#72

2017-03-22 08:45:01 -04:00 · 2017-03-22 08:45:01 -04:00 · fb377895e6
parent 1a721240c6
commit fb377895e6
7 changed files with 1387 additions and 0 deletions
--- a/firmware/ChibiOS_16/community/os/hal/include/hal_usbh.h
+++ b/firmware/ChibiOS_16/community/os/hal/include/hal_usbh.h
@ -0,0 +1,436 @@
+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#ifndef HAL_USBH_H_
+#define HAL_USBH_H_
+
+#include "hal.h"
+
+
+#ifndef HAL_USBH_USE_FTDI
+#define HAL_USBH_USE_FTDI FALSE
+#endif
+
+#ifndef HAL_USBH_USE_HUB
+#define HAL_USBH_USE_HUB FALSE
+#endif
+
+#ifndef HAL_USBH_USE_MSD
+#define HAL_USBH_USE_MSD FALSE
+#endif
+
+#ifndef HAL_USBH_USE_UVC
+#define HAL_USBH_USE_UVC FALSE
+#endif
+
+#if (HAL_USE_USBH == TRUE) || defined(__DOXYGEN__)
+
+#include "osal.h"
+#include "usbh/list.h"
+#include "usbh/defs.h"
+
+/* TODO:
+ *
+ * - Integrate VBUS power switching functionality to the API.
+ *
+ */
+
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if !HAL_USBH_USE_HUB
+#define USBH_MAX_ADDRESSES				1
+#else
+#define USBH_MAX_ADDRESSES				(HAL_USBHHUB_MAX_PORTS + 1)
+#endif
+
+enum usbh_status {
+	USBH_STATUS_STOPPED = 0,
+	USBH_STATUS_STARTED,
+	USBH_STATUS_SUSPENDED,
+};
+
+enum usbh_devstatus {
+	USBH_DEVSTATUS_DISCONNECTED = 0,
+	USBH_DEVSTATUS_ATTACHED,
+	USBH_DEVSTATUS_CONNECTED,
+	USBH_DEVSTATUS_DEFAULT,
+	USBH_DEVSTATUS_ADDRESS,
+	USBH_DEVSTATUS_CONFIGURED,
+};
+
+enum usbh_devspeed {
+	USBH_DEVSPEED_LOW = 0,
+	USBH_DEVSPEED_FULL,
+	USBH_DEVSPEED_HIGH,
+};
+
+enum usbh_epdir {
+	USBH_EPDIR_IN		= 0x80,
+	USBH_EPDIR_OUT		= 0
+};
+
+enum usbh_eptype {
+	USBH_EPTYPE_CTRL	= 0,
+	USBH_EPTYPE_ISO		= 1,
+	USBH_EPTYPE_BULK	= 2,
+	USBH_EPTYPE_INT		= 3,
+};
+
+enum usbh_epstatus {
+	USBH_EPSTATUS_UNINITIALIZED = 0,
+	USBH_EPSTATUS_CLOSED,
+	USBH_EPSTATUS_OPEN,
+	USBH_EPSTATUS_HALTED,
+};
+
+enum usbh_urbstatus {
+	USBH_URBSTATUS_UNINITIALIZED = 0,
+	USBH_URBSTATUS_INITIALIZED,
+	USBH_URBSTATUS_PENDING,
+//	USBH_URBSTATUS_QUEUED,
+	USBH_URBSTATUS_ERROR,
+	USBH_URBSTATUS_TIMEOUT,
+	USBH_URBSTATUS_CANCELLED,
+	USBH_URBSTATUS_STALL,
+	USBH_URBSTATUS_DISCONNECTED,
+//	USBH_URBSTATUS_EPCLOSED,
+	USBH_URBSTATUS_OK,
+};
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/* forward declarations */
+typedef struct USBHDriver USBHDriver;
+typedef struct usbh_port usbh_port_t;
+typedef	struct usbh_device usbh_device_t;
+typedef struct usbh_ep usbh_ep_t;
+typedef struct usbh_urb usbh_urb_t;
+typedef struct usbh_baseclassdriver usbh_baseclassdriver_t;
+typedef struct usbh_classdriverinfo usbh_classdriverinfo_t;
+#if HAL_USBH_USE_HUB
+typedef struct USBHHubDriver USBHHubDriver;
+#endif
+
+/* typedefs */
+typedef enum usbh_status usbh_status_t;
+typedef enum usbh_devspeed usbh_devspeed_t;
+typedef enum usbh_devstatus usbh_devstatus_t;
+typedef enum usbh_epdir usbh_epdir_t;
+typedef enum usbh_eptype usbh_eptype_t;
+typedef enum usbh_epstatus usbh_epstatus_t;
+typedef enum usbh_urbstatus usbh_urbstatus_t;
+typedef uint16_t usbh_portstatus_t;
+typedef uint16_t usbh_portcstatus_t;
+typedef void (*usbh_completion_cb)(usbh_urb_t *);
+
+/* include the low level driver; the required definitions are above */
+#include "hal_usbh_lld.h"
+
+#define USBH_DEFINE_BUFFER(type, name)	USBH_LLD_DEFINE_BUFFER(type, name)
+
+struct usbh_urb {
+	usbh_ep_t *ep;
+
+	void *userData;
+	usbh_completion_cb callback;
+
+	const void *setup_buff;
+	void *buff;
+	uint32_t requestedLength;
+	uint32_t actualLength;
+
+	usbh_urbstatus_t status;
+
+	thread_reference_t waitingThread;
+	thread_reference_t abortingThread;
+
+	/* Low level part */
+	_usbh_urb_ll_data
+};
+
+struct usbh_ep {
+	usbh_device_t		*device;
+	usbh_ep_t	 		*next;
+
+	usbh_epstatus_t		status;
+	uint8_t 			address;
+	bool				in;
+	usbh_eptype_t		type;
+	uint16_t			wMaxPacketSize;
+	uint8_t				bInterval;
+
+	/* debug */
+	const char			*name;
+
+	/* Low-level part */
+	_usbh_ep_ll_data
+};
+
+struct usbh_device {
+	USBHDriver *host;	/* shortcut to host */
+
+	usbh_ep_t ctrl;
+	usbh_ep_t *endpoints;
+
+	usbh_baseclassdriver_t *drivers;
+
+	uint16_t langID0;
+
+	usbh_devstatus_t status;
+	usbh_devspeed_t speed;
+
+	USBH_DEFINE_BUFFER(usbh_device_descriptor_t, devDesc);
+	unsigned char align_bytes[2];
+	USBH_DEFINE_BUFFER(usbh_config_descriptor_t, basicConfigDesc);
+
+	uint8_t *fullConfigurationDescriptor;
+	uint8_t keepFullCfgDesc;
+
+	uint8_t address;
+	uint8_t bConfiguration;
+
+	/* Low level part */
+	_usbh_device_ll_data
+};
+
+
+struct usbh_port {
+#if HAL_USBH_USE_HUB
+	USBHHubDriver *hub;
+#endif
+
+	usbh_portstatus_t status;
+	usbh_portcstatus_t c_status;
+
+	usbh_port_t *next;
+
+	uint8_t number;
+
+	usbh_device_t device;
+
+	/* Low level part */
+	_usbh_port_ll_data
+};
+
+struct USBHDriver {
+	usbh_status_t status;
+	uint8_t address_bitmap[(USBH_MAX_ADDRESSES + 7) / 8];
+
+	usbh_port_t rootport;
+
+#if HAL_USBH_USE_HUB
+	struct list_head hubs;
+#endif
+
+	/* Low level part */
+	_usbhdriver_ll_data
+
+#if USBH_DEBUG_ENABLE
+	/* debug */
+	uint8_t dbg_buff[USBH_DEBUG_BUFFER];
+	THD_WORKING_AREA(waDebug, 512);
+	input_queue_t iq;
+#endif
+};
+
+
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#if STM32_USBH_USE_OTG1
+extern USBHDriver USBHD1;
+#endif
+
+#if STM32_USBH_USE_OTG2
+extern USBHDriver USBHD2;
+#endif
+
+
+/*===========================================================================*/
+/* Main driver API.		                                                     */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	/* Main functions */
+	void usbhObjectInit(USBHDriver *usbh);
+	void usbhInit(void);
+	void usbhStart(USBHDriver *usbh);
+	void usbhStop(USBHDriver *usbh);
+	void usbhSuspend(USBHDriver *usbh);
+	void usbhResume(USBHDriver *usbh);
+
+	/* Device-related */
+#if	USBH_DEBUG_ENABLE && USBH_DEBUG_ENABLE_INFO
+	void usbhDevicePrintInfo(usbh_device_t *dev);
+	void usbhDevicePrintConfiguration(const uint8_t *descriptor, uint16_t rem);
+#else
+#	define usbhDevicePrintInfo(dev) do {} while(0)
+#	define usbhDevicePrintConfiguration(descriptor, rem) do {} while(0)
+#endif
+	bool usbhDeviceReadString(usbh_device_t *dev, char *dest, uint8_t size,
+			uint8_t index, uint16_t langID);
+	static inline usbh_port_t *usbhDeviceGetPort(usbh_device_t *dev) {
+		return container_of(dev, usbh_port_t, device);
+	}
+
+	/* Synchronous API */
+	usbh_urbstatus_t usbhBulkTransfer(usbh_ep_t *ep,
+			void *data,
+			uint32_t len,
