commit 0128be0f68f5fbdd8965cec028d6ebbac4658227
Author: Marc Rothmann <mrothmann@techfak.uni-bielefeld.de>
Date:   Wed Aug 29 16:41:47 2018 +0200

    Updated Chibi-OS to version 18.2 and adapted AMiRo-OS accordingly:
    	- Switched to new time conversion macros
    	- Use PAL for interrupts instead of the EXT Driver
    	- Use new kernel tests

diff --git a/modules/PowerManagement_1-1/chconf.h b/modules/PowerManagement_1-1/chconf.h
index 5789afe..9cff1c4 100644
--- a/modules/PowerManagement_1-1/chconf.h
+++ b/modules/PowerManagement_1-1/chconf.h
@@ -1,85 +1,722 @@
-/*
-AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
-Copyright (C) 2016..2018  Thomas Schöpping et al.
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-/**
- * @file    os/modules/PowerManagement/chconf.h
- * @brief   ChibiOS Configuration file for the PowerManagement v1.1 module.
- * @details Contains the application specific kernel settings.
- *
- * @addtogroup config
- * @details Kernel related settings and hooks.
- * @{
- */
-
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
-
-#include <aosconf.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                 1000000UL
-
-/**
- * @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                 20
-
-/** @} */
-
-/*===========================================================================*/
-/**
- * @name Port specific settings
- * @{
- */
-/*===========================================================================*/
-
-/**
- * @brief   NVIC VTOR initialization offset.
- * @details On initialization, the code at this address in the flash memory will be executed.
- */
-#define CORTEX_VTOR_INIT 0x00008000U
-
-/** @} */
-
-#include <aos_chconf.h>
-
-#endif  /* _CHCONF_H_ */
-
-/** @} */
+/*
+ * AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
+ * Copyright (C) 2016..2018  Thomas Schöpping et al.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file    os/modules/DiWheelDrive/chconf.h
+ * @brief   ChibiOS Configuration file for the DiWheelDrive v1.1 module.
+ * @details Contains the application specific kernel settings.
+ *
+ * @addtogroup config
+ * @details Kernel related settings and hooks.
+ * @{
+ */
+
+#ifndef CHCONF_H
+#define CHCONF_H
+
+#define _CHIBIOS_RT_CONF_
+#define _CHIBIOS_RT_CONF_VER_5_1_
+
+/*===========================================================================*/
+/**
+ * @name System timers settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   System time counter resolution.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_ST_RESOLUTION)
+#define CH_CFG_ST_RESOLUTION                32
+#endif
+
+/**
+ * @brief   System tick frequency.
+ * @details Frequency of the system timer that drives the system ticks. This
+ *          setting also defines the system tick time unit.
+ */
+#if !defined(CH_CFG_ST_FREQUENCY)
+#define CH_CFG_ST_FREQUENCY                 1000000UL
+#endif
+
+/**
+ * @brief   Time intervals data size.
+ * @note    Allowed values are 16, 32 or 64 bits.
+ */
+#if !defined(CH_CFG_INTERVALS_SIZE)
+#define CH_CFG_INTERVALS_SIZE               64
+#endif
+
+/**
+ * @brief   Time types data size.
+ * @note    Allowed values are 16 or 32 bits.
+ */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
+#define CH_CFG_TIME_TYPES_SIZE              32
+#endif
+
+/**
+ * @brief   Time delta constant for the tick-less mode.
+ * @note    If this value is zero then the system uses the classic
+ *          periodic tick. This value represents the minimum number
+ *          of ticks that is safe to specify in a timeout directive.
+ *          The value one is not valid, timeouts are rounded up to
+ *          this value.
+ */
+#if !defined(CH_CFG_ST_TIMEDELTA)
+#define CH_CFG_ST_TIMEDELTA                 10
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Round robin interval.
+ * @details This constant is the number of system ticks allowed for the
+ *          threads before preemption occurs. Setting this value to zero
+ *          disables the preemption for threads with equal priority and the
+ *          round robin becomes cooperative. Note that higher priority
+ *          threads can still preempt, the kernel is always preemptive.
+ * @note    Disabling the round robin preemption makes the kernel more compact
+ *          and generally faster.
+ * @note    The round robin preemption is not supported in tickless mode and
+ *          must be set to zero in that case.
+ */
+#if !defined(CH_CFG_TIME_QUANTUM)
+#define CH_CFG_TIME_QUANTUM                 0
+#endif
+
+/**
+ * @brief   Managed RAM size.
+ * @details Size of the RAM area to be managed by the OS. If set to zero
+ *          then the whole available RAM is used. The core memory is made
+ *          available to the heap allocator and/or can be used directly through
+ *          the simplified core memory allocator.
+ *
+ * @note    In order to let the OS manage the whole RAM the linker script must
+ *          provide the @p __heap_base__ and @p __heap_end__ symbols.
+ * @note    Requires @p CH_CFG_USE_MEMCORE.
