAL-FATFS-USB/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 2000

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F103RB-NUCLEO64/chconf.h b/demos/STM32/RT-STM32F103RB-NUCLEO64/chconf.h
index 6cd11cc27..2f3ed708a 100644
--- a/demos/STM32/RT-STM32F103RB-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32F103RB-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 2000

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F103_INEMO_DISCOVERY/chconf.h b/demos/STM32/RT-STM32F103_INEMO_DISCOVERY/chconf.h
index cfa82178f..ba44a4690 100644
--- a/demos/STM32/RT-STM32F103_INEMO_DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32F103_INEMO_DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 2000

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F107-OLIMEX_P107-LWIP/cfg/chconf.h b/demos/STM32/RT-STM32F107-OLIMEX_P107-LWIP/cfg/chconf.h
index ecb293dc3..28e3c152b 100644
--- a/demos/STM32/RT-STM32F107-OLIMEX_P107-LWIP/cfg/chconf.h
+++ b/demos/STM32/RT-STM32F107-OLIMEX_P107-LWIP/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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                       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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F207-DISCOVERY/chconf.h b/demos/STM32/RT-STM32F207-DISCOVERY/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F207-DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32F207-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F207ZG-NUCLEO144/chconf.h b/demos/STM32/RT-STM32F207ZG-NUCLEO144/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F207ZG-NUCLEO144/chconf.h
+++ b/demos/STM32/RT-STM32F207ZG-NUCLEO144/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F302R8-NUCLEO64/chconf.h b/demos/STM32/RT-STM32F302R8-NUCLEO64/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F302R8-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32F302R8-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F303-DISCOVERY/chconf.h b/demos/STM32/RT-STM32F303-DISCOVERY/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F303-DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32F303-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F303K8-NUCLEO32/chconf.h b/demos/STM32/RT-STM32F303K8-NUCLEO32/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F303K8-NUCLEO32/chconf.h
+++ b/demos/STM32/RT-STM32F303K8-NUCLEO32/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F303RE-NUCLEO64/chconf.h b/demos/STM32/RT-STM32F303RE-NUCLEO64/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F303RE-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32F303RE-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F303ZE-NUCLEO144/chconf.h b/demos/STM32/RT-STM32F303ZE-NUCLEO144/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F303ZE-NUCLEO144/chconf.h
+++ b/demos/STM32/RT-STM32F303ZE-NUCLEO144/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F334-DISCOVERY/chconf.h b/demos/STM32/RT-STM32F334-DISCOVERY/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F334-DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32F334-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F334R8-NUCLEO64/chconf.h b/demos/STM32/RT-STM32F334R8-NUCLEO64/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F334R8-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32F334R8-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F373-STM32373C_EVAL/chconf.h b/demos/STM32/RT-STM32F373-STM32373C_EVAL/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F373-STM32373C_EVAL/chconf.h
+++ b/demos/STM32/RT-STM32F373-STM32373C_EVAL/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F401C-DISCOVERY/chconf.h b/demos/STM32/RT-STM32F401C-DISCOVERY/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F401C-DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32F401C-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F401RE-NUCLEO64/chconf.h b/demos/STM32/RT-STM32F401RE-NUCLEO64/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F401RE-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32F401RE-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F407-DISCOVERY-G++/chconf.h b/demos/STM32/RT-STM32F407-DISCOVERY-G++/chconf.h
index 7b3b83f2c..f0de80134 100644
--- a/demos/STM32/RT-STM32F407-DISCOVERY-G++/chconf.h
+++ b/demos/STM32/RT-STM32F407-DISCOVERY-G++/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_6_0_
 
 /*===========================================================================*/
 /**
@@ -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           FALSE
+#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                FALSE
+#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               FALSE
+#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_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 +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           FALSE
+#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                 FALSE
+#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
 
 /** @} */
 
diff --git a/demos/STM32/RT-STM32F407-DISCOVERY/chconf.h b/demos/STM32/RT-STM32F407-DISCOVERY/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F407-DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32F407-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F410RB-NUCLEO64/chconf.h b/demos/STM32/RT-STM32F410RB-NUCLEO64/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F410RB-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32F410RB-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F411RE-NUCLEO64/chconf.h b/demos/STM32/RT-STM32F411RE-NUCLEO64/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F411RE-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32F411RE-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F412ZG-NUCLEO144/chconf.h b/demos/STM32/RT-STM32F412ZG-NUCLEO144/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F412ZG-NUCLEO144/chconf.h
+++ b/demos/STM32/RT-STM32F412ZG-NUCLEO144/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F413ZH-NUCLEO144/chconf.h b/demos/STM32/RT-STM32F413ZH-NUCLEO144/chconf.h
index aea2de97d..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F413ZH-NUCLEO144/chconf.h
+++ b/demos/STM32/RT-STM32F413ZH-NUCLEO144/chconf.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS - Copyright (C) 2006..2016 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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

@@ -502,17 +590,10 @@
   /* Add threads custom fields 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 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/demos/STM32/RT-STM32F429-DISCOVERY/chconf.h b/demos/STM32/RT-STM32F429-DISCOVERY/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F429-DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32F429-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F429ZI-NUCLEO144/chconf.h b/demos/STM32/RT-STM32F429ZI-NUCLEO144/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F429ZI-NUCLEO144/chconf.h
+++ b/demos/STM32/RT-STM32F429ZI-NUCLEO144/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F446RE-NUCLEO64/chconf.h b/demos/STM32/RT-STM32F446RE-NUCLEO64/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F446RE-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32F446RE-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F446ZE-NUCLEO144/chconf.h b/demos/STM32/RT-STM32F446ZE-NUCLEO144/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F446ZE-NUCLEO144/chconf.h
+++ b/demos/STM32/RT-STM32F446ZE-NUCLEO144/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F469I-DISCOVERY/chconf.h b/demos/STM32/RT-STM32F469I-DISCOVERY/chconf.h
index 665a147d4..a2ae7f5e1 100644
--- a/demos/STM32/RT-STM32F469I-DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32F469I-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_NONE

+#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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F722ZE-NUCLEO144/chconf.h b/demos/STM32/RT-STM32F722ZE-NUCLEO144/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F722ZE-NUCLEO144/chconf.h
+++ b/demos/STM32/RT-STM32F722ZE-NUCLEO144/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F746G-DISCOVERY/cfg/chconf.h b/demos/STM32/RT-STM32F746G-DISCOVERY/cfg/chconf.h
index 665a147d4..a2ae7f5e1 100644
--- a/demos/STM32/RT-STM32F746G-DISCOVERY/cfg/chconf.h
+++ b/demos/STM32/RT-STM32F746G-DISCOVERY/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_NONE

+#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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F746ZG-NUCLEO144/chconf.h b/demos/STM32/RT-STM32F746ZG-NUCLEO144/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F746ZG-NUCLEO144/chconf.h
+++ b/demos/STM32/RT-STM32F746ZG-NUCLEO144/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F767ZI-NUCLEO144/chconf.h b/demos/STM32/RT-STM32F767ZI-NUCLEO144/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F767ZI-NUCLEO144/chconf.h
+++ b/demos/STM32/RT-STM32F767ZI-NUCLEO144/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32F769I-DISCOVERY/chconf.h b/demos/STM32/RT-STM32F769I-DISCOVERY/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32F769I-DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32F769I-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32H743I-NUCLEO144/chconf.h b/demos/STM32/RT-STM32H743I-NUCLEO144/chconf.h
index 665a147d4..a2ae7f5e1 100644
--- a/demos/STM32/RT-STM32H743I-NUCLEO144/chconf.h
+++ b/demos/STM32/RT-STM32H743I-NUCLEO144/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_NONE

