git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6190 35acf78f-673a-0410-8e92-d51de3d6d3f4

author: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> 2013-08-20 13:17:44 +0000
committer: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> 2013-08-20 13:17:44 +0000
commit: 8d0dc4bfd67857f376a2aa67424e9e8697342025 (patch)
tree: 5e7b108155082ad7ba631d90ef2575a1706d2f2e
parent: e355a2f38222cd2c720a37de62a90b4317c52eab (diff)
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41 files changed, 1089 insertions, 840 deletions
diff --git a/demos/ARMCM0-STM32F051-DISCOVERY/mcuconf.h b/demos/ARMCM0-STM32F051-DISCOVERY/mcuconf.h
index fe51eebc1..fdcd8a2a4 100644
--- a/demos/ARMCM0-STM32F051-DISCOVERY/mcuconf.h
+++ b/demos/ARMCM0-STM32F051-DISCOVERY/mcuconf.h
@@ -137,6 +137,11 @@
 #define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
 
 /*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               2
+
+/*
  * UART driver system settings.
  */
 #define STM32_UART_USE_USART1               FALSE
@@ -146,4 +151,3 @@
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
 #define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
-
diff --git a/demos/ARMCM4-STM32F303-DISCOVERY/mcuconf.h b/demos/ARMCM4-STM32F303-DISCOVERY/mcuconf.h
index 420bca642..c9a6a843e 100644
--- a/demos/ARMCM4-STM32F303-DISCOVERY/mcuconf.h
+++ b/demos/ARMCM4-STM32F303-DISCOVERY/mcuconf.h
@@ -191,6 +191,11 @@
 #define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
 
 /*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+
+/*
  * UART driver system settings.
  */
 #define STM32_UART_USE_USART1               FALSE
diff --git a/os/hal/platforms/STM32/TIMv1/st_lld.c b/os/hal/platforms/STM32/TIMv1/st_lld.c
index debfde38f..eb97866cd 100644
--- a/os/hal/platforms/STM32/TIMv1/st_lld.c
+++ b/os/hal/platforms/STM32/TIMv1/st_lld.c
@@ -116,7 +116,7 @@ void st_lld_init(void) {
   STM32_TIM2->CR1    = TIM_CR1_CEN;
 
   /* IRQ enabled.*/
-  nvicEnableVector(STM32_TIM2_NUMBER, ST_TIMER_PRIORITY);
+  nvicEnableVector(STM32_TIM2_NUMBER, STM32_ST_IRQ_PRIORITY);
 #endif
 
 #if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC
@@ -129,7 +129,7 @@ void st_lld_init(void) {
                   SysTick_CTRL_TICKINT_Msk;
 
   /* IRQ enabled.*/
-  nvicSetSystemHandlerPriority(SysTick_IRQn, ST_TIMER_PRIORITY);
+  nvicSetSystemHandlerPriority(SysTick_IRQn, STM32_ST_IRQ_PRIORITY);
 #endif
 }
 
diff --git a/os/hal/platforms/STM32/TIMv1/st_lld.h b/os/hal/platforms/STM32/TIMv1/st_lld.h
index 78929cac5..09f95bd9e 100644
--- a/os/hal/platforms/STM32/TIMv1/st_lld.h
+++ b/os/hal/platforms/STM32/TIMv1/st_lld.h
@@ -42,10 +42,10 @@
  * @{
  */
 /**
- * @brief   SysTick timer priority.
+ * @brief   SysTick timer IRQ priority.
  */
-#if !defined(ST_TIMER_PRIORITY) || defined(__DOXYGEN__)
-#define ST_TIMER_PRIORITY                   8
+#if !defined(STM32_ST_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_ST_IRQ_PRIORITY               8
 #endif
 /** @} */
 
diff --git a/os/hal/platforms/STM32F0xx/adc_lld.c b/os/hal/platforms/STM32F0xx/adc_lld.c
index 5fa419679..932366184 100644
--- a/os/hal/platforms/STM32F0xx/adc_lld.c
+++ b/os/hal/platforms/STM32F0xx/adc_lld.c
@@ -102,10 +102,10 @@ static void adc_lld_serve_rx_interrupt(ADCDriver *adcp, uint32_t flags) {
  *
  * @isr
  */
-CH_IRQ_HANDLER(Vector70) {
+OSAL_IRQ_HANDLER(Vector70) {
   uint32_t isr;
 
-  CH_IRQ_PROLOGUE();
+  OSAL_IRQ_PROLOGUE();
 
   isr = ADC1->ISR;
   ADC1->ISR = isr;
@@ -127,7 +127,7 @@ CH_IRQ_HANDLER(Vector70) {
     }
   }
 
-  CH_IRQ_EPILOGUE();
+  OSAL_IRQ_EPILOGUE();
 }
 #endif
 
@@ -156,12 +156,11 @@ void adc_lld_init(void) {
 
   /* The shared vector is initialized on driver initialization and never
      disabled.*/
-  nvicEnableVector(ADC1_COMP_IRQn,
-                   CORTEX_PRIORITY_MASK(STM32_ADC_IRQ_PRIORITY));
+  nvicEnableVector(ADC1_COMP_IRQn, STM32_ADC_IRQ_PRIORITY);
 
   /* Calibration procedure.*/
   rccEnableADC1(FALSE);
-  chDbgAssert(ADC1->CR == 0, "adc_lld_init(), #1", "invalid register state");
+  osalDbgAssert(ADC1->CR == 0, "invalid register state");
   ADC1->CR |= ADC_CR_ADCAL;
   while (ADC1->CR & ADC_CR_ADCAL)
     ;
@@ -186,7 +185,7 @@ void adc_lld_start(ADCDriver *adcp) {
                             STM32_ADC_ADC1_DMA_IRQ_PRIORITY,
                             (stm32_dmaisr_t)adc_lld_serve_rx_interrupt,
                             (void *)adcp);
-      chDbgAssert(!b, "adc_lld_start(), #1", "stream already allocated");
+      osalDbgAssert(!b, "stream already allocated");
       dmaStreamSetPeripheral(adcp->dmastp, &ADC1->DR);
       rccEnableADC1(FALSE);
 #if STM32_ADCSW == STM32_ADCSW_HSI14
diff --git a/os/hal/platforms/STM32F0xx/adc_lld.h b/os/hal/platforms/STM32F0xx/adc_lld.h
index 411e31581..635dcefaa 100644
--- a/os/hal/platforms/STM32F0xx/adc_lld.h
+++ b/os/hal/platforms/STM32F0xx/adc_lld.h
@@ -264,17 +264,13 @@ struct ADCDriver {
   /**
    * @brief Waiting thread.
    */
-  Thread                    *thread;
+  thread_reference_t        thread;
 #endif
 #if ADC_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
-#if CH_USE_MUTEXES || defined(__DOXYGEN__)
   /**
    * @brief Mutex protecting the peripheral.
    */
-  Mutex                     mutex;
-#elif CH_USE_SEMAPHORES
-  Semaphore                 semaphore;
-#endif
+  mutex_t                   mutex;
 #endif /* ADC_USE_MUTUAL_EXCLUSION */
 #if defined(ADC_DRIVER_EXT_FIELDS)
   ADC_DRIVER_EXT_FIELDS
diff --git a/os/hal/platforms/STM32F0xx/stm32_registry.h b/os/hal/platforms/STM32F0xx/stm32_registry.h
index 5139beeaf..94d12567e 100644
--- a/os/hal/platforms/STM32F0xx/stm32_registry.h
+++ b/os/hal/platforms/STM32F0xx/stm32_registry.h
@@ -35,10 +35,6 @@
  */
 /* ADC attributes.*/
 #define STM32_HAS_ADC1                      TRUE
-#define STM32_ADC1_DMA_MSK                  (STM32_DMA_STREAM_ID_MSK(1, 1) |\
-                                             STM32_DMA_STREAM_ID_MSK(1, 2))
-#define STM32_ADC1_DMA_CHN                  0x00000000
-
 #define STM32_HAS_ADC2                      FALSE
 #define STM32_HAS_ADC3                      FALSE
 #define STM32_HAS_ADC4                      FALSE
diff --git a/testhal/STM32F0xx/ADC/.project b/testhal/STM32F0xx/ADC/.project
index 4aa2b6463..7c94c96a4 100644
--- a/testhal/STM32F0xx/ADC/.project
+++ b/testhal/STM32F0xx/ADC/.project
@@ -27,7 +27,7 @@
 		<link>
 			<name>board</name>
 			<type>2</type>
-			<locationURI>CHIBIOS/boards/ST_STM32F0_DISCOVERY</locationURI>
+			<locationURI>CHIBIOS/os/hal/boards/ST_STM32F0_DISCOVERY</locationURI>
 		</link>
 		<link>
 			<name>os</name>
diff --git a/testhal/STM32F0xx/ADC/Makefile b/testhal/STM32F0xx/ADC/Makefile
index 0b2d556fb..75945bbad 100644
--- a/testhal/STM32F0xx/ADC/Makefile
+++ b/testhal/STM32F0xx/ADC/Makefile
@@ -59,11 +59,12 @@ PROJECT = ch
 
