Support for ChibiOS3 (master branch only currently) for the STM32F729-Discovery board.

Not working yet.

15 files changed, 2555 insertions, 101 deletions

diff --git a/boards/base/STM32F746-Discovery/board.mk b/boards/base/STM32F746-Discovery/board.mk
index 9386fae0..d12b4016 100644
--- a/boards/base/STM32F746-Discovery/board.mk
+++ b/boards/base/STM32F746-Discovery/board.mk
@@ -1,9 +1,12 @@
-GFXINC  +=	$(GFXLIB)/boards/base/STM32F746-Discovery
+GFXINC  +=	$(GFXLIB)/boards/base/STM32F746-Discovery \
+			$(STMHAL)/Inc
 GFXSRC  +=	$(GFXLIB)/boards/base/STM32F746-Discovery/stm32f746g_discovery_sdram.c \
-			$(GFXLIB)/boards/base/STM32F746-Discovery/stm32f7xx_ll_fmc.c
-GFXDEFS +=	STM32F746xx
+			$(GFXLIB)/boards/base/STM32F746-Discovery/stm32f7xx_ll_fmc.c \
+			$(GFXLIB)/boards/base/STM32F746-Discovery/stm32f7_i2c.c
 
 ifeq ($(OPT_OS),raw32)
+	HAL      =  $(STMHAL)
+	GFXDEFS +=	STM32F746xx
 	GFXSRC	+=	$(HAL)/Src/stm32f7xx_hal.c \
 				$(HAL)/Src/stm32f7xx_hal_cortex.c \
 				$(HAL)/Src/stm32f7xx_hal_flash.c \
@@ -18,13 +21,12 @@ ifeq ($(OPT_OS),raw32)
 	GFXSRC	+=	$(GFXLIB)/boards/base/STM32F746-Discovery/stm32f746g_raw32_startup.s \
 				$(GFXLIB)/boards/base/STM32F746-Discovery/stm32f746g_raw32_ugfx.c \
 				$(GFXLIB)/boards/base/STM32F746-Discovery/stm32f746g_raw32_system.c \
-				$(GFXLIB)/boards/base/STM32F746-Discovery/stm32f746g_raw32_interrupts.c \
-				$(GFXLIB)/boards/base/STM32F746-Discovery/stm32f7_i2c.c
+				$(GFXLIB)/boards/base/STM32F746-Discovery/stm32f746g_raw32_interrupts.c
 	GFXDEFS	+=	GFX_OS_EXTRA_INIT_FUNCTION=Raw32OSInit GFX_OS_INIT_NO_WARNING=TRUE
 	SRCFLAGS+=	-std=c99
 	GFXINC	+=	$(CMSIS)/Device/ST/STM32F7xx/Include \
 				$(CMSIS)/Include \
-				$(HAL)/Inc
+				$(STMHAL)/Inc
 	LDSCRIPT = $(GFXLIB)/boards/base/STM32F746-Discovery/stm32f746nghx_flash.ld
 endif
 
diff --git a/boards/base/STM32F746-Discovery/board_STM32LTDC.h b/boards/base/STM32F746-Discovery/board_STM32LTDC.h
index ffe28e02..1bf3dec8 100644
--- a/boards/base/STM32F746-Discovery/board_STM32LTDC.h
+++ b/boards/base/STM32F746-Discovery/board_STM32LTDC.h
@@ -12,6 +12,11 @@
 #include "stm32f746g_discovery_sdram.h"
 #include <string.h>
 
+#if !GFX_USE_OS_CHIBIOS
+	#define AFRL	AFR[0]
+	#define AFRH	AFR[1]
+#endif
+
 static const ltdcConfig driverCfg = {
 	480, 272,								// Width, Height (pixels)
 	41, 10,									// Horizontal, Vertical sync (pixels)
@@ -55,181 +60,181 @@ static void configureLcdPins(void)
 	GPIOI->MODER |= GPIO_MODER_MODER15_1;
 	GPIOI->OTYPER &=~ GPIO_OTYPER_OT_15;
 	GPIOI->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR15_0 | GPIO_OSPEEDER_OSPEEDR15_1;
-	GPIOI->AFR[1] |= (0b1110 << 4*7);
+	GPIOI->AFRH |= (0b1110 << 4*7);
 
 	// PJ0: LCD_R1
 	GPIOJ->MODER |= GPIO_MODER_MODER0_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_0;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR0_0 | GPIO_OSPEEDER_OSPEEDR0_1;
-	GPIOJ->AFR[0] |= (0b1110 << 4*0);
+	GPIOJ->AFRL |= (0b1110 << 4*0);
 
 	// PJ1: LCD_R2
 	GPIOJ->MODER |= GPIO_MODER_MODER1_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_1;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR1_0 | GPIO_OSPEEDER_OSPEEDR1_1;
-	GPIOJ->AFR[0] |= (0b1110 << 4*1);
+	GPIOJ->AFRL |= (0b1110 << 4*1);
 
 	// PJ2: LCD_R3
 	GPIOJ->MODER |= GPIO_MODER_MODER2_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_2;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR2_0 | GPIO_OSPEEDER_OSPEEDR2_1;
-	GPIOJ->AFR[0] |= (0b1110 << 4*2);
+	GPIOJ->AFRL |= (0b1110 << 4*2);
 
 	// PJ3: LCD_R4
 	GPIOJ->MODER |= GPIO_MODER_MODER3_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_3;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR3_0 | GPIO_OSPEEDER_OSPEEDR3_1;
-	GPIOJ->AFR[0] |= (0b1110 << 4*3);
+	GPIOJ->AFRL |= (0b1110 << 4*3);
 
 	// PJ4: LCD_R5
 	GPIOJ->MODER |= GPIO_MODER_MODER4_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_4;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR4_0 | GPIO_OSPEEDER_OSPEEDR4_1;
-	GPIOJ->AFR[0] |= (0b1110 << 4*4);
+	GPIOJ->AFRL |= (0b1110 << 4*4);
 
 	// PJ5: LCD_R6
 	GPIOJ->MODER |= GPIO_MODER_MODER5_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_5;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR5_0 | GPIO_OSPEEDER_OSPEEDR5_1;
-	GPIOJ->AFR[0] |= (0b1110 << 4*5);
+	GPIOJ->AFRL |= (0b1110 << 4*5);
 
 	// PJ6: LCD_R7
 	GPIOJ->MODER |= GPIO_MODER_MODER6_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_6;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6_0 | GPIO_OSPEEDER_OSPEEDR6_1;
-	GPIOJ->AFR[0] |= (0b1110 << 4*6);
+	GPIOJ->AFRL |= (0b1110 << 4*6);
 
 	// PJ7: LCD_G0
 	GPIOJ->MODER |= GPIO_MODER_MODER7_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_7;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR7_0 | GPIO_OSPEEDER_OSPEEDR7_1;
-	GPIOJ->AFR[0] |= (0b1110 << 4*7);
+	GPIOJ->AFRL |= (0b1110 << 4*7);
 
 	// PJ8: LCD_G1
 	GPIOJ->MODER |= GPIO_MODER_MODER8_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_8;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR8_0 | GPIO_OSPEEDER_OSPEEDR8_1;
-	GPIOJ->AFR[1] |= (0b1110 << 4*0);
+	GPIOJ->AFRH |= (0b1110 << 4*0);
 
 	// PJ9: LCD_G2
 	GPIOJ->MODER |= GPIO_MODER_MODER9_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_9;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR9_0 | GPIO_OSPEEDER_OSPEEDR9_1;
-	GPIOJ->AFR[1] |= (0b1110 << 4*1);
+	GPIOJ->AFRH |= (0b1110 << 4*1);
 
 	// PJ10: LCD_G3
 	GPIOJ->MODER |= GPIO_MODER_MODER10_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_10;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR10_0 | GPIO_OSPEEDER_OSPEEDR10_1;
-	GPIOJ->AFR[1] |= (0b1110 << 4*2);
+	GPIOJ->AFRH |= (0b1110 << 4*2);
 
 	// PJ11: LCD_G4
 	GPIOJ->MODER |= GPIO_MODER_MODER11_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_11;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR11_0 | GPIO_OSPEEDER_OSPEEDR11_1;
-	GPIOJ->AFR[1] |= (0b1110 << 4*3);
+	GPIOJ->AFRH |= (0b1110 << 4*3);
 
 	// PK0: LCD_G5
 	GPIOK->MODER |= GPIO_MODER_MODER0_0;
 	GPIOK->OTYPER &=~ GPIO_OTYPER_OT_0;
 	GPIOK->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR0_0 | GPIO_OSPEEDER_OSPEEDR0_1;
-	GPIOK->AFR[0] |= (0b1110 << 4*0);
+	GPIOK->AFRL |= (0b1110 << 4*0);
 
 	// PK1: LCD_G6
 	GPIOK->MODER |= GPIO_MODER_MODER1_1;
 	GPIOK->OTYPER &=~ GPIO_OTYPER_OT_1;
 	GPIOK->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR1_0 | GPIO_OSPEEDER_OSPEEDR1_1;
-	GPIOK->AFR[0] |= (0b1110 << 4*1);
+	GPIOK->AFRL |= (0b1110 << 4*1);
 
 	// PK2: LCD_G7
 	GPIOK->MODER |= GPIO_MODER_MODER2_1;
 	GPIOK->OTYPER &=~ GPIO_OTYPER_OT_2;
 	GPIOK->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR2_0 | GPIO_OSPEEDER_OSPEEDR2_1;
-	GPIOK->AFR[0] |= (0b1110 << 4*2);
+	GPIOK->AFRL |= (0b1110 << 4*2);
 
 	// PE4: LCD_B0
 	GPIOE->MODER |= GPIO_MODER_MODER4_1;
 	GPIOE->OTYPER &=~ GPIO_OTYPER_OT_4;
 	GPIOE->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR4_0 | GPIO_OSPEEDER_OSPEEDR4_1;
-	GPIOE->AFR[0] |= (0b1110 << 4*4);
+	GPIOE->AFRL |= (0b1110 << 4*4);
 
 	// PJ13: LCD_B1
 	GPIOJ->MODER |= GPIO_MODER_MODER13_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_13;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR13_0 | GPIO_OSPEEDER_OSPEEDR13_1;
-	GPIOJ->AFR[1] |= (0b1110 << 4*5);
+	GPIOJ->AFRH |= (0b1110 << 4*5);
 
 	// PJ14: LCD_B2
 	GPIOJ->MODER |= GPIO_MODER_MODER14_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_14;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR14_0 | GPIO_OSPEEDER_OSPEEDR14_1;
-	GPIOJ->AFR[1] |= (0b1110 << 4*6);
+	GPIOJ->AFRH |= (0b1110 << 4*6);
 
 	// PJ15: LCD_B3
 	GPIOJ->MODER |= GPIO_MODER_MODER15_1;
 	GPIOJ->OTYPER &=~ GPIO_OTYPER_OT_15;
 	GPIOJ->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR15_0 | GPIO_OSPEEDER_OSPEEDR15_1;
-	GPIOJ->AFR[1] |= (0b1110 << 4*7);
+	GPIOJ->AFRH |= (0b1110 << 4*7);
 
 	// PG12: LCD_B4
 	GPIOG->MODER |= GPIO_MODER_MODER12_1;
 	GPIOG->OTYPER &=~ GPIO_OTYPER_OT_12;
 	GPIOG->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR12_0 | GPIO_OSPEEDER_OSPEEDR12_1;
-	GPIOG->AFR[1] |= (0b1110 << 4*4);
+	GPIOG->AFRH |= (0b1110 << 4*4);
 
 	// PK4: LCD_B5
 	GPIOK->MODER |= GPIO_MODER_MODER4_1;
 	GPIOK->OTYPER &=~ GPIO_OTYPER_OT_4;
 	GPIOK->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR4_0 | GPIO_OSPEEDER_OSPEEDR4_1;
-	GPIOK->AFR[0] |= (0b1110 << 4*4);
+	GPIOK->AFRL |= (0b1110 << 4*4);
 
 	// PK5: LCD_B6
 	GPIOK->MODER |= GPIO_MODER_MODER5_1;
 	GPIOK->OTYPER &=~ GPIO_OTYPER_OT_5;
 	GPIOK->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR5_0 | GPIO_OSPEEDER_OSPEEDR5_1;
-	GPIOK->AFR[0] |= (0b1110 << 4*5);
+	GPIOK->AFRL |= (0b1110 << 4*5);
 
 	// PK6: LCD_B7
 	GPIOK->MODER |= GPIO_MODER_MODER6_1;
 	GPIOK->OTYPER &=~ GPIO_OTYPER_OT_6;
 	GPIOK->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6_0 | GPIO_OSPEEDER_OSPEEDR6_1;
-	GPIOK->AFR[0] |= (0b1110 << 4*6);
+	GPIOK->AFRL |= (0b1110 << 4*6);
 
 	// PK7: LCD_DE
 	GPIOK->MODER |= GPIO_MODER_MODER7_1;
 	GPIOK->OTYPER &=~ GPIO_OTYPER_OT_7;
 	GPIOK->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR7_0 | GPIO_OSPEEDER_OSPEEDR7_1;
-	GPIOK->AFR[0] |= (0b1110 << 4*7);
+	GPIOK->AFRL |= (0b1110 << 4*7);
 
 	// PI9: LCD_VSYNC
 	GPIOI->MODER |= GPIO_MODER_MODER9_1;
 	GPIOI->OTYPER &=~ GPIO_OTYPER_OT_9;
 	GPIOI->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR9_0 | GPIO_OSPEEDER_OSPEEDR9_1;
-	GPIOI->AFR[1] |= (0b1110 << 4*1);
+	GPIOI->AFRH |= (0b1110 << 4*1);
 
 	// PI10: LCD_VSYNC
 	GPIOI->MODER |= GPIO_MODER_MODER10_1;
 	GPIOI->OTYPER &=~ GPIO_OTYPER_OT_10;
 	GPIOI->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR10_0 | GPIO_OSPEEDER_OSPEEDR10_1;
-	GPIOI->AFR[1] |= (0b1110 << 4*2);
+	GPIOI->AFRH |= (0b1110 << 4*2);
 
 	// PI13: LCD_INT
 	GPIOI->MODER |= GPIO_MODER_MODER13_1;
 	GPIOI->OTYPER &=~ GPIO_OTYPER_OT_13;
 	GPIOI->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR13_0 | GPIO_OSPEEDER_OSPEEDR13_1;
-	GPIOI->AFR[1] |= (0b1110 << 4*5);
+	GPIOI->AFRH |= (0b1110 << 4*5);
 
 	// PI14: LCD_CLK
 	GPIOI->MODER |= GPIO_MODER_MODER14_1;
 	GPIOI->OTYPER &=~ GPIO_OTYPER_OT_14;
 	GPIOI->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR14_0 | GPIO_OSPEEDER_OSPEEDR14_1;
-	GPIOI->AFR[1] |= (0b1110 << 4*6);
+	GPIOI->AFRH |= (0b1110 << 4*6);
 
 	// PI8: ???
 	GPIOI->MODER |= GPIO_MODER_MODER8_1;
 	GPIOI->OTYPER &=~ GPIO_OTYPER_OT_8;
 	GPIOI->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR8_0 | GPIO_OSPEEDER_OSPEEDR8_1;
-	GPIOI->AFR[1] |= (0b1110 << 4*0);
+	GPIOI->AFRH |= (0b1110 << 4*0);
 