+#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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32L031K6-NUCLEO32/chconf.h b/demos/STM32/RT-STM32L031K6-NUCLEO32/chconf.h
index 260a1cc82..4cee7677c 100644
--- a/demos/STM32/RT-STM32L031K6-NUCLEO32/chconf.h
+++ b/demos/STM32/RT-STM32L031K6-NUCLEO32/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32L053-DISCOVERY/chconf.h b/demos/STM32/RT-STM32L053-DISCOVERY/chconf.h
index 260a1cc82..4cee7677c 100644
--- a/demos/STM32/RT-STM32L053-DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32L053-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32L053R8-NUCLEO64/chconf.h b/demos/STM32/RT-STM32L053R8-NUCLEO64/chconf.h
index 260a1cc82..4cee7677c 100644
--- a/demos/STM32/RT-STM32L053R8-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32L053R8-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32L073RZ-NUCLEO64/chconf.h b/demos/STM32/RT-STM32L073RZ-NUCLEO64/chconf.h
index 260a1cc82..4cee7677c 100644
--- a/demos/STM32/RT-STM32L073RZ-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32L073RZ-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32L152-DISCOVERY/chconf.h b/demos/STM32/RT-STM32L152-DISCOVERY/chconf.h
index 150ec4341..bc4ff0b16 100644
--- a/demos/STM32/RT-STM32L152-DISCOVERY/chconf.h
+++ b/demos/STM32/RT-STM32L152-DISCOVERY/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32L152RE-NUCLEO64/chconf.h b/demos/STM32/RT-STM32L152RE-NUCLEO64/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32L152RE-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32L152RE-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32L432KC-NUCLEO32/chconf.h b/demos/STM32/RT-STM32L432KC-NUCLEO32/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32L432KC-NUCLEO32/chconf.h
+++ b/demos/STM32/RT-STM32L432KC-NUCLEO32/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32L476-DISCOVERY/cfg/chconf.h b/demos/STM32/RT-STM32L476-DISCOVERY/cfg/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32L476-DISCOVERY/cfg/chconf.h
+++ b/demos/STM32/RT-STM32L476-DISCOVERY/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/STM32/RT-STM32L476RG-NUCLEO64/chconf.h b/demos/STM32/RT-STM32L476RG-NUCLEO64/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/demos/STM32/RT-STM32L476RG-NUCLEO64/chconf.h
+++ b/demos/STM32/RT-STM32L476RG-NUCLEO64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/various/RT-ARM7-GENERIC/chconf.h b/demos/various/RT-ARM7-GENERIC/chconf.h
index b1e3841a8..b38399aad 100644
--- a/demos/various/RT-ARM7-GENERIC/chconf.h
+++ b/demos/various/RT-ARM7-GENERIC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/various/RT-ARMCM0-GENERIC/cfg/chconf.h b/demos/various/RT-ARMCM0-GENERIC/cfg/chconf.h
index b1e3841a8..b38399aad 100644
--- a/demos/various/RT-ARMCM0-GENERIC/cfg/chconf.h
+++ b/demos/various/RT-ARMCM0-GENERIC/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/various/RT-ARMCM4-GENERIC/cfg/chconf.h b/demos/various/RT-ARMCM4-GENERIC/cfg/chconf.h
index ecb293dc3..28e3c152b 100644
--- a/demos/various/RT-ARMCM4-GENERIC/cfg/chconf.h
+++ b/demos/various/RT-ARMCM4-GENERIC/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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                       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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/various/RT-Posix-Simulator/cfg/chconf.h b/demos/various/RT-Posix-Simulator/cfg/chconf.h
index 63668c135..c719da041 100755
--- a/demos/various/RT-Posix-Simulator/cfg/chconf.h
+++ b/demos/various/RT-Posix-Simulator/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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                 0x20000

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/demos/various/RT-Win32-Simulator/cfg/chconf.h b/demos/various/RT-Win32-Simulator/cfg/chconf.h
index 0b0831730..7106562f0 100644
--- a/demos/various/RT-Win32-Simulator/cfg/chconf.h
+++ b/demos/various/RT-Win32-Simulator/cfg/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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                 0x20000

+#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           FALSE

+#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                FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/os/rt/include/ch.h b/os/rt/include/ch.h
index 7287f3202..cf9ca01b6 100644
--- a/os/rt/include/ch.h
+++ b/os/rt/include/ch.h
@@ -48,7 +48,7 @@
 /**

  * @brief   Kernel version string.

  */

-#define CH_KERNEL_VERSION       "5.0.0"

+#define CH_KERNEL_VERSION       "6.0.0"

 

 /**

  * @brief   Kernel version major number.

diff --git a/os/rt/include/chchecks.h b/os/rt/include/chchecks.h
index a1ca063a6..bdf28791e 100644
--- a/os/rt/include/chchecks.h
+++ b/os/rt/include/chchecks.h
@@ -44,7 +44,7 @@
 #error "invalid configuration file"

 #endif

 

-#if !defined(_CHIBIOS_RT_CONF_VER_5_0_)

+#if !defined(_CHIBIOS_RT_CONF_VER_6_0_)

 #error "obsolete or unknown configuration file"

 #endif

 

diff --git a/os/rt/templates/chconf.h b/os/rt/templates/chconf.h
index 7dff81b1e..4f58bf9e4 100644
--- a/os/rt/templates/chconf.h
+++ b/os/rt/templates/chconf.h
@@ -15,7 +15,7 @@
 */

 

 /**

- * @file    rt/templates/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.

@@ -29,7 +29,7 @@
 #define CHCONF_H

 

 #define _CHIBIOS_RT_CONF_

-#define _CHIBIOS_RT_CONF_VER_5_0_

+#define _CHIBIOS_RT_CONF_VER_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/readme.txt b/readme.txt
index 6c1acee07..a4b7a0f7f 100644
--- a/readme.txt
+++ b/readme.txt
@@ -91,6 +91,8 @@
 *****************************************************************************

 

 *** Next ***

+- NEW: Now chconf.h files have preprocessor checks around each definition,

+       this allows to override settings from makefiles.

 - NEW: Added new functions to I/O queues: qSetLink().

 - NEW: Added new functions to objects fifos: chFifoReturnObjectS(),

        chFifoSendObjectAheadI(), chFifoSendObjectAheadS() and

diff --git a/test/rt/testbuild/chconf.h b/test/rt/testbuild/chconf.h
index 415718dc3..6e26e3b34 100644
--- a/test/rt/testbuild/chconf.h
+++ b/test/rt/testbuild/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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                 20

+#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                 0x20000

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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            TRUE

+#endif

 

 /** @} */

 

diff --git a/testex/STM32/STM32F3xx/I2C-LSM303DLHC/chconf.h b/testex/STM32/STM32F3xx/I2C-LSM303DLHC/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testex/STM32/STM32F3xx/I2C-LSM303DLHC/chconf.h
+++ b/testex/STM32/STM32F3xx/I2C-LSM303DLHC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F3xx/SPI-L3GD20/chconf.h b/testex/STM32/STM32F3xx/SPI-L3GD20/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testex/STM32/STM32F3xx/SPI-L3GD20/chconf.h
+++ b/testex/STM32/STM32F3xx/SPI-L3GD20/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F3xx/SPI-N25Q128/chconf.h b/testex/STM32/STM32F3xx/SPI-N25Q128/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testex/STM32/STM32F3xx/SPI-N25Q128/chconf.h
+++ b/testex/STM32/STM32F3xx/SPI-N25Q128/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F4xx/I2C-BMP085/chconf.h b/testex/STM32/STM32F4xx/I2C-BMP085/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testex/STM32/STM32F4xx/I2C-BMP085/chconf.h
+++ b/testex/STM32/STM32F4xx/I2C-BMP085/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F4xx/I2C-HTS221/chconf.h b/testex/STM32/STM32F4xx/I2C-HTS221/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testex/STM32/STM32F4xx/I2C-HTS221/chconf.h
+++ b/testex/STM32/STM32F4xx/I2C-HTS221/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F4xx/I2C-LIS3MLD/chconf.h b/testex/STM32/STM32F4xx/I2C-LIS3MLD/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testex/STM32/STM32F4xx/I2C-LIS3MLD/chconf.h
+++ b/testex/STM32/STM32F4xx/I2C-LIS3MLD/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F4xx/I2C-LPS22HB/chconf.h b/testex/STM32/STM32F4xx/I2C-LPS22HB/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testex/STM32/STM32F4xx/I2C-LPS22HB/chconf.h
+++ b/testex/STM32/STM32F4xx/I2C-LPS22HB/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F4xx/I2C-LPS25H/chconf.h b/testex/STM32/STM32F4xx/I2C-LPS25H/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testex/STM32/STM32F4xx/I2C-LPS25H/chconf.h
+++ b/testex/STM32/STM32F4xx/I2C-LPS25H/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F4xx/I2C-LSM303AGR/chconf.h b/testex/STM32/STM32F4xx/I2C-LSM303AGR/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM303AGR/chconf.h
+++ b/testex/STM32/STM32F4xx/I2C-LSM303AGR/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F4xx/I2C-LSM303DLHC/chconf.h b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM303DLHC/chconf.h
+++ b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F4xx/I2C-LSM6DS0/chconf.h b/testex/STM32/STM32F4xx/I2C-LSM6DS0/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM6DS0/chconf.h
+++ b/testex/STM32/STM32F4xx/I2C-LSM6DS0/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F4xx/I2C-LSM6DSL/chconf.h b/testex/STM32/STM32F4xx/I2C-LSM6DSL/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM6DSL/chconf.h
+++ b/testex/STM32/STM32F4xx/I2C-LSM6DSL/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F4xx/SPI-L3GD20/chconf.h b/testex/STM32/STM32F4xx/SPI-L3GD20/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testex/STM32/STM32F4xx/SPI-L3GD20/chconf.h
+++ b/testex/STM32/STM32F4xx/SPI-L3GD20/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F4xx/SPI-LIS302DL/chconf.h b/testex/STM32/STM32F4xx/SPI-LIS302DL/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS302DL/chconf.h
+++ b/testex/STM32/STM32F4xx/SPI-LIS302DL/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testex/STM32/STM32F4xx/SPI-LIS3DSH/chconf.h b/testex/STM32/STM32F4xx/SPI-LIS3DSH/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS3DSH/chconf.h
+++ b/testex/STM32/STM32F4xx/SPI-LIS3DSH/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testex/STM32/STM32L4xx/QSPI-N25Q128/chconf.h b/testex/STM32/STM32L4xx/QSPI-N25Q128/chconf.h
index f7588551f..8a05f0a9d 100644
--- a/testex/STM32/STM32L4xx/QSPI-N25Q128/chconf.h
+++ b/testex/STM32/STM32L4xx/QSPI-N25Q128/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testex/STM32/STM32L4xx/SPI-L3GD20/chconf.h b/testex/STM32/STM32L4xx/SPI-L3GD20/chconf.h
index f7588551f..8a05f0a9d 100644
--- a/testex/STM32/STM32L4xx/SPI-L3GD20/chconf.h
+++ b/testex/STM32/STM32L4xx/SPI-L3GD20/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/ATSAMA5D2/CRYPTO/chconf.h b/testhal/ATSAMA5D2/CRYPTO/chconf.h
index a8150cd31..be4331e51 100644
--- a/testhal/ATSAMA5D2/CRYPTO/chconf.h
+++ b/testhal/ATSAMA5D2/CRYPTO/chconf.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS - Copyright (C) 2006..2016 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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +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.

