diff --git a/.mxproject b/.mxproject
index 89f932f..65c7bbb 100644
--- a/.mxproject
+++ b/.mxproject
@@ -1,9 +1,9 @@
 [PreviousLibFiles]
-LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_eth.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h;Drivers\BSP\Components\lan8742\lan8742.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\ccp.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\chap_ms.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\chap-md5.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\chap-new.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\eap.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\eui64.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\fsm.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\ipcp.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\ipv6cp.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\lcp.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\magic.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\mppe.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\ppp.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\ppp_impl.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\ppp_opts.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\pppapi.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\pppcrypt.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\pppdebug.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\pppoe.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\pppol2tp.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\pppos.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\upap.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\vj.h;Middlewares\Third_Party\LwIP\src\include\netif\ppp\ecp.h;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM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i\netifapi.c;..\Middlewares\Third_Party\LwIP\src\api\sockets.c;..\Middlewares\Third_Party\LwIP\src\api\tcpip.c;..\Middlewares\Third_Party\LwIP\src\core\altcp.c;..\Middlewares\Third_Party\LwIP\src\core\altcp_alloc.c;..\Middlewares\Third_Party\LwIP\src\core\altcp_tcp.c;..\Middlewares\Third_Party\LwIP\src\core\def.c;..\Middlewares\Third_Party\LwIP\src\core\dns.c;..\Middlewares\Third_Party\LwIP\src\core\inet_chksum.c;..\Middlewares\Third_Party\LwIP\src\core\init.c;..\Middlewares\Third_Party\LwIP\src\core\ip.c;..\Middlewares\Third_Party\LwIP\src\core\mem.c;..\Middlewares\Third_Party\LwIP\src\core\memp.c;..\Middlewares\Third_Party\LwIP\src\core\netif.c;..\Middlewares\Third_Party\LwIP\src\core\pbuf.c;..\Middlewares\Third_Party\LwIP\src\core\raw.c;..\Middlewares\Third_Party\LwIP\src\core\stats.c;..\Middlewares\Third_Party\LwIP\src\core\sys.c;..\Middlewares\Third_Party\LwIP\src\core\tcp.c;..\Middlewares\Third_Party\LwIP\src\core\tcp_in.c;..\Middlewares\Third_Party\LwIP\src\core\tcp_out.c;..\Middlewares\Third_Party\LwIP\src\core\timeouts.c;..\Middlewares\Third_Party\LwIP\src\core\udp.c;..\Middlewares\Third_Party\LwIP\src\core\ipv4\autoip.c;..\Middlewares\Third_Party\LwIP\src\core\ipv4\dhcp.c;..\Middlewares\Third_Party\LwIP\src\core\ipv4\etharp.c;..\Middlewares\Third_Party\LwIP\src\core\ipv4\icmp.c;..\Middlewares\Third_Party\LwIP\src\core\ipv4\igmp.c;..\Middlewares\Third_Party\LwIP\src\core\ipv4\ip4.c;..\Middlewares\Third_Party\LwIP\src\core\ipv4\ip4_addr.c;..\Middlewares\Third_Party\LwIP\src\core\ipv4\ip4_frag.c;..\Middlewares\Third_Party\LwIP\src\core\ipv6\dhcp6.c;..\Middlewares\Third_Party\LwIP\src\core\ipv6\ethip6.c;..\Middlewares\Third_Party\LwIP\src\core\ipv6\icmp6.c;..\Middlewares\Third_Party\LwIP\src\core\ipv6\inet6.c;..\Middlewares\Third_Party\LwIP\src\core\ipv6\ip6.c;..\Middlewares\Third_Party\LwIP\src\core\ipv6\ip6_addr.c;..\Middlewares\Third_Party\LwIP\src\core\ipv6\ip6_frag.c;..\Middlewares\Third_Party\LwIP\src\core\ipv6\mld6.c;..\Middlewares\Third_Party\LwIP\src\core\ipv6\nd6.c;..\Middlewares\Third_Party\LwIP\system\OS\sys_arch.c;..\Middlewares\Third_Party\LwIP\src\apps\mqtt\mqtt.c;
+HeaderPath=..\Middlewares\Third_Party\LwIP\src\include;..\Middlewares\Third_Party\LwIP\system;..\Middlewares\Third_Party\LwIP\src\include;..\Middlewares\Third_Party\LwIP\system;..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Middlewares\Third_Party\FreeRTOS\Source\include;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F;..\Drivers\BSP\Components\lan8742;..\Middlewares\Third_Party\LwIP\src\include\netif\ppp;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Middlewares\Third_Party\LwIP\src\include\lwip;..\Middlewares\Third_Party\LwIP\src\include\lwip\apps;..\Middlewares\Third_Party\LwIP\src\include\lwip\priv;..\Middlewares\Third_Party\LwIP\src\include\lwip\prot;..\Middlewares\Third_Party\LwIP\src\include\netif;..\Middlewares\Third_Party\LwIP\src\include\compat\posix;..\Middlewares\Third_Party\LwIP\src\include\compat\posix\arpa;..\Middlewares\Third_Party\LwIP\src\include\compat\posix\net;..\Middlewares\Third_Party\LwIP\src\include\compat\posix\sys;..\Middlewares\Third_Party\LwIP\src\include\compat\stdc;..\Middlewares\Third_Party\LwIP\system\arch;..\Drivers\CMSIS\Include;..\Core\Inc;..\LWIP\App;..\LWIP\Target;
 CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
 [PreviousGenFiles]
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 7c21372..f3ae402 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -33,6 +33,10 @@
         "tcpserverc.h": "c",
         "cstdlib": "c",
         "ht1200m.h": "c",
-        "string.h": "c"
+        "string.h": "c",
+        "api.h": "c",
+        "freertos.h": "c",
+        "tcp.h": "c",
+        "cmsis_os.h": "c"
     }
 }
\ No newline at end of file
diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index 93ba6ee..9fe16c1 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -52,10 +52,6 @@
   #include <stdint.h>
   extern uint32_t SystemCoreClock;
 #endif
-#ifndef CMSIS_device_header
-#define CMSIS_device_header "stm32f4xx.h"
-#endif /* CMSIS_device_header */
-
 #define configENABLE_FPU                         1
 #define configENABLE_MPU                         0
 
@@ -66,17 +62,14 @@
 #define configUSE_TICK_HOOK                      0
 #define configCPU_CLOCK_HZ                       ( SystemCoreClock )
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
-#define configMAX_PRIORITIES                     ( 56 )
+#define configMAX_PRIORITIES                     ( 7 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
 #define configTOTAL_HEAP_SIZE                    ((size_t)15360)
 #define configMAX_TASK_NAME_LEN                  ( 24 )
-#define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        1
 #define configQUEUE_REGISTRY_SIZE                8
-#define configUSE_RECURSIVE_MUTEXES              1
-#define configUSE_COUNTING_SEMAPHORES            1
-#define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION  1
 /* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
 /* Defaults to size_t for backward compatibility, but can be changed
    if lengths will always be less than the number of bytes in a size_t. */
@@ -87,20 +80,6 @@
 #define configUSE_CO_ROUTINES                    0
 #define configMAX_CO_ROUTINE_PRIORITIES          ( 2 )
 
-/* Software timer definitions. */
-#define configUSE_TIMERS                         1
-#define configTIMER_TASK_PRIORITY                ( 2 )
-#define configTIMER_QUEUE_LENGTH                 10
-#define configTIMER_TASK_STACK_DEPTH             256
-
-/* CMSIS-RTOS V2 flags */
-#define configUSE_OS2_THREAD_SUSPEND_RESUME  1
-#define configUSE_OS2_THREAD_ENUMERATE       1
-#define configUSE_OS2_EVENTFLAGS_FROM_ISR    1
-#define configUSE_OS2_THREAD_FLAGS           1
-#define configUSE_OS2_TIMER                  1
-#define configUSE_OS2_MUTEX                  1
-
 /* Set the following definitions to 1 to include the API function, or zero
 to exclude the API function. */
 #define INCLUDE_vTaskPrioritySet             1
@@ -108,20 +87,9 @@ to exclude the API function. */
 #define INCLUDE_vTaskDelete                  1
 #define INCLUDE_vTaskCleanUpResources        0
 #define INCLUDE_vTaskSuspend                 1
-#define INCLUDE_vTaskDelayUntil              1
+#define INCLUDE_vTaskDelayUntil              0
 #define INCLUDE_vTaskDelay                   1
 #define INCLUDE_xTaskGetSchedulerState       1
-#define INCLUDE_xTimerPendFunctionCall       1
-#define INCLUDE_xQueueGetMutexHolder         1
-#define INCLUDE_uxTaskGetStackHighWaterMark  1
-#define INCLUDE_xTaskGetCurrentTaskHandle    1
-#define INCLUDE_eTaskGetState                1
-
-/*
- * The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
- * by the application thus the correct define need to be enabled below
- */
-#define USE_FreeRTOS_HEAP_4
 
 /* Cortex-M specific definitions. */
 #ifdef __NVIC_PRIO_BITS
@@ -159,9 +127,10 @@ standard names. */
 #define vPortSVCHandler    SVC_Handler
 #define xPortPendSVHandler PendSV_Handler
 
-/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */
+/* IMPORTANT: This define is commented when used with STM32Cube firmware, when the timebase source is SysTick,
+              to prevent overwriting SysTick_Handler defined within STM32Cube HAL */
 
-#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
+#define xPortSysTickHandler SysTick_Handler
 
 /* USER CODE BEGIN Defines */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index f143d8f..86d34c9 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -23,7 +23,8 @@
 #define __MAIN_H
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif
 
 /* Includes ------------------------------------------------------------------*/
@@ -36,28 +37,28 @@ extern "C" {
 #include "tcpserverc.h"
 #include "leds.h"
 #include <string.h>
-/* USER CODE END Includes */
+    /* USER CODE END Includes */
 
-/* Exported types ------------------------------------------------------------*/
-/* USER CODE BEGIN ET */
-extern uint8_t tcp_echo_flags_hart1; // 标志位，连接成功�?1
-extern uint8_t tcp_echo_flags_hart2; // 标志位，连接成功�?1
-extern uint8_t tcp_echo_flags_ble1;
-extern uint8_t tcp_echo_flags_ble2;
+    /* Exported types ------------------------------------------------------------*/
+    /* USER CODE BEGIN ET */
+    extern uint8_t tcp_echo_flags_hart1; // 标志位，连接成功�?1
+    extern uint8_t tcp_echo_flags_hart2; // 标志位，连接成功�?1
+    extern uint8_t tcp_echo_flags_ble1;
+    extern uint8_t tcp_echo_flags_ble2;
 #define ARRAY_LEN(arr) (sizeof(arr)) / (sizeof(arr[0]))
-typedef struct
-{
-    uint16_t rx_num;           // 接收到数据个�?
-    uint8_t rx_data[512];      // 接收到数据区
-    uint8_t rx_data_temp[512]; // 接收到数据缓冲区
-    uint8_t tx_data[512];      // 发�?�数据区
-} uart_t;
+    typedef struct
+    {
+        uint16_t rx_num;           // 接收到数据个�?
+        uint8_t rx_data[512];      // 接收到数据区
+        uint8_t rx_data_temp[512]; // 接收到数据缓冲区
+        uint8_t tx_data[512];      // 发�?�数据区
+    } uart_t;
 
-extern uart_t lcd_uart4;
-extern uart_t ble2_uart3;
-extern uart_t ble1_uart6;
-extern uart_t hart1_uart5;
-extern uart_t hart2_uart2;
+    extern uart_t lcd_uart4;
+    extern uart_t ble2_uart3;
+    extern uart_t ble1_uart6;
+    extern uart_t hart1_uart5;
+    extern uart_t hart2_uart2;
 #define DEST_IP_ADDR0 192
 #define DEST_IP_ADDR1 168
 #define DEST_IP_ADDR2 1
@@ -70,20 +71,20 @@ extern uart_t hart2_uart2;
 
 #define LOCAL_PORT 5001
 
-/* USER CODE END ET */
+    /* USER CODE END ET */
 
-/* Exported constants --------------------------------------------------------*/
-/* USER CODE BEGIN EC */
+    /* Exported constants --------------------------------------------------------*/
+    /* USER CODE BEGIN EC */
 
-/* USER CODE END EC */
+    /* USER CODE END EC */
 
-/* Exported macro ------------------------------------------------------------*/
-/* USER CODE BEGIN EM */
+    /* Exported macro ------------------------------------------------------------*/
+    /* USER CODE BEGIN EM */
 
-/* USER CODE END EM */
+    /* USER CODE END EM */
 
-/* Exported functions prototypes ---------------------------------------------*/
-void Error_Handler(void);
+    /* Exported functions prototypes ---------------------------------------------*/
+    void Error_Handler(void);
 
 /* USER CODE BEGIN EFP */
 
@@ -170,7 +171,7 @@ void Error_Handler(void);
 /* USER CODE BEGIN Private defines */
 #define TRUE 0
 #define FAIL -1
-/* USER CODE END Private defines */
+    /* USER CODE END Private defines */
 
 #ifdef __cplusplus
 }
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index a07c7bf..2207754 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -1,20 +1,20 @@
 /* USER CODE BEGIN Header */
 /**
-  ******************************************************************************
-  * File Name          : freertos.c
-  * Description        : Code for freertos applications
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2025 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
+ ******************************************************************************
+ * File Name          : freertos.c
+ * Description        : Code for freertos applications
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * @file freertos.c
+ *
+ ******************************************************************************
+ */
 /* USER CODE END Header */
 
 /* Includes ------------------------------------------------------------------*/
@@ -25,7 +25,8 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "dac161s997.h"
+#include "user_spi.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -47,30 +48,45 @@
 /* USER CODE BEGIN Variables */
 
 /* USER CODE END Variables */
-/* Definitions for defaultTask */
-osThreadId_t defaultTaskHandle;
-const osThreadAttr_t defaultTask_attributes = {
-  .name = "defaultTask",
-  .stack_size = 512 * 4,
-  .priority = (osPriority_t) osPriorityNormal,
-};
+osThreadId defaultTaskHandle;
+osThreadId led_toggleHandle;
+osThreadId dac_taskHandle;
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
 
 /* USER CODE END FunctionPrototypes */
 
-void StartDefaultTask(void *argument);
+void StartDefaultTask(void const *argument);
+void start_led_toggle(void const *argument);
+void start_dac_task(void const *argument);
 
 extern void MX_LWIP_Init(void);
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
+/* GetIdleTaskMemory prototype (linked to static allocation support) */
+void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
+
+/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
+static StaticTask_t xIdleTaskTCBBuffer;
+static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];
+
+void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize)
+{
+  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
+  *ppxIdleTaskStackBuffer = &xIdleStack[0];
+  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
+  /* place for user code */
+}
+/* USER CODE END GET_IDLE_TASK_MEMORY */
+
 /**
-  * @brief  FreeRTOS initialization
-  * @param  None
-  * @retval None
-  */
-void MX_FREERTOS_Init(void) {
+ * @brief  FreeRTOS initialization
+ * @param  None
+ * @retval None
+ */
+void MX_FREERTOS_Init(void)
+{
   /* USER CODE BEGIN Init */
 
   /* USER CODE END Init */
@@ -92,41 +108,87 @@ void MX_FREERTOS_Init(void) {
   /* USER CODE END RTOS_QUEUES */
 
   /* Create the thread(s) */
-  /* creation of defaultTask */
-  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+  /* definition and creation of defaultTask */
+  osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 512);
+  defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
+
+  /* definition and creation of led_toggle */
+  osThreadDef(led_toggle, start_led_toggle, osPriorityIdle, 0, 128);
+  led_toggleHandle = osThreadCreate(osThread(led_toggle), NULL);
+
+  /* definition and creation of dac_task */
+  osThreadDef(dac_task, start_dac_task, osPriorityIdle, 0, 512);
+  dac_taskHandle = osThreadCreate(osThread(dac_task), NULL);
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
-
-  /* USER CODE BEGIN RTOS_EVENTS */
-  /* add events, ... */
-  /* USER CODE END RTOS_EVENTS */
-
 }
 
 /* USER CODE BEGIN Header_StartDefaultTask */
 /**
-  * @brief  Function implementing the defaultTask thread.
-  * @param  argument: Not used
-  * @retval None
-  */
+ * @brief  Function implementing the defaultTask thread.
+ * @param  argument: Not used
+ * @retval None
+ */
 /* USER CODE END Header_StartDefaultTask */
-void StartDefaultTask(void *argument)
+void StartDefaultTask(void const *argument)
 {
   /* init code for LWIP */
   MX_LWIP_Init();
+  tcp_echo_init();
   /* USER CODE BEGIN StartDefaultTask */
   /* Infinite loop */
-  for(;;)
+  for (;;)
   {
     osDelay(1);
   }
   /* USER CODE END StartDefaultTask */
 }
 
+/* USER CODE BEGIN Header_start_led_toggle */
+/**
+ * @brief Function implementing the led_toggle thread.
+ * @param argument: Not used
+ * @retval None
+ */
+/* USER CODE END Header_start_led_toggle */
+void start_led_toggle(void const *argument)
+{
+  /* USER CODE BEGIN start_led_toggle */
+  HAL_GPIO_TogglePin(LED3_Y_GPIO_Port, LED3_Y_Pin);
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(500);
+    HAL_GPIO_TogglePin(LED2_Y_GPIO_Port, LED2_Y_Pin);
+    osDelay(500);
+  }
+  /* USER CODE END start_led_toggle */
+}
+
+/* USER CODE BEGIN Header_start_dac_task */
+/**
+ * @brief Function implementing the dac_task thread.
+ * @param argument: Not used
+ * @retval None
+ */
+/* USER CODE END Header_start_dac_task */
+void start_dac_task(void const *argument)
+{
+  /* USER CODE BEGIN start_dac_task */
+  dac161s997_init();
+  /* Infinite loop */
+  for (;;)
+  {
+    dac161s997_output(DAC161S997_1, 12.0f);
+    dac161s997_output(DAC161S997_2, 12.0f);
+    osDelay(300);
+  }
+  /* USER CODE END start_dac_task */
+}
+
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
 
 /* USER CODE END Application */
-
diff --git a/Core/Src/main.c b/Core/Src/main.c
index bfb3688..0e43332 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -29,7 +29,6 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "stdio.h"
-#include "dac161s997.h"
 #include "lwip/api.h"
 #include "lwip/tcp.h"
 #include "ad7124.h"
@@ -117,20 +116,19 @@ int main(void)
   MX_USART3_UART_Init();
   /* USER CODE BEGIN 2 */
   // tcp_echo_init();   // 服务器初始化 TCP_Client_Init(); // 客户端初始化
-  // ad7124_setup();    // AD7124初始化
-  // dac161s997_init(); // DAC161S997初始化
+  // ad7124_setup();    // AD7124初始�??
+  // dac161s997_init(); // DAC161S997初始�??
 
   // HAL_GPIO_WritePin(DO_EN_GPIO_Port, DO_EN_Pin, GPIO_PIN_SET); // DO输出使能
 
-  // HAL_UARTEx_ReceiveToIdle_DMA(&huart4, lcd_uart4.rx_data_temp, ARRAY_LEN(lcd_uart4.rx_data_temp));
-  // HAL_UARTEx_ReceiveToIdle_DMA(&huart6, ble1_uart6.rx_data_temp, ARRAY_LEN(ble1_uart6.rx_data_temp));
-  // HAL_UARTEx_ReceiveToIdle_DMA(&huart3, ble2_uart3.rx_data_temp, ARRAY_LEN(ble2_uart3.rx_data_temp));
-  // hart_ht1200m_reset();                     // 复位HT1200M模块
-  // HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); // 启动PWM输出，用于驱动HT1200M模块
+  HAL_UARTEx_ReceiveToIdle_DMA(&huart4, lcd_uart4.rx_data_temp, ARRAY_LEN(lcd_uart4.rx_data_temp));
+  HAL_UARTEx_ReceiveToIdle_DMA(&huart6, ble1_uart6.rx_data_temp, ARRAY_LEN(ble1_uart6.rx_data_temp));
+  HAL_UARTEx_ReceiveToIdle_DMA(&huart3, ble2_uart3.rx_data_temp, ARRAY_LEN(ble2_uart3.rx_data_temp));
+  hart_ht1200m_reset();                     // 复位HT1200M模块
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); // 启动PWM输出，用于驱动HT1200M模块
   /* USER CODE END 2 */
 
-  /* Init scheduler */
-  osKernelInitialize(); /* Call init function for freertos objects (in freertos.c) */
+  /* Call init function for freertos objects (in freertos.c) */
   MX_FREERTOS_Init();
 
   /* Start scheduler */
@@ -197,13 +195,7 @@ void SystemClock_Config(void)
 }
 
 /* USER CODE BEGIN 4 */
-/******************************************************************************
-?* 函 ?数： HAL_UARTEx_RxEventCallback
-?* 功 ?能： DMA+空闲中断回调函数
-?* 参 ?数： UART_HandleTypeDef ?*huart ? // 触发的串口
-?* ? ? ? ? ?uint16_t ? ? ? ? ? ? Size ? ?// 接收字节
-?* 返回值： 无
-******************************************************************************/
+
 void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 {
   if (huart == &huart6)
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index 484478c..a5e8551 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -83,8 +83,8 @@ extern TIM_HandleTypeDef htim1;
 /*           Cortex-M4 Processor Interruption and Exception Handlers          */
 /******************************************************************************/
 /**
- * @brief This function handles Non maskable interrupt.
- */
+  * @brief This function handles Non maskable interrupt.
+  */
 void NMI_Handler(void)
 {
   /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
@@ -98,8 +98,8 @@ void NMI_Handler(void)
 }
 
 /**
- * @brief This function handles Hard fault interrupt.
- */
+  * @brief This function handles Hard fault interrupt.
+  */
 void HardFault_Handler(void)
 {
   /* USER CODE BEGIN HardFault_IRQn 0 */
@@ -113,8 +113,8 @@ void HardFault_Handler(void)
 }
 
 /**
- * @brief This function handles Memory management fault.
- */
+  * @brief This function handles Memory management fault.
+  */
 void MemManage_Handler(void)
 {
   /* USER CODE BEGIN MemoryManagement_IRQn 0 */
@@ -128,8 +128,8 @@ void MemManage_Handler(void)
 }
 
 /**
- * @brief This function handles Pre-fetch fault, memory access fault.
- */
+  * @brief This function handles Pre-fetch fault, memory access fault.
+  */
 void BusFault_Handler(void)
 {
   /* USER CODE BEGIN BusFault_IRQn 0 */
@@ -143,8 +143,8 @@ void BusFault_Handler(void)
 }
 
 /**
- * @brief This function handles Undefined instruction or illegal state.
- */
+  * @brief This function handles Undefined instruction or illegal state.
+  */
 void UsageFault_Handler(void)
 {
   /* USER CODE BEGIN UsageFault_IRQn 0 */
@@ -158,8 +158,8 @@ void UsageFault_Handler(void)
 }
 
 /**
- * @brief This function handles Debug monitor.
- */
+  * @brief This function handles Debug monitor.
+  */
 void DebugMon_Handler(void)
 {
   /* USER CODE BEGIN DebugMonitor_IRQn 0 */
@@ -178,8 +178,8 @@ void DebugMon_Handler(void)
 /******************************************************************************/
 
 /**
- * @brief This function handles EXTI line1 interrupt.
- */
+  * @brief This function handles EXTI line1 interrupt.
+  */
 void EXTI1_IRQHandler(void)
 {
   /* USER CODE BEGIN EXTI1_IRQn 0 */
@@ -192,8 +192,8 @@ void EXTI1_IRQHandler(void)
 }
 
 /**
- * @brief This function handles EXTI line3 interrupt.
- */
+  * @brief This function handles EXTI line3 interrupt.
+  */
 void EXTI3_IRQHandler(void)
 {
   /* USER CODE BEGIN EXTI3_IRQn 0 */
@@ -206,8 +206,8 @@ void EXTI3_IRQHandler(void)
 }
 
 /**
- * @brief This function handles DMA1 stream1 global interrupt.
- */
+  * @brief This function handles DMA1 stream1 global interrupt.
+  */
 void DMA1_Stream1_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
@@ -220,8 +220,8 @@ void DMA1_Stream1_IRQHandler(void)
 }
 
 /**
- * @brief This function handles DMA1 stream2 global interrupt.
- */
+  * @brief This function handles DMA1 stream2 global interrupt.
+  */
 void DMA1_Stream2_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
@@ -234,8 +234,8 @@ void DMA1_Stream2_IRQHandler(void)
 }
 
 /**
- * @brief This function handles DMA1 stream3 global interrupt.
- */
+  * @brief This function handles DMA1 stream3 global interrupt.
+  */
 void DMA1_Stream3_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
@@ -248,8 +248,8 @@ void DMA1_Stream3_IRQHandler(void)
 }
 
 /**
- * @brief This function handles DMA1 stream4 global interrupt.
- */
+  * @brief This function handles DMA1 stream4 global interrupt.
+  */
 void DMA1_Stream4_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
@@ -262,8 +262,8 @@ void DMA1_Stream4_IRQHandler(void)
 }
 
 /**
- * @brief This function handles TIM1 update interrupt and TIM10 global interrupt.
- */
+  * @brief This function handles TIM1 update interrupt and TIM10 global interrupt.
+  */
 void TIM1_UP_TIM10_IRQHandler(void)
 {
   /* USER CODE BEGIN TIM1_UP_TIM10_IRQn 0 */
@@ -276,8 +276,8 @@ void TIM1_UP_TIM10_IRQHandler(void)
 }
 
 /**
- * @brief This function handles TIM3 global interrupt.
- */
+  * @brief This function handles TIM3 global interrupt.
+  */
 void TIM3_IRQHandler(void)
 {
   /* USER CODE BEGIN TIM3_IRQn 0 */
@@ -290,8 +290,8 @@ void TIM3_IRQHandler(void)
 }
 
 /**
- * @brief This function handles USART2 global interrupt.
- */
+  * @brief This function handles USART2 global interrupt.
+  */
 void USART2_IRQHandler(void)
 {
   /* USER CODE BEGIN USART2_IRQn 0 */
@@ -321,8 +321,8 @@ void USART2_IRQHandler(void)
 }
 
 /**
- * @brief This function handles USART3 global interrupt.
- */
+  * @brief This function handles USART3 global interrupt.
+  */
 void USART3_IRQHandler(void)
 {
   /* USER CODE BEGIN USART3_IRQn 0 */
@@ -335,8 +335,8 @@ void USART3_IRQHandler(void)
 }
 
 /**
- * @brief This function handles UART4 global interrupt.
- */
+  * @brief This function handles UART4 global interrupt.
+  */
 void UART4_IRQHandler(void)
 {
   /* USER CODE BEGIN UART4_IRQn 0 */
@@ -348,8 +348,8 @@ void UART4_IRQHandler(void)
 }
 
 /**
- * @brief This function handles UART5 global interrupt.
- */
+  * @brief This function handles UART5 global interrupt.
+  */
 void UART5_IRQHandler(void)
 {
   /* USER CODE BEGIN UART5_IRQn 0 */
@@ -378,8 +378,8 @@ void UART5_IRQHandler(void)
 }
 
 /**
- * @brief This function handles DMA2 stream1 global interrupt.
- */
+  * @brief This function handles DMA2 stream1 global interrupt.
+  */
 void DMA2_Stream1_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
@@ -392,8 +392,8 @@ void DMA2_Stream1_IRQHandler(void)
 }
 
 /**
- * @brief This function handles Ethernet global interrupt.
- */
+  * @brief This function handles Ethernet global interrupt.
+  */
 void ETH_IRQHandler(void)
 {
   /* USER CODE BEGIN ETH_IRQn 0 */
@@ -406,8 +406,8 @@ void ETH_IRQHandler(void)
 }
 
 /**
- * @brief This function handles DMA2 stream6 global interrupt.
- */
+  * @brief This function handles DMA2 stream6 global interrupt.
+  */
 void DMA2_Stream6_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
@@ -420,8 +420,8 @@ void DMA2_Stream6_IRQHandler(void)
 }
 
 /**
- * @brief This function handles USART6 global interrupt.
- */
+  * @brief This function handles USART6 global interrupt.
+  */
 void USART6_IRQHandler(void)
 {
   /* USER CODE BEGIN USART6_IRQn 0 */
diff --git a/LWIP/App/lwip.c b/LWIP/App/lwip.c
index ecc5271..06f2ae0 100644
--- a/LWIP/App/lwip.c
+++ b/LWIP/App/lwip.c
@@ -26,7 +26,6 @@
 #include "lwip/sio.h"
 #endif /* MDK ARM Compiler */
 #include "ethernetif.h"
-#include <string.h>
 
 /* USER CODE BEGIN 0 */
 
@@ -48,10 +47,6 @@ ip4_addr_t gw;
 uint8_t IP_ADDRESS[4];
 uint8_t NETMASK_ADDRESS[4];
 uint8_t GATEWAY_ADDRESS[4];
-/* USER CODE BEGIN OS_THREAD_ATTR_CMSIS_RTOS_V2 */
-#define INTERFACE_THREAD_STACK_SIZE ( 1024 )
-osThreadAttr_t attributes;
-/* USER CODE END OS_THREAD_ATTR_CMSIS_RTOS_V2 */
 
 /* USER CODE BEGIN 2 */
 
@@ -108,13 +103,10 @@ void MX_LWIP_Init(void)
   netif_set_link_callback(&gnetif, ethernet_link_status_updated);
 
