git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6329 35acf78f-673a-0410-8e92-d51de3d6d3f4

author: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> 2013-09-29 07:26:23 +0000
committer: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> 2013-09-29 07:26:23 +0000
commit: 67177198e9228a0b8c8086d85ba206ad8164bd01 (patch)
tree: 231524af848e28178053dde3008aa8eda4d02758
parent: 80d4ec8d07aa1945a173acdb18933a4719937509 (diff)
download: ChibiOS-67177198e9228a0b8c8086d85ba206ad8164bd01.tar.gz
ChibiOS-67177198e9228a0b8c8086d85ba206ad8164bd01.tar.bz2
ChibiOS-67177198e9228a0b8c8086d85ba206ad8164bd01.zip
20 files changed, 854 insertions, 1151 deletions
diff --git a/testhal/STM32F37x/PWM-ICU/Makefile b/testhal/STM32F37x/PWM-ICU/Makefile
index 782a3b3d7..7fa47c79c 100644
--- a/testhal/STM32F37x/PWM-ICU/Makefile
+++ b/testhal/STM32F37x/PWM-ICU/Makefile
@@ -23,6 +23,11 @@ ifeq ($(USE_LINK_GC),)
   USE_LINK_GC = yes
 endif
 
+# Enable this if you want link time optimizations (LTO)
+ifeq ($(USE_LTO),)
+  USE_LTO = yes
+endif
+
 # If enabled, this option allows to compile the application in THUMB mode.
 ifeq ($(USE_THUMB),)
   USE_THUMB = yes
@@ -41,17 +46,23 @@ endif
 # Architecture or project specific options
 #
 
+# Stack size to be allocated to the Cortex-M process stack. This stack is
+# the stack used by the main() thread.
+ifeq ($(USE_PROCESS_STACKSIZE),)
+  USE_PROCESS_STACKSIZE = 0x400
+endif
+
+# Stack size to the allocated to the Cortex-M main/exceptions stack. This
+# stack is used for processing interrupts and exceptions.
+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
+  USE_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
 # Enables the use of FPU on Cortex-M4.
-# Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
 
-# Enable this if you really want to use the STM FWLib.
-ifeq ($(USE_FWLIB),)
-  USE_FWLIB = no
-endif
-
 #
 # Architecture or project specific options
 ##############################################################################
@@ -65,12 +76,13 @@ PROJECT = ch
 
 # Imported source files and paths
 CHIBIOS = ../../..
-include $(CHIBIOS)/boards/ST_STM32373C_EVAL/board.mk
-include $(CHIBIOS)/os/hal/platforms/STM32F37x/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F3xx/port.mk
-include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32373C_EVAL/board.mk
+include $(CHIBIOS)/os/hal/ports/STM32F37x/platform.mk
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/rt/osal/osal.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_stm32f37x.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F373xC.ld
@@ -81,6 +93,7 @@ CSRC = $(PORTSRC) \
        $(KERNSRC) \
        $(TESTSRC) \
        $(HALSRC) \
+       $(OSALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
        main.c
@@ -113,8 +126,7 @@ TCPPSRC =
 ASMSRC = $(PORTASM)
 
 INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
-         $(CHIBIOS)/os/various/devices_lib/accel \
+         $(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
          $(CHIBIOS)/os/various
 
 #
@@ -139,6 +151,7 @@ LD   = $(TRGT)gcc
 CP   = $(TRGT)objcopy
 AS   = $(TRGT)gcc -x assembler-with-cpp
 OD   = $(TRGT)objdump
+SZ   = $(TRGT)size
 HEX  = $(CP) -O ihex
 BIN  = $(CP) -O binary
 
@@ -159,29 +172,6 @@ CPPWARN = -Wall -Wextra
 ##############################################################################
 
 ##############################################################################
-# Start of default section
-#
-
-# List all default C defines here, like -D_DEBUG=1
-DDEFS =
-
-# List all default ASM defines here, like -D_DEBUG=1
-DADEFS =
-
-# List all default directories to look for include files here
-DINCDIR =
-
-# List the default directory to look for the libraries here
-DLIBDIR =
-
-# List all default libraries here
-DLIBS =
-
-#
-# End of default section
-##############################################################################
-
-##############################################################################
 # Start of user section
 #
 
@@ -204,18 +194,5 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
-ifeq ($(USE_FPU),yes)
-  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
-  DDEFS += -DCORTEX_USE_FPU=TRUE
-else
-  DDEFS += -DCORTEX_USE_FPU=FALSE
-endif
-
-ifeq ($(USE_FWLIB),yes)
-  include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
-  CSRC += $(STM32SRC)
-  INCDIR += $(STM32INC)
-  USE_OPT += -DUSE_STDPERIPH_DRIVER
-endif
-
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
+RULESPATH = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC
+include $(RULESPATH)/rules.mk
diff --git a/testhal/STM32F37x/PWM-ICU/chconf.h b/testhal/STM32F37x/PWM-ICU/chconf.h
index 2e6fcc6ee..ead2c1de8 100644
--- a/testhal/STM32F37x/PWM-ICU/chconf.h
+++ b/testhal/STM32F37x/PWM-ICU/chconf.h
@@ -30,19 +30,49 @@
 
 /*===========================================================================*/
 /**
- * @name Kernel parameters and options
+ * @name System timers settings
  * @{
  */
 /*===========================================================================*/
 
 /**
+ * @brief   System time counter resolution.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#define CH_CFG_ST_RESOLUTION                32
+
+/**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
-#if !defined(CH_FREQUENCY) || defined(__DOXYGEN__)
-#define CH_FREQUENCY                    1000
-#endif
+#define CH_CFG_ST_FREQUENCY                 10000
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#define CH_CFG_ST_TIMEDELTA                 2
+
+/**
+ * @brief   Realtime Counter frequency.
+ * @details Frequency of the system counter used for realtime delays and
+ *          measurements.
+ */
+#define CH_CFG_RTC_FREQUENCY                72000000
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
 
 /**
  * @brief   Round robin interval.
@@ -51,13 +81,12 @@
  *          disables the preemption for threads with equal priority and the
  *          round robin becomes cooperative. Note that higher priority
  *          threads can still preempt, the kernel is always preemptive.
- *
  * @note    Disabling the round robin preemption makes the kernel more compact
  *          and generally faster.
+ * @note    The round robin preemption is not supported in tickless mode and
+ *          must be set to zero in that case.
  */
-#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)
-#define CH_TIME_QUANTUM                 20
-#endif
+#define CH_CFG_TIME_QUANTUM                 0
 
 /**
  * @brief   Managed RAM size.
@@ -68,28 +97,17 @@
  *
  * @note    In order to let the OS manage the whole RAM the linker script must
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
- * @note    Requires @p CH_USE_MEMCORE.
+ * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
-#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)
-#define CH_MEMCORE_SIZE                 0
-#endif
+#define CH_CFG_MEMCORE_SIZE                 0
 
 /**
  * @brief   Idle thread automatic spawn suppression.
  * @details When this option is activated the function @p chSysInit()
- *          does not spawn the idle thread automatically. The application has
- *          then the responsibility to do one of the following:
- *          - Spawn a custom idle thread at priority @p IDLEPRIO.
- *          - Change the main() thread priority to @p IDLEPRIO then enter
- *            an endless loop. In this scenario the @p main() thread acts as
- *            the idle thread.
- *          .
- * @note    Unless an idle thread is spawned the @p main() thread must not
- *          enter a sleep state.
- */
-#if !defined(CH_NO_IDLE_THREAD) || defined(__DOXYGEN__)
-#define CH_NO_IDLE_THREAD               FALSE
-#endif
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop. */
+#define CH_CFG_NO_IDLE_THREAD               FALSE
 
 /** @} */
 
@@ -108,9 +126,7 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
-#define CH_OPTIMIZE_SPEED               TRUE
-#endif
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
 
 /** @} */
 
@@ -122,14 +138,21 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_TM                       TRUE
+
+/**
  * @brief   Threads registry APIs.
  * @details If enabled then the registry APIs are included in the kernel.
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
-#define CH_USE_REGISTRY                 TRUE
-#endif
+#define CH_CFG_USE_REGISTRY                 TRUE
 
 /**
  * @brief   Threads synchronization APIs.
@@ -138,9 +161,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
-#define CH_USE_WAITEXIT                 TRUE
-#endif
+#define CH_CFG_USE_WAITEXIT                 TRUE
 
 /**
  * @brief   Semaphores APIs.
@@ -148,33 +169,18 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES               TRUE
-#endif
+#define CH_CFG_USE_SEMAPHORES               TRUE
 
 /**
  * @brief   Semaphores queuing mode.
  * @details If enabled then the threads are enqueued on semaphores by
  *          priority rather than in FIFO order.
  *
- * @note    The default is @p FALSE. Enable this if you have special requirements.
- * @note    Requires @p CH_USE_SEMAPHORES.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES_PRIORITY      FALSE
-#endif
-
-/**
- * @brief   Atomic semaphore API.
- * @details If enabled then the semaphores the @p chSemSignalWait() API
- *          is included in the kernel.
- *
- * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_SEMAPHORES.
- */
-#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
-#define CH_USE_SEMSW                    TRUE
-#endif
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
 
 /**
  * @brief   Mutexes APIs.
@@ -182,9 +188,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
-#define CH_USE_MUTEXES                  TRUE
-#endif
+#define CH_CFG_USE_MUTEXES                  TRUE
 
 /**
  * @brief   Conditional Variables APIs.
@@ -192,11 +196,9 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_MUTEXES.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
-#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)
-#define CH_USE_CONDVARS                 TRUE
-#endif
+#define CH_CFG_USE_CONDVARS                 TRUE
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -204,11 +206,9 @@
  *          specification are included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_CONDVARS.
+ * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
-#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
-#define CH_USE_CONDVARS_TIMEOUT         TRUE
-#endif
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
 
 /**
  * @brief   Events Flags APIs.
@@ -216,9 +216,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS                   TRUE
-#endif
+#define CH_CFG_USE_EVENTS                   TRUE
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -226,11 +224,9 @@
  *          are included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_EVENTS.
+ * @note    Requires @p CH_CFG_USE_EVENTS.
  */
-#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS_TIMEOUT           TRUE
-#endif
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -239,21 +235,18 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES                 TRUE
-#endif
+#define CH_CFG_USE_MESSAGES                 TRUE
 
 /**
  * @brief   Synchronous Messages queuing mode.
  * @details If enabled then messages are served by priority rather than in
  *          FIFO order.
  *
- * @note    The default is @p FALSE. Enable this if you have special requirements.
- * @note    Requires @p CH_USE_MESSAGES.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
-#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES_PRIORITY        FALSE
-#endif
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,11 +254,9 @@
  *          included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_SEMAPHORES.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)
-#define CH_USE_MAILBOXES                TRUE
-#endif
+#define CH_CFG_USE_MAILBOXES                TRUE
 
 /**
  * @brief   I/O Queues APIs.
@@ -273,9 +264,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
-#define CH_USE_QUEUES                   TRUE
-#endif
+#define CH_CFG_USE_QUEUES                   TRUE
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,9 +273,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
-#define CH_USE_MEMCORE                  TRUE
-#endif
+#define CH_CFG_USE_MEMCORE                  TRUE
 
 /**
  * @brief   Heap Allocator APIs.
@@ -294,27 +281,11 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_MEMCORE and either @p CH_USE_MUTEXES or
- *          @p CH_USE_SEMAPHORES.
+ * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
+ *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
-#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)
-#define CH_USE_HEAP                     TRUE
-#endif
-
-/**
- * @brief   C-runtime allocator.
- * @details If enabled the the heap allocator APIs just wrap the C-runtime
- *          @p malloc() and @p free() functions.
- *
- * @note    The default is @p FALSE.
- * @note    Requires @p CH_USE_HEAP.
- * @note    The C-runtime may or may not require @p CH_USE_MEMCORE, see the
- *          appropriate documentation.
- */
-#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
-#define CH_USE_MALLOC_HEAP              FALSE
-#endif
+#define CH_CFG_USE_HEAP                     TRUE
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -323,9 +294,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
-#define CH_USE_MEMPOOLS                 TRUE
-#endif
+#define CH_CFG_USE_MEMPOOLS                 TRUE
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -333,12 +302,10 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_WAITEXIT.
- * @note    Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.
+ * @note    Requires @p CH_CFG_USE_WAITEXIT.
+ * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
-#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)
-#define CH_USE_DYNAMIC                  TRUE
-#endif
+#define CH_CFG_USE_DYNAMIC                  TRUE
 