@@ -410,7 +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.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

@@ -504,9 +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) {                                       \

@@ -604,13 +691,6 @@
 /* Port-specific settings (override port settings defaulted in chcore.h).    */

 /*===========================================================================*/

 

-/**

- * @brief   Trust zone configuration.

- * @details If enabled the kernel is configured for the secure world

- *          and can access specific devices.

- */

-#define CH_CFG_SEC_WORLD                    TRUE

-

 #endif  /* CHCONF_H */

 

 /** @} */

diff --git a/testhal/ATSAMA5D2/FLEX-SPI/chconf.h b/testhal/ATSAMA5D2/FLEX-SPI/chconf.h
index a52730f35..df98ec191 100644
--- a/testhal/ATSAMA5D2/FLEX-SPI/chconf.h
+++ b/testhal/ATSAMA5D2/FLEX-SPI/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +472,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)

 #define CH_DBG_SYSTEM_STATE_CHECK           FALSE

+#endif

 

 /**

  * @brief   Debug option, parameters checks.

@@ -410,7 +483,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_CHECKS)

 #define CH_DBG_ENABLE_CHECKS                FALSE

+#endif

 

 /**

  * @brief   Debug option, consistency checks.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

diff --git a/testhal/ATSAMA5D2/MATRIX/chconf.h b/testhal/ATSAMA5D2/MATRIX/chconf.h
index 9c94cc274..4c9b14736 100755
--- a/testhal/ATSAMA5D2/MATRIX/chconf.h
+++ b/testhal/ATSAMA5D2/MATRIX/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +472,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)

 #define CH_DBG_SYSTEM_STATE_CHECK           FALSE

+#endif

 

 /**

  * @brief   Debug option, parameters checks.

@@ -410,7 +483,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_CHECKS)

 #define CH_DBG_ENABLE_CHECKS                FALSE

+#endif

 

 /**

  * @brief   Debug option, consistency checks.

@@ -420,7 +495,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_ASSERTS)

 #define CH_DBG_ENABLE_ASSERTS               FALSE

+#endif

 

 /**

  * @brief   Debug option, trace buffer.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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            TRUE

+#endif

 

 /** @} */

 

diff --git a/testhal/ATSAMA5D2/RTC/chconf.h b/testhal/ATSAMA5D2/RTC/chconf.h
index 4dbf9c6d8..be4331e51 100644
--- a/testhal/ATSAMA5D2/RTC/chconf.h
+++ b/testhal/ATSAMA5D2/RTC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +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.

@@ -410,7 +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.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

diff --git a/testhal/ATSAMA5D2/SDMMC/chconf.h b/testhal/ATSAMA5D2/SDMMC/chconf.h
index 36707a1e6..d41cfe671 100644
--- a/testhal/ATSAMA5D2/SDMMC/chconf.h
+++ b/testhal/ATSAMA5D2/SDMMC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +472,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)

 #define CH_DBG_SYSTEM_STATE_CHECK           FALSE

+#endif

 

 /**

  * @brief   Debug option, parameters checks.

@@ -410,7 +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.

@@ -420,7 +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.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

diff --git a/testhal/ATSAMA5D2/SECUMOD/chconf.h b/testhal/ATSAMA5D2/SECUMOD/chconf.h
index 33b59452e..d6155beea 100755
--- a/testhal/ATSAMA5D2/SECUMOD/chconf.h
+++ b/testhal/ATSAMA5D2/SECUMOD/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +472,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)

 #define CH_DBG_SYSTEM_STATE_CHECK           FALSE

+#endif

 

 /**

  * @brief   Debug option, parameters checks.

@@ -410,7 +483,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_CHECKS)

 #define CH_DBG_ENABLE_CHECKS                FALSE

+#endif

 

 /**

  * @brief   Debug option, consistency checks.

@@ -420,7 +495,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_ASSERTS)

 #define CH_DBG_ENABLE_ASSERTS               FALSE

+#endif

 

 /**

  * @brief   Debug option, trace buffer.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

diff --git a/testhal/ATSAMA5D2/SERIAL/chconf.h b/testhal/ATSAMA5D2/SERIAL/chconf.h
index 33b59452e..d6155beea 100755
--- a/testhal/ATSAMA5D2/SERIAL/chconf.h
+++ b/testhal/ATSAMA5D2/SERIAL/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +472,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)

 #define CH_DBG_SYSTEM_STATE_CHECK           FALSE

+#endif

 

 /**

  * @brief   Debug option, parameters checks.

@@ -410,7 +483,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_CHECKS)

 #define CH_DBG_ENABLE_CHECKS                FALSE

+#endif

 

 /**

  * @brief   Debug option, consistency checks.

@@ -420,7 +495,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_ASSERTS)

 #define CH_DBG_ENABLE_ASSERTS               FALSE

+#endif

 

 /**

  * @brief   Debug option, trace buffer.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

diff --git a/testhal/ATSAMA5D2/SPI/chconf.h b/testhal/ATSAMA5D2/SPI/chconf.h
index 33b59452e..d6155beea 100644
--- a/testhal/ATSAMA5D2/SPI/chconf.h
+++ b/testhal/ATSAMA5D2/SPI/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +472,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)

 #define CH_DBG_SYSTEM_STATE_CHECK           FALSE

+#endif

 

 /**

  * @brief   Debug option, parameters checks.

@@ -410,7 +483,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_CHECKS)

 #define CH_DBG_ENABLE_CHECKS                FALSE

+#endif

 

 /**

  * @brief   Debug option, consistency checks.

@@ -420,7 +495,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_ASSERTS)

 #define CH_DBG_ENABLE_ASSERTS               FALSE

+#endif

 

 /**

  * @brief   Debug option, trace buffer.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

diff --git a/testhal/ATSAMA5D2/TC/chconf.h b/testhal/ATSAMA5D2/TC/chconf.h
index 9c94cc274..4c9b14736 100755
--- a/testhal/ATSAMA5D2/TC/chconf.h
+++ b/testhal/ATSAMA5D2/TC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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              /* periodic tick. */

-//#define CH_CFG_ST_FREQUENCY                 (83000000 / 32) /* tick-less. */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000=/*=periodic=tick.=*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +472,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)

 #define CH_DBG_SYSTEM_STATE_CHECK           FALSE

+#endif

 

 /**

  * @brief   Debug option, parameters checks.

@@ -410,7 +483,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_CHECKS)

 #define CH_DBG_ENABLE_CHECKS                FALSE

+#endif

 

 /**

  * @brief   Debug option, consistency checks.