 	// PI12: LCD_DISP_PIN
 	GPIOI->MODER |= GPIO_MODER_MODER12_0;
@@ -270,7 +275,9 @@ static inline void init_board(GDisplay *g) {
 		// PLLLCDCLK = PLLSAI_VCO Output/PLLSAIR = 192/5 = 38.4 Mhz
 		// LTDC clock frequency = PLLLCDCLK / LTDC_PLLSAI_DIVR_4 = 38.4/4 = 9.6Mhz
 		#define STM32_PLLSAIN_VALUE                 192
+		#undef STM32_PLLSAIQ_VALUE
 		#define STM32_PLLSAIQ_VALUE                 7
+		#undef STM32_PLLSAIR_VALUE
 		#define STM32_PLLSAIR_VALUE                 RK043FN48H_FREQUENCY_DIVIDER
 		#define STM32_PLLSAIR_POST                  STM32_SAIR_DIV4
 		RCC->PLLSAICFGR = (STM32_PLLSAIN_VALUE << 6) | (STM32_PLLSAIR_VALUE << 28) | (STM32_PLLSAIQ_VALUE << 24);
diff --git a/boards/base/STM32F746-Discovery/example_chibios3/Makefile b/boards/base/STM32F746-Discovery/example_chibios3/Makefile
new file mode 100644
index 00000000..d7414ef2
--- /dev/null
+++ b/boards/base/STM32F746-Discovery/example_chibios3/Makefile
@@ -0,0 +1,72 @@
+# Possible Targets:	all clean Debug cleanDebug Release cleanRelease
+
+##############################################################################################
+# Settings
+#
+
+# General settings
+	# See $(GFXLIB)/tools/gmake_scripts/readme.txt for the list of variables
+	OPT_OS					= chibios
+	OPT_THUMB				= yes
+	OPT_LINK_OPTIMIZE		= no
+	OPT_CPU					= stm32m7
+
+# uGFX settings
+	# See $(GFXLIB)/tools/gmake_scripts/library_ugfx.mk for the list of variables
+	GFXLIB					= ../ugfx
+	GFXBOARD				= STM32F746-Discovery
+	GFXDEMO					= modules/gdisp/streaming
+	#GFXDRIVERS				=
+	GFXSINGLEMAKE			= no
+
+# ChibiOS settings
+ifeq ($(OPT_OS),chibios)
+	# See $(GFXLIB)/tools/gmake_scripts/os_chibios_3.mk for the list of variables
+	CHIBIOS					= ../ChibiOS-Master
+	CHIBIOS_VERSION			= 3
+	CHIBIOS_CPUCLASS		= ARMCMx
+	CHIBIOS_PLATFORM		= STM32
+	CHIBIOS_DEVICE_FAMILY	= STM32F7xx
+	CHIBIOS_STARTUP			= startup_stm32f7xx
+	CHIBIOS_PORT			= v7m
+	CHIBIOS_LDSCRIPT		= STM32F746xG.ld
+	CHIBIOS_BOARD			= ST_STM32F746G_DISCOVERY
+	#CHIBIOS_PROCESS_STACKSIZE = 0x400
+	#CHIBIOS_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
+#Special - Required for the drivers for this discovery board.
+STMHAL		= ../STM32/STM32F7xx_HAL_Driver
+
+#Special - Required for Raw32
+CMSIS			= ../STM32/CMSIS
+
+##############################################################################################
+# Set these for your project
+#
+
+ARCH     = arm-none-eabi-
+SRCFLAGS = -ggdb -O1
+CFLAGS   = 
+CXXFLAGS = -fno-rtti
+ASFLAGS  =
+LDFLAGS  =
+
+SRC      = 
+
+OBJS     =
+DEFS     = GFX_OS_HEAP_SIZE=40960
+LIBS     =
+INCPATH  = 
+
+LIBPATH  =
+LDSCRIPT = 
+
+##############################################################################################
+# These should be at the end
+#
+
+include $(GFXLIB)/tools/gmake_scripts/library_ugfx.mk
+include $(GFXLIB)/tools/gmake_scripts/os_$(OPT_OS).mk
+include $(GFXLIB)/tools/gmake_scripts/compiler_gcc.mk
+# *** EOF ***
diff --git a/boards/base/STM32F746-Discovery/example_chibios3/chconf.h b/boards/base/STM32F746-Discovery/example_chibios3/chconf.h
new file mode 100644
index 00000000..c19b8b90
--- /dev/null
+++ b/boards/base/STM32F746-Discovery/example_chibios3/chconf.h
@@ -0,0 +1,501 @@
+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
+ *
+ * @addtogroup config
+ * @details Kernel related settings and hooks.
+ * @{
+ */
+
+#ifndef _CHCONF_H_
+#define _CHCONF_H_
+
+/*===========================================================================*/
+/**
+ * @name System timers settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   System time counter resolution.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#define CH_CFG_ST_RESOLUTION                32
+
+/**
+ * @brief   System tick frequency.
+ * @details Frequency of the system timer that drives the system ticks. This
+ *          setting also defines the system tick time unit.
+ */
+#define CH_CFG_ST_FREQUENCY                 10000
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#define CH_CFG_ST_TIMEDELTA                 2
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Round robin interval.
+ * @details This constant is the number of system ticks allowed for the
+ *          threads before preemption occurs. Setting this value to zero
+ *          disables the preemption for threads with equal priority and the
+ *          round robin becomes cooperative. Note that higher priority
+ *          threads can still preempt, the kernel is always preemptive.
+ * @note    Disabling the round robin preemption makes the kernel more compact
+ *          and generally faster.
+ * @note    The round robin preemption is not supported in tickless mode and
+ *          must be set to zero in that case.
+ */
+#define CH_CFG_TIME_QUANTUM                 0
+
+/**
+ * @brief   Managed RAM size.
+ * @details Size of the RAM area to be managed by the OS. If set to zero
+ *          then the whole available RAM is used. The core memory is made
+ *          available to the heap allocator and/or can be used directly through
+ *          the simplified core memory allocator.
+ *
+ * @note    In order to let the OS manage the whole RAM the linker script must
+ *          provide the @p __heap_base__ and @p __heap_end__ symbols.
+ * @note    Requires @p CH_CFG_USE_MEMCORE.
+ */
+#define CH_CFG_MEMCORE_SIZE                 0
+
+/**
+ * @brief   Idle thread automatic spawn suppression.
+ * @details When this option is activated the function @p chSysInit()
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop.
+ */
+#define CH_CFG_NO_IDLE_THREAD               FALSE
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Performance options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   OS optimization.
+ * @details If enabled then time efficient rather than space efficient code
+ *          is used when two possible implementations exist.
+ *
+ * @note    This is not related to the compiler optimization options.
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Subsystem options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_TM                       TRUE
+
+/**
+ * @brief   Threads registry APIs.
+ * @details If enabled then the registry APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_REGISTRY                 TRUE
+
+/**
+ * @brief   Threads synchronization APIs.
+ * @details If enabled then the @p chThdWait() function is included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_WAITEXIT                 TRUE
+
+/**
+ * @brief   Semaphores APIs.
+ * @details If enabled then the Semaphores APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_SEMAPHORES               TRUE
+
+/**
+ * @brief   Semaphores queuing mode.
+ * @details If enabled then the threads are enqueued on semaphores by
+ *          priority rather than in FIFO order.
+ *
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+
+/**
+ * @brief   Mutexes APIs.
+ * @details If enabled then the mutexes APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_MUTEXES                  TRUE
+
+/**
+ * @brief   Enables recursive behavior on mutexes.
+ * @note    Recursive mutexes are heavier and have an increased
+ *          memory footprint.
+ *
+ * @note    The default is @p FALSE.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
+ */
+#define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+
+/**
+ * @brief   Conditional Variables APIs.
+ * @details If enabled then the conditional variables APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
+ */
+#define CH_CFG_USE_CONDVARS                 TRUE
+
+/**
+ * @brief   Conditional Variables APIs with timeout.
+ * @details If enabled then the conditional variables APIs with timeout
+ *          specification are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_CONDVARS.
+ */
+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
+
+/**
+ * @brief   Events Flags APIs.
+ * @details If enabled then the event flags APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_EVENTS                   TRUE
+
+/**
+ * @brief   Events Flags APIs with timeout.
+ * @details If enabled then the events APIs with timeout specification
+ *          are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_EVENTS.
+ */
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+
+/**
+ * @brief   Synchronous Messages APIs.
+ * @details If enabled then the synchronous messages APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_MESSAGES                 TRUE
+
+/**
+ * @brief   Synchronous Messages queuing mode.
+ * @details If enabled then messages are served by priority rather than in
+ *          FIFO order.
+ *
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_MESSAGES.
+ */
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+
+/**
+ * @brief   Mailboxes APIs.
+ * @details If enabled then the asynchronous messages (mailboxes) APIs are
+ *          included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#define CH_CFG_USE_MAILBOXES                TRUE
+
+/**
+ * @brief   I/O Queues APIs.
+ * @details If enabled then the I/O queues APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_QUEUES                   TRUE
+
+/**
+ * @brief   Core Memory Manager APIs.
+ * @details If enabled then the core memory manager APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_MEMCORE                  TRUE
+
+/**
+ * @brief   Heap Allocator APIs.
+ * @details If enabled then the memory heap allocator APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
+ *          @p CH_CFG_USE_SEMAPHORES.
+ * @note    Mutexes are recommended.
+ */
+#define CH_CFG_USE_HEAP                     TRUE
+
+/**
+ * @brief   Memory Pools Allocator APIs.
+ * @details If enabled then the memory pools allocator APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#define CH_CFG_USE_MEMPOOLS                 TRUE
+
+/**
+ * @brief   Dynamic Threads APIs.
+ * @details If enabled then the dynamic threads creation APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_WAITEXIT.
+ * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
+ */
+#define CH_CFG_USE_DYNAMIC                  TRUE
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Debug options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#define CH_DBG_STATISTICS                   FALSE
+
+/**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+
+/**
+ * @brief   Debug option, parameters checks.
+ * @details If enabled then the checks on the API functions input
+ *          parameters are activated.
+ *
+ * @note    The default is @p FALSE.
+ */
+#define CH_DBG_ENABLE_CHECKS                FALSE
+
+/**
+ * @brief   Debug option, consistency checks.
+ * @details If enabled then all the assertions in the kernel code are
+ *          activated. This includes consistency checks inside the kernel,
+ *          runtime anomalies and port-defined checks.
+ *
+ * @note    The default is @p FALSE.
+ */
+#define CH_DBG_ENABLE_ASSERTS               FALSE
+
+/**
+ * @brief   Debug option, trace buffer.
+ * @details If enabled then the context switch circular trace buffer is
+ *          activated.
+ *
+ * @note    The default is @p FALSE.
+ */
+#define CH_DBG_ENABLE_TRACE                 FALSE
+
+/**
+ * @brief   Debug option, stack checks.
+ * @details If enabled then a runtime stack check is performed.
+ *
+ * @note    The default is @p FALSE.
+ * @note    The stack check is performed in a architecture/port dependent way.
+ *          It may not be implemented or some ports.
+ * @note    The default failure mode is to halt the system with the global
+ *          @p panic_msg variable set to @p NULL.
+ */
+#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+
+/**
+ * @brief   Debug option, stacks initialization.
+ * @details If enabled then the threads working area is filled with a byte
+ *          value when a thread is created. This can be useful for the
+ *          runtime measurement of the used stack.
+ *
+ * @note    The default is @p FALSE.
+ */
+#define CH_DBG_FILL_THREADS                 FALSE
+
+/**
+ * @brief   Debug option, threads profiling.
+ * @details If enabled then a field is added to the @p thread_t structure that
+ *          counts the system ticks occurred while executing the thread.
+ *
+ * @note    The default is @p FALSE.
+ * @note    This debug option is not currently compatible with the
+ *          tickless mode.
+ */
+#define CH_DBG_THREADS_PROFILING            FALSE
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel hooks
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Threads descriptor structure extension.
+ * @details User fields added to the end of the @p thread_t structure.
+ */
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   Threads initialization hook.
+ * @details User initialization code added to the @p chThdInit() API.
+ *
+ * @note    It is invoked from within @p chThdInit() and implicitly from all
+ *          the threads creation APIs.
+ */
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
+ * @brief   Threads finalization hook.
+ * @details User finalization code added to the @p chThdExit() API.
+ *
+ * @note    It is inserted into lock zone.
+ * @note    It is also invoked when the threads simply return in order to
+ *          terminate.
+ */
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
+  /* Add threads finalization code here.*/                                  \
+}
+
+/**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* Context switch code here.*/                                            \
+}
+
+/**
+ * @brief   Idle thread enter hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to activate a power saving mode.
+ */
+#define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+}
+
+/**
+ * @brief   Idle thread leave hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to deactivate a power saving mode.
+ */
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+}
+
+/**
+ * @brief   Idle Loop hook.
+ * @details This hook is continuously invoked by the idle thread loop.
+ */
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
+  /* Idle loop code here.*/                                                 \
+}
+
+/**
+ * @brief   System tick event hook.
+ * @details This hook is invoked in the system tick handler immediately
+ *          after processing the virtual timers queue.
+ */
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
+  /* System tick event code here.*/                                         \
+}
+
+/**
+ * @brief   System halt hook.
+ * @details This hook is invoked in case to a system halting error before
+ *          the system is halted.
+ */
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
+  /* System halt code here.*/                                               \
+}
+
+/** @} */
+
+/*===========================================================================*/
+/* Port-specific settings (override port settings defaulted in chcore.h).    */
+/*===========================================================================*/
+
+#define CORTEX_VTOR_INIT                    0x00200000U
+
+#endif  /* _CHCONF_H_ */
+
+/** @} */
diff --git a/boards/base/STM32F746-Discovery/example_chibios3/halconf.h b/boards/base/STM32F746-Discovery/example_chibios3/halconf.h
new file mode 100644
index 00000000..27dd1ac9
--- /dev/null
+++ b/boards/base/STM32F746-Discovery/example_chibios3/halconf.h
@@ -0,0 +1,334 @@
+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    templates/halconf.h
+ * @brief   HAL configuration header.
+ * @details HAL configuration file, this file allows to enable or disable the
+ *          various device drivers from your application. You may also use
+ *          this file in order to override the device drivers default settings.
+ *
+ * @addtogroup HAL_CONF
+ * @{
+ */
+
+#ifndef _HALCONF_H_
+#define _HALCONF_H_
+
+#include "mcuconf.h"
+
+/**
+ * @brief   Enables the PAL subsystem.
+ */
+#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
+#define HAL_USE_PAL                 TRUE
+#endif
+
+/**
+ * @brief   Enables the ADC subsystem.
+ */
+#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
+#define HAL_USE_ADC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the CAN subsystem.
+ */
+#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
+#define HAL_USE_CAN                 FALSE
+#endif
+
+/**
+ * @brief   Enables the DAC subsystem.
+ */
+#if !defined(HAL_USE_DAC) || defined(__DOXYGEN__)
+#define HAL_USE_DAC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the EXT subsystem.
+ */
+#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
+#define HAL_USE_EXT                 FALSE
+#endif
+
+/**
+ * @brief   Enables the GPT subsystem.
+ */
+#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
+#define HAL_USE_GPT                 FALSE
+#endif
+
+/**
+ * @brief   Enables the I2C subsystem.
+ */
+#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
+#define HAL_USE_I2C                 FALSE
+#endif
+
+/**
+ * @brief   Enables the I2S subsystem.
+ */
+#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)
+#define HAL_USE_I2S                 FALSE
+#endif
+
+/**
+ * @brief   Enables the ICU subsystem.
+ */
+#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
+#define HAL_USE_ICU                 FALSE
+#endif
+
+/**
+ * @brief   Enables the MAC subsystem.
+ */
+#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
+#define HAL_USE_MAC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the MMC_SPI subsystem.
+ */
+#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_MMC_SPI             FALSE
+#endif
+
+/**
+ * @brief   Enables the PWM subsystem.
+ */
+#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
+#define HAL_USE_PWM                 FALSE
+#endif
+
+/**
+ * @brief   Enables the RTC subsystem.
+ */
+#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
+#define HAL_USE_RTC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the SDC subsystem.
+ */
+#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
+#define HAL_USE_SDC                 FALSE
+#endif
+
+/**
+ * @brief   Enables the SERIAL subsystem.
+ */
+#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL              FALSE
+#endif
+
+/**
+ * @brief   Enables the SERIAL over USB subsystem.
+ */
+#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL_USB          FALSE
+#endif
+
+/**
+ * @brief   Enables the SPI subsystem.
+ */
+#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_SPI                 FALSE
+#endif
+
+/**
+ * @brief   Enables the UART subsystem.
+ */
+#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
+#define HAL_USE_UART                FALSE
+#endif
+
+/**
+ * @brief   Enables the USB subsystem.
+ */
+#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
+#define HAL_USE_USB                 FALSE
+#endif
+
+/*===========================================================================*/
+/* ADC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
+#define ADC_USE_WAIT                TRUE
+#endif
+
+/**
+ * @brief   Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define ADC_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+/*===========================================================================*/
+/* CAN driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Sleep mode related APIs inclusion switch.
+ */
+#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
+#define CAN_USE_SLEEP_MODE          TRUE
+#endif
+
+/*===========================================================================*/
+/* I2C driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables the mutual exclusion APIs on the I2C bus.