   /* Create the Ethernet link handler thread */
-/* USER CODE BEGIN H7_OS_THREAD_NEW_CMSIS_RTOS_V2 */
-  memset(&attributes, 0x0, sizeof(osThreadAttr_t));
-  attributes.name = "EthLink";
-  attributes.stack_size = INTERFACE_THREAD_STACK_SIZE;
-  attributes.priority = osPriorityBelowNormal;
-  osThreadNew(ethernet_link_thread, &gnetif, &attributes);
-/* USER CODE END H7_OS_THREAD_NEW_CMSIS_RTOS_V2 */
+/* USER CODE BEGIN H7_OS_THREAD_DEF_CREATE_CMSIS_RTOS_V1 */
+  osThreadDef(EthLink, ethernet_link_thread, osPriorityBelowNormal, 0, configMINIMAL_STACK_SIZE *2);
+  osThreadCreate (osThread(EthLink), &gnetif);
+/* USER CODE END H7_OS_THREAD_DEF_CREATE_CMSIS_RTOS_V1 */
 
 /* USER CODE BEGIN 3 */
 
diff --git a/LWIP/Target/ethernetif.c b/LWIP/Target/ethernetif.c
index bf54a05..0a98f60 100644
--- a/LWIP/Target/ethernetif.c
+++ b/LWIP/Target/ethernetif.c
@@ -113,6 +113,7 @@ ETH_HandleTypeDef heth;
 ETH_TxPacketConfig TxConfig;
 
 /* Private function prototypes -----------------------------------------------*/
+static void ethernetif_input(void const * argument);
 int32_t ETH_PHY_IO_Init(void);
 int32_t ETH_PHY_IO_DeInit (void);
 int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal);
@@ -181,9 +182,6 @@ void HAL_ETH_ErrorCallback(ETH_HandleTypeDef *handlerEth)
 static void low_level_init(struct netif *netif)
 {
   HAL_StatusTypeDef hal_eth_init_status = HAL_OK;
-/* USER CODE BEGIN OS_THREAD_ATTR_CMSIS_RTOS_V2 */
-  osThreadAttr_t attributes;
-/* USER CODE END OS_THREAD_ATTR_CMSIS_RTOS_V2 */
   uint32_t duplex, speed = 0;
   int32_t PHYLinkState = 0;
   ETH_MACConfigTypeDef MACConf = {0};
@@ -244,19 +242,16 @@ static void low_level_init(struct netif *netif)
   #endif /* LWIP_ARP */
 
   /* create a binary semaphore used for informing ethernetif of frame reception */
-  RxPktSemaphore = osSemaphoreNew(1, 1, NULL);
+  RxPktSemaphore = xSemaphoreCreateBinary();
 
   /* create a binary semaphore used for informing ethernetif of frame transmission */
-  TxPktSemaphore = osSemaphoreNew(1, 1, NULL);
+  TxPktSemaphore = xSemaphoreCreateBinary();
 
   /* create the task that handles the ETH_MAC */
-/* USER CODE BEGIN OS_THREAD_NEW_CMSIS_RTOS_V2 */
-  memset(&attributes, 0x0, sizeof(osThreadAttr_t));
-  attributes.name = "EthIf";
-  attributes.stack_size = INTERFACE_THREAD_STACK_SIZE;
-  attributes.priority = osPriorityRealtime;
-  osThreadNew(ethernetif_input, netif, &attributes);
-/* USER CODE END OS_THREAD_NEW_CMSIS_RTOS_V2 */
+/* USER CODE BEGIN OS_THREAD_DEF_CREATE_CMSIS_RTOS_V1 */
+  osThreadDef(EthIf, ethernetif_input, osPriorityRealtime, 0, INTERFACE_THREAD_STACK_SIZE);
+  osThreadCreate (osThread(EthIf), netif);
+/* USER CODE END OS_THREAD_DEF_CREATE_CMSIS_RTOS_V1 */
 
 /* USER CODE BEGIN PHY_PRE_CONFIG */
 
@@ -383,7 +378,7 @@ static err_t low_level_output(struct netif *netif, struct pbuf *p)
   pbuf_ref(p);
 
   HAL_ETH_Transmit_IT(&heth, &TxConfig);
-  while(osSemaphoreAcquire(TxPktSemaphore, TIME_WAITING_FOR_INPUT)!=osOK)
+  while(osSemaphoreWait(TxPktSemaphore, TIME_WAITING_FOR_INPUT)!=osOK)
 
   {
   }
@@ -422,14 +417,14 @@ static struct pbuf * low_level_input(struct netif *netif)
  *
  * @param netif the lwip network interface structure for this ethernetif
  */
-void ethernetif_input(void* argument)
+static void ethernetif_input(void const * argument)
 {
   struct pbuf *p = NULL;
   struct netif *netif = (struct netif *) argument;
 
   for( ;; )
   {
-    if (osSemaphoreAcquire(RxPktSemaphore, TIME_WAITING_FOR_INPUT) == osOK)
+    if (osSemaphoreWait(RxPktSemaphore, TIME_WAITING_FOR_INPUT) == osOK)
     {
       do
       {
@@ -734,7 +729,8 @@ int32_t ETH_PHY_IO_GetTick(void)
   * @brief  Check the ETH link state then update ETH driver and netif link accordingly.
   * @retval None
   */
-void ethernet_link_thread(void* argument)
+
+void ethernet_link_thread(void const * argument)
 {
   ETH_MACConfigTypeDef MACConf = {0};
   int32_t PHYLinkState = 0;
diff --git a/LWIP/Target/ethernetif.h b/LWIP/Target/ethernetif.h
index 4dafa5e..cc2aff0 100644
--- a/LWIP/Target/ethernetif.h
+++ b/LWIP/Target/ethernetif.h
@@ -33,8 +33,7 @@
 /* Exported functions ------------------------------------------------------- */
 err_t ethernetif_init(struct netif *netif);
 
-void ethernetif_input(void* argument);
-void ethernet_link_thread(void* argument );
+void ethernet_link_thread(void const * argument);
 