 /** @} */
 
@@ -350,15 +317,20 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#define CH_DBG_STATISTICS                   TRUE
+
+/**
  * @brief   Debug option, system state check.
  * @details If enabled the correct call protocol for system APIs is checked
  *          at runtime.
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_SYSTEM_STATE_CHECK       TRUE
-#endif
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
 
 /**
  * @brief   Debug option, parameters checks.
@@ -367,9 +339,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_CHECKS            TRUE
-#endif
+#define CH_DBG_ENABLE_CHECKS                TRUE
 
 /**
  * @brief   Debug option, consistency checks.
@@ -379,9 +349,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_ASSERTS           TRUE
-#endif
+#define CH_DBG_ENABLE_ASSERTS               TRUE
 
 /**
  * @brief   Debug option, trace buffer.
@@ -390,9 +358,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_TRACE             TRUE
-#endif
+#define CH_DBG_ENABLE_TRACE                 TRUE
 
 /**
  * @brief   Debug option, stack checks.
@@ -404,9 +370,7 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_STACK_CHECK       TRUE
-#endif
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -416,22 +380,18 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
-#define CH_DBG_FILL_THREADS             TRUE
-#endif
+#define CH_DBG_FILL_THREADS                 TRUE
 
 /**
  * @brief   Debug option, threads profiling.
- * @details If enabled then a field is added to the @p Thread structure that
+ * @details If enabled then a field is added to the @p thread_t structure that
  *          counts the system ticks occurred while executing the thread.
  *
- * @note    The default is @p TRUE.
- * @note    This debug option is defaulted to TRUE because it is required by
- *          some test cases into the test suite.
+ * @note    The default is @p FALSE.
+ * @note    This debug option is not currently compatible with the
+ *          tickless mode.
  */
-#if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)
-#define CH_DBG_THREADS_PROFILING        TRUE
-#endif
+#define CH_DBG_THREADS_PROFILING            FALSE
 
 /** @} */
 
@@ -444,12 +404,10 @@
 
 /**
  * @brief   Threads descriptor structure extension.
- * @details User fields added to the end of the @p Thread structure.
+ * @details User fields added to the end of the @p thread_t structure.
  */
-#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)
-#define THREAD_EXT_FIELDS                                                   \
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
   /* Add threads custom fields here.*/
-#endif
 
 /**
  * @brief   Threads initialization hook.
@@ -458,11 +416,9 @@
  * @note    It is invoked from within @p chThdInit() and implicitly from all
  *          the threads creation APIs.
  */
-#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__)
-#define THREAD_EXT_INIT_HOOK(tp) {                                          \
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
   /* Add threads initialization code here.*/                                \
 }
-#endif
 
 /**
  * @brief   Threads finalization hook.
@@ -472,53 +428,61 @@
  * @note    It is also invoked when the threads simply return in order to
  *          terminate.
  */
-#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__)
-#define THREAD_EXT_EXIT_HOOK(tp) {                                          \
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
 }
-#endif
 
 /**
  * @brief   Context switch hook.
  * @details This hook is invoked just before switching between threads.
  */
-#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
-#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
   /* System halt code here.*/                                               \
 }
-#endif
+
+/**
+ * @brief   Idle thread enter hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to activate a power saving mode.
+ */
+#define CH_CFG_IDLE_ENTER_HOOK() {                                         \
+}
+
+/**
+ * @brief   Idle thread leave hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to deactivate a power saving mode.
+ */
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \
+}
 
 /**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
-#if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
-#define IDLE_LOOP_HOOK() {                                                  \
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
   /* Idle loop code here.*/                                                 \
 }
-#endif
 
 /**
  * @brief   System tick event hook.
  * @details This hook is invoked in the system tick handler immediately
  *          after processing the virtual timers queue.
  */
-#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__)
-#define SYSTEM_TICK_EVENT_HOOK() {                                          \
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
   /* System tick event code here.*/                                         \
 }
-#endif
 
 /**
  * @brief   System halt hook.
  * @details This hook is invoked in case to a system halting error before
  *          the system is halted.
  */
-#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
-#define SYSTEM_HALT_HOOK() {                                                \
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
-#endif
 
 /** @} */
 
diff --git a/testhal/STM32F37x/PWM-ICU/halconf.h b/testhal/STM32F37x/PWM-ICU/halconf.h
index 2f74c82c8..b02cb7815 100644
--- a/testhal/STM32F37x/PWM-ICU/halconf.h
+++ b/testhal/STM32F37x/PWM-ICU/halconf.h
@@ -31,13 +31,6 @@
 #include "mcuconf.h"
 
 /**
- * @brief   Enables the TM subsystem.
- */
-#if !defined(HAL_USE_TM) || defined(__DOXYGEN__)
-#define HAL_USE_TM                  TRUE
-#endif
-
-/**
  * @brief   Enables the PAL subsystem.
  */
 #if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
diff --git a/testhal/STM32F37x/PWM-ICU/mcuconf.h b/testhal/STM32F37x/PWM-ICU/mcuconf.h
index 36b5c84a5..062fe87e0 100644
--- a/testhal/STM32F37x/PWM-ICU/mcuconf.h
+++ b/testhal/STM32F37x/PWM-ICU/mcuconf.h
@@ -127,11 +127,12 @@
  */
 #define STM32_I2C_USE_I2C1                  FALSE
 #define STM32_I2C_USE_I2C2                  FALSE
+#define STM32_I2C_BUSY_TIMEOUT              50
 #define STM32_I2C_I2C1_IRQ_PRIORITY         10
 #define STM32_I2C_I2C2_IRQ_PRIORITY         10
 #define STM32_I2C_I2C1_DMA_PRIORITY         1
 #define STM32_I2C_I2C2_DMA_PRIORITY         1
-#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      chSysHalt()
+#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      osalSysHalt("DMA failure")
 
 /*
  * ICU driver system settings.
@@ -148,10 +149,10 @@
 /*
  * PWM driver system settings.
  */
-#define STM32_PWM_USE_TIM2                  TRUE
+#define STM32_PWM_USE_TIM2                  FALSE
 #define STM32_PWM_USE_TIM3                  FALSE
 #define STM32_PWM_USE_TIM4                  FALSE
-#define STM32_PWM_USE_TIM5                  TRUE
+#define STM32_PWM_USE_TIM5                  FALSE
 #define STM32_PWM_TIM2_IRQ_PRIORITY         7
 #define STM32_PWM_TIM3_IRQ_PRIORITY         7
 #define STM32_PWM_TIM4_IRQ_PRIORITY         7
@@ -161,7 +162,7 @@
  * SERIAL driver system settings.
  */
 #define STM32_SERIAL_USE_USART1             FALSE
-#define STM32_SERIAL_USE_USART2             TRUE
+#define STM32_SERIAL_USE_USART2             FALSE
 #define STM32_SERIAL_USE_USART3             FALSE
 #define STM32_SERIAL_USE_UART4              FALSE
 #define STM32_SERIAL_USE_UART5              FALSE
@@ -183,7 +184,13 @@
 #define STM32_SPI_SPI1_IRQ_PRIORITY         10
 #define STM32_SPI_SPI2_IRQ_PRIORITY         10
 #define STM32_SPI_SPI3_IRQ_PRIORITY         10
-#define STM32_SPI_DMA_ERROR_HOOK(spip)      chSysHalt()
+#define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
+
+/*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+#define STM32_ST_USE_TIMER                  2
 
 /*
  * UART driver system settings.
@@ -197,7 +204,7 @@
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
 #define STM32_UART_USART3_DMA_PRIORITY      0
-#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
 
 /*
  * USB driver system settings.
diff --git a/testhal/STM32F37x/SDADC/Makefile b/testhal/STM32F37x/SDADC/Makefile
index 782a3b3d7..7fa47c79c 100644
--- a/testhal/STM32F37x/SDADC/Makefile
+++ b/testhal/STM32F37x/SDADC/Makefile
@@ -23,6 +23,11 @@ ifeq ($(USE_LINK_GC),)
   USE_LINK_GC = yes
 endif
 
+# Enable this if you want link time optimizations (LTO)
+ifeq ($(USE_LTO),)
+  USE_LTO = yes
+endif
+
 # If enabled, this option allows to compile the application in THUMB mode.
 ifeq ($(USE_THUMB),)
   USE_THUMB = yes
@@ -41,17 +46,23 @@ endif
 # Architecture or project specific options
 #
 
+# Stack size to be allocated to the Cortex-M process stack. This stack is
+# the stack used by the main() thread.
+ifeq ($(USE_PROCESS_STACKSIZE),)
+  USE_PROCESS_STACKSIZE = 0x400
+endif
+
+# Stack size to the allocated to the Cortex-M main/exceptions stack. This
+# stack is used for processing interrupts and exceptions.
+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
+  USE_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
 # Enables the use of FPU on Cortex-M4.
-# Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
 
-# Enable this if you really want to use the STM FWLib.
-ifeq ($(USE_FWLIB),)
-  USE_FWLIB = no
-endif
-
 #
 # Architecture or project specific options
 ##############################################################################
@@ -65,12 +76,13 @@ PROJECT = ch
 
 # Imported source files and paths
 CHIBIOS = ../../..
-include $(CHIBIOS)/boards/ST_STM32373C_EVAL/board.mk
-include $(CHIBIOS)/os/hal/platforms/STM32F37x/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F3xx/port.mk
-include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32373C_EVAL/board.mk
+include $(CHIBIOS)/os/hal/ports/STM32F37x/platform.mk
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/rt/osal/osal.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_stm32f37x.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F373xC.ld
@@ -81,6 +93,7 @@ CSRC = $(PORTSRC) \
        $(KERNSRC) \
        $(TESTSRC) \
        $(HALSRC) \
+       $(OSALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
        main.c
@@ -113,8 +126,7 @@ TCPPSRC =
 ASMSRC = $(PORTASM)
 
 INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
-         $(CHIBIOS)/os/various/devices_lib/accel \
+         $(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
          $(CHIBIOS)/os/various
 
 #
@@ -139,6 +151,7 @@ LD   = $(TRGT)gcc
 CP   = $(TRGT)objcopy
 AS   = $(TRGT)gcc -x assembler-with-cpp
 OD   = $(TRGT)objdump
+SZ   = $(TRGT)size
 HEX  = $(CP) -O ihex
 BIN  = $(CP) -O binary
 
@@ -159,29 +172,6 @@ CPPWARN = -Wall -Wextra
 ##############################################################################
 
 ##############################################################################
-# Start of default section
-#
-
-# List all default C defines here, like -D_DEBUG=1
-DDEFS =
-
-# List all default ASM defines here, like -D_DEBUG=1
-DADEFS =
-
-# List all default directories to look for include files here
-DINCDIR =
-
-# List the default directory to look for the libraries here
-DLIBDIR =
-
-# List all default libraries here
-DLIBS =
-
-#
-# End of default section
-##############################################################################
-
-##############################################################################
 # Start of user section
 #
 
@@ -204,18 +194,5 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
-ifeq ($(USE_FPU),yes)
-  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
-  DDEFS += -DCORTEX_USE_FPU=TRUE
-else
-  DDEFS += -DCORTEX_USE_FPU=FALSE
-endif
-
-ifeq ($(USE_FWLIB),yes)
-  include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
-  CSRC += $(STM32SRC)
-  INCDIR += $(STM32INC)
-  USE_OPT += -DUSE_STDPERIPH_DRIVER
-endif
-
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
+RULESPATH = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC
+include $(RULESPATH)/rules.mk
diff --git a/testhal/STM32F37x/SDADC/chconf.h b/testhal/STM32F37x/SDADC/chconf.h
index 2e6fcc6ee..ead2c1de8 100644
--- a/testhal/STM32F37x/SDADC/chconf.h
+++ b/testhal/STM32F37x/SDADC/chconf.h
@@ -30,19 +30,49 @@
 
 /*===========================================================================*/
 /**
- * @name Kernel parameters and options
+ * @name System timers settings
  * @{
  */
 /*===========================================================================*/
 
 /**
+ * @brief   System time counter resolution.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#define CH_CFG_ST_RESOLUTION                32
+
+/**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
-#if !defined(CH_FREQUENCY) || defined(__DOXYGEN__)
-#define CH_FREQUENCY                    1000
-#endif
+#define CH_CFG_ST_FREQUENCY                 10000
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#define CH_CFG_ST_TIMEDELTA                 2
+
+/**
+ * @brief   Realtime Counter frequency.
+ * @details Frequency of the system counter used for realtime delays and
+ *          measurements.
+ */
+#define CH_CFG_RTC_FREQUENCY                72000000
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
 