+ */
+#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define I2C_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+/*===========================================================================*/
+/* MAC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables an event sources for incoming packets.
+ */
+#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)
+#define MAC_USE_ZERO_COPY           FALSE
+#endif
+
+/**
+ * @brief   Enables an event sources for incoming packets.
+ */
+#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__)
+#define MAC_USE_EVENTS              TRUE
+#endif
+
+/*===========================================================================*/
+/* MMC_SPI driver related settings.                                          */
+/*===========================================================================*/
+
+/**
+ * @brief   Delays insertions.
+ * @details If enabled this options inserts delays into the MMC waiting
+ *          routines releasing some extra CPU time for the threads with
+ *          lower priority, this may slow down the driver a bit however.
+ *          This option is recommended also if the SPI driver does not
+ *          use a DMA channel and heavily loads the CPU.
+ */
+#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
+#define MMC_NICE_WAITING            TRUE
+#endif
+
+/*===========================================================================*/
+/* SDC driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Number of initialization attempts before rejecting the card.
+ * @note    Attempts are performed at 10mS intervals.
+ */
+#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__)
+#define SDC_INIT_RETRY              100
+#endif
+
+/**
+ * @brief   Include support for MMC cards.
+ * @note    MMC support is not yet implemented so this option must be kept
+ *          at @p FALSE.
+ */
+#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__)
+#define SDC_MMC_SUPPORT             FALSE
+#endif
+
+/**
+ * @brief   Delays insertions.
+ * @details If enabled this options inserts delays into the MMC waiting
+ *          routines releasing some extra CPU time for the threads with
+ *          lower priority, this may slow down the driver a bit however.
+ */
+#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__)
+#define SDC_NICE_WAITING            TRUE
+#endif
+
+/*===========================================================================*/
+/* SERIAL driver related settings.                                           */
+/*===========================================================================*/
+
+/**
+ * @brief   Default bit rate.
+ * @details Configuration parameter, this is the baud rate selected for the
+ *          default configuration.
+ */
+#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
+#define SERIAL_DEFAULT_BITRATE      38400
+#endif
+
+/**
+ * @brief   Serial buffers size.
+ * @details Configuration parameter, you can change the depth of the queue
+ *          buffers depending on the requirements of your application.
+ * @note    The default is 64 bytes for both the transmission and receive
+ *          buffers.
+ */
+#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_BUFFERS_SIZE         16
+#endif
+
+/*===========================================================================*/
+/* SERIAL_USB driver related setting.                                        */
+/*===========================================================================*/
+
+/**
+ * @brief   Serial over USB buffers size.
+ * @details Configuration parameter, the buffer size must be a multiple of
+ *          the USB data endpoint maximum packet size.
+ * @note    The default is 64 bytes for both the transmission and receive
+ *          buffers.
+ */
+#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_USB_BUFFERS_SIZE     256
+#endif
+
+/*===========================================================================*/
+/* SPI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables synchronous APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
+#define SPI_USE_WAIT                TRUE
+#endif
+
+/**
+ * @brief   Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.
+ * @note    Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define SPI_USE_MUTUAL_EXCLUSION    TRUE
+#endif
+
+#endif /* _HALCONF_H_ */
+
+/** @} */
diff --git a/boards/base/STM32F746-Discovery/example_chibios3/mcuconf.h b/boards/base/STM32F746-Discovery/example_chibios3/mcuconf.h
new file mode 100644
index 00000000..068c1764
--- /dev/null
+++ b/boards/base/STM32F746-Discovery/example_chibios3/mcuconf.h
@@ -0,0 +1,381 @@
+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#ifndef _MCUCONF_H_
+#define _MCUCONF_H_
+
+/*
+ * STM32F4xx drivers configuration.
+ * The following settings override the default settings present in
+ * the various device driver implementation headers.
+ * Note that the settings for each driver only have effect if the whole
+ * driver is enabled in halconf.h.
+ *
+ * IRQ priorities:
+ * 15...0       Lowest...Highest.
+ *
+ * DMA priorities:
+ * 0...3        Lowest...Highest.
+ */
+
+#define STM32F7xx_MCUCONF
+
+/*
+ * HAL driver system settings.
+ */
+#define STM32_NO_INIT                       FALSE
+#define STM32_PVD_ENABLE                    FALSE
+#define STM32_PLS                           STM32_PLS_LEV0
+#define STM32_BKPRAM_ENABLE                 FALSE
+#define STM32_HSI_ENABLED                   TRUE
+#define STM32_LSI_ENABLED                   FALSE
+#define STM32_HSE_ENABLED                   TRUE
+#define STM32_LSE_ENABLED                   TRUE
+#define STM32_CLOCK48_REQUIRED              TRUE
+#define STM32_SW                            STM32_SW_PLL
+#define STM32_PLLSRC                        STM32_PLLSRC_HSE
+#define STM32_PLLM_VALUE                    25
+#define STM32_PLLN_VALUE                    432
+#define STM32_PLLP_VALUE                    2
+#define STM32_PLLQ_VALUE                    9
+#define STM32_HPRE                          STM32_HPRE_DIV1
+#define STM32_PPRE1                         STM32_PPRE1_DIV4
+#define STM32_PPRE2                         STM32_PPRE2_DIV2
+#define STM32_RTCSEL                        STM32_RTCSEL_LSE
+#define STM32_RTCPRE_VALUE                  25
+#define STM32_MCO1SEL                       STM32_MCO1SEL_HSI
+#define STM32_MCO1PRE                       STM32_MCO1PRE_DIV1
+#define STM32_MCO2SEL                       STM32_MCO2SEL_SYSCLK
+#define STM32_MCO2PRE                       STM32_MCO2PRE_DIV4
+#define STM32_I2SSRC                        STM32_I2SSRC_PLLI2S
+#define STM32_PLLI2SN_VALUE                 192
+#define STM32_PLLI2SP_VALUE                 4
+#define STM32_PLLI2SQ_VALUE                 4
+#define STM32_PLLI2SR_VALUE                 4
+#define STM32_PLLSAIN_VALUE                 192
+#define STM32_PLLSAIP_VALUE                 4
+#define STM32_PLLSAIQ_VALUE                 7
+#define STM32_PLLSAIR_VALUE                 4
+#define STM32_PLLSAIDIVR                    STM32_PLLSAIDIVR_OFF
+#define STM32_SAI1SEL                       STM32_SAI1SEL_OFF
+#define STM32_SAI2SEL                       STM32_SAI2SEL_OFF
+#define STM32_USART1SEL                     STM32_USART1SEL_PCLK2
+#define STM32_USART2SEL                     STM32_USART2SEL_PCLK1
+#define STM32_USART3SEL                     STM32_USART3SEL_PCLK1
+#define STM32_UART4SEL                      STM32_UART4SEL_PCLK1
+#define STM32_UART5SEL                      STM32_UART5SEL_PCLK1
+#define STM32_USART6SEL                     STM32_USART6SEL_PCLK2
+#define STM32_UART7SEL                      STM32_UART7SEL_PCLK1
+#define STM32_UART8SEL                      STM32_UART8SEL_PCLK1
+#define STM32_I2C1SEL                       STM32_I2C1SEL_PCLK1
+#define STM32_I2C2SEL                       STM32_I2C2SEL_PCLK1
+#define STM32_I2C3SEL                       STM32_I2C3SEL_PCLK1
+#define STM32_I2C4SEL                       STM32_I2C4SEL_PCLK1
+#define STM32_LPTIM1SEL                     STM32_LPTIM1SEL_PCLK1
+#define STM32_CECSEL                        STM32_CECSEL_LSE
+#define STM32_CK48MSEL                      STM32_CK48MSEL_PLL
+#define STM32_SDMMCSEL                      STM32_SDMMCSEL_PLL48CLK
+#define STM32_SRAM2_NOCACHE                 FALSE
+
+/*
+ * ADC driver system settings.
+ */
+#define STM32_ADC_ADCPRE                    ADC_CCR_ADCPRE_DIV4
+#define STM32_ADC_USE_ADC1                  FALSE
+#define STM32_ADC_USE_ADC2                  FALSE
+#define STM32_ADC_USE_ADC3                  FALSE
+#define STM32_ADC_ADC1_DMA_STREAM           STM32_DMA_STREAM_ID(2, 4)
+#define STM32_ADC_ADC2_DMA_STREAM           STM32_DMA_STREAM_ID(2, 2)
+#define STM32_ADC_ADC3_DMA_STREAM           STM32_DMA_STREAM_ID(2, 1)
+#define STM32_ADC_ADC1_DMA_PRIORITY         2
+#define STM32_ADC_ADC2_DMA_PRIORITY         2
+#define STM32_ADC_ADC3_DMA_PRIORITY         2
+#define STM32_ADC_IRQ_PRIORITY              6
+#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY     6
+#define STM32_ADC_ADC2_DMA_IRQ_PRIORITY     6
+#define STM32_ADC_ADC3_DMA_IRQ_PRIORITY     6
+
+/*
+ * CAN driver system settings.
+ */
+#define STM32_CAN_USE_CAN1                  FALSE
+#define STM32_CAN_USE_CAN2                  FALSE
+#define STM32_CAN_CAN1_IRQ_PRIORITY         11
+#define STM32_CAN_CAN2_IRQ_PRIORITY         11
+
+/*
+ * DAC driver system settings.
+ */
+#define STM32_DAC_DUAL_MODE                 FALSE
+#define STM32_DAC_USE_DAC1_CH1              FALSE
+#define STM32_DAC_USE_DAC1_CH2              FALSE
+#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY     10
+#define STM32_DAC_DAC1_CH2_IRQ_PRIORITY     10
+#define STM32_DAC_DAC1_CH1_DMA_PRIORITY     2
+#define STM32_DAC_DAC1_CH2_DMA_PRIORITY     2
+#define STM32_DAC_DAC1_CH1_DMA_STREAM       STM32_DMA_STREAM_ID(1, 5)
+#define STM32_DAC_DAC1_CH2_DMA_STREAM       STM32_DMA_STREAM_ID(1, 6)
+
+/*
+ * EXT driver system settings.
+ */
+#define STM32_EXT_EXTI0_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI1_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI2_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI3_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI4_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI5_9_IRQ_PRIORITY      6
+#define STM32_EXT_EXTI10_15_IRQ_PRIORITY    6
+#define STM32_EXT_EXTI16_IRQ_PRIORITY       6
+#define STM32_EXT_EXTI17_IRQ_PRIORITY       15
+#define STM32_EXT_EXTI18_IRQ_PRIORITY       6
+#define STM32_EXT_EXTI19_IRQ_PRIORITY       6
+#define STM32_EXT_EXTI20_IRQ_PRIORITY       6
+#define STM32_EXT_EXTI21_IRQ_PRIORITY       15
+#define STM32_EXT_EXTI22_IRQ_PRIORITY       15
+
+/*
+ * GPT driver system settings.
+ */
+#define STM32_GPT_USE_TIM1                  FALSE
+#define STM32_GPT_USE_TIM2                  FALSE
+#define STM32_GPT_USE_TIM3                  FALSE
+#define STM32_GPT_USE_TIM4                  FALSE
+#define STM32_GPT_USE_TIM5                  FALSE
+#define STM32_GPT_USE_TIM6                  FALSE
+#define STM32_GPT_USE_TIM7                  FALSE
+#define STM32_GPT_USE_TIM8                  FALSE
+#define STM32_GPT_USE_TIM9                  FALSE
+#define STM32_GPT_USE_TIM11                 FALSE
+#define STM32_GPT_USE_TIM12                 FALSE
+#define STM32_GPT_USE_TIM14                 FALSE
+#define STM32_GPT_TIM1_IRQ_PRIORITY         7
+#define STM32_GPT_TIM2_IRQ_PRIORITY         7
+#define STM32_GPT_TIM3_IRQ_PRIORITY         7
+#define STM32_GPT_TIM4_IRQ_PRIORITY         7
+#define STM32_GPT_TIM5_IRQ_PRIORITY         7
+#define STM32_GPT_TIM6_IRQ_PRIORITY         7
+#define STM32_GPT_TIM7_IRQ_PRIORITY         7
+#define STM32_GPT_TIM8_IRQ_PRIORITY         7
+#define STM32_GPT_TIM9_IRQ_PRIORITY         7
+#define STM32_GPT_TIM11_IRQ_PRIORITY        7
+#define STM32_GPT_TIM12_IRQ_PRIORITY        7
+#define STM32_GPT_TIM14_IRQ_PRIORITY        7
+
+/*
+ * I2C driver system settings.
+ */
+#define STM32_I2C_USE_I2C1                  FALSE
+#define STM32_I2C_USE_I2C2                  FALSE
+#define STM32_I2C_USE_I2C3                  FALSE
+#define STM32_I2C_USE_I2C4                  FALSE
+#define STM32_I2C_BUSY_TIMEOUT              50
+#define STM32_I2C_I2C1_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 0)
+#define STM32_I2C_I2C1_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 6)
+#define STM32_I2C_I2C2_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 2)
+#define STM32_I2C_I2C2_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 7)
+#define STM32_I2C_I2C3_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 2)
+#define STM32_I2C_I2C3_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 4)
+#define STM32_I2C_I2C4_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 2)
+#define STM32_I2C_I2C4_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 5)
+#define STM32_I2C_I2C1_IRQ_PRIORITY         5
+#define STM32_I2C_I2C2_IRQ_PRIORITY         5
+#define STM32_I2C_I2C3_IRQ_PRIORITY         5
+#define STM32_I2C_I2C4_IRQ_PRIORITY         5
+#define STM32_I2C_I2C1_DMA_PRIORITY         3
+#define STM32_I2C_I2C2_DMA_PRIORITY         3
+#define STM32_I2C_I2C3_DMA_PRIORITY         3
+#define STM32_I2C_I2C4_DMA_PRIORITY         3
+#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      osalSysHalt("DMA failure")
+
+/*
+ * ICU driver system settings.
+ */
+#define STM32_ICU_USE_TIM1                  FALSE
+#define STM32_ICU_USE_TIM2                  FALSE
+#define STM32_ICU_USE_TIM3                  FALSE
+#define STM32_ICU_USE_TIM4                  FALSE
+#define STM32_ICU_USE_TIM5                  FALSE
+#define STM32_ICU_USE_TIM8                  FALSE
+#define STM32_ICU_USE_TIM9                  FALSE
+#define STM32_ICU_TIM1_IRQ_PRIORITY         7
+#define STM32_ICU_TIM2_IRQ_PRIORITY         7
+#define STM32_ICU_TIM3_IRQ_PRIORITY         7
+#define STM32_ICU_TIM4_IRQ_PRIORITY         7
+#define STM32_ICU_TIM5_IRQ_PRIORITY         7
+#define STM32_ICU_TIM8_IRQ_PRIORITY         7
+#define STM32_ICU_TIM9_IRQ_PRIORITY         7
+
+/*
+ * MAC driver system settings.
+ */
+#define STM32_MAC_TRANSMIT_BUFFERS          2
+#define STM32_MAC_RECEIVE_BUFFERS           4
+#define STM32_MAC_BUFFERS_SIZE              1522
+#define STM32_MAC_PHY_TIMEOUT               100
+#define STM32_MAC_ETH1_CHANGE_PHY_STATE     TRUE
+#define STM32_MAC_ETH1_IRQ_PRIORITY         13
+#define STM32_MAC_IP_CHECKSUM_OFFLOAD       0
+
+/*
+ * PWM driver system settings.
+ */
+#define STM32_PWM_USE_ADVANCED              FALSE
+#define STM32_PWM_USE_TIM1                  FALSE
+#define STM32_PWM_USE_TIM2                  FALSE
+#define STM32_PWM_USE_TIM3                  FALSE
+#define STM32_PWM_USE_TIM4                  FALSE
+#define STM32_PWM_USE_TIM5                  FALSE
+#define STM32_PWM_USE_TIM8                  FALSE
+#define STM32_PWM_USE_TIM9                  FALSE
+#define STM32_PWM_TIM1_IRQ_PRIORITY         7
+#define STM32_PWM_TIM2_IRQ_PRIORITY         7
+#define STM32_PWM_TIM3_IRQ_PRIORITY         7
+#define STM32_PWM_TIM4_IRQ_PRIORITY         7
+#define STM32_PWM_TIM5_IRQ_PRIORITY         7
+#define STM32_PWM_TIM8_IRQ_PRIORITY         7
+#define STM32_PWM_TIM9_IRQ_PRIORITY         7
+
+/*
+ * SDC driver system settings.
+ */
+#define STM32_SDC_USE_SDMMC1                FALSE
+#define STM32_SDC_SDMMC_UNALIGNED_SUPPORT   TRUE
+#define STM32_SDC_SDMMC_WRITE_TIMEOUT       250
+#define STM32_SDC_SDMMC_READ_TIMEOUT        25
+#define STM32_SDC_SDMMC_CLOCK_DELAY         10
+#define STM32_SDC_SDMMC1_DMA_STREAM         STM32_DMA_STREAM_ID(2, 3)
+#define STM32_SDC_SDMMC1_DMA_PRIORITY       3
+#define STM32_SDC_SDMMC1_IRQ_PRIORITY       9
+
+/*
+ * SERIAL driver system settings.
+ */
+#define STM32_SERIAL_USE_USART1             TRUE
+#define STM32_SERIAL_USE_USART2             FALSE
+#define STM32_SERIAL_USE_USART3             FALSE
+#define STM32_SERIAL_USE_UART4              FALSE
+#define STM32_SERIAL_USE_UART5              FALSE
+#define STM32_SERIAL_USE_USART6             FALSE
+#define STM32_SERIAL_USE_UART7              FALSE
+#define STM32_SERIAL_USE_UART8              FALSE
+#define STM32_SERIAL_USART1_PRIORITY        12
+#define STM32_SERIAL_USART2_PRIORITY        12
+#define STM32_SERIAL_USART3_PRIORITY        12
+#define STM32_SERIAL_UART4_PRIORITY         12
+#define STM32_SERIAL_UART5_PRIORITY         12
+#define STM32_SERIAL_USART6_PRIORITY        12
+#define STM32_SERIAL_UART7_PRIORITY         12
+#define STM32_SERIAL_UART8_PRIORITY         12
+
+/*
+ * SPI driver system settings.
+ */
+#define STM32_SPI_USE_SPI1                  FALSE
+#define STM32_SPI_USE_SPI2                  FALSE
+#define STM32_SPI_USE_SPI3                  FALSE
+#define STM32_SPI_USE_SPI4                  FALSE
+#define STM32_SPI_USE_SPI5                  FALSE
+#define STM32_SPI_USE_SPI6                  FALSE
+#define STM32_SPI_SPI1_RX_DMA_STREAM        STM32_DMA_STREAM_ID(2, 0)
+#define STM32_SPI_SPI1_TX_DMA_STREAM        STM32_DMA_STREAM_ID(2, 3)
+#define STM32_SPI_SPI2_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 3)
+#define STM32_SPI_SPI2_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 4)
+#define STM32_SPI_SPI3_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 0)
+#define STM32_SPI_SPI3_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 7)
+#define STM32_SPI_SPI4_RX_DMA_STREAM        STM32_DMA_STREAM_ID(2, 0)
+#define STM32_SPI_SPI4_TX_DMA_STREAM        STM32_DMA_STREAM_ID(2, 1)
+#define STM32_SPI_SPI5_RX_DMA_STREAM        STM32_DMA_STREAM_ID(2, 3)
+#define STM32_SPI_SPI5_TX_DMA_STREAM        STM32_DMA_STREAM_ID(2, 4)
+#define STM32_SPI_SPI6_RX_DMA_STREAM        STM32_DMA_STREAM_ID(2, 6)
+#define STM32_SPI_SPI6_TX_DMA_STREAM        STM32_DMA_STREAM_ID(2, 5)
+#define STM32_SPI_SPI1_DMA_PRIORITY         1
+#define STM32_SPI_SPI2_DMA_PRIORITY         1
+#define STM32_SPI_SPI3_DMA_PRIORITY         1
+#define STM32_SPI_SPI4_DMA_PRIORITY         1
+#define STM32_SPI_SPI4_DMA_PRIORITY         1
+#define STM32_SPI_SPI4_DMA_PRIORITY         1
+#define STM32_SPI_SPI1_IRQ_PRIORITY         10
+#define STM32_SPI_SPI2_IRQ_PRIORITY         10
+#define STM32_SPI_SPI3_IRQ_PRIORITY         10
+#define STM32_SPI_SPI4_IRQ_PRIORITY         10
+#define STM32_SPI_SPI5_IRQ_PRIORITY         10
+#define STM32_SPI_SPI6_IRQ_PRIORITY         10
+#define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
+
+/*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+#define STM32_ST_USE_TIMER                  2
+
+/*
+ * UART driver system settings.
+ */
+#define STM32_UART_USE_USART1               FALSE
+#define STM32_UART_USE_USART2               FALSE
+#define STM32_UART_USE_USART3               FALSE
+#define STM32_UART_USE_UART4                FALSE
+#define STM32_UART_USE_UART5                FALSE
+#define STM32_UART_USE_USART6               FALSE
+#define STM32_UART_USE_UART7                FALSE
+#define STM32_UART_USE_UART8                FALSE
+#define STM32_UART_USART1_RX_DMA_STREAM     STM32_DMA_STREAM_ID(2, 5)
+#define STM32_UART_USART1_TX_DMA_STREAM     STM32_DMA_STREAM_ID(2, 7)
+#define STM32_UART_USART2_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 5)
+#define STM32_UART_USART2_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 6)
+#define STM32_UART_USART3_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 1)
+#define STM32_UART_USART3_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 3)
+#define STM32_UART_UART4_RX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 2)
+#define STM32_UART_UART4_TX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 4)