 # Imported source files and paths
 CHIBIOS = ../../..
-include $(CHIBIOS)/boards/ST_STM32F0_DISCOVERY/board.mk
-include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F0xx/port.mk
-include $(CHIBIOS)/os/kernel/kernel.mk
+include $(CHIBIOS)/os/hal/osal/chibios/osal.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32F0_DISCOVERY/board.mk
+include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/devices/STM32F0xx/port.mk
 #include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
@@ -75,6 +76,7 @@ CSRC = $(PORTSRC) \
        $(KERNSRC) \
        $(TESTSRC) \
        $(HALSRC) \
+       $(OSALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
        main.c
@@ -107,7 +109,7 @@ TCPPSRC =
 ASMSRC = $(PORTASM)
 
 INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
+         $(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
          $(CHIBIOS)/os/various
 
 #
@@ -204,4 +206,4 @@ ifeq ($(USE_FWLIB),yes)
   USE_OPT += -DUSE_STDPERIPH_DRIVER
 endif
 
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/rules.mk
diff --git a/testhal/STM32F0xx/ADC/chconf.h b/testhal/STM32F0xx/ADC/chconf.h
index 2e6fcc6ee..cb2582597 100644
--- a/testhal/STM32F0xx/ADC/chconf.h
+++ b/testhal/STM32F0xx/ADC/chconf.h
@@ -40,8 +40,29 @@
  * @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
+#if !defined(CH_CFG_ST_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Realtime Counter frequency.
+ * @details Frequency of the system counter used for realtime delays and
+ *          measurements.
+ */
+#if !defined(CH_CFG_RTC_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_CFG_RTC_FREQUENCY                0
+#endif
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#if !defined(CH_CFG_TIMEDELTA) || defined(__DOXYGEN__)
+#define CH_CFG_TIMEDELTA                    0
 #endif
 
 /**
@@ -51,12 +72,13 @@
  *          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
+#if !defined(CH_CFG_TIME_QUANTUM) || defined(__DOXYGEN__)
+#define CH_CFG_TIME_QUANTUM                 0
 #endif
 
 /**
@@ -68,27 +90,20 @@
  *
  * @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
+#if !defined(CH_CFG_MEMCORE_SIZE) || defined(__DOXYGEN__)
+#define CH_CFG_MEMCORE_SIZE                 0
 #endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
  * @details When this option is activated the function @p chSysInit()
- *          does not spawn the idle thread 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
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop. */
+#if !defined(CH_CFG_NO_IDLE_THREAD) || defined(__DOXYGEN__)
+#define CH_CFG_NO_IDLE_THREAD               FALSE
 #endif
 
 /** @} */
@@ -108,8 +123,8 @@
  * @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
+#if !defined(CH_CFG_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
 #endif
 
 /** @} */
@@ -122,13 +137,24 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_TM) || defined(__DOXYGEN__)
+#define CH_CFG_USE_TM                       FALSE
+#endif
+
+/**
  * @brief   Threads registry APIs.
  * @details If enabled then the registry APIs are included in the kernel.
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
-#define CH_USE_REGISTRY                 TRUE
+#if !defined(CH_CFG_USE_REGISTRY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_REGISTRY                 TRUE
 #endif
 
 /**
@@ -138,8 +164,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
-#define CH_USE_WAITEXIT                 TRUE
+#if !defined(CH_CFG_USE_WAITEXIT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_WAITEXIT                 TRUE
 #endif
 
 /**
@@ -148,8 +174,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES               TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_SEMAPHORES               TRUE
 #endif
 
 /**
@@ -157,23 +183,12 @@
  * @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.
- */
-#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.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
-#define CH_USE_SEMSW                    TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
 #endif
 
 /**
@@ -182,8 +197,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
-#define CH_USE_MUTEXES                  TRUE
+#if !defined(CH_CFG_USE_MUTEXES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MUTEXES                  TRUE
 #endif
 
 /**
@@ -192,10 +207,10 @@
  *          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
+#if !defined(CH_CFG_USE_CONDVARS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_CONDVARS                 TRUE
 #endif
 
 /**
@@ -204,10 +219,10 @@
  *          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
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
 #endif
 
 /**
@@ -216,8 +231,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS                   TRUE
+#if !defined(CH_CFG_USE_EVENTS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_EVENTS                   TRUE
 #endif
 
 /**
@@ -226,10 +241,10 @@
  *          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
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
 #endif
 
 /**
@@ -239,8 +254,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES                 TRUE
+#if !defined(CH_CFG_USE_MESSAGES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MESSAGES                 TRUE
 #endif
 
 /**
@@ -248,11 +263,12 @@
  * @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
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
 #endif
 
 /**
@@ -261,10 +277,10 @@
  *          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
+#if !defined(CH_CFG_USE_MAILBOXES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
 /**
@@ -273,8 +289,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
-#define CH_USE_QUEUES                   TRUE
+#if !defined(CH_CFG_USE_QUEUES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_QUEUES                   TRUE
 #endif
 
 /**
@@ -284,8 +300,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
-#define CH_USE_MEMCORE                  TRUE
+#if !defined(CH_CFG_USE_MEMCORE) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MEMCORE                  TRUE
 #endif
 
 /**
@@ -294,26 +310,12 @@
  *          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
+#if !defined(CH_CFG_USE_HEAP) || defined(__DOXYGEN__)
+#define CH_CFG_USE_HEAP                     TRUE
 #endif
 
 /**
@@ -323,8 +325,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
-#define CH_USE_MEMPOOLS                 TRUE
+#if !defined(CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MEMPOOLS                 TRUE
 #endif
 
 /**
@@ -333,11 +335,11 @@
  *          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
+#if !defined(CH_CFG_USE_DYNAMIC) || defined(__DOXYGEN__)
+#define CH_CFG_USE_DYNAMIC                  TRUE
 #endif
 
 /** @} */
@@ -350,6 +352,15 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_STATISTICS) || defined(__DOXYGEN__)
+#define CH_DBG_STATISTICS                   FALSE
+#endif
+
+/**
  * @brief   Debug option, system state check.
  * @details If enabled the correct call protocol for system APIs is checked
  *          at runtime.
@@ -357,7 +368,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_SYSTEM_STATE_CHECK       TRUE
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
 #endif
 
 /**
@@ -368,7 +379,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_CHECKS            TRUE
+#define CH_DBG_ENABLE_CHECKS                TRUE
 #endif
 
 /**
@@ -380,7 +391,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_ASSERTS           TRUE
+#define CH_DBG_ENABLE_ASSERTS               TRUE
 #endif
 
 /**
@@ -391,7 +402,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_TRACE             TRUE
+#define CH_DBG_ENABLE_TRACE                 TRUE
 #endif
 
 /**
@@ -405,7 +416,7 @@
  *          @p panic_msg variable set to @p NULL.
  */
 #if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_STACK_CHECK       TRUE
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
 #endif
 
 /**
@@ -417,20 +428,20 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
-#define CH_DBG_FILL_THREADS             TRUE
+#define CH_DBG_FILL_THREADS                 TRUE
 #endif
 
 /**
  * @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
+#define CH_DBG_THREADS_PROFILING            TRUE
 #endif
 
 /** @} */
@@ -444,10 +455,10 @@
 
 /**
  * @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                                                   \
+#if !defined(CH_CFG_THREAD_EXTRA_FIELDS) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
   /* Add threads custom fields here.*/
 #endif
 
@@ -458,8 +469,8 @@
  * @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) {                                          \
+#if !defined(CH_CFG_THREAD_INIT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
   /* Add threads initialization code here.*/                                \
 }
 #endif
@@ -472,8 +483,8 @@
  * @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) {                                          \
+#if !defined(CH_CFG_THREAD_EXIT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
 }
 #endif
@@ -482,18 +493,40 @@
  * @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) {                              \
+#if !defined(CH_CFG_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#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.
+ */
+#if !defined(CH_CFG_IDLE_ENTER_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_ENTER_HOOK() {                                         \
+}
+#endif
+
+/**
+ * @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.
+ */
+#if !defined(CH_CFG_IDLE_LEAVE_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \
+}
+#endif
+
+/**
  * @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() {                                                  \
+#if !defined(CH_CFG_IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
   /* Idle loop code here.*/                                                 \
 }
 #endif
@@ -503,8 +536,8 @@
  * @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() {                                          \
+#if !defined(CH_CFG_SYSTEM_TICK_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
   /* System tick event code here.*/                                         \
 }
 #endif
@@ -514,8 +547,8 @@
  * @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() {                                                \
+#if !defined(CH_CFG_SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
 #endif
diff --git a/testhal/STM32F0xx/ADC/halconf.h b/testhal/STM32F0xx/ADC/halconf.h
index a719ec40a..d60800288 100644
--- a/testhal/STM32F0xx/ADC/halconf.h
+++ b/testhal/STM32F0xx/ADC/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__)
diff --git a/testhal/STM32F0xx/ADC/mcuconf.h b/testhal/STM32F0xx/ADC/mcuconf.h
index cca199b9c..b7c0841e5 100644
--- a/testhal/STM32F0xx/ADC/mcuconf.h
+++ b/testhal/STM32F0xx/ADC/mcuconf.h
@@ -89,11 +89,12 @@
  */
 #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.
@@ -133,7 +134,12 @@
 #define STM32_SPI_SPI2_DMA_PRIORITY         1
 #define STM32_SPI_SPI1_IRQ_PRIORITY         2
 #define STM32_SPI_SPI2_IRQ_PRIORITY         2
-#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               2
 
