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diff --git a/lib/chibios/os/rt/include/chvt.h b/lib/chibios/os/rt/include/chvt.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/>.
+*/
+
+/**
+ * @file    rt/include/chvt.h
+ * @brief   Time and Virtual Timers module macros and structures.
+ *
+ * @addtogroup time
+ * @{
+ */
+
+#ifndef CHVT_H
+#define CHVT_H
+
+/*===========================================================================*/
+/* Module constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if (CH_CFG_ST_TIMEDELTA < 0) || (CH_CFG_ST_TIMEDELTA == 1)
+#error "invalid CH_CFG_ST_TIMEDELTA specified, must "                       \
+       "be zero or greater than one"
+#endif
+
+#if (CH_CFG_ST_TIMEDELTA > 0) && (CH_CFG_TIME_QUANTUM > 0)
+#error "CH_CFG_TIME_QUANTUM not supported in tickless mode"
+#endif
+
+#if (CH_CFG_ST_TIMEDELTA > 0) && (CH_DBG_THREADS_PROFILING == TRUE)
+#error "CH_DBG_THREADS_PROFILING not supported in tickless mode"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+/*
+ * Virtual Timers APIs.
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void _vt_init(void);
+  void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
+                  vtfunc_t vtfunc, void *par);
+  void chVTDoResetI(virtual_timer_t *vtp);
+  void chVTDoTickI(void);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions.                                                  */
+/*===========================================================================*/
+
+/**
+ * @brief   Initializes a @p virtual_timer_t object.
+ * @note    Initializing a timer object is not strictly required because
+ *          the function @p chVTSetI() initializes the object too. This
+ *          function is only useful if you need to perform a @p chVTIsArmed()
+ *          check before calling @p chVTSetI().
+ *
+ * @param[out] vtp      the @p virtual_timer_t structure pointer
+ *
+ * @init
+ */
+static inline void chVTObjectInit(virtual_timer_t *vtp) {
+
+  vtp->func = NULL;
+}
+
+/**
+ * @brief   Current system time.
+ * @details Returns the number of system ticks since the @p chSysInit()
+ *          invocation.
+ * @note    The counter can reach its maximum and then restart from zero.
+ * @note    This function can be called from any context but its atomicity
+ *          is not guaranteed on architectures whose word size is less than
+ *          @p systime_t size.
+ *
+ * @return              The system time in ticks.
+ *
+ * @xclass
+ */
+static inline systime_t chVTGetSystemTimeX(void) {
+
+#if CH_CFG_ST_TIMEDELTA == 0
+  return ch.vtlist.systime;
+#else /* CH_CFG_ST_TIMEDELTA > 0 */
+  return port_timer_get_time();
+#endif /* CH_CFG_ST_TIMEDELTA > 0 */
+}
+
+/**
+ * @brief   Current system time.
+ * @details Returns the number of system ticks since the @p chSysInit()
+ *          invocation.
+ * @note    The counter can reach its maximum and then restart from zero.
+ *
+ * @return              The system time in ticks.
+ *
+ * @api
+ */
+static inline systime_t chVTGetSystemTime(void) {
+  systime_t systime;
+
+  chSysLock();
+  systime = chVTGetSystemTimeX();
+  chSysUnlock();
+
+  return systime;
+}
+
+/**
+ * @brief   Returns the elapsed time since the specified start time.
+ *
+ * @param[in] start     start time
+ * @return              The elapsed time.
+ *
+ * @xclass
+ */
+static inline sysinterval_t chVTTimeElapsedSinceX(systime_t start) {
+
+  return chTimeDiffX(start, chVTGetSystemTimeX());
+}
+
+/**
+ * @brief   Checks if the current system time is within the specified time
+ *          window.
+ * @note    When start==end then the function returns always false because the
+ *          time window has zero size.
+ *
+ * @param[in] start     the start of the time window (inclusive)
+ * @param[in] end       the end of the time window (non inclusive)
+ * @retval true         current time within the specified time window.
+ * @retval false        current time not within the specified time window.
+ *
+ * @xclass
+ */
+static inline bool chVTIsSystemTimeWithinX(systime_t start, systime_t end) {
+
+  return chTimeIsInRangeX(chVTGetSystemTimeX(), start, end);
+}
+
+/**
+ * @brief   Checks if the current system time is within the specified time
+ *          window.
+ * @note    When start==end then the function returns always false because the
+ *          time window has zero size.
+ *
+ * @param[in] start     the start of the time window (inclusive)
+ * @param[in] end       the end of the time window (non inclusive)
+ * @retval true         current time within the specified time window.
+ * @retval false        current time not within the specified time window.
+ *
+ * @api
+ */
+static inline bool chVTIsSystemTimeWithin(systime_t start, systime_t end) {
+
+  return chTimeIsInRangeX(chVTGetSystemTime(), start, end);
+}
+
+/**
+ * @brief   Returns the time interval until the next timer event.
+ * @note    The return value is not perfectly accurate and can report values
+ *          in excess of @p CH_CFG_ST_TIMEDELTA ticks.
+ * @note    The interval returned by this function is only meaningful if
+ *          more timers are not added to the list until the returned time.
+ *
+ * @param[out] timep    pointer to a variable that will contain the time
+ *                      interval until the next timer elapses. This pointer
+ *                      can be @p NULL if the information is not required.
+ * @return              The time, in ticks, until next time event.
+ * @retval false        if the timers list is empty.