 /**
  * @brief   Round robin interval.
@@ -51,13 +81,12 @@
  *          disables the preemption for threads with equal priority and the
  *          round robin becomes cooperative. Note that higher priority
  *          threads can still preempt, the kernel is always preemptive.
- *
  * @note    Disabling the round robin preemption makes the kernel more compact
  *          and generally faster.
+ * @note    The round robin preemption is not supported in tickless mode and
+ *          must be set to zero in that case.
  */
-#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)
-#define CH_TIME_QUANTUM                 20
-#endif
+#define CH_CFG_TIME_QUANTUM                 0
 
 /**
  * @brief   Managed RAM size.
@@ -68,28 +97,17 @@
  *
  * @note    In order to let the OS manage the whole RAM the linker script must
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
- * @note    Requires @p CH_USE_MEMCORE.
+ * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
-#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)
-#define CH_MEMCORE_SIZE                 0
-#endif
+#define CH_CFG_MEMCORE_SIZE                 0
 
 /**
  * @brief   Idle thread automatic spawn suppression.
  * @details When this option is activated the function @p chSysInit()
- *          does not spawn the idle thread automatically. The application has
- *          then the responsibility to do one of the following:
- *          - Spawn a custom idle thread at priority @p IDLEPRIO.
- *          - Change the main() thread priority to @p IDLEPRIO then enter
- *            an endless loop. In this scenario the @p main() thread acts as
- *            the idle thread.
- *          .
- * @note    Unless an idle thread is spawned the @p main() thread must not
- *          enter a sleep state.
- */
-#if !defined(CH_NO_IDLE_THREAD) || defined(__DOXYGEN__)
-#define CH_NO_IDLE_THREAD               FALSE
-#endif
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop. */
+#define CH_CFG_NO_IDLE_THREAD               FALSE
 
 /** @} */
 
@@ -108,9 +126,7 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
-#define CH_OPTIMIZE_SPEED               TRUE
-#endif
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
 
 /** @} */
 
@@ -122,14 +138,21 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_TM                       TRUE
+
+/**
  * @brief   Threads registry APIs.
  * @details If enabled then the registry APIs are included in the kernel.
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
-#define CH_USE_REGISTRY                 TRUE
-#endif
+#define CH_CFG_USE_REGISTRY                 TRUE
 
 /**
  * @brief   Threads synchronization APIs.
@@ -138,9 +161,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
-#define CH_USE_WAITEXIT                 TRUE
-#endif
+#define CH_CFG_USE_WAITEXIT                 TRUE
 
 /**
  * @brief   Semaphores APIs.
@@ -148,33 +169,18 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES               TRUE
-#endif
+#define CH_CFG_USE_SEMAPHORES               TRUE
 
 /**
  * @brief   Semaphores queuing mode.
  * @details If enabled then the threads are enqueued on semaphores by
  *          priority rather than in FIFO order.
  *
- * @note    The default is @p FALSE. Enable this if you have special requirements.
- * @note    Requires @p CH_USE_SEMAPHORES.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES_PRIORITY      FALSE
-#endif
-
-/**
- * @brief   Atomic semaphore API.
- * @details If enabled then the semaphores the @p chSemSignalWait() API
- *          is included in the kernel.
- *
- * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_SEMAPHORES.
- */
-#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
-#define CH_USE_SEMSW                    TRUE
-#endif
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
 
 /**
  * @brief   Mutexes APIs.
@@ -182,9 +188,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
-#define CH_USE_MUTEXES                  TRUE
-#endif
+#define CH_CFG_USE_MUTEXES                  TRUE
 
 /**
  * @brief   Conditional Variables APIs.
@@ -192,11 +196,9 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_MUTEXES.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
-#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)
-#define CH_USE_CONDVARS                 TRUE
-#endif
+#define CH_CFG_USE_CONDVARS                 TRUE
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -204,11 +206,9 @@
  *          specification are included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_CONDVARS.
+ * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
-#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
-#define CH_USE_CONDVARS_TIMEOUT         TRUE
-#endif
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
 
 /**
  * @brief   Events Flags APIs.
@@ -216,9 +216,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS                   TRUE
-#endif
+#define CH_CFG_USE_EVENTS                   TRUE
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -226,11 +224,9 @@
  *          are included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_EVENTS.
+ * @note    Requires @p CH_CFG_USE_EVENTS.
  */
-#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS_TIMEOUT           TRUE
-#endif
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -239,21 +235,18 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES                 TRUE
-#endif
+#define CH_CFG_USE_MESSAGES                 TRUE
 
 /**
  * @brief   Synchronous Messages queuing mode.
  * @details If enabled then messages are served by priority rather than in
  *          FIFO order.
  *
- * @note    The default is @p FALSE. Enable this if you have special requirements.
- * @note    Requires @p CH_USE_MESSAGES.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
-#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES_PRIORITY        FALSE
-#endif
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,11 +254,9 @@
  *          included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_SEMAPHORES.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)
-#define CH_USE_MAILBOXES                TRUE
-#endif
+#define CH_CFG_USE_MAILBOXES                TRUE
 
 /**
  * @brief   I/O Queues APIs.
@@ -273,9 +264,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
-#define CH_USE_QUEUES                   TRUE
-#endif
+#define CH_CFG_USE_QUEUES                   TRUE
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,9 +273,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
-#define CH_USE_MEMCORE                  TRUE
-#endif
+#define CH_CFG_USE_MEMCORE                  TRUE
 
 /**
  * @brief   Heap Allocator APIs.
@@ -294,27 +281,11 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_MEMCORE and either @p CH_USE_MUTEXES or
- *          @p CH_USE_SEMAPHORES.
+ * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
+ *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
-#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)
-#define CH_USE_HEAP                     TRUE
-#endif
-
-/**
- * @brief   C-runtime allocator.
- * @details If enabled the the heap allocator APIs just wrap the C-runtime
- *          @p malloc() and @p free() functions.
- *
- * @note    The default is @p FALSE.
- * @note    Requires @p CH_USE_HEAP.
- * @note    The C-runtime may or may not require @p CH_USE_MEMCORE, see the
- *          appropriate documentation.
- */
-#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
-#define CH_USE_MALLOC_HEAP              FALSE
-#endif
+#define CH_CFG_USE_HEAP                     TRUE
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -323,9 +294,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
-#define CH_USE_MEMPOOLS                 TRUE
-#endif
+#define CH_CFG_USE_MEMPOOLS                 TRUE
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -333,12 +302,10 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_WAITEXIT.
- * @note    Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.
+ * @note    Requires @p CH_CFG_USE_WAITEXIT.
+ * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
-#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)
-#define CH_USE_DYNAMIC                  TRUE
-#endif
+#define CH_CFG_USE_DYNAMIC                  TRUE
 
 /** @} */
 
@@ -350,15 +317,20 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#define CH_DBG_STATISTICS                   TRUE
+
+/**
  * @brief   Debug option, system state check.
  * @details If enabled the correct call protocol for system APIs is checked
  *          at runtime.
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_SYSTEM_STATE_CHECK       TRUE
-#endif
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
 
 /**
  * @brief   Debug option, parameters checks.
@@ -367,9 +339,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_CHECKS            TRUE
-#endif
+#define CH_DBG_ENABLE_CHECKS                TRUE
 
 /**
  * @brief   Debug option, consistency checks.
@@ -379,9 +349,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_ASSERTS           TRUE
-#endif
+#define CH_DBG_ENABLE_ASSERTS               TRUE
 
 /**
  * @brief   Debug option, trace buffer.
@@ -390,9 +358,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_TRACE             TRUE
-#endif
+#define CH_DBG_ENABLE_TRACE                 TRUE
 
 /**
  * @brief   Debug option, stack checks.
@@ -404,9 +370,7 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_STACK_CHECK       TRUE
-#endif
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -416,22 +380,18 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
-#define CH_DBG_FILL_THREADS             TRUE
-#endif
+#define CH_DBG_FILL_THREADS                 TRUE
 
 /**
  * @brief   Debug option, threads profiling.
- * @details If enabled then a field is added to the @p Thread structure that
+ * @details If enabled then a field is added to the @p thread_t structure that
  *          counts the system ticks occurred while executing the thread.
  *
- * @note    The default is @p TRUE.
- * @note    This debug option is defaulted to TRUE because it is required by
- *          some test cases into the test suite.
+ * @note    The default is @p FALSE.
+ * @note    This debug option is not currently compatible with the
+ *          tickless mode.
  */
-#if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)
-#define CH_DBG_THREADS_PROFILING        TRUE
-#endif
+#define CH_DBG_THREADS_PROFILING            FALSE
 
 /** @} */
 
@@ -444,12 +404,10 @@
 
 /**
  * @brief   Threads descriptor structure extension.
- * @details User fields added to the end of the @p Thread structure.
+ * @details User fields added to the end of the @p thread_t structure.
  */
-#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)
-#define THREAD_EXT_FIELDS                                                   \
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
   /* Add threads custom fields here.*/
-#endif
 
 /**
  * @brief   Threads initialization hook.
@@ -458,11 +416,9 @@
  * @note    It is invoked from within @p chThdInit() and implicitly from all
  *          the threads creation APIs.
  */
-#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__)
-#define THREAD_EXT_INIT_HOOK(tp) {                                          \
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
   /* Add threads initialization code here.*/                                \
 }
-#endif
 
 /**
  * @brief   Threads finalization hook.
@@ -472,53 +428,61 @@
  * @note    It is also invoked when the threads simply return in order to
  *          terminate.
  */
-#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__)
-#define THREAD_EXT_EXIT_HOOK(tp) {                                          \
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
 }
-#endif
 
 /**
  * @brief   Context switch hook.
  * @details This hook is invoked just before switching between threads.
  */
-#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
-#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
   /* System halt code here.*/                                               \
 }
-#endif
+
+/**
+ * @brief   Idle thread enter hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to activate a power saving mode.
+ */
+#define CH_CFG_IDLE_ENTER_HOOK() {                                         \
+}
+
+/**
+ * @brief   Idle thread leave hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to deactivate a power saving mode.
+ */
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \
+}
 
 /**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
-#if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
-#define IDLE_LOOP_HOOK() {                                                  \
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
   /* Idle loop code here.*/                                                 \
 }
-#endif
 
 /**
  * @brief   System tick event hook.
  * @details This hook is invoked in the system tick handler immediately
  *          after processing the virtual timers queue.
  */
-#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__)
-#define SYSTEM_TICK_EVENT_HOOK() {                                          \
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
   /* System tick event code here.*/                                         \
 }
-#endif
 
 /**
  * @brief   System halt hook.
  * @details This hook is invoked in case to a system halting error before
  *          the system is halted.
  */
-#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
-#define SYSTEM_HALT_HOOK() {                                                \
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
-#endif
 
 /** @} */
 
diff --git a/testhal/STM32F37x/SDADC/halconf.h b/testhal/STM32F37x/SDADC/halconf.h
index 85a5dbd3b..d60800288 100644
--- a/testhal/STM32F37x/SDADC/halconf.h
+++ b/testhal/STM32F37x/SDADC/halconf.h
@@ -31,13 +31,6 @@
 #include "mcuconf.h"
 
 /**
- * @brief   Enables the TM subsystem.
- */
-#if !defined(HAL_USE_TM) || defined(__DOXYGEN__)
-#define HAL_USE_TM                  TRUE
-#endif
-
-/**
  * @brief   Enables the PAL subsystem.
  */
 #if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
diff --git a/testhal/STM32F37x/SDADC/mcuconf.h b/testhal/STM32F37x/SDADC/mcuconf.h
index 8a4e68ba8..f2e3e3def 100644
--- a/testhal/STM32F37x/SDADC/mcuconf.h
+++ b/testhal/STM32F37x/SDADC/mcuconf.h
@@ -63,9 +63,9 @@
  * ADC driver system settings.
  */
 #define STM32_ADC_USE_ADC1                  TRUE
-#define STM32_ADC_USE_SDADC1                TRUE
-#define STM32_ADC_USE_SDADC2                TRUE
-#define STM32_ADC_USE_SDADC3                TRUE
+#define STM32_ADC_USE_SDADC1                FALSE
+#define STM32_ADC_USE_SDADC2                FALSE
+#define STM32_ADC_USE_SDADC3                FALSE
 #define STM32_ADC_ADC1_DMA_PRIORITY         2
 #define STM32_ADC_SDADC1_DMA_PRIORITY       2
 #define STM32_ADC_SDADC2_DMA_PRIORITY       2
@@ -127,11 +127,12 @@
  */
 #define STM32_I2C_USE_I2C1                  FALSE
 #define STM32_I2C_USE_I2C2                  FALSE
+#define STM32_I2C_BUSY_TIMEOUT              50
 #define STM32_I2C_I2C1_IRQ_PRIORITY         10
 #define STM32_I2C_I2C2_IRQ_PRIORITY         10
 #define STM32_I2C_I2C1_DMA_PRIORITY         1
 #define STM32_I2C_I2C2_DMA_PRIORITY         1
-#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      chSysHalt()
+#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      osalSysHalt("DMA failure")
 
