Reverted some modifications to the MotorDriver unit test for better stability.
Minor optimizations regarding memory utilization.
Introduced a POSIX-like thread hierarchy system in ChibiOS (addad a patch) and adapted AMiRo-OS accordingly.In the process ChibiOS has been updated as well.
Some minor fixes and enhancements.Most importantly, the expected jitter (CH_CFG_ST_TIMEDELTA) was increased form 20 to 50us.
removed the UWB module specific code from the LightRing
All contents of the os/ folder has been moved one directory up.
Reworked linker scripts.the os/hal/ directory was removed completely.Each module now has its own linker script, which again includes the fundamental liner scripts within ChibiOS.All makefiles have been adapted accordingly.
Review of the QEI driver patch (minor changes).
optimized fan out calculation of masks for GPIO initialization.
Added some basics to mask pads during GPIO initialization (wip)
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