@@ -420,7 +495,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_ASSERTS)

 #define CH_DBG_ENABLE_ASSERTS               FALSE

+#endif

 

 /**

  * @brief   Debug option, trace buffer.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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            TRUE

+#endif

 

 /** @} */

 

diff --git a/testhal/ATSAMA5D2/UART/chconf.h b/testhal/ATSAMA5D2/UART/chconf.h
index 660fbb0ca..b0263b725 100644
--- a/testhal/ATSAMA5D2/UART/chconf.h
+++ b/testhal/ATSAMA5D2/UART/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -42,27 +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          /* periodic tick.*/

-#define CH_CFG_ST_FREQUENCY                 (84000000 / 32) /* tick-less.*/

+#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.

@@ -72,7 +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

 

 /** @} */

 

@@ -95,7 +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.

@@ -108,7 +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.

@@ -117,7 +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

 

 /** @} */

 

@@ -136,7 +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

 

 /** @} */

 

@@ -154,7 +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.

@@ -162,7 +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.

@@ -171,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -179,7 +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.

@@ -190,7 +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.

@@ -198,7 +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.

@@ -208,7 +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.

@@ -218,7 +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.

@@ -228,7 +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.

@@ -236,7 +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.

@@ -246,7 +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.

@@ -255,7 +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.

@@ -266,7 +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.

@@ -276,7 +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.

@@ -285,7 +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.

@@ -297,7 +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.

@@ -306,7 +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.

@@ -315,7 +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.

@@ -326,7 +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

 

 /** @} */

 

@@ -344,39 +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

 

 /** @} */

 

@@ -392,7 +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.

@@ -401,7 +472,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)

 #define CH_DBG_SYSTEM_STATE_CHECK           FALSE

+#endif

 

 /**

  * @brief   Debug option, parameters checks.

@@ -410,7 +483,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_CHECKS)

 #define CH_DBG_ENABLE_CHECKS                FALSE

+#endif

 

 /**

  * @brief   Debug option, consistency checks.

@@ -420,7 +495,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_ASSERTS)

 #define CH_DBG_ENABLE_ASSERTS               FALSE

+#endif

 

 /**

  * @brief   Debug option, trace buffer.

@@ -428,14 +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_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.

@@ -447,7 +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           FALSE

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -457,7 +540,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 FALSE

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -468,7 +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

 

 /** @} */

 

diff --git a/testhal/AVR/MEGA/ADC/chconf.h b/testhal/AVR/MEGA/ADC/chconf.h
index b61c51e39..340acfa1b 100644
--- a/testhal/AVR/MEGA/ADC/chconf.h
+++ b/testhal/AVR/MEGA/ADC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/MEGA/EXT/chconf.h b/testhal/AVR/MEGA/EXT/chconf.h
index b61c51e39..340acfa1b 100644
--- a/testhal/AVR/MEGA/EXT/chconf.h
+++ b/testhal/AVR/MEGA/EXT/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/MEGA/GPT/chconf.h b/testhal/AVR/MEGA/GPT/chconf.h
index b61c51e39..340acfa1b 100644
--- a/testhal/AVR/MEGA/GPT/chconf.h
+++ b/testhal/AVR/MEGA/GPT/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/MEGA/I2C/chconf.h b/testhal/AVR/MEGA/I2C/chconf.h
index b61c51e39..340acfa1b 100644
--- a/testhal/AVR/MEGA/I2C/chconf.h
+++ b/testhal/AVR/MEGA/I2C/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/MEGA/ICU/chconf.h b/testhal/AVR/MEGA/ICU/chconf.h
index b61c51e39..340acfa1b 100644
--- a/testhal/AVR/MEGA/ICU/chconf.h
+++ b/testhal/AVR/MEGA/ICU/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/MEGA/PWM/chconf.h b/testhal/AVR/MEGA/PWM/chconf.h
index b61c51e39..340acfa1b 100644
--- a/testhal/AVR/MEGA/PWM/chconf.h
+++ b/testhal/AVR/MEGA/PWM/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/MEGA/SPI/chconf.h b/testhal/AVR/MEGA/SPI/chconf.h
index b61c51e39..340acfa1b 100644
--- a/testhal/AVR/MEGA/SPI/chconf.h
+++ b/testhal/AVR/MEGA/SPI/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/XMEGA/SERIAL/chconf.h b/testhal/AVR/XMEGA/SERIAL/chconf.h
index 9b4b25770..861e4398f 100644
--- a/testhal/AVR/XMEGA/SERIAL/chconf.h
+++ b/testhal/AVR/XMEGA/SERIAL/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 14545

+#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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/XMEGA/TEST-SUITE-OSLIB/chconf.h b/testhal/AVR/XMEGA/TEST-SUITE-OSLIB/chconf.h
index 9b4b25770..861e4398f 100644
--- a/testhal/AVR/XMEGA/TEST-SUITE-OSLIB/chconf.h
+++ b/testhal/AVR/XMEGA/TEST-SUITE-OSLIB/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 14545

+#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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/XMEGA/USART/chconf.h b/testhal/AVR/XMEGA/USART/chconf.h
index 9b4b25770..861e4398f 100644
--- a/testhal/AVR/XMEGA/USART/chconf.h
+++ b/testhal/AVR/XMEGA/USART/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 14545

+#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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/XMEGA/WDT/chconf.h b/testhal/AVR/XMEGA/WDT/chconf.h
index 9b4b25770..861e4398f 100644
--- a/testhal/AVR/XMEGA/WDT/chconf.h
+++ b/testhal/AVR/XMEGA/WDT/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 14545

+#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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/multi/PAL/cfg/arduino_mega/chconf.h b/testhal/AVR/multi/PAL/cfg/arduino_mega/chconf.h
index 4ecd81a8e..ffc6a66b2 100644
--- a/testhal/AVR/multi/PAL/cfg/arduino_mega/chconf.h
+++ b/testhal/AVR/multi/PAL/cfg/arduino_mega/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/multi/PAL/cfg/arduino_mini/chconf.h b/testhal/AVR/multi/PAL/cfg/arduino_mini/chconf.h
index 4ecd81a8e..ffc6a66b2 100644
--- a/testhal/AVR/multi/PAL/cfg/arduino_mini/chconf.h
+++ b/testhal/AVR/multi/PAL/cfg/arduino_mini/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/multi/PAL/cfg/arduino_nano/chconf.h b/testhal/AVR/multi/PAL/cfg/arduino_nano/chconf.h
index 4ecd81a8e..ffc6a66b2 100644
--- a/testhal/AVR/multi/PAL/cfg/arduino_nano/chconf.h
+++ b/testhal/AVR/multi/PAL/cfg/arduino_nano/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/AVR/multi/PAL/cfg/arduino_uno/chconf.h b/testhal/AVR/multi/PAL/cfg/arduino_uno/chconf.h
index 4ecd81a8e..ffc6a66b2 100644
--- a/testhal/AVR/multi/PAL/cfg/arduino_uno/chconf.h
+++ b/testhal/AVR/multi/PAL/cfg/arduino_uno/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 15624

+#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                 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                 128