 /*
  * ICU driver system settings.
@@ -161,7 +162,7 @@
  * SERIAL driver system settings.
  */
 #define STM32_SERIAL_USE_USART1             FALSE
-#define STM32_SERIAL_USE_USART2             TRUE
+#define STM32_SERIAL_USE_USART2             FALSE
 #define STM32_SERIAL_USE_USART3             FALSE
 #define STM32_SERIAL_USE_UART4              FALSE
 #define STM32_SERIAL_USE_UART5              FALSE
@@ -183,7 +184,13 @@
 #define STM32_SPI_SPI1_IRQ_PRIORITY         10
 #define STM32_SPI_SPI2_IRQ_PRIORITY         10
 #define STM32_SPI_SPI3_IRQ_PRIORITY         10
-#define STM32_SPI_DMA_ERROR_HOOK(spip)      chSysHalt()
+#define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
+
+/*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+#define STM32_ST_USE_TIMER                  2
 
 /*
  * UART driver system settings.
@@ -197,7 +204,7 @@
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
 #define STM32_UART_USART3_DMA_PRIORITY      0
-#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
 
 /*
  * USB driver system settings.
diff --git a/testhal/STM32F37x/SPI/Makefile b/testhal/STM32F37x/SPI/Makefile
index 782a3b3d7..7fa47c79c 100644
--- a/testhal/STM32F37x/SPI/Makefile
+++ b/testhal/STM32F37x/SPI/Makefile
@@ -23,6 +23,11 @@ ifeq ($(USE_LINK_GC),)
   USE_LINK_GC = yes
 endif
 
+# Enable this if you want link time optimizations (LTO)
+ifeq ($(USE_LTO),)
+  USE_LTO = yes
+endif
+
 # If enabled, this option allows to compile the application in THUMB mode.
 ifeq ($(USE_THUMB),)
   USE_THUMB = yes
@@ -41,17 +46,23 @@ endif
 # Architecture or project specific options
 #
 
+# Stack size to be allocated to the Cortex-M process stack. This stack is
+# the stack used by the main() thread.
+ifeq ($(USE_PROCESS_STACKSIZE),)
+  USE_PROCESS_STACKSIZE = 0x400
+endif
+
+# Stack size to the allocated to the Cortex-M main/exceptions stack. This
+# stack is used for processing interrupts and exceptions.
+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
+  USE_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
 # Enables the use of FPU on Cortex-M4.
-# Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
 
-# Enable this if you really want to use the STM FWLib.
-ifeq ($(USE_FWLIB),)
-  USE_FWLIB = no
-endif
-
 #
 # Architecture or project specific options
 ##############################################################################
@@ -65,12 +76,13 @@ PROJECT = ch
 
 # Imported source files and paths
 CHIBIOS = ../../..
-include $(CHIBIOS)/boards/ST_STM32373C_EVAL/board.mk
-include $(CHIBIOS)/os/hal/platforms/STM32F37x/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F3xx/port.mk
-include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32373C_EVAL/board.mk
+include $(CHIBIOS)/os/hal/ports/STM32F37x/platform.mk
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/rt/osal/osal.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_stm32f37x.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F373xC.ld
@@ -81,6 +93,7 @@ CSRC = $(PORTSRC) \
        $(KERNSRC) \
        $(TESTSRC) \
        $(HALSRC) \
+       $(OSALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
        main.c
@@ -113,8 +126,7 @@ TCPPSRC =
 ASMSRC = $(PORTASM)
 
 INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
-         $(CHIBIOS)/os/various/devices_lib/accel \
+         $(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
          $(CHIBIOS)/os/various
 
 #
@@ -139,6 +151,7 @@ LD   = $(TRGT)gcc
 CP   = $(TRGT)objcopy
 AS   = $(TRGT)gcc -x assembler-with-cpp
 OD   = $(TRGT)objdump
+SZ   = $(TRGT)size
 HEX  = $(CP) -O ihex
 BIN  = $(CP) -O binary
 
@@ -159,29 +172,6 @@ CPPWARN = -Wall -Wextra
 ##############################################################################
 
 ##############################################################################
-# Start of default section
-#
-
-# List all default C defines here, like -D_DEBUG=1
-DDEFS =
-
-# List all default ASM defines here, like -D_DEBUG=1
-DADEFS =
-
-# List all default directories to look for include files here
-DINCDIR =
-
-# List the default directory to look for the libraries here
-DLIBDIR =
-
-# List all default libraries here
-DLIBS =
-
-#
-# End of default section
-##############################################################################
-
-##############################################################################
 # Start of user section
 #
 
@@ -204,18 +194,5 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
-ifeq ($(USE_FPU),yes)
-  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
-  DDEFS += -DCORTEX_USE_FPU=TRUE
-else
-  DDEFS += -DCORTEX_USE_FPU=FALSE
-endif
-
-ifeq ($(USE_FWLIB),yes)
-  include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
-  CSRC += $(STM32SRC)
-  INCDIR += $(STM32INC)
-  USE_OPT += -DUSE_STDPERIPH_DRIVER
-endif
-
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
+RULESPATH = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC
+include $(RULESPATH)/rules.mk
diff --git a/testhal/STM32F37x/SPI/chconf.h b/testhal/STM32F37x/SPI/chconf.h
index 2e6fcc6ee..ead2c1de8 100644
--- a/testhal/STM32F37x/SPI/chconf.h
+++ b/testhal/STM32F37x/SPI/chconf.h
@@ -30,19 +30,49 @@
 
 /*===========================================================================*/
 /**
- * @name Kernel parameters and options
+ * @name System timers settings
  * @{
  */
 /*===========================================================================*/
 
 /**
+ * @brief   System time counter resolution.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#define CH_CFG_ST_RESOLUTION                32
+
+/**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
-#if !defined(CH_FREQUENCY) || defined(__DOXYGEN__)
-#define CH_FREQUENCY                    1000
-#endif
+#define CH_CFG_ST_FREQUENCY                 10000
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#define CH_CFG_ST_TIMEDELTA                 2
+
+/**
+ * @brief   Realtime Counter frequency.
+ * @details Frequency of the system counter used for realtime delays and
+ *          measurements.
+ */
+#define CH_CFG_RTC_FREQUENCY                72000000
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
 
 /**
  * @brief   Round robin interval.
@@ -51,13 +81,12 @@
  *          disables the preemption for threads with equal priority and the
  *          round robin becomes cooperative. Note that higher priority
  *          threads can still preempt, the kernel is always preemptive.
- *
  * @note    Disabling the round robin preemption makes the kernel more compact
  *          and generally faster.
+ * @note    The round robin preemption is not supported in tickless mode and
+ *          must be set to zero in that case.
  */
-#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)
-#define CH_TIME_QUANTUM                 20
-#endif
+#define CH_CFG_TIME_QUANTUM                 0
 
 /**
  * @brief   Managed RAM size.
@@ -68,28 +97,17 @@
  *
  * @note    In order to let the OS manage the whole RAM the linker script must
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
- * @note    Requires @p CH_USE_MEMCORE.
+ * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
-#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)
-#define CH_MEMCORE_SIZE                 0
-#endif
+#define CH_CFG_MEMCORE_SIZE                 0
 
 /**
  * @brief   Idle thread automatic spawn suppression.
  * @details When this option is activated the function @p chSysInit()
- *          does not spawn the idle thread automatically. The application has
- *          then the responsibility to do one of the following:
- *          - Spawn a custom idle thread at priority @p IDLEPRIO.
- *          - Change the main() thread priority to @p IDLEPRIO then enter
- *            an endless loop. In this scenario the @p main() thread acts as
- *            the idle thread.
- *          .
- * @note    Unless an idle thread is spawned the @p main() thread must not
- *          enter a sleep state.
- */
-#if !defined(CH_NO_IDLE_THREAD) || defined(__DOXYGEN__)
-#define CH_NO_IDLE_THREAD               FALSE
-#endif
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop. */
+#define CH_CFG_NO_IDLE_THREAD               FALSE
 
 /** @} */
 
@@ -108,9 +126,7 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
-#define CH_OPTIMIZE_SPEED               TRUE
-#endif
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
 
 /** @} */
 
@@ -122,14 +138,21 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_TM                       TRUE
+
+/**
  * @brief   Threads registry APIs.
  * @details If enabled then the registry APIs are included in the kernel.
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
-#define CH_USE_REGISTRY                 TRUE
-#endif
+#define CH_CFG_USE_REGISTRY                 TRUE
 
 /**
  * @brief   Threads synchronization APIs.
@@ -138,9 +161,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
-#define CH_USE_WAITEXIT                 TRUE
-#endif
+#define CH_CFG_USE_WAITEXIT                 TRUE
 
 /**
  * @brief   Semaphores APIs.
@@ -148,33 +169,18 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES               TRUE
-#endif
+#define CH_CFG_USE_SEMAPHORES               TRUE
 
 /**
  * @brief   Semaphores queuing mode.
  * @details If enabled then the threads are enqueued on semaphores by
  *          priority rather than in FIFO order.
  *
- * @note    The default is @p FALSE. Enable this if you have special requirements.
- * @note    Requires @p CH_USE_SEMAPHORES.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES_PRIORITY      FALSE
-#endif
-
-/**
- * @brief   Atomic semaphore API.
- * @details If enabled then the semaphores the @p chSemSignalWait() API
- *          is included in the kernel.
- *
- * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_SEMAPHORES.
- */
-#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
-#define CH_USE_SEMSW                    TRUE
-#endif
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
 
 /**
  * @brief   Mutexes APIs.
@@ -182,9 +188,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
-#define CH_USE_MUTEXES                  TRUE
-#endif
+#define CH_CFG_USE_MUTEXES                  TRUE
 
 /**
  * @brief   Conditional Variables APIs.
@@ -192,11 +196,9 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_MUTEXES.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
-#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)
-#define CH_USE_CONDVARS                 TRUE
-#endif
+#define CH_CFG_USE_CONDVARS                 TRUE
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -204,11 +206,9 @@
  *          specification are included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_CONDVARS.
+ * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
-#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
-#define CH_USE_CONDVARS_TIMEOUT         TRUE
-#endif
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
 
 /**
  * @brief   Events Flags APIs.
@@ -216,9 +216,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS                   TRUE
-#endif
+#define CH_CFG_USE_EVENTS                   TRUE
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -226,11 +224,9 @@
  *          are included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_EVENTS.
+ * @note    Requires @p CH_CFG_USE_EVENTS.
  */
-#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS_TIMEOUT           TRUE
-#endif
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -239,21 +235,18 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES                 TRUE
-#endif
+#define CH_CFG_USE_MESSAGES                 TRUE
 
 /**
  * @brief   Synchronous Messages queuing mode.
  * @details If enabled then messages are served by priority rather than in
  *          FIFO order.
  *
- * @note    The default is @p FALSE. Enable this if you have special requirements.
- * @note    Requires @p CH_USE_MESSAGES.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
-#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES_PRIORITY        FALSE
-#endif
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,11 +254,9 @@
  *          included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_SEMAPHORES.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)
-#define CH_USE_MAILBOXES                TRUE
-#endif
+#define CH_CFG_USE_MAILBOXES                TRUE
 
 /**
  * @brief   I/O Queues APIs.
@@ -273,9 +264,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
-#define CH_USE_QUEUES                   TRUE
-#endif
+#define CH_CFG_USE_QUEUES                   TRUE
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,9 +273,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
-#define CH_USE_MEMCORE                  TRUE
-#endif
+#define CH_CFG_USE_MEMCORE                  TRUE
 