 /*
  * UART driver system settings.
@@ -144,4 +150,4 @@
 #define STM32_UART_USART2_IRQ_PRIORITY      3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
-#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
diff --git a/testhal/STM32F0xx/EXT/Makefile b/testhal/STM32F0xx/EXT/Makefile
index 0b2d556fb..75945bbad 100644
--- a/testhal/STM32F0xx/EXT/Makefile
+++ b/testhal/STM32F0xx/EXT/Makefile
@@ -59,11 +59,12 @@ PROJECT = ch
 
 # Imported source files and paths
 CHIBIOS = ../../..
-include $(CHIBIOS)/boards/ST_STM32F0_DISCOVERY/board.mk
-include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F0xx/port.mk
-include $(CHIBIOS)/os/kernel/kernel.mk
+include $(CHIBIOS)/os/hal/osal/chibios/osal.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32F0_DISCOVERY/board.mk
+include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/devices/STM32F0xx/port.mk
 #include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
@@ -75,6 +76,7 @@ CSRC = $(PORTSRC) \
        $(KERNSRC) \
        $(TESTSRC) \
        $(HALSRC) \
+       $(OSALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
        main.c
@@ -107,7 +109,7 @@ TCPPSRC =
 ASMSRC = $(PORTASM)
 
 INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
+         $(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
          $(CHIBIOS)/os/various
 
 #
@@ -204,4 +206,4 @@ ifeq ($(USE_FWLIB),yes)
   USE_OPT += -DUSE_STDPERIPH_DRIVER
 endif
 
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/rules.mk
diff --git a/testhal/STM32F0xx/EXT/chconf.h b/testhal/STM32F0xx/EXT/chconf.h
index 2e6fcc6ee..9864162ac 100644
--- a/testhal/STM32F0xx/EXT/chconf.h
+++ b/testhal/STM32F0xx/EXT/chconf.h
@@ -40,8 +40,29 @@
  * @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
+#if !defined(CH_CFG_ST_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Realtime Counter frequency.
+ * @details Frequency of the system counter used for realtime delays and
+ *          measurements.
+ */
+#if !defined(CH_CFG_RTC_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_CFG_RTC_FREQUENCY                0
+#endif
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#if !defined(CH_CFG_TIMEDELTA) || defined(__DOXYGEN__)
+#define CH_CFG_TIMEDELTA                    0
 #endif
 
 /**
@@ -51,12 +72,13 @@
  *          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
+#if !defined(CH_CFG_TIME_QUANTUM) || defined(__DOXYGEN__)
+#define CH_CFG_TIME_QUANTUM                 0
 #endif
 
 /**
@@ -68,27 +90,20 @@
  *
  * @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
+#if !defined(CH_CFG_MEMCORE_SIZE) || defined(__DOXYGEN__)
+#define CH_CFG_MEMCORE_SIZE                 0
 #endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
  * @details When this option is activated the function @p chSysInit()
- *          does not spawn the idle thread 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
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop. */
+#if !defined(CH_CFG_NO_IDLE_THREAD) || defined(__DOXYGEN__)
+#define CH_CFG_NO_IDLE_THREAD               FALSE
 #endif
 
 /** @} */
@@ -108,8 +123,8 @@
  * @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
+#if !defined(CH_CFG_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
 #endif
 
 /** @} */
@@ -122,13 +137,24 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_TM) || defined(__DOXYGEN__)
+#define CH_CFG_USE_TM                       FALSE
+#endif
+
+/**
  * @brief   Threads registry APIs.
  * @details If enabled then the registry APIs are included in the kernel.
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
-#define CH_USE_REGISTRY                 TRUE
+#if !defined(CH_CFG_USE_REGISTRY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_REGISTRY                 TRUE
 #endif
 
 /**
@@ -138,8 +164,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
-#define CH_USE_WAITEXIT                 TRUE
+#if !defined(CH_CFG_USE_WAITEXIT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_WAITEXIT                 TRUE
 #endif
 
 /**
@@ -148,8 +174,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES               TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_SEMAPHORES               TRUE
 #endif
 
 /**
@@ -157,23 +183,12 @@
  * @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.
- */
-#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.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
-#define CH_USE_SEMSW                    TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
 #endif
 
 /**
@@ -182,8 +197,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
-#define CH_USE_MUTEXES                  TRUE
+#if !defined(CH_CFG_USE_MUTEXES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MUTEXES                  TRUE
 #endif
 
 /**
@@ -192,10 +207,10 @@
  *          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
+#if !defined(CH_CFG_USE_CONDVARS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_CONDVARS                 TRUE
 #endif
 
 /**
@@ -204,10 +219,10 @@
  *          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
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
 #endif
 
 /**
@@ -216,8 +231,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS                   TRUE
+#if !defined(CH_CFG_USE_EVENTS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_EVENTS                   TRUE
 #endif
 
 /**
@@ -226,10 +241,10 @@
  *          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
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
 #endif
 
 /**
@@ -239,8 +254,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES                 TRUE
+#if !defined(CH_CFG_USE_MESSAGES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MESSAGES                 TRUE
 #endif
 
 /**
@@ -248,11 +263,12 @@
  * @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
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
 #endif
 
 /**
@@ -261,10 +277,10 @@
  *          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
+#if !defined(CH_CFG_USE_MAILBOXES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
 /**
@@ -273,8 +289,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
-#define CH_USE_QUEUES                   TRUE
+#if !defined(CH_CFG_USE_QUEUES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_QUEUES                   TRUE
 #endif
 
 /**
@@ -284,8 +300,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
-#define CH_USE_MEMCORE                  TRUE
+#if !defined(CH_CFG_USE_MEMCORE) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MEMCORE                  TRUE
 #endif
 
 /**
@@ -294,26 +310,12 @@
  *          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
+#if !defined(CH_CFG_USE_HEAP) || defined(__DOXYGEN__)
+#define CH_CFG_USE_HEAP                     TRUE
 #endif
 
 /**
@@ -323,8 +325,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
-#define CH_USE_MEMPOOLS                 TRUE
+#if !defined(CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MEMPOOLS                 TRUE
 #endif
 
 /**
@@ -333,11 +335,11 @@
  *          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
+#if !defined(CH_CFG_USE_DYNAMIC) || defined(__DOXYGEN__)
+#define CH_CFG_USE_DYNAMIC                  TRUE
 #endif
 
 /** @} */
@@ -350,6 +352,15 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_STATISTICS) || defined(__DOXYGEN__)
+#define CH_DBG_STATISTICS                   TRUE
+#endif
+
+/**
  * @brief   Debug option, system state check.
  * @details If enabled the correct call protocol for system APIs is checked
  *          at runtime.
@@ -357,7 +368,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_SYSTEM_STATE_CHECK       TRUE
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
 #endif
 
 /**
@@ -368,7 +379,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_CHECKS            TRUE
+#define CH_DBG_ENABLE_CHECKS                TRUE
 #endif
 
 /**
@@ -380,7 +391,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_ASSERTS           TRUE
+#define CH_DBG_ENABLE_ASSERTS               TRUE
 #endif
 
 /**
@@ -391,7 +402,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_TRACE             TRUE
+#define CH_DBG_ENABLE_TRACE                 TRUE
 #endif
 
 /**
@@ -405,7 +416,7 @@
  *          @p panic_msg variable set to @p NULL.
  */
 #if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_STACK_CHECK       TRUE
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
 #endif
 
 /**
@@ -417,20 +428,20 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
-#define CH_DBG_FILL_THREADS             TRUE
+#define CH_DBG_FILL_THREADS                 TRUE
 #endif
 
 /**
  * @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
+#define CH_DBG_THREADS_PROFILING            TRUE
 #endif
 
 /** @} */
@@ -444,10 +455,10 @@
 
 /**
  * @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                                                   \
+#if !defined(CH_CFG_THREAD_EXTRA_FIELDS) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
   /* Add threads custom fields here.*/
 #endif
 
@@ -458,8 +469,8 @@
  * @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) {                                          \
+#if !defined(CH_CFG_THREAD_INIT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
   /* Add threads initialization code here.*/                                \
 }
 #endif
@@ -472,8 +483,8 @@
  * @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) {                                          \
+#if !defined(CH_CFG_THREAD_EXIT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
 }
 #endif
@@ -482,18 +493,40 @@
  * @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) {                              \
+#if !defined(CH_CFG_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#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.
+ */
+#if !defined(CH_CFG_IDLE_ENTER_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_ENTER_HOOK() {                                         \
+}
+#endif
+
+/**
+ * @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.
+ */
+#if !defined(CH_CFG_IDLE_LEAVE_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \
+}
+#endif
+
+/**
  * @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() {                                                  \
+#if !defined(CH_CFG_IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
   /* Idle loop code here.*/                                                 \
 }
 #endif
@@ -503,8 +536,8 @@
  * @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() {                                          \
+#if !defined(CH_CFG_SYSTEM_TICK_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
   /* System tick event code here.*/                                         \
 }
 #endif
@@ -514,8 +547,8 @@
  * @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() {                                                \
+#if !defined(CH_CFG_SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
 #endif
diff --git a/testhal/STM32F0xx/EXT/halconf.h b/testhal/STM32F0xx/EXT/halconf.h
index 1069ba5c1..102e0b3dd 100644
--- a/testhal/STM32F0xx/EXT/halconf.h
+++ b/testhal/STM32F0xx/EXT/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__)
diff --git a/testhal/STM32F0xx/EXT/mcuconf.h b/testhal/STM32F0xx/EXT/mcuconf.h
index ea61b3dec..675b3d5ad 100644
--- a/testhal/STM32F0xx/EXT/mcuconf.h
+++ b/testhal/STM32F0xx/EXT/mcuconf.h
@@ -89,11 +89,12 @@
  */
 #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.
@@ -133,7 +134,12 @@
 #define STM32_SPI_SPI2_DMA_PRIORITY         1
 #define STM32_SPI_SPI1_IRQ_PRIORITY         2
 #define STM32_SPI_SPI2_IRQ_PRIORITY         2
-#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               2
 
