Increase stack sizes and handle NAP IRQ in a separate thread.
Use binary semaphore to lock SPI.
Do not call spi_slave_deselect() from spi_setup()

Instead just set SPI CS lines directly to avoid the call to release the semaphore.
Set the USART DMA ISR priority.

ChibiOS requires ISR priority lower than the default to avoid conflict with kernel ISRs.
Enable all debugging options in ChibiOS.
Send tracking state and check NAP error register in ChibiOS port.
Increase process_stack size.
Call screaming_death on ChibiOS panic
Increase stack size, misc changes in main()
Update ChibiOS and Makefile to fix multilib bug when linking