 /**
  * @brief   Heap Allocator APIs.
@@ -294,27 +281,11 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_MEMCORE and either @p CH_USE_MUTEXES or
- *          @p CH_USE_SEMAPHORES.
+ * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
+ *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
-#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)
-#define CH_USE_HEAP                     TRUE
-#endif
-
-/**
- * @brief   C-runtime allocator.
- * @details If enabled the the heap allocator APIs just wrap the C-runtime
- *          @p malloc() and @p free() functions.
- *
- * @note    The default is @p FALSE.
- * @note    Requires @p CH_USE_HEAP.
- * @note    The C-runtime may or may not require @p CH_USE_MEMCORE, see the
- *          appropriate documentation.
- */
-#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
-#define CH_USE_MALLOC_HEAP              FALSE
-#endif
+#define CH_CFG_USE_HEAP                     TRUE
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -323,9 +294,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
-#define CH_USE_MEMPOOLS                 TRUE
-#endif
+#define CH_CFG_USE_MEMPOOLS                 TRUE
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -333,12 +302,10 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_WAITEXIT.
- * @note    Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.
+ * @note    Requires @p CH_CFG_USE_WAITEXIT.
+ * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
-#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)
-#define CH_USE_DYNAMIC                  TRUE
-#endif
+#define CH_CFG_USE_DYNAMIC                  TRUE
 
 /** @} */
 
@@ -350,15 +317,20 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#define CH_DBG_STATISTICS                   TRUE
+
+/**
  * @brief   Debug option, system state check.
  * @details If enabled the correct call protocol for system APIs is checked
  *          at runtime.
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_SYSTEM_STATE_CHECK       TRUE
-#endif
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
 
 /**
  * @brief   Debug option, parameters checks.
@@ -367,9 +339,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_CHECKS            TRUE
-#endif
+#define CH_DBG_ENABLE_CHECKS                TRUE
 
 /**
  * @brief   Debug option, consistency checks.
@@ -379,9 +349,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_ASSERTS           TRUE
-#endif
+#define CH_DBG_ENABLE_ASSERTS               TRUE
 
 /**
  * @brief   Debug option, trace buffer.
@@ -390,9 +358,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_TRACE             TRUE
-#endif
+#define CH_DBG_ENABLE_TRACE                 TRUE
 
 /**
  * @brief   Debug option, stack checks.
@@ -404,9 +370,7 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_STACK_CHECK       TRUE
-#endif
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -416,22 +380,18 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
-#define CH_DBG_FILL_THREADS             TRUE
-#endif
+#define CH_DBG_FILL_THREADS                 TRUE
 
 /**
  * @brief   Debug option, threads profiling.
- * @details If enabled then a field is added to the @p Thread structure that
+ * @details If enabled then a field is added to the @p thread_t structure that
  *          counts the system ticks occurred while executing the thread.
  *
- * @note    The default is @p TRUE.
- * @note    This debug option is defaulted to TRUE because it is required by
- *          some test cases into the test suite.
+ * @note    The default is @p FALSE.
+ * @note    This debug option is not currently compatible with the
+ *          tickless mode.
  */
-#if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)
-#define CH_DBG_THREADS_PROFILING        TRUE
-#endif
+#define CH_DBG_THREADS_PROFILING            FALSE
 
 /** @} */
 
@@ -444,12 +404,10 @@
 
 /**
  * @brief   Threads descriptor structure extension.
- * @details User fields added to the end of the @p Thread structure.
+ * @details User fields added to the end of the @p thread_t structure.
  */
-#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)
-#define THREAD_EXT_FIELDS                                                   \
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
   /* Add threads custom fields here.*/
-#endif
 
 /**
  * @brief   Threads initialization hook.
@@ -458,11 +416,9 @@
  * @note    It is invoked from within @p chThdInit() and implicitly from all
  *          the threads creation APIs.
  */
-#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__)
-#define THREAD_EXT_INIT_HOOK(tp) {                                          \
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
   /* Add threads initialization code here.*/                                \
 }
-#endif
 
 /**
  * @brief   Threads finalization hook.
@@ -472,53 +428,61 @@
  * @note    It is also invoked when the threads simply return in order to
  *          terminate.
  */
-#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__)
-#define THREAD_EXT_EXIT_HOOK(tp) {                                          \
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
 }
-#endif
 
 /**
  * @brief   Context switch hook.
  * @details This hook is invoked just before switching between threads.
  */
-#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
-#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
   /* System halt code here.*/                                               \
 }
-#endif
+
+/**
+ * @brief   Idle thread enter hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to activate a power saving mode.
+ */
+#define CH_CFG_IDLE_ENTER_HOOK() {                                         \
+}
+
+/**
+ * @brief   Idle thread leave hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to deactivate a power saving mode.
+ */
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \
+}
 
 /**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
-#if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
-#define IDLE_LOOP_HOOK() {                                                  \
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
   /* Idle loop code here.*/                                                 \
 }
-#endif
 
 /**
  * @brief   System tick event hook.
  * @details This hook is invoked in the system tick handler immediately
  *          after processing the virtual timers queue.
  */
-#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__)
-#define SYSTEM_TICK_EVENT_HOOK() {                                          \
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
   /* System tick event code here.*/                                         \
 }
-#endif
 
 /**
  * @brief   System halt hook.
  * @details This hook is invoked in case to a system halting error before
  *          the system is halted.
  */
-#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
-#define SYSTEM_HALT_HOOK() {                                                \
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
-#endif
 
 /** @} */
 
diff --git a/testhal/STM32F37x/SPI/halconf.h b/testhal/STM32F37x/SPI/halconf.h
index 3e1cafbbf..d60800288 100644
--- a/testhal/STM32F37x/SPI/halconf.h
+++ b/testhal/STM32F37x/SPI/halconf.h
@@ -31,13 +31,6 @@
 #include "mcuconf.h"
 
 /**
- * @brief   Enables the TM subsystem.
- */
-#if !defined(HAL_USE_TM) || defined(__DOXYGEN__)
-#define HAL_USE_TM                  TRUE
-#endif
-
-/**
  * @brief   Enables the PAL subsystem.
  */
 #if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
@@ -48,7 +41,7 @@
  * @brief   Enables the ADC subsystem.
  */
 #if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
-#define HAL_USE_ADC                 FALSE
+#define HAL_USE_ADC                 TRUE
 #endif
 
 /**
@@ -139,7 +132,7 @@
  * @brief   Enables the SPI subsystem.
  */
 #if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
-#define HAL_USE_SPI                 TRUE
+#define HAL_USE_SPI                 FALSE
 #endif
 
 /**
diff --git a/testhal/STM32F37x/SPI/mcuconf.h b/testhal/STM32F37x/SPI/mcuconf.h
index 5326570a9..f2e3e3def 100644
--- a/testhal/STM32F37x/SPI/mcuconf.h
+++ b/testhal/STM32F37x/SPI/mcuconf.h
@@ -62,7 +62,7 @@
 /*
  * ADC driver system settings.
  */
-#define STM32_ADC_USE_ADC1                  FALSE
+#define STM32_ADC_USE_ADC1                  TRUE
 #define STM32_ADC_USE_SDADC1                FALSE
 #define STM32_ADC_USE_SDADC2                FALSE
 #define STM32_ADC_USE_SDADC3                FALSE
@@ -81,7 +81,7 @@
 /*
  * CAN driver system settings.
  */
-#define STM32_CAN_USE_CAN1                  FALSE
+#define STM32_CAN_USE_CAN1                  TRUE
 #define STM32_CAN_CAN1_IRQ_PRIORITY         11
 
 /*
@@ -127,11 +127,12 @@
  */
 #define STM32_I2C_USE_I2C1                  FALSE
 #define STM32_I2C_USE_I2C2                  FALSE
+#define STM32_I2C_BUSY_TIMEOUT              50
 #define STM32_I2C_I2C1_IRQ_PRIORITY         10
 #define STM32_I2C_I2C2_IRQ_PRIORITY         10
 #define STM32_I2C_I2C1_DMA_PRIORITY         1
 #define STM32_I2C_I2C2_DMA_PRIORITY         1
-#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      chSysHalt()
+#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      osalSysHalt("DMA failure")
 
 /*
  * ICU driver system settings.
@@ -175,7 +176,7 @@
  * SPI driver system settings.
  */
 #define STM32_SPI_USE_SPI1                  FALSE
-#define STM32_SPI_USE_SPI2                  TRUE
+#define STM32_SPI_USE_SPI2                  FALSE
 #define STM32_SPI_USE_SPI3                  FALSE
 #define STM32_SPI_SPI1_DMA_PRIORITY         1
 #define STM32_SPI_SPI2_DMA_PRIORITY         1
@@ -183,7 +184,13 @@
 #define STM32_SPI_SPI1_IRQ_PRIORITY         10
 #define STM32_SPI_SPI2_IRQ_PRIORITY         10
 #define STM32_SPI_SPI3_IRQ_PRIORITY         10
-#define STM32_SPI_DMA_ERROR_HOOK(spip)      chSysHalt()
+#define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
+
+/*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+#define STM32_ST_USE_TIMER                  2
 
 /*
  * UART driver system settings.
@@ -197,7 +204,7 @@
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
 #define STM32_UART_USART3_DMA_PRIORITY      0
-#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
 
 /*
  * USB driver system settings.
diff --git a/testhal/STM32F37x/UART/Makefile b/testhal/STM32F37x/UART/Makefile
index 782a3b3d7..7fa47c79c 100644
--- a/testhal/STM32F37x/UART/Makefile
+++ b/testhal/STM32F37x/UART/Makefile
@@ -23,6 +23,11 @@ ifeq ($(USE_LINK_GC),)
   USE_LINK_GC = yes
 endif
 
+# Enable this if you want link time optimizations (LTO)
+ifeq ($(USE_LTO),)
+  USE_LTO = yes
+endif
+
 # If enabled, this option allows to compile the application in THUMB mode.
 ifeq ($(USE_THUMB),)
   USE_THUMB = yes
@@ -41,17 +46,23 @@ endif
 # Architecture or project specific options
 #
 
+# Stack size to be allocated to the Cortex-M process stack. This stack is
+# the stack used by the main() thread.
+ifeq ($(USE_PROCESS_STACKSIZE),)
+  USE_PROCESS_STACKSIZE = 0x400
+endif
+
+# Stack size to the allocated to the Cortex-M main/exceptions stack. This
+# stack is used for processing interrupts and exceptions.
+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
+  USE_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
 # Enables the use of FPU on Cortex-M4.
-# Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
 
-# Enable this if you really want to use the STM FWLib.
-ifeq ($(USE_FWLIB),)
-  USE_FWLIB = no
-endif
-
 #
 # Architecture or project specific options
 ##############################################################################
@@ -65,12 +76,13 @@ PROJECT = ch
 
 # Imported source files and paths
 CHIBIOS = ../../..
-include $(CHIBIOS)/boards/ST_STM32373C_EVAL/board.mk
-include $(CHIBIOS)/os/hal/platforms/STM32F37x/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F3xx/port.mk
-include $(CHIBIOS)/os/kernel/kernel.mk
-#include $(CHIBIOS)/test/test.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32373C_EVAL/board.mk
+include $(CHIBIOS)/os/hal/ports/STM32F37x/platform.mk
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/rt/osal/osal.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_stm32f37x.mk
+include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
 LDSCRIPT= $(PORTLD)/STM32F373xC.ld
@@ -81,6 +93,7 @@ CSRC = $(PORTSRC) \
        $(KERNSRC) \
        $(TESTSRC) \
        $(HALSRC) \
+       $(OSALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
        main.c
@@ -113,8 +126,7 @@ TCPPSRC =
 ASMSRC = $(PORTASM)
 
 INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
-         $(CHIBIOS)/os/various/devices_lib/accel \
+         $(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
          $(CHIBIOS)/os/various
 
 #
@@ -139,6 +151,7 @@ LD   = $(TRGT)gcc
 CP   = $(TRGT)objcopy
 AS   = $(TRGT)gcc -x assembler-with-cpp
 OD   = $(TRGT)objdump
+SZ   = $(TRGT)size
 HEX  = $(CP) -O ihex
 BIN  = $(CP) -O binary
 
@@ -159,29 +172,6 @@ CPPWARN = -Wall -Wextra
 ##############################################################################
 
 ##############################################################################
-# Start of default section
-#
-
-# List all default C defines here, like -D_DEBUG=1
-DDEFS =
-
-# List all default ASM defines here, like -D_DEBUG=1
-DADEFS =
-
-# List all default directories to look for include files here
-DINCDIR =
-
-# List the default directory to look for the libraries here
-DLIBDIR =
-
-# List all default libraries here
-DLIBS =
-
-#
-# End of default section
-##############################################################################
-
-##############################################################################
 # Start of user section
 #
 