 void Error_Handler(void);
 u32_t sys_jiffies(void);
diff --git a/LWIP/Target/lwipopts.h b/LWIP/Target/lwipopts.h
index ec7d4a0..f23adbc 100644
--- a/LWIP/Target/lwipopts.h
+++ b/LWIP/Target/lwipopts.h
@@ -68,7 +68,7 @@
 /*----- Value in opt.h for TCPIP_THREAD_STACKSIZE: 0 -----*/
 #define TCPIP_THREAD_STACKSIZE 1024
 /*----- Value in opt.h for TCPIP_THREAD_PRIO: 1 -----*/
-#define TCPIP_THREAD_PRIO 24
+#define TCPIP_THREAD_PRIO osPriorityNormal
 /*----- Value in opt.h for TCPIP_MBOX_SIZE: 0 -----*/
 #define TCPIP_MBOX_SIZE 6
 /*----- Value in opt.h for SLIPIF_THREAD_STACKSIZE: 0 -----*/
diff --git a/MDK-ARM/TEST2.uvoptx b/MDK-ARM/TEST2.uvoptx
index 4c407a6..16ea9c5 100644
--- a/MDK-ARM/TEST2.uvoptx
+++ b/MDK-ARM/TEST2.uvoptx
@@ -1921,8 +1921,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c</PathWithFileName>
-      <FilenameWithoutPath>cmsis_os2.c</FilenameWithoutPath>
+      <PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c</PathWithFileName>
+      <FilenameWithoutPath>cmsis_os.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
diff --git a/MDK-ARM/TEST2.uvprojx b/MDK-ARM/TEST2.uvprojx
index ccc7727..7eeb951 100644
--- a/MDK-ARM/TEST2.uvprojx
+++ b/MDK-ARM/TEST2.uvprojx
@@ -339,7 +339,7 @@
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F407xx</Define>
               <Undefine></Undefine>
-              <IncludePath>../Core/Inc;../LWIP/App;../LWIP/Target;../Middlewares/Third_Party/LwIP/src/include;../Middlewares/Third_Party/LwIP/system;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/BSP/Components/lan8742;../Middlewares/Third_Party/LwIP/src/include/netif/ppp;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Middlewares/Third_Party/LwIP/src/include/lwip;../Middlewares/Third_Party/LwIP/src/include/lwip/apps;../Middlewares/Third_Party/LwIP/src/include/lwip/priv;../Middlewares/Third_Party/LwIP/src/include/lwip/prot;../Middlewares/Third_Party/LwIP/src/include/netif;../Middlewares/Third_Party/LwIP/src/include/compat/posix;../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa;../Middlewares/Third_Party/LwIP/src/include/compat/posix/net;../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys;../Middlewares/Third_Party/LwIP/src/include/compat/stdc;../Middlewares/Third_Party/LwIP/system/arch;../Drivers/CMSIS/Include;../User/board/inc;../User/application/inc;../User/driver;../User/system;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F</IncludePath>
+              <IncludePath>../Core/Inc;../LWIP/App;../LWIP/Target;../Middlewares/Third_Party/LwIP/src/include;../Middlewares/Third_Party/LwIP/system;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/BSP/Components/lan8742;../Middlewares/Third_Party/LwIP/src/include/netif/ppp;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Middlewares/Third_Party/LwIP/src/include/lwip;../Middlewares/Third_Party/LwIP/src/include/lwip/apps;../Middlewares/Third_Party/LwIP/src/include/lwip/priv;../Middlewares/Third_Party/LwIP/src/include/lwip/prot;../Middlewares/Third_Party/LwIP/src/include/netif;../Middlewares/Third_Party/LwIP/src/include/compat/posix;../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa;../Middlewares/Third_Party/LwIP/src/include/compat/posix/net;../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys;../Middlewares/Third_Party/LwIP/src/include/compat/stdc;../Middlewares/Third_Party/LwIP/system/arch;../Drivers/CMSIS/Include;../User/board/inc;../User/application/inc;../User/driver;../User/system;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -2020,9 +2020,9 @@
               </FileOption>
             </File>
             <File>
-              <FileName>cmsis_os2.c</FileName>
+              <FileName>cmsis_os.c</FileName>
               <FileType>1</FileType>
-              <FilePath>../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c</FilePath>
+              <FilePath>../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c</FilePath>
               <FileOption>
                 <CommonProperty>
                   <UseCPPCompiler>2</UseCPPCompiler>
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c
new file mode 100644
index 0000000..89c3633
--- /dev/null
+++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c
@@ -0,0 +1,1727 @@
+/* ----------------------------------------------------------------------
+ * $Date:        5. February 2013
+ * $Revision:    V1.02
+ *
+ * Project:      CMSIS-RTOS API
+ * Title:        cmsis_os.c
+ *
+ * Version 0.02
+ *    Initial Proposal Phase
+ * Version 0.03
+ *    osKernelStart added, optional feature: main started as thread
+ *    osSemaphores have standard behavior
+ *    osTimerCreate does not start the timer, added osTimerStart
+ *    osThreadPass is renamed to osThreadYield
+ * Version 1.01
+ *    Support for C++ interface
+ *     - const attribute removed from the osXxxxDef_t typedef's
+ *     - const attribute added to the osXxxxDef macros
+ *    Added: osTimerDelete, osMutexDelete, osSemaphoreDelete
+ *    Added: osKernelInitialize
+ * Version 1.02
+ *    Control functions for short timeouts in microsecond resolution:
+ *    Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec
+ *    Removed: osSignalGet 
+ *    
+ *  
+ *----------------------------------------------------------------------------
+ *
+ * Portions Copyright � 2016 STMicroelectronics International N.V. All rights reserved.
+ * Portions Copyright (c) 2013 ARM LIMITED
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *  - Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  - Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *  - Neither the name of ARM  nor the names of its contributors may be used
+ *    to endorse or promote products derived from this software without
+ *    specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include <string.h>
+#include "cmsis_os.h"
+
+/*
+ * ARM Compiler 4/5
+ */
+#if   defined ( __CC_ARM )
+
+  #define __ASM            __asm                                      
+  #define __INLINE         __inline                                     
+  #define __STATIC_INLINE  static __inline
+
+  #include "cmsis_armcc.h"
+
+/*
+ * GNU Compiler
+ */
+#elif defined ( __GNUC__ )
+
+  #define __ASM            __asm                                      /*!< asm keyword for GNU Compiler          */
+  #define __INLINE         inline                                     /*!< inline keyword for GNU Compiler       */
+  #define __STATIC_INLINE  static inline
+
+  #include "cmsis_gcc.h"
+
+
+/*
+ * IAR Compiler
+ */
+#elif defined ( __ICCARM__ )
+
+  #ifndef   __ASM
+    #define __ASM                     __asm
+  #endif
+  #ifndef   __INLINE
+    #define __INLINE                  inline
+  #endif
+  #ifndef   __STATIC_INLINE
+    #define __STATIC_INLINE           static inline
+  #endif
+
+  #include <cmsis_iar.h>
+#endif
+
+extern void xPortSysTickHandler(void);
+
+/* Convert from CMSIS type osPriority to FreeRTOS priority number */
+static unsigned portBASE_TYPE makeFreeRtosPriority (osPriority priority)
+{
+  unsigned portBASE_TYPE fpriority = tskIDLE_PRIORITY;
+  
+  if (priority != osPriorityError) {
+    fpriority += (priority - osPriorityIdle);
+  }
+  
+  return fpriority;
+}
+
+#if (INCLUDE_uxTaskPriorityGet == 1)
+/* Convert from FreeRTOS priority number to CMSIS type osPriority */
+static osPriority makeCmsisPriority (unsigned portBASE_TYPE fpriority)
+{
+  osPriority priority = osPriorityError;
+  
+  if ((fpriority - tskIDLE_PRIORITY) <= (osPriorityRealtime - osPriorityIdle)) {
+    priority = (osPriority)((int)osPriorityIdle + (int)(fpriority - tskIDLE_PRIORITY));
+  }
+  
+  return priority;
+}
+#endif
+
+
+/* Determine whether we are in thread mode or handler mode. */
+static int inHandlerMode (void)
+{
+  return __get_IPSR() != 0;
+}
+
+/*********************** Kernel Control Functions *****************************/
+/**
+* @brief  Initialize the RTOS Kernel for creating objects.
+* @retval status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osKernelInitialize shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osKernelInitialize (void);
+
+/**
+* @brief  Start the RTOS Kernel with executing the specified thread.
+* @param  thread_def    thread definition referenced with \ref osThread.
+* @param  argument      pointer that is passed to the thread function as start argument.
+* @retval status code that indicates the execution status of the function
+* @note   MUST REMAIN UNCHANGED: \b osKernelStart shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osKernelStart (void)
+{
+  vTaskStartScheduler();
+  
+  return osOK;
+}
+
+/**
+* @brief  Check if the RTOS kernel is already started
+* @param  None
+* @retval (0) RTOS is not started
+*         (1) RTOS is started
+*         (-1) if this feature is disabled in FreeRTOSConfig.h 
+* @note  MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS.
+*/
+int32_t osKernelRunning(void)
+{
+#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+  if (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED)
+    return 0;
+  else
+    return 1;
+#else
+	return (-1);
+#endif	
+}
+
+#if (defined (osFeature_SysTick)  &&  (osFeature_SysTick != 0))     // System Timer available
+/**
+* @brief  Get the value of the Kernel SysTick timer
+* @param  None
+* @retval None
+* @note   MUST REMAIN UNCHANGED: \b osKernelSysTick shall be consistent in every CMSIS-RTOS.
+*/
+uint32_t osKernelSysTick(void)
+{
+  if (inHandlerMode()) {
+    return xTaskGetTickCountFromISR();
+  }
+  else {
+    return xTaskGetTickCount();
+  }
+}
+#endif    // System Timer available
+/*********************** Thread Management *****************************/
+/**
+* @brief  Create a thread and add it to Active Threads and set it to state READY.
+* @param  thread_def    thread definition referenced with \ref osThread.
+* @param  argument      pointer that is passed to the thread function as start argument.
+* @retval thread ID for reference by other functions or NULL in case of error.
+* @note   MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
+*/
+osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument)
+{
+  TaskHandle_t handle;
+  
+#if( configSUPPORT_STATIC_ALLOCATION == 1 ) &&  ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+  if((thread_def->buffer != NULL) && (thread_def->controlblock != NULL)) {
+    handle = xTaskCreateStatic((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
+              thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
+              thread_def->buffer, thread_def->controlblock);
+  }
+  else {
+    if (xTaskCreate((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
+              thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
+              &handle) != pdPASS)  {
+      return NULL;
+    } 
+  }
+#elif( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+    handle = xTaskCreateStatic((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
+              thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
+              thread_def->buffer, thread_def->controlblock);
+#else
+  if (xTaskCreate((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
+                   thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
+                   &handle) != pdPASS)  {
+    return NULL;
+  }     
+#endif
+  
+  return handle;
+}
+
+/**
+* @brief  Return the thread ID of the current running thread.
+* @retval thread ID for reference by other functions or NULL in case of error.
+* @note   MUST REMAIN UNCHANGED: \b osThreadGetId shall be consistent in every CMSIS-RTOS.
+*/
+osThreadId osThreadGetId (void)
+{
+#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
+  return xTaskGetCurrentTaskHandle();
+#else
+	return NULL;
+#endif
+}
+
+/**
+* @brief  Terminate execution of a thread and remove it from Active Threads.
+* @param   thread_id   thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+* @retval  status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osThreadTerminate (osThreadId thread_id)
+{
+#if (INCLUDE_vTaskDelete == 1)
+  vTaskDelete(thread_id);
+  return osOK;
+#else
+  return osErrorOS;
+#endif
+}
+
+/**
+* @brief  Pass control to next thread that is in state \b READY.
+* @retval status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osThreadYield shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osThreadYield (void)
+{
+  taskYIELD();
+  
+  return osOK;
+}
+
+/**
+* @brief   Change priority of an active thread.
+* @param   thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+* @param   priority      new priority value for the thread function.
+* @retval  status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority)
+{
+#if (INCLUDE_vTaskPrioritySet == 1)
+  vTaskPrioritySet(thread_id, makeFreeRtosPriority(priority));
+  return osOK;
+#else
+  return osErrorOS;
+#endif
+}
+
+/**
+* @brief   Get current priority of an active thread.
+* @param   thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+* @retval  current priority value of the thread function.
+* @note   MUST REMAIN UNCHANGED: \b osThreadGetPriority shall be consistent in every CMSIS-RTOS.
+*/
+osPriority osThreadGetPriority (osThreadId thread_id)
+{
+#if (INCLUDE_uxTaskPriorityGet == 1)
+  if (inHandlerMode())
+  {
+    return makeCmsisPriority(uxTaskPriorityGetFromISR(thread_id));  
+  }
+  else
+  {  
+    return makeCmsisPriority(uxTaskPriorityGet(thread_id));
+  }
+#else
+  return osPriorityError;
+#endif
+}
+
+/*********************** Generic Wait Functions *******************************/
+/**
+* @brief   Wait for Timeout (Time Delay)
+* @param   millisec      time delay value
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osDelay (uint32_t millisec)
+{
+#if INCLUDE_vTaskDelay
+  TickType_t ticks = millisec / portTICK_PERIOD_MS;
+  
+  vTaskDelay(ticks ? ticks : 1);          /* Minimum delay = 1 tick */
+  
+  return osOK;
+#else
+  (void) millisec;
+  
+  return osErrorResource;
+#endif
+}
+
+#if (defined (osFeature_Wait)  &&  (osFeature_Wait != 0)) /* Generic Wait available */
+/**
+* @brief  Wait for Signal, Message, Mail, or Timeout
+* @param   millisec  timeout value or 0 in case of no time-out
+* @retval  event that contains signal, message, or mail information or error code.
+* @note   MUST REMAIN UNCHANGED: \b osWait shall be consistent in every CMSIS-RTOS.
+*/
+osEvent osWait (uint32_t millisec);
+
+#endif  /* Generic Wait available */
+
+/***********************  Timer Management Functions ***************************/
+/**
+* @brief  Create a timer.
+* @param  timer_def     timer object referenced with \ref osTimer.
+* @param  type          osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
+* @param  argument      argument to the timer call back function.
+* @retval  timer ID for reference by other functions or NULL in case of error.
+* @note   MUST REMAIN UNCHANGED: \b osTimerCreate shall be consistent in every CMSIS-RTOS.
+*/
+osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument)
+{
+#if (configUSE_TIMERS == 1)
+
+#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) 
+  if(timer_def->controlblock != NULL) {
+    return xTimerCreateStatic((const char *)"",
+                      1, // period should be filled when starting the Timer using osTimerStart
+                      (type == osTimerPeriodic) ? pdTRUE : pdFALSE,
+                      (void *) argument,
+                      (TimerCallbackFunction_t)timer_def->ptimer,
+                      (StaticTimer_t *)timer_def->controlblock);
+  }
+  else {
+    return xTimerCreate((const char *)"",
+                      1, // period should be filled when starting the Timer using osTimerStart
+                      (type == osTimerPeriodic) ? pdTRUE : pdFALSE,
+                      (void *) argument,
+                      (TimerCallbackFunction_t)timer_def->ptimer);
+ }
+#elif( configSUPPORT_STATIC_ALLOCATION == 1 )
+  return xTimerCreateStatic((const char *)"",
+                      1, // period should be filled when starting the Timer using osTimerStart
+                      (type == osTimerPeriodic) ? pdTRUE : pdFALSE,
+                      (void *) argument,
+                      (TimerCallbackFunction_t)timer_def->ptimer,
+                      (StaticTimer_t *)timer_def->controlblock);  
+#else
+  return xTimerCreate((const char *)"",
+                      1, // period should be filled when starting the Timer using osTimerStart
+                      (type == osTimerPeriodic) ? pdTRUE : pdFALSE,
+                      (void *) argument,
+                      (TimerCallbackFunction_t)timer_def->ptimer);
+#endif
+
+#else 
+	return NULL;
+#endif
+}
+
+/**
+* @brief  Start or restart a timer.
+* @param  timer_id      timer ID obtained by \ref osTimerCreate.
+* @param  millisec      time delay value of the timer.
+* @retval  status code that indicates the execution status of the function
+* @note   MUST REMAIN UNCHANGED: \b osTimerStart shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osTimerStart (osTimerId timer_id, uint32_t millisec)
+{
+  osStatus result = osOK;
+#if (configUSE_TIMERS == 1)  
+  portBASE_TYPE taskWoken = pdFALSE;
+  TickType_t ticks = millisec / portTICK_PERIOD_MS;
+
+  if (ticks == 0)
+    ticks = 1;
+    
+  if (inHandlerMode()) 
+  {
+    if (xTimerChangePeriodFromISR(timer_id, ticks, &taskWoken) != pdPASS)
+    {
+      result = osErrorOS;
+    }
+    else
+    {
+      portEND_SWITCHING_ISR(taskWoken);     
+    }
+  }
+  else 
+  {
+    if (xTimerChangePeriod(timer_id, ticks, 0) != pdPASS)
+      result = osErrorOS;
+  }
+
+#else 
+  result = osErrorOS;
+#endif
+  return result;
+}
+
+/**
+* @brief  Stop a timer.
+* @param  timer_id      timer ID obtained by \ref osTimerCreate
+* @retval  status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osTimerStop shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osTimerStop (osTimerId timer_id)
+{
+  osStatus result = osOK;
+#if (configUSE_TIMERS == 1)  
+  portBASE_TYPE taskWoken = pdFALSE;
+
+  if (inHandlerMode()) {
+    if (xTimerStopFromISR(timer_id, &taskWoken) != pdPASS) {
+      return osErrorOS;
+    }
+    portEND_SWITCHING_ISR(taskWoken);
+  }
+  else {
+    if (xTimerStop(timer_id, 0) != pdPASS) {
+      result = osErrorOS;
+    }
+  }
+#else 
+  result = osErrorOS;
+#endif 
+  return result;
+}
+
+/**
+* @brief  Delete a timer.
+* @param  timer_id      timer ID obtained by \ref osTimerCreate
+* @retval  status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osTimerDelete shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osTimerDelete (osTimerId timer_id)
+{
+osStatus result = osOK;
+
+#if (configUSE_TIMERS == 1)
+
+   if (inHandlerMode()) {
+     return osErrorISR;
+  }
+  else { 
+    if ((xTimerDelete(timer_id, osWaitForever )) != pdPASS) {
+      result = osErrorOS;
+    }
+  } 
+    
+#else 
+  result = osErrorOS;
+#endif 
+ 
+  return result;
+}
+
+/***************************  Signal Management ********************************/
+/**
+* @brief  Set the specified Signal Flags of an active thread.
+* @param  thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+* @param  signals       specifies the signal flags of the thread that should be set.
+* @retval previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
+* @note   MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS.
+*/
+int32_t osSignalSet (osThreadId thread_id, int32_t signal)
+{
+#if( configUSE_TASK_NOTIFICATIONS == 1 )	
+  BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+  uint32_t ulPreviousNotificationValue = 0;
+  
+  if (inHandlerMode())
+  {
+    if(xTaskGenericNotifyFromISR( thread_id , (uint32_t)signal, eSetBits, &ulPreviousNotificationValue, &xHigherPriorityTaskWoken ) != pdPASS )
+      return 0x80000000;
+    
+    portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+  }  
+  else if(xTaskGenericNotify( thread_id , (uint32_t)signal, eSetBits, &ulPreviousNotificationValue) != pdPASS )
+    return 0x80000000;
+  
+  return ulPreviousNotificationValue;
+#else
+  (void) thread_id;
+  (void) signal;
+
+  return 0x80000000; /* Task Notification not supported */ 	
+#endif
+}
+
+/**
+* @brief  Clear the specified Signal Flags of an active thread.
+* @param  thread_id  thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+* @param  signals    specifies the signal flags of the thread that shall be cleared.
+* @retval  previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
+* @note   MUST REMAIN UNCHANGED: \b osSignalClear shall be consistent in every CMSIS-RTOS.
+*/
+int32_t osSignalClear (osThreadId thread_id, int32_t signal);
+
+/**
+* @brief  Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread.
+* @param  signals   wait until all specified signal flags set or 0 for any single signal flag.
+* @param  millisec  timeout value or 0 in case of no time-out.
+* @retval  event flag information or error code.
+* @note   MUST REMAIN UNCHANGED: \b osSignalWait shall be consistent in every CMSIS-RTOS.
+*/
+osEvent osSignalWait (int32_t signals, uint32_t millisec)
+{
+  osEvent ret;
+
+#if( configUSE_TASK_NOTIFICATIONS == 1 )
+	
+  TickType_t ticks;
+
+  ret.value.signals = 0;  
+  ticks = 0;
+  if (millisec == osWaitForever) {
+    ticks = portMAX_DELAY;
+  }
+  else if (millisec != 0) {
+    ticks = millisec / portTICK_PERIOD_MS;
+    if (ticks == 0) {
+      ticks = 1;
+    }
+  }  
+  
+  if (inHandlerMode())
+  {
+    ret.status = osErrorISR;  /*Not allowed in ISR*/
+  }
+  else
+  {
+    if(xTaskNotifyWait( 0,(uint32_t) signals, (uint32_t *)&ret.value.signals, ticks) != pdTRUE)
+    {
+      if(ticks == 0)  ret.status = osOK;
+      else  ret.status = osEventTimeout;
+    }
+    else if(ret.value.signals < 0)
+    {
+      ret.status =  osErrorValue;     
+    }
+    else  ret.status =  osEventSignal;
+  }
+#else
+  (void) signals;
+  (void) millisec;
+	
+  ret.status =  osErrorOS;	/* Task Notification not supported */
+#endif
+  
+  return ret;
+}
+
+/****************************  Mutex Management ********************************/
+/**
+* @brief  Create and Initialize a Mutex object
+* @param  mutex_def     mutex definition referenced with \ref osMutex.
+* @retval  mutex ID for reference by other functions or NULL in case of error.
+* @note   MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS.
+*/
+osMutexId osMutexCreate (const osMutexDef_t *mutex_def)
+{
+#if ( configUSE_MUTEXES == 1)
+
+#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+
+  if (mutex_def->controlblock != NULL) {
+    return xSemaphoreCreateMutexStatic( mutex_def->controlblock );
+     }
+  else {
+    return xSemaphoreCreateMutex(); 
+  }
+#elif ( configSUPPORT_STATIC_ALLOCATION == 1 )
+  return xSemaphoreCreateMutexStatic( mutex_def->controlblock );
+#else  
+    return xSemaphoreCreateMutex(); 
+#endif
+#else
+  return NULL;
+#endif
+}
+
+/**
+* @brief Wait until a Mutex becomes available
+* @param mutex_id      mutex ID obtained by \ref osMutexCreate.
+* @param millisec      timeout value or 0 in case of no time-out.
+* @retval  status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osMutexWait shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec)
+{
+  TickType_t ticks;
+  portBASE_TYPE taskWoken = pdFALSE;  
+  
+  
+  if (mutex_id == NULL) {
+    return osErrorParameter;
+  }
+  
+  ticks = 0;
+  if (millisec == osWaitForever) {
+    ticks = portMAX_DELAY;
+  }
+  else if (millisec != 0) {
+    ticks = millisec / portTICK_PERIOD_MS;
+    if (ticks == 0) {
+      ticks = 1;
+    }
+  }
+  
+  if (inHandlerMode()) {
+    if (xSemaphoreTakeFromISR(mutex_id, &taskWoken) != pdTRUE) {
+      return osErrorOS;
+    }
+	portEND_SWITCHING_ISR(taskWoken);
+  } 
+  else if (xSemaphoreTake(mutex_id, ticks) != pdTRUE) {
+    return osErrorOS;
+  }
+  
+  return osOK;
+}
+
+/**
+* @brief Release a Mutex that was obtained by \ref osMutexWait
+* @param mutex_id      mutex ID obtained by \ref osMutexCreate.
+* @retval  status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osMutexRelease shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osMutexRelease (osMutexId mutex_id)
+{
+  osStatus result = osOK;
+  portBASE_TYPE taskWoken = pdFALSE;
+  
+  if (inHandlerMode()) {
+    if (xSemaphoreGiveFromISR(mutex_id, &taskWoken) != pdTRUE) {
+      return osErrorOS;
+    }
+    portEND_SWITCHING_ISR(taskWoken);
+  }
+  else if (xSemaphoreGive(mutex_id) != pdTRUE) 
+  {
+    result = osErrorOS;
+  }
+  return result;
+}
+
+/**
+* @brief Delete a Mutex
+* @param mutex_id  mutex ID obtained by \ref osMutexCreate.
+* @retval  status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osMutexDelete shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osMutexDelete (osMutexId mutex_id)
+{
+  if (inHandlerMode()) {
+    return osErrorISR;
+  }
+
+  vQueueDelete(mutex_id);
+
+  return osOK;
+}
+
+/********************  Semaphore Management Functions **************************/
+
+#if (defined (osFeature_Semaphore)  &&  (osFeature_Semaphore != 0))
+
+/**
+* @brief Create and Initialize a Semaphore object used for managing resources
+* @param semaphore_def semaphore definition referenced with \ref osSemaphore.
+* @param count         number of available resources.
+* @retval  semaphore ID for reference by other functions or NULL in case of error.
+* @note   MUST REMAIN UNCHANGED: \b osSemaphoreCreate shall be consistent in every CMSIS-RTOS.
+*/
+osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count)
+{ 
+#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+
+  osSemaphoreId sema;
+  
+  if (semaphore_def->controlblock != NULL){
+    if (count == 1) {
+      return xSemaphoreCreateBinaryStatic( semaphore_def->controlblock );
+    }
+    else {
+#if (configUSE_COUNTING_SEMAPHORES == 1 )
+      return xSemaphoreCreateCountingStatic( count, count, semaphore_def->controlblock );
+#else
+      return NULL;
+#endif
+    }
+  }
+  else {
+    if (count == 1) {
+      vSemaphoreCreateBinary(sema);
+      return sema;
+    }
+    else {
+#if (configUSE_COUNTING_SEMAPHORES == 1 )	
+      return xSemaphoreCreateCounting(count, count);
+#else
+      return NULL;
+#endif    
+    }
+  }
+#elif ( configSUPPORT_STATIC_ALLOCATION == 1 ) // configSUPPORT_DYNAMIC_ALLOCATION == 0
+  if(count == 1) {
+    return xSemaphoreCreateBinaryStatic( semaphore_def->controlblock );
+  }
+  else
+  {
+#if (configUSE_COUNTING_SEMAPHORES == 1 )
+      return xSemaphoreCreateCountingStatic( count, count, semaphore_def->controlblock );
+#else
+      return NULL;
+#endif    
+  }
+#else  // configSUPPORT_STATIC_ALLOCATION == 0  && configSUPPORT_DYNAMIC_ALLOCATION == 1
+  osSemaphoreId sema;
+ 
+  if (count == 1) {
+    vSemaphoreCreateBinary(sema);
+    return sema;
+  }
+  else {
+#if (configUSE_COUNTING_SEMAPHORES == 1 )	
+    return xSemaphoreCreateCounting(count, count);
+#else
+    return NULL;
+#endif
+  }
+#endif
+}
+
+/**
+* @brief Wait until a Semaphore token becomes available
+* @param  semaphore_id  semaphore object referenced with \ref osSemaphore.
+* @param  millisec      timeout value or 0 in case of no time-out.
+* @retval  number of available tokens, or -1 in case of incorrect parameters.
+* @note   MUST REMAIN UNCHANGED: \b osSemaphoreWait shall be consistent in every CMSIS-RTOS.
+*/
+int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec)
+{
+  TickType_t ticks;
+  portBASE_TYPE taskWoken = pdFALSE;  
+  
+  
+  if (semaphore_id == NULL) {
+    return osErrorParameter;
+  }
+  
+  ticks = 0;
+  if (millisec == osWaitForever) {
+    ticks = portMAX_DELAY;
+  }
+  else if (millisec != 0) {
+    ticks = millisec / portTICK_PERIOD_MS;
+    if (ticks == 0) {
+      ticks = 1;
+    }
+  }
+  
+  if (inHandlerMode()) {
+    if (xSemaphoreTakeFromISR(semaphore_id, &taskWoken) != pdTRUE) {
+      return osErrorOS;
+    }
+	portEND_SWITCHING_ISR(taskWoken);
+  }  
+  else if (xSemaphoreTake(semaphore_id, ticks) != pdTRUE) {
+    return osErrorOS;
+  }
+  
+  return osOK;
+}
+
+/**
+* @brief Release a Semaphore token
+* @param  semaphore_id  semaphore object referenced with \ref osSemaphore.
+* @retval  status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osSemaphoreRelease shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osSemaphoreRelease (osSemaphoreId semaphore_id)
+{
+  osStatus result = osOK;
+  portBASE_TYPE taskWoken = pdFALSE;
+  
+  
+  if (inHandlerMode()) {
+    if (xSemaphoreGiveFromISR(semaphore_id, &taskWoken) != pdTRUE) {
+      return osErrorOS;
+    }
+    portEND_SWITCHING_ISR(taskWoken);
+  }
+  else {
+    if (xSemaphoreGive(semaphore_id) != pdTRUE) {
+      result = osErrorOS;
+    }
+  }
+  
+  return result;
+}
+
+/**
+* @brief Delete a Semaphore
+* @param  semaphore_id  semaphore object referenced with \ref osSemaphore.
+* @retval  status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osSemaphoreDelete shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osSemaphoreDelete (osSemaphoreId semaphore_id)
+{
+  if (inHandlerMode()) {
+    return osErrorISR;
+  }
+
+  vSemaphoreDelete(semaphore_id);
+
+  return osOK; 
+}
+
+#endif    /* Use Semaphores */
+
+/*******************   Memory Pool Management Functions  ***********************/
+
+#if (defined (osFeature_Pool)  &&  (osFeature_Pool != 0)) 
+
+//TODO
+//This is a primitive and inefficient wrapper around the existing FreeRTOS memory management.
+//A better implementation will have to modify heap_x.c!
+
+
+typedef struct os_pool_cb {
+  void *pool;
+  uint8_t *markers;
+  uint32_t pool_sz;
+  uint32_t item_sz;
+  uint32_t currentIndex;
+} os_pool_cb_t;
+
+
+/**
+* @brief Create and Initialize a memory pool
+* @param  pool_def      memory pool definition referenced with \ref osPool.
+* @retval  memory pool ID for reference by other functions or NULL in case of error.
+* @note   MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS.
+*/
+osPoolId osPoolCreate (const osPoolDef_t *pool_def)
+{
+#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+  osPoolId thePool;
+  int itemSize = 4 * ((pool_def->item_sz + 3) / 4);
+  uint32_t i;
+  
+  /* First have to allocate memory for the pool control block. */
+ thePool = pvPortMalloc(sizeof(os_pool_cb_t));
+
+  
+  if (thePool) {
+    thePool->pool_sz = pool_def->pool_sz;
+    thePool->item_sz = itemSize;
+    thePool->currentIndex = 0;
+    
+    /* Memory for markers */
+    thePool->markers = pvPortMalloc(pool_def->pool_sz);
+   
+    if (thePool->markers) {
+      /* Now allocate the pool itself. */
+     thePool->pool = pvPortMalloc(pool_def->pool_sz * itemSize);
+      
+      if (thePool->pool) {
+        for (i = 0; i < pool_def->pool_sz; i++) {
+          thePool->markers[i] = 0;
+        }
+      }
+      else {
+        vPortFree(thePool->markers);
+        vPortFree(thePool);
+        thePool = NULL;
+      }
+    }
+    else {
+      vPortFree(thePool);
+      thePool = NULL;
+    }
+  }
+
+  return thePool;
+ 
+#else
+  return NULL;
+#endif
+}
+
+/**
+* @brief Allocate a memory block from a memory pool
+* @param pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
+* @retval  address of the allocated memory block or NULL in case of no memory available.
+* @note   MUST REMAIN UNCHANGED: \b osPoolAlloc shall be consistent in every CMSIS-RTOS.
+*/
+void *osPoolAlloc (osPoolId pool_id)
+{
+  int dummy = 0;
+  void *p = NULL;
+  uint32_t i;
+  uint32_t index;
+  
+  if (inHandlerMode()) {
+    dummy = portSET_INTERRUPT_MASK_FROM_ISR();
+  }
+  else {
+    vPortEnterCritical();
+  }
+  
+  for (i = 0; i < pool_id->pool_sz; i++) {
+    index = (pool_id->currentIndex + i) % pool_id->pool_sz;
+    
+    if (pool_id->markers[index] == 0) {
+      pool_id->markers[index] = 1;
+      p = (void *)((uint32_t)(pool_id->pool) + (index * pool_id->item_sz));
+      pool_id->currentIndex = index;
+      break;
+    }
+  }
+  
+  if (inHandlerMode()) {
+    portCLEAR_INTERRUPT_MASK_FROM_ISR(dummy);
+  }
+  else {
+    vPortExitCritical();
+  }
+  
+  return p;
+}
+
+/**
+* @brief Allocate a memory block from a memory pool and set memory block to zero
+* @param  pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
