Added modules for the gps and the motors. Enabled the FPU. Disabled CH_DBG_ENABLE_ASSERTS because it was causing the pwmStart() function to enter port_halt() due to a chDbgPanic 'pwm_lld_start(), #1'. This is because of the following assert fails: ((psc + 1) * pwmp->config->frequency) == pwmp->clock. The variable  pwmp->clock = 83999964  which must be a rounding error as the true value should be 840000000.