diff --git a/os/rt/include/chschd.h b/os/rt/include/chschd.h
index 1d11d17..c71d8b4 100644
--- a/os/rt/include/chschd.h
+++ b/os/rt/include/chschd.h
@@ -177,6 +177,23 @@ struct ch_thread {
    */
   trefs_t               refs;
 #endif
+#if (CH_CFG_USE_THREADHIERARCHY == TRUE) || defined(__DOXYGEN__)
+  /**
+   * @brief   Pointer to the parent thread.
+   * @note    NULL only for the main thread.
+   */
+  thread_t              *parent;
+  /**
+   * @brief   Pointer to the first child thread.
+   * @note    NULL if there are no child threads.
+   */
+  thread_t              *children;
+  /**
+   * @brief   Pointer to the next sibling thread.
+   * @brief   NULL if there are no more child threads.
+   */
+  thread_t              *sibling;
+#endif
   /**
    * @brief   Number of ticks remaining to this thread.
    */
diff --git a/os/rt/include/chthreads.h b/os/rt/include/chthreads.h
index 166d566..b767d74 100644
--- a/os/rt/include/chthreads.h
+++ b/os/rt/include/chthreads.h
@@ -79,6 +79,10 @@ typedef struct {
    * @brief   Thread argument.
    */
   void              *arg;
+  /**
+   * @brief   Pointer to the parent thread.
+   */
+  thread_t          *parent;
 } thread_descriptor_t;
 
 /*===========================================================================*/
@@ -220,7 +224,7 @@ typedef struct {
 #ifdef __cplusplus
 extern "C" {
 #endif
-   thread_t *_thread_init(thread_t *tp, const char *name, tprio_t prio);
+   thread_t *_thread_init(thread_t *tp, thread_t* parent, const char *name, tprio_t prio);
 #if CH_DBG_FILL_THREADS == TRUE
   void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v);
 #endif
@@ -228,8 +232,13 @@ extern "C" {
   thread_t *chThdCreateSuspended(const thread_descriptor_t *tdp);
   thread_t *chThdCreateI(const thread_descriptor_t *tdp);
   thread_t *chThdCreate(const thread_descriptor_t *tdp);
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+  thread_t *chThdCreateStatic(void *wsp, size_t size,
+                              tprio_t prio, tfunc_t pf, void *arg, thread_t *parent);
+#else
   thread_t *chThdCreateStatic(void *wsp, size_t size,
                               tprio_t prio, tfunc_t pf, void *arg);
+#endif
   thread_t *chThdStart(thread_t *tp);
 #if CH_CFG_USE_REGISTRY == TRUE
   thread_t *chThdAddRef(thread_t *tp);
diff --git a/os/rt/src/chsys.c b/os/rt/src/chsys.c
index 346a8ba..c789d01 100644
--- a/os/rt/src/chsys.c
+++ b/os/rt/src/chsys.c
@@ -126,13 +126,13 @@ void chSysInit(void) {
 #if CH_CFG_NO_IDLE_THREAD == FALSE
   /* Now this instructions flow becomes the main thread.*/
 #if CH_CFG_USE_REGISTRY == TRUE
-  currp = _thread_init(&ch.mainthread, (const char *)&ch_debug, NORMALPRIO);
+  currp = _thread_init(&ch.mainthread, NULL, (const char *)&ch_debug, NORMALPRIO);
 #else
-  currp = _thread_init(&ch.mainthread, "main", NORMALPRIO);
+  currp = _thread_init(&ch.mainthread, NULL, "main", NORMALPRIO);
 #endif
 #else
   /* Now this instructions flow becomes the idle thread.*/
-  currp = _thread_init(&ch.mainthread, "idle", IDLEPRIO);
+  currp = _thread_init(&ch.mainthread, NULL, "idle", IDLEPRIO);
 #endif
 
 #if CH_DBG_ENABLE_STACK_CHECK == TRUE
@@ -172,6 +172,7 @@ void chSysInit(void) {
       THD_WORKING_AREA_END(ch_idle_thread_wa),
       IDLEPRIO,
       _idle_thread,
+      NULL,
       NULL
     };
 
diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c
index 171c683..6bc0f78 100644
--- a/os/rt/src/chthreads.c
+++ b/os/rt/src/chthreads.c
@@ -70,6 +70,46 @@
 /* Module local functions.                                                   */
 /*===========================================================================*/
 
+#if CH_CFG_USE_THREADHIERARCHY == TRUE || defined(__DOXYGEN__)
+/**
+ * @brief   Insert a thread to the list of children of another thread.
+ * @details If @p CH_CFG_THREADHIERARCHY_ORDERED is @p TRUE, children are ordered by their priorities (high to low).
+ *          Children with identical priority are ordered by 'age' (youngest first).
+ *
+ * @param[in] parent  Pointer to the parent thread (must not be NULL).
+ * @param[in] child   Pointer to the child thread (must not be NULL).
+ */
+inline void _thread_addChild(thread_t *parent, thread_t *child) {
+#if CH_CFG_THREADHIERARCHY_ORDERED == TRUE
+  thread_t *sibling = parent->children;
+  child->parent = parent;
+#if CH_CFG_USE_MUTEXES == TRUE
+  if (sibling == NULL || sibling->realprio <= child->realprio) {
+#else
+  if (sibling == NULL || sibling->prio <= child->prio) {
+#endif
+    child->sibling = sibling;
+    parent->children = child;
+  } else {
+#if CH_CFG_USE_MUTEXES == TRUE
+    while (sibling->sibling != NULL && sibling->sibling->realprio > child->realprio) {
+#else
+    while (sibling->sibling != NULL && sibling->sibling->prio > child->prio) {
+#endif
+      sibling = sibling->sibling;
+    }
+    child->sibling = sibling->sibling;
+    sibling->sibling = child;
+  }
+#else
+  child->parent = parent;
+  child->sibling = parent->children;
+  parent->children = child;
+#endif
+  return;
+}
+#endif
+
 /*===========================================================================*/
 /* Module exported functions.                                                */
 /*===========================================================================*/
@@ -79,13 +119,14 @@
  * @note    This is an internal functions, do not use it in application code.
  *
  * @param[in] tp        pointer to the thread
+ * @param[in] parent    pointer to the parent thread
  * @param[in] name      thread name
  * @param[in] prio      the priority level for the new thread
  * @return              The same thread pointer passed as parameter.
  *
  * @notapi
  */
-thread_t *_thread_init(thread_t *tp, const char *name, tprio_t prio) {
+thread_t *_thread_init(thread_t *tp, thread_t *parent,  const char *name, tprio_t prio) {
 