+ */
+#if !defined(CH_CFG_MEMCORE_SIZE)
+#define CH_CFG_MEMCORE_SIZE                 0
+#endif
+
+/**
+ * @brief   Idle thread automatic spawn suppression.
+ * @details When this option is activated the function @p chSysInit()
+ *          does not spawn the idle thread. The application @p main()
+ *          function becomes the idle thread and must implement an
+ *          infinite loop.
+ */
+#if !defined(CH_CFG_NO_IDLE_THREAD)
+#define CH_CFG_NO_IDLE_THREAD               FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Performance options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   OS optimization.
+ * @details If enabled then time efficient rather than space efficient code
+ *          is used when two possible implementations exist.
+ *
+ * @note    This is not related to the compiler optimization options.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
+#define CH_CFG_OPTIMIZE_SPEED               TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Subsystem options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_TM)
+#define CH_CFG_USE_TM                       FALSE
+#endif
+
+/**
+ * @brief   Threads registry APIs.
+ * @details If enabled then the registry APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_REGISTRY)
+#define CH_CFG_USE_REGISTRY                 FALSE
+#endif
+
+/**
+ * @brief   Threads synchronization APIs.
+ * @details If enabled then the @p chThdWait() function is included in
+ *          the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_WAITEXIT)
+#define CH_CFG_USE_WAITEXIT                 TRUE
+#endif
+
+/**
+ * @brief   Semaphores APIs.
+ * @details If enabled then the Semaphores APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_SEMAPHORES)
+#define CH_CFG_USE_SEMAPHORES               FALSE
+#endif
+
+/**
+ * @brief   Semaphores queuing mode.
+ * @details If enabled then the threads are enqueued on semaphores by
+ *          priority rather than in FIFO order.
+ *
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
+
+/**
+ * @brief   Mutexes APIs.
+ * @details If enabled then the mutexes APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MUTEXES)
+#define CH_CFG_USE_MUTEXES                  TRUE
+#endif
+
+/**
+ * @brief   Enables recursive behavior on mutexes.
+ * @note    Recursive mutexes are heavier and have an increased
+ *          memory footprint.
+ *
+ * @note    The default is @p FALSE.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
+ */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
+#define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
+
+/**
+ * @brief   Conditional Variables APIs.
+ * @details If enabled then the conditional variables APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_MUTEXES.
+ */
+#if !defined(CH_CFG_USE_CONDVARS)
+#define CH_CFG_USE_CONDVARS                 FALSE
+#endif
+
+/**
+ * @brief   Conditional Variables APIs with timeout.
+ * @details If enabled then the conditional variables APIs with timeout
+ *          specification are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_CONDVARS.
+ */
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
+#define CH_CFG_USE_CONDVARS_TIMEOUT         FALSE
+#endif
+
+/**
+ * @brief   Events Flags APIs.
+ * @details If enabled then the event flags APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_EVENTS)
+#define CH_CFG_USE_EVENTS                   TRUE
+#endif
+
+/**
+ * @brief   Events Flags APIs with timeout.
+ * @details If enabled then the events APIs with timeout specification
+ *          are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_EVENTS.
+ */
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
+#endif
+
+/**
+ * @brief   Synchronous Messages APIs.
+ * @details If enabled then the synchronous messages APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MESSAGES)
+#define CH_CFG_USE_MESSAGES                 FALSE
+#endif
+
+/**
+ * @brief   Synchronous Messages queuing mode.
+ * @details If enabled then messages are served by priority rather than in
+ *          FIFO order.
+ *
+ * @note    The default is @p FALSE. Enable this if you have special
+ *          requirements.
+ * @note    Requires @p CH_CFG_USE_MESSAGES.
+ */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
+
+/**
+ * @brief   Mailboxes APIs.
+ * @details If enabled then the asynchronous messages (mailboxes) APIs are
+ *          included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#if !defined(CH_CFG_USE_MAILBOXES)
+#define CH_CFG_USE_MAILBOXES                FALSE
+#endif
+
+/**
+ * @brief   Core Memory Manager APIs.
+ * @details If enabled then the core memory manager APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCORE)
+#define CH_CFG_USE_MEMCORE                  FALSE
+#endif
+
+/**
+ * @brief   Heap Allocator APIs.
+ * @details If enabled then the memory heap allocator APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
+ *          @p CH_CFG_USE_SEMAPHORES.
+ * @note    Mutexes are recommended.
+ */
+#if !defined(CH_CFG_USE_HEAP)
+#define CH_CFG_USE_HEAP                     FALSE
+#endif
+
+/**
+ * @brief   Memory Pools Allocator APIs.
+ * @details If enabled then the memory pools allocator APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMPOOLS)
+#define CH_CFG_USE_MEMPOOLS                 FALSE
+#endif
+
+/**
+ * @brief  Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS                FALSE
+#endif
+
+/**
+ * @brief   Dynamic Threads APIs.
+ * @details If enabled then the dynamic threads creation APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ * @note    Requires @p CH_CFG_USE_WAITEXIT.
+ * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
+ */
+#if !defined(CH_CFG_USE_DYNAMIC)
+#define CH_CFG_USE_DYNAMIC                  FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ *          kernel.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY                  FALSE
+#endif
+
+/**
+ * @brief   Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ *          pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
+
+/**
+ * @brief   Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
+
+/**
+ * @brief   Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
+
+/**
+ * @brief   Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
+
+/**
+ * @brief   Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Debug options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Debug option, kernel statistics.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_STATISTICS)
+#define CH_DBG_STATISTICS                   FALSE
+#endif
+
+/**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
+#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
+#endif
+
+/**
+ * @brief   Debug option, parameters checks.
+ * @details If enabled then the checks on the API functions input
+ *          parameters are activated.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_ENABLE_CHECKS)
+#define CH_DBG_ENABLE_CHECKS                FALSE
+#endif
+
+/**
+ * @brief   Debug option, consistency checks.
+ * @details If enabled then all the assertions in the kernel code are
+ *          activated. This includes consistency checks inside the kernel,
+ *          runtime anomalies and port-defined checks.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_ENABLE_ASSERTS)
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#endif
+
+/**
+ * @brief   Debug option, trace buffer.
+ * @details If enabled then the trace buffer is activated.
+ *
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_MASK)
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED
+#endif
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
+#define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
+
+/**
+ * @brief   Debug option, stack checks.
+ * @details If enabled then a runtime stack check is performed.
+ *
+ * @note    The default is @p FALSE.
+ * @note    The stack check is performed in a architecture/port dependent way.
+ *          It may not be implemented or some ports.
+ * @note    The default failure mode is to halt the system with the global
+ *          @p panic_msg variable set to @p NULL.
+ */
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
+#endif
+
+/**
+ * @brief   Debug option, stacks initialization.
+ * @details If enabled then the threads working area is filled with a byte
+ *          value when a thread is created. This can be useful for the
+ *          runtime measurement of the used stack.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_FILL_THREADS)
+#define CH_DBG_FILL_THREADS                 TRUE
+#endif
+
+/**
+ * @brief   Debug option, threads profiling.
+ * @details If enabled then a field is added to the @p thread_t structure that
+ *          counts the system ticks occurred while executing the thread.
+ *
+ * @note    The default is @p FALSE.
+ * @note    This debug option is not currently compatible with the
+ *          tickless mode.
+ */
+#if !defined(CH_DBG_THREADS_PROFILING)
+#define CH_DBG_THREADS_PROFILING            FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel hooks
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ *          just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
+ * @brief   Threads descriptor structure extension.
+ * @details User fields added to the end of the @p thread_t structure.
+ */
+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
+  /* Add threads custom fields here.*/
+
+/**
+ * @brief   Threads initialization hook.
+ * @details User initialization code added to the @p _thread_init() function.
+ *
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
+ *          the threads creation APIs.
+ */
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
+  /* Add threads initialization code here.*/                                \
+}
+
+/**
+ * @brief   Threads finalization hook.
+ * @details User finalization code added to the @p chThdExit() API.
+ */
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
+  /* Add threads finalization code here.*/                                  \
+}
+
+/**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* Context switch code here.*/                                            \
+}
+
+/**
+ * @brief   ISR enter hook.
+ */
+#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
+  /* IRQ prologue code here.*/                                              \
+}
+
+/**
+ * @brief   ISR exit hook.
+ */
+#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
+  /* IRQ epilogue code here.*/                                              \
+}
+
+/**
+ * @brief   Idle thread enter hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to activate a power saving mode.
+ */
+#define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
+}
+
+/**
+ * @brief   Idle thread leave hook.
+ * @note    This hook is invoked within a critical zone, no OS functions
+ *          should be invoked from here.
+ * @note    This macro can be used to deactivate a power saving mode.
+ */
+#define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
+}
+
+/**
+ * @brief   Idle Loop hook.
+ * @details This hook is continuously invoked by the idle thread loop.
+ */
+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
+  /* Idle loop code here.*/                                                 \
+}
+
+/**
+ * @brief   System tick event hook.
+ * @details This hook is invoked in the system tick handler immediately
+ *          after processing the virtual timers queue.
+ */
+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
+  /* System tick event code here.*/                                         \
+}
+
+/**
+ * @brief   System halt hook.
+ * @details This hook is invoked in case to a system halting error before
+ *          the system is halted.
+ */
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
+  /* System halt code here.*/                                               \
+}
+
+/**
+ * @brief   Trace hook.
+ * @details This hook is invoked each time a new record is written in the
+ *          trace buffer.
+ */
+#define CH_CFG_TRACE_HOOK(tep) {                                            \
+  /* Trace code here.*/                                                     \
+}
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Port specific settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   NVIC VTOR initialization offset.
+ * @details On initialization, the code at this address in the flash memory will be executed.
+ */
+#define CORTEX_VTOR_INIT 0x00008000U
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name other
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Flag to enable/disable floating point support in chprinf()
+ */
+#define CHPRINTF_USE_FLOAT                  TRUE
+
+/** @} */
+
+#endif  /* CHCONF_H */
+
+/** @} */