@@ -204,18 +194,5 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
-ifeq ($(USE_FPU),yes)
-  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
-  DDEFS += -DCORTEX_USE_FPU=TRUE
-else
-  DDEFS += -DCORTEX_USE_FPU=FALSE
-endif
-
-ifeq ($(USE_FWLIB),yes)
-  include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
-  CSRC += $(STM32SRC)
-  INCDIR += $(STM32INC)
-  USE_OPT += -DUSE_STDPERIPH_DRIVER
-endif
-
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
+RULESPATH = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC
+include $(RULESPATH)/rules.mk
diff --git a/testhal/STM32F37x/UART/chconf.h b/testhal/STM32F37x/UART/chconf.h
index 2e6fcc6ee..ead2c1de8 100644
--- a/testhal/STM32F37x/UART/chconf.h
+++ b/testhal/STM32F37x/UART/chconf.h
@@ -30,19 +30,49 @@
 
 /*===========================================================================*/
 /**
- * @name Kernel parameters and options
+ * @name System timers settings
  * @{
  */
 /*===========================================================================*/
 
 /**
+ * @brief   System time counter resolution.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#define CH_CFG_ST_RESOLUTION                32
+
+/**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
-#if !defined(CH_FREQUENCY) || defined(__DOXYGEN__)
-#define CH_FREQUENCY                    1000
-#endif
+#define CH_CFG_ST_FREQUENCY                 10000
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#define CH_CFG_ST_TIMEDELTA                 2
+
+/**
+ * @brief   Realtime Counter frequency.
+ * @details Frequency of the system counter used for realtime delays and
+ *          measurements.
+ */
+#define CH_CFG_RTC_FREQUENCY                72000000
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
 
 /**
  * @brief   Round robin interval.
@@ -51,13 +81,12 @@
  *          disables the preemption for threads with equal priority and the
  *          round robin becomes cooperative. Note that higher priority
  *          threads can still preempt, the kernel is always preemptive.
- *
  * @note    Disabling the round robin preemption makes the kernel more compact
  *          and generally faster.
+ * @note    The round robin preemption is not supported in tickless mode and
+ *          must be set to zero in that case.
  */
-#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)
-#define CH_TIME_QUANTUM                 20
-#endif
+#define CH_CFG_TIME_QUANTUM                 0
 
 /**
  * @brief   Managed RAM size.
@@ -68,28 +97,17 @@
  *
  * @note    In order to let the OS manage the whole RAM the linker script must
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
- * @note    Requires @p CH_USE_MEMCORE.
+ * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
-#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)
-#define CH_MEMCORE_SIZE                 0
-#endif
+#define CH_CFG_MEMCORE_SIZE                 0
 
 /**
  * @brief   Idle thread automatic spawn suppression.
  * @details When this option is activated the function @p chSysInit()
- *          does not spawn the idle thread automatically. The application has
- *          then the responsibility to do one of the following:
- *          - Spawn a custom idle thread at priority @p IDLEPRIO.
- *          - Change the main() thread priority to @p IDLEPRIO then enter
- *            an endless loop. In this scenario the @p main() thread acts as
- *            the idle thread.
- *          .
- * @note    Unless an idle thread is spawned the @p main() thread must not
- *          enter a sleep state.
- */
-#if !defined(CH_NO_IDLE_THREAD) || defined(__DOXYGEN__)
-#define CH_NO_IDLE_THREAD               FALSE
-#endif
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop. */
+#define CH_CFG_NO_IDLE_THREAD               FALSE
 
 /** @} */
 
@@ -108,9 +126,7 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
-#define CH_OPTIMIZE_SPEED               TRUE
-#endif
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
 
 /** @} */
 
@@ -122,14 +138,21 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_TM                       TRUE
+
+/**
  * @brief   Threads registry APIs.
  * @details If enabled then the registry APIs are included in the kernel.
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
-#define CH_USE_REGISTRY                 TRUE
-#endif
+#define CH_CFG_USE_REGISTRY                 TRUE
 
 /**
  * @brief   Threads synchronization APIs.
@@ -138,9 +161,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
-#define CH_USE_WAITEXIT                 TRUE
-#endif
+#define CH_CFG_USE_WAITEXIT                 TRUE
 
 /**
  * @brief   Semaphores APIs.
@@ -148,33 +169,18 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES               TRUE
-#endif
+#define CH_CFG_USE_SEMAPHORES               TRUE
 
 /**
  * @brief   Semaphores queuing mode.
  * @details If enabled then the threads are enqueued on semaphores by
  *          priority rather than in FIFO order.
  *
- * @note    The default is @p FALSE. Enable this if you have special requirements.
- * @note    Requires @p CH_USE_SEMAPHORES.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES_PRIORITY      FALSE
-#endif
-
-/**
- * @brief   Atomic semaphore API.
- * @details If enabled then the semaphores the @p chSemSignalWait() API
- *          is included in the kernel.
- *
- * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_SEMAPHORES.
- */
-#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
-#define CH_USE_SEMSW                    TRUE
-#endif
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
 
 /**
  * @brief   Mutexes APIs.
@@ -182,9 +188,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
-#define CH_USE_MUTEXES                  TRUE
-#endif
+#define CH_CFG_USE_MUTEXES                  TRUE
 
 /**
  * @brief   Conditional Variables APIs.
@@ -192,11 +196,9 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_MUTEXES.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
-#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)
-#define CH_USE_CONDVARS                 TRUE
-#endif
+#define CH_CFG_USE_CONDVARS                 TRUE
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -204,11 +206,9 @@
  *          specification are included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_CONDVARS.
+ * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
-#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
-#define CH_USE_CONDVARS_TIMEOUT         TRUE
-#endif
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
 
 /**
  * @brief   Events Flags APIs.
@@ -216,9 +216,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS                   TRUE
-#endif
+#define CH_CFG_USE_EVENTS                   TRUE
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -226,11 +224,9 @@
  *          are included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_EVENTS.
+ * @note    Requires @p CH_CFG_USE_EVENTS.
  */
-#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS_TIMEOUT           TRUE
-#endif
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -239,21 +235,18 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES                 TRUE
-#endif
+#define CH_CFG_USE_MESSAGES                 TRUE
 
 /**
  * @brief   Synchronous Messages queuing mode.
  * @details If enabled then messages are served by priority rather than in
  *          FIFO order.
  *
- * @note    The default is @p FALSE. Enable this if you have special requirements.
- * @note    Requires @p CH_USE_MESSAGES.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
-#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES_PRIORITY        FALSE
-#endif
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,11 +254,9 @@
  *          included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_SEMAPHORES.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)
-#define CH_USE_MAILBOXES                TRUE
-#endif
+#define CH_CFG_USE_MAILBOXES                TRUE
 
 /**
  * @brief   I/O Queues APIs.
@@ -273,9 +264,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
-#define CH_USE_QUEUES                   TRUE
-#endif
+#define CH_CFG_USE_QUEUES                   TRUE
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,9 +273,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
-#define CH_USE_MEMCORE                  TRUE
-#endif
+#define CH_CFG_USE_MEMCORE                  TRUE
 
 /**
  * @brief   Heap Allocator APIs.
@@ -294,27 +281,11 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_MEMCORE and either @p CH_USE_MUTEXES or
- *          @p CH_USE_SEMAPHORES.
+ * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
+ *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
-#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)
-#define CH_USE_HEAP                     TRUE
-#endif
-
-/**
- * @brief   C-runtime allocator.
- * @details If enabled the the heap allocator APIs just wrap the C-runtime
- *          @p malloc() and @p free() functions.
- *
- * @note    The default is @p FALSE.
- * @note    Requires @p CH_USE_HEAP.
- * @note    The C-runtime may or may not require @p CH_USE_MEMCORE, see the
- *          appropriate documentation.
- */
-#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
-#define CH_USE_MALLOC_HEAP              FALSE
-#endif
+#define CH_CFG_USE_HEAP                     TRUE
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -323,9 +294,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
-#define CH_USE_MEMPOOLS                 TRUE
-#endif
+#define CH_CFG_USE_MEMPOOLS                 TRUE
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -333,12 +302,10 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_WAITEXIT.
- * @note    Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.
+ * @note    Requires @p CH_CFG_USE_WAITEXIT.
+ * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
-#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)
-#define CH_USE_DYNAMIC                  TRUE
-#endif
+#define CH_CFG_USE_DYNAMIC                  TRUE
 
 /** @} */
 
@@ -350,15 +317,20 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#define CH_DBG_STATISTICS                   TRUE
+
+/**
  * @brief   Debug option, system state check.
  * @details If enabled the correct call protocol for system APIs is checked
  *          at runtime.
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_SYSTEM_STATE_CHECK       TRUE
-#endif
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
 
 /**
  * @brief   Debug option, parameters checks.
@@ -367,9 +339,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_CHECKS            TRUE
-#endif
+#define CH_DBG_ENABLE_CHECKS                TRUE
 
 /**
  * @brief   Debug option, consistency checks.
@@ -379,9 +349,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_ASSERTS           TRUE
-#endif
+#define CH_DBG_ENABLE_ASSERTS               TRUE
 
 /**
  * @brief   Debug option, trace buffer.
@@ -390,9 +358,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_TRACE             TRUE
-#endif
+#define CH_DBG_ENABLE_TRACE                 TRUE
 
 /**
  * @brief   Debug option, stack checks.
@@ -404,9 +370,7 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_STACK_CHECK       TRUE
-#endif
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -416,22 +380,18 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
-#define CH_DBG_FILL_THREADS             TRUE
-#endif
+#define CH_DBG_FILL_THREADS                 TRUE
 
 /**
  * @brief   Debug option, threads profiling.
- * @details If enabled then a field is added to the @p Thread structure that
+ * @details If enabled then a field is added to the @p thread_t structure that
  *          counts the system ticks occurred while executing the thread.
  *
- * @note    The default is @p TRUE.
- * @note    This debug option is defaulted to TRUE because it is required by
- *          some test cases into the test suite.
+ * @note    The default is @p FALSE.
+ * @note    This debug option is not currently compatible with the
+ *          tickless mode.
  */
-#if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)
-#define CH_DBG_THREADS_PROFILING        TRUE
-#endif
+#define CH_DBG_THREADS_PROFILING            FALSE
 
 /** @} */
 
@@ -444,12 +404,10 @@
 
 /**
  * @brief   Threads descriptor structure extension.
- * @details User fields added to the end of the @p Thread structure.
+ * @details User fields added to the end of the @p thread_t structure.
  */
-#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)
-#define THREAD_EXT_FIELDS                                                   \
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
   /* Add threads custom fields here.*/
-#endif
 
 /**
  * @brief   Threads initialization hook.
@@ -458,11 +416,9 @@
  * @note    It is invoked from within @p chThdInit() and implicitly from all
  *          the threads creation APIs.
  */
-#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__)
-#define THREAD_EXT_INIT_HOOK(tp) {                                          \
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
   /* Add threads initialization code here.*/                                \
 }
-#endif
 
 /**
  * @brief   Threads finalization hook.
@@ -472,53 +428,61 @@
  * @note    It is also invoked when the threads simply return in order to
  *          terminate.
  */
-#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__)
-#define THREAD_EXT_EXIT_HOOK(tp) {                                          \
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
 }
-#endif
 
 /**
  * @brief   Context switch hook.
  * @details This hook is invoked just before switching between threads.
  */
-#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
-#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
   /* System halt code here.*/                                               \
 }
-#endif
+
+/**
+ * @brief   Idle thread enter hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to activate a power saving mode.
+ */
+#define CH_CFG_IDLE_ENTER_HOOK() {                                         \
+}
+
+/**
+ * @brief   Idle thread leave hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to deactivate a power saving mode.
+ */
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \
+}
 
 /**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
-#if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
-#define IDLE_LOOP_HOOK() {                                                  \
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
   /* Idle loop code here.*/                                                 \
 }
-#endif
 
 /**
  * @brief   System tick event hook.
  * @details This hook is invoked in the system tick handler immediately
  *          after processing the virtual timers queue.
  */
-#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__)
-#define SYSTEM_TICK_EVENT_HOOK() {                                          \
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
   /* System tick event code here.*/                                         \
 }
-#endif
 
 /**
  * @brief   System halt hook.
  * @details This hook is invoked in case to a system halting error before
  *          the system is halted.
  */
-#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
-#define SYSTEM_HALT_HOOK() {                                                \
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
-#endif
 
 /** @} */
 
diff --git a/testhal/STM32F37x/UART/halconf.h b/testhal/STM32F37x/UART/halconf.h
index a4fc70926..d60800288 100644
--- a/testhal/STM32F37x/UART/halconf.h
+++ b/testhal/STM32F37x/UART/halconf.h
@@ -31,13 +31,6 @@
 #include "mcuconf.h"
 