 /*
  * UART driver system settings.
@@ -144,4 +150,4 @@
 #define STM32_UART_USART2_IRQ_PRIORITY      3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
-#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
diff --git a/testhal/STM32F0xx/IRQ_STORM/Makefile b/testhal/STM32F0xx/IRQ_STORM/Makefile
index 0b2d556fb..75945bbad 100644
--- a/testhal/STM32F0xx/IRQ_STORM/Makefile
+++ b/testhal/STM32F0xx/IRQ_STORM/Makefile
@@ -59,11 +59,12 @@ PROJECT = ch
 
 # Imported source files and paths
 CHIBIOS = ../../..
-include $(CHIBIOS)/boards/ST_STM32F0_DISCOVERY/board.mk
-include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F0xx/port.mk
-include $(CHIBIOS)/os/kernel/kernel.mk
+include $(CHIBIOS)/os/hal/osal/chibios/osal.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32F0_DISCOVERY/board.mk
+include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/devices/STM32F0xx/port.mk
 #include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
@@ -75,6 +76,7 @@ CSRC = $(PORTSRC) \
        $(KERNSRC) \
        $(TESTSRC) \
        $(HALSRC) \
+       $(OSALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
        main.c
@@ -107,7 +109,7 @@ TCPPSRC =
 ASMSRC = $(PORTASM)
 
 INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
+         $(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
          $(CHIBIOS)/os/various
 
 #
@@ -204,4 +206,4 @@ ifeq ($(USE_FWLIB),yes)
   USE_OPT += -DUSE_STDPERIPH_DRIVER
 endif
 
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/rules.mk
diff --git a/testhal/STM32F0xx/IRQ_STORM/chconf.h b/testhal/STM32F0xx/IRQ_STORM/chconf.h
index f943ea80c..9864162ac 100644
--- a/testhal/STM32F0xx/IRQ_STORM/chconf.h
+++ b/testhal/STM32F0xx/IRQ_STORM/chconf.h
@@ -40,8 +40,29 @@
  * @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
+#if !defined(CH_CFG_ST_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Realtime Counter frequency.
+ * @details Frequency of the system counter used for realtime delays and
+ *          measurements.
+ */
+#if !defined(CH_CFG_RTC_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_CFG_RTC_FREQUENCY                0
+#endif
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#if !defined(CH_CFG_TIMEDELTA) || defined(__DOXYGEN__)
+#define CH_CFG_TIMEDELTA                    0
 #endif
 
 /**
@@ -51,12 +72,13 @@
  *          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
+#if !defined(CH_CFG_TIME_QUANTUM) || defined(__DOXYGEN__)
+#define CH_CFG_TIME_QUANTUM                 0
 #endif
 
 /**
@@ -68,27 +90,20 @@
  *
  * @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
+#if !defined(CH_CFG_MEMCORE_SIZE) || defined(__DOXYGEN__)
+#define CH_CFG_MEMCORE_SIZE                 0
 #endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
  * @details When this option is activated the function @p chSysInit()
- *          does not spawn the idle thread 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
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop. */
+#if !defined(CH_CFG_NO_IDLE_THREAD) || defined(__DOXYGEN__)
+#define CH_CFG_NO_IDLE_THREAD               FALSE
 #endif
 
 /** @} */
@@ -108,8 +123,8 @@
  * @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
+#if !defined(CH_CFG_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
 #endif
 
 /** @} */
@@ -122,13 +137,24 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_TM) || defined(__DOXYGEN__)
+#define CH_CFG_USE_TM                       FALSE
+#endif
+
+/**
  * @brief   Threads registry APIs.
  * @details If enabled then the registry APIs are included in the kernel.
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
-#define CH_USE_REGISTRY                 TRUE
+#if !defined(CH_CFG_USE_REGISTRY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_REGISTRY                 TRUE
 #endif
 
 /**
@@ -138,8 +164,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
-#define CH_USE_WAITEXIT                 TRUE
+#if !defined(CH_CFG_USE_WAITEXIT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_WAITEXIT                 TRUE
 #endif
 
 /**
@@ -148,8 +174,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES               TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_SEMAPHORES               TRUE
 #endif
 
 /**
@@ -157,23 +183,12 @@
  * @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.
- */
-#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.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
-#define CH_USE_SEMSW                    TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
 #endif
 
 /**
@@ -182,8 +197,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
-#define CH_USE_MUTEXES                  TRUE
+#if !defined(CH_CFG_USE_MUTEXES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MUTEXES                  TRUE
 #endif
 
 /**
@@ -192,10 +207,10 @@
  *          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
+#if !defined(CH_CFG_USE_CONDVARS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_CONDVARS                 TRUE
 #endif
 
 /**
@@ -204,10 +219,10 @@
  *          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
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
 #endif
 
 /**
@@ -216,8 +231,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS                   TRUE
+#if !defined(CH_CFG_USE_EVENTS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_EVENTS                   TRUE
 #endif
 
 /**
@@ -226,10 +241,10 @@
  *          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
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
 #endif
 
 /**
@@ -239,8 +254,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES                 TRUE
+#if !defined(CH_CFG_USE_MESSAGES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MESSAGES                 TRUE
 #endif
 
 /**
@@ -248,11 +263,12 @@
  * @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
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
 #endif
 
 /**
@@ -261,10 +277,10 @@
  *          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
+#if !defined(CH_CFG_USE_MAILBOXES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
 /**
@@ -273,8 +289,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
-#define CH_USE_QUEUES                   TRUE
+#if !defined(CH_CFG_USE_QUEUES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_QUEUES                   TRUE
 #endif
 
 /**
@@ -284,8 +300,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
-#define CH_USE_MEMCORE                  TRUE
+#if !defined(CH_CFG_USE_MEMCORE) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MEMCORE                  TRUE
 #endif
 
 /**
@@ -294,26 +310,12 @@
  *          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
+#if !defined(CH_CFG_USE_HEAP) || defined(__DOXYGEN__)
+#define CH_CFG_USE_HEAP                     TRUE
 #endif
 
 /**
@@ -323,8 +325,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
-#define CH_USE_MEMPOOLS                 TRUE
+#if !defined(CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MEMPOOLS                 TRUE
 #endif
 
 /**
@@ -333,11 +335,11 @@
  *          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
+#if !defined(CH_CFG_USE_DYNAMIC) || defined(__DOXYGEN__)
+#define CH_CFG_USE_DYNAMIC                  TRUE
 #endif
 
 /** @} */
@@ -350,6 +352,15 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_STATISTICS) || defined(__DOXYGEN__)
+#define CH_DBG_STATISTICS                   TRUE
+#endif
+
+/**
  * @brief   Debug option, system state check.
  * @details If enabled the correct call protocol for system APIs is checked
  *          at runtime.
@@ -357,7 +368,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
 #endif
 
 /**
@@ -368,7 +379,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_CHECKS            FALSE
+#define CH_DBG_ENABLE_CHECKS                TRUE
 #endif
 
 /**
@@ -380,7 +391,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_ASSERTS           FALSE
+#define CH_DBG_ENABLE_ASSERTS               TRUE
 #endif
 
 /**
@@ -391,7 +402,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_TRACE             FALSE
+#define CH_DBG_ENABLE_TRACE                 TRUE
 #endif
 
 /**
@@ -405,7 +416,7 @@
  *          @p panic_msg variable set to @p NULL.
  */
 #if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_STACK_CHECK       FALSE
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
 #endif
 
 /**
@@ -417,20 +428,20 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
-#define CH_DBG_FILL_THREADS             FALSE
+#define CH_DBG_FILL_THREADS                 TRUE
 #endif
 
 /**
  * @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
+#define CH_DBG_THREADS_PROFILING            TRUE
 #endif
 
 /** @} */
@@ -444,10 +455,10 @@
 
 /**
  * @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                                                   \
+#if !defined(CH_CFG_THREAD_EXTRA_FIELDS) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
   /* Add threads custom fields here.*/
 #endif
 