   tp->prio      = prio;
   tp->state     = CH_STATE_WTSTART;
@@ -110,6 +151,17 @@ thread_t *_thread_init(thread_t *tp, const char *name, tprio_t prio) {
 #else
   (void)name;
 #endif
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+  if (parent != NULL) {
+    _thread_addChild(parent, tp);
+  } else {
+    tp->parent = parent;
+    tp->sibling = NULL;
+  }
+  tp->children = NULL;
+#else
+  (void)parent;
+#endif
 #if CH_CFG_USE_WAITEXIT == TRUE
   list_init(&tp->waiting);
 #endif
@@ -190,7 +242,7 @@ thread_t *chThdCreateSuspendedI(const thread_descriptor_t *tdp) {
   PORT_SETUP_CONTEXT(tp, tdp->wbase, tp, tdp->funcp, tdp->arg);
 
   /* The driver object is initialized but not started.*/
-  return _thread_init(tp, tdp->name, tdp->prio);
+  return _thread_init(tp, tdp->parent, tdp->name, tdp->prio);
 }
 
 /**
@@ -315,13 +367,21 @@ thread_t *chThdCreate(const thread_descriptor_t *tdp) {
  * @param[in] pf        the thread function
  * @param[in] arg       an argument passed to the thread function. It can be
  *                      @p NULL.
+ * @param[in] parent    pointer to a parent thread. Parameter only available if
+ *                      @p CH_CFG_USE_THREADHIERARCHY is @p TRUE. It can be
+ *                      @p NULL.
  * @return              The pointer to the @p thread_t structure allocated for
  *                      the thread into the working space area.
  *
  * @api
  */
+#if (CH_CFG_USE_THREADHIERARCHY == TRUE) || defined(__DOXYGEN__)
+thread_t *chThdCreateStatic(void *wsp, size_t size,
+                            tprio_t prio, tfunc_t pf, void *arg, thread_t *parent) {
+#else
 thread_t *chThdCreateStatic(void *wsp, size_t size,
                             tprio_t prio, tfunc_t pf, void *arg) {
+#endif
   thread_t *tp;
 
   chDbgCheck((wsp != NULL) &&
@@ -358,7 +418,11 @@ thread_t *chThdCreateStatic(void *wsp, size_t size,
   /* Setting up the port-dependent part of the working area.*/
   PORT_SETUP_CONTEXT(tp, wsp, tp, pf, arg);
 
-  tp = _thread_init(tp, "noname", prio);
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+  tp = _thread_init(tp, parent, "noname", prio);
+#else
+  tp = _thread_init(tp, NULL, "noname", prio);
+#endif
 
   /* Starting the thread immediately.*/
   chSchWakeupS(tp, MSG_OK);
@@ -529,6 +593,30 @@ void chThdExitS(msg_t msg) {
 #endif
 #endif
 
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+  thread_t *child;
+  /* Remove from parent's list of children. */
+  if (tp->parent != NULL) {
+    if (tp->parent->children == tp) {
+      tp->parent->children = tp->sibling;
+    } else {
+      child = tp->parent->children;
+      while (child->sibling != tp) {
+        child = child->sibling;
+      }
+      child->sibling = tp->sibling;
+    }
+    tp->parent = NULL;
+  }
+  tp->sibling = NULL;
+  /* Move any child threads to the main thread. */
+  while (tp->children != NULL) {
+    child = tp->children;
+    tp->children = child->sibling;
+    _thread_addChild(&ch.mainthread, child);
+  }
+#endif
+
   /* Going into final state.*/
   chSchGoSleepS(CH_STATE_FINAL);
 
@@ -611,6 +699,43 @@ tprio_t chThdSetPriority(tprio_t newprio) {
   oldprio = currp->prio;
   currp->prio = newprio;
 #endif
+#if (CH_CFG_USE_THREADHIERARCHY == TRUE) && (CH_CFG_THREADHIERARCHY_ORDERED == TRUE)
+  /* Reorder sibling list. */
+  if (currp->parent != NULL && newprio != oldprio) {
+    thread_t *sibling, *oldsibling;
+    if (newprio > oldprio) {
+      oldsibling = currp->sibling;
+      _thread_addChild(currp->parent, currp);
+      sibling = currp->sibling;
+      if (sibling != NULL) {
+        while (sibling->sibling != currp) {
+          sibling = sibling->sibling;
+        }
+        sibling->sibling = oldsibling;
+      }
+    } else /*if (newprio < oldprio)*/ {
+      sibling = currp->parent->children;
+      if (sibling == currp) {
+        currp->parent->children = currp->sibling;
+        _thread_addChild(currp->parent, currp);
+      } else {
+        while (sibling->sibling != currp) {
+          sibling = sibling->sibling;
+        }
+        sibling->sibling = currp->sibling;
+#if CH_CFG_USE_MUTEXES == TRUE
+        while (sibling->sibling != NULL && sibling->sibling->realprio > currp->realprio) {
+#else
+        while (sibling->sibling != NULL && sibling->sibling->prio > currp->prio) {
+#endif
+          sibling = sibling->sibling;
+        }
+        currp->sibling = sibling->sibling;
+        sibling->sibling = currp;
+      }
+    }
+  }
+#endif
   chSchRescheduleS();
   chSysUnlock();
 
diff --git a/test/rt/source/test/rt_test_root.c b/test/rt/source/test/rt_test_root.c
index e03d0f1..150d33d 100644
--- a/test/rt/source/test/rt_test_root.c
+++ b/test/rt/source/test/rt_test_root.c
@@ -106,6 +106,14 @@ void * ROMCONST wa[5] = {test_buffer + (WA_SIZE * 0),
                          test_buffer + (WA_SIZE * 3),
                          test_buffer + (WA_SIZE * 4)};
 