 /**
- * @brief   Enables the TM subsystem.
- */
-#if !defined(HAL_USE_TM) || defined(__DOXYGEN__)
-#define HAL_USE_TM                  FALSE
-#endif
-
-/**
  * @brief   Enables the PAL subsystem.
  */
 #if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
@@ -48,7 +41,7 @@
  * @brief   Enables the ADC subsystem.
  */
 #if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
-#define HAL_USE_ADC                 FALSE
+#define HAL_USE_ADC                 TRUE
 #endif
 
 /**
@@ -146,7 +139,7 @@
  * @brief   Enables the UART subsystem.
  */
 #if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
-#define HAL_USE_UART                TRUE
+#define HAL_USE_UART                FALSE
 #endif
 
 /**
diff --git a/testhal/STM32F37x/UART/mcuconf.h b/testhal/STM32F37x/UART/mcuconf.h
index 1421ff9f3..f2e3e3def 100644
--- a/testhal/STM32F37x/UART/mcuconf.h
+++ b/testhal/STM32F37x/UART/mcuconf.h
@@ -62,7 +62,7 @@
 /*
  * ADC driver system settings.
  */
-#define STM32_ADC_USE_ADC1                  FALSE
+#define STM32_ADC_USE_ADC1                  TRUE
 #define STM32_ADC_USE_SDADC1                FALSE
 #define STM32_ADC_USE_SDADC2                FALSE
 #define STM32_ADC_USE_SDADC3                FALSE
@@ -81,7 +81,7 @@
 /*
  * CAN driver system settings.
  */
-#define STM32_CAN_USE_CAN1                  FALSE
+#define STM32_CAN_USE_CAN1                  TRUE
 #define STM32_CAN_CAN1_IRQ_PRIORITY         11
 
 /*
@@ -127,11 +127,12 @@
  */
 #define STM32_I2C_USE_I2C1                  FALSE
 #define STM32_I2C_USE_I2C2                  FALSE
+#define STM32_I2C_BUSY_TIMEOUT              50
 #define STM32_I2C_I2C1_IRQ_PRIORITY         10
 #define STM32_I2C_I2C2_IRQ_PRIORITY         10
 #define STM32_I2C_I2C1_DMA_PRIORITY         1
 #define STM32_I2C_I2C2_DMA_PRIORITY         1
-#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      chSysHalt()
+#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      osalSysHalt("DMA failure")
 
 /*
  * ICU driver system settings.
@@ -183,21 +184,27 @@
 #define STM32_SPI_SPI1_IRQ_PRIORITY         10
 #define STM32_SPI_SPI2_IRQ_PRIORITY         10
 #define STM32_SPI_SPI3_IRQ_PRIORITY         10
-#define STM32_SPI_DMA_ERROR_HOOK(spip)      chSysHalt()
+#define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
+
+/*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+#define STM32_ST_USE_TIMER                  2
 
 /*
  * UART driver system settings.
  */
-#define STM32_UART_USE_USART1               TRUE
-#define STM32_UART_USE_USART2               TRUE
-#define STM32_UART_USE_USART3               TRUE
+#define STM32_UART_USE_USART1               FALSE
+#define STM32_UART_USE_USART2               FALSE
+#define STM32_UART_USE_USART3               FALSE
 #define STM32_UART_USART1_IRQ_PRIORITY      12
 #define STM32_UART_USART2_IRQ_PRIORITY      12
 #define STM32_UART_USART3_IRQ_PRIORITY      12
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
 #define STM32_UART_USART3_DMA_PRIORITY      0
-#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
 
 /*
  * USB driver system settings.
diff --git a/testhal/STM32F37x/USB_CDC/Makefile b/testhal/STM32F37x/USB_CDC/Makefile
index 60e76cc62..7fa47c79c 100644
--- a/testhal/STM32F37x/USB_CDC/Makefile
+++ b/testhal/STM32F37x/USB_CDC/Makefile
@@ -23,6 +23,11 @@ ifeq ($(USE_LINK_GC),)
   USE_LINK_GC = yes
 endif
 
+# Enable this if you want link time optimizations (LTO)
+ifeq ($(USE_LTO),)
+  USE_LTO = yes
+endif
+
 # If enabled, this option allows to compile the application in THUMB mode.
 ifeq ($(USE_THUMB),)
   USE_THUMB = yes
@@ -41,17 +46,23 @@ endif
 # Architecture or project specific options
 #
 
+# Stack size to be allocated to the Cortex-M process stack. This stack is
+# the stack used by the main() thread.
+ifeq ($(USE_PROCESS_STACKSIZE),)
+  USE_PROCESS_STACKSIZE = 0x400
+endif
+
+# Stack size to the allocated to the Cortex-M main/exceptions stack. This
+# stack is used for processing interrupts and exceptions.
+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
+  USE_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
 # Enables the use of FPU on Cortex-M4.
-# Enable this if you really want to use the STM FWLib.
 ifeq ($(USE_FPU),)
   USE_FPU = no
 endif
 
-# Enable this if you really want to use the STM FWLib.
-ifeq ($(USE_FWLIB),)
-  USE_FWLIB = no
-endif
-
 #
 # Architecture or project specific options
 ##############################################################################
@@ -65,11 +76,12 @@ PROJECT = ch
 
 # Imported source files and paths
 CHIBIOS = ../../..
-include $(CHIBIOS)/boards/ST_STM32373C_EVAL/board.mk
-include $(CHIBIOS)/os/hal/platforms/STM32F37x/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F3xx/port.mk
-include $(CHIBIOS)/os/kernel/kernel.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32373C_EVAL/board.mk
+include $(CHIBIOS)/os/hal/ports/STM32F37x/platform.mk
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/rt/osal/osal.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_stm32f37x.mk
 include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
@@ -81,10 +93,9 @@ CSRC = $(PORTSRC) \
        $(KERNSRC) \
        $(TESTSRC) \
        $(HALSRC) \
+       $(OSALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
-       $(CHIBIOS)/os/various/shell.c \
-       $(CHIBIOS)/os/various/chprintf.c \
        main.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -115,8 +126,7 @@ TCPPSRC =
 ASMSRC = $(PORTASM)
 
 INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
-         $(CHIBIOS)/os/various/devices_lib/accel \
+         $(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
          $(CHIBIOS)/os/various
 
 #
@@ -141,6 +151,7 @@ LD   = $(TRGT)gcc
 CP   = $(TRGT)objcopy
 AS   = $(TRGT)gcc -x assembler-with-cpp
 OD   = $(TRGT)objdump
+SZ   = $(TRGT)size
 HEX  = $(CP) -O ihex
 BIN  = $(CP) -O binary
 
@@ -161,29 +172,6 @@ CPPWARN = -Wall -Wextra
 ##############################################################################
 
 ##############################################################################
-# Start of default section
-#
-
-# List all default C defines here, like -D_DEBUG=1
-DDEFS =
-
-# List all default ASM defines here, like -D_DEBUG=1
-DADEFS =
-
-# List all default directories to look for include files here
-DINCDIR =
-
-# List the default directory to look for the libraries here
-DLIBDIR =
-
-# List all default libraries here
-DLIBS =
-
-#
-# End of default section
-##############################################################################
-
-##############################################################################
 # Start of user section
 #
 
@@ -206,18 +194,5 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
-ifeq ($(USE_FPU),yes)
-  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
-  DDEFS += -DCORTEX_USE_FPU=TRUE
-else
-  DDEFS += -DCORTEX_USE_FPU=FALSE
-endif
-
-ifeq ($(USE_FWLIB),yes)
-  include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
-  CSRC += $(STM32SRC)
-  INCDIR += $(STM32INC)
-  USE_OPT += -DUSE_STDPERIPH_DRIVER
-endif
-
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
+RULESPATH = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC
+include $(RULESPATH)/rules.mk
diff --git a/testhal/STM32F37x/USB_CDC/chconf.h b/testhal/STM32F37x/USB_CDC/chconf.h
index 2e6fcc6ee..ead2c1de8 100644
--- a/testhal/STM32F37x/USB_CDC/chconf.h
+++ b/testhal/STM32F37x/USB_CDC/chconf.h
@@ -30,19 +30,49 @@
 
 /*===========================================================================*/
 /**
- * @name Kernel parameters and options
+ * @name System timers settings
  * @{
  */
 /*===========================================================================*/
 
 /**
+ * @brief   System time counter resolution.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#define CH_CFG_ST_RESOLUTION                32
+
+/**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
-#if !defined(CH_FREQUENCY) || defined(__DOXYGEN__)
-#define CH_FREQUENCY                    1000
-#endif
+#define CH_CFG_ST_FREQUENCY                 10000
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#define CH_CFG_ST_TIMEDELTA                 2
+
+/**
+ * @brief   Realtime Counter frequency.
+ * @details Frequency of the system counter used for realtime delays and
+ *          measurements.
+ */
+#define CH_CFG_RTC_FREQUENCY                72000000
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
 
 /**
  * @brief   Round robin interval.
@@ -51,13 +81,12 @@
  *          disables the preemption for threads with equal priority and the
  *          round robin becomes cooperative. Note that higher priority
  *          threads can still preempt, the kernel is always preemptive.
- *
  * @note    Disabling the round robin preemption makes the kernel more compact
  *          and generally faster.
+ * @note    The round robin preemption is not supported in tickless mode and
+ *          must be set to zero in that case.
  */
-#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)
-#define CH_TIME_QUANTUM                 20
-#endif
+#define CH_CFG_TIME_QUANTUM                 0
 
 /**
  * @brief   Managed RAM size.
@@ -68,28 +97,17 @@
  *
  * @note    In order to let the OS manage the whole RAM the linker script must
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
- * @note    Requires @p CH_USE_MEMCORE.
+ * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
-#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)
-#define CH_MEMCORE_SIZE                 0
-#endif
+#define CH_CFG_MEMCORE_SIZE                 0
 
 /**
  * @brief   Idle thread automatic spawn suppression.
  * @details When this option is activated the function @p chSysInit()
- *          does not spawn the idle thread automatically. The application has
- *          then the responsibility to do one of the following:
- *          - Spawn a custom idle thread at priority @p IDLEPRIO.
- *          - Change the main() thread priority to @p IDLEPRIO then enter
- *            an endless loop. In this scenario the @p main() thread acts as
- *            the idle thread.
- *          .
- * @note    Unless an idle thread is spawned the @p main() thread must not
- *          enter a sleep state.
- */
-#if !defined(CH_NO_IDLE_THREAD) || defined(__DOXYGEN__)
-#define CH_NO_IDLE_THREAD               FALSE
-#endif
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop. */
+#define CH_CFG_NO_IDLE_THREAD               FALSE
 
 /** @} */
 
@@ -108,9 +126,7 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
-#define CH_OPTIMIZE_SPEED               TRUE
-#endif
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
 
 /** @} */
 
@@ -122,14 +138,21 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_TM                       TRUE
+
+/**
  * @brief   Threads registry APIs.
  * @details If enabled then the registry APIs are included in the kernel.
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
-#define CH_USE_REGISTRY                 TRUE
-#endif
+#define CH_CFG_USE_REGISTRY                 TRUE
 
 /**
  * @brief   Threads synchronization APIs.
@@ -138,9 +161,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
-#define CH_USE_WAITEXIT                 TRUE
-#endif
+#define CH_CFG_USE_WAITEXIT                 TRUE
 
 /**
  * @brief   Semaphores APIs.
@@ -148,33 +169,18 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES               TRUE
-#endif
+#define CH_CFG_USE_SEMAPHORES               TRUE
 
 /**
  * @brief   Semaphores queuing mode.
  * @details If enabled then the threads are enqueued on semaphores by
  *          priority rather than in FIFO order.
  *
- * @note    The default is @p FALSE. Enable this if you have special requirements.
- * @note    Requires @p CH_USE_SEMAPHORES.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES_PRIORITY      FALSE
-#endif
-
-/**
- * @brief   Atomic semaphore API.
- * @details If enabled then the semaphores the @p chSemSignalWait() API
- *          is included in the kernel.
- *
- * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_SEMAPHORES.
- */
-#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
-#define CH_USE_SEMSW                    TRUE
-#endif
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
 
 /**
  * @brief   Mutexes APIs.
@@ -182,9 +188,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
-#define CH_USE_MUTEXES                  TRUE
-#endif
+#define CH_CFG_USE_MUTEXES                  TRUE
 