@@ -458,8 +469,8 @@
  * @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) {                                          \
+#if !defined(CH_CFG_THREAD_INIT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
   /* Add threads initialization code here.*/                                \
 }
 #endif
@@ -472,8 +483,8 @@
  * @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) {                                          \
+#if !defined(CH_CFG_THREAD_EXIT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
 }
 #endif
@@ -482,18 +493,40 @@
  * @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) {                              \
+#if !defined(CH_CFG_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#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.
+ */
+#if !defined(CH_CFG_IDLE_ENTER_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_ENTER_HOOK() {                                         \
+}
+#endif
+
+/**
+ * @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.
+ */
+#if !defined(CH_CFG_IDLE_LEAVE_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \
+}
+#endif
+
+/**
  * @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() {                                                  \
+#if !defined(CH_CFG_IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
   /* Idle loop code here.*/                                                 \
 }
 #endif
@@ -503,8 +536,8 @@
  * @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() {                                          \
+#if !defined(CH_CFG_SYSTEM_TICK_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
   /* System tick event code here.*/                                         \
 }
 #endif
@@ -514,8 +547,8 @@
  * @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() {                                                \
+#if !defined(CH_CFG_SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
 #endif
diff --git a/testhal/STM32F0xx/IRQ_STORM/halconf.h b/testhal/STM32F0xx/IRQ_STORM/halconf.h
index d91a792b4..d5393bcdb 100644
--- a/testhal/STM32F0xx/IRQ_STORM/halconf.h
+++ b/testhal/STM32F0xx/IRQ_STORM/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__)
diff --git a/testhal/STM32F0xx/IRQ_STORM/mcuconf.h b/testhal/STM32F0xx/IRQ_STORM/mcuconf.h
index 1a719e0ce..daa502b97 100644
--- a/testhal/STM32F0xx/IRQ_STORM/mcuconf.h
+++ b/testhal/STM32F0xx/IRQ_STORM/mcuconf.h
@@ -89,11 +89,12 @@
  */
 #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.
@@ -133,7 +134,12 @@
 #define STM32_SPI_SPI2_DMA_PRIORITY         1
 #define STM32_SPI_SPI1_IRQ_PRIORITY         2
 #define STM32_SPI_SPI2_IRQ_PRIORITY         2
-#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               2
 
 /*
  * UART driver system settings.
@@ -144,4 +150,4 @@
 #define STM32_UART_USART2_IRQ_PRIORITY      3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
-#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
diff --git a/testhal/STM32F0xx/PWM-ICU/Makefile b/testhal/STM32F0xx/PWM-ICU/Makefile
index 0b2d556fb..75945bbad 100644
--- a/testhal/STM32F0xx/PWM-ICU/Makefile
+++ b/testhal/STM32F0xx/PWM-ICU/Makefile
@@ -59,11 +59,12 @@ PROJECT = ch
 
 # Imported source files and paths
 CHIBIOS = ../../..
-include $(CHIBIOS)/boards/ST_STM32F0_DISCOVERY/board.mk
-include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F0xx/port.mk
-include $(CHIBIOS)/os/kernel/kernel.mk
+include $(CHIBIOS)/os/hal/osal/chibios/osal.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32F0_DISCOVERY/board.mk
+include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/devices/STM32F0xx/port.mk
 #include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
@@ -75,6 +76,7 @@ CSRC = $(PORTSRC) \
        $(KERNSRC) \
        $(TESTSRC) \
        $(HALSRC) \
+       $(OSALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
        main.c
@@ -107,7 +109,7 @@ TCPPSRC =
 ASMSRC = $(PORTASM)
 
 INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
+         $(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
          $(CHIBIOS)/os/various
 
 #
@@ -204,4 +206,4 @@ ifeq ($(USE_FWLIB),yes)
   USE_OPT += -DUSE_STDPERIPH_DRIVER
 endif
 
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/rules.mk
diff --git a/testhal/STM32F0xx/PWM-ICU/chconf.h b/testhal/STM32F0xx/PWM-ICU/chconf.h
index 2e6fcc6ee..9864162ac 100644
--- a/testhal/STM32F0xx/PWM-ICU/chconf.h
+++ b/testhal/STM32F0xx/PWM-ICU/chconf.h
@@ -40,8 +40,29 @@
  * @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
+#if !defined(CH_CFG_ST_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Realtime Counter frequency.
+ * @details Frequency of the system counter used for realtime delays and
+ *          measurements.
+ */
+#if !defined(CH_CFG_RTC_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_CFG_RTC_FREQUENCY                0
+#endif
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#if !defined(CH_CFG_TIMEDELTA) || defined(__DOXYGEN__)
+#define CH_CFG_TIMEDELTA                    0
 #endif
 
 /**
@@ -51,12 +72,13 @@
  *          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
+#if !defined(CH_CFG_TIME_QUANTUM) || defined(__DOXYGEN__)
+#define CH_CFG_TIME_QUANTUM                 0
 #endif
 
 /**
@@ -68,27 +90,20 @@
  *
  * @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
+#if !defined(CH_CFG_MEMCORE_SIZE) || defined(__DOXYGEN__)
+#define CH_CFG_MEMCORE_SIZE                 0
 #endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
  * @details When this option is activated the function @p chSysInit()
- *          does not spawn the idle thread 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
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop. */
+#if !defined(CH_CFG_NO_IDLE_THREAD) || defined(__DOXYGEN__)
+#define CH_CFG_NO_IDLE_THREAD               FALSE
 #endif
 
 /** @} */
@@ -108,8 +123,8 @@
  * @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
+#if !defined(CH_CFG_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
 #endif
 
 /** @} */
@@ -122,13 +137,24 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_TM) || defined(__DOXYGEN__)
+#define CH_CFG_USE_TM                       FALSE
+#endif
+
+/**
  * @brief   Threads registry APIs.
  * @details If enabled then the registry APIs are included in the kernel.
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
-#define CH_USE_REGISTRY                 TRUE
+#if !defined(CH_CFG_USE_REGISTRY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_REGISTRY                 TRUE
 #endif
 
 /**
@@ -138,8 +164,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
-#define CH_USE_WAITEXIT                 TRUE
+#if !defined(CH_CFG_USE_WAITEXIT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_WAITEXIT                 TRUE
 #endif
 
 /**
@@ -148,8 +174,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES               TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_SEMAPHORES               TRUE
 #endif
 
 /**
@@ -157,23 +183,12 @@
  * @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.
- */
-#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.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
-#define CH_USE_SEMSW                    TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
 #endif
 
 /**
@@ -182,8 +197,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
-#define CH_USE_MUTEXES                  TRUE
+#if !defined(CH_CFG_USE_MUTEXES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MUTEXES                  TRUE
 #endif
 
 /**
@@ -192,10 +207,10 @@
  *          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
+#if !defined(CH_CFG_USE_CONDVARS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_CONDVARS                 TRUE
 #endif
 
 /**
@@ -204,10 +219,10 @@
  *          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
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
 #endif
 
 /**
@@ -216,8 +231,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS                   TRUE
+#if !defined(CH_CFG_USE_EVENTS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_EVENTS                   TRUE
 #endif
 
 /**
@@ -226,10 +241,10 @@
  *          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
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
 #endif
 
 /**
@@ -239,8 +254,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES                 TRUE
+#if !defined(CH_CFG_USE_MESSAGES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MESSAGES                 TRUE
 #endif
 
 /**
@@ -248,11 +263,12 @@
  * @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
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
 #endif
 
 /**
@@ -261,10 +277,10 @@
  *          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
+#if !defined(CH_CFG_USE_MAILBOXES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
 /**
@@ -273,8 +289,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
-#define CH_USE_QUEUES                   TRUE
+#if !defined(CH_CFG_USE_QUEUES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_QUEUES                   TRUE
 #endif
 
 /**
@@ -284,8 +300,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
-#define CH_USE_MEMCORE                  TRUE
+#if !defined(CH_CFG_USE_MEMCORE) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MEMCORE                  TRUE
 #endif
 
 /**
@@ -294,26 +310,12 @@
  *          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
+#if !defined(CH_CFG_USE_HEAP) || defined(__DOXYGEN__)
+#define CH_CFG_USE_HEAP                     TRUE
 #endif
 
 /**
@@ -323,8 +325,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
-#define CH_USE_MEMPOOLS                 TRUE
+#if !defined(CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MEMPOOLS                 TRUE
 #endif
 
 /**
@@ -333,11 +335,11 @@
  *          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
+#if !defined(CH_CFG_USE_DYNAMIC) || defined(__DOXYGEN__)
+#define CH_CFG_USE_DYNAMIC                  TRUE
 #endif
 
 /** @} */
@@ -350,6 +352,15 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_STATISTICS) || defined(__DOXYGEN__)
+#define CH_DBG_STATISTICS                   TRUE
+#endif
+
+/**
  * @brief   Debug option, system state check.
  * @details If enabled the correct call protocol for system APIs is checked
  *          at runtime.
@@ -357,7 +368,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_SYSTEM_STATE_CHECK       TRUE
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
 #endif
 
 /**
@@ -368,7 +379,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_CHECKS            TRUE
+#define CH_DBG_ENABLE_CHECKS                TRUE
 #endif
 
 /**
@@ -380,7 +391,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_ASSERTS           TRUE
+#define CH_DBG_ENABLE_ASSERTS               TRUE
 #endif
 
 /**
@@ -391,7 +402,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_TRACE             TRUE
+#define CH_DBG_ENABLE_TRACE                 TRUE
 #endif
 
 /**
@@ -405,7 +416,7 @@
  *          @p panic_msg variable set to @p NULL.
  */
 #if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_STACK_CHECK       TRUE
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
 #endif
 
 /**
@@ -417,20 +428,20 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
-#define CH_DBG_FILL_THREADS             TRUE
+#define CH_DBG_FILL_THREADS                 TRUE
 #endif
 
 /**
  * @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
+#define CH_DBG_THREADS_PROFILING            TRUE
 #endif
 
 /** @} */
@@ -444,10 +455,10 @@
 
 /**
  * @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                                                   \
+#if !defined(CH_CFG_THREAD_EXTRA_FIELDS) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
   /* Add threads custom fields here.*/
 #endif
 