+thread_t *test_create_thread(void *wsp, size_t size, tprio_t prio, tfunc_t pf, void *arg) {
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+  return chThdCreateStatic(wsp, size, prio, pf, arg, chThdGetSelfX());
+#else
+  return chThdCreateStatic(wsp, size, prio, pf, arg);
+#endif
+}
+
 /*
  * Sets a termination request in all the test-spawned threads.
  */
diff --git a/test/rt/source/test/rt_test_root.h b/test/rt/source/test/rt_test_root.h
index 6da777b..0cd40fc 100644
--- a/test/rt/source/test/rt_test_root.h
+++ b/test/rt/source/test/rt_test_root.h
@@ -88,6 +88,7 @@ extern thread_t *threads[MAX_THREADS];
 extern void * ROMCONST wa[5];
 
 void test_print_port_info(void);
+thread_t *test_create_thread(void *wsp, size_t size, tprio_t prio, tfunc_t pf, void *arg);
 void test_terminate_threads(void);
 void test_wait_threads(void);
 systime_t test_wait_tick(void);
diff --git a/test/rt/source/test/rt_test_sequence_001.c b/test/rt/source/test/rt_test_sequence_001.c
index 6f2b96f..f91c23f 100644
--- a/test/rt/source/test/rt_test_sequence_001.c
+++ b/test/rt/source/test/rt_test_sequence_001.c
@@ -193,6 +193,12 @@ static void rt_test_001_003_execute(void) {
     test_print("--- CH_CFG_USE_REGISTRY:                ");
     test_printn(CH_CFG_USE_REGISTRY);
     test_println("");
+    test_print("--- CH_CFG_USE_THREADHIERARCHY:         ");
+    test_printn(CH_CFG_USE_THREADHIERARCHY);
+    test_println("");
+    test_print("--- CH_CFG_THREADHIERARCHY_ORDERED:     ");
+    test_printn(CH_CFG_THREADHIERARCHY_ORDERED);
+    test_println("");
     test_print("--- CH_CFG_USE_WAITEXIT:                ");
     test_printn(CH_CFG_USE_WAITEXIT);
     test_println("");
@@ -207,7 +213,7 @@ static void rt_test_001_003_execute(void) {
     test_println("");
     test_print("--- CH_CFG_USE_MUTEXES_RECURS:          ");
     test_printn(CH_CFG_USE_MUTEXES_RECURSIVE);
-    test_println("");   
+    test_println("");
     test_print("--- CH_CFG_USE_CONDVARS:                ");
     test_printn(CH_CFG_USE_CONDVARS);
     test_println("");
diff --git a/test/rt/source/test/rt_test_sequence_003.c b/test/rt/source/test/rt_test_sequence_003.c
index 8598b12..f1ece71 100644
--- a/test/rt/source/test/rt_test_sequence_003.c
+++ b/test/rt/source/test/rt_test_sequence_003.c
@@ -46,6 +46,20 @@ static THD_FUNCTION(thread, p) {
   test_emit_token(*(char *)p);
 }
 
+#if (CH_CFG_USE_THREADHIERARCHY)
+static THD_FUNCTION(hierarchythread, p) {
+
+  do {
+    if (*(tprio_t *)p != chThdGetPriorityX()) {
+      chThdSetPriority(*(tprio_t *)p);
+    }
+    chThdSleepMilliseconds(10);
+  } while (!chThdShouldTerminateX());
+
+  chThdExit(MSG_OK);
+}
+#endif
+
 /****************************************************************************
  * Test cases.
  ****************************************************************************/
@@ -166,11 +180,11 @@ static void rt_test_003_002_execute(void) {
      sequence is tested.*/
   test_set_step(1);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E");
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread, "D");
-    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C");
-    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B");
-    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A");
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E");
+    threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread, "D");
+    threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C");
+    threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B");
+    threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A");
     test_wait_threads();
     test_assert_sequence("ABCDE", "invalid sequence");
   }
@@ -179,11 +193,11 @@ static void rt_test_003_002_execute(void) {
      sequence is tested.*/
   test_set_step(2);
   {
-    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A");
-    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B");
-    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C");
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread, "D");
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E");
+    threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A");
+    threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B");
+    threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C");
+    threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread, "D");
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E");
     test_wait_threads();
     test_assert_sequence("ABCDE", "invalid sequence");
   }
@@ -192,11 +206,11 @@ static void rt_test_003_002_execute(void) {
      sequence is tested.*/
   test_set_step(3);
   {
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread, "D");
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E");
-    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A");
-    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B");
-    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C");
+    threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread, "D");
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E");
+    threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A");
+    threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B");
+    threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C");
     test_wait_threads();
     test_assert_sequence("ABCDE", "invalid sequence");
   }
@@ -325,6 +339,405 @@ static const testcase_t rt_test_003_004 = {
 };
 #endif /* CH_CFG_USE_MUTEXES */
 