+			uint32_t *actual_len,
+			systime_t timeout);
+	usbh_urbstatus_t usbhControlRequest(usbh_device_t *dev,
+			uint8_t bmRequestType,
+			uint8_t bRequest,
+			uint16_t wValue,
+			uint16_t wIndex,
+			uint16_t wLength,
+			uint8_t *buff);
+	usbh_urbstatus_t usbhControlRequestExtended(usbh_device_t *dev,
+			const usbh_control_request_t *req,
+			uint8_t *buff,
+			uint32_t *actual_len,
+			systime_t timeout);
+
+	/* Standard request helpers */
+	bool usbhStdReqGetDeviceDescriptor(usbh_device_t *dev,
+			uint16_t wLength,
+			uint8_t *buf);
+	bool usbhStdReqGetConfigurationDescriptor(usbh_device_t *dev,
+			uint8_t index,
+			uint16_t wLength,
+			uint8_t *buf);
+	bool usbhStdReqGetStringDescriptor(usbh_device_t *dev,
+			uint8_t index,
+			uint16_t langID,
+			uint16_t wLength,
+			uint8_t *buf);
+	bool usbhStdReqSetInterface(usbh_device_t *dev,
+			uint8_t bInterfaceNumber,
+			uint8_t bAlternateSetting);
+	bool usbhStdReqGetInterface(usbh_device_t *dev,
+			uint8_t bInterfaceNumber,
+			uint8_t *bAlternateSetting);
+
+	/* Endpoint/pipe management */
+	void usbhEPObjectInit(usbh_ep_t *ep, usbh_device_t *dev, const usbh_endpoint_descriptor_t *desc);
+	static inline void usbhEPOpen(usbh_ep_t *ep) {
+		osalDbgCheck(ep != 0);
+		osalSysLock();
+		osalDbgAssert(ep->status == USBH_EPSTATUS_CLOSED, "invalid state");
+		usbh_lld_ep_open(ep);
+		ep->next = ep->device->endpoints;
+		ep->device->endpoints = ep;
+		osalSysUnlock();
+	}
+	static inline void usbhEPCloseS(usbh_ep_t *ep) {
+		osalDbgCheck(ep != 0);
+		osalDbgCheckClassS();
+		osalDbgAssert(ep->status != USBH_EPSTATUS_UNINITIALIZED, "invalid state");
+		if (ep->status == USBH_EPSTATUS_CLOSED) {
+			osalOsRescheduleS();
+			return;
+		}
+		usbh_lld_ep_close(ep);
+	}
+	static inline void usbhEPClose(usbh_ep_t *ep) {
+		osalSysLock();
+		usbhEPCloseS(ep);
+		osalSysUnlock();
+	}
+	static inline void usbhEPResetI(usbh_ep_t *ep) {
+		osalDbgCheckClassI();
+		osalDbgCheck(ep != NULL);
+		usbh_lld_epreset(ep);
+	}
+	static inline bool usbhEPIsPeriodic(usbh_ep_t *ep) {
+		osalDbgCheck(ep != NULL);
+		return (ep->type & 1) != 0;
+	}
+	static inline bool usbhURBIsBusy(usbh_urb_t *urb) {
+		osalDbgCheck(urb != NULL);
+		return (urb->status == USBH_URBSTATUS_PENDING);
+	}
+	static inline void usbhEPSetName(usbh_ep_t *ep, const char *name) {
+		ep->name = name;
+	}
+
+	/* URB management */
+	void usbhURBObjectInit(usbh_urb_t *urb, usbh_ep_t *ep, usbh_completion_cb callback,
+			void *user, void *buff, uint32_t len);
+	void usbhURBObjectResetI(usbh_urb_t *urb);
+	void usbhURBSubmitI(usbh_urb_t *urb);
+	bool usbhURBCancelI(usbh_urb_t *urb);
+	msg_t usbhURBSubmitAndWaitS(usbh_urb_t *urb, systime_t timeout);
+	void usbhURBCancelAndWaitS(usbh_urb_t *urb);
+	msg_t usbhURBWaitTimeoutS(usbh_urb_t *urb, systime_t timeout);
+
+	/* Main loop */
+	void usbhMainLoop(USBHDriver *usbh);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+/*===========================================================================*/
+/* Class driver definitions and API.                                         */
+/*===========================================================================*/
+
+typedef struct usbh_classdriver_vmt usbh_classdriver_vmt_t;
+struct usbh_classdriver_vmt {
+	usbh_baseclassdriver_t *(*load)(usbh_device_t *dev,	const uint8_t *descriptor, uint16_t rem);
+	void (*unload)(usbh_baseclassdriver_t *drv);
+};
+
+struct usbh_classdriverinfo {
+	int16_t class;
+	int16_t subclass;
+	int16_t protocol;
+	const char *name;
+	const usbh_classdriver_vmt_t *vmt;
+};
+
+#define _usbh_base_classdriver_data		\
+	const usbh_classdriverinfo_t *info;	\
+	usbh_device_t *dev;					\
+	usbh_baseclassdriver_t *next;
+
+struct usbh_baseclassdriver {
+	_usbh_base_classdriver_data
+};
+
+
+/*===========================================================================*/
+/* Helper functions.				                                         */
+/*===========================================================================*/
+#include <usbh/desciter.h>	/* descriptor iterators */
+#include <usbh/debug.h>		/* debug */
+
+#endif
+
+#endif /* HAL_USBH_H_ */
--- a/firmware/ChibiOS_16/community/os/hal/include/usbh/debug.h
+++ b/firmware/ChibiOS_16/community/os/hal/include/usbh/debug.h
@ -0,0 +1,44 @@
+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+
+#ifndef USBH_DEBUG_H_
+#define USBH_DEBUG_H_
+
+#include "hal_usbh.h"
+
+#if HAL_USE_USBH
+
+//TODO: Debug is only for USBHD1, make it generic.
+
+#if USBH_DEBUG_ENABLE
+	void usbDbgPrintf(const char *fmt, ...);
+	void usbDbgPuts(const char *s);
+	void usbDbgInit(USBHDriver *host);
+	void usbDbgReset(void);
+	void usbDbgSystemHalted(void);
+#else
+#define usbDbgPrintf(fmt, ...) do {} while(0)
+#define usbDbgPuts(s) do {} while(0)
+#define usbDbgInit(host) do {} while(0)
+#define usbDbgReset() do {} while(0)
+#define usbDbgSystemHalted() do {} while(0)
+#endif
+
+#endif
+
+#endif /* USBH_DEBUG_H_ */
--- a/firmware/ChibiOS_16/os/various/cpp_wrappers/syscalls_cpp.cpp
+++ b/firmware/ChibiOS_16/os/various/cpp_wrappers/syscalls_cpp.cpp
@ -0,0 +1,41 @@
+#include <stdio.h>
+#include <errno.h>
+
+#include "osal.h"
+
+#include "syscalls_cpp.hpp"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void _exit(int status){
+   (void) status;
+   osalSysHalt("Unrealized");
+   while(TRUE){}
+}
+
+pid_t _getpid(void){
+   return 1;
+}
+
+#undef errno
+extern int errno;
+int _kill(int pid, int sig) {
+  (void)pid;
+  (void)sig;
+  errno = EINVAL;
+  return -1;
+}
+
+void _open_r(void){
+  return;
+}
+
+void __cxa_pure_virtual() {
+  osalSysHalt("Pure virtual function call.");
+}
+
+#ifdef __cplusplus
+}
+#endif
--- a/firmware/ChibiOS_16/os/various/cpp_wrappers/syscalls_cpp.hpp
+++ b/firmware/ChibiOS_16/os/various/cpp_wrappers/syscalls_cpp.hpp
@ -0,0 +1,13 @@
+#ifndef SYSCALLS_CPP_HPP_
+#define SYSCALLS_CPP_HPP_
+
+/* The ABI requires a 32-bit type.*/
+typedef int __guard;
+
+int __cxa_guard_acquire(__guard *);
+void __cxa_guard_release (__guard *);
+void __cxa_guard_abort (__guard *);
+
+void *__dso_handle = NULL;
+
+#endif /* SYSCALLS_CPP_HPP_ */
--- a/firmware/ChibiOS_16/os/various/devices_lib/lcd/lcd3310.c
+++ b/firmware/ChibiOS_16/os/various/devices_lib/lcd/lcd3310.c
@ -0,0 +1,310 @@
+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    lcd3310.c
+ * @brief   Nokia 3310 LCD interface module through SPI code.