+* @retval  address of the allocated memory block or NULL in case of no memory available.
+* @note   MUST REMAIN UNCHANGED: \b osPoolCAlloc shall be consistent in every CMSIS-RTOS.
+*/
+void *osPoolCAlloc (osPoolId pool_id)
+{
+  void *p = osPoolAlloc(pool_id);
+  
+  if (p != NULL)
+  {
+    memset(p, 0, sizeof(pool_id->pool_sz));
+  }
+  
+  return p;
+}
+
+/**
+* @brief Return an allocated memory block back to a specific memory pool
+* @param  pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
+* @param  block         address of the allocated memory block that is returned to the memory pool.
+* @retval  status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osPoolFree shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osPoolFree (osPoolId pool_id, void *block)
+{
+  uint32_t index;
+  
+  if (pool_id == NULL) {
+    return osErrorParameter;
+  }
+  
+  if (block == NULL) {
+    return osErrorParameter;
+  }
+  
+  if (block < pool_id->pool) {
+    return osErrorParameter;
+  }
+  
+  index = (uint32_t)block - (uint32_t)(pool_id->pool);
+  if (index % pool_id->item_sz) {
+    return osErrorParameter;
+  }
+  index = index / pool_id->item_sz;
+  if (index >= pool_id->pool_sz) {
+    return osErrorParameter;
+  }
+  
+  pool_id->markers[index] = 0;
+  
+  return osOK;
+}
+
+
+#endif   /* Use Memory Pool Management */
+
+/*******************   Message Queue Management Functions  *********************/
+
+#if (defined (osFeature_MessageQ)  &&  (osFeature_MessageQ != 0)) /* Use Message Queues */
+
+/**
+* @brief Create and Initialize a Message Queue
+* @param queue_def     queue definition referenced with \ref osMessageQ.
+* @param  thread_id     thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
+* @retval  message queue ID for reference by other functions or NULL in case of error.
+* @note   MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS.
+*/
+osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id)
+{
+  (void) thread_id;
+  
+#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+
+  if ((queue_def->buffer != NULL) && (queue_def->controlblock != NULL)) {
+    return xQueueCreateStatic(queue_def->queue_sz, queue_def->item_sz, queue_def->buffer, queue_def->controlblock);
+  }
+  else {
+    return xQueueCreate(queue_def->queue_sz, queue_def->item_sz);
+  }
+#elif ( configSUPPORT_STATIC_ALLOCATION == 1 )
+  return xQueueCreateStatic(queue_def->queue_sz, queue_def->item_sz, queue_def->buffer, queue_def->controlblock);
+#else  
+  return xQueueCreate(queue_def->queue_sz, queue_def->item_sz);
+#endif
+}
+
+/**
+* @brief Put a Message to a Queue.
+* @param  queue_id  message queue ID obtained with \ref osMessageCreate.
+* @param  info      message information.
+* @param  millisec  timeout value or 0 in case of no time-out.
+* @retval status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osMessagePut shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec)
+{
+  portBASE_TYPE taskWoken = pdFALSE;
+  TickType_t ticks;
+  
+  ticks = millisec / portTICK_PERIOD_MS;
+  if (ticks == 0) {
+    ticks = 1;
+  }
+  
+  if (inHandlerMode()) {
+    if (xQueueSendFromISR(queue_id, &info, &taskWoken) != pdTRUE) {
+      return osErrorOS;
+    }
+    portEND_SWITCHING_ISR(taskWoken);
+  }
+  else {
+    if (xQueueSend(queue_id, &info, ticks) != pdTRUE) {
+      return osErrorOS;
+    }
+  }
+  
+  return osOK;
+}
+
+/**
+* @brief Get a Message or Wait for a Message from a Queue.
+* @param  queue_id  message queue ID obtained with \ref osMessageCreate.
+* @param  millisec  timeout value or 0 in case of no time-out.
+* @retval event information that includes status code.
+* @note   MUST REMAIN UNCHANGED: \b osMessageGet shall be consistent in every CMSIS-RTOS.
+*/
+osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec)
+{
+  portBASE_TYPE taskWoken;
+  TickType_t ticks;
+  osEvent event;
+  
+  event.def.message_id = queue_id;
+  event.value.v = 0;
+  
+  if (queue_id == NULL) {
+    event.status = osErrorParameter;
+    return event;
+  }
+  
+  taskWoken = pdFALSE;
+  
+  ticks = 0;
+  if (millisec == osWaitForever) {
+    ticks = portMAX_DELAY;
+  }
+  else if (millisec != 0) {
+    ticks = millisec / portTICK_PERIOD_MS;
+    if (ticks == 0) {
+      ticks = 1;
+    }
+  }
+  
+  if (inHandlerMode()) {
+    if (xQueueReceiveFromISR(queue_id, &event.value.v, &taskWoken) == pdTRUE) {
+      /* We have mail */
+      event.status = osEventMessage;
+    }
+    else {
+      event.status = osOK;
+    }
+    portEND_SWITCHING_ISR(taskWoken);
+  }
+  else {
+    if (xQueueReceive(queue_id, &event.value.v, ticks) == pdTRUE) {
+      /* We have mail */
+      event.status = osEventMessage;
+    }
+    else {
+      event.status = (ticks == 0) ? osOK : osEventTimeout;
+    }
+  }
+  
+  return event;
+}
+
+#endif     /* Use Message Queues */
+
+/********************   Mail Queue Management Functions  ***********************/
+#if (defined (osFeature_MailQ)  &&  (osFeature_MailQ != 0))  /* Use Mail Queues */
+
+
+typedef struct os_mailQ_cb {
+  const osMailQDef_t *queue_def;
+  QueueHandle_t handle;
+  osPoolId pool;
+} os_mailQ_cb_t;
+
+/**
+* @brief Create and Initialize mail queue
+* @param  queue_def     reference to the mail queue definition obtain with \ref osMailQ
+* @param   thread_id     thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
+* @retval mail queue ID for reference by other functions or NULL in case of error.
+* @note   MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS.
+*/
+osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id)
+{
+#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+  (void) thread_id;
+  
+  osPoolDef_t pool_def = {queue_def->queue_sz, queue_def->item_sz, NULL};
+  
+  /* Create a mail queue control block */
+
+  *(queue_def->cb) = pvPortMalloc(sizeof(struct os_mailQ_cb));
+
+  if (*(queue_def->cb) == NULL) {
+    return NULL;
+  }
+  (*(queue_def->cb))->queue_def = queue_def;
+  
+  /* Create a queue in FreeRTOS */
+  (*(queue_def->cb))->handle = xQueueCreate(queue_def->queue_sz, sizeof(void *));
+
+
+  if ((*(queue_def->cb))->handle == NULL) {
+    vPortFree(*(queue_def->cb));
+    return NULL;
+  }
+  
+  /* Create a mail pool */
+  (*(queue_def->cb))->pool = osPoolCreate(&pool_def);
+  if ((*(queue_def->cb))->pool == NULL) {
+    //TODO: Delete queue. How to do it in FreeRTOS?
+    vPortFree(*(queue_def->cb));
+    return NULL;
+  }
+  
+  return *(queue_def->cb);
+#else
+  return NULL;
+#endif
+}
+
+/**
+* @brief Allocate a memory block from a mail
+* @param  queue_id      mail queue ID obtained with \ref osMailCreate.
+* @param  millisec      timeout value or 0 in case of no time-out.
+* @retval pointer to memory block that can be filled with mail or NULL in case error.
+* @note   MUST REMAIN UNCHANGED: \b osMailAlloc shall be consistent in every CMSIS-RTOS.
+*/
+void *osMailAlloc (osMailQId queue_id, uint32_t millisec)
+{
+  (void) millisec;
+  void *p;
+  
+  
+  if (queue_id == NULL) {
+    return NULL;
+  }
+  
+  p = osPoolAlloc(queue_id->pool);
+  
+  return p;
+}
+
+/**
+* @brief Allocate a memory block from a mail and set memory block to zero
+* @param  queue_id      mail queue ID obtained with \ref osMailCreate.
+* @param  millisec      timeout value or 0 in case of no time-out.
+* @retval pointer to memory block that can be filled with mail or NULL in case error.
+* @note   MUST REMAIN UNCHANGED: \b osMailCAlloc shall be consistent in every CMSIS-RTOS.
+*/
+void *osMailCAlloc (osMailQId queue_id, uint32_t millisec)
+{
+  uint32_t i;
+  void *p = osMailAlloc(queue_id, millisec);
+  
+  if (p) {
+    for (i = 0; i < queue_id->queue_def->item_sz; i++) {
+      ((uint8_t *)p)[i] = 0;
+    }
+  }
+  
+  return p;
+}
+
+/**
+* @brief Put a mail to a queue
+* @param  queue_id      mail queue ID obtained with \ref osMailCreate.
+* @param  mail          memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc.
+* @retval status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osMailPut shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osMailPut (osMailQId queue_id, void *mail)
+{
+  portBASE_TYPE taskWoken;
+  
+  
+  if (queue_id == NULL) {
+    return osErrorParameter;
+  }
+  
+  taskWoken = pdFALSE;
+  
+  if (inHandlerMode()) {
+    if (xQueueSendFromISR(queue_id->handle, &mail, &taskWoken) != pdTRUE) {
+      return osErrorOS;
+    }
+    portEND_SWITCHING_ISR(taskWoken);
+  }
+  else {
+    if (xQueueSend(queue_id->handle, &mail, 0) != pdTRUE) { 
+      return osErrorOS;
+    }
+  }
+  
+  return osOK;
+}
+
+/**
+* @brief Get a mail from a queue
+* @param  queue_id   mail queue ID obtained with \ref osMailCreate.
+* @param millisec    timeout value or 0 in case of no time-out
+* @retval event that contains mail information or error code.
+* @note   MUST REMAIN UNCHANGED: \b osMailGet shall be consistent in every CMSIS-RTOS.
+*/
+osEvent osMailGet (osMailQId queue_id, uint32_t millisec)
+{
+  portBASE_TYPE taskWoken;
+  TickType_t ticks;
+  osEvent event;
+  
+  event.def.mail_id = queue_id;
+  
+  if (queue_id == NULL) {
+    event.status = osErrorParameter;
+    return event;
+  }
+  
+  taskWoken = pdFALSE;
+  
+  ticks = 0;
+  if (millisec == osWaitForever) {
+    ticks = portMAX_DELAY;
+  }
+  else if (millisec != 0) {
+    ticks = millisec / portTICK_PERIOD_MS;
+    if (ticks == 0) {
+      ticks = 1;
+    }
+  }
+  
+  if (inHandlerMode()) {
+    if (xQueueReceiveFromISR(queue_id->handle, &event.value.p, &taskWoken) == pdTRUE) {
+      /* We have mail */
+      event.status = osEventMail;
+    }
+    else {
+      event.status = osOK;
+    }
+    portEND_SWITCHING_ISR(taskWoken);
+  }
+  else {
+    if (xQueueReceive(queue_id->handle, &event.value.p, ticks) == pdTRUE) {
+      /* We have mail */
+      event.status = osEventMail;
+    }
+    else {
+      event.status = (ticks == 0) ? osOK : osEventTimeout;
+    }
+  }
+  
+  return event;
+}
+
+/**
+* @brief Free a memory block from a mail
+* @param  queue_id mail queue ID obtained with \ref osMailCreate.
+* @param  mail     pointer to the memory block that was obtained with \ref osMailGet.
+* @retval status code that indicates the execution status of the function.
+* @note   MUST REMAIN UNCHANGED: \b osMailFree shall be consistent in every CMSIS-RTOS.
+*/
+osStatus osMailFree (osMailQId queue_id, void *mail)
+{
+  if (queue_id == NULL) {
+    return osErrorParameter;
+  }
+  
+  return osPoolFree(queue_id->pool, mail);
+}
+#endif  /* Use Mail Queues */
+
+/*************************** Additional specific APIs to Free RTOS ************/
+/**
+* @brief  Handles the tick increment
+* @param  none.
+* @retval none.
+*/
+void osSystickHandler(void)
+{
+
+#if (INCLUDE_xTaskGetSchedulerState  == 1 )
+  if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
+  {
+#endif  /* INCLUDE_xTaskGetSchedulerState */  
+    xPortSysTickHandler();
+#if (INCLUDE_xTaskGetSchedulerState  == 1 )
+  }
+#endif  /* INCLUDE_xTaskGetSchedulerState */  
+}
+
+#if ( INCLUDE_eTaskGetState == 1 )
+/**
+* @brief  Obtain the state of any thread.
+* @param   thread_id   thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+* @retval  the stae of the thread, states are encoded by the osThreadState enumerated type.
+*/
+osThreadState osThreadGetState(osThreadId thread_id)
+{
+  eTaskState ThreadState;
+  osThreadState result;
+  
+  ThreadState = eTaskGetState(thread_id);
+  
+  switch (ThreadState)
+  {
+  case eRunning :
+    result = osThreadRunning;
+    break;
+  case eReady :
+    result = osThreadReady;
+    break;
+  case eBlocked :
+    result = osThreadBlocked;
+    break;
+  case eSuspended :
+    result = osThreadSuspended;
+    break;
+  case eDeleted :
+    result = osThreadDeleted;
+    break;
+  default:
+    result = osThreadError;
+  } 
+  
+  return result;
+}
+#endif /* INCLUDE_eTaskGetState */
+
+#if (INCLUDE_eTaskGetState == 1)
+/**
+* @brief Check if a thread is already suspended or not.
+* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+* @retval status code that indicates the execution status of the function.
+*/
+osStatus osThreadIsSuspended(osThreadId thread_id)
+{
+  if (eTaskGetState(thread_id) == eSuspended)
+    return osOK;
+  else
+    return osErrorOS;
+}
+#endif /* INCLUDE_eTaskGetState */
+/**
+* @brief  Suspend execution of a thread.
+* @param   thread_id   thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osThreadSuspend (osThreadId thread_id)
+{
+#if (INCLUDE_vTaskSuspend == 1)
+    vTaskSuspend(thread_id);
+  
+  return osOK;
+#else
+  return osErrorResource;
+#endif
+}
+
+/**
+* @brief  Resume execution of a suspended thread.
+* @param   thread_id   thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osThreadResume (osThreadId thread_id)
+{
+#if (INCLUDE_vTaskSuspend == 1)  
+  if(inHandlerMode())
+  {
+    if (xTaskResumeFromISR(thread_id) == pdTRUE)
+    {
+      portYIELD_FROM_ISR(pdTRUE);
+    }
+  }
+  else
+  {
+    vTaskResume(thread_id);
+  }
+  return osOK;
+#else
+  return osErrorResource;
+#endif
+}
+
+/**
+* @brief  Suspend execution of a all active threads.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osThreadSuspendAll (void)
+{
+  vTaskSuspendAll();
+  
+  return osOK;
+}
+
+/**
+* @brief  Resume execution of a all suspended threads.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osThreadResumeAll (void)
+{
+  if (xTaskResumeAll() == pdTRUE)
+    return osOK;
+  else
+    return osErrorOS;
+  
+}
+
+/**
+* @brief  Delay a task until a specified time
+* @param   PreviousWakeTime   Pointer to a variable that holds the time at which the 
+*          task was last unblocked. PreviousWakeTime must be initialised with the current time
+*          prior to its first use (PreviousWakeTime = osKernelSysTick() )
+* @param   millisec    time delay value
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osDelayUntil (uint32_t *PreviousWakeTime, uint32_t millisec)
+{
+#if INCLUDE_vTaskDelayUntil
+  TickType_t ticks = (millisec / portTICK_PERIOD_MS);
+  vTaskDelayUntil((TickType_t *) PreviousWakeTime, ticks ? ticks : 1);
+  
+  return osOK;
+#else
+  (void) millisec;
+  (void) PreviousWakeTime;
+  
+  return osErrorResource;
+#endif
+}
+
+/**
+* @brief   Abort the delay for a specific thread
+* @param   thread_id   thread ID obtained by \ref osThreadCreate or \ref osThreadGetId   
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osAbortDelay(osThreadId thread_id)
+{
+#if INCLUDE_xTaskAbortDelay
+  
+  xTaskAbortDelay(thread_id);
+  
+  return osOK;
+#else
+  (void) thread_id;
+  
+  return osErrorResource;
+#endif
+}
+
+/**
+* @brief   Lists all the current threads, along with their current state 
+*          and stack usage high water mark.
+* @param   buffer   A buffer into which the above mentioned details
+*          will be written
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osThreadList (uint8_t *buffer)
+{
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
+  vTaskList((char *)buffer);
+#endif
+  return osOK;
+}
+
+/**
+* @brief  Receive an item from a queue without removing the item from the queue.
+* @param  queue_id  message queue ID obtained with \ref osMessageCreate.
+* @param  millisec  timeout value or 0 in case of no time-out.
+* @retval event information that includes status code.
+*/
+osEvent osMessagePeek (osMessageQId queue_id, uint32_t millisec)
+{
+  TickType_t ticks;
+  osEvent event;
+  
+  event.def.message_id = queue_id;
+  
+  if (queue_id == NULL) {
+    event.status = osErrorParameter;
+    return event;
+  }
+  
+  ticks = 0;
+  if (millisec == osWaitForever) {
+    ticks = portMAX_DELAY;
+  }
+  else if (millisec != 0) {
+    ticks = millisec / portTICK_PERIOD_MS;
+    if (ticks == 0) {
+      ticks = 1;
+    }
+  }
+  
+  if (xQueuePeek(queue_id, &event.value.v, ticks) == pdTRUE) 
+  {
+    /* We have mail */
+    event.status = osEventMessage;
+  }
+  else 
+  {
+    event.status = (ticks == 0) ? osOK : osEventTimeout;
+  }
+  
+  return event;
+}
+
+/**
+* @brief  Get the number of messaged stored in a queue.
+* @param  queue_id  message queue ID obtained with \ref osMessageCreate.
+* @retval number of messages stored in a queue.
+*/
+uint32_t osMessageWaiting(osMessageQId queue_id)
+{
+  if (inHandlerMode()) {
+    return uxQueueMessagesWaitingFromISR(queue_id);
+  }
+  else
+  {
+    return uxQueueMessagesWaiting(queue_id);
+  }
+}
+
+/**
+* @brief  Get the available space in a message queue.
+* @param  queue_id  message queue ID obtained with \ref osMessageCreate.
+* @retval available space in a message queue.
+*/
+uint32_t osMessageAvailableSpace(osMessageQId queue_id)  
+{
+  return uxQueueSpacesAvailable(queue_id);
+}
+
+/**
+* @brief Delete a Message Queue
+* @param  queue_id  message queue ID obtained with \ref osMessageCreate.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osMessageDelete (osMessageQId queue_id)
+{
+  if (inHandlerMode()) {
+    return osErrorISR;
+  }
+
+  vQueueDelete(queue_id);
+
+  return osOK; 
+}
+
+/**
+* @brief  Create and Initialize a Recursive Mutex
+* @param  mutex_def     mutex definition referenced with \ref osMutex.
+* @retval  mutex ID for reference by other functions or NULL in case of error..
+*/
+osMutexId osRecursiveMutexCreate (const osMutexDef_t *mutex_def)
+{
+#if (configUSE_RECURSIVE_MUTEXES == 1)
+#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+
+  if (mutex_def->controlblock != NULL){
+    return xSemaphoreCreateRecursiveMutexStatic( mutex_def->controlblock );
+  }
+  else {
+    return xSemaphoreCreateRecursiveMutex();
+  }
+#elif ( configSUPPORT_STATIC_ALLOCATION == 1 )
+  return xSemaphoreCreateRecursiveMutexStatic( mutex_def->controlblock );
+#else 
+  return xSemaphoreCreateRecursiveMutex();
+#endif
+#else
+  return NULL;
+#endif	
+}
+
+/**
+* @brief  Release a Recursive Mutex
+* @param   mutex_id      mutex ID obtained by \ref osRecursiveMutexCreate.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osRecursiveMutexRelease (osMutexId mutex_id)
+{
+#if (configUSE_RECURSIVE_MUTEXES == 1)
+  osStatus result = osOK;
+ 
+  if (xSemaphoreGiveRecursive(mutex_id) != pdTRUE) 
+  {
+    result = osErrorOS;
+  }
+  return result;
+#else
+	return osErrorResource;
+#endif
+}
+
+/**
+* @brief  Release a Recursive Mutex
+* @param   mutex_id    mutex ID obtained by \ref osRecursiveMutexCreate.
+* @param millisec      timeout value or 0 in case of no time-out.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osRecursiveMutexWait (osMutexId mutex_id, uint32_t millisec)
+{
+#if (configUSE_RECURSIVE_MUTEXES == 1)
+  TickType_t ticks;
+  
+  if (mutex_id == NULL)
+  {
+    return osErrorParameter;
+  }
+  
+  ticks = 0;
+  if (millisec == osWaitForever) 
+  {
+    ticks = portMAX_DELAY;
+  }
+  else if (millisec != 0) 
+  {
+    ticks = millisec / portTICK_PERIOD_MS;
+    if (ticks == 0) 
+    {
+      ticks = 1;
+    }
+  }
+  
+  if (xSemaphoreTakeRecursive(mutex_id, ticks) != pdTRUE) 
+  {
+    return osErrorOS;
+  }
+  return osOK;
+#else
+	return osErrorResource;
+#endif
+}
+
+/**
+* @brief  Returns the current count value of a counting semaphore
+* @param  semaphore_id  semaphore_id ID obtained by \ref osSemaphoreCreate.
+* @retval  count value
+*/
+uint32_t osSemaphoreGetCount(osSemaphoreId semaphore_id)
+{
+  return uxSemaphoreGetCount(semaphore_id);
+}
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h
new file mode 100644
index 0000000..f53a132
--- /dev/null
+++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h
@@ -0,0 +1,1026 @@
+/* ----------------------------------------------------------------------
+ * $Date:        5. February 2013
+ * $Revision:    V1.02
+ *
+ * Project:      CMSIS-RTOS API
+ * Title:        cmsis_os.h header file
+ *
+ * Version 0.02
+ *    Initial Proposal Phase
+ * Version 0.03
+ *    osKernelStart added, optional feature: main started as thread
+ *    osSemaphores have standard behavior
+ *    osTimerCreate does not start the timer, added osTimerStart
+ *    osThreadPass is renamed to osThreadYield
+ * Version 1.01
+ *    Support for C++ interface
+ *     - const attribute removed from the osXxxxDef_t typedef's
+ *     - const attribute added to the osXxxxDef macros
+ *    Added: osTimerDelete, osMutexDelete, osSemaphoreDelete
+ *    Added: osKernelInitialize
+ * Version 1.02
+ *    Control functions for short timeouts in microsecond resolution:
+ *    Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec
+ *    Removed: osSignalGet 
+ *    
+ *  
+ *----------------------------------------------------------------------------
+ *
+ * Portions Copyright � 2016 STMicroelectronics International N.V. All rights reserved.
+ * Portions Copyright (c) 2013 ARM LIMITED
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *  - Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  - Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *  - Neither the name of ARM  nor the names of its contributors may be used
+ *    to endorse or promote products derived from this software without
+ *    specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "timers.h"
+#include "queue.h"
+#include "semphr.h"
+#include "event_groups.h"
+
+/**
+\page cmsis_os_h Header File Template: cmsis_os.h
+
+The file \b cmsis_os.h is a template header file for a CMSIS-RTOS compliant Real-Time Operating System (RTOS).
+Each RTOS that is compliant with CMSIS-RTOS shall provide a specific \b cmsis_os.h header file that represents
+its implementation.
+
+The file cmsis_os.h contains:
+ - CMSIS-RTOS API function definitions
+ - struct definitions for parameters and return types
+ - status and priority values used by CMSIS-RTOS API functions
+ - macros for defining threads and other kernel objects
+
+
+<b>Name conventions and header file modifications</b>
+
+All definitions are prefixed with \b os to give an unique name space for CMSIS-RTOS functions.
+Definitions that are prefixed \b os_ are not used in the application code but local to this header file.
+All definitions and functions that belong to a module are grouped and have a common prefix, i.e. \b osThread.
+
+Definitions that are marked with <b>CAN BE CHANGED</b> can be adapted towards the needs of the actual CMSIS-RTOS implementation.
+These definitions can be specific to the underlying RTOS kernel.
+
+Definitions that are marked with <b>MUST REMAIN UNCHANGED</b> cannot be altered. Otherwise the CMSIS-RTOS implementation is no longer
+compliant to the standard. Note that some functions are optional and need not to be provided by every CMSIS-RTOS implementation.
+
+
+<b>Function calls from interrupt service routines</b>
+
+The following CMSIS-RTOS functions can be called from threads and interrupt service routines (ISR):
+  - \ref osSignalSet
+  - \ref osSemaphoreRelease
+  - \ref osPoolAlloc, \ref osPoolCAlloc, \ref osPoolFree
+  - \ref osMessagePut, \ref osMessageGet
+  - \ref osMailAlloc, \ref osMailCAlloc, \ref osMailGet, \ref osMailPut, \ref osMailFree
+
+Functions that cannot be called from an ISR are verifying the interrupt status and return in case that they are called
+from an ISR context the status code \b osErrorISR. In some implementations this condition might be caught using the HARD FAULT vector.
+
+Some CMSIS-RTOS implementations support CMSIS-RTOS function calls from multiple ISR at the same time.
+If this is impossible, the CMSIS-RTOS rejects calls by nested ISR functions with the status code \b osErrorISRRecursive.
+
+
+<b>Define and reference object definitions</b>
+
+With <b>\#define osObjectsExternal</b> objects are defined as external symbols. This allows to create a consistent header file
+that is used throughout a project as shown below:
+
+<i>Header File</i>
+\code
+#include <cmsis_os.h>                                         // CMSIS RTOS header file
+
+// Thread definition
+extern void thread_sample (void const *argument);             // function prototype
+osThreadDef (thread_sample, osPriorityBelowNormal, 1, 100);
+
+// Pool definition
+osPoolDef(MyPool, 10, long);
+\endcode
+
+
+This header file defines all objects when included in a C/C++ source file. When <b>\#define osObjectsExternal</b> is
+present before the header file, the objects are defined as external symbols. A single consistent header file can therefore be
+used throughout the whole project.
+
+<i>Example</i>
+\code
+#include "osObjects.h"     // Definition of the CMSIS-RTOS objects
+\endcode
+
+\code
+#define osObjectExternal   // Objects will be defined as external symbols
+#include "osObjects.h"     // Reference to the CMSIS-RTOS objects
+\endcode
+
+*/
+
+#ifndef _CMSIS_OS_H
+#define _CMSIS_OS_H
+
+/// \note MUST REMAIN UNCHANGED: \b osCMSIS identifies the CMSIS-RTOS API version.
+#define osCMSIS           0x10002      ///< API version (main [31:16] .sub [15:0])
+
+/// \note CAN BE CHANGED: \b osCMSIS_KERNEL identifies the underlying RTOS kernel and version number.
+#define osCMSIS_KERNEL    0x10000	   ///< RTOS identification and version (main [31:16] .sub [15:0])
+
+/// \note MUST REMAIN UNCHANGED: \b osKernelSystemId shall be consistent in every CMSIS-RTOS.
+#define osKernelSystemId "KERNEL V1.00"   ///< RTOS identification string
+
+/// \note MUST REMAIN UNCHANGED: \b osFeature_xxx shall be consistent in every CMSIS-RTOS.
+#define osFeature_MainThread   1       ///< main thread      1=main can be thread, 0=not available
+#define osFeature_Pool         1       ///< Memory Pools:    1=available, 0=not available
+#define osFeature_MailQ        1       ///< Mail Queues:     1=available, 0=not available
+#define osFeature_MessageQ     1       ///< Message Queues:  1=available, 0=not available
+#define osFeature_Signals      8       ///< maximum number of Signal Flags available per thread
+#define osFeature_Semaphore    1      ///< osFeature_Semaphore function: 1=available, 0=not available
+#define osFeature_Wait         0       ///< osWait function: 1=available, 0=not available
+#define osFeature_SysTick      1       ///< osKernelSysTick functions: 1=available, 0=not available
+
+#ifdef  __cplusplus
+extern "C"
+{
+#endif
+
+
+// ==== Enumeration, structures, defines ====
+
+/// Priority used for thread control.
+/// \note MUST REMAIN UNCHANGED: \b osPriority shall be consistent in every CMSIS-RTOS.
+typedef enum  {
+  osPriorityIdle          = -3,          ///< priority: idle (lowest)
+  osPriorityLow           = -2,          ///< priority: low
+  osPriorityBelowNormal   = -1,          ///< priority: below normal
+  osPriorityNormal        =  0,          ///< priority: normal (default)
+  osPriorityAboveNormal   = +1,          ///< priority: above normal
+  osPriorityHigh          = +2,          ///< priority: high
+  osPriorityRealtime      = +3,          ///< priority: realtime (highest)
+  osPriorityError         =  0x84        ///< system cannot determine priority or thread has illegal priority
+} osPriority;
+
+/// Timeout value.
+/// \note MUST REMAIN UNCHANGED: \b osWaitForever shall be consistent in every CMSIS-RTOS.
+#define osWaitForever     0xFFFFFFFF     ///< wait forever timeout value
+
+/// Status code values returned by CMSIS-RTOS functions.
+/// \note MUST REMAIN UNCHANGED: \b osStatus shall be consistent in every CMSIS-RTOS.
+typedef enum  {
+  osOK                    =     0,       ///< function completed; no error or event occurred.
+  osEventSignal           =  0x08,       ///< function completed; signal event occurred.
+  osEventMessage          =  0x10,       ///< function completed; message event occurred.
+  osEventMail             =  0x20,       ///< function completed; mail event occurred.
+  osEventTimeout          =  0x40,       ///< function completed; timeout occurred.
+  osErrorParameter        =  0x80,       ///< parameter error: a mandatory parameter was missing or specified an incorrect object.
+  osErrorResource         =  0x81,       ///< resource not available: a specified resource was not available.
+  osErrorTimeoutResource  =  0xC1,       ///< resource not available within given time: a specified resource was not available within the timeout period.
+  osErrorISR              =  0x82,       ///< not allowed in ISR context: the function cannot be called from interrupt service routines.
+  osErrorISRRecursive     =  0x83,       ///< function called multiple times from ISR with same object.
+  osErrorPriority         =  0x84,       ///< system cannot determine priority or thread has illegal priority.
+  osErrorNoMemory         =  0x85,       ///< system is out of memory: it was impossible to allocate or reserve memory for the operation.
+  osErrorValue            =  0x86,       ///< value of a parameter is out of range.
+  osErrorOS               =  0xFF,       ///< unspecified RTOS error: run-time error but no other error message fits.
+  os_status_reserved      =  0x7FFFFFFF  ///< prevent from enum down-size compiler optimization.
+} osStatus;
+
+#if ( INCLUDE_eTaskGetState == 1 )
+/* Thread state returned by osThreadGetState */
+typedef enum {
+	osThreadRunning   = 0x0,	      /* A thread is querying the state of itself, so must be running. */
+	osThreadReady     = 0x1 ,			        /* The thread being queried is in a read or pending ready list. */
+	osThreadBlocked   = 0x2,		        /* The thread being queried is in the Blocked state. */
+	osThreadSuspended = 0x3,	      /* The thread being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */
+	osThreadDeleted   = 0x4,		          /* The thread being queried has been deleted, but its TCB has not yet been freed. */   
+  osThreadError     = 0x7FFFFFFF
+} osThreadState;
+#endif /* INCLUDE_eTaskGetState */
+
+/// Timer type value for the timer definition.
+/// \note MUST REMAIN UNCHANGED: \b os_timer_type shall be consistent in every CMSIS-RTOS.
+typedef enum  {
+  osTimerOnce             =     0,       ///< one-shot timer
+  osTimerPeriodic         =     1        ///< repeating timer
+} os_timer_type;
+
+/// Entry point of a thread.
+/// \note MUST REMAIN UNCHANGED: \b os_pthread shall be consistent in every CMSIS-RTOS.
+typedef void (*os_pthread) (void const *argument);
+
+/// Entry point of a timer call back function.
+/// \note MUST REMAIN UNCHANGED: \b os_ptimer shall be consistent in every CMSIS-RTOS.
+typedef void (*os_ptimer) (void const *argument);
+
+// >>> the following data type definitions may shall adapted towards a specific RTOS
+
+/// Thread ID identifies the thread (pointer to a thread control block).
+/// \note CAN BE CHANGED: \b os_thread_cb is implementation specific in every CMSIS-RTOS.
+typedef TaskHandle_t osThreadId;
+
+/// Timer ID identifies the timer (pointer to a timer control block).
+/// \note CAN BE CHANGED: \b os_timer_cb is implementation specific in every CMSIS-RTOS.
+typedef TimerHandle_t osTimerId;
+
+/// Mutex ID identifies the mutex (pointer to a mutex control block).
+/// \note CAN BE CHANGED: \b os_mutex_cb is implementation specific in every CMSIS-RTOS.
+typedef SemaphoreHandle_t osMutexId;
+
+/// Semaphore ID identifies the semaphore (pointer to a semaphore control block).
+/// \note CAN BE CHANGED: \b os_semaphore_cb is implementation specific in every CMSIS-RTOS.
+typedef SemaphoreHandle_t osSemaphoreId;
+
+/// Pool ID identifies the memory pool (pointer to a memory pool control block).
+/// \note CAN BE CHANGED: \b os_pool_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_pool_cb *osPoolId;
+
+/// Message ID identifies the message queue (pointer to a message queue control block).
+/// \note CAN BE CHANGED: \b os_messageQ_cb is implementation specific in every CMSIS-RTOS.
+typedef QueueHandle_t osMessageQId;
+
+/// Mail ID identifies the mail queue (pointer to a mail queue control block).
+/// \note CAN BE CHANGED: \b os_mailQ_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_mailQ_cb *osMailQId;
+
+
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+typedef StaticTask_t               osStaticThreadDef_t;
+typedef StaticTimer_t              osStaticTimerDef_t;
+typedef StaticSemaphore_t          osStaticMutexDef_t;         
+typedef StaticSemaphore_t          osStaticSemaphoreDef_t;
+typedef StaticQueue_t              osStaticMessageQDef_t;