+#if (CH_CFG_USE_THREADHIERARCHY) || defined(__DOXYGEN__)
+/**
+ * @page rt_test_003_005 [3.5] Thread hierarach with (un)ordered lists.
+ *
+ * <h2>Description</h2>
+ * Todo
+ *
+ * <h2>Conditions</h2>
+ * This test is only executed if the following preprocessor condition
+ * evaluates to true:
+ * - CH_CFG_USE_THREADHIERARCHY
+ * This test comprises additional tests if the following preprocessor
+ * condition evaluates to true:
+ * - CH_CFG_THREADHIERARCHY_ORDERED
+ * .
+ *
+ * <h2>Test Steps</h2>
+ * Todo
+ * .
+ */
+
+static void rt_test_003_005_execute(void) {
+
+  /* [3.5.1] Creating 1 parent and 4 child threads with increasing priority,
+   * hierarchy information is tested */
+  test_set_step(1);
+  {
+    tprio_t prios[MAX_THREADS];
+    thread_t *threads_cpy[MAX_THREADS];
+    thread_t *parents[MAX_THREADS];
+    thread_t *siblings[MAX_THREADS];
+    prios[0] = chThdGetPriorityX()-1;
+    prios[1] = chThdGetPriorityX()-5;
+    prios[2] = chThdGetPriorityX()-4;
+    prios[3] = chThdGetPriorityX()-3;
+    prios[4] = chThdGetPriorityX()-2;
+    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+    threads_cpy[0] = threads[0];
+    threads_cpy[1] = threads[1];
+    threads_cpy[2] = threads[2];
+    threads_cpy[3] = threads[3];
+    threads_cpy[4] = threads[4];
+    parents[0] = threads[0]->parent;
+    parents[1] = threads[1]->parent;
+    parents[2] = threads[2]->parent;
+    parents[3] = threads[3]->parent;
+    parents[4] = threads[4]->parent;
+    siblings[0] = threads[0]->children;
+    siblings[1] = threads[1]->sibling;
+    siblings[2] = threads[2]->sibling;
+    siblings[3] = threads[3]->sibling;
+    siblings[4] = threads[4]->sibling;
+    chThdTerminate(threads[0]);
+    chThdTerminate(threads[1]);
+    chThdTerminate(threads[2]);
+    chThdTerminate(threads[3]);
+    chThdTerminate(threads[4]);
+    test_wait_threads();
+    test_assert(parents[0] == chThdGetSelfX() &&
+                parents[1] == threads_cpy[0] &&
+                parents[2] == threads_cpy[0] &&
+                parents[3] == threads_cpy[0] &&
+                parents[4] == threads_cpy[0] &&
+                siblings[0] == threads_cpy[4] &&
+                siblings[1] == NULL &&
+                siblings[2] == threads_cpy[1] &&
+                siblings[3] == threads_cpy[2] &&
+                siblings[4] == threads_cpy[3], "invalid children list");
+  }
+
+  /* [3.5.2] Creating 1 parent and 4 child threads with decreasing priority,
+   * hierarchy information is tested.*/
+  test_set_step(2);
+  {
+    tprio_t prios[MAX_THREADS];
+    thread_t *threads_cpy[MAX_THREADS];
+    thread_t *parents[MAX_THREADS];
+    thread_t *siblings[MAX_THREADS];
+    prios[0] = chThdGetPriorityX()-1;
+    prios[1] = chThdGetPriorityX()-2;
+    prios[2] = chThdGetPriorityX()-3;
+    prios[3] = chThdGetPriorityX()-4;
+    prios[4] = chThdGetPriorityX()-5;
+    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+    threads_cpy[0] = threads[0];
+    threads_cpy[1] = threads[1];
+    threads_cpy[2] = threads[2];
+    threads_cpy[3] = threads[3];
+    threads_cpy[4] = threads[4];
+    parents[0] = threads[0]->parent;
+    parents[1] = threads[1]->parent;
+    parents[2] = threads[2]->parent;
+    parents[3] = threads[3]->parent;
+    parents[4] = threads[4]->parent;
+    siblings[0] = threads[0]->children;
+    siblings[1] = threads[1]->sibling;
+    siblings[2] = threads[2]->sibling;
+    siblings[3] = threads[3]->sibling;
+    siblings[4] = threads[4]->sibling;
+    test_terminate_threads();
+    test_wait_threads();
+#if CH_CFG_THREADHIERARCHY_ORDERED == TRUE
+    test_assert(parents[0] == chThdGetSelfX() &&
+                parents[1] == threads_cpy[0] &&
+                parents[2] == threads_cpy[0] &&
+                parents[3] == threads_cpy[0] &&
+                parents[4] == threads_cpy[0] &&
+                siblings[0] == threads_cpy[1] &&
+                siblings[1] == threads_cpy[2] &&
+                siblings[2] == threads_cpy[3] &&
+                siblings[3] == threads_cpy[4] &&
+                siblings[4] == NULL, "invalid children list");
+#else
+    test_assert(parents[0] == chThdGetSelfX() &&
+                parents[1] == threads_cpy[0] &&
+                parents[2] == threads_cpy[0] &&
+                parents[3] == threads_cpy[0] &&
+                parents[4] == threads_cpy[0] &&
+                siblings[0] == threads_cpy[4] &&
+                siblings[4] == threads_cpy[3] &&
+                siblings[3] == threads_cpy[2] &&
+                siblings[2] == threads_cpy[1] &&
+                siblings[1] == NULL, "invalid children list");
+#endif
+  }
+
+  /* [3.5.3] Creating 1 parent and 4 child threads with identical priority,
+   * hierarchy information is tested.*/
+  test_set_step(3);
+  {
+    tprio_t prios[MAX_THREADS];
+    thread_t *threads_cpy[MAX_THREADS];
+    thread_t *parents[MAX_THREADS];
+    thread_t *siblings[MAX_THREADS];
+    prios[0] = chThdGetPriorityX()-1;
+    prios[1] = chThdGetPriorityX()-2;
+    prios[2] = chThdGetPriorityX()-2;
+    prios[3] = chThdGetPriorityX()-2;
+    prios[4] = chThdGetPriorityX()-2;
+    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+    threads_cpy[0] = threads[0];
+    threads_cpy[1] = threads[1];
+    threads_cpy[2] = threads[2];
+    threads_cpy[3] = threads[3];
+    threads_cpy[4] = threads[4];
+    parents[0] = threads[0]->parent;
+    parents[1] = threads[1]->parent;
+    parents[2] = threads[2]->parent;
+    parents[3] = threads[3]->parent;
+    parents[4] = threads[4]->parent;
+    siblings[0] = threads[0]->children;
+    siblings[1] = threads[1]->sibling;
+    siblings[2] = threads[2]->sibling;
+    siblings[3] = threads[3]->sibling;
+    siblings[4] = threads[4]->sibling;
+    test_terminate_threads();
+    test_wait_threads();
+    test_assert(parents[0] == chThdGetSelfX() &&
+                parents[1] == threads_cpy[0] &&
+                parents[2] == threads_cpy[0] &&
+                parents[3] == threads_cpy[0] &&
+                parents[4] == threads_cpy[0] &&
+                siblings[0] == threads_cpy[4] &&
+                siblings[1] == NULL &&
+                siblings[2] == threads_cpy[1] &&
+                siblings[3] == threads_cpy[2] &&
+                siblings[4] == threads_cpy[3] , "invalid children list");
+  }
+
+  /* [3.5.4] Creating 1 parent and 4 child threads with increasing priority
+   * which are terminated in a controlled manner, hierarchy information is
+   * tested.*/
+  test_set_step(4);
+  {
+    tprio_t prios[MAX_THREADS];
+    thread_t *threads_cpy[MAX_THREADS];
+    thread_t *parents[MAX_THREADS];
+    thread_t *siblings[MAX_THREADS];
+    prios[0] = chThdGetPriorityX()-1;
+    prios[1] = chThdGetPriorityX()-5;
+    prios[2] = chThdGetPriorityX()-4;
+    prios[3] = chThdGetPriorityX()-3;
+    prios[4] = chThdGetPriorityX()-2;
+    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+    threads_cpy[0] = threads[0];
+    threads_cpy[1] = threads[1];
+    threads_cpy[2] = threads[2];
+    threads_cpy[3] = threads[3];
+    threads_cpy[4] = threads[4];
+    chThdTerminate(threads[1]);
+    chThdTerminate(threads[4]);
+    chThdWait(threads[1]);
+    chThdWait(threads[4]);