+ *
+ * @addtogroup lcd3310
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+#include "lcd3310.h"
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+const uint8_t  Fonts8x5 [][LCD3310_FONT_X_SIZE] =
+{
+    { 0x00, 0x00, 0x00, 0x00, 0x00 },   /* space */
+    { 0x00, 0x00, 0x2f, 0x00, 0x00 },   /* ! */
+    { 0x00, 0x07, 0x00, 0x07, 0x00 },   /* " */
+    { 0x14, 0x7f, 0x14, 0x7f, 0x14 },   /* # */
+    { 0x24, 0x2a, 0x7f, 0x2a, 0x12 },   /* $ */
+    { 0xc4, 0xc8, 0x10, 0x26, 0x46 },   /* % */
+    { 0x36, 0x49, 0x55, 0x22, 0x50 },   /* & */
+    { 0x00, 0x05, 0x03, 0x00, 0x00 },   /* ' */
+    { 0x00, 0x1c, 0x22, 0x41, 0x00 },   /* ( */
+    { 0x00, 0x41, 0x22, 0x1c, 0x00 },   /* ) */
+    { 0x14, 0x08, 0x3E, 0x08, 0x14 },   /* * */
+    { 0x08, 0x08, 0x3E, 0x08, 0x08 },   /* + */
+    { 0x00, 0x00, 0x50, 0x30, 0x00 },   /* , */
+    { 0x10, 0x10, 0x10, 0x10, 0x10 },   /* - */
+    { 0x00, 0x60, 0x60, 0x00, 0x00 },   /* . */
+    { 0x20, 0x10, 0x08, 0x04, 0x02 },   /* / */
+    { 0x3E, 0x51, 0x49, 0x45, 0x3E },   /* 0 */
+    { 0x00, 0x42, 0x7F, 0x40, 0x00 },   /* 1 */
+    { 0x42, 0x61, 0x51, 0x49, 0x46 },   /* 2 */
+    { 0x21, 0x41, 0x45, 0x4B, 0x31 },   /* 3 */
+    { 0x18, 0x14, 0x12, 0x7F, 0x10 },   /* 4 */
+    { 0x27, 0x45, 0x45, 0x45, 0x39 },   /* 5 */
+    { 0x3C, 0x4A, 0x49, 0x49, 0x30 },   /* 6 */
+    { 0x01, 0x71, 0x09, 0x05, 0x03 },   /* 7 */
+    { 0x36, 0x49, 0x49, 0x49, 0x36 },   /* 8 */
+    { 0x06, 0x49, 0x49, 0x29, 0x1E },   /* 9 */
+    { 0x00, 0x36, 0x36, 0x00, 0x00 },   /* : */
+    { 0x00, 0x56, 0x36, 0x00, 0x00 },   /* ; */
+    { 0x08, 0x14, 0x22, 0x41, 0x00 },   /* < */
+    { 0x14, 0x14, 0x14, 0x14, 0x14 },   /* = */
+    { 0x00, 0x41, 0x22, 0x14, 0x08 },   /* > */
+    { 0x02, 0x01, 0x51, 0x09, 0x06 },   /* ? */
+    { 0x32, 0x49, 0x59, 0x51, 0x3E },   /* @ */
+    { 0x7E, 0x11, 0x11, 0x11, 0x7E },   /* A */
+    { 0x7F, 0x49, 0x49, 0x49, 0x36 },   /* B */
+    { 0x3E, 0x41, 0x41, 0x41, 0x22 },   /* C */
+    { 0x7F, 0x41, 0x41, 0x22, 0x1C },   /* D */
+    { 0x7F, 0x49, 0x49, 0x49, 0x41 },   /* E */
+    { 0x7F, 0x09, 0x09, 0x09, 0x01 },   /* F */
+    { 0x3E, 0x41, 0x49, 0x49, 0x7A },   /* G */
+    { 0x7F, 0x08, 0x08, 0x08, 0x7F },   /* H */
+    { 0x00, 0x41, 0x7F, 0x41, 0x00 },   /* I */
+    { 0x20, 0x40, 0x41, 0x3F, 0x01 },   /* J */
+    { 0x7F, 0x08, 0x14, 0x22, 0x41 },   /* K */
+    { 0x7F, 0x40, 0x40, 0x40, 0x40 },   /* L */
+    { 0x7F, 0x02, 0x0C, 0x02, 0x7F },   /* M */
+    { 0x7F, 0x04, 0x08, 0x10, 0x7F },   /* N */
+    { 0x3E, 0x41, 0x41, 0x41, 0x3E },   /* O */
+    { 0x7F, 0x09, 0x09, 0x09, 0x06 },   /* P */
+    { 0x3E, 0x41, 0x51, 0x21, 0x5E },   /* Q */
+    { 0x7F, 0x09, 0x19, 0x29, 0x46 },   /* R */
+    { 0x46, 0x49, 0x49, 0x49, 0x31 },   /* S */
+    { 0x01, 0x01, 0x7F, 0x01, 0x01 },   /* T */
+    { 0x3F, 0x40, 0x40, 0x40, 0x3F },   /* U */
+    { 0x1F, 0x20, 0x40, 0x20, 0x1F },   /* V */
+    { 0x3F, 0x40, 0x38, 0x40, 0x3F },   /* W */
+    { 0x63, 0x14, 0x08, 0x14, 0x63 },   /* X */
+    { 0x07, 0x08, 0x70, 0x08, 0x07 },   /* Y */
+    { 0x61, 0x51, 0x49, 0x45, 0x43 },   /* Z */
+    { 0x00, 0x7F, 0x41, 0x41, 0x00 },   /* [ */
+    { 0x55, 0x2A, 0x55, 0x2A, 0x55 },   /* \ */
+    { 0x00, 0x41, 0x41, 0x7F, 0x00 },   /* ] */
+    { 0x04, 0x02, 0x01, 0x02, 0x04 },   /* ^ */
+    { 0x40, 0x40, 0x40, 0x40, 0x40 },   /* _ */
+    { 0x00, 0x01, 0x02, 0x04, 0x00 },   /* ' */
+    { 0x20, 0x54, 0x54, 0x54, 0x78 },   /* a */
+    { 0x7F, 0x48, 0x44, 0x44, 0x38 },   /* b */
+    { 0x38, 0x44, 0x44, 0x44, 0x20 },   /* c */
+    { 0x38, 0x44, 0x44, 0x48, 0x7F },   /* d */
+    { 0x38, 0x54, 0x54, 0x54, 0x18 },   /* e */
+    { 0x08, 0x7E, 0x09, 0x01, 0x02 },   /* f */
+    { 0x0C, 0x52, 0x52, 0x52, 0x3E },   /* g */
+    { 0x7F, 0x08, 0x04, 0x04, 0x78 },   /* h */
+    { 0x00, 0x44, 0x7D, 0x40, 0x00 },   /* i */
+    { 0x20, 0x40, 0x44, 0x3D, 0x00 },   /* j */
+    { 0x7F, 0x10, 0x28, 0x44, 0x00 },   /* k */
+    { 0x00, 0x41, 0x7F, 0x40, 0x00 },   /* l */
+    { 0x7C, 0x04, 0x18, 0x04, 0x78 },   /* m */
+    { 0x7C, 0x08, 0x04, 0x04, 0x78 },   /* n */
+    { 0x38, 0x44, 0x44, 0x44, 0x38 },   /* o */
+    { 0x7C, 0x14, 0x14, 0x14, 0x08 },   /* p */
+    { 0x08, 0x14, 0x14, 0x18, 0x7C },   /* q */
+    { 0x7C, 0x08, 0x04, 0x04, 0x08 },   /* r */
+    { 0x48, 0x54, 0x54, 0x54, 0x20 },   /* s */
+    { 0x04, 0x3F, 0x44, 0x40, 0x20 },   /* t */
+    { 0x3C, 0x40, 0x40, 0x20, 0x7C },   /* u */
+    { 0x1C, 0x20, 0x40, 0x20, 0x1C },   /* v */
+    { 0x3C, 0x40, 0x30, 0x40, 0x3C },   /* w */
+    { 0x44, 0x28, 0x10, 0x28, 0x44 },   /* x */
+    { 0x0C, 0x50, 0x50, 0x50, 0x3C },   /* y */
+    { 0x44, 0x64, 0x54, 0x4C, 0x44 },   /* z */
+    { 0x00, 0x08, 0x36, 0x41, 0x00 },   /* { */
+    { 0x00, 0x00, 0x7F, 0x00, 0x00 },   /* | */