+
+#endif
+
+
+
+
+/// Thread Definition structure contains startup information of a thread.
+/// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_thread_def  {
+  char                   *name;        ///< Thread name 
+  os_pthread             pthread;      ///< start address of thread function
+  osPriority             tpriority;    ///< initial thread priority
+  uint32_t               instances;    ///< maximum number of instances of that thread function
+  uint32_t               stacksize;    ///< stack size requirements in bytes; 0 is default stack size
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+  uint32_t               *buffer;      ///< stack buffer for static allocation; NULL for dynamic allocation
+  osStaticThreadDef_t    *controlblock;     ///< control block to hold thread's data for static allocation; NULL for dynamic allocation
+#endif
+} osThreadDef_t;
+
+/// Timer Definition structure contains timer parameters.
+/// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_timer_def  {
+  os_ptimer                 ptimer;    ///< start address of a timer function
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+  osStaticTimerDef_t        *controlblock;      ///< control block to hold timer's data for static allocation; NULL for dynamic allocation
+#endif
+} osTimerDef_t;
+
+/// Mutex Definition structure contains setup information for a mutex.
+/// \note CAN BE CHANGED: \b os_mutex_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_mutex_def  {
+  uint32_t                   dummy;    ///< dummy value.
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+  osStaticMutexDef_t         *controlblock;      ///< control block for static allocation; NULL for dynamic allocation
+#endif
+} osMutexDef_t;
+
+/// Semaphore Definition structure contains setup information for a semaphore.
+/// \note CAN BE CHANGED: \b os_semaphore_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_semaphore_def  {
+  uint32_t                   dummy;    ///< dummy value.
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+  osStaticSemaphoreDef_t     *controlblock;      ///< control block for static allocation; NULL for dynamic allocation
+#endif
+} osSemaphoreDef_t;
+
+/// Definition structure for memory block allocation.
+/// \note CAN BE CHANGED: \b os_pool_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_pool_def  {
+  uint32_t                 pool_sz;    ///< number of items (elements) in the pool
+  uint32_t                 item_sz;    ///< size of an item
+  void                       *pool;    ///< pointer to memory for pool
+} osPoolDef_t;
+
+/// Definition structure for message queue.
+/// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_messageQ_def  {
+  uint32_t                queue_sz;    ///< number of elements in the queue
+  uint32_t                item_sz;    ///< size of an item
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+  uint8_t                 *buffer;      ///< buffer for static allocation; NULL for dynamic allocation
+  osStaticMessageQDef_t   *controlblock;     ///< control block to hold queue's data for static allocation; NULL for dynamic allocation
+#endif
+  //void                       *pool;    ///< memory array for messages
+} osMessageQDef_t;
+
+/// Definition structure for mail queue.
+/// \note CAN BE CHANGED: \b os_mailQ_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_mailQ_def  {
+  uint32_t                queue_sz;    ///< number of elements in the queue
+  uint32_t                 item_sz;    ///< size of an item
+  struct os_mailQ_cb **cb;
+} osMailQDef_t;
+
+/// Event structure contains detailed information about an event.
+/// \note MUST REMAIN UNCHANGED: \b os_event shall be consistent in every CMSIS-RTOS.
+///       However the struct may be extended at the end.
+typedef struct  {
+  osStatus                 status;     ///< status code: event or error information
+  union  {
+    uint32_t                    v;     ///< message as 32-bit value
+    void                       *p;     ///< message or mail as void pointer
+    int32_t               signals;     ///< signal flags
+  } value;                             ///< event value
+  union  {
+    osMailQId             mail_id;     ///< mail id obtained by \ref osMailCreate
+    osMessageQId       message_id;     ///< message id obtained by \ref osMessageCreate
+  } def;                               ///< event definition
+} osEvent;
+
+
+//  ==== Kernel Control Functions ====
+
+/// Initialize the RTOS Kernel for creating objects.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osKernelInitialize shall be consistent in every CMSIS-RTOS.
+osStatus osKernelInitialize (void);
+
+/// Start the RTOS Kernel.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osKernelStart shall be consistent in every CMSIS-RTOS.
+osStatus osKernelStart (void);
+
+/// Check if the RTOS kernel is already started.
+/// \note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS.
+/// \return 0 RTOS is not started, 1 RTOS is started.
+int32_t osKernelRunning(void);
+
+#if (defined (osFeature_SysTick)  &&  (osFeature_SysTick != 0))     // System Timer available
+
+/// Get the RTOS kernel system timer counter 
+/// \note MUST REMAIN UNCHANGED: \b osKernelSysTick shall be consistent in every CMSIS-RTOS.
+/// \return RTOS kernel system timer as 32-bit value 
+uint32_t osKernelSysTick (void);
+
+/// The RTOS kernel system timer frequency in Hz
+/// \note Reflects the system timer setting and is typically defined in a configuration file.
+#define osKernelSysTickFrequency      (configTICK_RATE_HZ)
+
+/// Convert a microseconds value to a RTOS kernel system timer value.
+/// \param         microsec     time value in microseconds.
+/// \return time value normalized to the \ref osKernelSysTickFrequency
+#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000)
+
+#endif    // System Timer available
+
+//  ==== Thread Management ====
+
+/// Create a Thread Definition with function, priority, and stack requirements.
+/// \param         name         name of the thread function.
+/// \param         priority     initial priority of the thread function.
+/// \param         instances    number of possible thread instances.
+/// \param         stacksz      stack size (in bytes) requirements for the thread function.
+/// \note CAN BE CHANGED: The parameters to \b osThreadDef shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osThreadDef(name, thread, priority, instances, stacksz)  \
+extern const osThreadDef_t os_thread_def_##name
+#else                            // define the object
+
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+#define osThreadDef(name, thread, priority, instances, stacksz)  \
+const osThreadDef_t os_thread_def_##name = \
+{ #name, (thread), (priority), (instances), (stacksz), NULL, NULL }
+
+#define osThreadStaticDef(name, thread, priority, instances, stacksz, buffer, control)  \
+const osThreadDef_t os_thread_def_##name = \
+{ #name, (thread), (priority), (instances), (stacksz), (buffer), (control) }
+#else //configSUPPORT_STATIC_ALLOCATION == 0
+
+#define osThreadDef(name, thread, priority, instances, stacksz)  \
+const osThreadDef_t os_thread_def_##name = \
+{ #name, (thread), (priority), (instances), (stacksz)}
+#endif
+#endif
+
+/// Access a Thread definition.
+/// \param         name          name of the thread definition object.
+/// \note CAN BE CHANGED: The parameter to \b osThread shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osThread(name)  \
+&os_thread_def_##name
+
+/// Create a thread and add it to Active Threads and set it to state READY.
+/// \param[in]     thread_def    thread definition referenced with \ref osThread.
+/// \param[in]     argument      pointer that is passed to the thread function as start argument.
+/// \return thread ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
+osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument);
+
+/// Return the thread ID of the current running thread.
+/// \return thread ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osThreadGetId shall be consistent in every CMSIS-RTOS.
+osThreadId osThreadGetId (void);
+
+/// Terminate execution of a thread and remove it from Active Threads.
+/// \param[in]     thread_id   thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS.
+osStatus osThreadTerminate (osThreadId thread_id);
+
+/// Pass control to next thread that is in state \b READY.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osThreadYield shall be consistent in every CMSIS-RTOS.
+osStatus osThreadYield (void);
+
+/// Change priority of an active thread.
+/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \param[in]     priority      new priority value for the thread function.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS.
+osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority);
+
+/// Get current priority of an active thread.
+/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \return current priority value of the thread function.
+/// \note MUST REMAIN UNCHANGED: \b osThreadGetPriority shall be consistent in every CMSIS-RTOS.
+osPriority osThreadGetPriority (osThreadId thread_id);
+
+
+//  ==== Generic Wait Functions ====
+
+/// Wait for Timeout (Time Delay).
+/// \param[in]     millisec      time delay value
+/// \return status code that indicates the execution status of the function.
+osStatus osDelay (uint32_t millisec);
+
+#if (defined (osFeature_Wait)  &&  (osFeature_Wait != 0))     // Generic Wait available
+
+/// Wait for Signal, Message, Mail, or Timeout.
+/// \param[in] millisec          timeout value or 0 in case of no time-out
+/// \return event that contains signal, message, or mail information or error code.
+/// \note MUST REMAIN UNCHANGED: \b osWait shall be consistent in every CMSIS-RTOS.
+osEvent osWait (uint32_t millisec);
+
+#endif  // Generic Wait available
+
+
+//  ==== Timer Management Functions ====
+/// Define a Timer object.
+/// \param         name          name of the timer object.
+/// \param         function      name of the timer call back function.
+/// \note CAN BE CHANGED: The parameter to \b osTimerDef shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osTimerDef(name, function)  \
+extern const osTimerDef_t os_timer_def_##name
+#else                            // define the object
+
+#if( configSUPPORT_STATIC_ALLOCATION == 1 ) 
+#define osTimerDef(name, function)  \
+const osTimerDef_t os_timer_def_##name = \
+{ (function), NULL }
+
+#define osTimerStaticDef(name, function, control)  \
+const osTimerDef_t os_timer_def_##name = \
+{ (function), (control) }
+#else //configSUPPORT_STATIC_ALLOCATION == 0
+#define osTimerDef(name, function)  \
+const osTimerDef_t os_timer_def_##name = \
+{ (function) }
+#endif
+#endif
+
+/// Access a Timer definition.
+/// \param         name          name of the timer object.
+/// \note CAN BE CHANGED: The parameter to \b osTimer shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osTimer(name) \
+&os_timer_def_##name
+
+/// Create a timer.
+/// \param[in]     timer_def     timer object referenced with \ref osTimer.
+/// \param[in]     type          osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
+/// \param[in]     argument      argument to the timer call back function.
+/// \return timer ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osTimerCreate shall be consistent in every CMSIS-RTOS.
+osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument);
+
+/// Start or restart a timer.
+/// \param[in]     timer_id      timer ID obtained by \ref osTimerCreate.
+/// \param[in]     millisec      time delay value of the timer.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osTimerStart shall be consistent in every CMSIS-RTOS.
+osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);
+
+/// Stop the timer.
+/// \param[in]     timer_id      timer ID obtained by \ref osTimerCreate.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osTimerStop shall be consistent in every CMSIS-RTOS.
+osStatus osTimerStop (osTimerId timer_id);
+
+/// Delete a timer that was created by \ref osTimerCreate.
+/// \param[in]     timer_id      timer ID obtained by \ref osTimerCreate.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osTimerDelete shall be consistent in every CMSIS-RTOS.
+osStatus osTimerDelete (osTimerId timer_id);
+
+
+//  ==== Signal Management ====
+
+/// Set the specified Signal Flags of an active thread.
+/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \param[in]     signals       specifies the signal flags of the thread that should be set.
+/// \return osOK if successful, osErrorOS if failed.
+/// \note MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS.
+int32_t osSignalSet (osThreadId thread_id, int32_t signals);
+
+/// Clear the specified Signal Flags of an active thread.
+/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \param[in]     signals       specifies the signal flags of the thread that shall be cleared.
+/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
+/// \note MUST REMAIN UNCHANGED: \b osSignalClear shall be consistent in every CMSIS-RTOS.
+int32_t osSignalClear (osThreadId thread_id, int32_t signals);
+
+/// Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread.
+/// \param[in]     signals       wait until all specified signal flags set or 0 for any single signal flag.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out.
+/// \return event flag information or error code.
+/// \note MUST REMAIN UNCHANGED: \b osSignalWait shall be consistent in every CMSIS-RTOS.
+osEvent osSignalWait (int32_t signals, uint32_t millisec);
+
+
+//  ==== Mutex Management ====
+
+/// Define a Mutex.
+/// \param         name          name of the mutex object.
+/// \note CAN BE CHANGED: The parameter to \b osMutexDef shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osMutexDef(name)  \
+extern const osMutexDef_t os_mutex_def_##name
+#else                            // define the object
+
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+#define osMutexDef(name)  \
+const osMutexDef_t os_mutex_def_##name = { 0, NULL }
+
+#define osMutexStaticDef(name, control)  \
+const osMutexDef_t os_mutex_def_##name = { 0, (control) }
+#else //configSUPPORT_STATIC_ALLOCATION == 0
+#define osMutexDef(name)  \
+const osMutexDef_t os_mutex_def_##name = { 0 }
+
+#endif
+
+#endif
+
+/// Access a Mutex definition.
+/// \param         name          name of the mutex object.
+/// \note CAN BE CHANGED: The parameter to \b osMutex shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osMutex(name)  \
+&os_mutex_def_##name
+
+/// Create and Initialize a Mutex object.
+/// \param[in]     mutex_def     mutex definition referenced with \ref osMutex.
+/// \return mutex ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS.
+osMutexId osMutexCreate (const osMutexDef_t *mutex_def);
+
+/// Wait until a Mutex becomes available.
+/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexCreate.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMutexWait shall be consistent in every CMSIS-RTOS.
+osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
+
+/// Release a Mutex that was obtained by \ref osMutexWait.
+/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexCreate.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMutexRelease shall be consistent in every CMSIS-RTOS.
+osStatus osMutexRelease (osMutexId mutex_id);
+
+/// Delete a Mutex that was created by \ref osMutexCreate.
+/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexCreate.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMutexDelete shall be consistent in every CMSIS-RTOS.
+osStatus osMutexDelete (osMutexId mutex_id);
+
+
+//  ==== Semaphore Management Functions ====
+
+#if (defined (osFeature_Semaphore)  &&  (osFeature_Semaphore != 0))     // Semaphore available
+
+/// Define a Semaphore object.
+/// \param         name          name of the semaphore object.
+/// \note CAN BE CHANGED: The parameter to \b osSemaphoreDef shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osSemaphoreDef(name)  \
+extern const osSemaphoreDef_t os_semaphore_def_##name
+#else                            // define the object
+
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+#define osSemaphoreDef(name)  \
+const osSemaphoreDef_t os_semaphore_def_##name = { 0, NULL }
+
+#define osSemaphoreStaticDef(name, control)  \
+const osSemaphoreDef_t os_semaphore_def_##name = { 0, (control) }
+
+#else //configSUPPORT_STATIC_ALLOCATION == 0
+#define osSemaphoreDef(name)  \
+const osSemaphoreDef_t os_semaphore_def_##name = { 0 }
+#endif
+#endif
+
+/// Access a Semaphore definition.
+/// \param         name          name of the semaphore object.
+/// \note CAN BE CHANGED: The parameter to \b osSemaphore shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osSemaphore(name)  \
+&os_semaphore_def_##name
+
+/// Create and Initialize a Semaphore object used for managing resources.
+/// \param[in]     semaphore_def semaphore definition referenced with \ref osSemaphore.
+/// \param[in]     count         number of available resources.
+/// \return semaphore ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osSemaphoreCreate shall be consistent in every CMSIS-RTOS.
+osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count);
+
+/// Wait until a Semaphore token becomes available.
+/// \param[in]     semaphore_id  semaphore object referenced with \ref osSemaphoreCreate.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out.
+/// \return number of available tokens, or -1 in case of incorrect parameters.
+/// \note MUST REMAIN UNCHANGED: \b osSemaphoreWait shall be consistent in every CMSIS-RTOS.
+int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);
+
+/// Release a Semaphore token.
+/// \param[in]     semaphore_id  semaphore object referenced with \ref osSemaphoreCreate.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osSemaphoreRelease shall be consistent in every CMSIS-RTOS.
+osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
+
+/// Delete a Semaphore that was created by \ref osSemaphoreCreate.
+/// \param[in]     semaphore_id  semaphore object referenced with \ref osSemaphoreCreate.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osSemaphoreDelete shall be consistent in every CMSIS-RTOS.
+osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);
+
+#endif     // Semaphore available
+
+
+//  ==== Memory Pool Management Functions ====
+
+#if (defined (osFeature_Pool)  &&  (osFeature_Pool != 0))  // Memory Pool Management available
+
+/// \brief Define a Memory Pool.
+/// \param         name          name of the memory pool.
+/// \param         no            maximum number of blocks (objects) in the memory pool.
+/// \param         type          data type of a single block (object).
+/// \note CAN BE CHANGED: The parameter to \b osPoolDef shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osPoolDef(name, no, type)   \
+extern const osPoolDef_t os_pool_def_##name
+#else                            // define the object
+#define osPoolDef(name, no, type)   \
+const osPoolDef_t os_pool_def_##name = \
+{ (no), sizeof(type), NULL }
+#endif
+
+/// \brief Access a Memory Pool definition.
+/// \param         name          name of the memory pool
+/// \note CAN BE CHANGED: The parameter to \b osPool shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osPool(name) \
+&os_pool_def_##name
+
+/// Create and Initialize a memory pool.
+/// \param[in]     pool_def      memory pool definition referenced with \ref osPool.
+/// \return memory pool ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS.
+osPoolId osPoolCreate (const osPoolDef_t *pool_def);
+
+/// Allocate a memory block from a memory pool.
+/// \param[in]     pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
+/// \return address of the allocated memory block or NULL in case of no memory available.
+/// \note MUST REMAIN UNCHANGED: \b osPoolAlloc shall be consistent in every CMSIS-RTOS.
+void *osPoolAlloc (osPoolId pool_id);
+
+/// Allocate a memory block from a memory pool and set memory block to zero.
+/// \param[in]     pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
+/// \return address of the allocated memory block or NULL in case of no memory available.
+/// \note MUST REMAIN UNCHANGED: \b osPoolCAlloc shall be consistent in every CMSIS-RTOS.
+void *osPoolCAlloc (osPoolId pool_id);
+
+/// Return an allocated memory block back to a specific memory pool.
+/// \param[in]     pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
+/// \param[in]     block         address of the allocated memory block that is returned to the memory pool.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osPoolFree shall be consistent in every CMSIS-RTOS.
+osStatus osPoolFree (osPoolId pool_id, void *block);
+
+#endif   // Memory Pool Management available
+
+
+//  ==== Message Queue Management Functions ====
+
+#if (defined (osFeature_MessageQ)  &&  (osFeature_MessageQ != 0))     // Message Queues available
+
+/// \brief Create a Message Queue Definition.
+/// \param         name          name of the queue.
+/// \param         queue_sz      maximum number of messages in the queue.
+/// \param         type          data type of a single message element (for debugger).
+/// \note CAN BE CHANGED: The parameter to \b osMessageQDef shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osMessageQDef(name, queue_sz, type)   \
+extern const osMessageQDef_t os_messageQ_def_##name
+#else                            // define the object
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+#define osMessageQDef(name, queue_sz, type)   \
+const osMessageQDef_t os_messageQ_def_##name = \
+{ (queue_sz), sizeof (type), NULL, NULL  }
+
+#define osMessageQStaticDef(name, queue_sz, type, buffer, control)   \
+const osMessageQDef_t os_messageQ_def_##name = \
+{ (queue_sz), sizeof (type) , (buffer), (control)}
+#else //configSUPPORT_STATIC_ALLOCATION == 1
+#define osMessageQDef(name, queue_sz, type)   \
+const osMessageQDef_t os_messageQ_def_##name = \
+{ (queue_sz), sizeof (type) }
+
+#endif
+#endif
+
+/// \brief Access a Message Queue Definition.
+/// \param         name          name of the queue
+/// \note CAN BE CHANGED: The parameter to \b osMessageQ shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osMessageQ(name) \
+&os_messageQ_def_##name
+
+/// Create and Initialize a Message Queue.
+/// \param[in]     queue_def     queue definition referenced with \ref osMessageQ.
+/// \param[in]     thread_id     thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
+/// \return message queue ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS.
+osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id);
+
+/// Put a Message to a Queue.
+/// \param[in]     queue_id      message queue ID obtained with \ref osMessageCreate.
+/// \param[in]     info          message information.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMessagePut shall be consistent in every CMSIS-RTOS.
+osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
+
+/// Get a Message or Wait for a Message from a Queue.
+/// \param[in]     queue_id      message queue ID obtained with \ref osMessageCreate.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out.
+/// \return event information that includes status code.
+/// \note MUST REMAIN UNCHANGED: \b osMessageGet shall be consistent in every CMSIS-RTOS.
+osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec);
+
+#endif     // Message Queues available
+
+
+//  ==== Mail Queue Management Functions ====
+
+#if (defined (osFeature_MailQ)  &&  (osFeature_MailQ != 0))     // Mail Queues available
+
+/// \brief Create a Mail Queue Definition.
+/// \param         name          name of the queue
+/// \param         queue_sz      maximum number of messages in queue
+/// \param         type          data type of a single message element
+/// \note CAN BE CHANGED: The parameter to \b osMailQDef shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osMailQDef(name, queue_sz, type) \
+extern struct os_mailQ_cb *os_mailQ_cb_##name \
+extern osMailQDef_t os_mailQ_def_##name
+#else                            // define the object
+#define osMailQDef(name, queue_sz, type) \
+struct os_mailQ_cb *os_mailQ_cb_##name; \
+const osMailQDef_t os_mailQ_def_##name =  \
+{ (queue_sz), sizeof (type), (&os_mailQ_cb_##name) }
+#endif
+
+/// \brief Access a Mail Queue Definition.
+/// \param         name          name of the queue
+/// \note CAN BE CHANGED: The parameter to \b osMailQ shall be consistent but the
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osMailQ(name)  \
+&os_mailQ_def_##name
+
+/// Create and Initialize mail queue.
+/// \param[in]     queue_def     reference to the mail queue definition obtain with \ref osMailQ
+/// \param[in]     thread_id     thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
+/// \return mail queue ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS.
+osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id);
+
+/// Allocate a memory block from a mail.
+/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out
+/// \return pointer to memory block that can be filled with mail or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osMailAlloc shall be consistent in every CMSIS-RTOS.
+void *osMailAlloc (osMailQId queue_id, uint32_t millisec);
+
+/// Allocate a memory block from a mail and set memory block to zero.
+/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out
+/// \return pointer to memory block that can be filled with mail or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osMailCAlloc shall be consistent in every CMSIS-RTOS.
+void *osMailCAlloc (osMailQId queue_id, uint32_t millisec);
+
+/// Put a mail to a queue.
+/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
+/// \param[in]     mail          memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMailPut shall be consistent in every CMSIS-RTOS.
+osStatus osMailPut (osMailQId queue_id, void *mail);
+
+/// Get a mail from a queue.
+/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out
+/// \return event that contains mail information or error code.
+/// \note MUST REMAIN UNCHANGED: \b osMailGet shall be consistent in every CMSIS-RTOS.
+osEvent osMailGet (osMailQId queue_id, uint32_t millisec);
+
+/// Free a memory block from a mail.
+/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
+/// \param[in]     mail          pointer to the memory block that was obtained with \ref osMailGet.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMailFree shall be consistent in every CMSIS-RTOS.
+osStatus osMailFree (osMailQId queue_id, void *mail);
+
+#endif  // Mail Queues available
+
+/*************************** Additional specific APIs to Free RTOS ************/
+/**
+* @brief  Handles the tick increment
+* @param  none.
+* @retval none.
+*/
+void osSystickHandler(void);
+
+#if ( INCLUDE_eTaskGetState == 1 )
+/**
+* @brief  Obtain the state of any thread.
+* @param   thread_id   thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+* @retval  the stae of the thread, states are encoded by the osThreadState enumerated type.
+*/
+osThreadState osThreadGetState(osThreadId thread_id);
+#endif /* INCLUDE_eTaskGetState */
+
+#if ( INCLUDE_eTaskGetState == 1 )
+/**
+* @brief Check if a thread is already suspended or not.
+* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+* @retval status code that indicates the execution status of the function.
+*/
+
+osStatus osThreadIsSuspended(osThreadId thread_id);
+
+#endif /* INCLUDE_eTaskGetState */
+
+/**
+* @brief  Suspend execution of a thread.
+* @param   thread_id   thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osThreadSuspend (osThreadId thread_id);
+
+/**
+* @brief  Resume execution of a suspended thread.
+* @param   thread_id   thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osThreadResume (osThreadId thread_id);
+
+/**
+* @brief  Suspend execution of a all active threads.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osThreadSuspendAll (void);
+
+/**
+* @brief  Resume execution of a all suspended threads.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osThreadResumeAll (void);
+
+/**
+* @brief  Delay a task until a specified time
+* @param   PreviousWakeTime   Pointer to a variable that holds the time at which the 
+*          task was last unblocked. PreviousWakeTime must be initialised with the current time
+*          prior to its first use (PreviousWakeTime = osKernelSysTick() )
+* @param   millisec    time delay value
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osDelayUntil (uint32_t *PreviousWakeTime, uint32_t millisec);
+
+/**
+* @brief   Abort the delay for a specific thread
+* @param   thread_id   thread ID obtained by \ref osThreadCreate or \ref osThreadGetId   
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osAbortDelay(osThreadId thread_id);
+
+/**
+* @brief   Lists all the current threads, along with their current state 
+*          and stack usage high water mark.
+* @param   buffer   A buffer into which the above mentioned details
+*          will be written
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osThreadList (uint8_t *buffer);
+
+/**
+* @brief  Receive an item from a queue without removing the item from the queue.
+* @param  queue_id  message queue ID obtained with \ref osMessageCreate.
+* @param  millisec  timeout value or 0 in case of no time-out.
+* @retval event information that includes status code.
+*/
+osEvent osMessagePeek (osMessageQId queue_id, uint32_t millisec);
+
+/**
+* @brief  Get the number of messaged stored in a queue.
+* @param  queue_id  message queue ID obtained with \ref osMessageCreate.
+* @retval number of messages stored in a queue.
+*/
+uint32_t osMessageWaiting(osMessageQId queue_id);
+
+/**
+* @brief  Get the available space in a message queue.
+* @param  queue_id  message queue ID obtained with \ref osMessageCreate.
+* @retval available space in a message queue.
+*/
+uint32_t osMessageAvailableSpace(osMessageQId queue_id);
+
+/**
+* @brief Delete a Message Queue
+* @param  queue_id  message queue ID obtained with \ref osMessageCreate.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osMessageDelete (osMessageQId queue_id);
+
+/**
+* @brief  Create and Initialize a Recursive Mutex
+* @param  mutex_def     mutex definition referenced with \ref osMutex.
+* @retval  mutex ID for reference by other functions or NULL in case of error..
+*/
+osMutexId osRecursiveMutexCreate (const osMutexDef_t *mutex_def);
+
+/**
+* @brief  Release a Recursive Mutex
+* @param   mutex_id      mutex ID obtained by \ref osRecursiveMutexCreate.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osRecursiveMutexRelease (osMutexId mutex_id);
+
+/**
+* @brief  Release a Recursive Mutex
+* @param   mutex_id    mutex ID obtained by \ref osRecursiveMutexCreate.
+* @param millisec      timeout value or 0 in case of no time-out.
+* @retval  status code that indicates the execution status of the function.
+*/
+osStatus osRecursiveMutexWait (osMutexId mutex_id, uint32_t millisec);
+
+/**
+* @brief  Returns the current count value of a counting semaphore
+* @param   semaphore_id  semaphore_id ID obtained by \ref osSemaphoreCreate.
+* @retval  count value
+*/
+uint32_t osSemaphoreGetCount(osSemaphoreId semaphore_id);
+
+#ifdef  __cplusplus
+}
+#endif
+
+#endif  // _CMSIS_OS_H
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h
deleted file mode 100644
index 711408a..0000000
--- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h
+++ /dev/null
@@ -1,846 +0,0 @@
-/*
- * Copyright (c) 2013-2019 ARM Limited. All rights reserved.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- * ----------------------------------------------------------------------
- *
- * $Date:        10. January 2017
- * $Revision:    V2.1.0
- *
- * Project:      CMSIS-RTOS API
- * Title:        cmsis_os.h FreeRTOS header file
- *
- * Version 0.02
- *    Initial Proposal Phase
- * Version 0.03
- *    osKernelStart added, optional feature: main started as thread