+    parents[0] = threads[0]->parent;
+    parents[1] = threads[1]->parent;
+    parents[2] = threads[2]->parent;
+    parents[3] = threads[3]->parent;
+    parents[4] = threads[4]->parent;
+    siblings[0] = threads[0]->children;
+    siblings[1] = threads[1]->sibling;
+    siblings[2] = threads[2]->sibling;
+    siblings[3] = threads[3]->sibling;
+    siblings[4] = threads[4]->sibling;
+    test_terminate_threads();
+    test_wait_threads();
+    test_assert(parents[0] == chThdGetSelfX() &&
+                parents[2] == threads_cpy[0] &&
+                parents[3] == threads_cpy[0] &&
+                siblings[0] == threads_cpy[3] &&
+                siblings[2] == NULL &&
+                siblings[3] == threads_cpy[2], "invalid children list");
+  }
+
+  /* [3.5.5] Creating 1 parent and 4 child threads and then terminating the
+   * parent, hierarchy information is tested.*/
+  test_set_step(5);
+  {
+    tprio_t prios[MAX_THREADS];
+    thread_t *threads_cpy[MAX_THREADS];
+    thread_t *parents[MAX_THREADS];
+    uint8_t thdmask = 0;
+    prios[0] = chThdGetPriorityX()-1;
+    prios[1] = chThdGetPriorityX()-1;
+    prios[2] = chThdGetPriorityX()-1;
+    prios[3] = chThdGetPriorityX()-1;
+    prios[4] = chThdGetPriorityX()-1;
+    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+    threads_cpy[0] = threads[0];
+    threads_cpy[1] = threads[1];
+    threads_cpy[2] = threads[2];
+    threads_cpy[3] = threads[3];
+    threads_cpy[4] = threads[4];
+    chThdTerminate(threads[0]);
+    chThdWait(threads[0]);
+    parents[0] = threads_cpy[0]->parent;
+    parents[1] = threads_cpy[1]->parent;
+    parents[2] = threads_cpy[2]->parent;
+    parents[3] = threads_cpy[3]->parent;
+    parents[4] = threads_cpy[4]->parent;
+    for (thread_t* sibling = ch.mainthread.children; sibling != NULL; sibling = sibling->sibling) {
+      thdmask |= (sibling == threads[0]) ? 1 << 0 : 0;
+      thdmask |= (sibling == threads[1]) ? 1 << 1 : 0;
+      thdmask |= (sibling == threads[2]) ? 1 << 2 : 0;
+      thdmask |= (sibling == threads[3]) ? 1 << 3 : 0;
+      thdmask |= (sibling == threads[4]) ? 1 << 4 : 0;
+    }
+    test_terminate_threads();
+    test_wait_threads();
+    test_assert(parents[1] == &ch.mainthread &&
+                parents[2] == &ch.mainthread &&
+                parents[3] == &ch.mainthread &&
+                parents[4] == &ch.mainthread &&
+                thdmask == ((1 << 1) | (1 << 2) | (1 << 3) | (1 << 4)), "child thread recovery failed");
+  }
+
+  /* [3.5.6] Creating 1 parent and 4 child threads with increasing priority
+   * and then increasing the priority of a low-priority child, hierarchy
+   * information is tested.*/
+  test_set_step(6);
+  {
+    tprio_t prios[MAX_THREADS];
+    thread_t *threads_cpy[MAX_THREADS];
+    tprio_t testprios[2];
+    thread_t *siblings[MAX_THREADS];
+    prios[0] = chThdGetPriorityX()-1;
+    prios[1] = chThdGetPriorityX()-5;
+    prios[2] = chThdGetPriorityX()-4;
+    prios[3] = chThdGetPriorityX()-3;
+    prios[4] = chThdGetPriorityX()-2;
+    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+    threads_cpy[0] = threads[0];
+    threads_cpy[1] = threads[1];
+    threads_cpy[2] = threads[2];
+    threads_cpy[3] = threads[3];
+    threads_cpy[4] = threads[4];
+    chThdSleepMilliseconds(10);
+    testprios[0] = threads[1]->prio;
+    prios[1] = prios[4];
+    chThdSleepMilliseconds(10);
+    testprios[1] = threads[1]->prio;
+    siblings[0] = threads[0]->children;
+    siblings[1] = threads[1]->sibling;
+    siblings[2] = threads[2]->sibling;
+    siblings[3] = threads[3]->sibling;
+    siblings[4] = threads[4]->sibling;
+    test_terminate_threads();
+    test_wait_threads();
+#if CH_CFG_THREADHIERARCHY_ORDERED == TRUE
+    test_assert(testprios[0] == chThdGetPriorityX()-5 &&
+                testprios[1] == prios[4] &&
+                siblings[0] == threads_cpy[1] &&
+                siblings[1] == threads_cpy[4] &&
+                siblings[2] == NULL &&
+                siblings[3] == threads_cpy[2] &&
+                siblings[4] == threads_cpy[3], "invalid children list");
+#else
+    test_assert(testprios[0] == chThdGetPriorityX()-5 &&
+                testprios[1] == prios[4] &&
+                siblings[0] == threads_cpy[4] &&
+                siblings[1] == NULL &&
+                siblings[2] == threads_cpy[1] &&
+                siblings[3] == threads_cpy[2] &&
+                siblings[4] == threads_cpy[3], "invalid children list");
+#endif
+  }
+
+  /* [3.5.7] Creating 1 parent and 4 child threads with increasing priority
+   * and the decreasing the priority of a high-priority child, hierarchy
+   * information is tested.*/
+  test_set_step(7);
+  {
+    tprio_t prios[MAX_THREADS];
+    thread_t *threads_cpy[MAX_THREADS];
+    tprio_t testprios[2];
+    thread_t *siblings[MAX_THREADS];
+    prios[0] = chThdGetPriorityX()-1;
+    prios[1] = chThdGetPriorityX()-5;
+    prios[2] = chThdGetPriorityX()-4;
+    prios[3] = chThdGetPriorityX()-3;
+    prios[4] = chThdGetPriorityX()-2;
+    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+    threads_cpy[0] = threads[0];
+    threads_cpy[1] = threads[1];
+    threads_cpy[2] = threads[2];
+    threads_cpy[3] = threads[3];
+    threads_cpy[4] = threads[4];
+    chThdSleepMilliseconds(10);
+    testprios[0] = threads[4]->prio;
+    prios[4] = prios[1];
+    chThdSleepMilliseconds(10);
+    testprios[1] = threads[4]->prio;
+    siblings[0] = threads[0]->children;
+    siblings[1] = threads[1]->sibling;
+    siblings[2] = threads[2]->sibling;
+    siblings[3] = threads[3]->sibling;
+    siblings[4] = threads[4]->sibling;
+    test_terminate_threads();
+    test_wait_threads();
+#if CH_CFG_THREADHIERARCHY_ORDERED == TRUE
+    test_assert(testprios[0] == chThdGetPriorityX()-2 &&
+                testprios[1] == prios[1] &&
+                siblings[0] == threads_cpy[3] &&
+                siblings[1] == NULL &&
+                siblings[2] == threads_cpy[4] &&
+                siblings[3] == threads_cpy[2] &&
+                siblings[4] == threads_cpy[1], "invalid children list");
+#else
+    test_assert(testprios[0] == chThdGetPriorityX()-2 &&
+                testprios[1] == prios[1] &&
+                siblings[0] == threads_cpy[4] &&
+                siblings[1] == NULL &&
+                siblings[2] == threads_cpy[1] &&
+                siblings[3] == threads_cpy[2] &&
+                siblings[4] == threads_cpy[3], "invalid children list");
+#endif
+  }
+}
+
+
+static const testcase_t rt_test_003_005 = {
+#if CH_CFG_THREADHIERARCHY_ORDERED == TRUE
+  "Thread hierarchy with ordered lists",
+#else
+  "Thread hierarchy with unordered lists",
+#endif
+  NULL,
+  NULL,
+  rt_test_003_005_execute
+};
+#endif /* CH_CFG_USE_THREADHIERARCHY */
+
 /****************************************************************************
  * Exported data.
  ****************************************************************************/
@@ -339,6 +752,9 @@ const testcase_t * const rt_test_sequence_003_array[] = {
 #if (CH_CFG_USE_MUTEXES) || defined(__DOXYGEN__)
   &rt_test_003_004,
 #endif
+#if (CH_CFG_USE_THREADHIERARCHY) || defined(__DOXYGEN__)
+  &rt_test_003_005,
+#endif
   NULL
 };
 