+    { 0x00, 0x41, 0x36, 0x08, 0x00 },   /* } */
+};
+
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   LCD driver initialization.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ *
+ */
+void lcd3310Init(SPIDriver *spip) {
+
+  /* Reset LCD */
+  palClearPad(LCD3310_RES_PORT, LCD3310_RES_PIN);
+  chThdSleepMilliseconds(15);
+  palSetPad(LCD3310_RES_PORT, LCD3310_RES_PIN);
+  chThdSleepMilliseconds(15);
+
+  /* Send configuration commands to LCD */
+  lcd3310WriteByte(spip, 0x21, LCD3310_SEND_CMD);  /* LCD extended commands */
+  lcd3310WriteByte(spip, 0xC8, LCD3310_SEND_CMD);  /* Set LCD Vop (Contrast) */
+  lcd3310WriteByte(spip, 0x05, LCD3310_SEND_CMD);  /* Set start line S6 to 1 TLS8204 */
+  lcd3310WriteByte(spip, 0x40, LCD3310_SEND_CMD);  /* Set start line S[5:0] to 0x00 TLS8204 */
+  lcd3310WriteByte(spip, 0x12, LCD3310_SEND_CMD);  /* LCD bias mode 1:68. */
+  lcd3310WriteByte(spip, 0x20, LCD3310_SEND_CMD);  /* LCD standard Commands, horizontal addressing mode. */
+  lcd3310WriteByte(spip, 0x08, LCD3310_SEND_CMD);  /* LCD blank */
+  lcd3310WriteByte(spip, 0x0C, LCD3310_SEND_CMD);  /* LCD in normal mode. */
+
+  lcd3310Clear(spip); /* Clear LCD */
+}
+
+/**
+ * @brief   Write byte to LCD driver.
+ * @pre     The LCD driver must be initialized.
+ *
+ * @param[in] spip    pointer to the SPI interface
+ * @param[in] data    data to write
+ * @param[in] cd      select between command or data
+ */
+void lcd3310WriteByte(SPIDriver *spip, uint8_t data, uint8_t cd) {
+
+  spiSelect(spip);
+
+  if(cd == LCD3310_SEND_DATA) {
+    palSetPad(LCD3310_DC_PORT, LCD3310_DC_PIN);
+  }
+  else {
+    palClearPad(LCD3310_DC_PORT, LCD3310_DC_PIN);
+  }
+
+  spiSend(spip, 1, &data);   // change to normal spi send
+  spiUnselect(spip);
+}
+
+/**
+ * @brief   Clear LCD
+ * @pre     The LCD driver must be initialized.
+ *
+ * @param[in] spip    pointer to the SPI interface
+ */
+void lcd3310Clear(SPIDriver *spip) { // ok
+
+  uint32_t i, j;
+
+  for (i = 0; i < LCD3310_Y_RES/LCD3310_FONT_Y_SIZE; i++) {
+    lcd3310SetPosXY(spip, 0, i);
+    for (j = 0; j < LCD3310_X_RES; j++)
+      lcd3310WriteByte(spip, 0x00, LCD3310_SEND_DATA);
+  }
+
+}
+
+/**
+ * @brief   Set position
+ * @pre     The LCD driver must be initialized.
+ *
+ * @param[in] spip    pointer to the SPI interface
+ * @param[in] x    column address in LCD DDRAM, 0 to 83
+ * @param[in] y    page address in LCD DDRAM, 0 to 5
+ */
+void lcd3310SetPosXY(SPIDriver *spip, uint8_t x, uint8_t y) {
+
+    if (y > LCD3310_Y_RES/LCD3310_FONT_Y_SIZE) return;
+    if (x > LCD3310_X_RES) return;
+
+    lcd3310WriteByte(spip, 0x80 | x, LCD3310_SEND_CMD);   /* Set x position */
+    lcd3310WriteByte(spip, 0x40 | y, LCD3310_SEND_CMD);   /* Set y position */
+
+}
+
+/**
+ * @brief   Write char
+ * @pre     The LCD driver must be initialized.
+ *
+ * @param[in] spip    pointer to the SPI interface
+ * @param[in] ch      char
+ */
+void lcd3310WriteChar(SPIDriver *spip, uint8_t ch) {
+
+  uint8_t i;
+
+  for ( i = 0; i < LCD3310_FONT_X_SIZE; i++ ){
+    lcd3310WriteByte(spip, Fonts8x5[ch - 32][i], LCD3310_SEND_DATA);
+  }
+
+}
+
+/**
+ * @brief   Set LCD contrast.
+ * @pre     The LCD driver must be initialized.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] contrast  LCD contrast value
+ */
+void lcd3310Contrast (SPIDriver *spip, uint8_t contrast) {
+
+  lcd3310WriteByte(spip, 0x21, LCD3310_SEND_CMD);              /* LCD Extended Commands */
+  lcd3310WriteByte(spip, 0x80 | contrast, LCD3310_SEND_CMD);   /* Set LCD Vop (Contrast) */
+  lcd3310WriteByte(spip, 0x20, LCD3310_SEND_CMD);              /* LCD Standard Commands, horizontal addressing mode */
+}
+
+
+/**
+ * @brief   Write text
+ * @pre     The LCD driver must be initialized.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] strp      pointer to text
+ */
+void lcd3310WriteText(SPIDriver *spip, const uint8_t * strp) {
+
+  while ( *strp ) {
+    lcd3310WriteChar(spip, *strp);
+    strp++;
+  }
+}
+
+/**
+ * @brief   Rotate text
+ * @pre     The LCD driver must be initialized.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] strp      pointer to text
+ * @param[in] offset    text offset
+ */
+void lcd3310RotateText(SPIDriver *spip, const uint8_t * strp, uint8_t offset) {
+
+  uint8_t i;
+  uint8_t n;
+  uint8_t m;
+
+  for(n = 0; strp[n] != '\0'; n++); /* Count number of char */
+
+  if (offset >= n)
+    return;
+
+  for (i = 0; i < LCD3310_X_RES/LCD3310_FONT_X_SIZE; i++) {
+      m = i + offset;
+      if ( m < n)
+        lcd3310WriteChar(spip, strp[m]);
+      else
+        lcd3310WriteChar(spip, strp[m - n]);
+  }
+}
+
+/** @} */
--- a/firmware/ChibiOS_16/os/various/lwip_bindings/lwip.mk
+++ b/firmware/ChibiOS_16/os/various/lwip_bindings/lwip.mk
@ -0,0 +1,54 @@
+# List of the required lwIP files.