+#define STM32_UART_UART5_RX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 0)
+#define STM32_UART_UART5_TX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 7)
+#define STM32_UART_USART6_RX_DMA_STREAM     STM32_DMA_STREAM_ID(2, 2)
+#define STM32_UART_USART6_TX_DMA_STREAM     STM32_DMA_STREAM_ID(2, 7)
+#define STM32_UART_UART7_RX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 3)
+#define STM32_UART_UART7_TX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 1)
+#define STM32_UART_UART8_RX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 6)
+#define STM32_UART_UART8_TX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 0)
+#define STM32_UART_USART1_IRQ_PRIORITY      12
+#define STM32_UART_USART2_IRQ_PRIORITY      12
+#define STM32_UART_USART3_IRQ_PRIORITY      12
+#define STM32_UART_UART4_IRQ_PRIORITY       12
+#define STM32_UART_UART5_IRQ_PRIORITY       12
+#define STM32_UART_USART6_IRQ_PRIORITY      12
+#define STM32_UART_USART1_DMA_PRIORITY      0
+#define STM32_UART_USART2_DMA_PRIORITY      0
+#define STM32_UART_USART3_DMA_PRIORITY      0
+#define STM32_UART_UART4_DMA_PRIORITY       0
+#define STM32_UART_UART5_DMA_PRIORITY       0
+#define STM32_UART_USART6_DMA_PRIORITY      0
+#define STM32_UART_UART7_DMA_PRIORITY       0
+#define STM32_UART_UART8_DMA_PRIORITY       0
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
+
+/*
+ * USB driver system settings.
+ */
+#define STM32_USB_USE_OTG1                  FALSE
+#define STM32_USB_USE_OTG2                  FALSE
+#define STM32_USB_OTG1_IRQ_PRIORITY         14
+#define STM32_USB_OTG2_IRQ_PRIORITY         14
+#define STM32_USB_OTG1_RX_FIFO_SIZE         512
+#define STM32_USB_OTG2_RX_FIFO_SIZE         1024
+#define STM32_USB_OTG_THREAD_PRIO           LOWPRIO
+#define STM32_USB_OTG_THREAD_STACK_SIZE     128
+#define STM32_USB_OTGFIFO_FILL_BASEPRI      0
+
+#endif /* _MCUCONF_H_ */
diff --git a/boards/base/STM32F746-Discovery/example_chibios3/openocd.cfg b/boards/base/STM32F746-Discovery/example_chibios3/openocd.cfg
new file mode 100644
index 00000000..e2d732a4
--- /dev/null
+++ b/boards/base/STM32F746-Discovery/example_chibios3/openocd.cfg
@@ -0,0 +1,94 @@
+# This is a script file for OpenOCD ?.?.?
+#
+# It is set up for the STM32F749-Discovery board using the ST-Link JTAG adaptor.
+#
+# Assuming the current directory is your project directory containing this openocd.cfg file...
+#
+# To program your device:
+#
+#	openocd -f openocd.cfg -c "Burn yourfile.bin" -c shutdown
+#
+# To debug your device:
+#
+#	openocd
+#	(This will run openocd in gdb server debug mode. Leave it running in the background)
+#
+#	gdb yourfile.elf
+#	(To start gdb. Then run the following commands in gdb...)
+#
+#	target remote 127.0.0.1:3333
+#	monitor Debug
+#	stepi
+#	(This last stepi resynchronizes gdb).
+#
+# If you want to reprogram from within gdb:
+#
+#	monitor Burn yourfile.bin
+#
+
+echo ""
+echo "##### Loading debugger..."
+source [find interface/stlink-v2-1.cfg]
+
+echo ""
+echo "##### Loading CPU..."
+source [find target/stm32f7x.cfg]
+
+echo ""
+echo "##### Configuring..."
+#reset_config srst_only srst_nogate
+#cortex_m maskisr (auto|on|off)
+#cortex_m vector_catch [all|none|list]
+#cortex_m reset_config (srst|sysresetreq|vectreset)
+#gdb_breakpoint_override hard
+
+proc Debug { } {
+	echo ""
+	echo "##### Debug Session Connected..."
+	reset init
+	echo "Ready..."
+}
+
+proc Burn {file} {
+	echo ""
+	echo "##### Burning $file to device..."
+	halt
+	# Due to an issue with the combination of the ST-Link adapters and OpenOCD
+	# applying the stm32f2x unlock 0 command actaully applies read protection - VERY BAD!
+	# If this happens to you - use the ST-Link utility to set the option byte back to normal.
+	# If you are using a different debugger eg a FT2232 based adapter you can uncomment the line below.
+	#stm32f2x unlock 0
+	#flash protect 0 0 last off
+	reset halt
+	flash write_image erase $file 0 elf
+	verify_image $file 0x0 elf
+	#flash protect 0 0 last on
+	reset
+	echo "Burning Complete!"
+}
+
+echo ""
+echo "##### Leaving Configuration Mode..."
+init
+reset init
+flash probe 0
+flash banks
+#flash info 0
+
+echo ""
+echo "##### Waiting for debug connections..."
+
+##### OLD ######
+#source [find interface/stlink-v2-1.cfg]
+#source [find target/stm32f7x.cfg]
+#
+#proc flash_chip {} {
+#	halt
+#	reset halt
+#	flash write_image erase main.elf 0 elf
+#	verify_image main.elf 0 elf
+#	reset
+#	shutdown
+#}
+#
+#init
diff --git a/boards/base/STM32F746-Discovery/example_chibios3/stm32f7xx_hal_conf.h b/boards/base/STM32F746-Discovery/example_chibios3/stm32f7xx_hal_conf.h
new file mode 100644
index 00000000..765e1377
--- /dev/null
+++ b/boards/base/STM32F746-Discovery/example_chibios3/stm32f7xx_hal_conf.h
@@ -0,0 +1,418 @@
+/**
+  ******************************************************************************
+  * @file    stm32f7xx_hal_conf.h
+  * @author  MCD Application Team
+  * @version V1.0.0
+  * @date    25-June-2015
+  * @brief   HAL configuration file.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F7xx_HAL_CONF_H
+#define __STM32F7xx_HAL_CONF_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+
+/* ########################## Module Selection ############################## */
+/**
+  * @brief This is the list of modules to be used in the HAL driver
+  */
+#define HAL_MODULE_ENABLED
+/* #define HAL_ADC_MODULE_ENABLED   */
+/* #define HAL_CAN_MODULE_ENABLED */
+/* #define HAL_CEC_MODULE_ENABLED   */
+/* #define HAL_CRC_MODULE_ENABLED   */
+/* #define HAL_CRYP_MODULE_ENABLED   */
+/* #define HAL_DAC_MODULE_ENABLED */
+/* #define HAL_DCMI_MODULE_ENABLED  */
+#define HAL_DMA_MODULE_ENABLED
+/* #define HAL_DMA2D_MODULE_ENABLED  */
+/* #define HAL_ETH_MODULE_ENABLED  */
+#define HAL_FLASH_MODULE_ENABLED
+/* #define HAL_NAND_MODULE_ENABLED */
+/* #define HAL_NOR_MODULE_ENABLED */
+/* #define HAL_SRAM_MODULE_ENABLED */
+#define HAL_SDRAM_MODULE_ENABLED
+/* #define HAL_HASH_MODULE_ENABLED   */
+#define HAL_GPIO_MODULE_ENABLED
+/* #define HAL_I2C_MODULE_ENABLED */
+/* #define HAL_I2S_MODULE_ENABLED    */
+/* #define HAL_IWDG_MODULE_ENABLED  */
+/* #define HAL_LPTIM_MODULE_ENABLED */
+/* #define HAL_LTDC_MODULE_ENABLED */
+#define HAL_PWR_MODULE_ENABLED
+/* #define HAL_QSPI_MODULE_ENABLED    */
+#define HAL_RCC_MODULE_ENABLED
+/* #define HAL_RNG_MODULE_ENABLED    */
+/* #define HAL_RTC_MODULE_ENABLED */
+/* #define HAL_SAI_MODULE_ENABLED    */
+/* #define HAL_SD_MODULE_ENABLED   */
+/* #define HAL_SPDIFRX_MODULE_ENABLED */
+/* #define HAL_SPI_MODULE_ENABLED    */
+/* #define HAL_TIM_MODULE_ENABLED    */
+/* #define HAL_UART_MODULE_ENABLED */
+/* #define HAL_USART_MODULE_ENABLED  */
+/* #define HAL_IRDA_MODULE_ENABLED  */
+/* #define HAL_SMARTCARD_MODULE_ENABLED  */
+/* #define HAL_WWDG_MODULE_ENABLED   */
+#define HAL_CORTEX_MODULE_ENABLED
+/* #define HAL_PCD_MODULE_ENABLED */
+/* #define HAL_HCD_MODULE_ENABLED */
+
+
+/* ########################## HSE/HSI Values adaptation ##################### */
+/**
+  * @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSE is used as system clock source, directly or through the PLL).
+  */
+#if !defined  (HSE_VALUE)
+  #define HSE_VALUE    ((uint32_t)25000000) /*!< Value of the External oscillator in Hz */
+#endif /* HSE_VALUE */
+
+#if !defined  (HSE_STARTUP_TIMEOUT)
+  #define HSE_STARTUP_TIMEOUT    ((uint32_t)5000)   /*!< Time out for HSE start up, in ms */
+#endif /* HSE_STARTUP_TIMEOUT */
+
+/**
+  * @brief Internal High Speed oscillator (HSI) value.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSI is used as system clock source, directly or through the PLL).
+  */
+#if !defined  (HSI_VALUE)
+  #define HSI_VALUE    ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/
+#endif /* HSI_VALUE */
+
+/**
+  * @brief Internal Low Speed oscillator (LSI) value.
+  */
+#if !defined  (LSI_VALUE)
+ #define LSI_VALUE  ((uint32_t)40000)
+#endif /* LSI_VALUE */                      /*!< Value of the Internal Low Speed oscillator in Hz
+                                             The real value may vary depending on the variations
+                                             in voltage and temperature.  */
+/**
+  * @brief External Low Speed oscillator (LSE) value.
+  */
+#if !defined  (LSE_VALUE)
+ #define LSE_VALUE  ((uint32_t)32768)    /*!< Value of the External Low Speed oscillator in Hz */
+#endif /* LSE_VALUE */
+
+/**
+  * @brief External clock source for I2S peripheral
+  *        This value is used by the I2S HAL module to compute the I2S clock source
+  *        frequency, this source is inserted directly through I2S_CKIN pad.
+  */
+#if !defined  (EXTERNAL_CLOCK_VALUE)
+  #define EXTERNAL_CLOCK_VALUE    ((uint32_t)12288000) /*!< Value of the Internal oscillator in Hz*/
+#endif /* EXTERNAL_CLOCK_VALUE */
+
+/* Tip: To avoid modifying this file each time you need to use different HSE,
+   ===  you can define the HSE value in your toolchain compiler preprocessor. */
+
+/* ########################### System Configuration ######################### */
+/**
+  * @brief This is the HAL system configuration section
+  */
+#define  VDD_VALUE                    ((uint32_t)3300) /*!< Value of VDD in mv */
+#define  TICK_INT_PRIORITY            ((uint32_t)0x0F) /*!< tick interrupt priority */
+#define  USE_RTOS                     0
+#define  ART_ACCLERATOR_ENABLE        1 /* To enable instruction cache and prefetch */
+
+/* ########################## Assert Selection ############################## */
+/**
+  * @brief Uncomment the line below to expanse the "assert_param" macro in the
+  *        HAL drivers code
+  */
+/* #define USE_FULL_ASSERT    1 */
+
+/* ################## Ethernet peripheral configuration ##################### */
+
+/* Section 1 : Ethernet peripheral configuration */
+
+/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */
+#define MAC_ADDR0   2
+#define MAC_ADDR1   0
+#define MAC_ADDR2   0
+#define MAC_ADDR3   0
+#define MAC_ADDR4   0
+#define MAC_ADDR5   0
+
+/* Definition of the Ethernet driver buffers size and count */
+#define ETH_RX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for receive               */
+#define ETH_TX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for transmit              */
+#define ETH_RXBUFNB                    ((uint32_t)4)       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
+#define ETH_TXBUFNB                    ((uint32_t)4)       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
+
+/* Section 2: PHY configuration section */
+
+/* DP83848 PHY Address*/
+#define DP83848_PHY_ADDRESS             0x01
+/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
+#define PHY_RESET_DELAY                 ((uint32_t)0x000000FF)
+/* PHY Configuration delay */
+#define PHY_CONFIG_DELAY                ((uint32_t)0x00000FFF)
+
+#define PHY_READ_TO                     ((uint32_t)0x0000FFFF)
+#define PHY_WRITE_TO                    ((uint32_t)0x0000FFFF)
+
+/* Section 3: Common PHY Registers */
+
+#define PHY_BCR                         ((uint16_t)0x00)    /*!< Transceiver Basic Control Register   */
+#define PHY_BSR                         ((uint16_t)0x01)    /*!< Transceiver Basic Status Register    */
+
+#define PHY_RESET                       ((uint16_t)0x8000)  /*!< PHY Reset */
+#define PHY_LOOPBACK                    ((uint16_t)0x4000)  /*!< Select loop-back mode */
+#define PHY_FULLDUPLEX_100M             ((uint16_t)0x2100)  /*!< Set the full-duplex mode at 100 Mb/s */
+#define PHY_HALFDUPLEX_100M             ((uint16_t)0x2000)  /*!< Set the half-duplex mode at 100 Mb/s */
+#define PHY_FULLDUPLEX_10M              ((uint16_t)0x0100)  /*!< Set the full-duplex mode at 10 Mb/s  */
+#define PHY_HALFDUPLEX_10M              ((uint16_t)0x0000)  /*!< Set the half-duplex mode at 10 Mb/s  */
+#define PHY_AUTONEGOTIATION             ((uint16_t)0x1000)  /*!< Enable auto-negotiation function     */
+#define PHY_RESTART_AUTONEGOTIATION     ((uint16_t)0x0200)  /*!< Restart auto-negotiation function    */
+#define PHY_POWERDOWN                   ((uint16_t)0x0800)  /*!< Select the power down mode           */
+#define PHY_ISOLATE                     ((uint16_t)0x0400)  /*!< Isolate PHY from MII                 */
+
+#define PHY_AUTONEGO_COMPLETE           ((uint16_t)0x0020)  /*!< Auto-Negotiation process completed   */
+#define PHY_LINKED_STATUS               ((uint16_t)0x0004)  /*!< Valid link established               */
+#define PHY_JABBER_DETECTION            ((uint16_t)0x0002)  /*!< Jabber condition detected            */
+
+/* Section 4: Extended PHY Registers */
+
+#define PHY_SR                          ((uint16_t)0x10)    /*!< PHY status register Offset                      */
+#define PHY_MICR                        ((uint16_t)0x11)    /*!< MII Interrupt Control Register                  */
+#define PHY_MISR                        ((uint16_t)0x12)    /*!< MII Interrupt Status and Misc. Control Register */
+
+#define PHY_LINK_STATUS                 ((uint16_t)0x0001)  /*!< PHY Link mask                                   */
+#define PHY_SPEED_STATUS                ((uint16_t)0x0002)  /*!< PHY Speed mask                                  */
+#define PHY_DUPLEX_STATUS               ((uint16_t)0x0004)  /*!< PHY Duplex mask                                 */
+
+#define PHY_MICR_INT_EN                 ((uint16_t)0x0002)  /*!< PHY Enable interrupts                           */
+#define PHY_MICR_INT_OE                 ((uint16_t)0x0001)  /*!< PHY Enable output interrupt events              */
+
+#define PHY_MISR_LINK_INT_EN            ((uint16_t)0x0020)  /*!< Enable Interrupt on change of link status       */
+#define PHY_LINK_INTERRUPT              ((uint16_t)0x2000)  /*!< PHY link status interrupt mask                  */
+
+/* Includes ------------------------------------------------------------------*/
+/**
+  * @brief Include module's header file
+  */
+
+#ifdef HAL_RCC_MODULE_ENABLED
+  #include "stm32f7xx_hal_rcc.h"
+#endif /* HAL_RCC_MODULE_ENABLED */
+
+#ifdef HAL_GPIO_MODULE_ENABLED
+  #include "stm32f7xx_hal_gpio.h"
+#endif /* HAL_GPIO_MODULE_ENABLED */
+
+#ifdef HAL_DMA_MODULE_ENABLED
+  #include "stm32f7xx_hal_dma.h"
+#endif /* HAL_DMA_MODULE_ENABLED */
+
+#ifdef HAL_CORTEX_MODULE_ENABLED
+  #include "stm32f7xx_hal_cortex.h"
+#endif /* HAL_CORTEX_MODULE_ENABLED */
+
+#ifdef HAL_ADC_MODULE_ENABLED
+  #include "stm32f7xx_hal_adc.h"
+#endif /* HAL_ADC_MODULE_ENABLED */
+
+#ifdef HAL_CAN_MODULE_ENABLED
+  #include "stm32f7xx_hal_can.h"
+#endif /* HAL_CAN_MODULE_ENABLED */
+
+#ifdef HAL_CEC_MODULE_ENABLED
+  #include "stm32f7xx_hal_cec.h"
+#endif /* HAL_CEC_MODULE_ENABLED */
+
+#ifdef HAL_CRC_MODULE_ENABLED
+  #include "stm32f7xx_hal_crc.h"
+#endif /* HAL_CRC_MODULE_ENABLED */
+
+#ifdef HAL_CRYP_MODULE_ENABLED
+  #include "stm32f7xx_hal_cryp.h"
+#endif /* HAL_CRYP_MODULE_ENABLED */
+
+#ifdef HAL_DMA2D_MODULE_ENABLED
+  #include "stm32f7xx_hal_dma2d.h"
+#endif /* HAL_DMA2D_MODULE_ENABLED */
+
+#ifdef HAL_DAC_MODULE_ENABLED
+  #include "stm32f7xx_hal_dac.h"
+#endif /* HAL_DAC_MODULE_ENABLED */
+
+#ifdef HAL_DCMI_MODULE_ENABLED
+  #include "stm32f7xx_hal_dcmi.h"
+#endif /* HAL_DCMI_MODULE_ENABLED */
+
+#ifdef HAL_ETH_MODULE_ENABLED
+  #include "stm32f7xx_hal_eth.h"
+#endif /* HAL_ETH_MODULE_ENABLED */
+
+#ifdef HAL_FLASH_MODULE_ENABLED
+  #include "stm32f7xx_hal_flash.h"
+#endif /* HAL_FLASH_MODULE_ENABLED */
+
+#ifdef HAL_SRAM_MODULE_ENABLED
+  #include "stm32f7xx_hal_sram.h"
+#endif /* HAL_SRAM_MODULE_ENABLED */
+
+#ifdef HAL_NOR_MODULE_ENABLED
+  #include "stm32f7xx_hal_nor.h"
+#endif /* HAL_NOR_MODULE_ENABLED */
+
+#ifdef HAL_NAND_MODULE_ENABLED
+  #include "stm32f7xx_hal_nand.h"
+#endif /* HAL_NAND_MODULE_ENABLED */
+
+#ifdef HAL_SDRAM_MODULE_ENABLED
+  #include "stm32f7xx_hal_sdram.h"
+#endif /* HAL_SDRAM_MODULE_ENABLED */
+
+#ifdef HAL_HASH_MODULE_ENABLED
+ #include "stm32f7xx_hal_hash.h"
+#endif /* HAL_HASH_MODULE_ENABLED */
+
+#ifdef HAL_I2C_MODULE_ENABLED
+ #include "stm32f7xx_hal_i2c.h"
+#endif /* HAL_I2C_MODULE_ENABLED */
+
+#ifdef HAL_I2S_MODULE_ENABLED
+ #include "stm32f7xx_hal_i2s.h"
+#endif /* HAL_I2S_MODULE_ENABLED */
+
+#ifdef HAL_IWDG_MODULE_ENABLED
+ #include "stm32f7xx_hal_iwdg.h"
+#endif /* HAL_IWDG_MODULE_ENABLED */
+
+#ifdef HAL_LPTIM_MODULE_ENABLED
+ #include "stm32f7xx_hal_lptim.h"
+#endif /* HAL_LPTIM_MODULE_ENABLED */
+
+#ifdef HAL_LTDC_MODULE_ENABLED
+ #include "stm32f7xx_hal_ltdc.h"
+#endif /* HAL_LTDC_MODULE_ENABLED */
+
+#ifdef HAL_PWR_MODULE_ENABLED
+ #include "stm32f7xx_hal_pwr.h"
+#endif /* HAL_PWR_MODULE_ENABLED */
+
+#ifdef HAL_QSPI_MODULE_ENABLED
+ #include "stm32f7xx_hal_qspi.h"
+#endif /* HAL_QSPI_MODULE_ENABLED */
+
+#ifdef HAL_RNG_MODULE_ENABLED
+ #include "stm32f7xx_hal_rng.h"
+#endif /* HAL_RNG_MODULE_ENABLED */
+
+#ifdef HAL_RTC_MODULE_ENABLED
+ #include "stm32f7xx_hal_rtc.h"
+#endif /* HAL_RTC_MODULE_ENABLED */
+
+#ifdef HAL_SAI_MODULE_ENABLED
+ #include "stm32f7xx_hal_sai.h"
+#endif /* HAL_SAI_MODULE_ENABLED */
+
+#ifdef HAL_SD_MODULE_ENABLED
+ #include "stm32f7xx_hal_sd.h"
+#endif /* HAL_SD_MODULE_ENABLED */
+
+#ifdef HAL_SPDIFRX_MODULE_ENABLED
+ #include "stm32f7xx_hal_spdifrx.h"
+#endif /* HAL_SPDIFRX_MODULE_ENABLED */
+
+#ifdef HAL_SPI_MODULE_ENABLED
+ #include "stm32f7xx_hal_spi.h"
+#endif /* HAL_SPI_MODULE_ENABLED */
+
+#ifdef HAL_TIM_MODULE_ENABLED
+ #include "stm32f7xx_hal_tim.h"
+#endif /* HAL_TIM_MODULE_ENABLED */
+
+#ifdef HAL_UART_MODULE_ENABLED
+ #include "stm32f7xx_hal_uart.h"
+#endif /* HAL_UART_MODULE_ENABLED */
+
+#ifdef HAL_USART_MODULE_ENABLED
+ #include "stm32f7xx_hal_usart.h"
+#endif /* HAL_USART_MODULE_ENABLED */
+
+#ifdef HAL_IRDA_MODULE_ENABLED
+ #include "stm32f7xx_hal_irda.h"
+#endif /* HAL_IRDA_MODULE_ENABLED */
+
+#ifdef HAL_SMARTCARD_MODULE_ENABLED
+ #include "stm32f7xx_hal_smartcard.h"
+#endif /* HAL_SMARTCARD_MODULE_ENABLED */
+
+#ifdef HAL_WWDG_MODULE_ENABLED
+ #include "stm32f7xx_hal_wwdg.h"
+#endif /* HAL_WWDG_MODULE_ENABLED */
+
+#ifdef HAL_PCD_MODULE_ENABLED
+ #include "stm32f7xx_hal_pcd.h"
+#endif /* HAL_PCD_MODULE_ENABLED */
+
+#ifdef HAL_HCD_MODULE_ENABLED
+ #include "stm32f7xx_hal_hcd.h"
+#endif /* HAL_HCD_MODULE_ENABLED */
+
+/* Exported macro ------------------------------------------------------------*/
+#ifdef  USE_FULL_ASSERT
+/**
+  * @brief  The assert_param macro is used for function's parameters check.
+  * @param  expr: If expr is false, it calls assert_failed function
+  *         which reports the name of the source file and the source
+  *         line number of the call that failed.
+  *         If expr is true, it returns no value.
+  * @retval None
+  */
+  #define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
+/* Exported functions ------------------------------------------------------- */
+  void assert_failed(uint8_t* file, uint32_t line);
+#else
+  #define assert_param(expr) ((void)0)
+#endif /* USE_FULL_ASSERT */
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F7xx_HAL_CONF_H */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/boards/base/STM32F746-Discovery/example_raw32/Makefile b/boards/base/STM32F746-Discovery/example_raw32/Makefile
index dee0f01a..b0f8344a 100644
--- a/boards/base/STM32F746-Discovery/example_raw32/Makefile
+++ b/boards/base/STM32F746-Discovery/example_raw32/Makefile
@@ -15,38 +15,38 @@
 	# See $(GFXLIB)/tools/gmake_scripts/library_ugfx.mk for the list of variables
 	GFXLIB					= ../ugfx
 	GFXBOARD				= STM32F746-Discovery
-	GFXDEMO					= modules/gdisp/basics
+	GFXDEMO					= modules/gdisp/streaming
 	#GFXDRIVERS				=
+	GFXSINGLEMAKE			= no
 