@@ -458,8 +469,8 @@
  * @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) {                                          \
+#if !defined(CH_CFG_THREAD_INIT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
   /* Add threads initialization code here.*/                                \
 }
 #endif
@@ -472,8 +483,8 @@
  * @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) {                                          \
+#if !defined(CH_CFG_THREAD_EXIT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
 }
 #endif
@@ -482,18 +493,40 @@
  * @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) {                              \
+#if !defined(CH_CFG_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#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.
+ */
+#if !defined(CH_CFG_IDLE_ENTER_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_ENTER_HOOK() {                                         \
+}
+#endif
+
+/**
+ * @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.
+ */
+#if !defined(CH_CFG_IDLE_LEAVE_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \
+}
+#endif
+
+/**
  * @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() {                                                  \
+#if !defined(CH_CFG_IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
   /* Idle loop code here.*/                                                 \
 }
 #endif
@@ -503,8 +536,8 @@
  * @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() {                                          \
+#if !defined(CH_CFG_SYSTEM_TICK_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
   /* System tick event code here.*/                                         \
 }
 #endif
@@ -514,8 +547,8 @@
  * @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() {                                                \
+#if !defined(CH_CFG_SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
 #endif
diff --git a/testhal/STM32F0xx/PWM-ICU/halconf.h b/testhal/STM32F0xx/PWM-ICU/halconf.h
index 501792854..b02cb7815 100644
--- a/testhal/STM32F0xx/PWM-ICU/halconf.h
+++ b/testhal/STM32F0xx/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                  FALSE
-#endif
-
-/**
  * @brief   Enables the PAL subsystem.
  */
 #if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
diff --git a/testhal/STM32F0xx/PWM-ICU/mcuconf.h b/testhal/STM32F0xx/PWM-ICU/mcuconf.h
index 8e7779960..37a863b4d 100644
--- a/testhal/STM32F0xx/PWM-ICU/mcuconf.h
+++ b/testhal/STM32F0xx/PWM-ICU/mcuconf.h
@@ -89,11 +89,12 @@
  */
 #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.
@@ -133,7 +134,12 @@
 #define STM32_SPI_SPI2_DMA_PRIORITY         1
 #define STM32_SPI_SPI1_IRQ_PRIORITY         2
 #define STM32_SPI_SPI2_IRQ_PRIORITY         2
-#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               2
 
 /*
  * UART driver system settings.
@@ -144,4 +150,4 @@
 #define STM32_UART_USART2_IRQ_PRIORITY      3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
-#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
diff --git a/testhal/STM32F0xx/SPI/Makefile b/testhal/STM32F0xx/SPI/Makefile
index 0b2d556fb..75945bbad 100644
--- a/testhal/STM32F0xx/SPI/Makefile
+++ b/testhal/STM32F0xx/SPI/Makefile
@@ -59,11 +59,12 @@ PROJECT = ch
 
 # Imported source files and paths
 CHIBIOS = ../../..
-include $(CHIBIOS)/boards/ST_STM32F0_DISCOVERY/board.mk
-include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F0xx/port.mk
-include $(CHIBIOS)/os/kernel/kernel.mk
+include $(CHIBIOS)/os/hal/osal/chibios/osal.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32F0_DISCOVERY/board.mk
+include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/devices/STM32F0xx/port.mk
 #include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
@@ -75,6 +76,7 @@ CSRC = $(PORTSRC) \
        $(KERNSRC) \
        $(TESTSRC) \
        $(HALSRC) \
+       $(OSALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
        main.c
@@ -107,7 +109,7 @@ TCPPSRC =
 ASMSRC = $(PORTASM)
 
 INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
+         $(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
          $(CHIBIOS)/os/various
 
 #
@@ -204,4 +206,4 @@ ifeq ($(USE_FWLIB),yes)
   USE_OPT += -DUSE_STDPERIPH_DRIVER
 endif
 
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/rules.mk
diff --git a/testhal/STM32F0xx/SPI/chconf.h b/testhal/STM32F0xx/SPI/chconf.h
index 2e6fcc6ee..9864162ac 100644
--- a/testhal/STM32F0xx/SPI/chconf.h
+++ b/testhal/STM32F0xx/SPI/chconf.h
@@ -40,8 +40,29 @@
  * @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
+#if !defined(CH_CFG_ST_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Realtime Counter frequency.
+ * @details Frequency of the system counter used for realtime delays and
+ *          measurements.
+ */
+#if !defined(CH_CFG_RTC_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_CFG_RTC_FREQUENCY                0
+#endif
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#if !defined(CH_CFG_TIMEDELTA) || defined(__DOXYGEN__)
+#define CH_CFG_TIMEDELTA                    0
 #endif
 
 /**
@@ -51,12 +72,13 @@
  *          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
+#if !defined(CH_CFG_TIME_QUANTUM) || defined(__DOXYGEN__)
+#define CH_CFG_TIME_QUANTUM                 0
 #endif
 
 /**
@@ -68,27 +90,20 @@
  *
  * @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
+#if !defined(CH_CFG_MEMCORE_SIZE) || defined(__DOXYGEN__)
+#define CH_CFG_MEMCORE_SIZE                 0
 #endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
  * @details When this option is activated the function @p chSysInit()
- *          does not spawn the idle thread 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
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop. */
+#if !defined(CH_CFG_NO_IDLE_THREAD) || defined(__DOXYGEN__)
+#define CH_CFG_NO_IDLE_THREAD               FALSE
 #endif
 
 /** @} */
@@ -108,8 +123,8 @@
  * @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
+#if !defined(CH_CFG_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
 #endif
 
 /** @} */
@@ -122,13 +137,24 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_TM) || defined(__DOXYGEN__)
+#define CH_CFG_USE_TM                       FALSE
+#endif
+
+/**
  * @brief   Threads registry APIs.
  * @details If enabled then the registry APIs are included in the kernel.
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
-#define CH_USE_REGISTRY                 TRUE
+#if !defined(CH_CFG_USE_REGISTRY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_REGISTRY                 TRUE
 #endif
 
 /**
@@ -138,8 +164,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
-#define CH_USE_WAITEXIT                 TRUE
+#if !defined(CH_CFG_USE_WAITEXIT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_WAITEXIT                 TRUE
 #endif
 
 /**
@@ -148,8 +174,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES               TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_SEMAPHORES               TRUE
 #endif
 
 /**
@@ -157,23 +183,12 @@
  * @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.
- */
-#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.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
-#define CH_USE_SEMSW                    TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
 #endif
 
 /**
@@ -182,8 +197,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
-#define CH_USE_MUTEXES                  TRUE
+#if !defined(CH_CFG_USE_MUTEXES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MUTEXES                  TRUE
 #endif
 
 /**
@@ -192,10 +207,10 @@
  *          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
+#if !defined(CH_CFG_USE_CONDVARS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_CONDVARS                 TRUE
 #endif
 
 /**
@@ -204,10 +219,10 @@
  *          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
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
 #endif
 
 /**
@@ -216,8 +231,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS                   TRUE
+#if !defined(CH_CFG_USE_EVENTS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_EVENTS                   TRUE
 #endif
 
 /**
@@ -226,10 +241,10 @@
  *          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
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
 #endif
 
 /**
@@ -239,8 +254,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES                 TRUE
+#if !defined(CH_CFG_USE_MESSAGES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MESSAGES                 TRUE
 #endif
 
 /**
@@ -248,11 +263,12 @@
  * @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
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
 #endif
 
 /**
@@ -261,10 +277,10 @@
  *          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
+#if !defined(CH_CFG_USE_MAILBOXES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
 /**
@@ -273,8 +289,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
-#define CH_USE_QUEUES                   TRUE
+#if !defined(CH_CFG_USE_QUEUES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_QUEUES                   TRUE
 #endif
 
 /**
@@ -284,8 +300,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
-#define CH_USE_MEMCORE                  TRUE
+#if !defined(CH_CFG_USE_MEMCORE) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MEMCORE                  TRUE
 #endif
 
 /**
@@ -294,26 +310,12 @@
  *          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
+#if !defined(CH_CFG_USE_HEAP) || defined(__DOXYGEN__)
+#define CH_CFG_USE_HEAP                     TRUE
 #endif
 
 /**
@@ -323,8 +325,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
-#define CH_USE_MEMPOOLS                 TRUE
+#if !defined(CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MEMPOOLS                 TRUE
 #endif
 
 /**
@@ -333,11 +335,11 @@
  *          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
+#if !defined(CH_CFG_USE_DYNAMIC) || defined(__DOXYGEN__)
+#define CH_CFG_USE_DYNAMIC                  TRUE
 #endif
 
 /** @} */
@@ -350,6 +352,15 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_STATISTICS) || defined(__DOXYGEN__)
+#define CH_DBG_STATISTICS                   TRUE
+#endif
+
+/**
  * @brief   Debug option, system state check.
  * @details If enabled the correct call protocol for system APIs is checked
  *          at runtime.
@@ -357,7 +368,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_SYSTEM_STATE_CHECK       TRUE
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
 #endif
 
 /**
@@ -368,7 +379,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_CHECKS            TRUE
+#define CH_DBG_ENABLE_CHECKS                TRUE
 #endif
 
 /**
@@ -380,7 +391,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_ASSERTS           TRUE
+#define CH_DBG_ENABLE_ASSERTS               TRUE
 #endif
 
 /**
@@ -391,7 +402,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_TRACE             TRUE
+#define CH_DBG_ENABLE_TRACE                 TRUE
 #endif
 