+#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                  FALSE

+#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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F0xx/ADC/chconf.h b/testhal/STM32/STM32F0xx/ADC/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/STM32F0xx/ADC/chconf.h
+++ b/testhal/STM32/STM32F0xx/ADC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F0xx/CAN/chconf.h b/testhal/STM32/STM32F0xx/CAN/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/STM32F0xx/CAN/chconf.h
+++ b/testhal/STM32/STM32F0xx/CAN/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F0xx/IRQ_STORM/chconf.h b/testhal/STM32/STM32F0xx/IRQ_STORM/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/STM32F0xx/IRQ_STORM/chconf.h
+++ b/testhal/STM32/STM32F0xx/IRQ_STORM/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F0xx/PWM-ICU/chconf.h b/testhal/STM32/STM32F0xx/PWM-ICU/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/STM32F0xx/PWM-ICU/chconf.h
+++ b/testhal/STM32/STM32F0xx/PWM-ICU/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F0xx/USB_CDC/chconf.h b/testhal/STM32/STM32F0xx/USB_CDC/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/STM32F0xx/USB_CDC/chconf.h
+++ b/testhal/STM32/STM32F0xx/USB_CDC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F0xx/WDG/chconf.h b/testhal/STM32/STM32F0xx/WDG/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/STM32F0xx/WDG/chconf.h
+++ b/testhal/STM32/STM32F0xx/WDG/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F1xx/ADC/chconf.h b/testhal/STM32/STM32F1xx/ADC/chconf.h
index 6fb18b24e..32de5f56f 100644
--- a/testhal/STM32/STM32F1xx/ADC/chconf.h
+++ b/testhal/STM32/STM32F1xx/ADC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                       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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F1xx/CAN/chconf.h b/testhal/STM32/STM32F1xx/CAN/chconf.h
index 6fb18b24e..32de5f56f 100644
--- a/testhal/STM32/STM32F1xx/CAN/chconf.h
+++ b/testhal/STM32/STM32F1xx/CAN/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                       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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F1xx/I2C/chconf.h b/testhal/STM32/STM32F1xx/I2C/chconf.h
index 6fb18b24e..32de5f56f 100644
--- a/testhal/STM32/STM32F1xx/I2C/chconf.h
+++ b/testhal/STM32/STM32F1xx/I2C/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                       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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F1xx/IRQ_STORM/chconf.h b/testhal/STM32/STM32F1xx/IRQ_STORM/chconf.h
index 6fb18b24e..32de5f56f 100644
--- a/testhal/STM32/STM32F1xx/IRQ_STORM/chconf.h
+++ b/testhal/STM32/STM32F1xx/IRQ_STORM/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                       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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F1xx/PWM-ICU/chconf.h b/testhal/STM32/STM32F1xx/PWM-ICU/chconf.h
index 6fb18b24e..32de5f56f 100644
--- a/testhal/STM32/STM32F1xx/PWM-ICU/chconf.h
+++ b/testhal/STM32/STM32F1xx/PWM-ICU/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                       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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F1xx/RTC/chconf.h b/testhal/STM32/STM32F1xx/RTC/chconf.h
index 49cf6a893..f98eeb9b4 100644
--- a/testhal/STM32/STM32F1xx/RTC/chconf.h
+++ b/testhal/STM32/STM32F1xx/RTC/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_6_0_
 
 /*===========================================================================*/
 /**
@@ -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                       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
 