 /**
  * @brief   Conditional Variables APIs.
@@ -192,11 +196,9 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_MUTEXES.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
-#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)
-#define CH_USE_CONDVARS                 TRUE
-#endif
+#define CH_CFG_USE_CONDVARS                 TRUE
 
 /**
  * @brief   Conditional Variables APIs with timeout.
@@ -204,11 +206,9 @@
  *          specification are included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_CONDVARS.
+ * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
-#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
-#define CH_USE_CONDVARS_TIMEOUT         TRUE
-#endif
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
 
 /**
  * @brief   Events Flags APIs.
@@ -216,9 +216,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS                   TRUE
-#endif
+#define CH_CFG_USE_EVENTS                   TRUE
 
 /**
  * @brief   Events Flags APIs with timeout.
@@ -226,11 +224,9 @@
  *          are included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_EVENTS.
+ * @note    Requires @p CH_CFG_USE_EVENTS.
  */
-#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS_TIMEOUT           TRUE
-#endif
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
 
 /**
  * @brief   Synchronous Messages APIs.
@@ -239,21 +235,18 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES                 TRUE
-#endif
+#define CH_CFG_USE_MESSAGES                 TRUE
 
 /**
  * @brief   Synchronous Messages queuing mode.
  * @details If enabled then messages are served by priority rather than in
  *          FIFO order.
  *
- * @note    The default is @p FALSE. Enable this if you have special requirements.
- * @note    Requires @p CH_USE_MESSAGES.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
-#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES_PRIORITY        FALSE
-#endif
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
 
 /**
  * @brief   Mailboxes APIs.
@@ -261,11 +254,9 @@
  *          included in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_SEMAPHORES.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)
-#define CH_USE_MAILBOXES                TRUE
-#endif
+#define CH_CFG_USE_MAILBOXES                TRUE
 
 /**
  * @brief   I/O Queues APIs.
@@ -273,9 +264,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
-#define CH_USE_QUEUES                   TRUE
-#endif
+#define CH_CFG_USE_QUEUES                   TRUE
 
 /**
  * @brief   Core Memory Manager APIs.
@@ -284,9 +273,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
-#define CH_USE_MEMCORE                  TRUE
-#endif
+#define CH_CFG_USE_MEMCORE                  TRUE
 
 /**
  * @brief   Heap Allocator APIs.
@@ -294,27 +281,11 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_MEMCORE and either @p CH_USE_MUTEXES or
- *          @p CH_USE_SEMAPHORES.
+ * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
+ *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
-#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)
-#define CH_USE_HEAP                     TRUE
-#endif
-
-/**
- * @brief   C-runtime allocator.
- * @details If enabled the the heap allocator APIs just wrap the C-runtime
- *          @p malloc() and @p free() functions.
- *
- * @note    The default is @p FALSE.
- * @note    Requires @p CH_USE_HEAP.
- * @note    The C-runtime may or may not require @p CH_USE_MEMCORE, see the
- *          appropriate documentation.
- */
-#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
-#define CH_USE_MALLOC_HEAP              FALSE
-#endif
+#define CH_CFG_USE_HEAP                     TRUE
 
 /**
  * @brief   Memory Pools Allocator APIs.
@@ -323,9 +294,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
-#define CH_USE_MEMPOOLS                 TRUE
-#endif
+#define CH_CFG_USE_MEMPOOLS                 TRUE
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -333,12 +302,10 @@
  *          in the kernel.
  *
  * @note    The default is @p TRUE.
- * @note    Requires @p CH_USE_WAITEXIT.
- * @note    Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.
+ * @note    Requires @p CH_CFG_USE_WAITEXIT.
+ * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
-#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)
-#define CH_USE_DYNAMIC                  TRUE
-#endif
+#define CH_CFG_USE_DYNAMIC                  TRUE
 
 /** @} */
 
@@ -350,15 +317,20 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#define CH_DBG_STATISTICS                   TRUE
+
+/**
  * @brief   Debug option, system state check.
  * @details If enabled the correct call protocol for system APIs is checked
  *          at runtime.
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_SYSTEM_STATE_CHECK       TRUE
-#endif
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
 
 /**
  * @brief   Debug option, parameters checks.
@@ -367,9 +339,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_CHECKS            TRUE
-#endif
+#define CH_DBG_ENABLE_CHECKS                TRUE
 
 /**
  * @brief   Debug option, consistency checks.
@@ -379,9 +349,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_ASSERTS           TRUE
-#endif
+#define CH_DBG_ENABLE_ASSERTS               TRUE
 
 /**
  * @brief   Debug option, trace buffer.
@@ -390,9 +358,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_TRACE             TRUE
-#endif
+#define CH_DBG_ENABLE_TRACE                 TRUE
 
 /**
  * @brief   Debug option, stack checks.
@@ -404,9 +370,7 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_STACK_CHECK       TRUE
-#endif
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
 
 /**
  * @brief   Debug option, stacks initialization.
@@ -416,22 +380,18 @@
  *
  * @note    The default is @p FALSE.
  */
-#if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
-#define CH_DBG_FILL_THREADS             TRUE
-#endif
+#define CH_DBG_FILL_THREADS                 TRUE
 
 /**
  * @brief   Debug option, threads profiling.
- * @details If enabled then a field is added to the @p Thread structure that
+ * @details If enabled then a field is added to the @p thread_t structure that
  *          counts the system ticks occurred while executing the thread.
  *
- * @note    The default is @p TRUE.
- * @note    This debug option is defaulted to TRUE because it is required by
- *          some test cases into the test suite.
+ * @note    The default is @p FALSE.
+ * @note    This debug option is not currently compatible with the
+ *          tickless mode.
  */
-#if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)
-#define CH_DBG_THREADS_PROFILING        TRUE
-#endif
+#define CH_DBG_THREADS_PROFILING            FALSE
 
 /** @} */
 
@@ -444,12 +404,10 @@
 
 /**
  * @brief   Threads descriptor structure extension.
- * @details User fields added to the end of the @p Thread structure.
+ * @details User fields added to the end of the @p thread_t structure.
  */
-#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)
-#define THREAD_EXT_FIELDS                                                   \
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
   /* Add threads custom fields here.*/
-#endif
 
 /**
  * @brief   Threads initialization hook.
@@ -458,11 +416,9 @@
  * @note    It is invoked from within @p chThdInit() and implicitly from all
  *          the threads creation APIs.
  */
-#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__)
-#define THREAD_EXT_INIT_HOOK(tp) {                                          \
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
   /* Add threads initialization code here.*/                                \
 }
-#endif
 
 /**
  * @brief   Threads finalization hook.
@@ -472,53 +428,61 @@
  * @note    It is also invoked when the threads simply return in order to
  *          terminate.
  */
-#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__)
-#define THREAD_EXT_EXIT_HOOK(tp) {                                          \
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
 }
-#endif
 
 /**
  * @brief   Context switch hook.
  * @details This hook is invoked just before switching between threads.
  */
-#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
-#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
   /* System halt code here.*/                                               \
 }
-#endif
+
+/**
+ * @brief   Idle thread enter hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to activate a power saving mode.
+ */
+#define CH_CFG_IDLE_ENTER_HOOK() {                                         \
+}
+
+/**
+ * @brief   Idle thread leave hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to deactivate a power saving mode.
+ */
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \
+}
 
 /**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
-#if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
-#define IDLE_LOOP_HOOK() {                                                  \
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
   /* Idle loop code here.*/                                                 \
 }
-#endif
 
 /**
  * @brief   System tick event hook.
  * @details This hook is invoked in the system tick handler immediately
  *          after processing the virtual timers queue.
  */
-#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__)
-#define SYSTEM_TICK_EVENT_HOOK() {                                          \
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
   /* System tick event code here.*/                                         \
 }
-#endif
 
 /**
  * @brief   System halt hook.
  * @details This hook is invoked in case to a system halting error before
  *          the system is halted.
  */
-#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
-#define SYSTEM_HALT_HOOK() {                                                \
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
-#endif
 
 /** @} */
 
diff --git a/testhal/STM32F37x/USB_CDC/halconf.h b/testhal/STM32F37x/USB_CDC/halconf.h
index cd76b0cfe..d60800288 100644
--- a/testhal/STM32F37x/USB_CDC/halconf.h
+++ b/testhal/STM32F37x/USB_CDC/halconf.h
@@ -31,13 +31,6 @@
 #include "mcuconf.h"
 
 /**
- * @brief   Enables the TM subsystem.
- */
-#if !defined(HAL_USE_TM) || defined(__DOXYGEN__)
-#define HAL_USE_TM                  TRUE
-#endif
-
-/**
  * @brief   Enables the PAL subsystem.
  */
 #if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
@@ -48,7 +41,7 @@
  * @brief   Enables the ADC subsystem.
  */
 #if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
-#define HAL_USE_ADC                 FALSE
+#define HAL_USE_ADC                 TRUE
 #endif
 
 /**
@@ -132,7 +125,7 @@
  * @brief   Enables the SERIAL over USB subsystem.
  */
 #if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
-#define HAL_USE_SERIAL_USB          TRUE
+#define HAL_USE_SERIAL_USB          FALSE
 #endif
 
 /**
@@ -153,7 +146,7 @@
  * @brief   Enables the USB subsystem.
  */
 #if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
-#define HAL_USE_USB                 TRUE
+#define HAL_USE_USB                 FALSE
 #endif
 
 /*===========================================================================*/
diff --git a/testhal/STM32F37x/USB_CDC/mcuconf.h b/testhal/STM32F37x/USB_CDC/mcuconf.h
index 4d4320200..f2e3e3def 100644
--- a/testhal/STM32F37x/USB_CDC/mcuconf.h
+++ b/testhal/STM32F37x/USB_CDC/mcuconf.h
@@ -62,7 +62,7 @@
 /*
  * ADC driver system settings.
  */
-#define STM32_ADC_USE_ADC1                  FALSE
+#define STM32_ADC_USE_ADC1                  TRUE
 #define STM32_ADC_USE_SDADC1                FALSE
 #define STM32_ADC_USE_SDADC2                FALSE
 #define STM32_ADC_USE_SDADC3                FALSE
@@ -81,7 +81,7 @@
 /*
  * CAN driver system settings.
  */
-#define STM32_CAN_USE_CAN1                  FALSE
+#define STM32_CAN_USE_CAN1                  TRUE
 #define STM32_CAN_CAN1_IRQ_PRIORITY         11
 
 /*
@@ -127,11 +127,12 @@
  */
 #define STM32_I2C_USE_I2C1                  FALSE
 #define STM32_I2C_USE_I2C2                  FALSE
+#define STM32_I2C_BUSY_TIMEOUT              50
 #define STM32_I2C_I2C1_IRQ_PRIORITY         10
 #define STM32_I2C_I2C2_IRQ_PRIORITY         10
 #define STM32_I2C_I2C1_DMA_PRIORITY         1
 #define STM32_I2C_I2C2_DMA_PRIORITY         1
-#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      chSysHalt()
+#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      osalSysHalt("DMA failure")
 
 /*
  * ICU driver system settings.
@@ -183,7 +184,13 @@
 #define STM32_SPI_SPI1_IRQ_PRIORITY         10
 #define STM32_SPI_SPI2_IRQ_PRIORITY         10
 #define STM32_SPI_SPI3_IRQ_PRIORITY         10
-#define STM32_SPI_DMA_ERROR_HOOK(spip)      chSysHalt()
+#define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
+
+/*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+#define STM32_ST_USE_TIMER                  2
 
 /*
  * UART driver system settings.
@@ -197,12 +204,12 @@
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
 #define STM32_UART_USART3_DMA_PRIORITY      0
-#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
 
 /*
  * USB driver system settings.
  */
-#define STM32_USB_USE_USB1                  TRUE
+#define STM32_USB_USE_USB1                  FALSE
 #define STM32_USB_LOW_POWER_ON_SUSPEND      FALSE
 #define STM32_USB_USB1_HP_IRQ_PRIORITY      13
 #define STM32_USB_USB1_LP_IRQ_PRIORITY      14
author	gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>	2013-09-29 07:26:23 +0000
committer	gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>	2013-09-29 07:26:23 +0000
commit	67177198e9228a0b8c8086d85ba206ad8164bd01 (patch)
tree	231524af848e28178053dde3008aa8eda4d02758
parent	80d4ec8d07aa1945a173acdb18933a4719937509 (diff)
download	ChibiOS-67177198e9228a0b8c8086d85ba206ad8164bd01.tar.gz ChibiOS-67177198e9228a0b8c8086d85ba206ad8164bd01.tar.bz2 ChibiOS-67177198e9228a0b8c8086d85ba206ad8164bd01.zip