 # ChibiOS settings
-# Note: not supported by ChibiOS yet!
 ifeq ($(OPT_OS),chibios)
-	# See $(GFXLIB)/tools/gmake_scripts/os_chibios.mk for the list of variables
-	CHIBIOS				= ../ChibiOS
-	CHIBIOS_BOARD		= ST_STM32F746_DISCOVERY
-	CHIBIOS_PLATFORM	= STM32F7xx
-	CHIBIOS_PORT		= GCC/ARMCMx/STM32F7xx
-	CHIBIOS_LDSCRIPT	= STM32F746.ld
-
-	#CHIBIOS			= ../ChibiOS3
-	#CHIBIOS_VERSION	= 3
-	#CHIBIOS_BOARD		= ST_STM32F746_DISCOVERY
-	#CHIBIOS_CPUCLASS   = ARMCMx
-	#CHIBIOS_PLATFORM	= STM32/STM32F7xx
-	#CHIBIOS_PORT		= stm32f7xx
-	#CHIBIOS_LDSCRIPT	= STM32F746.ld
+	# See $(GFXLIB)/tools/gmake_scripts/os_chibios_3.mk for the list of variables
+	CHIBIOS					= ../ChibiOS-Master
+	CHIBIOS_VERSION			= 3
+	CHIBIOS_CPUCLASS		= ARMCMx
+	CHIBIOS_PLATFORM		= STM32
+	CHIBIOS_DEVICE_FAMILY	= STM32F7xx
+	CHIBIOS_STARTUP			= startup_stm32f7xx
+	CHIBIOS_PORT			= v7m
+	CHIBIOS_LDSCRIPT		= STM32F746xG.ld
+	CHIBIOS_BOARD			= ST_STM32F746G_DISCOVERY
+	#CHIBIOS_PROCESS_STACKSIZE = 0x400
+	#CHIBIOS_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
-# Raw32 settings
+#Special - Required for the drivers for this discovery board.
+STMHAL		= ../STM32/STM32F7xx_HAL_Driver
+
+#Special - Required for Raw32
 CMSIS			= ../STM32/CMSIS
-HAL				= ../STM32/STM32F7xx_HAL_Driver
 