 /** @} */
 
diff --git a/testhal/STM32/STM32F1xx/SPI/chconf.h b/testhal/STM32/STM32F1xx/SPI/chconf.h
index 6fb18b24e..32de5f56f 100644
--- a/testhal/STM32/STM32F1xx/SPI/chconf.h
+++ b/testhal/STM32/STM32F1xx/SPI/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                       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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F1xx/UART/chconf.h b/testhal/STM32/STM32F1xx/UART/chconf.h
index 6fb18b24e..32de5f56f 100644
--- a/testhal/STM32/STM32F1xx/UART/chconf.h
+++ b/testhal/STM32/STM32F1xx/UART/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                       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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F1xx/USB_CDC/chconf.h b/testhal/STM32/STM32F1xx/USB_CDC/chconf.h
index 6fb18b24e..32de5f56f 100644
--- a/testhal/STM32/STM32F1xx/USB_CDC/chconf.h
+++ b/testhal/STM32/STM32F1xx/USB_CDC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                       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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F1xx/USB_CDC_F107/chconf.h b/testhal/STM32/STM32F1xx/USB_CDC_F107/chconf.h
index ecc6e77df..4796f78dc 100644
--- a/testhal/STM32/STM32F1xx/USB_CDC_F107/chconf.h
+++ b/testhal/STM32/STM32F1xx/USB_CDC_F107/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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                       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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F2xx/PWM-ICU/chconf.h b/testhal/STM32/STM32F2xx/PWM-ICU/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testhal/STM32/STM32F2xx/PWM-ICU/chconf.h
+++ b/testhal/STM32/STM32F2xx/PWM-ICU/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F2xx/USB_CDC/chconf.h b/testhal/STM32/STM32F2xx/USB_CDC/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testhal/STM32/STM32F2xx/USB_CDC/chconf.h
+++ b/testhal/STM32/STM32F2xx/USB_CDC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F37x/ADC/chconf.h b/testhal/STM32/STM32F37x/ADC/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F37x/ADC/chconf.h
+++ b/testhal/STM32/STM32F37x/ADC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F37x/CAN/chconf.h b/testhal/STM32/STM32F37x/CAN/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F37x/CAN/chconf.h
+++ b/testhal/STM32/STM32F37x/CAN/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F37x/I2C/chconf.h b/testhal/STM32/STM32F37x/I2C/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F37x/I2C/chconf.h
+++ b/testhal/STM32/STM32F37x/I2C/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F37x/IRQ_STORM/chconf.h b/testhal/STM32/STM32F37x/IRQ_STORM/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F37x/IRQ_STORM/chconf.h
+++ b/testhal/STM32/STM32F37x/IRQ_STORM/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F37x/PWM-ICU/chconf.h b/testhal/STM32/STM32F37x/PWM-ICU/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F37x/PWM-ICU/chconf.h
+++ b/testhal/STM32/STM32F37x/PWM-ICU/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F37x/SDADC/chconf.h b/testhal/STM32/STM32F37x/SDADC/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F37x/SDADC/chconf.h
+++ b/testhal/STM32/STM32F37x/SDADC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F37x/SPI/chconf.h b/testhal/STM32/STM32F37x/SPI/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F37x/SPI/chconf.h
+++ b/testhal/STM32/STM32F37x/SPI/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F37x/UART/chconf.h b/testhal/STM32/STM32F37x/UART/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F37x/UART/chconf.h
+++ b/testhal/STM32/STM32F37x/UART/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F37x/USB_CDC/chconf.h b/testhal/STM32/STM32F37x/USB_CDC/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F37x/USB_CDC/chconf.h
+++ b/testhal/STM32/STM32F37x/USB_CDC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F3xx/ADC/chconf.h b/testhal/STM32/STM32F3xx/ADC/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F3xx/ADC/chconf.h
+++ b/testhal/STM32/STM32F3xx/ADC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F3xx/ADC_DUAL/chconf.h b/testhal/STM32/STM32F3xx/ADC_DUAL/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F3xx/ADC_DUAL/chconf.h
+++ b/testhal/STM32/STM32F3xx/ADC_DUAL/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F3xx/CAN/chconf.h b/testhal/STM32/STM32F3xx/CAN/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F3xx/CAN/chconf.h
+++ b/testhal/STM32/STM32F3xx/CAN/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F3xx/DAC/chconf.h b/testhal/STM32/STM32F3xx/DAC/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F3xx/DAC/chconf.h
+++ b/testhal/STM32/STM32F3xx/DAC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F3xx/IRQ_STORM/chconf.h b/testhal/STM32/STM32F3xx/IRQ_STORM/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F3xx/IRQ_STORM/chconf.h
+++ b/testhal/STM32/STM32F3xx/IRQ_STORM/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F3xx/PWM-ICU/chconf.h b/testhal/STM32/STM32F3xx/PWM-ICU/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F3xx/PWM-ICU/chconf.h
+++ b/testhal/STM32/STM32F3xx/PWM-ICU/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F3xx/USB_CDC_IAD/chconf.h b/testhal/STM32/STM32F3xx/USB_CDC_IAD/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F3xx/USB_CDC_IAD/chconf.h
+++ b/testhal/STM32/STM32F3xx/USB_CDC_IAD/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F3xx/WDG/chconf.h b/testhal/STM32/STM32F3xx/WDG/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F3xx/WDG/chconf.h
+++ b/testhal/STM32/STM32F3xx/WDG/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/ADC/chconf.h b/testhal/STM32/STM32F4xx/ADC/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/ADC/chconf.h
+++ b/testhal/STM32/STM32F4xx/ADC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/CAN/chconf.h b/testhal/STM32/STM32F4xx/CAN/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/CAN/chconf.h
+++ b/testhal/STM32/STM32F4xx/CAN/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/DAC/chconf.h b/testhal/STM32/STM32F4xx/DAC/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/DAC/chconf.h
+++ b/testhal/STM32/STM32F4xx/DAC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/DAC_DUAL/chconf.h b/testhal/STM32/STM32F4xx/DAC_DUAL/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/DAC_DUAL/chconf.h
+++ b/testhal/STM32/STM32F4xx/DAC_DUAL/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/DMA_STORM/chconf.h b/testhal/STM32/STM32F4xx/DMA_STORM/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/DMA_STORM/chconf.h
+++ b/testhal/STM32/STM32F4xx/DMA_STORM/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/GPT/chconf.h b/testhal/STM32/STM32F4xx/GPT/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/GPT/chconf.h
+++ b/testhal/STM32/STM32F4xx/GPT/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/I2S/chconf.h b/testhal/STM32/STM32F4xx/I2S/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/I2S/chconf.h
+++ b/testhal/STM32/STM32F4xx/I2S/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/IRQ_STORM/chconf.h b/testhal/STM32/STM32F4xx/IRQ_STORM/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/IRQ_STORM/chconf.h
+++ b/testhal/STM32/STM32F4xx/IRQ_STORM/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/IRQ_STORM_FPU/chconf.h b/testhal/STM32/STM32F4xx/IRQ_STORM_FPU/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/IRQ_STORM_FPU/chconf.h
+++ b/testhal/STM32/STM32F4xx/IRQ_STORM_FPU/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/PWM-ICU/chconf.h b/testhal/STM32/STM32F4xx/PWM-ICU/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/PWM-ICU/chconf.h
+++ b/testhal/STM32/STM32F4xx/PWM-ICU/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/RTC/chconf.h b/testhal/STM32/STM32F4xx/RTC/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/RTC/chconf.h
+++ b/testhal/STM32/STM32F4xx/RTC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/SDC/chconf.h b/testhal/STM32/STM32F4xx/SDC/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/SDC/chconf.h
+++ b/testhal/STM32/STM32F4xx/SDC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/USB_CDC_IAD/chconf.h b/testhal/STM32/STM32F4xx/USB_CDC_IAD/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/USB_CDC_IAD/chconf.h
+++ b/testhal/STM32/STM32F4xx/USB_CDC_IAD/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F4xx/WDG/chconf.h b/testhal/STM32/STM32F4xx/WDG/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F4xx/WDG/chconf.h
+++ b/testhal/STM32/STM32F4xx/WDG/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F7xx/GPT-ADC/chconf.h b/testhal/STM32/STM32F7xx/GPT-ADC/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F7xx/GPT-ADC/chconf.h
+++ b/testhal/STM32/STM32F7xx/GPT-ADC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F7xx/IRQ_STORM/chconf.h b/testhal/STM32/STM32F7xx/IRQ_STORM/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F7xx/IRQ_STORM/chconf.h
+++ b/testhal/STM32/STM32F7xx/IRQ_STORM/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F7xx/PWM-ICU/chconf.h b/testhal/STM32/STM32F7xx/PWM-ICU/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F7xx/PWM-ICU/chconf.h
+++ b/testhal/STM32/STM32F7xx/PWM-ICU/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F7xx/SPI/chconf.h b/testhal/STM32/STM32F7xx/SPI/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F7xx/SPI/chconf.h
+++ b/testhal/STM32/STM32F7xx/SPI/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32F7xx/USB_RAW/chconf.h b/testhal/STM32/STM32F7xx/USB_RAW/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/STM32F7xx/USB_RAW/chconf.h
+++ b/testhal/STM32/STM32F7xx/USB_RAW/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32L0xx/ADC/chconf.h b/testhal/STM32/STM32L0xx/ADC/chconf.h
index ac9a86366..02f9a115b 100644
--- a/testhal/STM32/STM32L0xx/ADC/chconf.h
+++ b/testhal/STM32/STM32L0xx/ADC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32L0xx/SPI/chconf.h b/testhal/STM32/STM32L0xx/SPI/chconf.h
index ac9a86366..02f9a115b 100644
--- a/testhal/STM32/STM32L0xx/SPI/chconf.h
+++ b/testhal/STM32/STM32L0xx/SPI/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32L0xx/USB_CDC/chconf.h b/testhal/STM32/STM32L0xx/USB_CDC/chconf.h
index 8cb44b9b5..73226ddae 100644
--- a/testhal/STM32/STM32L0xx/USB_CDC/chconf.h
+++ b/testhal/STM32/STM32L0xx/USB_CDC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32L1xx/ADC/chconf.h b/testhal/STM32/STM32L1xx/ADC/chconf.h
index e7a14fb3a..087de3991 100644
--- a/testhal/STM32/STM32L1xx/ADC/chconf.h
+++ b/testhal/STM32/STM32L1xx/ADC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32L1xx/DAC/chconf.h b/testhal/STM32/STM32L1xx/DAC/chconf.h
index e7a14fb3a..087de3991 100644
--- a/testhal/STM32/STM32L1xx/DAC/chconf.h
+++ b/testhal/STM32/STM32L1xx/DAC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32L1xx/IRQ_STORM/chconf.h b/testhal/STM32/STM32L1xx/IRQ_STORM/chconf.h
index e7a14fb3a..087de3991 100644
--- a/testhal/STM32/STM32L1xx/IRQ_STORM/chconf.h
+++ b/testhal/STM32/STM32L1xx/IRQ_STORM/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32L1xx/PWM-ICU/chconf.h b/testhal/STM32/STM32L1xx/PWM-ICU/chconf.h
index e7a14fb3a..087de3991 100644
--- a/testhal/STM32/STM32L1xx/PWM-ICU/chconf.h
+++ b/testhal/STM32/STM32L1xx/PWM-ICU/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32L1xx/SPI/chconf.h b/testhal/STM32/STM32L1xx/SPI/chconf.h
index e7a14fb3a..087de3991 100644
--- a/testhal/STM32/STM32L1xx/SPI/chconf.h
+++ b/testhal/STM32/STM32L1xx/SPI/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32L1xx/UART/chconf.h b/testhal/STM32/STM32L1xx/UART/chconf.h
index e7a14fb3a..087de3991 100644
--- a/testhal/STM32/STM32L1xx/UART/chconf.h
+++ b/testhal/STM32/STM32L1xx/UART/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32L4xx/ADC/chconf.h b/testhal/STM32/STM32L4xx/ADC/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testhal/STM32/STM32L4xx/ADC/chconf.h
+++ b/testhal/STM32/STM32L4xx/ADC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32L4xx/CAN/chconf.h b/testhal/STM32/STM32L4xx/CAN/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testhal/STM32/STM32L4xx/CAN/chconf.h
+++ b/testhal/STM32/STM32L4xx/CAN/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32L4xx/GPT-ADC/chconf.h b/testhal/STM32/STM32L4xx/GPT-ADC/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testhal/STM32/STM32L4xx/GPT-ADC/chconf.h
+++ b/testhal/STM32/STM32L4xx/GPT-ADC/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/STM32L4xx/IRQ_STORM/chconf.h b/testhal/STM32/STM32L4xx/IRQ_STORM/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testhal/STM32/STM32L4xx/IRQ_STORM/chconf.h
+++ b/testhal/STM32/STM32L4xx/IRQ_STORM/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/PAL/cfg/stm32f051_discovery/chconf.h b/testhal/STM32/multi/PAL/cfg/stm32f051_discovery/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/multi/PAL/cfg/stm32f051_discovery/chconf.h
+++ b/testhal/STM32/multi/PAL/cfg/stm32f051_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/PAL/cfg/stm32f103_olimex/chconf.h b/testhal/STM32/multi/PAL/cfg/stm32f103_olimex/chconf.h
index 61d419211..47227d9bc 100644
--- a/testhal/STM32/multi/PAL/cfg/stm32f103_olimex/chconf.h
+++ b/testhal/STM32/multi/PAL/cfg/stm32f103_olimex/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 2000

+#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                   TRUE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/PAL/cfg/stm32f303_discovery/chconf.h b/testhal/STM32/multi/PAL/cfg/stm32f303_discovery/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/multi/PAL/cfg/stm32f303_discovery/chconf.h
+++ b/testhal/STM32/multi/PAL/cfg/stm32f303_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/PAL/cfg/stm32f373_eval/chconf.h b/testhal/STM32/multi/PAL/cfg/stm32f373_eval/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testhal/STM32/multi/PAL/cfg/stm32f373_eval/chconf.h
+++ b/testhal/STM32/multi/PAL/cfg/stm32f373_eval/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/PAL/cfg/stm32f407_discovery/chconf.h b/testhal/STM32/multi/PAL/cfg/stm32f407_discovery/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/multi/PAL/cfg/stm32f407_discovery/chconf.h
+++ b/testhal/STM32/multi/PAL/cfg/stm32f407_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/PAL/cfg/stm32f429_discovery/chconf.h b/testhal/STM32/multi/PAL/cfg/stm32f429_discovery/chconf.h
index 899a292ef..31d86bd5c 100644
--- a/testhal/STM32/multi/PAL/cfg/stm32f429_discovery/chconf.h
+++ b/testhal/STM32/multi/PAL/cfg/stm32f429_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/PAL/cfg/stm32f746_discovery/chconf.h b/testhal/STM32/multi/PAL/cfg/stm32f746_discovery/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/multi/PAL/cfg/stm32f746_discovery/chconf.h
+++ b/testhal/STM32/multi/PAL/cfg/stm32f746_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/PAL/cfg/stm32l053_discovery/chconf.h b/testhal/STM32/multi/PAL/cfg/stm32l053_discovery/chconf.h
index ac9a86366..02f9a115b 100644
--- a/testhal/STM32/multi/PAL/cfg/stm32l053_discovery/chconf.h
+++ b/testhal/STM32/multi/PAL/cfg/stm32l053_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/PAL/cfg/stm32l151_discovery/chconf.h b/testhal/STM32/multi/PAL/cfg/stm32l151_discovery/chconf.h
index 150ec4341..bc4ff0b16 100644
--- a/testhal/STM32/multi/PAL/cfg/stm32l151_discovery/chconf.h
+++ b/testhal/STM32/multi/PAL/cfg/stm32l151_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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                 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.

