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diff --git a/lib/chibios/os/rt/include/chmtx.h b/lib/chibios/os/rt/include/chmtx.h
new file mode 100644
index 000000000..ba06f23a8
--- /dev/null
+++ b/lib/chibios/os/rt/include/chmtx.h
@@ -0,0 +1,168 @@
+/*
+    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/>.
+*/
+
+/**
+ * @file    rt/include/chmtx.h
+ * @brief   Mutexes macros and structures.
+ *
+ * @addtogroup mutexes
+ * @{
+ */
+
+#ifndef CHMTX_H
+#define CHMTX_H
+
+#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Type of a mutex structure.
+ */
+typedef struct ch_mutex mutex_t;
+
+/**
+ * @brief   Mutex structure.
+ */
+struct ch_mutex {
+  ch_queue_t            queue;      /**< @brief Queue of the threads sleeping
+                                                on this mutex.              */
+  thread_t              *owner;     /**< @brief Owner @p thread_t pointer or
+                                                @p NULL.                    */
+  mutex_t               *next;      /**< @brief Next @p mutex_t into an
+                                                owner-list or @p NULL.      */
+#if (CH_CFG_USE_MUTEXES_RECURSIVE == TRUE) || defined(__DOXYGEN__)
+  cnt_t                 cnt;        /**< @brief Mutex recursion counter.    */
+#endif
+};
+
+/*===========================================================================*/
+/* Module macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @brief   Data part of a static mutex initializer.
+ * @details This macro should be used when statically initializing a mutex
+ *          that is part of a bigger structure.
+ *
+ * @param[in] name      the name of the mutex variable
+ */
+#if (CH_CFG_USE_MUTEXES_RECURSIVE == TRUE) || defined(__DOXYGEN__)
+#define _MUTEX_DATA(name) {_CH_QUEUE_DATA(name.queue), NULL, NULL, 0}
+#else
+#define _MUTEX_DATA(name) {_CH_QUEUE_DATA(name.queue), NULL, NULL}
+#endif
+
+/**
+ * @brief   Static mutex initializer.
+ * @details Statically initialized mutexes require no explicit initialization
+ *          using @p chMtxInit().
+ *
+ * @param[in] name      the name of the mutex variable
+ */
+#define MUTEX_DECL(name) mutex_t name = _MUTEX_DATA(name)
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void chMtxObjectInit(mutex_t *mp);
+  void chMtxLock(mutex_t *mp);
+  void chMtxLockS(mutex_t *mp);
+  bool chMtxTryLock(mutex_t *mp);
+  bool chMtxTryLockS(mutex_t *mp);
+  void chMtxUnlock(mutex_t *mp);
+  void chMtxUnlockS(mutex_t *mp);
+  void chMtxUnlockAll(void);
+  void chMtxUnlockAllS(void);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions.                                                  */
+/*===========================================================================*/
+
+/**
+ * @brief   Returns @p true if the mutex queue contains at least a waiting
+ *          thread.
+ *
+ * @param[out] mp       pointer to a @p mutex_t structure
+ * @return              The mutex queue status.
+ *
+ * @sclass
+ */
+static inline bool chMtxQueueNotEmptyS(mutex_t *mp) {
+
+  chDbgCheckClassS();
+
+  return ch_queue_notempty(&mp->queue);
+}
+
+/**
+ * @brief   Returns the mutex owner thread.
+ *
+ * @param[out] mp       pointer to a @p mutex_t structure
+ * @return              The owner thread.
+ * @retval NULL         if the mutex is not owned.
+ *
+ * @iclass
+ */
+static inline thread_t *chMtxGetOwnerI(mutex_t *mp) {
+
+  chDbgCheckClassI();
+
+  return mp->owner;
+}
+
+/**
+ * @brief   Returns the next mutex in the mutexes stack of the current thread.
+ *
+ * @return              A pointer to the next mutex in the stack.
+ * @retval NULL         if the stack is empty.
+ *
+ * @xclass
+ */
+static inline mutex_t *chMtxGetNextMutexX(void) {
+
+  return chThdGetSelfX()->mtxlist;
+}
+
+#endif /* CH_CFG_USE_MUTEXES == TRUE */
+
+#endif /* CHMTX_H */
+
+/** @} */