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diff --git a/lib/chibios/os/rt/include/chevents.h b/lib/chibios/os/rt/include/chevents.h
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+/*
+    ChibiOS - Copyright (C) 2006,2007,2008,2009,2010,2011,2012,2013,2014,
+              2015,2016,2017,2018,2019,2020,2021 Giovanni Di Sirio.
+
+    This file is part of ChibiOS.
+
+    ChibiOS is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation version 3 of the License.
+
+    ChibiOS is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+   Concepts and parts of this file have been contributed by Scott (skute).
+ */
+
+/**
+ * @file    rt/include/chevents.h
+ * @brief   Events macros and structures.
+ *
+ * @addtogroup events
+ * @{
+ */
+
+#ifndef CHEVENTS_H
+#define CHEVENTS_H
+
+#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types.                                         */
+/*===========================================================================*/
+
+typedef struct event_listener event_listener_t;
+
+/**
+ * @brief   Event Listener structure.
+ */
+struct event_listener {
+  event_listener_t      *next;          /**< @brief Next Event Listener
+                                                    registered on the event
+                                                    source.                 */
+  thread_t              *listener;      /**< @brief Thread interested in the
+                                                    event source.           */
+  eventmask_t           events;         /**< @brief Events to be set in
+                                                    the listening thread.   */
+  eventflags_t          flags;          /**< @brief Flags added to the listener
+                                                    by the event source.    */
+  eventflags_t          wflags;         /**< @brief Flags that this listener
+                                                    interested in.          */
+};
+
+/**
+ * @brief   Event Source structure.
+ */
+typedef struct event_source {
+  event_listener_t      *next;          /**< @brief First Event Listener
+                                                    registered on the Event
+                                                    Source.                 */
+} event_source_t;
+
+/**
+ * @brief   Event Handler callback function.
+ */
+typedef void (*evhandler_t)(eventid_t id);
+
+/*===========================================================================*/
+/* Module macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @brief   All events allowed mask.
+ */
+#define ALL_EVENTS      ((eventmask_t)-1)
+
+/**
+ * @brief   Returns an event mask from an event identifier.
+ */
+#define EVENT_MASK(eid) ((eventmask_t)1 << (eventmask_t)(eid))
+
+/**
+ * @brief   Data part of a static event source initializer.
+ * @details This macro should be used when statically initializing an event
+ *          source that is part of a bigger structure.
+ * @param name          the name of the event source variable
+ */
+#define _EVENTSOURCE_DATA(name) {(event_listener_t *)(&name)}
+
+/**
+ * @brief   Static event source initializer.
+ * @details Statically initialized event sources require no explicit
+ *          initialization using @p chEvtInit().
+ *
+ * @param name          the name of the event source variable
+ */
+#define EVENTSOURCE_DECL(name) event_source_t name = _EVENTSOURCE_DATA(name)
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void chEvtRegisterMaskWithFlags(event_source_t *esp,
+                                  event_listener_t *elp,
+                                  eventmask_t events,
+                                  eventflags_t wflags);
+  void chEvtUnregister(event_source_t *esp, event_listener_t *elp);
+  eventmask_t chEvtGetAndClearEventsI(eventmask_t events);
+  eventmask_t chEvtGetAndClearEvents(eventmask_t events);
+  eventmask_t chEvtAddEvents(eventmask_t events);
+  eventflags_t chEvtGetAndClearFlags(event_listener_t *elp);
+  eventflags_t chEvtGetAndClearFlagsI(event_listener_t *elp);
+  void chEvtSignal(thread_t *tp, eventmask_t events);
+  void chEvtSignalI(thread_t *tp, eventmask_t events);
+  void chEvtBroadcastFlags(event_source_t *esp, eventflags_t flags);
+  void chEvtBroadcastFlagsI(event_source_t *esp, eventflags_t flags);
+  void chEvtDispatch(const evhandler_t *handlers, eventmask_t events);
+#if (CH_CFG_OPTIMIZE_SPEED == TRUE) || (CH_CFG_USE_EVENTS_TIMEOUT == FALSE)
+  eventmask_t chEvtWaitOne(eventmask_t events);
+  eventmask_t chEvtWaitAny(eventmask_t events);
+  eventmask_t chEvtWaitAll(eventmask_t events);
+#endif
+#if CH_CFG_USE_EVENTS_TIMEOUT == TRUE
+  eventmask_t chEvtWaitOneTimeout(eventmask_t events, sysinterval_t timeout);
+  eventmask_t chEvtWaitAnyTimeout(eventmask_t events, sysinterval_t timeout);
+  eventmask_t chEvtWaitAllTimeout(eventmask_t events, sysinterval_t timeout);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+#if (CH_CFG_OPTIMIZE_SPEED == FALSE) && (CH_CFG_USE_EVENTS_TIMEOUT == TRUE)
+#define chEvtWaitOne(mask) chEvtWaitOneTimeout(mask, TIME_INFINITE)
+#define chEvtWaitAny(mask) chEvtWaitAnyTimeout(mask, TIME_INFINITE)
+#define chEvtWaitAll(mask) chEvtWaitAllTimeout(mask, TIME_INFINITE)
+#endif
+
+/*===========================================================================*/
+/* Module inline functions.                                                  */
+/*===========================================================================*/
+
+/**
+ * @brief   Initializes an Event Source.
