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diff --git a/ChibiOS_20.3.2/os/oslib/src/chmemcore.c b/ChibiOS_20.3.2/os/oslib/src/chmemcore.c
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index 0000000..3a61955
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+++ b/ChibiOS_20.3.2/os/oslib/src/chmemcore.c
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+/*

+    ChibiOS - Copyright (C) 2006..2018 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; either version 3 of the License, or

+    (at your option) any later version.

+

+    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    oslib/src/chmemcore.c

+ * @brief   Core memory manager code.

+ *

+ * @addtogroup oslib_memcore

+ * @details Core Memory Manager related APIs and services.

+ *          <h2>Operation mode</h2>

+ *          The core memory manager is a simplified allocator that only

+ *          allows to allocate memory blocks without the possibility to

+ *          free them.<br>

+ *          This allocator is meant as a memory blocks provider for the

+ *          other allocators such as:

+ *          - C-Runtime allocator (through a compiler specific adapter module).

+ *          - Heap allocator (see @ref oslib_memheaps).

+ *          - Memory pools allocator (see @ref oslib_mempools).

+ *          .

+ *          By having a centralized memory provider the various allocators

+ *          can coexist and share the main memory.<br>

+ *          This allocator, alone, is also useful for very simple

+ *          applications that just require a simple way to get memory

+ *          blocks.

+ * @pre     In order to use the core memory manager APIs the @p CH_CFG_USE_MEMCORE

+ *          option must be enabled in @p chconf.h.

+ * @note    Compatible with RT and NIL.

+ * @{

+ */

+

+#include "ch.h"

+

+#if (CH_CFG_USE_MEMCORE == TRUE) || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Module exported variables.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Memory core descriptor.

+ */

+memcore_t ch_memcore;

+

+/*===========================================================================*/

+/* Module local types.                                                       */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module local variables.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module local functions.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level memory manager initialization.

+ *

+ * @notapi

+ */

+void _core_init(void) {

+#if CH_CFG_MEMCORE_SIZE == 0

+  extern uint8_t __heap_base__[];

+  extern uint8_t __heap_end__[];

+

+  /*lint -save -e9033 [10.8] Required cast operations.*/

+  ch_memcore.basemem = __heap_base__;

+  ch_memcore.topmem  = __heap_end__;

+  /*lint restore*/

+#else

+  static uint8_t static_heap[CH_CFG_MEMCORE_SIZE];

+

+  ch_memcore.basemem = &static_heap[0];

+  ch_memcore.topmem  = &static_heap[CH_CFG_MEMCORE_SIZE];

+#endif

+}

+

+/**

+ * @brief   Allocates a memory block starting from the lowest address upward.

+ * @details This function allocates a block of @p offset + @p size bytes. The

+ *          returned pointer has @p offset bytes before its address and

+ *          @p size bytes after.

+ *

+ * @param[in] size      the size of the block to be allocated.

+ * @param[in] align     desired memory alignment

+ * @param[in] offset    aligned pointer offset

+ * @return              A pointer to the allocated memory block.

+ * @retval NULL         allocation failed, core memory exhausted.

+ *

+ * @iclass

+ */

+void *chCoreAllocFromBaseI(size_t size, unsigned align, size_t offset) {

+  uint8_t *p, *next;

+

+  chDbgCheckClassI();

+  chDbgCheck(MEM_IS_VALID_ALIGNMENT(align));

+

+  p = (uint8_t *)MEM_ALIGN_NEXT(ch_memcore.basemem + offset, align);

+  next = p + size;

+

+  /* Considering also the case where there is numeric overflow.*/

+  if ((next > ch_memcore.topmem) || (next < ch_memcore.basemem)) {

+    return NULL;

+  }

+

+  ch_memcore.basemem = next;

+

+  return p;

+}

+

+/**

+ * @brief   Allocates a memory block starting from the top address downward.

+ * @details This function allocates a block of @p offset + @p size bytes. The

+ *          returned pointer has @p offset bytes before its address and

+ *          @p size bytes after.

+ *

+ * @param[in] size      the size of the block to be allocated.

+ * @param[in] align     desired memory alignment

+ * @param[in] offset    aligned pointer offset

+ * @return              A pointer to the allocated memory block.

+ * @retval NULL         allocation failed, core memory exhausted.

+ *

+ * @iclass

+ */

+void *chCoreAllocFromTopI(size_t size, unsigned align, size_t offset) {

+  uint8_t *p, *prev;

+

+  chDbgCheckClassI();

+  chDbgCheck(MEM_IS_VALID_ALIGNMENT(align));

+

+  p = (uint8_t *)MEM_ALIGN_PREV(ch_memcore.topmem - size, align);

+  prev = p - offset;

+

+  /* Considering also the case where there is numeric overflow.*/

+  if ((prev < ch_memcore.basemem) || (prev > ch_memcore.topmem)) {

+    return NULL;

+  }

+

+  ch_memcore.topmem = prev;

+

+  return p;

+}

+

+/**

+ * @brief   Allocates a memory block starting from the lowest address upward.

+ * @details This function allocates a block of @p offset + @p size bytes. The

+ *          returned pointer has @p offset bytes before its address and

+ *          @p size bytes after.

+ *

+ * @param[in] size      the size of the block to be allocated.

+ * @param[in] align     desired memory alignment

+ * @param[in] offset    aligned pointer offset

+ * @return              A pointer to the allocated memory block.

+ * @retval NULL         allocation failed, core memory exhausted.

+ *

+ * @api

+ */

+void *chCoreAllocFromBase(size_t size, unsigned align, size_t offset) {

+  void *p;

+

+  chSysLock();

+  p = chCoreAllocFromBaseI(size, align, offset);

+  chSysUnlock();

+

+  return p;

+}

+

+/**

+ * @brief   Allocates a memory block starting from the top address downward.

+ * @details This function allocates a block of @p offset + @p size bytes. The

+ *          returned pointer has @p offset bytes before its address and

+ *          @p size bytes after.

+ *

+ * @param[in] size      the size of the block to be allocated.

+ * @param[in] align     desired memory alignment

+ * @param[in] offset    aligned pointer offset

+ * @return              A pointer to the allocated memory block.

+ * @retval NULL         allocation failed, core memory exhausted.

+ *

+ * @api

+ */

+void *chCoreAllocFromTop(size_t size, unsigned align, size_t offset) {

+  void *p;

+

+  chSysLock();

+  p = chCoreAllocFromTopI(size, align, offset);

+  chSysUnlock();

+

+  return p;

+}

+

+/**

+ * @brief   Core memory status.

+ *

+ * @return              The size, in bytes, of the free core memory.

+ *

+ * @xclass

+ */

+size_t chCoreGetStatusX(void) {

+

+  /*lint -save -e9033 [10.8] The cast is safe.*/

+  return (size_t)(ch_memcore.topmem - ch_memcore.basemem);

+  /*lint -restore*/

+}

+#endif /* CH_CFG_USE_MEMCORE == TRUE */

+

+/** @} */