 /**
@@ -405,7 +416,7 @@
  *          @p panic_msg variable set to @p NULL.
  */
 #if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_STACK_CHECK       TRUE
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
 #endif
 
 /**
@@ -417,20 +428,20 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
-#define CH_DBG_FILL_THREADS             TRUE
+#define CH_DBG_FILL_THREADS                 TRUE
 #endif
 
 /**
  * @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
+#define CH_DBG_THREADS_PROFILING            TRUE
 #endif
 
 /** @} */
@@ -444,10 +455,10 @@
 
 /**
  * @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                                                   \
+#if !defined(CH_CFG_THREAD_EXTRA_FIELDS) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
   /* Add threads custom fields here.*/
 #endif
 
@@ -458,8 +469,8 @@
  * @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) {                                          \
+#if !defined(CH_CFG_THREAD_INIT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
   /* Add threads initialization code here.*/                                \
 }
 #endif
@@ -472,8 +483,8 @@
  * @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) {                                          \
+#if !defined(CH_CFG_THREAD_EXIT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
 }
 #endif
@@ -482,18 +493,40 @@
  * @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) {                              \
+#if !defined(CH_CFG_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#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.
+ */
+#if !defined(CH_CFG_IDLE_ENTER_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_ENTER_HOOK() {                                         \
+}
+#endif
+
+/**
+ * @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.
+ */
+#if !defined(CH_CFG_IDLE_LEAVE_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \
+}
+#endif
+
+/**
  * @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() {                                                  \
+#if !defined(CH_CFG_IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
   /* Idle loop code here.*/                                                 \
 }
 #endif
@@ -503,8 +536,8 @@
  * @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() {                                          \
+#if !defined(CH_CFG_SYSTEM_TICK_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
   /* System tick event code here.*/                                         \
 }
 #endif
@@ -514,8 +547,8 @@
  * @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() {                                                \
+#if !defined(CH_CFG_SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
 #endif
diff --git a/testhal/STM32F0xx/SPI/halconf.h b/testhal/STM32F0xx/SPI/halconf.h
index fdc079aef..461d509b4 100644
--- a/testhal/STM32F0xx/SPI/halconf.h
+++ b/testhal/STM32F0xx/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                  FALSE
-#endif
-
-/**
  * @brief   Enables the PAL subsystem.
  */
 #if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
diff --git a/testhal/STM32F0xx/SPI/mcuconf.h b/testhal/STM32F0xx/SPI/mcuconf.h
index cf60d78be..dbe57d294 100644
--- a/testhal/STM32F0xx/SPI/mcuconf.h
+++ b/testhal/STM32F0xx/SPI/mcuconf.h
@@ -89,11 +89,12 @@
  */
 #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.
@@ -133,7 +134,12 @@
 #define STM32_SPI_SPI2_DMA_PRIORITY         1
 #define STM32_SPI_SPI1_IRQ_PRIORITY         2
 #define STM32_SPI_SPI2_IRQ_PRIORITY         2
-#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               2
 
 /*
  * UART driver system settings.
@@ -144,4 +150,4 @@
 #define STM32_UART_USART2_IRQ_PRIORITY      3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
-#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
diff --git a/testhal/STM32F0xx/UART/Makefile b/testhal/STM32F0xx/UART/Makefile
index 0b2d556fb..75945bbad 100644
--- a/testhal/STM32F0xx/UART/Makefile
+++ b/testhal/STM32F0xx/UART/Makefile
@@ -59,11 +59,12 @@ PROJECT = ch
 
 # Imported source files and paths
 CHIBIOS = ../../..
-include $(CHIBIOS)/boards/ST_STM32F0_DISCOVERY/board.mk
-include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk
 include $(CHIBIOS)/os/hal/hal.mk
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F0xx/port.mk
-include $(CHIBIOS)/os/kernel/kernel.mk
+include $(CHIBIOS)/os/hal/osal/chibios/osal.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32F0_DISCOVERY/board.mk
+include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/devices/STM32F0xx/port.mk
 #include $(CHIBIOS)/test/test.mk
 
 # Define linker script file here
@@ -75,6 +76,7 @@ CSRC = $(PORTSRC) \
        $(KERNSRC) \
        $(TESTSRC) \
        $(HALSRC) \
+       $(OSALSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
        main.c
@@ -107,7 +109,7 @@ TCPPSRC =
 ASMSRC = $(PORTASM)
 
 INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
+         $(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
          $(CHIBIOS)/os/various
 
 #
@@ -204,4 +206,4 @@ ifeq ($(USE_FWLIB),yes)
   USE_OPT += -DUSE_STDPERIPH_DRIVER
 endif
 
-include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/rules.mk
diff --git a/testhal/STM32F0xx/UART/chconf.h b/testhal/STM32F0xx/UART/chconf.h
index 2e6fcc6ee..9864162ac 100644
--- a/testhal/STM32F0xx/UART/chconf.h
+++ b/testhal/STM32F0xx/UART/chconf.h
@@ -40,8 +40,29 @@
  * @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
+#if !defined(CH_CFG_ST_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_CFG_ST_FREQUENCY                 1000
+#endif
+
+/**
+ * @brief   Realtime Counter frequency.
+ * @details Frequency of the system counter used for realtime delays and
+ *          measurements.
+ */
+#if !defined(CH_CFG_RTC_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_CFG_RTC_FREQUENCY                0
+#endif
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#if !defined(CH_CFG_TIMEDELTA) || defined(__DOXYGEN__)
+#define CH_CFG_TIMEDELTA                    0
 #endif
 
 /**
@@ -51,12 +72,13 @@
  *          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
+#if !defined(CH_CFG_TIME_QUANTUM) || defined(__DOXYGEN__)
+#define CH_CFG_TIME_QUANTUM                 0
 #endif
 
 /**
@@ -68,27 +90,20 @@
  *
  * @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
+#if !defined(CH_CFG_MEMCORE_SIZE) || defined(__DOXYGEN__)
+#define CH_CFG_MEMCORE_SIZE                 0
 #endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
  * @details When this option is activated the function @p chSysInit()
- *          does not spawn the idle thread 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
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop. */
+#if !defined(CH_CFG_NO_IDLE_THREAD) || defined(__DOXYGEN__)
+#define CH_CFG_NO_IDLE_THREAD               FALSE
 #endif
 
 /** @} */
@@ -108,8 +123,8 @@
  * @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
+#if !defined(CH_CFG_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
 #endif
 
 /** @} */
@@ -122,13 +137,24 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_TM) || defined(__DOXYGEN__)
+#define CH_CFG_USE_TM                       FALSE
+#endif
+
+/**
  * @brief   Threads registry APIs.
  * @details If enabled then the registry APIs are included in the kernel.
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
-#define CH_USE_REGISTRY                 TRUE
+#if !defined(CH_CFG_USE_REGISTRY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_REGISTRY                 TRUE
 #endif
 
 /**
@@ -138,8 +164,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
-#define CH_USE_WAITEXIT                 TRUE
+#if !defined(CH_CFG_USE_WAITEXIT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_WAITEXIT                 TRUE
 #endif
 
 /**
@@ -148,8 +174,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
-#define CH_USE_SEMAPHORES               TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_SEMAPHORES               TRUE
 #endif
 
 /**
@@ -157,23 +183,12 @@
  * @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.
- */
-#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.
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
-#define CH_USE_SEMSW                    TRUE
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
 #endif
 
 /**
@@ -182,8 +197,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
-#define CH_USE_MUTEXES                  TRUE
+#if !defined(CH_CFG_USE_MUTEXES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MUTEXES                  TRUE
 #endif
 
 /**
@@ -192,10 +207,10 @@
  *          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
+#if !defined(CH_CFG_USE_CONDVARS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_CONDVARS                 TRUE
 #endif
 
 /**
@@ -204,10 +219,10 @@
  *          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
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
 #endif
 
 /**
@@ -216,8 +231,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
-#define CH_USE_EVENTS                   TRUE
+#if !defined(CH_CFG_USE_EVENTS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_EVENTS                   TRUE
 #endif
 
 /**
@@ -226,10 +241,10 @@
  *          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
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
 #endif
 
 /**
@@ -239,8 +254,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
-#define CH_USE_MESSAGES                 TRUE
+#if !defined(CH_CFG_USE_MESSAGES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MESSAGES                 TRUE
 #endif
 
 /**
@@ -248,11 +263,12 @@
  * @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
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
 #endif
 
 /**
@@ -261,10 +277,10 @@
  *          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
+#if !defined(CH_CFG_USE_MAILBOXES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
 /**
@@ -273,8 +289,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
-#define CH_USE_QUEUES                   TRUE
+#if !defined(CH_CFG_USE_QUEUES) || defined(__DOXYGEN__)
+#define CH_CFG_USE_QUEUES                   TRUE
 #endif
 
 /**
@@ -284,8 +300,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
-#define CH_USE_MEMCORE                  TRUE
+#if !defined(CH_CFG_USE_MEMCORE) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MEMCORE                  TRUE
 #endif
 
 /**
@@ -294,26 +310,12 @@
  *          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
+#if !defined(CH_CFG_USE_HEAP) || defined(__DOXYGEN__)
+#define CH_CFG_USE_HEAP                     TRUE
 #endif
 
 /**
@@ -323,8 +325,8 @@
  *
  * @note    The default is @p TRUE.
  */
-#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
-#define CH_USE_MEMPOOLS                 TRUE
+#if !defined(CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__)
+#define CH_CFG_USE_MEMPOOLS                 TRUE
 #endif
 