+ * @retval true         if the timers list contains at least one timer.
+ *
+ * @iclass
+ */
+static inline bool chVTGetTimersStateI(sysinterval_t *timep) {
+  virtual_timers_list_t *vtlp = &ch.vtlist;
+  delta_list_t *dlp = &vtlp->dlist;
+
+  chDbgCheckClassI();
+
+  if (dlp == dlp->next) {
+    return false;
+  }
+
+  if (timep != NULL) {
+#if CH_CFG_ST_TIMEDELTA == 0
+    *timep = dlp->next->delta;
+#else
+    *timep = (dlp->next->delta + (sysinterval_t)CH_CFG_ST_TIMEDELTA) -
+             chTimeDiffX(vtlp->lasttime, chVTGetSystemTimeX());
+#endif
+  }
+
+  return true;
+}
+
+/**
+ * @brief   Returns @p true if the specified timer is armed.
+ * @pre     The timer must have been initialized using @p chVTObjectInit()
+ *          or @p chVTDoSetI().
+ *
+ * @param[in] vtp       the @p virtual_timer_t structure pointer
+ * @return              true if the timer is armed.
+ *
+ * @iclass
+ */
+static inline bool chVTIsArmedI(const virtual_timer_t *vtp) {
+
+  chDbgCheckClassI();
+
+  return (bool)(vtp->func != NULL);
+}
+
+/**
+ * @brief   Returns @p true if the specified timer is armed.
+ * @pre     The timer must have been initialized using @p chVTObjectInit()
+ *          or @p chVTDoSetI().
+ *
+ * @param[in] vtp       the @p virtual_timer_t structure pointer
+ * @return              true if the timer is armed.
+ *
+ * @api
+ */
+static inline bool chVTIsArmed(const virtual_timer_t *vtp) {
+  bool b;
+
+  chSysLock();
+  b = chVTIsArmedI(vtp);
+  chSysUnlock();
+
+  return b;
+}
+
+/**
+ * @brief   Disables a Virtual Timer.
+ * @note    The timer is first checked and disabled only if armed.
+ * @pre     The timer must have been initialized using @p chVTObjectInit()
+ *          or @p chVTDoSetI().
+ *
+ * @param[in] vtp       the @p virtual_timer_t structure pointer
+ *
+ * @iclass
+ */
+static inline void chVTResetI(virtual_timer_t *vtp) {
+
+  if (chVTIsArmedI(vtp)) {
+    chVTDoResetI(vtp);
+  }
+}
+
+/**
+ * @brief   Disables a Virtual Timer.
+ * @note    The timer is first checked and disabled only if armed.
+ * @pre     The timer must have been initialized using @p chVTObjectInit()
+ *          or @p chVTDoSetI().
+ *
+ * @param[in] vtp       the @p virtual_timer_t structure pointer
+ *
+ * @api
+ */
+static inline void chVTReset(virtual_timer_t *vtp) {
+
+  chSysLock();
+  chVTResetI(vtp);
+  chSysUnlock();
+}
+
+/**
+ * @brief   Enables a virtual timer.
+ * @details If the virtual timer was already enabled then it is re-enabled
+ *          using the new parameters.
+ * @pre     The timer must have been initialized using @p chVTObjectInit()
+ *          or @p chVTDoSetI().
+ *
+ * @param[in] vtp       the @p virtual_timer_t structure pointer
+ * @param[in] delay     the number of ticks before the operation timeouts, the
+ *                      special values are handled as follow:
+ *                      - @a TIME_INFINITE is allowed but interpreted as a
+ *                        normal time specification.
+ *                      - @a TIME_IMMEDIATE this value is not allowed.
+ *                      .
+ * @param[in] vtfunc    the timer callback function. After invoking the
+ *                      callback the timer is disabled and the structure can
+ *                      be disposed or reused.
+ * @param[in] par       a parameter that will be passed to the callback
+ *                      function
+ *
+ * @iclass
+ */
+static inline void chVTSetI(virtual_timer_t *vtp, sysinterval_t delay,
+                            vtfunc_t vtfunc, void *par) {
+
+  chVTResetI(vtp);
+  chVTDoSetI(vtp, delay, vtfunc, par);
+}
+
+/**
+ * @brief   Enables a virtual timer.
+ * @details If the virtual timer was already enabled then it is re-enabled
+ *          using the new parameters.
+ * @pre     The timer must have been initialized using @p chVTObjectInit()
+ *          or @p chVTDoSetI().
+ *
+ * @param[in] vtp       the @p virtual_timer_t structure pointer
+ * @param[in] delay     the number of ticks before the operation timeouts, the
+ *                      special values are handled as follow:
+ *                      - @a TIME_INFINITE is allowed but interpreted as a
+ *                        normal time specification.
+ *                      - @a TIME_IMMEDIATE this value is not allowed.
+ *                      .
+ * @param[in] vtfunc    the timer callback function. After invoking the
+ *                      callback the timer is disabled and the structure can
+ *                      be disposed or reused.
+ * @param[in] par       a parameter that will be passed to the callback
+ *                      function
+ *
+ * @api
+ */
+static inline void chVTSet(virtual_timer_t *vtp, sysinterval_t delay,
+                           vtfunc_t vtfunc, void *par) {
+
+  chSysLock();
+  chVTSetI(vtp, delay, vtfunc, par);
+  chSysUnlock();
+}
+
+#endif /* CHVT_H */
+
+/** @} */