+LWIP = 	${CHIBIOS}/ext/lwip
+
+LWBINDSRC = \
+        $(CHIBIOS)/os/various/lwip_bindings/lwipthread.c \
+        $(CHIBIOS)/os/various/lwip_bindings/arch/sys_arch.c
+
+LWNETIFSRC = \
+        ${LWIP}/src/netif/etharp.c
+
+LWCORESRC = \
+        ${LWIP}/src/core/dhcp.c \
+        ${LWIP}/src/core/dns.c \
+        ${LWIP}/src/core/init.c \
+        ${LWIP}/src/core/mem.c \
+        ${LWIP}/src/core/memp.c \
+        ${LWIP}/src/core/netif.c \
+        ${LWIP}/src/core/pbuf.c \
+        ${LWIP}/src/core/raw.c \
+        ${LWIP}/src/core/stats.c \
+        ${LWIP}/src/core/sys.c \
+        ${LWIP}/src/core/tcp.c \
+        ${LWIP}/src/core/tcp_in.c \
+        ${LWIP}/src/core/tcp_out.c \
+        ${LWIP}/src/core/udp.c
+
+LWIPV4SRC = \
+        ${LWIP}/src/core/ipv4/autoip.c \
+        ${LWIP}/src/core/ipv4/icmp.c \
+        ${LWIP}/src/core/ipv4/igmp.c \
+        ${LWIP}/src/core/ipv4/inet.c \
+        ${LWIP}/src/core/ipv4/inet_chksum.c \
+        ${LWIP}/src/core/ipv4/ip.c \
+        ${LWIP}/src/core/ipv4/ip_addr.c \
+        ${LWIP}/src/core/ipv4/ip_frag.c \
+        ${LWIP}/src/core/def.c \
+        ${LWIP}/src/core/timers.c
+
+LWAPISRC = \
+        ${LWIP}/src/api/api_lib.c \
+        ${LWIP}/src/api/api_msg.c \
+        ${LWIP}/src/api/err.c \
+        ${LWIP}/src/api/netbuf.c \
+        ${LWIP}/src/api/netdb.c \
+        ${LWIP}/src/api/netifapi.c \
+        ${LWIP}/src/api/sockets.c \
+        ${LWIP}/src/api/tcpip.c
+
+LWSRC = $(LWBINDSRC) $(LWNETIFSRC) $(LWCORESRC) $(LWIPV4SRC) $(LWAPISRC)
+
+LWINC = \
+        $(CHIBIOS)/os/various/lwip_bindings \
+        ${LWIP}/src/include \
+        ${LWIP}/src/include/ipv4
--- a/firmware/ChibiOS_16/readme.txt
+++ b/firmware/ChibiOS_16/readme.txt
@ -0,0 +1,489 @@
+*****************************************************************************
+*** Files Organization                                                    ***
+*****************************************************************************
+
+--{root}                  - ChibiOS/RT directory.
+  +--readme.txt           - This file.
+  +--documentation.html   - Shortcut to the web documentation page.
+  +--license.txt          - GPL license text.
+  +--demos/               - Demo projects, one directory per platform.
+  +--docs/                - Documentation.
+  |  +--common/           - Documentation common build resources.
+  |  +--hal/              - Builders for HAL.
+  |  |  +--Doxyfile_*     - Doxygen project files (required for rebuild).
+  |  |  +--html/          - Local HTML documentation (after rebuild).
+  |  |  +--reports/       - Test reports.
+  |  |  +--rsc/           - Documentation resource files (required for rebuild).
+  |  |  +--src/           - Documentation source files (required for rebuild).
+  |  |  +--Doxyfile_*     - Doxygen project files (required for rebuild).
+  |  |  +--index.html     - Local documentation access (after rebuild).
+  |  +--nil/              - Builders for NIL.
+  |  |  +--Doxyfile_*     - Doxygen project files (required for rebuild).
+  |  |  +--html/          - Local HTML documentation (after rebuild).
+  |  |  +--reports/       - Test reports.
+  |  |  +--rsc/           - Documentation resource files (required for rebuild).
+  |  |  +--src/           - Documentation source files (required for rebuild).
+  |  |  +--Doxyfile_*     - Doxygen project files (required for rebuild).
+  |  |  +--index.html     - Local documentation access (after rebuild).
+  |  +--rt/               - Builders for RT.
+  |  |  +--html/          - Local HTML documentation (after rebuild).
+  |  |  +--reports/       - Test reports.
+  |  |  +--rsc/           - Documentation resource files (required for rebuild).
+  |  |  +--src/           - Documentation source files (required for rebuild).
+  |  |  +--Doxyfile_*     - Doxygen project files (required for rebuild).
+  |  |  +--index.html     - Local documentation access (after rebuild).
+  +--ext/                 - External libraries, not part of ChibiOS/RT.
+  +--os/                  - ChibiOS components.
+  |  +--hal/              - HAL component.
+  |  |  +--boards/        - HAL board support files.
+  |  |  +--dox/           - HAL documentation resources.
+  |  |  +--include/       - HAL high level headers.
+  |  |  +--lib/           - HAL libraries.
+  |  |  +--osal/          - HAL OSAL implementations.
+  |  |  +--src/           - HAL high level source.
+  |  |  +--ports/         - HAL ports.
+  |  |  +--templates/     - HAL driver template files.
+  |  |     +--osal/       - HAL OSAL templates.
+  |  +--nil/              - NIL RTOS component.
+  |  |  +--dox/           - NIL documentation resources.
+  |  |  +--include/       - NIL high level headers.
+  |  |  +--src/           - NIL high level source.
+  |  |  +--ports/         - NIL ports.
+  |  |  +--templates/     - NIL port template files.
+  |  +--rt/               - RT RTOS component.
+  |  |  +--dox/           - RT documentation resources.
+  |  |  +--include/       - RT high level headers.
+  |  |  +--src/           - RT high level source.
+  |  |  +--ports/         - RT ports.
+  |  |  +--templates/     - RT port template files.
+  |  +--various/          - Various portable support files.
+  +--test/                - Kernel test suite source code.
+  |  +--lib/              - Portable test engine.
+  |  +--hal/              - HAL test suites.
+  |  |  +--testbuild/     - HAL build test and MISRA check.
+  |  +--nil/              - NIL test suites.
+  |  |  +--testbuild/     - NIL build test and MISRA check.
+  |  +--rt/               - RT test suites.
+  |  |  +--testbuild/     - RT build test and MISRA check.
+  |  |  +--coverage/      - RT code coverage project.
+  +--testhal/             - HAL integration test demos.
+
+*****************************************************************************
+*** Releases and Change Log                                               ***
+*****************************************************************************
+
+*** 16.1.7 ***
+- VAR: Fixed BYTE_ORDER redefined in lwip_bindings/arch/cc.h (bug #814).
+- HAL: Fixed setting alternate mode in STM32 GPIOv3 and GPIOv3 drivers can fail
+       (bug #813).
+- HAL: Fixed incorrect handling of shared ISRs in STM32 DMAv1 driver
+       (bug #812).
+- HAL: Fixed protocol violation in usbDisableEndpointsI() API (bug #811).
+- HAL: Fixed incorrect constants STM32_DAC1_CHx_DMA_CHN for STM32F7 (bug #810).
+- HAL: Fixed redefined TIM in STM32F030 registry (bug #809).
+- HAL: Fixed clock init in STM32F0x port which doesn't take in account
+       PLL_XTPRE and PREDIV_0 are hard-wired (bug #808).
+
+*** 16.1.6 ***
+- HAL: Fixed wrong initialization in ADC lld v3 (bug #807).
+- HAL: Fixed wrong clock init in STM32F0 port ad added more error checks
+       (bug #806).
+- HAL: Fixed misplaced else in STM32F0 port (bug #805).
+- HAL: Fixed flash waiting state misconfiguration in STM32L4 port (bug #804).
+- HAL: Added CR field to DAC configuration in STM32 port (bug #803).
+- HAL: Fixed wrong initialization for DACD4 in STM32 port (bug #802).
+- HAL: Fixed tab instead of space in DAC driver (bug #801).
+- HAL: Fixed missing GPT and DAC in STM32F07/?9x mcuconf (bug #800).
+- HAL: Fixed STM32 RTCv2 driver does not handle the DST bit (bug #799).
+- HAL: Fixed MAC driver broken on STM32F107 (bug #798).
+- VAR: Fixed missing const qualifier in local shell commands array (bug #797).
+- VAR: Fixed compilation error in cmsis_os.h (bug #796).
+- HAL: Fixed double empty lines in HAL (bug #794).
+- RT:  Fixed double empty lines in RT (bug #793).
+- HAL: Fixed wrong entries in STM32L4 registry (bug #792).
+- HAL: Fixed missing ARPE bit in CR1 initialization on STM32 GPT driver
+       (bug #791).
+- HAL: Fixed wrong DMA definition for STM32F303x8 ADC (bug #790).
+- VAR: Fixed GCC garbage collector discards code in syscalls.c (bug #789).
+- HAL: Fixed Makefile dependencies not generated for .S files (bug #787).
+- HAL: Fixed OTGv1 driver not functional on STM32L4 (bug #786).
+- HAL: Fixed wrong bit offset in STM32F37x ADC_CR2_EXTSEL_SRC() macro
+       (bug #785).
+- RT:  Fixed tick-less mode can fail in RT for very large delays (bug #784).