 ##############################################################################################
 # Set these for your project
 #
 
 ARCH     = arm-none-eabi-
-SRCFLAGS = -ggdb -O0
+SRCFLAGS = -ggdb -O1
 CFLAGS   = 
 CXXFLAGS = -fno-rtti
 ASFLAGS  =
@@ -55,7 +55,7 @@ LDFLAGS  =
 SRC      = 
 
 OBJS     =
-DEFS     =	GFX_OS_HEAP_SIZE=40960
+DEFS     = GFX_OS_HEAP_SIZE=40960
 LIBS     =
 INCPATH  = 
 
diff --git a/boards/base/STM32F746-Discovery/gmouse_lld_FT5336_board.h b/boards/base/STM32F746-Discovery/gmouse_lld_FT5336_board.h
index 8031eca5..1e3e6877 100644
--- a/boards/base/STM32F746-Discovery/gmouse_lld_FT5336_board.h
+++ b/boards/base/STM32F746-Discovery/gmouse_lld_FT5336_board.h
@@ -25,6 +25,11 @@
 // The FT5336 I2C slave address (including the R/W bit)
 #define FT5336_SLAVE_ADDR 0x70
 
+#if !GFX_USE_OS_CHIBIOS
+	#define AFRL	AFR[0]
+	#define AFRH	AFR[1]
+#endif
+
 static bool_t init_board(GMouse* m, unsigned instance)
 {
 	(void)m;
@@ -35,14 +40,14 @@ static bool_t init_board(GMouse* m, unsigned instance)
 	GPIOH->MODER |= GPIO_MODER_MODER7_1;					// Alternate function
 	GPIOH->OTYPER |= GPIO_OTYPER_OT_7;						// OpenDrain
 	GPIOH->OSPEEDR &= ~GPIO_OSPEEDER_OSPEEDR7;				// LowSpeed
-	GPIOH->AFR[0] |= (0b0100 << 4*7);						// AF4
+	GPIOH->AFRL |= (0b0100 << 4*7);							// AF4
 
 	// I2C3_SDA    GPIOH8, alternate, opendrain, highspeed
 	RCC->AHB1ENR |= RCC_AHB1ENR_GPIOHEN;					// Enable clock
 	GPIOH->MODER |= GPIO_MODER_MODER8_1;					// Alternate function
 	GPIOH->OTYPER |= GPIO_OTYPER_OT_8;						// OpenDrain
 	GPIOH->OSPEEDR &= ~GPIO_OSPEEDER_OSPEEDR8;				// LowSpeed
-	GPIOH->AFR[1] |= (0b0100 << 4*0);						// AF4
+	GPIOH->AFRH |= (0b0100 << 4*0);							// AF4
 
 	// Initialize the I2C3 peripheral
 	if (!(i2cInit(I2C3))) {
diff --git a/boards/base/STM32F746-Discovery/stm32f746g_discovery_sdram.c b/boards/base/STM32F746-Discovery/stm32f746g_discovery_sdram.c
index bf22b342..6f921492 100644
--- a/boards/base/STM32F746-Discovery/stm32f746g_discovery_sdram.c
+++ b/boards/base/STM32F746-Discovery/stm32f746g_discovery_sdram.c
@@ -80,6 +80,11 @@
 #include "stm32f746g_discovery_sdram.h"
 #include "stm32f7xx_hal_rcc.h"
 #include "stm32f7xx_hal_rcc_ex.h"
+#include "stm32f7xx_hal_cortex.h"
+
+#if GFX_USE_OS_CHIBIOS
+	#define HAL_GPIO_Init(port, ptr)	palSetGroupMode(port, (ptr)->Pin, 0, (ptr)->Mode|((ptr)->Speed<<3)|((ptr)->Pull<<5)|((ptr)->Alternate<<7))
+#endif
 
 /** @addtogroup BSP
   * @{
@@ -135,6 +140,49 @@ static FMC_SDRAM_CommandTypeDef Command;
   * @{
   */ 
 
+static HAL_StatusTypeDef _HAL_SDRAM_Init(SDRAM_HandleTypeDef *hsdram, FMC_SDRAM_TimingTypeDef *Timing)
+{
+  /* Check the SDRAM handle parameter */
+  if(hsdram == NULL)
+  {
+    return HAL_ERROR;
+  }
+
+  if(hsdram->State == HAL_SDRAM_STATE_RESET)
+  {
+    /* Allocate lock resource and initialize it */
+    hsdram->Lock = HAL_UNLOCKED;
+  }
+
+  /* Initialize the SDRAM controller state */
+  hsdram->State = HAL_SDRAM_STATE_BUSY;
+
+  /* Initialize SDRAM control Interface */
+  FMC_SDRAM_Init(hsdram->Instance, &(hsdram->Init));
+
+  /* Initialize SDRAM timing Interface */
+  FMC_SDRAM_Timing_Init(hsdram->Instance, Timing, hsdram->Init.SDBank);
+
+  /* Update the SDRAM controller state */
+  hsdram->State = HAL_SDRAM_STATE_READY;
+
+  return HAL_OK;
+}
+
+static HAL_StatusTypeDef _HAL_SDRAM_DeInit(SDRAM_HandleTypeDef *hsdram)
+{
+  /* Configure the SDRAM registers with their reset values */
+  FMC_SDRAM_DeInit(hsdram->Instance, hsdram->Init.SDBank);
+
+  /* Reset the SDRAM controller state */
+  hsdram->State = HAL_SDRAM_STATE_RESET;
+
+  /* Release Lock */
+  __HAL_UNLOCK(hsdram);
+
+  return HAL_OK;
+}
+
 /**
   * @brief  Initializes the SDRAM device.
   * @retval SDRAM status
@@ -169,7 +217,7 @@ uint8_t BSP_SDRAM_Init(void)
 
   BSP_SDRAM_MspInit(&sdramHandle, NULL); /* __weak function can be rewritten by the application */
 
-  if(HAL_SDRAM_Init(&sdramHandle, &Timing) != HAL_OK)
+  if(_HAL_SDRAM_Init(&sdramHandle, &Timing) != HAL_OK)
   {
     sdramstatus = SDRAM_ERROR;
   }
@@ -194,7 +242,7 @@ uint8_t BSP_SDRAM_DeInit(void)
   /* SDRAM device de-initialization */
   sdramHandle.Instance = FMC_SDRAM_DEVICE;
 
-  if(HAL_SDRAM_DeInit(&sdramHandle) != HAL_OK)
+  if(_HAL_SDRAM_DeInit(&sdramHandle) != HAL_OK)
   {
     sdramstatus = SDRAM_ERROR;
   }
@@ -209,6 +257,559 @@ uint8_t BSP_SDRAM_DeInit(void)
   return sdramstatus;
 }
 
