Update ChibiOS, ChibiOS-Contrib. (#13056)
* Update ChibiOS, ChibiOS-Contrib. * Add instructions. * Wrong remote name * Explicit version tag. * Add link to procedure on the breaking changes page.
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Submodule lib/chibios updated: ffe54d63cb...413e39c568
Submodule lib/chibios-contrib updated: 61baa6b036...9c2bfa6aeb
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