 /**
@@ -333,11 +335,11 @@
  *          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
+#if !defined(CH_CFG_USE_DYNAMIC) || defined(__DOXYGEN__)
+#define CH_CFG_USE_DYNAMIC                  TRUE
 #endif
 
 /** @} */
@@ -350,6 +352,15 @@
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_STATISTICS) || defined(__DOXYGEN__)
+#define CH_DBG_STATISTICS                   TRUE
+#endif
+
+/**
  * @brief   Debug option, system state check.
  * @details If enabled the correct call protocol for system APIs is checked
  *          at runtime.
@@ -357,7 +368,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_SYSTEM_STATE_CHECK       TRUE
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
 #endif
 
 /**
@@ -368,7 +379,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_CHECKS            TRUE
+#define CH_DBG_ENABLE_CHECKS                TRUE
 #endif
 
 /**
@@ -380,7 +391,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_ASSERTS           TRUE
+#define CH_DBG_ENABLE_ASSERTS               TRUE
 #endif
 
 /**
@@ -391,7 +402,7 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_TRACE             TRUE
+#define CH_DBG_ENABLE_TRACE                 TRUE
 #endif
 
 /**
@@ -405,7 +416,7 @@
  *          @p panic_msg variable set to @p NULL.
  */
 #if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_STACK_CHECK       TRUE
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
 #endif
 
 /**
@@ -417,20 +428,20 @@
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
-#define CH_DBG_FILL_THREADS             TRUE
+#define CH_DBG_FILL_THREADS                 TRUE
 #endif
 
 /**
  * @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
+#define CH_DBG_THREADS_PROFILING            TRUE
 #endif
 
 /** @} */
@@ -444,10 +455,10 @@
 
 /**
  * @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                                                   \
+#if !defined(CH_CFG_THREAD_EXTRA_FIELDS) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
   /* Add threads custom fields here.*/
 #endif
 
@@ -458,8 +469,8 @@
  * @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) {                                          \
+#if !defined(CH_CFG_THREAD_INIT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
   /* Add threads initialization code here.*/                                \
 }
 #endif
@@ -472,8 +483,8 @@
  * @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) {                                          \
+#if !defined(CH_CFG_THREAD_EXIT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
 }
 #endif
@@ -482,18 +493,40 @@
  * @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) {                              \
+#if !defined(CH_CFG_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#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.
+ */
+#if !defined(CH_CFG_IDLE_ENTER_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_ENTER_HOOK() {                                         \
+}
+#endif
+
+/**
+ * @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.
+ */
+#if !defined(CH_CFG_IDLE_LEAVE_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \
+}
+#endif
+
+/**
  * @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() {                                                  \
+#if !defined(CH_CFG_IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
   /* Idle loop code here.*/                                                 \
 }
 #endif
@@ -503,8 +536,8 @@
  * @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() {                                          \
+#if !defined(CH_CFG_SYSTEM_TICK_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
   /* System tick event code here.*/                                         \
 }
 #endif
@@ -514,8 +547,8 @@
  * @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() {                                                \
+#if !defined(CH_CFG_SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
   /* System halt code here.*/                                               \
 }
 #endif
diff --git a/testhal/STM32F0xx/UART/halconf.h b/testhal/STM32F0xx/UART/halconf.h
index a4fc70926..dd527aeda 100644
--- a/testhal/STM32F0xx/UART/halconf.h
+++ b/testhal/STM32F0xx/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__)
diff --git a/testhal/STM32F0xx/UART/mcuconf.h b/testhal/STM32F0xx/UART/mcuconf.h
index fb5ea8f3d..eab34eb67 100644
--- a/testhal/STM32F0xx/UART/mcuconf.h
+++ b/testhal/STM32F0xx/UART/mcuconf.h
@@ -89,11 +89,12 @@
  */
 #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.
@@ -133,7 +134,12 @@
 #define STM32_SPI_SPI2_DMA_PRIORITY         1
 #define STM32_SPI_SPI1_IRQ_PRIORITY         2
 #define STM32_SPI_SPI2_IRQ_PRIORITY         2
-#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               2
 
 /*
  * UART driver system settings.
@@ -144,4 +150,4 @@
 #define STM32_UART_USART2_IRQ_PRIORITY      3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
-#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
diff --git a/testhal/STM32F30x/ADC/mcuconf.h b/testhal/STM32F30x/ADC/mcuconf.h
index 664bb226e..77c6109c1 100644
--- a/testhal/STM32F30x/ADC/mcuconf.h
+++ b/testhal/STM32F30x/ADC/mcuconf.h
@@ -191,6 +191,11 @@
 #define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
 
 /*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+
+/*
  * UART driver system settings.
  */
 #define STM32_UART_USE_USART1               FALSE
diff --git a/testhal/STM32F30x/ADC_DUAL/mcuconf.h b/testhal/STM32F30x/ADC_DUAL/mcuconf.h
index fb09936d2..f73d74e64 100644
--- a/testhal/STM32F30x/ADC_DUAL/mcuconf.h
+++ b/testhal/STM32F30x/ADC_DUAL/mcuconf.h
@@ -191,6 +191,11 @@
 #define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
 
 /*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+
+/*
  * UART driver system settings.
  */
 #define STM32_UART_USE_USART1               FALSE
diff --git a/testhal/STM32F30x/CAN/mcuconf.h b/testhal/STM32F30x/CAN/mcuconf.h
index 0c7c22b6c..5391ed9eb 100644
--- a/testhal/STM32F30x/CAN/mcuconf.h
+++ b/testhal/STM32F30x/CAN/mcuconf.h
@@ -191,6 +191,11 @@
 #define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
 
 /*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+
+/*
  * UART driver system settings.
  */
 #define STM32_UART_USE_USART1               FALSE
diff --git a/testhal/STM32F30x/EXT/mcuconf.h b/testhal/STM32F30x/EXT/mcuconf.h
index 88f270eea..9ba948995 100644
--- a/testhal/STM32F30x/EXT/mcuconf.h
+++ b/testhal/STM32F30x/EXT/mcuconf.h
@@ -191,6 +191,11 @@
 #define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
 
 /*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+
+/*
  * UART driver system settings.
  */
 #define STM32_UART_USE_USART1               FALSE
diff --git a/testhal/STM32F30x/IRQ_STORM/mcuconf.h b/testhal/STM32F30x/IRQ_STORM/mcuconf.h
index 9b902182f..ee0b2a875 100644
--- a/testhal/STM32F30x/IRQ_STORM/mcuconf.h
+++ b/testhal/STM32F30x/IRQ_STORM/mcuconf.h
@@ -191,6 +191,11 @@
 #define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
 
 /*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+
+/*
  * UART driver system settings.
  */
 #define STM32_UART_USE_USART1               FALSE
diff --git a/testhal/STM32F30x/PWM-ICU/mcuconf.h b/testhal/STM32F30x/PWM-ICU/mcuconf.h
index a5dca256c..cc1b46815 100644
--- a/testhal/STM32F30x/PWM-ICU/mcuconf.h
+++ b/testhal/STM32F30x/PWM-ICU/mcuconf.h
@@ -191,6 +191,11 @@
 #define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
 
 /*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+
+/*
  * UART driver system settings.
  */
 #define STM32_UART_USE_USART1               FALSE
diff --git a/testhal/STM32F30x/SPI/mcuconf.h b/testhal/STM32F30x/SPI/mcuconf.h
index b47db1a5f..8a2445f27 100644
--- a/testhal/STM32F30x/SPI/mcuconf.h
+++ b/testhal/STM32F30x/SPI/mcuconf.h
@@ -191,6 +191,11 @@
 #define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
 
 /*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+
+/*
  * UART driver system settings.
  */
 #define STM32_UART_USE_USART1               FALSE
diff --git a/testhal/STM32F30x/UART/mcuconf.h b/testhal/STM32F30x/UART/mcuconf.h
index 0f8fd391b..f4f9eb3ce 100644
--- a/testhal/STM32F30x/UART/mcuconf.h
+++ b/testhal/STM32F30x/UART/mcuconf.h
@@ -191,6 +191,11 @@
 #define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
 
 /*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+
+/*
  * UART driver system settings.
  */
 #define STM32_UART_USE_USART1               TRUE
diff --git a/testhal/STM32F30x/USB_CDC/mcuconf.h b/testhal/STM32F30x/USB_CDC/mcuconf.h
index 6da0b1e83..427409fdc 100644
--- a/testhal/STM32F30x/USB_CDC/mcuconf.h
+++ b/testhal/STM32F30x/USB_CDC/mcuconf.h
@@ -191,6 +191,11 @@
 #define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
 
 /*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+
+/*
  * UART driver system settings.
  */
 #define STM32_UART_USE_USART1               FALSE
author	gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>	2013-08-20 13:17:44 +0000
committer	gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>	2013-08-20 13:17:44 +0000
commit	8d0dc4bfd67857f376a2aa67424e9e8697342025 (patch)
tree	5e7b108155082ad7ba631d90ef2575a1706d2f2e
parent	e355a2f38222cd2c720a37de62a90b4317c52eab (diff)
download	ChibiOS-8d0dc4bfd67857f376a2aa67424e9e8697342025.tar.gz ChibiOS-8d0dc4bfd67857f376a2aa67424e9e8697342025.tar.bz2 ChibiOS-8d0dc4bfd67857f376a2aa67424e9e8697342025.zip