+static HAL_StatusTypeDef _HAL_SDRAM_SendCommand(SDRAM_HandleTypeDef *hsdram, FMC_SDRAM_CommandTypeDef *Command, uint32_t Timeout)
+{
+  /* Check the SDRAM controller state */
+  if(hsdram->State == HAL_SDRAM_STATE_BUSY)
+  {
+    return HAL_BUSY;
+  }
+
+  /* Update the SDRAM state */
+  hsdram->State = HAL_SDRAM_STATE_BUSY;
+
+  /* Send SDRAM command */
+  FMC_SDRAM_SendCommand(hsdram->Instance, Command, Timeout);
+
+  /* Update the SDRAM controller state state */
+  if(Command->CommandMode == FMC_SDRAM_CMD_PALL)
+  {
+    hsdram->State = HAL_SDRAM_STATE_PRECHARGED;
+  }
+  else
+  {
+    hsdram->State = HAL_SDRAM_STATE_READY;
+  }
+
+  return HAL_OK;
+}
+
+static HAL_StatusTypeDef _HAL_SDRAM_ProgramRefreshRate(SDRAM_HandleTypeDef *hsdram, uint32_t RefreshRate)
+{
+  /* Check the SDRAM controller state */
+  if(hsdram->State == HAL_SDRAM_STATE_BUSY)
+  {
+    return HAL_BUSY;
+  }
+
+  /* Update the SDRAM state */
+  hsdram->State = HAL_SDRAM_STATE_BUSY;
+
+  /* Program the refresh rate */
+  FMC_SDRAM_ProgramRefreshRate(hsdram->Instance ,RefreshRate);
+
+  /* Update the SDRAM state */
+  hsdram->State = HAL_SDRAM_STATE_READY;
+
+  return HAL_OK;
+}
+
+static HAL_StatusTypeDef _HAL_SDRAM_Read_32b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint32_t *pDstBuffer, uint32_t BufferSize)
+{
+  __IO uint32_t *pSdramAddress = (uint32_t *)pAddress;
+
+  /* Process Locked */
+  __HAL_LOCK(hsdram);
+
+  /* Check the SDRAM controller state */
+  if(hsdram->State == HAL_SDRAM_STATE_BUSY)
+  {
+    return HAL_BUSY;
+  }
+  else if(hsdram->State == HAL_SDRAM_STATE_PRECHARGED)
+  {
+    return  HAL_ERROR;
+  }
+
+  /* Read data from source */
+  for(; BufferSize != 0; BufferSize--)
+  {
+    *pDstBuffer = *(__IO uint32_t *)pSdramAddress;
+    pDstBuffer++;
+    pSdramAddress++;
+  }
+
+  /* Process Unlocked */
+  __HAL_UNLOCK(hsdram);
+
+  return HAL_OK;
+}
+
+static HAL_StatusTypeDef _HAL_DMA_Init(DMA_HandleTypeDef *hdma)
+{
+  uint32_t tmp = 0;
+
+  /* Check the DMA peripheral state */
+  if(hdma == NULL)
+  {
+    return HAL_ERROR;
+  }
+
+  /* Change DMA peripheral state */
+  hdma->State = HAL_DMA_STATE_BUSY;
+
+  /* Get the CR register value */
+  tmp = hdma->Instance->CR;
+
+  /* Clear CHSEL, MBURST, PBURST, PL, MSIZE, PSIZE, MINC, PINC, CIRC, DIR, CT and DBM bits */
+  tmp &= ((uint32_t)~(DMA_SxCR_CHSEL | DMA_SxCR_MBURST | DMA_SxCR_PBURST | \
+                      DMA_SxCR_PL    | DMA_SxCR_MSIZE  | DMA_SxCR_PSIZE  | \
+                      DMA_SxCR_MINC  | DMA_SxCR_PINC   | DMA_SxCR_CIRC   | \
+                      DMA_SxCR_DIR   | DMA_SxCR_CT     | DMA_SxCR_DBM));
+
+  /* Prepare the DMA Stream configuration */
+  tmp |=  hdma->Init.Channel             | hdma->Init.Direction        |
+          hdma->Init.PeriphInc           | hdma->Init.MemInc           |
+          hdma->Init.PeriphDataAlignment | hdma->Init.MemDataAlignment |
+          hdma->Init.Mode                | hdma->Init.Priority;
+
+  /* the Memory burst and peripheral burst are not used when the FIFO is disabled */
+  if(hdma->Init.FIFOMode == DMA_FIFOMODE_ENABLE)
+  {
+    /* Get memory burst and peripheral burst */
+    tmp |=  hdma->Init.MemBurst | hdma->Init.PeriphBurst;
+  }
+
+  /* Write to DMA Stream CR register */
+  hdma->Instance->CR = tmp;
+
+  /* Get the FCR register value */
+  tmp = hdma->Instance->FCR;
+
+  /* Clear Direct mode and FIFO threshold bits */
+  tmp &= (uint32_t)~(DMA_SxFCR_DMDIS | DMA_SxFCR_FTH);
+
+  /* Prepare the DMA Stream FIFO configuration */
+  tmp |= hdma->Init.FIFOMode;
+
+  /* the FIFO threshold is not used when the FIFO mode is disabled */
+  if(hdma->Init.FIFOMode == DMA_FIFOMODE_ENABLE)
+  {
+    /* Get the FIFO threshold */
+    tmp |= hdma->Init.FIFOThreshold;
+  }
+
+  /* Write to DMA Stream FCR */
+  hdma->Instance->FCR = tmp;
+
+  /* Initialize the error code */
+  hdma->ErrorCode = HAL_DMA_ERROR_NONE;
+
+  /* Initialize the DMA state */
+  hdma->State = HAL_DMA_STATE_READY;
+
+  return HAL_OK;
+}
+
+/**
+  * @brief  DeInitializes the DMA peripheral
+  * @param  hdma: pointer to a DMA_HandleTypeDef structure that contains
+  *               the configuration information for the specified DMA Stream.
+  * @retval HAL status
+  */
+static HAL_StatusTypeDef _HAL_DMA_DeInit(DMA_HandleTypeDef *hdma)
+{
+  /* Check the DMA peripheral state */
+  if(hdma == NULL)
+  {
+    return HAL_ERROR;
+  }
+
+  /* Check the DMA peripheral state */
+  if(hdma->State == HAL_DMA_STATE_BUSY)
+  {
+     return HAL_ERROR;
+  }
+
+  /* Disable the selected DMA Streamx */
+  __HAL_DMA_DISABLE(hdma);
+
+  /* Reset DMA Streamx control register */
+  hdma->Instance->CR   = 0;
+
+  /* Reset DMA Streamx number of data to transfer register */
+  hdma->Instance->NDTR = 0;
+
+  /* Reset DMA Streamx peripheral address register */
+  hdma->Instance->PAR  = 0;
+
+  /* Reset DMA Streamx memory 0 address register */
+  hdma->Instance->M0AR = 0;
+
+  /* Reset DMA Streamx memory 1 address register */
+  hdma->Instance->M1AR = 0;
+
+  /* Reset DMA Streamx FIFO control register */
+  hdma->Instance->FCR  = (uint32_t)0x00000021;
+
+  /* Clear all flags */
+  __HAL_DMA_CLEAR_FLAG(hdma, __HAL_DMA_GET_DME_FLAG_INDEX(hdma));
+  __HAL_DMA_CLEAR_FLAG(hdma, __HAL_DMA_GET_TC_FLAG_INDEX(hdma));
+  __HAL_DMA_CLEAR_FLAG(hdma, __HAL_DMA_GET_TE_FLAG_INDEX(hdma));
+  __HAL_DMA_CLEAR_FLAG(hdma, __HAL_DMA_GET_FE_FLAG_INDEX(hdma));
+  __HAL_DMA_CLEAR_FLAG(hdma, __HAL_DMA_GET_HT_FLAG_INDEX(hdma));
+
+  /* Initialize the error code */
+  hdma->ErrorCode = HAL_DMA_ERROR_NONE;
+
+  /* Initialize the DMA state */
+  hdma->State = HAL_DMA_STATE_RESET;
+
+  /* Release Lock */
+  __HAL_UNLOCK(hdma);
+
+  return HAL_OK;
+}
+
+static void _HAL_DMA_IRQHandler(DMA_HandleTypeDef *hdma)
+{
+  /* Transfer Error Interrupt management ***************************************/
+  if(__HAL_DMA_GET_FLAG(hdma, __HAL_DMA_GET_TE_FLAG_INDEX(hdma)) != RESET)
+  {
+    if(__HAL_DMA_GET_IT_SOURCE(hdma, DMA_IT_TE) != RESET)
+    {
+      /* Disable the transfer error interrupt */
+      __HAL_DMA_DISABLE_IT(hdma, DMA_IT_TE);
+
+      /* Clear the transfer error flag */
+      __HAL_DMA_CLEAR_FLAG(hdma, __HAL_DMA_GET_TE_FLAG_INDEX(hdma));
+
+      /* Update error code */
+      hdma->ErrorCode |= HAL_DMA_ERROR_TE;
+
+      /* Change the DMA state */
+      hdma->State = HAL_DMA_STATE_ERROR;
+
+      /* Process Unlocked */
+      __HAL_UNLOCK(hdma);
+
+      if(hdma->XferErrorCallback != NULL)
+      {
+        /* Transfer error callback */
+        hdma->XferErrorCallback(hdma);
+      }
+    }
+  }
+  /* FIFO Error Interrupt management ******************************************/
+  if(__HAL_DMA_GET_FLAG(hdma, __HAL_DMA_GET_FE_FLAG_INDEX(hdma)) != RESET)
+  {
+    if(__HAL_DMA_GET_IT_SOURCE(hdma, DMA_IT_FE) != RESET)
+    {
+      /* Disable the FIFO Error interrupt */
+      __HAL_DMA_DISABLE_IT(hdma, DMA_IT_FE);
+
+      /* Clear the FIFO error flag */
+      __HAL_DMA_CLEAR_FLAG(hdma, __HAL_DMA_GET_FE_FLAG_INDEX(hdma));
+
+      /* Update error code */
+      hdma->ErrorCode |= HAL_DMA_ERROR_FE;
+
+      /* Change the DMA state */
+      hdma->State = HAL_DMA_STATE_ERROR;
+
+      /* Process Unlocked */
+      __HAL_UNLOCK(hdma);
+
+      if(hdma->XferErrorCallback != NULL)
+      {
+        /* Transfer error callback */
+        hdma->XferErrorCallback(hdma);
+      }
+    }
+  }
+  /* Direct Mode Error Interrupt management ***********************************/
+  if(__HAL_DMA_GET_FLAG(hdma, __HAL_DMA_GET_DME_FLAG_INDEX(hdma)) != RESET)
+  {
+    if(__HAL_DMA_GET_IT_SOURCE(hdma, DMA_IT_DME) != RESET)
+    {
+      /* Disable the direct mode Error interrupt */
+      __HAL_DMA_DISABLE_IT(hdma, DMA_IT_DME);
+
+      /* Clear the direct mode error flag */
+      __HAL_DMA_CLEAR_FLAG(hdma, __HAL_DMA_GET_DME_FLAG_INDEX(hdma));
+
+      /* Update error code */
+      hdma->ErrorCode |= HAL_DMA_ERROR_DME;
+
+      /* Change the DMA state */
+      hdma->State = HAL_DMA_STATE_ERROR;
+
+      /* Process Unlocked */
+      __HAL_UNLOCK(hdma);
+
+      if(hdma->XferErrorCallback != NULL)
+      {
+        /* Transfer error callback */
+        hdma->XferErrorCallback(hdma);
+      }
+    }
+  }
+  /* Half Transfer Complete Interrupt management ******************************/
+  if(__HAL_DMA_GET_FLAG(hdma, __HAL_DMA_GET_HT_FLAG_INDEX(hdma)) != RESET)
+  {
+    if(__HAL_DMA_GET_IT_SOURCE(hdma, DMA_IT_HT) != RESET)
+    {
+      /* Multi_Buffering mode enabled */
+      if(((hdma->Instance->CR) & (uint32_t)(DMA_SxCR_DBM)) != 0)
+      {
+        /* Clear the half transfer complete flag */
+        __HAL_DMA_CLEAR_FLAG(hdma, __HAL_DMA_GET_HT_FLAG_INDEX(hdma));
+
+        /* Current memory buffer used is Memory 0 */
+        if((hdma->Instance->CR & DMA_SxCR_CT) == 0)
+        {
+          /* Change DMA peripheral state */
+          hdma->State = HAL_DMA_STATE_READY_HALF_MEM0;
+        }
+        /* Current memory buffer used is Memory 1 */
+        else if((hdma->Instance->CR & DMA_SxCR_CT) != 0)
+        {
+          /* Change DMA peripheral state */
+          hdma->State = HAL_DMA_STATE_READY_HALF_MEM1;
+        }
+      }
+      else
+      {
+        /* Disable the half transfer interrupt if the DMA mode is not CIRCULAR */
+        if((hdma->Instance->CR & DMA_SxCR_CIRC) == 0)
+        {
+          /* Disable the half transfer interrupt */
+          __HAL_DMA_DISABLE_IT(hdma, DMA_IT_HT);
+        }
+        /* Clear the half transfer complete flag */
+        __HAL_DMA_CLEAR_FLAG(hdma, __HAL_DMA_GET_HT_FLAG_INDEX(hdma));
+
+        /* Change DMA peripheral state */
+        hdma->State = HAL_DMA_STATE_READY_HALF_MEM0;
+      }
+
+      if(hdma->XferHalfCpltCallback != NULL)
+      {
+        /* Half transfer callback */
+        hdma->XferHalfCpltCallback(hdma);
+      }
+    }
+  }
+  /* Transfer Complete Interrupt management ***********************************/
+  if(__HAL_DMA_GET_FLAG(hdma, __HAL_DMA_GET_TC_FLAG_INDEX(hdma)) != RESET)
+  {
+    if(__HAL_DMA_GET_IT_SOURCE(hdma, DMA_IT_TC) != RESET)
+    {
+      if(((hdma->Instance->CR) & (uint32_t)(DMA_SxCR_DBM)) != 0)
+      {
+        /* Clear the transfer complete flag */
+        __HAL_DMA_CLEAR_FLAG(hdma, __HAL_DMA_GET_TC_FLAG_INDEX(hdma));
+
+        /* Current memory buffer used is Memory 1 */
+        if((hdma->Instance->CR & DMA_SxCR_CT) == 0)
+        {
+          if(hdma->XferM1CpltCallback != NULL)
+          {
+            /* Transfer complete Callback for memory1 */
+            hdma->XferM1CpltCallback(hdma);
+          }
+        }
+        /* Current memory buffer used is Memory 0 */
+        else if((hdma->Instance->CR & DMA_SxCR_CT) != 0)
+        {
+          if(hdma->XferCpltCallback != NULL)
+          {
+            /* Transfer complete Callback for memory0 */
+            hdma->XferCpltCallback(hdma);
+          }
+        }
+      }
+      /* Disable the transfer complete interrupt if the DMA mode is not CIRCULAR */
+      else
+      {
+        if((hdma->Instance->CR & DMA_SxCR_CIRC) == 0)
+        {
+          /* Disable the transfer complete interrupt */
+          __HAL_DMA_DISABLE_IT(hdma, DMA_IT_TC);
+        }
+        /* Clear the transfer complete flag */
+        __HAL_DMA_CLEAR_FLAG(hdma, __HAL_DMA_GET_TC_FLAG_INDEX(hdma));
+
+        /* Update error code */
+        hdma->ErrorCode |= HAL_DMA_ERROR_NONE;
+
+        /* Change the DMA state */
+        hdma->State = HAL_DMA_STATE_READY_MEM0;
+
+        /* Process Unlocked */
+        __HAL_UNLOCK(hdma);
+
+        if(hdma->XferCpltCallback != NULL)
+        {
+          /* Transfer complete callback */
+          hdma->XferCpltCallback(hdma);
+        }
+      }
+    }
+  }
+}
+
+static void DMA_SetConfig(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength)
+{
+  /* Clear DBM bit */
+  hdma->Instance->CR &= (uint32_t)(~DMA_SxCR_DBM);
+
+  /* Configure DMA Stream data length */
+  hdma->Instance->NDTR = DataLength;
+
+  /* Peripheral to Memory */
+  if((hdma->Init.Direction) == DMA_MEMORY_TO_PERIPH)
+  {
+    /* Configure DMA Stream destination address */
+    hdma->Instance->PAR = DstAddress;
+
+    /* Configure DMA Stream source address */
+    hdma->Instance->M0AR = SrcAddress;
+  }
+  /* Memory to Peripheral */
+  else
+  {
+    /* Configure DMA Stream source address */
+    hdma->Instance->PAR = SrcAddress;
+
+    /* Configure DMA Stream destination address */
+    hdma->Instance->M0AR = DstAddress;
+  }
+}
+
+static HAL_StatusTypeDef _HAL_DMA_Start_IT(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength)
+{
+  /* Process locked */
+  __HAL_LOCK(hdma);
+
+  /* Change DMA peripheral state */
+  hdma->State = HAL_DMA_STATE_BUSY;
+
+  /* Disable the peripheral */
+  __HAL_DMA_DISABLE(hdma);
+
+  /* Configure the source, destination address and the data length */
+  DMA_SetConfig(hdma, SrcAddress, DstAddress, DataLength);
+
+  /* Enable the transfer complete interrupt */
+  __HAL_DMA_ENABLE_IT(hdma, DMA_IT_TC);
+
+  /* Enable the Half transfer complete interrupt */
+  __HAL_DMA_ENABLE_IT(hdma, DMA_IT_HT);
+
+  /* Enable the transfer Error interrupt */
+  __HAL_DMA_ENABLE_IT(hdma, DMA_IT_TE);
+
+  /* Enable the FIFO Error interrupt */
+  __HAL_DMA_ENABLE_IT(hdma, DMA_IT_FE);
+
+  /* Enable the direct mode Error interrupt */
+  __HAL_DMA_ENABLE_IT(hdma, DMA_IT_DME);
+
+   /* Enable the Peripheral */
+  __HAL_DMA_ENABLE(hdma);
+
+  return HAL_OK;
+}
+
+static HAL_StatusTypeDef _HAL_SDRAM_Read_DMA(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint32_t *pDstBuffer, uint32_t BufferSize)
+{
+  uint32_t tmp = 0;
+
+  /* Process Locked */
+  __HAL_LOCK(hsdram);
+
+  /* Check the SDRAM controller state */
+  tmp = hsdram->State;
+
+  if(tmp == HAL_SDRAM_STATE_BUSY)
+  {
+    return HAL_BUSY;
+  }
+  else if(tmp == HAL_SDRAM_STATE_PRECHARGED)
+  {
+    return  HAL_ERROR;
+  }
+
+  /* Configure DMA user callbacks */
+  hsdram->hdma->XferCpltCallback  = HAL_SDRAM_DMA_XferCpltCallback;
+  hsdram->hdma->XferErrorCallback = HAL_SDRAM_DMA_XferErrorCallback;
+
+  /* Enable the DMA Stream */
+  _HAL_DMA_Start_IT(hsdram->hdma, (uint32_t)pAddress, (uint32_t)pDstBuffer, (uint32_t)BufferSize);
+
+  /* Process Unlocked */
+  __HAL_UNLOCK(hsdram);
+
+  return HAL_OK;
+}
+
+static HAL_StatusTypeDef _HAL_SDRAM_Write_32b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint32_t *pSrcBuffer, uint32_t BufferSize)
+{
+  __IO uint32_t *pSdramAddress = (uint32_t *)pAddress;
+  uint32_t tmp = 0;
+
+  /* Process Locked */
+  __HAL_LOCK(hsdram);
+
+  /* Check the SDRAM controller state */
+  tmp = hsdram->State;
+
+  if(tmp == HAL_SDRAM_STATE_BUSY)
+  {
+    return HAL_BUSY;
+  }
+  else if((tmp == HAL_SDRAM_STATE_PRECHARGED) || (tmp == HAL_SDRAM_STATE_WRITE_PROTECTED))
+  {
+    return  HAL_ERROR;
+  }
+
+  /* Write data to memory */
+  for(; BufferSize != 0; BufferSize--)
+  {
+    *(__IO uint32_t *)pSdramAddress = *pSrcBuffer;
+    pSrcBuffer++;
+    pSdramAddress++;
+  }
+
+  /* Process Unlocked */
+  __HAL_UNLOCK(hsdram);
+
+  return HAL_OK;
+}
+
+static HAL_StatusTypeDef _HAL_SDRAM_Write_DMA(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint32_t *pSrcBuffer, uint32_t BufferSize)
+{
+  uint32_t tmp = 0;
+
+  /* Process Locked */
+  __HAL_LOCK(hsdram);
+
+  /* Check the SDRAM controller state */
+  tmp = hsdram->State;
+
+  if(tmp == HAL_SDRAM_STATE_BUSY)
+  {
+    return HAL_BUSY;
+  }
+  else if((tmp == HAL_SDRAM_STATE_PRECHARGED) || (tmp == HAL_SDRAM_STATE_WRITE_PROTECTED))
+  {
+    return  HAL_ERROR;
+  }
+
+  /* Configure DMA user callbacks */
+  hsdram->hdma->XferCpltCallback  = HAL_SDRAM_DMA_XferCpltCallback;
+  hsdram->hdma->XferErrorCallback = HAL_SDRAM_DMA_XferErrorCallback;
+
+  /* Enable the DMA Stream */
+  _HAL_DMA_Start_IT(hsdram->hdma, (uint32_t)pSrcBuffer, (uint32_t)pAddress, (uint32_t)BufferSize);
+
+  /* Process Unlocked */
+  __HAL_UNLOCK(hsdram);
+
+  return HAL_OK;
+}
+
 /**
   * @brief  Programs the SDRAM device.
   * @param  RefreshCount: SDRAM refresh counter value 
@@ -225,11 +826,11 @@ void BSP_SDRAM_Initialization_sequence(uint32_t RefreshCount)
   Command.ModeRegisterDefinition = 0;
 
   /* Send the command */
-  HAL_SDRAM_SendCommand(&sdramHandle, &Command, SDRAM_TIMEOUT);
+  _HAL_SDRAM_SendCommand(&sdramHandle, &Command, SDRAM_TIMEOUT);
 
   /* Step 2: Insert 100 us minimum delay */ 
   /* Inserted delay is equal to 1 ms due to systick time base unit (ms) */
-  HAL_Delay(1);
+  gfxSleepMilliseconds(1);
     
   /* Step 3: Configure a PALL (precharge all) command */ 
   Command.CommandMode            = FMC_SDRAM_CMD_PALL;
@@ -238,7 +839,7 @@ void BSP_SDRAM_Initialization_sequence(uint32_t RefreshCount)
   Command.ModeRegisterDefinition = 0;
 
   /* Send the command */
-  HAL_SDRAM_SendCommand(&sdramHandle, &Command, SDRAM_TIMEOUT);  
+  _HAL_SDRAM_SendCommand(&sdramHandle, &Command, SDRAM_TIMEOUT);
   
   /* Step 4: Configure an Auto Refresh command */ 
   Command.CommandMode            = FMC_SDRAM_CMD_AUTOREFRESH_MODE;
@@ -247,7 +848,7 @@ void BSP_SDRAM_Initialization_sequence(uint32_t RefreshCount)
   Command.ModeRegisterDefinition = 0;
 