+- HAL: Fixed STM32L0xx CCIPR initialization (bug #783).
+- HAL: Fixed STM32F105 port not compiling (bug #782).
+- HAL: Fixed wrong registry for STM32F205xx and STM32F215xx port 
+       (bug #780).
+- HAL: Fixed wrong HSE checks and PLL2 enable switch in STM32F105 and
+       STM32F107 port (bug #779).
+- HAL: Fixed wrong SRAM2_BASE in STM32F7xx port (bug #778)
+       (backported to 16.1.6).
+- HAL: Added DAC configs in RT-STM32F051-DISCOVERY\mcuconf.h (bug #777).
+- HAL: Fixed DAC driver not compiling on STM32F051 and some bitmasks related 
+        to DAC disabling (bug #776).
+- HAL: Fixed addition semicolon in cpp wrapper (bug #774).
+- HAL: Fixed function gpt_lld_polled_delay() is broken on STM32 (bug #775).
+- HAL: Fixed invalid output initialization for STM32 DACx channels 2
+       (bug #773).
+- HAL: Fixed CAN inclusion path missing for STM32F107 (bug #772).
+- HAL: Fixed extra brackets in STM32F0 registry (bug #771).
+- HAL: Fixed STM32 CAN filters initialization problem (bug #770).
+- HAL: Fixed wrong bit mask in STM32L0xx port (bug #769).
+- HAL: Fixed potential wait states problem in STM32L4 initialization code
+       (bug #768).
+- HAL: Fixed SDIO driver not compiling on STM32F446 devices (bug #767).
+- HAL: Fixed error in STM32L4xx ST headers (bug #766).
+- HAL: Fixed wrong check in win32 simulator serial driver (bug #765).
+- HAL: Fixed dependency on RT in hal_usb.c (bug #764).
+- HAL: Fixed wrong backup domain reset in STM32L4xx\hal_lld (bug #763).
+
+*** 16.1.5 ***
+- NEW: Added support for more Nucleo and Discovery boards.
+- HAL: Board files regenerated using the latest version of the generator
+       plugin.
+- HAL: Fixed wrong PWR configurations in STM32L4xx\hal_lld (bug #761).
+- HAL: Fixed wrong comment in STM32L4xx\hal_lld (bug #760).
+- HAL: Fixed wrong MSIRANGE management for STM32L4xx in function 
+       stm32_clock_init() (bug #759).
+- HAL: Fixed problem in USB driver when changing configuration (bug #757).
+- HAL: Fixed bug in function usbDisableEndpointsI() (bug #756).
+- HAL: Fixed wrong info in readme of LWIP related demos (bug #755).
+- HAL: Fixed misconfiguration in STM32L4 Discovery board files 
+       (bug #754).
+- HAL: Fixed errors in documentation related to OTG peripheral switches 
+       (bug #753).
+- HAL: Fixed CMSIS function osThreadGetPriority() does not return correct
+       priority (bug #752).
+- HAL: Fixed wrong conditional branches in _adc_isr_error_code (bug #751).
+- HAL: Fixed bug in STM32/ADCv3 (bug #750).
+- HAL: Fixed OPT settings and added board folder in STM32F4xx-USB_CDC demo
+       (bug #749).
+- HAL: Fixed wrong comments in STM32F4xx GPT demo (bug #748).
+- HAL: Fixed wrong comments and indents in STM32F7xx-GPT-ADC and 
+       STM32L4-GPT-ADC demos (bug #747).
+- HAL: Fixed wrong comments and indent in STM32F4xx and STM32F7xx 
+       hal_lld.h (bug #746).
+- HAL: Removed wrong SAI masks in STM32F4xx hal_lld.h (bug #745).
+- HAL: Fixed wrong mask placement in STM32F4xx hal_lld.h (bug #744).
+- HAL: Fixed wrong indent in STM32F4xx hal_lld.h (bug #743).
+- HAL: Removed unused macros in STM32F7xx and STM32F4xx hal_lld.h (bug #742).
+- HAL: Fixed Doxygen related macros in STM32F7xx, STM32L0xx and STM32L4xx
+       lld files (bug #741).
+- HAL: Fixed bug in VREF enable/disable functions in ADCv3 driver 
+       (bug #740).
+- HAL: Fixed DAC driver not enabled for STM32F4x7 and STM32F4x9 devices
+       (bug #739).
+- HAL: Fixed bug in interrupt handlers in STM32F4xx EXT driver (bug #738).
+- HAL: Fixed clock enabling in STM32 ADCv3 (bug #737).
+- HAL: Fixed missing SDC initialization in RT-STM32F103-OLIMEX_STM32_P103 demo
+       (bug #735).
+- HAL: Fixed STM32 dac bug when using only channel 2 in direct mode (bug #734).
+- HAL: Fixed PAL lines support not working for STM32 GPIOv1 (bug #730).
+- RT:  Fixed bug in chSchPreemption() function (bug #728).
+- HAL: Fixed prescaler not initialized in STM32 ADCv1 (bug #725).
+- HAL: Fixed missing DAC section in STM32F072 mcuconf.h files (bug #724).
+
+*** 16.1.4 ***
+- ALL: Startup files relicensed under Apache 2.0.
+- RT:  Added RT-STM32L476-DISCOVERY demo.
+- HAL: Added more STM32L4xx testhal demos.
+- HAL: Updated all STM32F476 mcuconf.h files.
+- VAR: Fixed palSetMode glitching outputs (bug #723).
+- VAR: Fixed error in STM32 PWM driver regarding channels 4 and 5 (bug #722).
+- VAR: Fixed GCC 5.2 crashes while compiling ChibiOS (bug #718).
+- HAL: Fixed wrong definition in STM32L4 ext_lld_isr.h (bug #717).
+- HAL: Fixed wrong definitions in STM32F746 mcuconf.h files (bug #716)
+- RT:  Fixed wrong SysTick initialization in generic demos (bug #715).
+- NIL: Fixed wrong SysTick initialization in generic demos (bug #715).
+- HAL: Fixed usbStop does not resume threads suspended in synchronous calls
+       to usbTransmit (bug #714).
+- VAR: Fixed state check in lwIP when SYS_LIGHTWEIGHT_PROT is disabled
+       (bug #713).
+- RT:  Fixed race condition in RT registry (bug #712). 
+- HAL: Fixed IAR warnings in ext_lld_isr.c (bug #711).
+- HAL: Fixed build error caused by STM32 SPIv1 driver (bug #710).
+- HAL: Fixed shift of signed constant causes warnings with IAR compiler
+       (bug #709).
+- HAL: Fixed wrong RTCv2 settings for STM32L4 (bug #708).
+- HAL: Fixed missing OTGv1 support for STM32L4 (bug #707).
+- NIL: Fixed ARM errata 752419 (bug #706).
+- RT:  Fixed ARM errata 752419 (bug #706).
+
+*** 16.1.3 ***
+- HAL: Fixed unused variable in STM32 SPIv2 driver (bug #705).
+- HAL: Fixed chDbgAssert() still called from STM32 SPIv1 driver (bug #704).
+- HAL: Fixed broken demo for STM32F429 (bug #703).
+- HAL: Fixed wrong macro definition for palWriteLine (bug #702).
+- HAL: Fixed error is buffer queues (bug #701).
+- HAL: Fixed typos in STM32F0 RCC enable/disable macros (bug #698).
+- RT:  Fixed useless call to chTMStartMeasurementX() in _thread_init()
+       (bug #697).
+- VAR: Fixed missing time conversion in lwIP arch module (bug #696, again).
+
+*** 16.1.2 ***
+- VAR: Fixed missing time conversion in lwIP arch module (bug #696).
+- HAL: Fixed incorrect handling of TIME_IMMEDIATE in the HAL buffer queues
+       (bug #695).
+
+*** 16.1.1 ***
+- NIL: NIL_CFG_USE_EVENTS not properly checked in NIL (bug #694).
+- RT:  Fixed ISR statistics are not updated from a critical zone in RT
+       (bug #693).
+- NIL: Fixed NIL test suite calls I and S functions outside critical zone
+       (bug #692).
+- NIL: Fixed protocol violation in NIL OSAL (bug #691).
+- HAL: Fixed error in HAL buffer queues (bug #689).
+- RT:  Fixed tm_stop - best case bug (bug #688).
+- RT:  Several minor documentation/formatting-related fixes.
+
+*** 16.1.0 ***
+- RT:  Added CodeWarrior compiler support to the e200 port.
