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ChibiOS Upgrade Procedure

ChibiOS and ChibiOS-Contrib need to be updated in tandem -- the latter has a branch tied to the ChibiOS version in use and should not be mixed with different versions.

Getting ChibiOS

Getting ChibiOS-Contrib

Updating submodules

When merging a PR containing an upgrade of ChibiOS/ChibiOS-Contrib:

Note that when merging develop to master, the first workflow should still be followed.

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