@@ -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           FALSE

+#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                FALSE

+#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               FALSE

+#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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/PAL/cfg/stm32l476_discovery/chconf.h b/testhal/STM32/multi/PAL/cfg/stm32l476_discovery/chconf.h
index f7588551f..8a05f0a9d 100644
--- a/testhal/STM32/multi/PAL/cfg/stm32l476_discovery/chconf.h
+++ b/testhal/STM32/multi/PAL/cfg/stm32l476_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/QSPI-MFS/cfg/stm32l476_discovery/chconf.h b/testhal/STM32/multi/QSPI-MFS/cfg/stm32l476_discovery/chconf.h
index f7588551f..8a05f0a9d 100644
--- a/testhal/STM32/multi/QSPI-MFS/cfg/stm32l476_discovery/chconf.h
+++ b/testhal/STM32/multi/QSPI-MFS/cfg/stm32l476_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/SPI/cfg/stm32f091_nucleo64/chconf.h b/testhal/STM32/multi/SPI/cfg/stm32f091_nucleo64/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/multi/SPI/cfg/stm32f091_nucleo64/chconf.h
+++ b/testhal/STM32/multi/SPI/cfg/stm32f091_nucleo64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/SPI/cfg/stm32f303_discovery/chconf.h b/testhal/STM32/multi/SPI/cfg/stm32f303_discovery/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/multi/SPI/cfg/stm32f303_discovery/chconf.h
+++ b/testhal/STM32/multi/SPI/cfg/stm32f303_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/SPI/cfg/stm32f407_discovery/chconf.h b/testhal/STM32/multi/SPI/cfg/stm32f407_discovery/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/multi/SPI/cfg/stm32f407_discovery/chconf.h
+++ b/testhal/STM32/multi/SPI/cfg/stm32f407_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/SPI/cfg/stm32h743_nucleo144/chconf.h b/testhal/STM32/multi/SPI/cfg/stm32h743_nucleo144/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/multi/SPI/cfg/stm32h743_nucleo144/chconf.h
+++ b/testhal/STM32/multi/SPI/cfg/stm32h743_nucleo144/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/UART/cfg/stm32f091_nucleo64/chconf.h b/testhal/STM32/multi/UART/cfg/stm32f091_nucleo64/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/multi/UART/cfg/stm32f091_nucleo64/chconf.h
+++ b/testhal/STM32/multi/UART/cfg/stm32f091_nucleo64/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/UART/cfg/stm32f303_discovery/chconf.h b/testhal/STM32/multi/UART/cfg/stm32f303_discovery/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/multi/UART/cfg/stm32f303_discovery/chconf.h
+++ b/testhal/STM32/multi/UART/cfg/stm32f303_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/UART/cfg/stm32f407_discovery/chconf.h b/testhal/STM32/multi/UART/cfg/stm32f407_discovery/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/multi/UART/cfg/stm32f407_discovery/chconf.h
+++ b/testhal/STM32/multi/UART/cfg/stm32f407_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/UART/cfg/stm32f746_discovery/chconf.h b/testhal/STM32/multi/UART/cfg/stm32f746_discovery/chconf.h
index 53bd6764b..200ac0530 100644
--- a/testhal/STM32/multi/UART/cfg/stm32f746_discovery/chconf.h
+++ b/testhal/STM32/multi/UART/cfg/stm32f746_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/USB_CDC/cfg/stm32f303_discovery/chconf.h b/testhal/STM32/multi/USB_CDC/cfg/stm32f303_discovery/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/multi/USB_CDC/cfg/stm32f303_discovery/chconf.h
+++ b/testhal/STM32/multi/USB_CDC/cfg/stm32f303_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/USB_CDC/cfg/stm32f407_discovery/chconf.h b/testhal/STM32/multi/USB_CDC/cfg/stm32f407_discovery/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/multi/USB_CDC/cfg/stm32f407_discovery/chconf.h
+++ b/testhal/STM32/multi/USB_CDC/cfg/stm32f407_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/USB_CDC/cfg/stm32f746_discovery/chconf.h b/testhal/STM32/multi/USB_CDC/cfg/stm32f746_discovery/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/multi/USB_CDC/cfg/stm32f746_discovery/chconf.h
+++ b/testhal/STM32/multi/USB_CDC/cfg/stm32f746_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/USB_CDC/cfg/stm32h743_nucleo144/chconf.h b/testhal/STM32/multi/USB_CDC/cfg/stm32h743_nucleo144/chconf.h
index 184320861..4f58bf9e4 100644
--- a/testhal/STM32/multi/USB_CDC/cfg/stm32h743_nucleo144/chconf.h
+++ b/testhal/STM32/multi/USB_CDC/cfg/stm32h743_nucleo144/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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

 

 /** @} */

 

diff --git a/testhal/STM32/multi/USB_CDC/cfg/stm32l476_discovery/chconf.h b/testhal/STM32/multi/USB_CDC/cfg/stm32l476_discovery/chconf.h
index f7588551f..8a05f0a9d 100644
--- a/testhal/STM32/multi/USB_CDC/cfg/stm32l476_discovery/chconf.h
+++ b/testhal/STM32/multi/USB_CDC/cfg/stm32l476_discovery/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_6_0_

 

 /*===========================================================================*/

 /**

@@ -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_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 +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           FALSE

+#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                 FALSE

+#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

 

 /** @} */

 

diff --git a/tools/ftl/processors/conf/chconf_rt/chconf.h.ftl b/tools/ftl/processors/conf/chconf_rt/chconf.h.ftl
index 0e0a7a7e9..4b817f3b2 100644
--- a/tools/ftl/processors/conf/chconf_rt/chconf.h.ftl
+++ b/tools/ftl/processors/conf/chconf_rt/chconf.h.ftl
@@ -40,7 +40,7 @@
 #define CHCONF_H

 

 #define _CHIBIOS_RT_CONF_

-#define _CHIBIOS_RT_CONF_VER_5_0_

+#define _CHIBIOS_RT_CONF_VER_6_0_

 

 /*===========================================================================*/

 /**

@@ -53,26 +53,34 @@
  * @brief   System time counter resolution.

  * @note    Allowed values are 16 or 32 bits.

  */

+#if !defined(CH_CFG_ST_RESOLUTION)

 #define CH_CFG_ST_RESOLUTION                ${doc.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                 ${doc.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               ${doc.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              ${doc.CH_CFG_TIME_TYPES_SIZE!"32"}

+#endif

 

 /**

  * @brief   Time delta constant for the tick-less mode.

@@ -82,7 +90,9 @@
  *          The value one is not valid, timeouts are rounded up to

  *          this value.

  */

+#if !defined(CH_CFG_ST_TIMEDELTA)

 #define CH_CFG_ST_TIMEDELTA                 ${doc.CH_CFG_ST_TIMEDELTA!"2"}

+#endif

 

 /** @} */

 

@@ -105,7 +115,9 @@
  * @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                 ${doc.CH_CFG_TIME_QUANTUM!"0"}

+#endif

 

 /**

  * @brief   Managed RAM size.

@@ -118,7 +130,9 @@
  *          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                 ${doc.CH_CFG_MEMCORE_SIZE!"0"}

+#endif

 

 /**

  * @brief   Idle thread automatic spawn suppression.

@@ -127,7 +141,9 @@
  *          function becomes the idle thread and must implement an

  *          infinite loop.

  */

+#if !defined(CH_CFG_NO_IDLE_THREAD)

 #define CH_CFG_NO_IDLE_THREAD               ${doc.CH_CFG_NO_IDLE_THREAD!"FALSE"}

+#endif

 

 /** @} */

 

@@ -146,7 +162,9 @@
  * @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               ${doc.CH_CFG_OPTIMIZE_SPEED!"TRUE"}

+#endif

 

 /** @} */

 

@@ -164,7 +182,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_TM)

 #define CH_CFG_USE_TM                       ${doc.CH_CFG_USE_TM!"TRUE"}

+#endif

 

 /**

  * @brief   Threads registry APIs.