   /* Send the command */
-  HAL_SDRAM_SendCommand(&sdramHandle, &Command, SDRAM_TIMEOUT);
+  _HAL_SDRAM_SendCommand(&sdramHandle, &Command, SDRAM_TIMEOUT);
   
   /* Step 5: Program the external memory mode register */
   tmpmrd = (uint32_t)SDRAM_MODEREG_BURST_LENGTH_1          |\
@@ -262,11 +863,11 @@ void BSP_SDRAM_Initialization_sequence(uint32_t RefreshCount)
   Command.ModeRegisterDefinition = tmpmrd;
 
   /* Send the command */
-  HAL_SDRAM_SendCommand(&sdramHandle, &Command, SDRAM_TIMEOUT);
+  _HAL_SDRAM_SendCommand(&sdramHandle, &Command, SDRAM_TIMEOUT);
   
   /* Step 6: Set the refresh rate counter */
   /* Set the device refresh rate */
-  HAL_SDRAM_ProgramRefreshRate(&sdramHandle, RefreshCount); 
+  _HAL_SDRAM_ProgramRefreshRate(&sdramHandle, RefreshCount);
 }
 
 /**
@@ -278,7 +879,7 @@ void BSP_SDRAM_Initialization_sequence(uint32_t RefreshCount)
   */
 uint8_t BSP_SDRAM_ReadData(uint32_t uwStartAddress, uint32_t *pData, uint32_t uwDataSize)
 {
-  if(HAL_SDRAM_Read_32b(&sdramHandle, (uint32_t *)uwStartAddress, pData, uwDataSize) != HAL_OK)
+  if(_HAL_SDRAM_Read_32b(&sdramHandle, (uint32_t *)uwStartAddress, pData, uwDataSize) != HAL_OK)
   {
     return SDRAM_ERROR;
   }
@@ -297,7 +898,7 @@ uint8_t BSP_SDRAM_ReadData(uint32_t uwStartAddress, uint32_t *pData, uint32_t uw
   */
 uint8_t BSP_SDRAM_ReadData_DMA(uint32_t uwStartAddress, uint32_t *pData, uint32_t uwDataSize)
 {
-  if(HAL_SDRAM_Read_DMA(&sdramHandle, (uint32_t *)uwStartAddress, pData, uwDataSize) != HAL_OK)
+  if(_HAL_SDRAM_Read_DMA(&sdramHandle, (uint32_t *)uwStartAddress, pData, uwDataSize) != HAL_OK)
   {
     return SDRAM_ERROR;
   }
@@ -316,7 +917,7 @@ uint8_t BSP_SDRAM_ReadData_DMA(uint32_t uwStartAddress, uint32_t *pData, uint32_
   */
 uint8_t BSP_SDRAM_WriteData(uint32_t uwStartAddress, uint32_t *pData, uint32_t uwDataSize) 
 {
-  if(HAL_SDRAM_Write_32b(&sdramHandle, (uint32_t *)uwStartAddress, pData, uwDataSize) != HAL_OK)
+  if(_HAL_SDRAM_Write_32b(&sdramHandle, (uint32_t *)uwStartAddress, pData, uwDataSize) != HAL_OK)
   {
     return SDRAM_ERROR;
   }
@@ -326,6 +927,37 @@ uint8_t BSP_SDRAM_WriteData(uint32_t uwStartAddress, uint32_t *pData, uint32_t u
   }
 }
 
+__weak void HAL_SDRAM_DMA_XferCpltCallback(DMA_HandleTypeDef *hdma)
+{
+  /* NOTE: This function Should not be modified, when the callback is needed,
+            the HAL_SDRAM_DMA_XferCpltCallback could be implemented in the user file
+   */
+}
+
+/**
+  * @brief  DMA transfer complete error callback.
+  * @param  hdma: DMA handle
+  * @retval None
+  */
+__weak void HAL_SDRAM_DMA_XferErrorCallback(DMA_HandleTypeDef *hdma)
+{
+  /* NOTE: This function Should not be modified, when the callback is needed,
+            the HAL_SDRAM_DMA_XferErrorCallback could be implemented in the user file
+   */
+}
+
+static void _HAL_NVIC_EnableIRQ(IRQn_Type IRQn)
+{
+  /* Enable interrupt */
+  NVIC_EnableIRQ(IRQn);
+}
+
+static void _HAL_NVIC_DisableIRQ(IRQn_Type IRQn)
+{
+  /* Disable interrupt */
+  NVIC_DisableIRQ(IRQn);
+}
+
 /**
   * @brief  Writes an amount of data to the SDRAM memory in DMA mode.
   * @param  uwStartAddress: Write start address
@@ -335,7 +967,7 @@ uint8_t BSP_SDRAM_WriteData(uint32_t uwStartAddress, uint32_t *pData, uint32_t u
   */
 uint8_t BSP_SDRAM_WriteData_DMA(uint32_t uwStartAddress, uint32_t *pData, uint32_t uwDataSize) 
 {
-  if(HAL_SDRAM_Write_DMA(&sdramHandle, (uint32_t *)uwStartAddress, pData, uwDataSize) != HAL_OK)
+  if(_HAL_SDRAM_Write_DMA(&sdramHandle, (uint32_t *)uwStartAddress, pData, uwDataSize) != HAL_OK)
   {
     return SDRAM_ERROR;
   }
@@ -352,7 +984,7 @@ uint8_t BSP_SDRAM_WriteData_DMA(uint32_t uwStartAddress, uint32_t *pData, uint32
   */  
 uint8_t BSP_SDRAM_Sendcmd(FMC_SDRAM_CommandTypeDef *SdramCmd)
 {
-  if(HAL_SDRAM_SendCommand(&sdramHandle, SdramCmd, SDRAM_TIMEOUT) != HAL_OK)
+  if(_HAL_SDRAM_SendCommand(&sdramHandle, SdramCmd, SDRAM_TIMEOUT) != HAL_OK)
   {
     return SDRAM_ERROR;
   }
@@ -362,13 +994,22 @@ uint8_t BSP_SDRAM_Sendcmd(FMC_SDRAM_CommandTypeDef *SdramCmd)
   }
 }
 
+static void _HAL_NVIC_SetPriority(IRQn_Type IRQn, uint32_t PreemptPriority, uint32_t SubPriority)
+{
+  uint32_t prioritygroup = 0x00;
+
+  prioritygroup = NVIC_GetPriorityGrouping();
+
+  NVIC_SetPriority(IRQn, NVIC_EncodePriority(prioritygroup, PreemptPriority, SubPriority));
+}
+
 /**
   * @brief  Handles SDRAM DMA transfer interrupt request.
   * @retval None
   */
 void BSP_SDRAM_DMA_IRQHandler(void)
 {
-  HAL_DMA_IRQHandler(sdramHandle.hdma); 
+  _HAL_DMA_IRQHandler(sdramHandle.hdma);
 }
 
 /**
@@ -452,14 +1093,14 @@ __weak void BSP_SDRAM_MspInit(SDRAM_HandleTypeDef  *hsdram, void *Params)
   __HAL_LINKDMA(hsdram, hdma, dma_handle);
   
   /* Deinitialize the stream for new transfer */
-  HAL_DMA_DeInit(&dma_handle);
+  _HAL_DMA_DeInit(&dma_handle);
   
   /* Configure the DMA stream */
-  HAL_DMA_Init(&dma_handle); 
+  _HAL_DMA_Init(&dma_handle);
   
   /* NVIC configuration for DMA transfer complete interrupt */
-  HAL_NVIC_SetPriority(SDRAM_DMAx_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(SDRAM_DMAx_IRQn);
+  _HAL_NVIC_SetPriority(SDRAM_DMAx_IRQn, 5, 0);
+  _HAL_NVIC_EnableIRQ(SDRAM_DMAx_IRQn);
 }
 
 /**
@@ -473,11 +1114,11 @@ __weak void BSP_SDRAM_MspDeInit(SDRAM_HandleTypeDef  *hsdram, void *Params)
     static DMA_HandleTypeDef dma_handle;
   
     /* Disable NVIC configuration for DMA interrupt */
-    HAL_NVIC_DisableIRQ(SDRAM_DMAx_IRQn);
+    _HAL_NVIC_DisableIRQ(SDRAM_DMAx_IRQn);
 
     /* Deinitialize the stream for new transfer */
     dma_handle.Instance = SDRAM_DMAx_STREAM;
-    HAL_DMA_DeInit(&dma_handle);
+    _HAL_DMA_DeInit(&dma_handle);
 
     /* GPIO pins clock, FMC clock and DMA clock can be shut down in the applications
        by surcharging this __weak function */ 
diff --git a/boards/base/STM32F746-Discovery/stm32f7_i2c.c b/boards/base/STM32F746-Discovery/stm32f7_i2c.c
index b0fa8163..d1e2ed28 100644
--- a/boards/base/STM32F746-Discovery/stm32f7_i2c.c
+++ b/boards/base/STM32F746-Discovery/stm32f7_i2c.c
@@ -1,3 +1,4 @@
+#include "gfx.h"
 #include "stm32f7_i2c.h"
 
 /*
@@ -119,6 +120,8 @@ void i2cWriteReg(I2C_TypeDef* i2c, uint8_t slaveAddr, uint8_t regAddr, uint8_t v
 
 void i2cRead(I2C_TypeDef* i2c, uint8_t slaveAddr, uint8_t* data, uint16_t length)
 {
+	int		i;
+
 	// We are currently not able to read more than 255 bytes at once
 	if (length > 255) {
 		return;
@@ -128,7 +131,7 @@ void i2cRead(I2C_TypeDef* i2c, uint8_t slaveAddr, uint8_t* data, uint16_t length
 	_i2cConfigTransfer(i2c, slaveAddr, length, I2C_CR2_RD_WRN | I2C_CR2_AUTOEND, I2C_CR2_START);
 
 	// Transmit the whole buffer
-	for (int i = 0; i < length; i++) {
+	for (i = 0; i < length; i++) {
 		while (!(i2c->ISR & I2C_ISR_RXNE));
 		data[i] = i2c->RXDR;
 	}
diff --git a/boards/base/STM32F746-Discovery/stm32f7xx_ll_fmc.c b/boards/base/STM32F746-Discovery/stm32f7xx_ll_fmc.c
index 38adbcae..b7995014 100644
--- a/boards/base/STM32F746-Discovery/stm32f7xx_ll_fmc.c
+++ b/boards/base/STM32F746-Discovery/stm32f7xx_ll_fmc.c
@@ -74,6 +74,7 @@
   */ 
 
 /* Includes ------------------------------------------------------------------*/
+#include "gfx.h"
 #include "stm32f7xx_hal.h"
 
 /** @addtogroup STM32F7xx_HAL_Driver
@@ -677,14 +678,14 @@ HAL_StatusTypeDef FMC_NAND_ECC_Disable(FMC_NAND_TypeDef *Device, uint32_t Bank)
   */
 HAL_StatusTypeDef FMC_NAND_GetECC(FMC_NAND_TypeDef *Device, uint32_t *ECCval, uint32_t Bank, uint32_t Timeout)
 {
-  uint32_t tickstart = 0;
+  systemticks_t tickstart = 0;
 
   /* Check the parameters */ 
   assert_param(IS_FMC_NAND_DEVICE(Device)); 
   assert_param(IS_FMC_NAND_BANK(Bank));
 
   /* Get tick */ 
-  tickstart = HAL_GetTick();
+  tickstart = gfxSystemTicks();
 
   /* Wait until FIFO is empty */
   while(__FMC_NAND_GET_FLAG(Device, Bank, FMC_FLAG_FEMPT) == RESET)
@@ -692,7 +693,7 @@ HAL_StatusTypeDef FMC_NAND_GetECC(FMC_NAND_TypeDef *Device, uint32_t *ECCval, ui
     /* Check for the Timeout */
     if(Timeout != HAL_MAX_DELAY)
     {
-      if((Timeout == 0)||((HAL_GetTick() - tickstart ) > Timeout))
+      if((Timeout == 0)||((gfxSystemTicks() - tickstart ) > Timeout))
       {
         return HAL_TIMEOUT;
       }
@@ -993,7 +994,7 @@ HAL_StatusTypeDef FMC_SDRAM_WriteProtection_Disable(FMC_SDRAM_TypeDef *Device, u
 HAL_StatusTypeDef FMC_SDRAM_SendCommand(FMC_SDRAM_TypeDef *Device, FMC_SDRAM_CommandTypeDef *Command, uint32_t Timeout)
 {
   __IO uint32_t tmpr = 0;
-  uint32_t tickstart = 0;
+  systemticks_t tickstart = 0;
   
   /* Check the parameters */
   assert_param(IS_FMC_SDRAM_DEVICE(Device));
@@ -1012,7 +1013,7 @@ HAL_StatusTypeDef FMC_SDRAM_SendCommand(FMC_SDRAM_TypeDef *Device, FMC_SDRAM_Com
   Device->SDCMR = tmpr;
 
   /* Get tick */ 
-  tickstart = HAL_GetTick();
+  tickstart = gfxSystemTicks();
 
   /* wait until command is send */
   while(HAL_IS_BIT_SET(Device->SDSR, FMC_SDSR_BUSY))
@@ -1020,7 +1021,7 @@ HAL_StatusTypeDef FMC_SDRAM_SendCommand(FMC_SDRAM_TypeDef *Device, FMC_SDRAM_Com
     /* Check for the Timeout */
     if(Timeout != HAL_MAX_DELAY)
     {
-      if((Timeout == 0)||((HAL_GetTick() - tickstart ) > Timeout))
+      if((Timeout == 0)||((gfxSystemTicks() - tickstart ) > Timeout))
       {
         return HAL_TIMEOUT;
       }
diff --git a/tools/gmake_scripts/cpu_stm32m4.mk b/tools/gmake_scripts/cpu_stm32m4.mk
index 5acfe8ad..1e205eb6 100644
--- a/tools/gmake_scripts/cpu_stm32m4.mk
+++ b/tools/gmake_scripts/cpu_stm32m4.mk
@@ -14,11 +14,11 @@
 # NONE
 #
 
-#SRCFLAGS += -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -falign-functions=16
-#LDFLAGS  += -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -falign-functions=16
-#DEFS     += CORTEX_USE_FPU=TRUE
-#LIBS     += m
-SRCFLAGS += -mcpu=cortex-m4 -falign-functions=16
-LDFLAGS  += -mcpu=cortex-m4
-DEFS     += CORTEX_USE_FPU=FALSE
+SRCFLAGS += -mcpu=cortex-m4 -falign-functions=16 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+LDFLAGS  += -mcpu=cortex-m4 -falign-functions=16 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+DEFS     += CORTEX_USE_FPU=TRUE USE_FPU=hard
+LIBS	 += m
+#SRCFLAGS += -mcpu=cortex-m4 -falign-functions=16
+#LDFLAGS  += -mcpu=cortex-m4
+#DEFS     += CORTEX_USE_FPU=FALSE
 
diff --git a/tools/gmake_scripts/cpu_stm32m7.mk b/tools/gmake_scripts/cpu_stm32m7.mk
index 0a59e24f..78e1cc4e 100644
--- a/tools/gmake_scripts/cpu_stm32m7.mk
+++ b/tools/gmake_scripts/cpu_stm32m7.mk
@@ -13,12 +13,7 @@
 #
 # NONE
 #
-
-#SRCFLAGS += -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -falign-functions=16
-#LDFLAGS  += -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -falign-functions=16
-#DEFS     += CORTEX_USE_FPU=TRUE
-#LIBS     += m
-SRCFLAGS += -mcpu=cortex-m7 -falign-functions=16
-LDFLAGS  += -mcpu=cortex-m7
-DEFS     += CORTEX_USE_FPU=FALSE
-
+SRCFLAGS += -mcpu=cortex-m7 -falign-functions=16 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+LDFLAGS  += -mcpu=cortex-m7 -falign-functions=16 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+DEFS     += CORTEX_USE_FPU=TRUE USE_FPU=hard
+LIBS	 += m
\ No newline at end of file