- *    osSemaphores have standard behavior
- *    osTimerCreate does not start the timer, added osTimerStart
- *    osThreadPass is renamed to osThreadYield
- * Version 1.01
- *    Support for C++ interface
- *     - const attribute removed from the osXxxxDef_t typedefs
- *     - const attribute added to the osXxxxDef macros
- *    Added: osTimerDelete, osMutexDelete, osSemaphoreDelete
- *    Added: osKernelInitialize
- * Version 1.02
- *    Control functions for short timeouts in microsecond resolution:
- *    Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec
- *    Removed: osSignalGet 
- * Version 2.0.0
- *    OS objects creation without macros (dynamic creation and resource allocation):
- *     - added: osXxxxNew functions which replace osXxxxCreate
- *     - added: osXxxxAttr_t structures
- *     - deprecated: osXxxxCreate functions, osXxxxDef_t structures
- *     - deprecated: osXxxxDef and osXxxx macros
- *    osStatus codes simplified and renamed to osStatus_t
- *    osEvent return structure deprecated
- *    Kernel:
- *     - added: osKernelInfo_t and osKernelGetInfo
- *     - added: osKernelState_t and osKernelGetState (replaces osKernelRunning)
- *     - added: osKernelLock, osKernelUnlock
- *     - added: osKernelSuspend, osKernelResume
- *     - added: osKernelGetTickCount, osKernelGetTickFreq
- *     - renamed osKernelSysTick to osKernelGetSysTimerCount
- *     - replaced osKernelSysTickFrequency with osKernelGetSysTimerFreq
- *     - deprecated osKernelSysTickMicroSec
- *    Thread:
- *     - extended number of thread priorities
- *     - renamed osPrioriry to osPrioriry_t
- *     - replaced osThreadCreate with osThreadNew
- *     - added: osThreadGetName
- *     - added: osThreadState_t and osThreadGetState
- *     - added: osThreadGetStackSize, osThreadGetStackSpace
- *     - added: osThreadSuspend, osThreadResume
- *     - added: osThreadJoin, osThreadDetach, osThreadExit
- *     - added: osThreadGetCount, osThreadEnumerate
- *     - added: Thread Flags (moved from Signals) 
- *    Signals:
- *     - renamed osSignals to osThreadFlags (moved to Thread Flags)
- *     - changed return value of Set/Clear/Wait functions
- *     - Clear function limited to current running thread
- *     - extended Wait function (options)
- *     - added: osThreadFlagsGet
- *    Event Flags:
- *     - added new independent object for handling Event Flags
- *    Delay and Wait functions:
- *     - added: osDelayUntil
- *     - deprecated: osWait
- *    Timer:
- *     - replaced osTimerCreate with osTimerNew
- *     - added: osTimerGetName, osTimerIsRunning
- *    Mutex:
- *     - extended: attributes (Recursive, Priority Inherit, Robust)
- *     - replaced osMutexCreate with osMutexNew
- *     - renamed osMutexWait to osMutexAcquire
- *     - added: osMutexGetName, osMutexGetOwner
- *    Semaphore:
- *     - extended: maximum and initial token count
- *     - replaced osSemaphoreCreate with osSemaphoreNew
- *     - renamed osSemaphoreWait to osSemaphoreAcquire (changed return value)
- *     - added: osSemaphoreGetName, osSemaphoreGetCount
- *    Memory Pool:
- *     - using osMemoryPool prefix instead of osPool
- *     - replaced osPoolCreate with osMemoryPoolNew
- *     - extended osMemoryPoolAlloc (timeout)
- *     - added: osMemoryPoolGetName
- *     - added: osMemoryPoolGetCapacity, osMemoryPoolGetBlockSize
- *     - added: osMemoryPoolGetCount, osMemoryPoolGetSpace
- *     - added: osMemoryPoolDelete
- *     - deprecated: osPoolCAlloc
- *    Message Queue:
- *     - extended: fixed size message instead of a single 32-bit value
- *     - using osMessageQueue prefix instead of osMessage
- *     - replaced osMessageCreate with osMessageQueueNew
- *     - updated: osMessageQueuePut, osMessageQueueGet
- *     - added: osMessageQueueGetName
- *     - added: osMessageQueueGetCapacity, osMessageQueueGetMsgSize
- *     - added: osMessageQueueGetCount, osMessageQueueGetSpace
- *     - added: osMessageQueueReset, osMessageQueueDelete
- *    Mail Queue: 
- *     - deprecated (superseded by extended Message Queue functionality)
- * Version 2.1.0
- *    Support for critical and uncritical sections (nesting safe):
- *    - updated: osKernelLock, osKernelUnlock
- *    - added: osKernelRestoreLock
- *    Updated Thread and Event Flags:
- *    - changed flags parameter and return type from int32_t to uint32_t
- *---------------------------------------------------------------------------*/
- 
-#ifndef CMSIS_OS_H_
-#define CMSIS_OS_H_
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#define RTOS_ID_n             ((tskKERNEL_VERSION_MAJOR << 16) | (tskKERNEL_VERSION_MINOR))
-#define RTOS_ID_s             ("FreeRTOS " tskKERNEL_VERSION_NUMBER)
-
-#define osCMSIS               0x20001U  ///< API version (main[31:16].sub[15:0])
-
-#define osCMSIS_FreeRTOS      RTOS_ID_n ///< RTOS identification and version (main[31:16].sub[15:0])
- 
-#define osKernelSystemId      RTOS_ID_s ///< RTOS identification string
- 
-#define osFeature_MainThread  0         ///< main thread      1=main can be thread, 0=not available
-#define osFeature_Signals     24U       ///< maximum number of Signal Flags available per thread
-#define osFeature_Semaphore   65535U    ///< maximum count for \ref osSemaphoreCreate function
-#define osFeature_Wait        0         ///< osWait function: 1=available, 0=not available
-#define osFeature_SysTick     1         ///< osKernelSysTick functions: 1=available, 0=not available
-#define osFeature_Pool        0         ///< Memory Pools:    1=available, 0=not available
-#define osFeature_MessageQ    1         ///< Message Queues:  1=available, 0=not available
-#define osFeature_MailQ       0         ///< Mail Queues:     1=available, 0=not available
- 
-#if   defined(__CC_ARM)
-#define os_InRegs __value_in_regs
-#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
-#define os_InRegs __attribute__((value_in_regs))
-#else
-#define os_InRegs
-#endif
- 
-#include "cmsis_os2.h"
- 
-#ifdef  __cplusplus
-extern "C"
-{
-#endif
- 
- 
-// ==== Enumerations, structures, defines ====
- 
-/// Priority values.
-#if (osCMSIS < 0x20000U)
-typedef enum {
-  osPriorityIdle          = -3,         ///< Priority: idle (lowest)
-  osPriorityLow           = -2,         ///< Priority: low
-  osPriorityBelowNormal   = -1,         ///< Priority: below normal
-  osPriorityNormal        =  0,         ///< Priority: normal (default)
-  osPriorityAboveNormal   = +1,         ///< Priority: above normal
-  osPriorityHigh          = +2,         ///< Priority: high
-  osPriorityRealtime      = +3,         ///< Priority: realtime (highest)
-  osPriorityError         = 0x84,       ///< System cannot determine priority or illegal priority.
-  osPriorityReserved      = 0x7FFFFFFF  ///< Prevents enum down-size compiler optimization.
-} osPriority;
-#else
-#define osPriority osPriority_t
-#endif
-
-/// Entry point of a thread.
-typedef void (*os_pthread) (void const *argument);
- 
-/// Entry point of a timer call back function.
-typedef void (*os_ptimer) (void const *argument);
- 
-/// Timer type.
-#if (osCMSIS < 0x20000U)
-typedef enum {
-  osTimerOnce             = 0,          ///< One-shot timer.
-  osTimerPeriodic         = 1           ///< Repeating timer.
-} os_timer_type;
-#else
-#define os_timer_type osTimerType_t
-#endif
- 
-/// Timeout value.
-#define osWaitForever       0xFFFFFFFFU ///< Wait forever timeout value.
- 
-/// Status code values returned by CMSIS-RTOS functions.
-#if (osCMSIS < 0x20000U)
-typedef enum {
-  osOK                    =    0,       ///< Function completed; no error or event occurred.
-  osEventSignal           = 0x08,       ///< Function completed; signal event occurred.
-  osEventMessage          = 0x10,       ///< Function completed; message event occurred.
-  osEventMail             = 0x20,       ///< Function completed; mail event occurred.
-  osEventTimeout          = 0x40,       ///< Function completed; timeout occurred.
-  osErrorParameter        = 0x80,       ///< Parameter error: a mandatory parameter was missing or specified an incorrect object.
-  osErrorResource         = 0x81,       ///< Resource not available: a specified resource was not available.
-  osErrorTimeoutResource  = 0xC1,       ///< Resource not available within given time: a specified resource was not available within the timeout period.
-  osErrorISR              = 0x82,       ///< Not allowed in ISR context: the function cannot be called from interrupt service routines.
-  osErrorISRRecursive     = 0x83,       ///< Function called multiple times from ISR with same object.
-  osErrorPriority         = 0x84,       ///< System cannot determine priority or thread has illegal priority.
-  osErrorNoMemory         = 0x85,       ///< System is out of memory: it was impossible to allocate or reserve memory for the operation.
-  osErrorValue            = 0x86,       ///< Value of a parameter is out of range.
-  osErrorOS               = 0xFF,       ///< Unspecified RTOS error: run-time error but no other error message fits.
-  osStatusReserved        = 0x7FFFFFFF  ///< Prevents enum down-size compiler optimization.
-} osStatus;
-#else
-typedef int32_t                  osStatus;
-#define osEventSignal           (0x08)
-#define osEventMessage          (0x10)
-#define osEventMail             (0x20)
-#define osEventTimeout          (0x40)
-#define osErrorOS               osError
-#define osErrorTimeoutResource  osErrorTimeout
-#define osErrorISRRecursive     (-126)
-#define osErrorValue            (-127)
-#define osErrorPriority         (-128)
-#endif
- 
- 
-// >>> the following data type definitions may be adapted towards a specific RTOS
- 
-/// Thread ID identifies the thread.
-#if (osCMSIS < 0x20000U)
-typedef void *osThreadId;
-#else
-#define osThreadId osThreadId_t
-#endif
- 
-/// Timer ID identifies the timer.
-#if (osCMSIS < 0x20000U)
-typedef void *osTimerId;
-#else
-#define osTimerId osTimerId_t
-#endif
- 
-/// Mutex ID identifies the mutex.
-#if (osCMSIS < 0x20000U)
-typedef void *osMutexId;
-#else
-#define osMutexId osMutexId_t
-#endif
- 
-/// Semaphore ID identifies the semaphore.
-#if (osCMSIS < 0x20000U)
-typedef void *osSemaphoreId;
-#else
-#define osSemaphoreId osSemaphoreId_t
-#endif
- 
-/// Pool ID identifies the memory pool.
-typedef void *osPoolId;
- 
-/// Message ID identifies the message queue.
-typedef void *osMessageQId;
- 
-/// Mail ID identifies the mail queue.
-typedef void *osMailQId;
- 
- 
-/// Thread Definition structure contains startup information of a thread.
-#if (osCMSIS < 0x20000U)
-typedef struct os_thread_def {
-  os_pthread                 pthread;   ///< start address of thread function
-  osPriority               tpriority;   ///< initial thread priority
-  uint32_t                 instances;   ///< maximum number of instances of that thread function
-  uint32_t                 stacksize;   ///< stack size requirements in bytes; 0 is default stack size
-} osThreadDef_t;
-#else
-typedef struct os_thread_def {
-  os_pthread                 pthread;   ///< start address of thread function
-  osThreadAttr_t                attr;   ///< thread attributes
-} osThreadDef_t;
-#endif
- 
-/// Timer Definition structure contains timer parameters.
-#if (osCMSIS < 0x20000U)
-typedef struct os_timer_def {
-  os_ptimer                   ptimer;   ///< start address of a timer function
-} osTimerDef_t;
-#else
-typedef struct os_timer_def {
-  os_ptimer                   ptimer;   ///< start address of a timer function
-  osTimerAttr_t                 attr;   ///< timer attributes
-} osTimerDef_t;
-#endif
- 
-/// Mutex Definition structure contains setup information for a mutex.
-#if (osCMSIS < 0x20000U)
-typedef struct os_mutex_def {
-  uint32_t                     dummy;   ///< dummy value
-} osMutexDef_t;
-#else
-#define osMutexDef_t osMutexAttr_t
-#endif
- 
-/// Semaphore Definition structure contains setup information for a semaphore.
-#if (osCMSIS < 0x20000U)
-typedef struct os_semaphore_def {
-  uint32_t                     dummy;   ///< dummy value
-} osSemaphoreDef_t;
-#else
-#define osSemaphoreDef_t osSemaphoreAttr_t
-#endif
- 
-/// Definition structure for memory block allocation.
-#if (osCMSIS < 0x20000U)
-typedef struct os_pool_def {
-  uint32_t                   pool_sz;   ///< number of items (elements) in the pool
-  uint32_t                   item_sz;   ///< size of an item
-  void                         *pool;   ///< pointer to memory for pool
-} osPoolDef_t;
-#else
-typedef struct os_pool_def {
-  uint32_t                   pool_sz;   ///< number of items (elements) in the pool
-  uint32_t                   item_sz;   ///< size of an item
-  osMemoryPoolAttr_t            attr;   ///< memory pool attributes
-} osPoolDef_t;
-#endif
- 
-/// Definition structure for message queue.
-#if (osCMSIS < 0x20000U)
-typedef struct os_messageQ_def {
-  uint32_t                  queue_sz;   ///< number of elements in the queue
-  void                         *pool;   ///< memory array for messages
-} osMessageQDef_t;
-#else
-typedef struct os_messageQ_def {
-  uint32_t                  queue_sz;   ///< number of elements in the queue
-  osMessageQueueAttr_t          attr;   ///< message queue attributes
-} osMessageQDef_t;
-#endif
- 
-/// Definition structure for mail queue.
-#if (osCMSIS < 0x20000U)
-typedef struct os_mailQ_def {
-  uint32_t                  queue_sz;   ///< number of elements in the queue
-  uint32_t                   item_sz;   ///< size of an item
-  void                         *pool;   ///< memory array for mail
-} osMailQDef_t;
-#else
-typedef struct os_mailQ_def {
-  uint32_t                  queue_sz;   ///< number of elements in the queue
-  uint32_t                   item_sz;   ///< size of an item
-  void                         *mail;   ///< pointer to mail
-  osMemoryPoolAttr_t         mp_attr;   ///< memory pool attributes
-  osMessageQueueAttr_t       mq_attr;   ///< message queue attributes
-} osMailQDef_t;
-#endif
- 
- 
-/// Event structure contains detailed information about an event.
-typedef struct {
-  osStatus                    status;   ///< status code: event or error information
-  union {
-    uint32_t                       v;   ///< message as 32-bit value
-    void                          *p;   ///< message or mail as void pointer
-    int32_t                  signals;   ///< signal flags
-  } value;                              ///< event value
-  union {
-    osMailQId                mail_id;   ///< mail id obtained by \ref osMailCreate
-    osMessageQId          message_id;   ///< message id obtained by \ref osMessageCreate
-  } def;                                ///< event definition
-} osEvent;
- 
- 
-//  ==== Kernel Management Functions ====
- 
-/// Initialize the RTOS Kernel for creating objects.
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osKernelInitialize (void);
-#endif
- 
-/// Start the RTOS Kernel scheduler.
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osKernelStart (void);
-#endif
- 
-/// Check if the RTOS kernel is already started.
-/// \return 0 RTOS is not started, 1 RTOS is started.
-#if (osCMSIS < 0x20000U)
-int32_t osKernelRunning(void);
-#endif
- 
-#if (defined(osFeature_SysTick) && (osFeature_SysTick != 0))  // System Timer available
- 
-/// Get the RTOS kernel system timer counter.
-/// \return RTOS kernel system timer as 32-bit value 
-#if (osCMSIS < 0x20000U)
-uint32_t osKernelSysTick (void);
-#else
-#define  osKernelSysTick osKernelGetSysTimerCount
-#endif
- 
-/// The RTOS kernel system timer frequency in Hz.
-/// \note Reflects the system timer setting and is typically defined in a configuration file.
-#if (osCMSIS < 0x20000U)
-#define osKernelSysTickFrequency 100000000
-#endif
- 
-/// Convert a microseconds value to a RTOS kernel system timer value.
-/// \param         microsec     time value in microseconds.
-/// \return time value normalized to the \ref osKernelSysTickFrequency
-#if (osCMSIS < 0x20000U)
-#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000)
-#else
-#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec *  osKernelGetSysTimerFreq()) / 1000000)
-#endif
- 
-#endif  // System Timer available
- 
- 
-//  ==== Thread Management Functions ====
- 
-/// Create a Thread Definition with function, priority, and stack requirements.
-/// \param         name          name of the thread function.
-/// \param         priority      initial priority of the thread function.
-/// \param         instances     number of possible thread instances.
-/// \param         stacksz       stack size (in bytes) requirements for the thread function.
-#if defined (osObjectsExternal)  // object is external
-#define osThreadDef(name, priority, instances, stacksz) \
-extern const osThreadDef_t os_thread_def_##name
-#else                            // define the object
-#define osThreadDef(name, priority, instances, stacksz) \
-static uint64_t os_thread_stack##name[(stacksz)?(((stacksz+7)/8)):1]; \
-static StaticTask_t os_thread_cb_##name; \
-const osThreadDef_t os_thread_def_##name = \
-{ (name), \
-  { NULL, osThreadDetached, \
-    (instances == 1) ? (&os_thread_cb_##name) : NULL,\
-    (instances == 1) ? sizeof(StaticTask_t) : 0U, \
-    ((stacksz) && (instances == 1)) ? (&os_thread_stack##name) : NULL, \
-    8*((stacksz+7)/8), \
-    (priority), 0U, 0U } }
-#endif
- 
-/// Access a Thread definition.
-/// \param         name          name of the thread definition object.
-#define osThread(name) \
-&os_thread_def_##name
- 
-/// Create a thread and add it to Active Threads and set it to state READY.
-/// \param[in]     thread_def    thread definition referenced with \ref osThread.
-/// \param[in]     argument      pointer that is passed to the thread function as start argument.
-/// \return thread ID for reference by other functions or NULL in case of error.
-osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument);
- 
-/// Return the thread ID of the current running thread.
-/// \return thread ID for reference by other functions or NULL in case of error.
-#if (osCMSIS < 0x20000U)
-osThreadId osThreadGetId (void);
-#endif
- 
-/// Change priority of a thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-/// \param[in]     priority      new priority value for the thread function.
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority);
-#endif
- 
-/// Get current priority of a thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-/// \return current priority value of the specified thread.
-#if (osCMSIS < 0x20000U)
-osPriority osThreadGetPriority (osThreadId thread_id);
-#endif
- 
-/// Pass control to next thread that is in state \b READY.
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osThreadYield (void);
-#endif
- 
-/// Terminate execution of a thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osThreadTerminate (osThreadId thread_id);
-#endif
- 
- 
-//  ==== Signal Management ====
- 
-/// Set the specified Signal Flags of an active thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-/// \param[in]     signals       specifies the signal flags of the thread that should be set.
-/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
-int32_t osSignalSet (osThreadId thread_id, int32_t signals);
- 
-/// Clear the specified Signal Flags of an active thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-/// \param[in]     signals       specifies the signal flags of the thread that shall be cleared.
-/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters or call from ISR.
-int32_t osSignalClear (osThreadId thread_id, int32_t signals);
- 
-/// Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread.
-/// \param[in]     signals       wait until all specified signal flags set or 0 for any single signal flag.
-/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
-/// \return event flag information or error code.
-os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec);
- 
- 
-//  ==== Generic Wait Functions ====
- 
-/// Wait for Timeout (Time Delay).
-/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue "time delay" value
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osDelay (uint32_t millisec);
-#endif
- 
-#if (defined (osFeature_Wait) && (osFeature_Wait != 0))  // Generic Wait available
- 
-/// Wait for Signal, Message, Mail, or Timeout.
-/// \param[in] millisec          \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
-/// \return event that contains signal, message, or mail information or error code.
-os_InRegs osEvent osWait (uint32_t millisec);
- 
-#endif  // Generic Wait available
- 
- 
-//  ==== Timer Management Functions ====
- 
-/// Define a Timer object.
-/// \param         name          name of the timer object.
-/// \param         function      name of the timer call back function.
-#if defined (osObjectsExternal)  // object is external
-#define osTimerDef(name, function) \
-extern const osTimerDef_t os_timer_def_##name
-#else                            // define the object
-#define osTimerDef(name, function) \
-static StaticTimer_t os_timer_cb_##name; \
-const osTimerDef_t os_timer_def_##name = \
-{ (function), { NULL, 0U, (&os_timer_cb_##name), sizeof(StaticTimer_t) } }
-#endif
- 
-/// Access a Timer definition.
-/// \param         name          name of the timer object.
-#define osTimer(name) \
-&os_timer_def_##name
- 
-/// Create and Initialize a timer.
-/// \param[in]     timer_def     timer object referenced with \ref osTimer.
-/// \param[in]     type          osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
-/// \param[in]     argument      argument to the timer call back function.
-/// \return timer ID for reference by other functions or NULL in case of error.
-osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument);
- 
-/// Start or restart a timer.
-/// \param[in]     timer_id      timer ID obtained by \ref osTimerCreate.
-/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue "time delay" value of the timer.
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);
-#endif
- 
-/// Stop a timer.
-/// \param[in]     timer_id      timer ID obtained by \ref osTimerCreate.
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osTimerStop (osTimerId timer_id);
-#endif
- 
-/// Delete a timer.
-/// \param[in]     timer_id      timer ID obtained by \ref osTimerCreate.
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osTimerDelete (osTimerId timer_id);
-#endif
- 
- 
-//  ==== Mutex Management Functions ====
- 
-/// Define a Mutex.
-/// \param         name          name of the mutex object.
-#if defined (osObjectsExternal)  // object is external
-#define osMutexDef(name) \
-extern const osMutexDef_t os_mutex_def_##name
-#else                            // define the object
-#define osMutexDef(name) \
-static StaticSemaphore_t os_mutex_cb_##name; \
-const osMutexDef_t os_mutex_def_##name = \
-{ NULL, osMutexRecursive | osMutexPrioInherit, (&os_mutex_cb_##name), sizeof(StaticSemaphore_t) }
-#endif
- 
-/// Access a Mutex definition.
-/// \param         name          name of the mutex object.
-#define osMutex(name) \
-&os_mutex_def_##name
- 
-/// Create and Initialize a Mutex object.
-/// \param[in]     mutex_def     mutex definition referenced with \ref osMutex.
-/// \return mutex ID for reference by other functions or NULL in case of error.
-osMutexId osMutexCreate (const osMutexDef_t *mutex_def);
- 
-/// Wait until a Mutex becomes available.
-/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexCreate.
-/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
-#else
-#define  osMutexWait osMutexAcquire
-#endif
- 
-/// Release a Mutex that was obtained by \ref osMutexWait.
-/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexCreate.
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osMutexRelease (osMutexId mutex_id);
-#endif
- 
-/// Delete a Mutex object.
-/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexCreate.
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osMutexDelete (osMutexId mutex_id);
-#endif
- 
- 
-//  ==== Semaphore Management Functions ====
- 
-#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0U))  // Semaphore available
- 
-/// Define a Semaphore object.
-/// \param         name          name of the semaphore object.
-#if defined (osObjectsExternal)  // object is external
-#define osSemaphoreDef(name) \
-extern const osSemaphoreDef_t os_semaphore_def_##name
-#else                            // define the object
-#define osSemaphoreDef(name) \
-static StaticSemaphore_t os_semaphore_cb_##name; \
-const osSemaphoreDef_t os_semaphore_def_##name = \
-{ NULL, 0U, (&os_semaphore_cb_##name), sizeof(StaticSemaphore_t) }
-#endif
- 
-/// Access a Semaphore definition.
-/// \param         name          name of the semaphore object.
-#define osSemaphore(name) \
-&os_semaphore_def_##name
- 
-/// Create and Initialize a Semaphore object.
-/// \param[in]     semaphore_def semaphore definition referenced with \ref osSemaphore.
-/// \param[in]     count         maximum and initial number of available tokens.
-/// \return semaphore ID for reference by other functions or NULL in case of error.
-osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count);
- 
-/// Wait until a Semaphore token becomes available.
-/// \param[in]     semaphore_id  semaphore object referenced with \ref osSemaphoreCreate.
-/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
-/// \return number of available tokens, or -1 in case of incorrect parameters.
-int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);
- 
-/// Release a Semaphore token.
-/// \param[in]     semaphore_id  semaphore object referenced with \ref osSemaphoreCreate.
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
-#endif
- 
-/// Delete a Semaphore object.
-/// \param[in]     semaphore_id  semaphore object referenced with \ref osSemaphoreCreate.
-/// \return status code that indicates the execution status of the function.
-#if (osCMSIS < 0x20000U)
-osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);
-#endif
- 
-#endif  // Semaphore available
- 
- 
-//  ==== Memory Pool Management Functions ====
-
-#if (defined(osFeature_Pool) && (osFeature_Pool != 0))  // Memory Pool available
- 
-/// \brief Define a Memory Pool.
-/// \param         name          name of the memory pool.
-/// \param         no            maximum number of blocks (objects) in the memory pool.
-/// \param         type          data type of a single block (object).
-#if defined (osObjectsExternal)  // object is external
-#define osPoolDef(name, no, type) \
-extern const osPoolDef_t os_pool_def_##name
-#else                            // define the object
-#define osPoolDef(name, no, type) \
-const osPoolDef_t os_pool_def_##name = \
-{ (no), sizeof(type), {NULL} }
-#endif
- 
-/// \brief Access a Memory Pool definition.
-/// \param         name          name of the memory pool
-#define osPool(name) \
-&os_pool_def_##name
- 
-/// Create and Initialize a Memory Pool object.
-/// \param[in]     pool_def      memory pool definition referenced with \ref osPool.
-/// \return memory pool ID for reference by other functions or NULL in case of error.
-osPoolId osPoolCreate (const osPoolDef_t *pool_def);
- 
-/// Allocate a memory block from a Memory Pool.
-/// \param[in]     pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
-/// \return address of the allocated memory block or NULL in case of no memory available.
-void *osPoolAlloc (osPoolId pool_id);
- 
-/// Allocate a memory block from a Memory Pool and set memory block to zero.
-/// \param[in]     pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
-/// \return address of the allocated memory block or NULL in case of no memory available.
-void *osPoolCAlloc (osPoolId pool_id);
- 
-/// Return an allocated memory block back to a Memory Pool.
-/// \param[in]     pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
-/// \param[in]     block         address of the allocated memory block to be returned to the memory pool.
-/// \return status code that indicates the execution status of the function.
-osStatus osPoolFree (osPoolId pool_id, void *block);
- 
-#endif  // Memory Pool available
- 
- 
-//  ==== Message Queue Management Functions ====
- 
-#if (defined(osFeature_MessageQ) && (osFeature_MessageQ != 0))  // Message Queue available
-  
-/// \brief Create a Message Queue Definition.
-/// \param         name          name of the queue.
-/// \param         queue_sz      maximum number of messages in the queue.
-/// \param         type          data type of a single message element (for debugger).
-#if defined (osObjectsExternal)  // object is external
-#define osMessageQDef(name, queue_sz, type) \
-extern const osMessageQDef_t os_messageQ_def_##name
-#else                            // define the object
-#define osMessageQDef(name, queue_sz, type) \
-static StaticQueue_t os_mq_cb_##name; \
-static uint32_t os_mq_data_##name[(queue_sz) * sizeof(type)]; \
-const osMessageQDef_t os_messageQ_def_##name = \
-{ (queue_sz), \
-  { NULL, 0U, (&os_mq_cb_##name), sizeof(StaticQueue_t), \
-              (&os_mq_data_##name), sizeof(os_mq_data_##name) } }
-#endif
- 
-/// \brief Access a Message Queue Definition.
-/// \param         name          name of the queue
-#define osMessageQ(name) \
-&os_messageQ_def_##name
- 
-/// Create and Initialize a Message Queue object.
-/// \param[in]     queue_def     message queue definition referenced with \ref osMessageQ.
-/// \param[in]     thread_id     thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
-/// \return message queue ID for reference by other functions or NULL in case of error.
-osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id);
- 
-/// Put a Message to a Queue.
-/// \param[in]     queue_id      message queue ID obtained with \ref osMessageCreate.
-/// \param[in]     info          message information.
-/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
-/// \return status code that indicates the execution status of the function.
-osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
- 
-/// Get a Message from a Queue or timeout if Queue is empty.
-/// \param[in]     queue_id      message queue ID obtained with \ref osMessageCreate.
-/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
-/// \return event information that includes status code.
-os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec);
- 
-#endif  // Message Queue available
- 
- 
-//  ==== Mail Queue Management Functions ====
- 
-#if (defined(osFeature_MailQ) && (osFeature_MailQ != 0))  // Mail Queue available
- 
-/// \brief Create a Mail Queue Definition.
-/// \param         name          name of the queue.
-/// \param         queue_sz      maximum number of mails in the queue.
-/// \param         type          data type of a single mail element.
-#if defined (osObjectsExternal)  // object is external
-#define osMailQDef(name, queue_sz, type) \
-extern const osMailQDef_t os_mailQ_def_##name
-#else                            // define the object
-#define osMailQDef(name, queue_sz, type) \
-const osMailQDef_t os_mailQ_def_##name = \
-{ (queue_sz), sizeof(type), NULL }
-#endif
- 
-/// \brief Access a Mail Queue Definition.
-/// \param         name          name of the queue
-#define osMailQ(name) \
-&os_mailQ_def_##name
- 
-/// Create and Initialize a Mail Queue object.
-/// \param[in]     queue_def     mail queue definition referenced with \ref osMailQ.
-/// \param[in]     thread_id     thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
-/// \return mail queue ID for reference by other functions or NULL in case of error.
-osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id);
- 
-/// Allocate a memory block for mail from a mail memory pool.
-/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
-/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
-/// \return pointer to memory block that can be filled with mail or NULL in case of error.
-void *osMailAlloc (osMailQId queue_id, uint32_t millisec);
- 
-/// Allocate a memory block for mail from a mail memory pool and set memory block to zero.
