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diff --git a/ChibiOS_20.3.2/os/rt/include/chcond.h b/ChibiOS_20.3.2/os/rt/include/chcond.h
new file mode 100644
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+++ b/ChibiOS_20.3.2/os/rt/include/chcond.h
@@ -0,0 +1,116 @@
+/*
+    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/>.
+*/
+/*
+   Concepts and parts of this file have been contributed by Leon Woestenberg.
+ */
+
+/**
+ * @file    rt/include/chcond.h
+ * @brief   Condition Variables macros and structures.
+ *
+ * @addtogroup condvars
+ * @{
+ */
+
+#ifndef CHCOND_H
+#define CHCOND_H
+
+#if (CH_CFG_USE_CONDVARS == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if CH_CFG_USE_MUTEXES == FALSE
+#error "CH_CFG_USE_CONDVARS requires CH_CFG_USE_MUTEXES"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   condition_variable_t structure.
+ */
+typedef struct condition_variable {
+  threads_queue_t       queue;              /**< @brief Condition variable
+                                                 threads queue.             */
+} condition_variable_t;
+
+/*===========================================================================*/
+/* Module macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @brief Data part of a static condition variable initializer.
+ * @details This macro should be used when statically initializing a condition
+ *          variable that is part of a bigger structure.
+ *
+ * @param[in] name      the name of the condition variable
+ */
+#define _CONDVAR_DATA(name) {_THREADS_QUEUE_DATA(name.queue)}
+
+/**
+ * @brief Static condition variable initializer.
+ * @details Statically initialized condition variables require no explicit
+ *          initialization using @p chCondInit().
+ *
+ * @param[in] name      the name of the condition variable
+ */
+#define CONDVAR_DECL(name) condition_variable_t name = _CONDVAR_DATA(name)
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void chCondObjectInit(condition_variable_t *cp);
+  void chCondSignal(condition_variable_t *cp);
+  void chCondSignalI(condition_variable_t *cp);
+  void chCondBroadcast(condition_variable_t *cp);
+  void chCondBroadcastI(condition_variable_t *cp);
+  msg_t chCondWait(condition_variable_t *cp);
+  msg_t chCondWaitS(condition_variable_t *cp);
+#if CH_CFG_USE_CONDVARS_TIMEOUT == TRUE
+  msg_t chCondWaitTimeout(condition_variable_t *cp, sysinterval_t timeout);
+  msg_t chCondWaitTimeoutS(condition_variable_t *cp, sysinterval_t timeout);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions.                                                  */
+/*===========================================================================*/
+
+#endif /* CH_CFG_USE_CONDVARS == TRUE */
+
+#endif /* CHCOND_H */
+
+/** @} */