I'm a very cutting edge kinda guy when it comes to software. I see we a e now on ChibiOS 20.3.3 bit vesc is still using 3.0.5!! That version is now 5 years old, and with 17 major versions released in that time, I reckon it might be an idea to upgrade the ChibiOS version.
I'm only a basic C programmer though (I'm a python guy, meaning to learn C for the past ten years 🤣)
So after looking at the latest ChibiOS against the version with vesc, the whole directory layout has changed, a lot of code has been added and some stuff is not present in the latest release.
So yeah, why use such an old version?
And why not upgrade?
Because the effort of porting to the new version does not match the reward. If you have a spare 6 months to do the port then fair game.