-/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
-/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
-/// \return pointer to memory block that can be filled with mail or NULL in case of error.
-void *osMailCAlloc (osMailQId queue_id, uint32_t millisec);
- 
-/// Put a Mail into a Queue.
-/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
-/// \param[in]     mail          pointer to memory with mail to put into a queue.
-/// \return status code that indicates the execution status of the function.
-osStatus osMailPut (osMailQId queue_id, const void *mail);
- 
-/// Get a Mail from a Queue or timeout if Queue is empty.
-/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
-/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
-/// \return event information that includes status code.
-os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec);
- 
-/// Free a memory block by returning it to a mail memory pool.
-/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
-/// \param[in]     mail          pointer to memory block that was obtained with \ref osMailGet.
-/// \return status code that indicates the execution status of the function.
-osStatus osMailFree (osMailQId queue_id, void *mail);
- 
-#endif  // Mail Queue available
- 
- 
-#ifdef  __cplusplus
-}
-#endif
- 
-#endif  // CMSIS_OS_H_
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
deleted file mode 100644
index 69ac328..0000000
--- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
+++ /dev/null
@@ -1,2482 +0,0 @@
-/* --------------------------------------------------------------------------
- * Copyright (c) 2013-2020 Arm Limited. All rights reserved.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- *      Name:    cmsis_os2.c
- *      Purpose: CMSIS RTOS2 wrapper for FreeRTOS
- *
- *---------------------------------------------------------------------------*/
-
-#include <string.h>
-
-#include "cmsis_os2.h"                  // ::CMSIS:RTOS2
-#include "cmsis_compiler.h"             // Compiler agnostic definitions
-
-#include "FreeRTOS.h"                   // ARM.FreeRTOS::RTOS:Core
-#include "task.h"                       // ARM.FreeRTOS::RTOS:Core
-#include "event_groups.h"               // ARM.FreeRTOS::RTOS:Event Groups
-#include "semphr.h"                     // ARM.FreeRTOS::RTOS:Core
-
-#include "freertos_mpool.h"             // osMemoryPool definitions
-#include "freertos_os2.h"               // Configuration check and setup
-
-/*---------------------------------------------------------------------------*/
-#ifndef __ARM_ARCH_6M__
-  #define __ARM_ARCH_6M__         0
-#endif
-#ifndef __ARM_ARCH_7M__
-  #define __ARM_ARCH_7M__         0
-#endif
-#ifndef __ARM_ARCH_7EM__
-  #define __ARM_ARCH_7EM__        0
-#endif
-#ifndef __ARM_ARCH_8M_MAIN__
-  #define __ARM_ARCH_8M_MAIN__    0
-#endif
-#ifndef __ARM_ARCH_7A__
-  #define __ARM_ARCH_7A__         0
-#endif
-
-#if   ((__ARM_ARCH_7M__      == 1U) || \
-       (__ARM_ARCH_7EM__     == 1U) || \
-       (__ARM_ARCH_8M_MAIN__ == 1U))
-#define IS_IRQ_MASKED()           ((__get_PRIMASK() != 0U) || (__get_BASEPRI() != 0U))
-#elif  (__ARM_ARCH_6M__      == 1U)
-#define IS_IRQ_MASKED()           (__get_PRIMASK() != 0U)
-#elif (__ARM_ARCH_7A__       == 1U)
-/* CPSR mask bits */
-#define CPSR_MASKBIT_I            0x80U
-
-#define IS_IRQ_MASKED()           ((__get_CPSR() & CPSR_MASKBIT_I) != 0U)
-#else
-#define IS_IRQ_MASKED()           (__get_PRIMASK() != 0U)
-#endif
-
-#if    (__ARM_ARCH_7A__      == 1U)
-/* CPSR mode bitmasks */
-#define CPSR_MODE_USER            0x10U
-#define CPSR_MODE_SYSTEM          0x1FU
-
-#define IS_IRQ_MODE()             ((__get_mode() != CPSR_MODE_USER) && (__get_mode() != CPSR_MODE_SYSTEM))
-#else
-#define IS_IRQ_MODE()             (__get_IPSR() != 0U)
-#endif
-
-#define IS_IRQ()                  IS_IRQ_MODE()
-
-#define SVCall_IRQ_NBR            (IRQn_Type) -5	/* SVCall_IRQ_NBR added as SV_Call handler name is not the same for CM0 and for all other CMx */
-
-/* Limits */
-#define MAX_BITS_TASK_NOTIFY      31U
-#define MAX_BITS_EVENT_GROUPS     24U
-
-#define THREAD_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_TASK_NOTIFY)  - 1U))
-#define EVENT_FLAGS_INVALID_BITS  (~((1UL << MAX_BITS_EVENT_GROUPS) - 1U))
-
-/* Kernel version and identification string definition (major.minor.rev: mmnnnrrrr dec) */
-#define KERNEL_VERSION            (((uint32_t)tskKERNEL_VERSION_MAJOR * 10000000UL) | \
-                                   ((uint32_t)tskKERNEL_VERSION_MINOR *    10000UL) | \
-                                   ((uint32_t)tskKERNEL_VERSION_BUILD *        1UL))
-
-#define KERNEL_ID                 ("FreeRTOS " tskKERNEL_VERSION_NUMBER)
-
-/* Timer callback information structure definition */
-typedef struct {
-  osTimerFunc_t func;
-  void         *arg;
-} TimerCallback_t;
-
-/* Kernel initialization state */
-static osKernelState_t KernelState = osKernelInactive;
-
-/*
-  Heap region definition used by heap_5 variant
-
-  Define configAPPLICATION_ALLOCATED_HEAP as nonzero value in FreeRTOSConfig.h if
-  heap regions are already defined and vPortDefineHeapRegions is called in application.
-
-  Otherwise vPortDefineHeapRegions will be called by osKernelInitialize using
-  definition configHEAP_5_REGIONS as parameter. Overriding configHEAP_5_REGIONS
-  is possible by defining it globally or in FreeRTOSConfig.h.
-*/
-#if defined(USE_FreeRTOS_HEAP_5)
-#if (configAPPLICATION_ALLOCATED_HEAP == 0)
-  /*
-    FreeRTOS heap is not defined by the application.
-    Single region of size configTOTAL_HEAP_SIZE (defined in FreeRTOSConfig.h)
-    is provided by default. Define configHEAP_5_REGIONS to provide custom
-    HeapRegion_t array.
-  */
-  #define HEAP_5_REGION_SETUP   1
-  
-  #ifndef configHEAP_5_REGIONS
-    #define configHEAP_5_REGIONS xHeapRegions
-
-    static uint8_t ucHeap[configTOTAL_HEAP_SIZE];
-
-    static HeapRegion_t xHeapRegions[] = {
-      { ucHeap, configTOTAL_HEAP_SIZE },
-      { NULL,   0                     }
-    };
-  #else
-    /* Global definition is provided to override default heap array */
-    extern HeapRegion_t configHEAP_5_REGIONS[];
-  #endif
-#else
-  /*
-    The application already defined the array used for the FreeRTOS heap and
-    called vPortDefineHeapRegions to initialize heap.
-  */
-  #define HEAP_5_REGION_SETUP   0
-#endif /* configAPPLICATION_ALLOCATED_HEAP */
-#endif /* USE_FreeRTOS_HEAP_5 */
-
-#if defined(SysTick)
-#undef SysTick_Handler
-
-/* CMSIS SysTick interrupt handler prototype */
-extern void SysTick_Handler     (void);
-/* FreeRTOS tick timer interrupt handler prototype */
-extern void xPortSysTickHandler (void);
-
-/*
-  SysTick handler implementation that also clears overflow flag.
-*/
-#if (USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION == 0)
-void SysTick_Handler (void) {
-  /* Clear overflow flag */
-  SysTick->CTRL;
-
-  if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
-    /* Call tick handler */
-    xPortSysTickHandler();
-  }
-}
-#endif
-#endif /* SysTick */
-
-/*
-  Setup SVC to reset value.
-*/
-__STATIC_INLINE void SVC_Setup (void) {
-#if (__ARM_ARCH_7A__ == 0U)
-  /* Service Call interrupt might be configured before kernel start     */
-  /* and when its priority is lower or equal to BASEPRI, svc intruction */
-  /* causes a Hard Fault.                                               */
-  NVIC_SetPriority (SVCall_IRQ_NBR, 0U);
-#endif
-}
-
-/*
-  Function macro used to retrieve semaphore count from ISR
-*/
-#ifndef uxSemaphoreGetCountFromISR
-#define uxSemaphoreGetCountFromISR( xSemaphore ) uxQueueMessagesWaitingFromISR( ( QueueHandle_t ) ( xSemaphore ) )
-#endif
-
-/* Get OS Tick count value */
-static uint32_t OS_Tick_GetCount (void);
-/* Get OS Tick overflow status */
-static uint32_t OS_Tick_GetOverflow (void);
-/* Get OS Tick interval */
-static uint32_t OS_Tick_GetInterval (void);
-/*---------------------------------------------------------------------------*/
-
-osStatus_t osKernelInitialize (void) {
-  osStatus_t stat;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else {
-    if (KernelState == osKernelInactive) {
-      #if defined(USE_TRACE_EVENT_RECORDER)
-        EvrFreeRTOSSetup(0U);
-      #endif
-      #if defined(USE_FreeRTOS_HEAP_5) && (HEAP_5_REGION_SETUP == 1)
-        vPortDefineHeapRegions (configHEAP_5_REGIONS);
-      #endif
-      KernelState = osKernelReady;
-      stat = osOK;
-    } else {
-      stat = osError;
-    }
-  }
-
-  return (stat);
-}
-
-osStatus_t osKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size) {
-
-  if (version != NULL) {
-    /* Version encoding is major.minor.rev: mmnnnrrrr dec */
-    version->api    = KERNEL_VERSION;
-    version->kernel = KERNEL_VERSION;
-  }
-
-  if ((id_buf != NULL) && (id_size != 0U)) {
-    if (id_size > sizeof(KERNEL_ID)) {
-      id_size = sizeof(KERNEL_ID);
-    }
-    memcpy(id_buf, KERNEL_ID, id_size);
-  }
-
-  return (osOK);
-}
-
-osKernelState_t osKernelGetState (void) {
-  osKernelState_t state;
-
-  switch (xTaskGetSchedulerState()) {
-    case taskSCHEDULER_RUNNING:
-      state = osKernelRunning;
-      break;
-
-    case taskSCHEDULER_SUSPENDED:
-      state = osKernelLocked;
-      break;
-
-    case taskSCHEDULER_NOT_STARTED:
-    default:
-      if (KernelState == osKernelReady) {
-        state = osKernelReady;
-      } else {
-        state = osKernelInactive;
-      }
-      break;
-  }
-
-  return (state);
-}
-
-osStatus_t osKernelStart (void) {
-  osStatus_t stat;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else {
-    if (KernelState == osKernelReady) {
-      /* Ensure SVC priority is at the reset value */
-      SVC_Setup();
-      /* Change state to enable IRQ masking check */
-      KernelState = osKernelRunning;
-      /* Start the kernel scheduler */
-      vTaskStartScheduler();
-      stat = osOK;
-    } else {
-      stat = osError;
-    }
-  }
-
-  return (stat);
-}
-
-int32_t osKernelLock (void) {
-  int32_t lock;
-
-  if (IS_IRQ()) {
-    lock = (int32_t)osErrorISR;
-  }
-  else {
-    switch (xTaskGetSchedulerState()) {
-      case taskSCHEDULER_SUSPENDED:
-        lock = 1;
-        break;
-
-      case taskSCHEDULER_RUNNING:
-        vTaskSuspendAll();
-        lock = 0;
-        break;
-
-      case taskSCHEDULER_NOT_STARTED:
-      default:
-        lock = (int32_t)osError;
-        break;
-    }
-  }
-
-  return (lock);
-}
-
-int32_t osKernelUnlock (void) {
-  int32_t lock;
-
-  if (IS_IRQ()) {
-    lock = (int32_t)osErrorISR;
-  }
-  else {
-    switch (xTaskGetSchedulerState()) {
-      case taskSCHEDULER_SUSPENDED:
-        lock = 1;
-
-        if (xTaskResumeAll() != pdTRUE) {
-          if (xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED) {
-            lock = (int32_t)osError;
-          }
-        }
-        break;
-
-      case taskSCHEDULER_RUNNING:
-        lock = 0;
-        break;
-
-      case taskSCHEDULER_NOT_STARTED:
-      default:
-        lock = (int32_t)osError;
-        break;
-    }
-  }
-
-  return (lock);
-}
-
-int32_t osKernelRestoreLock (int32_t lock) {
-
-  if (IS_IRQ()) {
-    lock = (int32_t)osErrorISR;
-  }
-  else {
-    switch (xTaskGetSchedulerState()) {
-      case taskSCHEDULER_SUSPENDED:
-      case taskSCHEDULER_RUNNING:
-        if (lock == 1) {
-          vTaskSuspendAll();
-        }
-        else {
-          if (lock != 0) {
-            lock = (int32_t)osError;
-          }
-          else {
-            if (xTaskResumeAll() != pdTRUE) {
-              if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) {
-                lock = (int32_t)osError;
-              }
-            }
-          }
-        }
-        break;
-
-      case taskSCHEDULER_NOT_STARTED:
-      default:
-        lock = (int32_t)osError;
-        break;
-    }
-  }
-
-  return (lock);
-}
-
-uint32_t osKernelGetTickCount (void) {
-  TickType_t ticks;
-
-  if (IS_IRQ()) {
-    ticks = xTaskGetTickCountFromISR();
-  } else {
-    ticks = xTaskGetTickCount();
-  }
-
-  return (ticks);
-}
-
-uint32_t osKernelGetTickFreq (void) {
-  return (configTICK_RATE_HZ);
-}
-
-/* Get OS Tick count value */
-static uint32_t OS_Tick_GetCount (void) {
-  uint32_t load = SysTick->LOAD;
-  return  (load - SysTick->VAL);
-}
-
-/* Get OS Tick overflow status */
-static uint32_t OS_Tick_GetOverflow (void) {
-  return ((SysTick->CTRL >> 16) & 1U);
-}
-
-/* Get OS Tick interval */
-static uint32_t OS_Tick_GetInterval (void) {
-  return (SysTick->LOAD + 1U);
-}
-
-uint32_t osKernelGetSysTimerCount (void) {
-  uint32_t irqmask = IS_IRQ_MASKED();
-  TickType_t ticks;
-  uint32_t val;
-
-  __disable_irq();
-
-  ticks = xTaskGetTickCount();
-  val   = OS_Tick_GetCount();
-
-  if (OS_Tick_GetOverflow() != 0U) {
-    val = OS_Tick_GetCount();
-    ticks++;
-  }
-  val += ticks * OS_Tick_GetInterval();
-
-  if (irqmask == 0U) {
-    __enable_irq();
-  }
-
-  return (val);
-}
-
-uint32_t osKernelGetSysTimerFreq (void) {
-  return (configCPU_CLOCK_HZ);
-}
-
-/*---------------------------------------------------------------------------*/
-
-osThreadId_t osThreadNew (osThreadFunc_t func, void *argument, const osThreadAttr_t *attr) {
-  const char *name;
-  uint32_t stack;
-  TaskHandle_t hTask;
-  UBaseType_t prio;
-  int32_t mem;
-
-  hTask = NULL;
-
-  if (!IS_IRQ() && (func != NULL)) {
-    stack = configMINIMAL_STACK_SIZE;
-    prio  = (UBaseType_t)osPriorityNormal;
-
-    name = NULL;
-    mem  = -1;
-
-    if (attr != NULL) {
-      if (attr->name != NULL) {
-        name = attr->name;
-      }
-      if (attr->priority != osPriorityNone) {
-        prio = (UBaseType_t)attr->priority;
-      }
-
-      if ((prio < osPriorityIdle) || (prio > osPriorityISR) || ((attr->attr_bits & osThreadJoinable) == osThreadJoinable)) {
-        return (NULL);
-      }
-
-      if (attr->stack_size > 0U) {
-        /* In FreeRTOS stack is not in bytes, but in sizeof(StackType_t) which is 4 on ARM ports.       */
-        /* Stack size should be therefore 4 byte aligned in order to avoid division caused side effects */
-        stack = attr->stack_size / sizeof(StackType_t);
-      }
-
-      if ((attr->cb_mem    != NULL) && (attr->cb_size    >= sizeof(StaticTask_t)) &&
-          (attr->stack_mem != NULL) && (attr->stack_size >  0U)) {
-        mem = 1;
-      }
-      else {
-        if ((attr->cb_mem == NULL) && (attr->cb_size == 0U) && (attr->stack_mem == NULL)) {
-          mem = 0;
-        }
-      }
-    }
-    else {
-      mem = 0;
-    }
-
-    if (mem == 1) {
-      #if (configSUPPORT_STATIC_ALLOCATION == 1)
-        hTask = xTaskCreateStatic ((TaskFunction_t)func, name, stack, argument, prio, (StackType_t  *)attr->stack_mem,
-                                                                                      (StaticTask_t *)attr->cb_mem);
-      #endif
-    }
-    else {
-      if (mem == 0) {
-        #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
-          if (xTaskCreate ((TaskFunction_t)func, name, (uint16_t)stack, argument, prio, &hTask) != pdPASS) {
-            hTask = NULL;
-          }
-        #endif
-      }
-    }
-  }
-
-  return ((osThreadId_t)hTask);
-}
-
-const char *osThreadGetName (osThreadId_t thread_id) {
-  TaskHandle_t hTask = (TaskHandle_t)thread_id;
-  const char *name;
-
-  if (IS_IRQ() || (hTask == NULL)) {
-    name = NULL;
-  } else {
-    name = pcTaskGetName (hTask);
-  }
-
-  return (name);
-}
-
-osThreadId_t osThreadGetId (void) {
-  osThreadId_t id;
-
-  id = (osThreadId_t)xTaskGetCurrentTaskHandle();
-
-  return (id);
-}
-
-osThreadState_t osThreadGetState (osThreadId_t thread_id) {
-  TaskHandle_t hTask = (TaskHandle_t)thread_id;
-  osThreadState_t state;
-
-  if (IS_IRQ() || (hTask == NULL)) {
-    state = osThreadError;
-  }
-  else {
-    switch (eTaskGetState (hTask)) {
-      case eRunning:   state = osThreadRunning;    break;
-      case eReady:     state = osThreadReady;      break;
-      case eBlocked:
-      case eSuspended: state = osThreadBlocked;    break;
-      case eDeleted:   state = osThreadTerminated; break;
-      case eInvalid:
-      default:         state = osThreadError;      break;
-    }
-  }
-
-  return (state);
-}
-
-uint32_t osThreadGetStackSpace (osThreadId_t thread_id) {
-  TaskHandle_t hTask = (TaskHandle_t)thread_id;
-  uint32_t sz;
-
-  if (IS_IRQ() || (hTask == NULL)) {
-    sz = 0U;
-  } else {
-    sz = (uint32_t)(uxTaskGetStackHighWaterMark(hTask) * sizeof(StackType_t));
-  }
-
-  return (sz);
-}
-
-osStatus_t osThreadSetPriority (osThreadId_t thread_id, osPriority_t priority) {
-  TaskHandle_t hTask = (TaskHandle_t)thread_id;
-  osStatus_t stat;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if ((hTask == NULL) || (priority < osPriorityIdle) || (priority > osPriorityISR)) {
-    stat = osErrorParameter;
-  }
-  else {
-    stat = osOK;
-    vTaskPrioritySet (hTask, (UBaseType_t)priority);
-  }
-
-  return (stat);
-}
-
-osPriority_t osThreadGetPriority (osThreadId_t thread_id) {
-  TaskHandle_t hTask = (TaskHandle_t)thread_id;
-  osPriority_t prio;
-
-  if (IS_IRQ() || (hTask == NULL)) {
-    prio = osPriorityError;
-  } else {
-    prio = (osPriority_t)((int32_t)uxTaskPriorityGet (hTask));
-  }
-
-  return (prio);
-}
-
-osStatus_t osThreadYield (void) {
-  osStatus_t stat;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  } else {
-    stat = osOK;
-    taskYIELD();
-  }
-
-  return (stat);
-}
-
-#if (configUSE_OS2_THREAD_SUSPEND_RESUME == 1)
-osStatus_t osThreadSuspend (osThreadId_t thread_id) {
-  TaskHandle_t hTask = (TaskHandle_t)thread_id;
-  osStatus_t stat;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if (hTask == NULL) {
-    stat = osErrorParameter;
-  }
-  else {
-    stat = osOK;
-    vTaskSuspend (hTask);
-  }
-
-  return (stat);
-}
-
-osStatus_t osThreadResume (osThreadId_t thread_id) {
-  TaskHandle_t hTask = (TaskHandle_t)thread_id;
-  osStatus_t stat;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if (hTask == NULL) {
-    stat = osErrorParameter;
-  }
-  else {
-    stat = osOK;
-    vTaskResume (hTask);
-  }
-
-  return (stat);
-}
-#endif /* (configUSE_OS2_THREAD_SUSPEND_RESUME == 1) */
-
-__NO_RETURN void osThreadExit (void) {
-#ifndef USE_FreeRTOS_HEAP_1
-  vTaskDelete (NULL);
-#endif
-  for (;;);
-}
-
-osStatus_t osThreadTerminate (osThreadId_t thread_id) {
-  TaskHandle_t hTask = (TaskHandle_t)thread_id;
-  osStatus_t stat;
-#ifndef USE_FreeRTOS_HEAP_1
-  eTaskState tstate;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if (hTask == NULL) {
-    stat = osErrorParameter;
-  }
-  else {
-    tstate = eTaskGetState (hTask);
-
-    if (tstate != eDeleted) {
-      stat = osOK;
-      vTaskDelete (hTask);
-    } else {
-      stat = osErrorResource;
-    }
-  }
-#else
-  stat = osError;
-#endif
-
-  return (stat);
-}
-
-uint32_t osThreadGetCount (void) {
-  uint32_t count;
-
-  if (IS_IRQ()) {
-    count = 0U;
-  } else {
-    count = uxTaskGetNumberOfTasks();
-  }
-
-  return (count);
-}
-
-#if (configUSE_OS2_THREAD_ENUMERATE == 1)
-uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items) {
-  uint32_t i, count;
-  TaskStatus_t *task;
-
-  if (IS_IRQ() || (thread_array == NULL) || (array_items == 0U)) {
-    count = 0U;
-  } else {
-    vTaskSuspendAll();
-
-    count = uxTaskGetNumberOfTasks();
-    task  = pvPortMalloc (count * sizeof(TaskStatus_t));
-
-    if (task != NULL) {
-      count = uxTaskGetSystemState (task, count, NULL);
-
-      for (i = 0U; (i < count) && (i < array_items); i++) {
-        thread_array[i] = (osThreadId_t)task[i].xHandle;
-      }
-      count = i;
-    }
-    (void)xTaskResumeAll();
-
-    vPortFree (task);
-  }
-
-  return (count);
-}
-#endif /* (configUSE_OS2_THREAD_ENUMERATE == 1) */
-
-#if (configUSE_OS2_THREAD_FLAGS == 1)
-uint32_t osThreadFlagsSet (osThreadId_t thread_id, uint32_t flags) {
-  TaskHandle_t hTask = (TaskHandle_t)thread_id;
-  uint32_t rflags;
-  BaseType_t yield;
-
-  if ((hTask == NULL) || ((flags & THREAD_FLAGS_INVALID_BITS) != 0U)) {
-    rflags = (uint32_t)osErrorParameter;
-  }
-  else {
-    rflags = (uint32_t)osError;
-
-    if (IS_IRQ()) {
-      yield = pdFALSE;
-
-      (void)xTaskNotifyFromISR (hTask, flags, eSetBits, &yield);
-      (void)xTaskNotifyAndQueryFromISR (hTask, 0, eNoAction, &rflags, NULL);
-
-      portYIELD_FROM_ISR (yield);
-    }
-    else {
-      (void)xTaskNotify (hTask, flags, eSetBits);
-      (void)xTaskNotifyAndQuery (hTask, 0, eNoAction, &rflags);
-    }
-  }
-  /* Return flags after setting */
-  return (rflags);
-}
-
-uint32_t osThreadFlagsClear (uint32_t flags) {
-  TaskHandle_t hTask;
-  uint32_t rflags, cflags;
-
-  if (IS_IRQ()) {
-    rflags = (uint32_t)osErrorISR;
-  }
-  else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
-    rflags = (uint32_t)osErrorParameter;
-  }
-  else {
-    hTask = xTaskGetCurrentTaskHandle();
-
-    if (xTaskNotifyAndQuery (hTask, 0, eNoAction, &cflags) == pdPASS) {
-      rflags = cflags;
-      cflags &= ~flags;
-
-      if (xTaskNotify (hTask, cflags, eSetValueWithOverwrite) != pdPASS) {
-        rflags = (uint32_t)osError;
-      }
-    }
-    else {
-      rflags = (uint32_t)osError;
-    }
-  }
-
-  /* Return flags before clearing */
-  return (rflags);
-}
-
-uint32_t osThreadFlagsGet (void) {
-  TaskHandle_t hTask;
-  uint32_t rflags;
-
-  if (IS_IRQ()) {
-    rflags = (uint32_t)osErrorISR;
-  }
-  else {
-    hTask = xTaskGetCurrentTaskHandle();
-
-    if (xTaskNotifyAndQuery (hTask, 0, eNoAction, &rflags) != pdPASS) {
-      rflags = (uint32_t)osError;
-    }
-  }
-
-  return (rflags);
-}
-
-uint32_t osThreadFlagsWait (uint32_t flags, uint32_t options, uint32_t timeout) {
-  uint32_t rflags, nval;
-  uint32_t clear;
-  TickType_t t0, td, tout;
-  BaseType_t rval;
-
-  if (IS_IRQ()) {
-    rflags = (uint32_t)osErrorISR;
-  }
-  else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
-    rflags = (uint32_t)osErrorParameter;
-  }
-  else {
-    if ((options & osFlagsNoClear) == osFlagsNoClear) {
-      clear = 0U;
-    } else {
-      clear = flags;
-    }
-
-    rflags = 0U;
-    tout   = timeout;
-
-    t0 = xTaskGetTickCount();
-    do {
-      rval = xTaskNotifyWait (0, clear, &nval, tout);
-
-      if (rval == pdPASS) {
-        rflags &= flags;
-        rflags |= nval;
-
-        if ((options & osFlagsWaitAll) == osFlagsWaitAll) {
-          if ((flags & rflags) == flags) {
-            break;
-          } else {
-            if (timeout == 0U) {
-              rflags = (uint32_t)osErrorResource;
-              break;
-            }
-          }
-        }
-        else {
-          if ((flags & rflags) != 0) {
-            break;
-          } else {
-            if (timeout == 0U) {
-              rflags = (uint32_t)osErrorResource;
-              break;
-            }
-          }
-        }
-
-        /* Update timeout */
-        td = xTaskGetTickCount() - t0;
-
-        if (td > tout) {
-          tout  = 0;
-        } else {
-          tout -= td;
-        }
-      }
-      else {
-        if (timeout == 0) {
-          rflags = (uint32_t)osErrorResource;
-        } else {
-          rflags = (uint32_t)osErrorTimeout;
-        }
-      }
-    }
-    while (rval != pdFAIL);
-  }
-
-  /* Return flags before clearing */
-  return (rflags);
-}
-#endif /* (configUSE_OS2_THREAD_FLAGS == 1) */
-
-osStatus_t osDelay (uint32_t ticks) {
-  osStatus_t stat;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else {
-    stat = osOK;
-
-    if (ticks != 0U) {
-      vTaskDelay(ticks);
-    }
-  }
-
-  return (stat);
-}
-
-osStatus_t osDelayUntil (uint32_t ticks) {
-  TickType_t tcnt, delay;
-  osStatus_t stat;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else {
-    stat = osOK;
-    tcnt = xTaskGetTickCount();
-
-    /* Determine remaining number of ticks to delay */
-    delay = (TickType_t)ticks - tcnt;
-
-    /* Check if target tick has not expired */
-    if((delay != 0U) && (0 == (delay >> (8 * sizeof(TickType_t) - 1)))) {
-      vTaskDelayUntil (&tcnt, delay);
-    }
-    else
-    {
-      /* No delay or already expired */
-      stat = osErrorParameter;
-    }
-  }
-
-  return (stat);
-}
-
-/*---------------------------------------------------------------------------*/
-#if (configUSE_OS2_TIMER == 1)
-
-static void TimerCallback (TimerHandle_t hTimer) {
-  TimerCallback_t *callb;
-
-  callb = (TimerCallback_t *)pvTimerGetTimerID (hTimer);
-
-  if (callb != NULL) {
-    callb->func (callb->arg);
-  }
-}
-
-osTimerId_t osTimerNew (osTimerFunc_t func, osTimerType_t type, void *argument, const osTimerAttr_t *attr) {
-  const char *name;
-  TimerHandle_t hTimer;
-  TimerCallback_t *callb;
-  UBaseType_t reload;
-  int32_t mem;
-
-  hTimer = NULL;
-
-  if (!IS_IRQ() && (func != NULL)) {
-    /* Allocate memory to store callback function and argument */
-    callb = pvPortMalloc (sizeof(TimerCallback_t));
-
-    if (callb != NULL) {
-      callb->func = func;
-      callb->arg  = argument;
-
-      if (type == osTimerOnce) {
-        reload = pdFALSE;
-      } else {
-        reload = pdTRUE;
-      }
-
-      mem  = -1;
-      name = NULL;
-
-      if (attr != NULL) {
-        if (attr->name != NULL) {
-          name = attr->name;
-        }
-
-        if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticTimer_t))) {
-          mem = 1;
-        }
-        else {
-          if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
-            mem = 0;
-          }
-        }
-      }
-      else {
-        mem = 0;
-      }
-
-      if (mem == 1) {
-        #if (configSUPPORT_STATIC_ALLOCATION == 1)
-          hTimer = xTimerCreateStatic (name, 1, reload, callb, TimerCallback, (StaticTimer_t *)attr->cb_mem);
-        #endif
-      }
-      else {
-        if (mem == 0) {
-          #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
-            hTimer = xTimerCreate (name, 1, reload, callb, TimerCallback);
-          #endif
-        }
-      }
-
-      if ((hTimer == NULL) && (callb != NULL)) {
-        vPortFree (callb);
-      }
-    }
-  }
-
-  return ((osTimerId_t)hTimer);
-}
-
-const char *osTimerGetName (osTimerId_t timer_id) {
-  TimerHandle_t hTimer = (TimerHandle_t)timer_id;
-  const char *p;
-
-  if (IS_IRQ() || (hTimer == NULL)) {
-    p = NULL;
-  } else {
-    p = pcTimerGetName (hTimer);
-  }
-
-  return (p);
-}
-
-osStatus_t osTimerStart (osTimerId_t timer_id, uint32_t ticks) {
-  TimerHandle_t hTimer = (TimerHandle_t)timer_id;
-  osStatus_t stat;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if (hTimer == NULL) {
-    stat = osErrorParameter;
-  }
-  else {
-    if (xTimerChangePeriod (hTimer, ticks, 0) == pdPASS) {
-      stat = osOK;
-    } else {
-      stat = osErrorResource;
-    }
-  }
-
-  return (stat);
-}
-
-osStatus_t osTimerStop (osTimerId_t timer_id) {
-  TimerHandle_t hTimer = (TimerHandle_t)timer_id;
-  osStatus_t stat;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if (hTimer == NULL) {
-    stat = osErrorParameter;
-  }
-  else {
-    if (xTimerIsTimerActive (hTimer) == pdFALSE) {
-      stat = osErrorResource;
-    }
-    else {
-      if (xTimerStop (hTimer, 0) == pdPASS) {
-        stat = osOK;
-      } else {
-        stat = osError;
-      }
-    }
-  }
-
-  return (stat);
-}
-
-uint32_t osTimerIsRunning (osTimerId_t timer_id) {
-  TimerHandle_t hTimer = (TimerHandle_t)timer_id;
-  uint32_t running;
-
-  if (IS_IRQ() || (hTimer == NULL)) {
-    running = 0U;
-  } else {
-    running = (uint32_t)xTimerIsTimerActive (hTimer);
-  }
-
-  return (running);
-}
-
-osStatus_t osTimerDelete (osTimerId_t timer_id) {
-  TimerHandle_t hTimer = (TimerHandle_t)timer_id;
-  osStatus_t stat;
-#ifndef USE_FreeRTOS_HEAP_1
-  TimerCallback_t *callb;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if (hTimer == NULL) {
-    stat = osErrorParameter;
-  }
-  else {
-    callb = (TimerCallback_t *)pvTimerGetTimerID (hTimer);
-
-    if (xTimerDelete (hTimer, 0) == pdPASS) {
-      vPortFree (callb);
-      stat = osOK;
-    } else {
-      stat = osErrorResource;
-    }
-  }
-#else
-  stat = osError;
-#endif
-
-  return (stat);
-}
-#endif /* (configUSE_OS2_TIMER == 1) */
-
-/*---------------------------------------------------------------------------*/
-
-osEventFlagsId_t osEventFlagsNew (const osEventFlagsAttr_t *attr) {
-  EventGroupHandle_t hEventGroup;
-  int32_t mem;
-
-  hEventGroup = NULL;
-
-  if (!IS_IRQ()) {
-    mem = -1;
-
-    if (attr != NULL) {
-      if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticEventGroup_t))) {
-        mem = 1;
-      }
-      else {
-        if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
-          mem = 0;
-        }
-      }
-    }
-    else {
-      mem = 0;
-    }
-
-    if (mem == 1) {
-      #if (configSUPPORT_STATIC_ALLOCATION == 1)
-      hEventGroup = xEventGroupCreateStatic (attr->cb_mem);
-      #endif
-    }
-    else {
-      if (mem == 0) {
-        #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
-          hEventGroup = xEventGroupCreate();
-        #endif
-      }
-    }
-  }
-
-  return ((osEventFlagsId_t)hEventGroup);
-}
-
-uint32_t osEventFlagsSet (osEventFlagsId_t ef_id, uint32_t flags) {
-  EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
-  uint32_t rflags;
-  BaseType_t yield;
-
-  if ((hEventGroup == NULL) || ((flags & EVENT_FLAGS_INVALID_BITS) != 0U)) {
-    rflags = (uint32_t)osErrorParameter;
-  }
-  else if (IS_IRQ()) {
-  #if (configUSE_OS2_EVENTFLAGS_FROM_ISR == 0)
-    (void)yield;
-    /* Enable timers and xTimerPendFunctionCall function to support osEventFlagsSet from ISR */
-    rflags = (uint32_t)osErrorResource;
-  #else
-    yield = pdFALSE;
-
-    if (xEventGroupSetBitsFromISR (hEventGroup, (EventBits_t)flags, &yield) == pdFAIL) {
-      rflags = (uint32_t)osErrorResource;
-    } else {
-      rflags = flags;
-      portYIELD_FROM_ISR (yield);
-    }
-  #endif
-  }
-  else {
-    rflags = xEventGroupSetBits (hEventGroup, (EventBits_t)flags);
-  }
-
-  return (rflags);
-}
-
-uint32_t osEventFlagsClear (osEventFlagsId_t ef_id, uint32_t flags) {
-  EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
-  uint32_t rflags;
-
-  if ((hEventGroup == NULL) || ((flags & EVENT_FLAGS_INVALID_BITS) != 0U)) {
-    rflags = (uint32_t)osErrorParameter;
-  }
-  else if (IS_IRQ()) {
-  #if (configUSE_OS2_EVENTFLAGS_FROM_ISR == 0)
-    /* Enable timers and xTimerPendFunctionCall function to support osEventFlagsSet from ISR */
-    rflags = (uint32_t)osErrorResource;
-  #else
-    rflags = xEventGroupGetBitsFromISR (hEventGroup);
-
-    if (xEventGroupClearBitsFromISR (hEventGroup, (EventBits_t)flags) == pdFAIL) {
-      rflags = (uint32_t)osErrorResource;
-    }
-  #endif
-  }
-  else {
-    rflags = xEventGroupClearBits (hEventGroup, (EventBits_t)flags);
-  }
-
-  return (rflags);
-}
-
-uint32_t osEventFlagsGet (osEventFlagsId_t ef_id) {
-  EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
-  uint32_t rflags;
-
-  if (ef_id == NULL) {
-    rflags = 0U;
-  }
-  else if (IS_IRQ()) {
-    rflags = xEventGroupGetBitsFromISR (hEventGroup);
-  }
-  else {
-    rflags = xEventGroupGetBits (hEventGroup);
-  }
-
-  return (rflags);
-}
-
-uint32_t osEventFlagsWait (osEventFlagsId_t ef_id, uint32_t flags, uint32_t options, uint32_t timeout) {
-  EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
-  BaseType_t wait_all;
-  BaseType_t exit_clr;
-  uint32_t rflags;
-
-  if ((hEventGroup == NULL) || ((flags & EVENT_FLAGS_INVALID_BITS) != 0U)) {
-    rflags = (uint32_t)osErrorParameter;
-  }
-  else if (IS_IRQ()) {
-    rflags = (uint32_t)osErrorISR;
-  }
-  else {
-    if (options & osFlagsWaitAll) {
-      wait_all = pdTRUE;
-    } else {
-      wait_all = pdFAIL;
-    }
-
-    if (options & osFlagsNoClear) {
-      exit_clr = pdFAIL;
-    } else {
-      exit_clr = pdTRUE;
-    }
-
-    rflags = xEventGroupWaitBits (hEventGroup, (EventBits_t)flags, exit_clr, wait_all, (TickType_t)timeout);
-
-    if (options & osFlagsWaitAll) {
-      if ((flags & rflags) != flags) {
-        if (timeout > 0U) {
-          rflags = (uint32_t)osErrorTimeout;
-        } else {
-          rflags = (uint32_t)osErrorResource;