+- HAL: Added support for STM32F446.
+- HAL: Introduced preliminary support for STM32F7xx devices.
+- HAL: Introduced preliminary support for STM32L4xx devices.
+- HAL: Introduced preliminary support for STM32L0xx devices.
+- HAL: Increased performance of USBv1 and OTGv1 driver thanks to better
+       data copying code.
+- HAL: Enhanced Serial-USB driver using the new buffers queues object.
+- HAL: Simplified USB driver, queued API has been removed.
+- HAL: Enhanced the CAN driver with I-class functions. Now it is possible
+       to exchange frames from ISRs.
+- HAL: Added watchdog driver model (WDG) and STM32 implementation on IWDG.
+- HAL: Added synchronous API and mutual exclusion to the UART driver.
+- HAL: Added PAL driver for STM32L4xx GPIOv3 peripheral.
+- HAL: Added I2S driver for STM32 SPIv2 peripheral.
+- HAL: Added demos an- d board files for ST's Nucleo32 boards (F031, F042, F303).
+- HAL: Added "lines" handling to PAL driver, lines are identifiers of both
+       ports and pins encoded in a single value. Added a set of macros
+       operating on lines.
+- HAL: Merged the latest STM32F3xx CMSIS headers.
+- HAL: Merged the latest STM32F2xx CMSIS headers and fixed the support
+       broken in 3.0.x.
+- RT:  Added new function chVTGetTimersStateI() returning the state of the
+       timers list.
+- HAL: Now STM32 USARTv2 driver initializes the ISR vectors statically on
+       initialization. Disabling them was not necessary and added to
+       the code size.
+- HAL: Added DMA channel selection on STM32F030xC devices.
+- HAL: Added serial driver support for USART 3..6 on STM32F030xC devices.
+- HAL: Merged the newest ST header files for STM32F1xx.
+- HAL: Added support for differential mode to the STM32F3xx ADC driver.
+- HAL: Experimental isochronous capability added to STM32 OTGv1 driver.
+- HAL: Modified the serial-USB driver to reject write/read attempts if the
+       underlying USB is not in active state. In case of disconnection the
+       SDU driver broadcasts a CHN_DISCONNECTED event.
+- HAL: Modified the USB driver to have a separate USB_SUSPENDED state, this
+       allows the application to detect if the USB is communicating or if
+       it is disconnected or powered down.
+- HAL: Added wake-up and suspend events to the STM32 OTGv1 driver.
+- HAL: STM32 USB/OTG buffers and queues do not more require to be aligned in
+       position and size.
+- VAR: Improved GCC rules.ld, now it is possible to assign the heap to any
+       of the available RAM regions.
+- HAL: STM32 GPT, ICU and PWM driver enhancements. Now it is possible to
+       suppress default ISRs by defining STM32_TIMx_SUPPRESS_ISR.
+       The application is now able to define custom handlers if required
+       or simply save space if the driver callbacks are not used.
+       Now the functions xxx_lld_serve_interrupts() have global scope, this
+       way custom ISRs can call them from outside the driver module.
+- HAL: Added TIM units use cross-check in STM32 GPT, ICU, PWM and ST drivers,
+       now use collisions are explicitly reported.
+- NIL: Added polled delays required to fix bug #629.
+- HAL: Added support for I2C3 and I2C4 to the STM32 I2Cv2 I2C driver.
+- HAL: Added support for SPI4...SPI6 to the STM32 SPIv2 SPI driver.
+- HAL: Added support for UART4...UART8 to the STM32 UARTv2 UART driver.
+- HAL: Added support for UART7 and UART8,LPUART1 to the STM32 UARTv2 serial
+       driver.
+- HAL: STM32F3xx and STM32L4xx devices now share the same ADCv3 driver.
+- HAL: STM32F2xx, STM32F4xx and STM32F7xx devices now share the same ADCv2
+       and DMAv2 drivers.
+- HAL: STM32F0xx and STM32L0xx devices now share the same ADCv1 driver.
+- HAL: STM32F0xx, STM32F1xx, STM32F3xx, STM32F37x, STM32L0xx and STM32L1xx
+       devices now share the same DMAv1 driver.
+- HAL: New STM32 shared DMAv2 driver supporting channel selection and
+       data cache invalidation (F2, F4, F7).
+- HAL: New STM32 shared DMAv1 driver supporting channel selection and fixing
+       the behavior with shared IRQs (F0, L0).
+- HAL: New STM32 ADCv3 driver supporting middle STM32 devices (F3, L4).
+- HAL: New STM32 ADCv2 driver supporting large STM32 devices (F2, F4, F7).
+- HAL: New STM32 ADCv1 driver supporting small STM32 devices (F0, L0).
+- HAL: Introduced support for TIM21 and TIM22 in STM32 ST driver.
+- HAL: Updated STM32F0xx headers to STM32CubeF0 version 1.3.0. Added support
+       for STM32F030xC, STM32F070x6, STM32F070xB, STM32F091xC,
+       STM32F098xx devices.
+- RT:  Fixed ARM port enforcing THUMB mode (bug #687)(backported to 3.0.5).
+- HAL: Fixed HAL drivers still calling RT functions (bug #686)(backported
+       to 3.0.5).
+- HAL: Fixed chprintf() still calling RT functions (bug #684)(backported
+       to 3.0.5).
+- HAL: Fixed STM32 ICU driver uses chSysLock and chSysUnlock (bug #681)
+       (backported to 3.0.4).
+- HAL: Fixed wrong DMA priority assigned to STM32F3 ADC3&4 (bug #680)
+       (backported to 3.0.4 and 2.6.10).
+- HAL: Fixed invalid DMA settings in STM32 DACv1 driver in dual mode
+       (bug #677)(backported to 3.0.4).
+- HAL: Fixed usbStop() hangs in STM32 OTGv1 driver (bug #674)(backported
+       to 3.0.4 and 2.6.10).
+- HAL: Fixed STM32 I2Cv2 driver fails on transfers greater than 255 bytes
+       (bug #673)(backported to 3.0.4).
+- HAL: Fixed STM32 I2Cv2 DMA conflict (bug #671)(backported to 3.0.4).
+- HAL: Fixed I2S clock selection not working in STM32F4xx HAL (bug #667)
+       (backported to 3.0.4 and 2.6.10).
+- HAL: Fixed differences in STM32F3 ADC macro definitions (bug #665)
+       (backported to 3.0.3).
+- HAL: Fixed RTC module loses day of week when converting (bug #664)
+       (backported to 3.0.3).
+- HAL: Fixed STM32 USBv1 broken isochronous endpoints (bug #662)
+       (backported to 3.0.4).
+- HAL: Fixed STM32 USBv1 wrong multiplier when calculating descriptor address
+       in BTABLE (bug #661)(backported to 3.0.4 and 2.6.10).
+- HAL: Fixed STM32 USBv1 does not make use of BTABLE_ADDR define (bug #660)
+       (backported to 3.0.4 and 2.6.10).
+- HAL: Fixed invalid class type for sdPutWouldBlock() and sdGetWouldBlock()
+       functions (bug #659)(backported to 3.0.3 and 2.6.10).
+- HAL: Fixed STM32F0xx HAL missing MCOPRE support (bug #658).
+- HAL: Fixed STM32L1xx HAL errors in comments (bug #657)(backported
+       to 3.0.3 and 2.6.10).
+- HAL: Fixed STM32 USBv1 wrong buffer alignment (bug #656)(backported
+       to 3.0.3 and 2.6.10).
+- HAL: Fixed wrong vector name for STM32F3xx EXTI33 (bug #655)(backported
+       to 3.0.3 and 2.6.10).
+- HAL: Fixed nvicEnableVector broken for Cortex-M0 (bug #654)(backported
+       to 3.0.3).
+- HAL: Fixed no demo for nucleo STM32F072RB board (bug #652).
+- HAL: Fixed missing RCC and ISR definitions for STM32F0xx timers (bug #651)
+       (backported to 3.0.3 and 2.6.10).
+- HAL: Fixed incorrect compiler check in STM32 RTCv1 driver (bug #650)
+       (backported to 3.0.3).
+- HAL: Fixed incorrect case in path (bug #649).
+- HAL: Fixed STM32F3xx HAL checking for non-existing macros (bug #648)
+       (backported to 3.0.3 and 2.6.10).
+- HAL: Fixed error in STM32F030 EXT driver (bug #647)(backported to 3.0.3).
+- RT:  Fixed problem with chVTIsTimeWithinX() (bug #646)(backported to
+       3.0.3 and 2.6.10).