diff --git a/test/rt/source/test/rt_test_sequence_004.c b/test/rt/source/test/rt_test_sequence_004.c
index 7ad2ab5..4226ffc 100644
--- a/test/rt/source/test/rt_test_sequence_004.c
+++ b/test/rt/source/test/rt_test_sequence_004.c
@@ -83,7 +83,7 @@ static void rt_test_004_001_execute(void) {
      and the state of the reference are tested.*/
   test_set_step(1);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-1, thread1, "A");
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-1, thread1, "A");
     chSysLock();
     msg = chThdSuspendTimeoutS(&tr1, TIME_INFINITE);
     chSysUnlock();
diff --git a/test/rt/source/test/rt_test_sequence_005.c b/test/rt/source/test/rt_test_sequence_005.c
index 29cebb9..3cde985 100644
--- a/test/rt/source/test/rt_test_sequence_005.c
+++ b/test/rt/source/test/rt_test_sequence_005.c
@@ -178,11 +178,11 @@ static void rt_test_005_002_execute(void) {
      initialized to zero.*/
   test_set_step(1);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+5, thread1, "A");
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()+1, thread1, "B");
-    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()+3, thread1, "C");
-    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()+4, thread1, "D");
-    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()+2, thread1, "E");
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+5, thread1, "A");
+    threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()+1, thread1, "B");
+    threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()+3, thread1, "C");
+    threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()+4, thread1, "D");
+    threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()+2, thread1, "E");
   }
 