+ * @note    This function can be invoked before the kernel is initialized
+ *          because it just prepares a @p event_source_t structure.
+ *
+ * @param[in] esp       pointer to the @p event_source_t structure
+ *
+ * @init
+ */
+static inline void chEvtObjectInit(event_source_t *esp) {
+
+  esp->next = (event_listener_t *)esp;
+}
+
+/**
+ * @brief   Registers an Event Listener on an Event Source.
+ * @details Once a thread has registered as listener on an event source it
+ *          will be notified of all events broadcasted there.
+ * @note    Multiple Event Listeners can specify the same bits to be ORed to
+ *          different threads.
+ *
+ * @param[in] esp       pointer to the @p event_source_t structure
+ * @param[out] elp      pointer to the @p event_listener_t structure
+ * @param[in] events    the mask of events to be ORed to the thread when
+ *                      the event source is broadcasted
+ *
+ * @api
+ */
+static inline void chEvtRegisterMask(event_source_t *esp,
+                                     event_listener_t *elp,
+                                     eventmask_t events) {
+
+  chEvtRegisterMaskWithFlags(esp, elp, events, (eventflags_t)-1);
+}
+
+/**
+ * @brief   Registers an Event Listener on an Event Source.
+ * @note    Multiple Event Listeners can use the same event identifier, the
+ *          listener will share the callback function.
+ *
+ * @param[in] esp       pointer to the  @p event_source_t structure
+ * @param[out] elp      pointer to the @p event_listener_t structure
+ * @param[in] event     numeric identifier assigned to the Event Listener.
+ *                      The value must range between zero and the size, in bit,
+ *                      of the @p eventmask_t type minus one.
+ *
+ * @api
+ */
+static inline void chEvtRegister(event_source_t *esp,
+                                 event_listener_t *elp,
+                                 eventid_t event) {
+
+  chEvtRegisterMask(esp, elp, EVENT_MASK(event));
+}
+
+/**
+ * @brief   Verifies if there is at least one @p event_listener_t registered.
+ *
+ * @param[in] esp       pointer to the @p event_source_t structure
+ * @return              The event source status.
+ *
+ * @iclass
+ */
+static inline bool chEvtIsListeningI(event_source_t *esp) {
+
+  return (bool)(esp != (event_source_t *)esp->next);
+}
+
+/**
+ * @brief   Signals all the Event Listeners registered on the specified Event
+ *          Source.
+ *
+ * @param[in] esp       pointer to the @p event_source_t structure
+ *
+ * @api
+ */
+static inline void chEvtBroadcast(event_source_t *esp) {
+
+  chEvtBroadcastFlags(esp, (eventflags_t)0);
+}
+
+/**
+ * @brief   Signals all the Event Listeners registered on the specified Event
+ *          Source.
+ * @post    This function does not reschedule so a call to a rescheduling
+ *          function must be performed before unlocking the kernel. Note that
+ *          interrupt handlers always reschedule on exit so an explicit
+ *          reschedule must not be performed in ISRs.
+ *
+ * @param[in] esp       pointer to the @p event_source_t structure
+ *
+ * @iclass
+ */
+static inline void chEvtBroadcastI(event_source_t *esp) {
+
+  chEvtBroadcastFlagsI(esp, (eventflags_t)0);
+}
+
+/**
+ * @brief   Adds (OR) a set of events to the current thread, this is
+ *          @b much faster than using @p chEvtBroadcast() or @p chEvtSignal().
+ *
+ * @param[in] events    the events to be added
+ * @return              The mask of currently pending events.
+ *
+ * @iclass
+ */
+static inline eventmask_t chEvtAddEventsI(eventmask_t events) {
+
+  return currp->epending |= events;
+}
+
+/**
+ * @brief   Returns the events mask.
+ * @details The pending events mask is returned but not altered in any way.
+ *
+ * @return              The pending events mask.
+ *
+ * @api
+ */
+static inline eventmask_t chEvtGetEventsX(void) {
+
+  return currp->epending;
+}
+
+#endif /* CH_CFG_USE_EVENTS == TRUE */
+
+#endif /* CHEVENTS_H */
+
+/** @} */