+- VAR: Fixed _sbrk_r with incr == 0 should be valid (bug #645)(backported to
+       3.0.3 and 2.6.10).
+- RT:  Fixed issues in CMSIS RTOS interface (bug #644)(backported to 3.0.3).
+- HAL: Fixed RT dependency in STM32 SDCv1 driver (bug #643)(backported
+       to 3.0.2).
+- VAR: Fixed incorrect working area size in LwIP creation in demos (bug #642)
+       (backported to 3.0.2 and 2.6.10).
+- HAL: Fixed error in hal_lld_f100.h checks (bug #641)(backported to 3.0.2
+       and 2.6.10).
+- HAL: Fixed volatile variable issue in I/O queues, both RT and HAL (bug #640)
+       (backported to 3.0.2).
+- HAL: Fixed wrong DMA assignment for I2C1 in STM32F302xC registry (bug #637)
+       (backported to 3.0.2).
+- HAL: Fixed missing timers 5, 6, 7, 10 & 11 from STM32L1 HAL port (bug #636)
+       (backported to 3.0.2).
+- VAR: Fixed CRT0_CALL_DESTRUCTORS not utilized in crt0_v7m.s (bug #635)
+       (backported to 3.0.2).
+- HAL: Fixed wrong ld file in STM32F072xB USB CDC demo (bug #634)(backported
+       to 3.0.2).
+- NIL: Fixed Wrong assertion in NIL chSemResetI() and NIL OSAL
+       osalThreadDequeueAllI() (bug #633)(backported to 3.0.2).
+- RT:  Fixed problem with RT mutexes involving priority inheritance (bug #632)
+       (backported to 3.0.2 and 2.6.10).
+- HAL: Fixed HAL to RT dependency in STM32 DAC driver (bug #631)(backported
+       to 3.0.2).
+- HAL: Fixed problem with STM32 I2S driver restart (bug #630)(backported
+       to 3.0.2).
+- HAL: Fixed STM32F3xx ADC driver uses US2RTC directly (bug #629)(backported
+       to 3.0.2).
+- HAL: Fixed CEC clock cannot be disabled on STM32F0xx (bug #628)
+       (backported to 3.0.1).
+- VAR: Fixed lwIP arch code breaks with a 16-bit systick timer (bug #627)
+       (backported to 3.0.1).
+- HAL: Fixed broken MAC driver for STM32F107 (bug #626)(backported to 3.0.1).
+- NIL: Fixed missing configuration options from NIL PPC port (bug #625)
+       (backported to 3.0.1).
+- HAL: Fixed wrong offset in STM32 DAC driver (bug #624)(backported to 3.0.1).
+- HAL: Fixed crash on STM32F030x4/6 devices (bug #623)(backported to 3.0.1).
+- HAL: Fixed duplicated doxygen tag in STM32F4xx hal_lld.h file (bug #621)
+       (backported to 3.0.1 and 2.6.9).
+- HAL: Fixed STM32F042 registry error (bug #620)(backported to 3.0.1).
+- HAL: Fixed wrong check in canReceive() (bug #619)(backported to 3.0.1
+       and 2.6.9).
+- HAL: Fixed wrong EXTI[18] vector number on STM32F373 (bug #618)(backported
+       to 3.0.1 and 2.6.9).
+- HAL: Fixed wrong check on STM32_LSE_ENABLED definition in STM32L1xx HAL port
+       (bug #617)(backported to 3.0.1 and 2.6.9).
+- HAL: Fixed rtcConvertDateTimeToFAT() incorrect conversion (bug #615)
+       (backported to 3.0.1).
+- HAL: Fixed missing UART7 and UART8 support on STM32F4xx family (bug #612).
+- HAL: Fixed outdated CMSIS headers for STM32F1xx devices (bug #609).
+- HAL: Fixed CAN errors (bug #387).
+- HAL: Fixed USB HS ULPI Support (except board files because patch originally
+       targeted version 2.6.x)(bug #377).
+
+*** 3.0.0 ***
+- NEW: Added an initialization function to the lwIP bindings, now it is
+       sufficient to call lwipInit(NULL); in order to start the subsystem.
+       Demo updated.
+- RT:  Fixed compilation error in RT when registry is disabled (bug #614).
+- NIL: Fixed OSAL_ST_MODE not defined in AVR port (bug #613).
+- NIL: Fixed nilrtos redefinition of systime_t (bug #611).
+- HAL: Fixed TIM2 wrongly classified as 32bits in STM32F1xx devices
+       (bug #610).
+
+*** 3.0.0p6 ***
+- HAL: Removed call to localtime_r() function for non-GNU compilers in
+       STM32F1xx RTC driver.
+- DEM: Fixed the FatFS demo timeout, now it is expressed in milliseconds.
+- DEM: Added -Wundef to all the demos and test programs in order to find
+       common error cases.
+- NIL: Added INTC priorities check to the e200z port.
+- RT:  Added INTC priorities check to the e200z port.
+- HAL: Added support for CAN in STM32F042/72 devices.
+- HAL: Added support for extra DMA channels in STM32F072 devices.
+- HAL: Modified the STM32 CAN driver to support unified IRQs.
+- RT:  SPE-related issue in e200z ports (bug #607).
+- NIL: SPE-related issue in e200z ports (bug #607).
+- HAL: Fixed dependency between STM32 MAC driver and RT (bug #606).
+- HAL: Fixed wrong macro names in STM32F0xx HAL driver (bug #605).
+- HAL: Fixed wrong check on ADC3 in STM32F3xx ADC driver (bug #604).
+- HAL: Fixed wrong macro names in STM32F3xx HAL driver (bug #603).
+- HAL: Fixed errors in STM32 OTGv1 driver (bug #601).
+- DEM: Fixed missing paths in e200z demos (bug #600).
+- HAL: Fixed error in platform_f105_f107.mk file (bug #599).
+- HAL: Fixed issue in DMA drivers when channels share ISRs (bug #597).
+
+*** 3.0.0p5 ***
+- HAL: Added no-DMA mode to the STM32 I2Cv2 driver.
+- HAL: Added DAC support to all STM32 sub-platforms, added another demo for
+       the STM32F3xx.
+- HAL: Fixed STM32 USARTv1: incorrect txend2_cb callback behavior (bug #596).
+- DEM: Fixed wrong comment in ARMCM4-STM32F401RE-NUCLEO demo (bug #595).
+- HAL: Fixed STM32 SDC LLD driver initialization with Asserts disabled
+       (bug #594).
+
+*** 3.0.0p4 ***
+- NEW: Added no-DMA mode to STM32 I2Cv2 driver.
+- BLD: New "smart build" mode added to makefiles, now only used files are
+       compiled.
+- HAL: Change to the Serial_USB driver, now the INT endpoint is no more
+       mandatory.
+- HAL: New DAC driver implementation for STM32F4xx.
+- HAL: Fixed SDC STM32 driver broken in 50MHz mode (bug #592).
+- HAL: Fixed STM32 RTC SSR Register Counts Down (bug #591).
+- HAL: Fixed STM32 RTC PRER Register not being set in init (bug #590).
+- HAL: Fixed STM32F334 does not have an EXT18 interrupt (bug #588).
+- HAL: Fixed STM32L1xx USB is missing disconnect/connect macros (bug #587).
+- HAL: Fixed wrong vector number for STM32L1xx USB (bug #586).
+- HAL: Fixed spurious TC interrupt in STM32 UART (v1 and v2) driver (bug #584).
+- HAL: Fixed invalid checks on STM32L1xx LSI and LSE clocks (bug #583).
+- HAL: Fixed RCC CAN2 macros missing in STM32F1xx platform (bug #582).
+- HAL: Fixed STM32 I2Cv2 driver issue (bug 581).
+- BLD: Fixed ules.mk: adding "PRE_MAKE_ALL_RULE_HOOK" (bug #580).
+- BLD: Fixed rules.mk should not explicitly depend on $(BUILDDIR) (bug #579).
+
+*** 3.0.0p3 ***
+- RT:  Fixed tickless mode instability in RT (bug 577).
+
+*** 3.0.0p2 ***
+- HAL: Fixed instances of RT API in HAL drivers (bug 574).
+- RT:  Fixed system time overflow issue in tickless mode (bug 573).
+- RT:  Improvements to the IRQ_STORM applications.
+
+*** 3.0.0p1 ***
+- First 3.0.0 release, see release note 3.0.0.