Further updates to chconf.h files

demos/GD32VF103/USB_CDC_IAD/cfg/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/HT32/HT32F165x_USB_DFU/cfg/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/KINETIS/RT-FREEDOM-K20D50M/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/KINETIS/RT-FREEDOM-KL25Z-SHELL/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/KINETIS/RT-FREEDOM-KL25Z/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/KINETIS/RT-MCHCK-K20-GPT/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/KINETIS/RT-MCHCK-K20-SPI/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/KINETIS/RT-TEENSY3/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/KINETIS/RT-TEENSY3_6/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -358,6 +378,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -658,16 +688,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/LPC/LPC_11U35_USBDFU/cfg/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/MIMXRT1062/RT-TEENSY4_1/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -358,6 +378,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -658,16 +688,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/MSP430X/NIL-EXP430FR5969/chconf.h

@@ -180,6 +180,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included

demos/MSP430X/NIL-EXP430FR6989/chconf.h

@@ -180,6 +180,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included

demos/NRF51/MICROBIT/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/NRF51/OSHCHIP_V1.0/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/NRF51/RT-WVSHARE_BLE400/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/NRF52/Classic/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/STM32/RT-STM32F303-DISCOVERY-PID/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/STM32/RT-STM32F407-DISCOVERY-RTT+SystemView/cfg/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/STM32/RT-STM32F407-DISCOVERY-TinyUSB-CDC-MSC/cfg/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/STM32/RT-STM32F407-DISCOVERY-fault_handlers/cfg/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/STM32/RT-STM32F411-DISCOVERY-blinker/cfg/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/STM32/RT-STM32F429-DISCOVERY-DMA2D/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/STM32/RT-STM32F429-DISCOVERY-TRIBUF/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/TIVA/RT-TM4C123G-LAUNCHPAD/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/TIVA/RT-TM4C1294-LAUNCHPAD-LWIP/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/TIVA/RT-TM4C1294-LAUNCHPAD/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

demos/various/RT-Win32-TriBuf/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -654,16 +674,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/FRDM-K20D50M/I2C/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/FRDM-K20D50M/USB_SERIAL/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/FRDM-KL25Z/ADC/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/FRDM-KL25Z/GPT/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/FRDM-KL25Z/PWM/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/FRDM-KL25Z/USB_HID/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/FRDM-KL25Z/USB_SERIAL/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/FRDM-KL26Z/I2C/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/FRDM-KL26Z/PWM/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/FRDM-KL26Z/USB_SERIAL/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/KL27Z/BLINK/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/MCHCK/BOOTLOADER/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/MCHCK/PWM/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/MCHCK/USB_SERIAL/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/TEENSY3_x/ADC/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/TEENSY3_x/EEPROM_EMU/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/TEENSY3_x/GPT/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/TEENSY3_x/PWM/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/TEENSY3_x/SERIAL/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/TEENSY3_x/USB_SERIAL/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/TEENSY_LC/BOOTLOADER/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/TEENSY_LC/EEPROM_EMU/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/KINETIS/TEENSY_LC/PWM/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/MSP430X/EXP430FR5969/ADC/chconf.h

@@ -180,6 +180,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included

testhal/MSP430X/EXP430FR5969/DMA/chconf.h

@@ -180,6 +180,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included

testhal/MSP430X/EXP430FR5969/SPI/chconf.h

@@ -180,6 +180,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included

testhal/MSP430X/EXP430FR6989/ADC/chconf.h

@@ -180,6 +180,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included

testhal/NRF51/NRF51822/ADC/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NRF51/NRF51822/GPT/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NRF51/NRF51822/I2C/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NRF51/NRF51822/PAL/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NRF51/NRF51822/PWM/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NRF51/NRF51822/RNG/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NRF51/NRF51822/SPI/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NRF51/NRF51822/WDG/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NRF52/NRF52832/ADC/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NRF52/NRF52832/I2C/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NRF52/NRF52832/PWM-ICU/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NRF52/NRF52832/RADIO-ESB/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NRF52/NRF52832/UART/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NUMICRO/NUC123/NUTINY-SDK-NUC123-V2.0/EFL/cfg/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings

testhal/NUMICRO/NUC123/NUTINY-SDK-NUC123-V2.0/I2C/cfg/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -370,6 +390,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -670,16 +700,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/NUMICRO/NUC123/NUTINY-SDK-NUC123-V2.0/USB_HID/cfg/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings

testhal/STM32/STM32F0xx/COMP/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F0xx/crc/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F0xx/onewire/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F0xx/qei/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F1xx/onewire/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F1xx/qei/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F3xx/COMP/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F3xx/EEProm/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F3xx/OPAMP/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F3xx/TIMCAP/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F4xx/EICU/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F4xx/FSMC_NAND/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F4xx/FSMC_SDRAM/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F4xx/FSMC_SRAM/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F4xx/USB_HOST/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F4xx/USB_MSD/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F4xx/onewire/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32F7xx/USB_MSD/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32H7xx/USB_HOST/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32H7xx/USB_MSD/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/STM32/STM32L0xx/COMP/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/TIVA/TM4C123x/ADC/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/TIVA/TM4C123x/GPT/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/TIVA/TM4C123x/I2C/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/TIVA/TM4C123x/PWM/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/TIVA/TM4C123x/SPI/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/TIVA/TM4C123x/UART/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/TIVA/TM4C123x/WDG/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**

testhal/TIVA/multi/PAL/cfg/tm4c123g_launchpad/chconf.h

@@ -31,6 +31,26 @@
 #define _CHIBIOS_RT_CONF_
 #define _CHIBIOS_RT_CONF_VER_7_0_
 
+/*===========================================================================*/
+/**
+ * @name System settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief   Handling of instances.
+ * @note    If enabled then threads assigned to various instances can
+ *          interact each other using the same synchronization objects.
+ *          If disabled then each OS instance is a separate world, no
+ *          direct interactions are handled by the OS.
+ */
+#if !defined(CH_CFG_SMP_MODE)
+#define CH_CFG_SMP_MODE                     FALSE
+#endif
+
+/** @} */
+
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -354,6 +374,16 @@
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
+/**
+ * @brief   Memory checks APIs.
+ * @details If enabled then the memory checks APIs are included in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_MEMCHECKS)
+#define CH_CFG_USE_MEMCHECKS                TRUE
+#endif
+
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -654,16 +684,16 @@
  * @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.*/
+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \
+  /* Add OS instance 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() {                                         \
-  /* Add threads initialization code here.*/                                \
+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \
+  /* Add system instance initialization code here.*/                        \
 }
 
 /**