   /* [5.2.2] The semaphore is signaled 5 times. The thread activation
@@ -248,7 +248,7 @@ static void rt_test_005_003_execute(void) {
   /* [5.3.2] Testing non-timeout condition.*/
   test_set_step(2);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
                                    thread2, 0);
     msg = chSemWaitTimeout(&sem1, TIME_MS2I(500));
     test_wait_threads();
@@ -305,7 +305,7 @@ static void rt_test_005_004_execute(void) {
   /* [5.4.1] A thread is created, it goes to wait on the semaphore.*/
   test_set_step(1);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1, thread1, "A");
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+1, thread1, "A");
   }
 
   /* [5.4.2] The semaphore counter is increased by two, it is then
@@ -366,7 +366,7 @@ static void rt_test_005_005_execute(void) {
      non-atomical wait and signal operations on a semaphore.*/
   test_set_step(1);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1, thread3, 0);
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+1, thread3, 0);
   }
 
   /* [5.5.2] The function chSemSignalWait() is invoked by specifying
@@ -448,7 +448,7 @@ static void rt_test_005_006_execute(void) {
   /* [5.6.3] Starting a signaler thread at a lower priority.*/
   test_set_step(3);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE,
+    threads[0] = test_create_thread(wa[0], WA_SIZE,
                                    chThdGetPriorityX()-1, thread4, &bsem);
   }
 
diff --git a/test/rt/source/test/rt_test_sequence_006.c b/test/rt/source/test/rt_test_sequence_006.c
index 3694755..4d50caa 100644
--- a/test/rt/source/test/rt_test_sequence_006.c
+++ b/test/rt/source/test/rt_test_sequence_006.c
@@ -276,11 +276,11 @@ static void rt_test_006_001_execute(void) {
      priority order.*/
   test_set_step(3);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prio+1, thread1, "E");
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prio+2, thread1, "D");
-    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prio+3, thread1, "C");
-    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prio+4, thread1, "B");
-    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prio+5, thread1, "A");
+    threads[0] = test_create_thread(wa[0], WA_SIZE, prio+1, thread1, "E");
+    threads[1] = test_create_thread(wa[1], WA_SIZE, prio+2, thread1, "D");
+    threads[2] = test_create_thread(wa[2], WA_SIZE, prio+3, thread1, "C");
+    threads[3] = test_create_thread(wa[3], WA_SIZE, prio+4, thread1, "B");
+    threads[4] = test_create_thread(wa[4], WA_SIZE, prio+5, thread1, "A");
   }
 
   /* [6.1.4] Unlocking the mutex, the threads will wakeup in priority
@@ -347,9 +347,9 @@ static void rt_test_006_002_execute(void) {
      complete in priority order.*/
   test_set_step(2);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-1, thread2H, 0);
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-2, thread2M, 0);
-    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread2L, 0);
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-1, thread2H, 0);
+    threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-2, thread2M, 0);
+    threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread2L, 0);
     test_wait_threads();
     test_assert_sequence("ABC", "invalid sequence");
   }
@@ -418,11 +418,11 @@ static void rt_test_006_003_execute(void) {
      complete in priority order.*/
   test_set_step(2);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread3LL, 0);
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread3L, 0);
-    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread3M, 0);
-    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread3H, 0);
-    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread3HH, 0);
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread3LL, 0);
+    threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread3L, 0);
+    threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread3M, 0);
+    threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread3H, 0);
+    threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread3HH, 0);
     test_wait_threads();
     test_assert_sequence("ABCDE", "invalid sequence");
   }
@@ -501,8 +501,8 @@ static void rt_test_006_004_execute(void) {
   /* [6.4.2] Spawning threads A and B at priorities P(A) and P(B).*/
   test_set_step(2);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, pa, thread4A, "A");
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, pb, thread4B, "B");
+    threads[0] = test_create_thread(wa[0], WA_SIZE, pa, thread4A, "A");
+    threads[1] = test_create_thread(wa[1], WA_SIZE, pb, thread4B, "B");
   }
 
   /* [6.4.3] Locking the mutex M1 before thread A has a chance to lock
@@ -839,11 +839,11 @@ static void rt_test_006_007_execute(void) {
   test_set_step(1);
   {
     tprio_t prio = chThdGetPriorityX();
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prio+1, thread6, "E");
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prio+2, thread6, "D");
-    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prio+3, thread6, "C");
-    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prio+4, thread6, "B");
-    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prio+5, thread6, "A");
+    threads[0] = test_create_thread(wa[0], WA_SIZE, prio+1, thread6, "E");
+    threads[1] = test_create_thread(wa[1], WA_SIZE, prio+2, thread6, "D");
+    threads[2] = test_create_thread(wa[2], WA_SIZE, prio+3, thread6, "C");
+    threads[3] = test_create_thread(wa[3], WA_SIZE, prio+4, thread6, "B");
+    threads[4] = test_create_thread(wa[4], WA_SIZE, prio+5, thread6, "A");
   }
 
   /* [6.7.2] Atomically signaling the condition variable five times
@@ -908,11 +908,11 @@ static void rt_test_006_008_execute(void) {
   test_set_step(1);
   {
     tprio_t prio = chThdGetPriorityX();
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prio+1, thread6, "E");
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prio+2, thread6, "D");
-    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prio+3, thread6, "C");
-    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prio+4, thread6, "B");
-    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prio+5, thread6, "A");
+    threads[0] = test_create_thread(wa[0], WA_SIZE, prio+1, thread6, "E");
+    threads[1] = test_create_thread(wa[1], WA_SIZE, prio+2, thread6, "D");
+    threads[2] = test_create_thread(wa[2], WA_SIZE, prio+3, thread6, "C");
+    threads[3] = test_create_thread(wa[3], WA_SIZE, prio+4, thread6, "B");
+    threads[4] = test_create_thread(wa[4], WA_SIZE, prio+5, thread6, "A");
   }
 
   /* [6.8.2] Broarcasting on the condition variable then waiting for
@@ -986,21 +986,21 @@ static void rt_test_006_009_execute(void) {
      M1 and goes to wait on C1.*/
   test_set_step(2);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prio+1, thread8, "A");
+    threads[0] = test_create_thread(wa[0], WA_SIZE, prio+1, thread8, "A");
   }
 
   /* [6.9.3] Thread C is created at priority P(+2), it enqueues on M1
      and boosts TA priority at P(+2).*/
   test_set_step(3);
   {
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prio+2, thread6, "C");
+    threads[1] = test_create_thread(wa[1], WA_SIZE, prio+2, thread6, "C");
   }
 
   /* [6.9.4] Thread B is created at priority P(+3), it enqueues on M2
      and boosts TA priority at P(+3).*/
   test_set_step(4);
   {
-    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prio+3, thread9, "B");
+    threads[2] = test_create_thread(wa[2], WA_SIZE, prio+3, thread9, "B");
   }
 