@@ -172,7 +192,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_REGISTRY)

 #define CH_CFG_USE_REGISTRY                 ${doc.CH_CFG_USE_REGISTRY!"TRUE"}

+#endif

 

 /**

  * @brief   Threads synchronization APIs.

@@ -181,7 +203,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_WAITEXIT)

 #define CH_CFG_USE_WAITEXIT                 ${doc.CH_CFG_USE_WAITEXIT!"TRUE"}

+#endif

 

 /**

  * @brief   Semaphores APIs.

@@ -189,7 +213,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_SEMAPHORES)

 #define CH_CFG_USE_SEMAPHORES               ${doc.CH_CFG_USE_SEMAPHORES!"TRUE"}

+#endif

 

 /**

  * @brief   Semaphores queuing mode.

@@ -200,7 +226,9 @@
  *          requirements.

  * @note    Requires @p CH_CFG_USE_SEMAPHORES.

  */

+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)

 #define CH_CFG_USE_SEMAPHORES_PRIORITY      ${doc.CH_CFG_USE_SEMAPHORES_PRIORITY!"FALSE"}

+#endif

 

 /**

  * @brief   Mutexes APIs.

@@ -208,7 +236,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_MUTEXES)

 #define CH_CFG_USE_MUTEXES                  ${doc.CH_CFG_USE_MUTEXES!"TRUE"}

+#endif

 

 /**

  * @brief   Enables recursive behavior on mutexes.

@@ -218,7 +248,9 @@
  * @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        ${doc.CH_CFG_USE_MUTEXES_RECURSIVE!"FALSE"}

+#endif

 

 /**

  * @brief   Conditional Variables APIs.

@@ -228,7 +260,9 @@
  * @note    The default is @p TRUE.

  * @note    Requires @p CH_CFG_USE_MUTEXES.

  */

+#if !defined(CH_CFG_USE_CONDVARS)

 #define CH_CFG_USE_CONDVARS                 ${doc.CH_CFG_USE_CONDVARS!"TRUE"}

+#endif

 

 /**

  * @brief   Conditional Variables APIs with timeout.

@@ -238,7 +272,9 @@
  * @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         ${doc.CH_CFG_USE_CONDVARS_TIMEOUT!"TRUE"}

+#endif

 

 /**

  * @brief   Events Flags APIs.

@@ -246,7 +282,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_EVENTS)

 #define CH_CFG_USE_EVENTS                   ${doc.CH_CFG_USE_EVENTS!"TRUE"}

+#endif

 

 /**

  * @brief   Events Flags APIs with timeout.

@@ -256,7 +294,9 @@
  * @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           ${doc.CH_CFG_USE_EVENTS_TIMEOUT!"TRUE"}

+#endif

 

 /**

  * @brief   Synchronous Messages APIs.

@@ -265,7 +305,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_MESSAGES)

 #define CH_CFG_USE_MESSAGES                 ${doc.CH_CFG_USE_MESSAGES!"TRUE"}

+#endif

 

 /**

  * @brief   Synchronous Messages queuing mode.

@@ -276,7 +318,9 @@
  *          requirements.

  * @note    Requires @p CH_CFG_USE_MESSAGES.

  */

+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)

 #define CH_CFG_USE_MESSAGES_PRIORITY        ${doc.CH_CFG_USE_MESSAGES_PRIORITY!"FALSE"}

+#endif

 

 /**

  * @brief   Mailboxes APIs.

@@ -286,7 +330,9 @@
  * @note    The default is @p TRUE.

  * @note    Requires @p CH_CFG_USE_SEMAPHORES.

  */

+#if !defined(CH_CFG_USE_MAILBOXES)

 #define CH_CFG_USE_MAILBOXES                ${doc.CH_CFG_USE_MAILBOXES!"TRUE"}

+#endif

 

 /**

  * @brief   Core Memory Manager APIs.

@@ -295,7 +341,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_MEMCORE)

 #define CH_CFG_USE_MEMCORE                  ${doc.CH_CFG_USE_MEMCORE!"TRUE"}

+#endif

 

 /**

  * @brief   Heap Allocator APIs.

@@ -307,7 +355,9 @@
  *          @p CH_CFG_USE_SEMAPHORES.

  * @note    Mutexes are recommended.

  */

+#if !defined(CH_CFG_USE_HEAP)

 #define CH_CFG_USE_HEAP                     ${doc.CH_CFG_USE_HEAP!"TRUE"}

+#endif

 

 /**

  * @brief   Memory Pools Allocator APIs.

@@ -316,7 +366,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_MEMPOOLS)

 #define CH_CFG_USE_MEMPOOLS                 ${doc.CH_CFG_USE_MEMPOOLS!"TRUE"}

+#endif

 

 /**

  * @brief  Objects FIFOs APIs.

@@ -325,7 +377,9 @@
  *

  * @note    The default is @p TRUE.

  */

+#if !defined(CH_CFG_USE_OBJ_FIFOS)

 #define CH_CFG_USE_OBJ_FIFOS                ${doc.CH_CFG_USE_OBJ_FIFOS!"TRUE"}

+#endif

 

 /**

  * @brief   Dynamic Threads APIs.

@@ -336,7 +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                  ${doc.CH_CFG_USE_DYNAMIC!"TRUE"}

+#endif

 

 /** @} */

 

@@ -354,39 +410,53 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_CFG_USE_FACTORY)

 #define CH_CFG_USE_FACTORY                  ${doc.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     ${doc.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     ${doc.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      ${doc.CH_CFG_FACTORY_GENERIC_BUFFERS!"TRUE"}

+#endif

 

 /**

  * @brief   Enables factory for semaphores.

  */

+#if !defined(CH_CFG_FACTORY_SEMAPHORES)

 #define CH_CFG_FACTORY_SEMAPHORES           ${doc.CH_CFG_FACTORY_SEMAPHORES!"TRUE"}

+#endif

 

 /**

  * @brief   Enables factory for mailboxes.

  */

+#if !defined(CH_CFG_FACTORY_MAILBOXES)

 #define CH_CFG_FACTORY_MAILBOXES            ${doc.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            ${doc.CH_CFG_FACTORY_OBJ_FIFOS!"TRUE"}

+#endif

 

 /** @} */

 

@@ -402,7 +472,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_STATISTICS)

 #define CH_DBG_STATISTICS                   ${doc.CH_DBG_STATISTICS!"FALSE"}

+#endif

 

 /**

  * @brief   Debug option, system state check.

@@ -411,7 +483,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)

 #define CH_DBG_SYSTEM_STATE_CHECK           ${doc.CH_DBG_SYSTEM_STATE_CHECK!"FALSE"}

+#endif

 

 /**

  * @brief   Debug option, parameters checks.

@@ -420,7 +494,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_CHECKS)

 #define CH_DBG_ENABLE_CHECKS                ${doc.CH_DBG_ENABLE_CHECKS!"FALSE"}

+#endif

 

 /**

  * @brief   Debug option, consistency checks.

@@ -430,7 +506,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_ENABLE_ASSERTS)

 #define CH_DBG_ENABLE_ASSERTS               ${doc.CH_DBG_ENABLE_ASSERTS!"FALSE"}

+#endif

 

 /**

  * @brief   Debug option, trace buffer.

@@ -438,14 +516,18 @@
  *

  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.

  */

+#if !defined(CH_DBG_TRACE_MASK)

 #define CH_DBG_TRACE_MASK                   ${doc.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            ${doc.CH_DBG_TRACE_BUFFER_SIZE!"128"}

+#endif

 

 /**

  * @brief   Debug option, stack checks.

@@ -457,7 +539,9 @@
  * @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           ${doc.CH_DBG_ENABLE_STACK_CHECK!"FALSE"}

+#endif

 

 /**

  * @brief   Debug option, stacks initialization.

@@ -467,7 +551,9 @@
  *

  * @note    The default is @p FALSE.

  */

+#if !defined(CH_DBG_FILL_THREADS)

 #define CH_DBG_FILL_THREADS                 ${doc.CH_DBG_FILL_THREADS!"FALSE"}

+#endif

 

 /**

  * @brief   Debug option, threads profiling.

@@ -478,7 +564,9 @@
  * @note    This debug option is not currently compatible with the

  *          tickless mode.

  */

+#if !defined(CH_DBG_THREADS_PROFILING)

 #define CH_DBG_THREADS_PROFILING            ${doc.CH_DBG_THREADS_PROFILING!"FALSE"}

+#endif

 

 /** @} */