   /* [6.9.5] Signaling C1: TA wakes up, unlocks M1 and priority goes to
diff --git a/test/rt/source/test/rt_test_sequence_007.c b/test/rt/source/test/rt_test_sequence_007.c
index 62a9df9..6dabea2 100644
--- a/test/rt/source/test/rt_test_sequence_007.c
+++ b/test/rt/source/test/rt_test_sequence_007.c
@@ -79,7 +79,7 @@ static void rt_test_007_001_execute(void) {
   /* [7.1.1] Starting the messenger thread.*/
   test_set_step(1);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() + 1,
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX() + 1,
                                    msg_thread1, chThdGetSelfX());
   }
 
diff --git a/test/rt/source/test/rt_test_sequence_008.c b/test/rt/source/test/rt_test_sequence_008.c
index d2bb805..cead16b 100644
--- a/test/rt/source/test/rt_test_sequence_008.c
+++ b/test/rt/source/test/rt_test_sequence_008.c
@@ -226,7 +226,7 @@ static void rt_test_008_003_execute(void) {
   test_set_step(3);
   {
     target_time = chTimeAddX(test_wait_tick(), TIME_MS2I(50));
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
                                    evt_thread3, chThdGetSelfX());
   }
 
@@ -300,7 +300,7 @@ static void rt_test_008_004_execute(void) {
   test_set_step(3);
   {
     target_time = chTimeAddX(test_wait_tick(), TIME_MS2I(50));
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
                                    evt_thread3, chThdGetSelfX());
   }
 
@@ -381,7 +381,7 @@ static void rt_test_008_005_execute(void) {
   test_set_step(4);
   {
     target_time = chTimeAddX(test_wait_tick(), TIME_MS2I(50));
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
                                    evt_thread3, chThdGetSelfX());
   }
 
@@ -514,7 +514,7 @@ static void rt_test_008_007_execute(void) {
   test_set_step(2);
   {
     target_time = chTimeAddX(test_wait_tick(), TIME_MS2I(50));
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
                                    evt_thread7, "A");
   }
 
diff --git a/test/rt/source/test/rt_test_sequence_010.c b/test/rt/source/test/rt_test_sequence_010.c
index 1c77343..e21c840 100644
--- a/test/rt/source/test/rt_test_sequence_010.c
+++ b/test/rt/source/test/rt_test_sequence_010.c
@@ -169,7 +169,7 @@ static void rt_test_010_001_execute(void) {
      the current thread.*/
   test_set_step(1);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-1, bmk_thread1, NULL);
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-1, bmk_thread1, NULL);
   }
 
   /* [10.1.2] The number of messages exchanged is counted in a one
@@ -230,7 +230,7 @@ static void rt_test_010_002_execute(void) {
      than the current thread.*/
   test_set_step(1);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1, bmk_thread1, NULL);
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+1, bmk_thread1, NULL);
   }
 
   /* [10.2.2] The number of messages exchanged is counted in a one
@@ -294,17 +294,17 @@ static void rt_test_010_003_execute(void) {
      than the current thread.*/
   test_set_step(1);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1, bmk_thread1, NULL);
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+1, bmk_thread1, NULL);
   }
 
   /* [10.3.2] Four threads are started at a lower priority than the
      current thread.*/
   test_set_step(2);
   {
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-2, bmk_thread3, NULL);
-    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-3, bmk_thread3, NULL);
-    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-4, bmk_thread3, NULL);
-    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-5, bmk_thread3, NULL);
+    threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-2, bmk_thread3, NULL);
+    threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-3, bmk_thread3, NULL);
+    threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()-4, bmk_thread3, NULL);
+    threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()-5, bmk_thread3, NULL);
   }
 
   /* [10.3.3] The number of messages exchanged is counted in a one
@@ -360,7 +360,7 @@ static void rt_test_010_004_execute(void) {
   /* [10.4.1] Starting the target thread at an higher priority level.*/
   test_set_step(1);
   {
-    tp = threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1,
+    tp = threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+1,
                                         bmk_thread4, NULL);
   }
 
@@ -444,7 +444,7 @@ static void rt_test_010_005_execute(void) {
     start = test_wait_tick();
     end = chTimeAddX(start, TIME_MS2I(1000));
     do {
-      chThdWait(chThdCreateStatic(wa[0], WA_SIZE, prio, bmk_thread3, NULL));
+      chThdWait(test_create_thread(wa[0], WA_SIZE, prio, bmk_thread3, NULL));
       n++;
 #if defined(SIMULATOR)
       _sim_check_for_interrupts();
@@ -502,9 +502,9 @@ static void rt_test_010_006_execute(void) {
     end = chTimeAddX(start, TIME_MS2I(1000));
     do {
 #if CH_CFG_USE_REGISTRY
-      chThdRelease(chThdCreateStatic(wa[0], WA_SIZE, prio, bmk_thread3, NULL));
+      chThdRelease(test_create_thread(wa[0], WA_SIZE, prio, bmk_thread3, NULL));
 #else
-      chThdCreateStatic(wa[0], WA_SIZE, prio, bmk_thread3, NULL);
+      test_create_thread(wa[0], WA_SIZE, prio, bmk_thread3, NULL);
 #endif
       n++;
 #if defined(SIMULATOR)
@@ -566,11 +566,11 @@ static void rt_test_010_007_execute(void) {
      immediately enqueue on a semaphore.*/
   test_set_step(1);
   {
-    threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+5, bmk_thread7, NULL);
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()+4, bmk_thread7, NULL);
-    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()+3, bmk_thread7, NULL);
-    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()+2, bmk_thread7, NULL);
-    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()+1, bmk_thread7, NULL);
+    threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+5, bmk_thread7, NULL);
+    threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()+4, bmk_thread7, NULL);
+    threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()+3, bmk_thread7, NULL);
+    threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()+2, bmk_thread7, NULL);
+    threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()+1, bmk_thread7, NULL);
   }
 
   /* [10.7.2] The semaphore is reset waking up the five threads. The
@@ -645,12 +645,12 @@ static void rt_test_010_008_execute(void) {
   test_set_step(1);
   {
     n = 0;
-    test_wait_tick();threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
+    test_wait_tick();threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
 
-    threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
-    threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
-    threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
-    threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
+    threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
+    threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
+    threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
+    threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
   }
 
   /* [10.8.2] Waiting one second then terminating the 5 threads.*/