-        }
-      }
-    }
-    else {
-      if ((flags & rflags) == 0U) {
-        if (timeout > 0U) {
-          rflags = (uint32_t)osErrorTimeout;
-        } else {
-          rflags = (uint32_t)osErrorResource;
-        }
-      }
-    }
-  }
-
-  return (rflags);
-}
-
-osStatus_t osEventFlagsDelete (osEventFlagsId_t ef_id) {
-  EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
-  osStatus_t stat;
-
-#ifndef USE_FreeRTOS_HEAP_1
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if (hEventGroup == NULL) {
-    stat = osErrorParameter;
-  }
-  else {
-    stat = osOK;
-    vEventGroupDelete (hEventGroup);
-  }
-#else
-  stat = osError;
-#endif
-
-  return (stat);
-}
-
-/*---------------------------------------------------------------------------*/
-#if (configUSE_OS2_MUTEX == 1)
-
-osMutexId_t osMutexNew (const osMutexAttr_t *attr) {
-  SemaphoreHandle_t hMutex;
-  uint32_t type;
-  uint32_t rmtx;
-  int32_t  mem;
-  #if (configQUEUE_REGISTRY_SIZE > 0)
-  const char *name;
-  #endif
-
-  hMutex = NULL;
-
-  if (!IS_IRQ()) {
-    if (attr != NULL) {
-      type = attr->attr_bits;
-    } else {
-      type = 0U;
-    }
-
-    if ((type & osMutexRecursive) == osMutexRecursive) {
-      rmtx = 1U;
-    } else {
-      rmtx = 0U;
-    }
-
-    if ((type & osMutexRobust) != osMutexRobust) {
-      mem = -1;
-
-      if (attr != NULL) {
-        if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticSemaphore_t))) {
-          mem = 1;
-        }
-        else {
-          if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
-            mem = 0;
-          }
-        }
-      }
-      else {
-        mem = 0;
-      }
-
-      if (mem == 1) {
-        #if (configSUPPORT_STATIC_ALLOCATION == 1)
-          if (rmtx != 0U) {
-            #if (configUSE_RECURSIVE_MUTEXES == 1)
-            hMutex = xSemaphoreCreateRecursiveMutexStatic (attr->cb_mem);
-            #endif
-          }
-          else {
-            hMutex = xSemaphoreCreateMutexStatic (attr->cb_mem);
-          }
-        #endif
-      }
-      else {
-        if (mem == 0) {
-          #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
-            if (rmtx != 0U) {
-              #if (configUSE_RECURSIVE_MUTEXES == 1)
-              hMutex = xSemaphoreCreateRecursiveMutex ();
-              #endif
-            } else {
-              hMutex = xSemaphoreCreateMutex ();
-            }
-          #endif
-        }
-      }
-
-      #if (configQUEUE_REGISTRY_SIZE > 0)
-      if (hMutex != NULL) {
-        if (attr != NULL) {
-          name = attr->name;
-        } else {
-          name = NULL;
-        }
-        vQueueAddToRegistry (hMutex, name);
-      }
-      #endif
-
-      if ((hMutex != NULL) && (rmtx != 0U)) {
-        hMutex = (SemaphoreHandle_t)((uint32_t)hMutex | 1U);
-      }
-    }
-  }
-
-  return ((osMutexId_t)hMutex);
-}
-
-osStatus_t osMutexAcquire (osMutexId_t mutex_id, uint32_t timeout) {
-  SemaphoreHandle_t hMutex;
-  osStatus_t stat;
-  uint32_t rmtx;
-
-  hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U);
-
-  rmtx = (uint32_t)mutex_id & 1U;
-
-  stat = osOK;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if (hMutex == NULL) {
-    stat = osErrorParameter;
-  }
-  else {
-    if (rmtx != 0U) {
-      #if (configUSE_RECURSIVE_MUTEXES == 1)
-      if (xSemaphoreTakeRecursive (hMutex, timeout) != pdPASS) {
-        if (timeout != 0U) {
-          stat = osErrorTimeout;
-        } else {
-          stat = osErrorResource;
-        }
-      }
-      #endif
-    }
-    else {
-      if (xSemaphoreTake (hMutex, timeout) != pdPASS) {
-        if (timeout != 0U) {
-          stat = osErrorTimeout;
-        } else {
-          stat = osErrorResource;
-        }
-      }
-    }
-  }
-
-  return (stat);
-}
-
-osStatus_t osMutexRelease (osMutexId_t mutex_id) {
-  SemaphoreHandle_t hMutex;
-  osStatus_t stat;
-  uint32_t rmtx;
-
-  hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U);
-
-  rmtx = (uint32_t)mutex_id & 1U;
-
-  stat = osOK;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if (hMutex == NULL) {
-    stat = osErrorParameter;
-  }
-  else {
-    if (rmtx != 0U) {
-      #if (configUSE_RECURSIVE_MUTEXES == 1)
-      if (xSemaphoreGiveRecursive (hMutex) != pdPASS) {
-        stat = osErrorResource;
-      }
-      #endif
-    }
-    else {
-      if (xSemaphoreGive (hMutex) != pdPASS) {
-        stat = osErrorResource;
-      }
-    }
-  }
-
-  return (stat);
-}
-
-osThreadId_t osMutexGetOwner (osMutexId_t mutex_id) {
-  SemaphoreHandle_t hMutex;
-  osThreadId_t owner;
-
-  hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U);
-
-  if (IS_IRQ() || (hMutex == NULL)) {
-    owner = NULL;
-  } else {
-    owner = (osThreadId_t)xSemaphoreGetMutexHolder (hMutex);
-  }
-
-  return (owner);
-}
-
-osStatus_t osMutexDelete (osMutexId_t mutex_id) {
-  osStatus_t stat;
-#ifndef USE_FreeRTOS_HEAP_1
-  SemaphoreHandle_t hMutex;
-
-  hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U);
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if (hMutex == NULL) {
-    stat = osErrorParameter;
-  }
-  else {
-    #if (configQUEUE_REGISTRY_SIZE > 0)
-    vQueueUnregisterQueue (hMutex);
-    #endif
-    stat = osOK;
-    vSemaphoreDelete (hMutex);
-  }
-#else
-  stat = osError;
-#endif
-
-  return (stat);
-}
-#endif /* (configUSE_OS2_MUTEX == 1) */
-
-/*---------------------------------------------------------------------------*/
-
-osSemaphoreId_t osSemaphoreNew (uint32_t max_count, uint32_t initial_count, const osSemaphoreAttr_t *attr) {
-  SemaphoreHandle_t hSemaphore;
-  int32_t mem;
-  #if (configQUEUE_REGISTRY_SIZE > 0)
-  const char *name;
-  #endif
-
-  hSemaphore = NULL;
-
-  if (!IS_IRQ() && (max_count > 0U) && (initial_count <= max_count)) {
-    mem = -1;
-
-    if (attr != NULL) {
-      if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticSemaphore_t))) {
-        mem = 1;
-      }
-      else {
-        if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
-          mem = 0;
-        }
-      }
-    }
-    else {
-      mem = 0;
-    }
-
-    if (mem != -1) {
-      if (max_count == 1U) {
-        if (mem == 1) {
-          #if (configSUPPORT_STATIC_ALLOCATION == 1)
-            hSemaphore = xSemaphoreCreateBinaryStatic ((StaticSemaphore_t *)attr->cb_mem);
-          #endif
-        }
-        else {
-          #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
-            hSemaphore = xSemaphoreCreateBinary();
-          #endif
-        }
-
-        if ((hSemaphore != NULL) && (initial_count != 0U)) {
-          if (xSemaphoreGive (hSemaphore) != pdPASS) {
-            vSemaphoreDelete (hSemaphore);
-            hSemaphore = NULL;
-          }
-        }
-      }
-      else {
-        if (mem == 1) {
-          #if (configSUPPORT_STATIC_ALLOCATION == 1)
-            hSemaphore = xSemaphoreCreateCountingStatic (max_count, initial_count, (StaticSemaphore_t *)attr->cb_mem);
-          #endif
-        }
-        else {
-          #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
-            hSemaphore = xSemaphoreCreateCounting (max_count, initial_count);
-          #endif
-        }
-      }
-      
-      #if (configQUEUE_REGISTRY_SIZE > 0)
-      if (hSemaphore != NULL) {
-        if (attr != NULL) {
-          name = attr->name;
-        } else {
-          name = NULL;
-        }
-        vQueueAddToRegistry (hSemaphore, name);
-      }
-      #endif
-    }
-  }
-
-  return ((osSemaphoreId_t)hSemaphore);
-}
-
-osStatus_t osSemaphoreAcquire (osSemaphoreId_t semaphore_id, uint32_t timeout) {
-  SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id;
-  osStatus_t stat;
-  BaseType_t yield;
-
-  stat = osOK;
-
-  if (hSemaphore == NULL) {
-    stat = osErrorParameter;
-  }
-  else if (IS_IRQ()) {
-    if (timeout != 0U) {
-      stat = osErrorParameter;
-    }
-    else {
-      yield = pdFALSE;
-
-      if (xSemaphoreTakeFromISR (hSemaphore, &yield) != pdPASS) {
-        stat = osErrorResource;
-      } else {
-        portYIELD_FROM_ISR (yield);
-      }
-    }
-  }
-  else {
-    if (xSemaphoreTake (hSemaphore, (TickType_t)timeout) != pdPASS) {
-      if (timeout != 0U) {
-        stat = osErrorTimeout;
-      } else {
-        stat = osErrorResource;
-      }
-    }
-  }
-
-  return (stat);
-}
-
-osStatus_t osSemaphoreRelease (osSemaphoreId_t semaphore_id) {
-  SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id;
-  osStatus_t stat;
-  BaseType_t yield;
-
-  stat = osOK;
-
-  if (hSemaphore == NULL) {
-    stat = osErrorParameter;
-  }
-  else if (IS_IRQ()) {
-    yield = pdFALSE;
-
-    if (xSemaphoreGiveFromISR (hSemaphore, &yield) != pdTRUE) {
-      stat = osErrorResource;
-    } else {
-      portYIELD_FROM_ISR (yield);
-    }
-  }
-  else {
-    if (xSemaphoreGive (hSemaphore) != pdPASS) {
-      stat = osErrorResource;
-    }
-  }
-
-  return (stat);
-}
-
-uint32_t osSemaphoreGetCount (osSemaphoreId_t semaphore_id) {
-  SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id;
-  uint32_t count;
-
-  if (hSemaphore == NULL) {
-    count = 0U;
-  }
-  else if (IS_IRQ()) {
-    count = uxQueueMessagesWaitingFromISR (hSemaphore);
-  } else {
-    count = (uint32_t)uxSemaphoreGetCount (hSemaphore);
-  }
-
-  return (count);
-}
-
-osStatus_t osSemaphoreDelete (osSemaphoreId_t semaphore_id) {
-  SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id;
-  osStatus_t stat;
-
-#ifndef USE_FreeRTOS_HEAP_1
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if (hSemaphore == NULL) {
-    stat = osErrorParameter;
-  }
-  else {
-    #if (configQUEUE_REGISTRY_SIZE > 0)
-    vQueueUnregisterQueue (hSemaphore);
-    #endif
-
-    stat = osOK;
-    vSemaphoreDelete (hSemaphore);
-  }
-#else
-  stat = osError;
-#endif
-
-  return (stat);
-}
-
-/*---------------------------------------------------------------------------*/
-
-osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr) {
-  QueueHandle_t hQueue;
-  int32_t mem;
-  #if (configQUEUE_REGISTRY_SIZE > 0)
-  const char *name;
-  #endif
-
-  hQueue = NULL;
-
-  if (!IS_IRQ() && (msg_count > 0U) && (msg_size > 0U)) {
-    mem = -1;
-
-    if (attr != NULL) {
-      if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticQueue_t)) &&
-          (attr->mq_mem != NULL) && (attr->mq_size >= (msg_count * msg_size))) {
-        mem = 1;
-      }
-      else {
-        if ((attr->cb_mem == NULL) && (attr->cb_size == 0U) &&
-            (attr->mq_mem == NULL) && (attr->mq_size == 0U)) {
-          mem = 0;
-        }
-      }
-    }
-    else {
-      mem = 0;
-    }
-
-    if (mem == 1) {
-      #if (configSUPPORT_STATIC_ALLOCATION == 1)
-        hQueue = xQueueCreateStatic (msg_count, msg_size, attr->mq_mem, attr->cb_mem);
-      #endif
-    }
-    else {
-      if (mem == 0) {
-        #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
-          hQueue = xQueueCreate (msg_count, msg_size);
-        #endif
-      }
-    }
-
-    #if (configQUEUE_REGISTRY_SIZE > 0)
-    if (hQueue != NULL) {
-      if (attr != NULL) {
-        name = attr->name;
-      } else {
-        name = NULL;
-      }
-      vQueueAddToRegistry (hQueue, name);
-    }
-    #endif
-
-  }
-
-  return ((osMessageQueueId_t)hQueue);
-}
-
-osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout) {
-  QueueHandle_t hQueue = (QueueHandle_t)mq_id;
-  osStatus_t stat;
-  BaseType_t yield;
-
-  (void)msg_prio; /* Message priority is ignored */
-
-  stat = osOK;
-
-  if (IS_IRQ()) {
-    if ((hQueue == NULL) || (msg_ptr == NULL) || (timeout != 0U)) {
-      stat = osErrorParameter;
-    }
-    else {
-      yield = pdFALSE;
-
-      if (xQueueSendToBackFromISR (hQueue, msg_ptr, &yield) != pdTRUE) {
-        stat = osErrorResource;
-      } else {
-        portYIELD_FROM_ISR (yield);
-      }
-    }
-  }
-  else {
-    if ((hQueue == NULL) || (msg_ptr == NULL)) {
-      stat = osErrorParameter;
-    }
-    else {
-      if (xQueueSendToBack (hQueue, msg_ptr, (TickType_t)timeout) != pdPASS) {
-        if (timeout != 0U) {
-          stat = osErrorTimeout;
-        } else {
-          stat = osErrorResource;
-        }
-      }
-    }
-  }
-
-  return (stat);
-}
-
-osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t timeout) {
-  QueueHandle_t hQueue = (QueueHandle_t)mq_id;
-  osStatus_t stat;
-  BaseType_t yield;
-
-  (void)msg_prio; /* Message priority is ignored */
-
-  stat = osOK;
-
-  if (IS_IRQ()) {
-    if ((hQueue == NULL) || (msg_ptr == NULL) || (timeout != 0U)) {
-      stat = osErrorParameter;
-    }
-    else {
-      yield = pdFALSE;
-
-      if (xQueueReceiveFromISR (hQueue, msg_ptr, &yield) != pdPASS) {
-        stat = osErrorResource;
-      } else {
-        portYIELD_FROM_ISR (yield);
-      }
-    }
-  }
-  else {
-    if ((hQueue == NULL) || (msg_ptr == NULL)) {
-      stat = osErrorParameter;
-    }
-    else {
-      if (xQueueReceive (hQueue, msg_ptr, (TickType_t)timeout) != pdPASS) {
-        if (timeout != 0U) {
-          stat = osErrorTimeout;
-        } else {
-          stat = osErrorResource;
-        }
-      }
-    }
-  }
-
-  return (stat);
-}
-
-uint32_t osMessageQueueGetCapacity (osMessageQueueId_t mq_id) {
-  StaticQueue_t *mq = (StaticQueue_t *)mq_id;
-  uint32_t capacity;
-
-  if (mq == NULL) {
-    capacity = 0U;
-  } else {
-    /* capacity = pxQueue->uxLength */
-    capacity = mq->uxDummy4[1];
-  }
-
-  return (capacity);
-}
-
-uint32_t osMessageQueueGetMsgSize (osMessageQueueId_t mq_id) {
-  StaticQueue_t *mq = (StaticQueue_t *)mq_id;
-  uint32_t size;
-
-  if (mq == NULL) {
-    size = 0U;
-  } else {
-    /* size = pxQueue->uxItemSize */
-    size = mq->uxDummy4[2];
-  }
-
-  return (size);
-}
-
-uint32_t osMessageQueueGetCount (osMessageQueueId_t mq_id) {
-  QueueHandle_t hQueue = (QueueHandle_t)mq_id;
-  UBaseType_t count;
-
-  if (hQueue == NULL) {
-    count = 0U;
-  }
-  else if (IS_IRQ()) {
-    count = uxQueueMessagesWaitingFromISR (hQueue);
-  }
-  else {
-    count = uxQueueMessagesWaiting (hQueue);
-  }
-
-  return ((uint32_t)count);
-}
-
-uint32_t osMessageQueueGetSpace (osMessageQueueId_t mq_id) {
-  StaticQueue_t *mq = (StaticQueue_t *)mq_id;
-  uint32_t space;
-  uint32_t isrm;
-
-  if (mq == NULL) {
-    space = 0U;
-  }
-  else if (IS_IRQ()) {
-    isrm = taskENTER_CRITICAL_FROM_ISR();
-
-    /* space = pxQueue->uxLength - pxQueue->uxMessagesWaiting; */
-    space = mq->uxDummy4[1] - mq->uxDummy4[0];
-
-    taskEXIT_CRITICAL_FROM_ISR(isrm);
-  }
-  else {
-    space = (uint32_t)uxQueueSpacesAvailable ((QueueHandle_t)mq);
-  }
-
-  return (space);
-}
-
-osStatus_t osMessageQueueReset (osMessageQueueId_t mq_id) {
-  QueueHandle_t hQueue = (QueueHandle_t)mq_id;
-  osStatus_t stat;
-
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if (hQueue == NULL) {
-    stat = osErrorParameter;
-  }
-  else {
-    stat = osOK;
-    (void)xQueueReset (hQueue);
-  }
-
-  return (stat);
-}
-
-osStatus_t osMessageQueueDelete (osMessageQueueId_t mq_id) {
-  QueueHandle_t hQueue = (QueueHandle_t)mq_id;
-  osStatus_t stat;
-
-#ifndef USE_FreeRTOS_HEAP_1
-  if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else if (hQueue == NULL) {
-    stat = osErrorParameter;
-  }
-  else {
-    #if (configQUEUE_REGISTRY_SIZE > 0)
-    vQueueUnregisterQueue (hQueue);
-    #endif
-
-    stat = osOK;
-    vQueueDelete (hQueue);
-  }
-#else
-  stat = osError;
-#endif
-
-  return (stat);
-}
-
-/*---------------------------------------------------------------------------*/
-#ifdef FREERTOS_MPOOL_H_
-
-/* Static memory pool functions */
-static void  FreeBlock   (MemPool_t *mp, void *block);
-static void *AllocBlock  (MemPool_t *mp);
-static void *CreateBlock (MemPool_t *mp);
-
-osMemoryPoolId_t osMemoryPoolNew (uint32_t block_count, uint32_t block_size, const osMemoryPoolAttr_t *attr) {
-  MemPool_t *mp;
-  const char *name;
-  int32_t mem_cb, mem_mp;
-  uint32_t sz;
-
-  if (IS_IRQ()) {
-    mp = NULL;
-  }
-  else if ((block_count == 0U) || (block_size == 0U)) {
-    mp = NULL;
-  }
-  else {
-    mp = NULL;
-    sz = MEMPOOL_ARR_SIZE (block_count, block_size);
-
-    name = NULL;
-    mem_cb = -1;
-    mem_mp = -1;
-
-    if (attr != NULL) {
-      if (attr->name != NULL) {
-        name = attr->name;
-      }
-
-      if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(MemPool_t))) {
-        /* Static control block is provided */
-        mem_cb = 1;
-      }
-      else if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
-        /* Allocate control block memory on heap */
-        mem_cb = 0;
-      }
-
-      if ((attr->mp_mem == NULL) && (attr->mp_size == 0U)) {
-        /* Allocate memory array on heap */
-          mem_mp = 0;
-      }
-      else {
-        if (attr->mp_mem != NULL) {
-          /* Check if array is 4-byte aligned */
-          if (((uint32_t)attr->mp_mem & 3U) == 0U) {
-            /* Check if array big enough */
-            if (attr->mp_size >= sz) {
-              /* Static memory pool array is provided */
-              mem_mp = 1;
-            }
-          }
-        }
-      }
-    }
-    else {
-      /* Attributes not provided, allocate memory on heap */
-      mem_cb = 0;
-      mem_mp = 0;
-    }
-
-    if (mem_cb == 0) {
-      mp = pvPortMalloc (sizeof(MemPool_t));
-    } else {
-      mp = attr->cb_mem;
-    }
-
-    if (mp != NULL) {
-      /* Create a semaphore (max count == initial count == block_count) */
-      #if (configSUPPORT_STATIC_ALLOCATION == 1)
-        mp->sem = xSemaphoreCreateCountingStatic (block_count, block_count, &mp->mem_sem);
-      #elif (configSUPPORT_DYNAMIC_ALLOCATION == 1)
-        mp->sem = xSemaphoreCreateCounting (block_count, block_count);
-      #else
-        mp->sem == NULL;
-      #endif
-
-      if (mp->sem != NULL) {
-        /* Setup memory array */
-        if (mem_mp == 0) {
-          mp->mem_arr = pvPortMalloc (sz);
-        } else {
-          mp->mem_arr = attr->mp_mem;
-        }
-      }
-    }
-
-    if ((mp != NULL) && (mp->mem_arr != NULL)) {
-      /* Memory pool can be created */
-      mp->head    = NULL;
-      mp->mem_sz  = sz;
-      mp->name    = name;
-      mp->bl_sz   = block_size;
-      mp->bl_cnt  = block_count;
-      mp->n       = 0U;
-
-      /* Set heap allocated memory flags */
-      mp->status = MPOOL_STATUS;
-
-      if (mem_cb == 0) {
-        /* Control block on heap */
-        mp->status |= 1U;
-      }
-      if (mem_mp == 0) {
-        /* Memory array on heap */
-        mp->status |= 2U;
-      }
-    }
-    else {
-      /* Memory pool cannot be created, release allocated resources */
-      if ((mem_cb == 0) && (mp != NULL)) {
-        /* Free control block memory */
-        vPortFree (mp);
-      }
-      mp = NULL;
-    }
-  }
-
-  return (mp);
-}
-
-const char *osMemoryPoolGetName (osMemoryPoolId_t mp_id) {
-  MemPool_t *mp = (osMemoryPoolId_t)mp_id;
-  const char *p;
-
-  if (IS_IRQ()) {
-    p = NULL;
-  }
-  else if (mp_id == NULL) {
-    p = NULL;
-  }
-  else {
-    p = mp->name;
-  }
-
-  return (p);
-}
-
-void *osMemoryPoolAlloc (osMemoryPoolId_t mp_id, uint32_t timeout) {
-  MemPool_t *mp;
-  void *block;
-  uint32_t isrm;
-
-  if (mp_id == NULL) {
-    /* Invalid input parameters */
-    block = NULL;
-  }
-  else {
-    block = NULL;
-
-    mp = (MemPool_t *)mp_id;
-
-    if ((mp->status & MPOOL_STATUS) == MPOOL_STATUS) {
-      if (IS_IRQ()) {
-        if (timeout == 0U) {
-          if (xSemaphoreTakeFromISR (mp->sem, NULL) == pdTRUE) {
-            if ((mp->status & MPOOL_STATUS) == MPOOL_STATUS) {
-              isrm  = taskENTER_CRITICAL_FROM_ISR();
-
-              /* Get a block from the free-list */
-              block = AllocBlock(mp);
-
-              if (block == NULL) {
-                /* List of free blocks is empty, 'create' new block */
-                block = CreateBlock(mp);
-              }
-
-              taskEXIT_CRITICAL_FROM_ISR(isrm);
-            }
-          }
-        }
-      }
-      else {
-        if (xSemaphoreTake (mp->sem, (TickType_t)timeout) == pdTRUE) {
-          if ((mp->status & MPOOL_STATUS) == MPOOL_STATUS) {
-            taskENTER_CRITICAL();
-
-            /* Get a block from the free-list */
-            block = AllocBlock(mp);
-
-            if (block == NULL) {
-              /* List of free blocks is empty, 'create' new block */
-              block = CreateBlock(mp);
-            }
-
-            taskEXIT_CRITICAL();
-          }
-        }
-      }
-    }
-  }
-
-  return (block);
-}
-
-osStatus_t osMemoryPoolFree (osMemoryPoolId_t mp_id, void *block) {
-  MemPool_t *mp;
-  osStatus_t stat;
-  uint32_t isrm;
-  BaseType_t yield;
-
-  if ((mp_id == NULL) || (block == NULL)) {
-    /* Invalid input parameters */
-    stat = osErrorParameter;
-  }
-  else {
-    mp = (MemPool_t *)mp_id;
-
-    if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) {
-      /* Invalid object status */
-      stat = osErrorResource;
-    }
-    else if ((block < (void *)&mp->mem_arr[0]) || (block > (void*)&mp->mem_arr[mp->mem_sz-1])) {
-      /* Block pointer outside of memory array area */
-      stat = osErrorParameter;
-    }
-    else {
-      stat = osOK;
-
-      if (IS_IRQ()) {
-        if (uxSemaphoreGetCountFromISR (mp->sem) == mp->bl_cnt) {
-          stat = osErrorResource;
-        }
-        else {
-          isrm = taskENTER_CRITICAL_FROM_ISR();
-
-          /* Add block to the list of free blocks */
-          FreeBlock(mp, block);
-
-          taskEXIT_CRITICAL_FROM_ISR(isrm);
-
-          yield = pdFALSE;
-          xSemaphoreGiveFromISR (mp->sem, &yield);
-          portYIELD_FROM_ISR (yield);
-        }
-      }
-      else {
-        if (uxSemaphoreGetCount (mp->sem) == mp->bl_cnt) {
-          stat = osErrorResource;
-        }
-        else {
-          taskENTER_CRITICAL();
-
-          /* Add block to the list of free blocks */
-          FreeBlock(mp, block);
-
-          taskEXIT_CRITICAL();
-
-          xSemaphoreGive (mp->sem);
-        }
-      }
-    }
-  }
-
-  return (stat);
-}
-
-uint32_t osMemoryPoolGetCapacity (osMemoryPoolId_t mp_id) {
-  MemPool_t *mp;
-  uint32_t  n;
-
-  if (mp_id == NULL) {
-    /* Invalid input parameters */
-    n = 0U;
-  }
-  else {
-    mp = (MemPool_t *)mp_id;
-
-    if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) {
-      /* Invalid object status */
-      n = 0U;
-    }
-    else {
-      n = mp->bl_cnt;
-    }
-  }
-
-  /* Return maximum number of memory blocks */
-  return (n);
-}
-
-uint32_t osMemoryPoolGetBlockSize (osMemoryPoolId_t mp_id) {
-  MemPool_t *mp;
-  uint32_t  sz;
-
-  if (mp_id == NULL) {
-    /* Invalid input parameters */
-    sz = 0U;
-  }
-  else {
-    mp = (MemPool_t *)mp_id;
-
-    if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) {
-      /* Invalid object status */
-      sz = 0U;
-    }
-    else {
-      sz = mp->bl_sz;
-    }
-  }
-
-  /* Return memory block size in bytes */
-  return (sz);
-}
-
-uint32_t osMemoryPoolGetCount (osMemoryPoolId_t mp_id) {
-  MemPool_t *mp;
-  uint32_t  n;
-
-  if (mp_id == NULL) {
-    /* Invalid input parameters */
-    n = 0U;
-  }
-  else {
-    mp = (MemPool_t *)mp_id;
-
-    if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) {
-      /* Invalid object status */
-      n = 0U;
-    }
-    else {
-      if (IS_IRQ()) {
-        n = uxSemaphoreGetCountFromISR (mp->sem);
-      } else {
-        n = uxSemaphoreGetCount        (mp->sem);
-      }
-
-      n = mp->bl_cnt - n;
-    }
-  }
-
-  /* Return number of memory blocks used */
-  return (n);
-}
-
-uint32_t osMemoryPoolGetSpace (osMemoryPoolId_t mp_id) {
-  MemPool_t *mp;
-  uint32_t  n;
-
-  if (mp_id == NULL) {
-    /* Invalid input parameters */
-    n = 0U;
-  }
-  else {
-    mp = (MemPool_t *)mp_id;
-
-    if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) {
-      /* Invalid object status */
-      n = 0U;
-    }
-    else {
-      if (IS_IRQ()) {
-        n = uxSemaphoreGetCountFromISR (mp->sem);
-      } else {
-        n = uxSemaphoreGetCount        (mp->sem);
-      }
-    }
-  }
-
-  /* Return number of memory blocks available */
-  return (n);
-}
-
-osStatus_t osMemoryPoolDelete (osMemoryPoolId_t mp_id) {
-  MemPool_t *mp;
-  osStatus_t stat;
-
-  if (mp_id == NULL) {
-    /* Invalid input parameters */
-    stat = osErrorParameter;
-  }
-  else if (IS_IRQ()) {
-    stat = osErrorISR;
-  }
-  else {
-    mp = (MemPool_t *)mp_id;
-
-    taskENTER_CRITICAL();
-
-    /* Invalidate control block status */
-    mp->status  = mp->status & 3U;
-
-    /* Wake-up tasks waiting for pool semaphore */
-    while (xSemaphoreGive (mp->sem) == pdTRUE);
-
-    mp->head    = NULL;
-    mp->bl_sz   = 0U;
-    mp->bl_cnt  = 0U;
-
-    if ((mp->status & 2U) != 0U) {
-      /* Memory pool array allocated on heap */
-      vPortFree (mp->mem_arr);
-    }
-    if ((mp->status & 1U) != 0U) {
-      /* Memory pool control block allocated on heap */
-      vPortFree (mp);
-    }
-
-    taskEXIT_CRITICAL();
-
-    stat = osOK;
-  }
-
-  return (stat);
-}
-
-/*
-  Create new block given according to the current block index.
-*/
-static void *CreateBlock (MemPool_t *mp) {
-  MemPoolBlock_t *p = NULL;
-
-  if (mp->n < mp->bl_cnt) {
-    /* Unallocated blocks exist, set pointer to new block */
-    p = (void *)(mp->mem_arr + (mp->bl_sz * mp->n));
-
-    /* Increment block index */
-    mp->n += 1U;
-  }
-
-  return (p);
-}
-
-/*
-  Allocate a block by reading the list of free blocks.
-*/
-static void *AllocBlock (MemPool_t *mp) {
-  MemPoolBlock_t *p = NULL;
-
-  if (mp->head != NULL) {
-    /* List of free block exists, get head block */
-    p = mp->head;
-
-    /* Head block is now next on the list */
-    mp->head = p->next;
-  }
-
-  return (p);
-}
-
-/*
-  Free block by putting it to the list of free blocks.
-*/
-static void FreeBlock (MemPool_t *mp, void *block) {
-  MemPoolBlock_t *p = block;
-
-  /* Store current head into block memory space */
-  p->next = mp->head;
-
-  /* Store current block as new head */
-  mp->head = p;
-}
-#endif /* FREERTOS_MPOOL_H_ */
-/*---------------------------------------------------------------------------*/
-
-/* Callback function prototypes */
-extern void vApplicationIdleHook (void);
-extern void vApplicationTickHook (void);
-extern void vApplicationMallocFailedHook (void);
-extern void vApplicationDaemonTaskStartupHook (void);
-extern void vApplicationStackOverflowHook (TaskHandle_t xTask, signed char *pcTaskName);
-
-/**
-  Dummy implementation of the callback function vApplicationIdleHook().
-*/
-#if (configUSE_IDLE_HOOK == 1)
-__WEAK void vApplicationIdleHook (void){}
-#endif
-
-/**
-  Dummy implementation of the callback function vApplicationTickHook().
-*/
-#if (configUSE_TICK_HOOK == 1)
- __WEAK void vApplicationTickHook (void){}
-#endif
-
-/**
-  Dummy implementation of the callback function vApplicationMallocFailedHook().
-*/
-#if (configUSE_MALLOC_FAILED_HOOK == 1)
-__WEAK void vApplicationMallocFailedHook (void){}
-#endif
-
-/**
-  Dummy implementation of the callback function vApplicationDaemonTaskStartupHook().
-*/
-#if (configUSE_DAEMON_TASK_STARTUP_HOOK == 1)
-__WEAK void vApplicationDaemonTaskStartupHook (void){}
-#endif
-
-/**
-  Dummy implementation of the callback function vApplicationStackOverflowHook().
-*/
-#if (configCHECK_FOR_STACK_OVERFLOW > 0)
-__WEAK void vApplicationStackOverflowHook (TaskHandle_t xTask, signed char *pcTaskName) {
-  (void)xTask;
-  (void)pcTaskName;
-  configASSERT(0);
-}
-#endif
-
-/*---------------------------------------------------------------------------*/
-#if (configSUPPORT_STATIC_ALLOCATION == 1)
-/* External Idle and Timer task static memory allocation functions */
-extern void vApplicationGetIdleTaskMemory  (StaticTask_t **ppxIdleTaskTCBBuffer,  StackType_t **ppxIdleTaskStackBuffer,  uint32_t *pulIdleTaskStackSize);
-extern void vApplicationGetTimerTaskMemory (StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize);
-
-/*
-  vApplicationGetIdleTaskMemory gets called when configSUPPORT_STATIC_ALLOCATION
-  equals to 1 and is required for static memory allocation support.
-*/
-__WEAK void vApplicationGetIdleTaskMemory (StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize) {
-  /* Idle task control block and stack */
-  static StaticTask_t Idle_TCB;
-  static StackType_t  Idle_Stack[configMINIMAL_STACK_SIZE];
-
-  *ppxIdleTaskTCBBuffer   = &Idle_TCB;
-  *ppxIdleTaskStackBuffer = &Idle_Stack[0];
-  *pulIdleTaskStackSize   = (uint32_t)configMINIMAL_STACK_SIZE;
-}
-
-/*
-  vApplicationGetTimerTaskMemory gets called when configSUPPORT_STATIC_ALLOCATION
-  equals to 1 and is required for static memory allocation support.
-*/
-__WEAK void vApplicationGetTimerTaskMemory (StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize) {
-  /* Timer task control block and stack */
-  static StaticTask_t Timer_TCB;
-  static StackType_t  Timer_Stack[configTIMER_TASK_STACK_DEPTH];
-
-  *ppxTimerTaskTCBBuffer   = &Timer_TCB;
-  *ppxTimerTaskStackBuffer = &Timer_Stack[0];
-  *pulTimerTaskStackSize   = (uint32_t)configTIMER_TASK_STACK_DEPTH;
-}
-#endif
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
deleted file mode 100644
index 9774cc7..0000000
--- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
+++ /dev/null
@@ -1,734 +0,0 @@
-/* --------------------------------------------------------------------------
- * Portions Copyright © 2017 STMicroelectronics International N.V. All rights reserved.
- * Portions Copyright (c) 2013-2017 ARM Limited. All rights reserved.
- * --------------------------------------------------------------------------
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- *      Name:    cmsis_os2.h
- *      Purpose: CMSIS RTOS2 wrapper for FreeRTOS
- *
- *---------------------------------------------------------------------------*/
-
-#ifndef CMSIS_OS2_H_
-#define CMSIS_OS2_H_
-
-#ifndef __NO_RETURN
-#if   defined(__CC_ARM)
-#define __NO_RETURN __declspec(noreturn)
-#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
-#define __NO_RETURN __attribute__((__noreturn__))
-#elif defined(__GNUC__)
-#define __NO_RETURN __attribute__((__noreturn__))
-#elif defined(__ICCARM__)
-#define __NO_RETURN __noreturn
-#else
-#define __NO_RETURN
-#endif
-#endif
-
-#include <stdint.h>
-#include <stddef.h>
-
-#ifdef  __cplusplus
-extern "C"
-{
-#endif
-
-
-//  ==== Enumerations, structures, defines ====
-
-/// Version information.
-typedef struct {
-  uint32_t                       api;   ///< API version (major.minor.rev: mmnnnrrrr dec).
-  uint32_t                    kernel;   ///< Kernel version (major.minor.rev: mmnnnrrrr dec).
-} osVersion_t;
-
-/// Kernel state.
-typedef enum {
-  osKernelInactive        =  0,         ///< Inactive.
-  osKernelReady           =  1,         ///< Ready.
-  osKernelRunning         =  2,         ///< Running.
-  osKernelLocked          =  3,         ///< Locked.
-  osKernelSuspended       =  4,         ///< Suspended.
-  osKernelError           = -1,         ///< Error.
-  osKernelReserved        = 0x7FFFFFFFU ///< Prevents enum down-size compiler optimization.
-} osKernelState_t;
-
-/// Thread state.
-typedef enum {
-  osThreadInactive        =  0,         ///< Inactive.
-  osThreadReady           =  1,         ///< Ready.
-  osThreadRunning         =  2,         ///< Running.
-  osThreadBlocked         =  3,         ///< Blocked.
-  osThreadTerminated      =  4,         ///< Terminated.
-  osThreadError           = -1,         ///< Error.
-  osThreadReserved        = 0x7FFFFFFF  ///< Prevents enum down-size compiler optimization.
-} osThreadState_t;
-
-/// Priority values.
-typedef enum {
-  osPriorityNone          =  0,         ///< No priority (not initialized).
-  osPriorityIdle          =  1,         ///< Reserved for Idle thread.
-  osPriorityLow           =  8,         ///< Priority: low
-  osPriorityLow1          =  8+1,       ///< Priority: low + 1
-  osPriorityLow2          =  8+2,       ///< Priority: low + 2
-  osPriorityLow3          =  8+3,       ///< Priority: low + 3
-  osPriorityLow4          =  8+4,       ///< Priority: low + 4
-  osPriorityLow5          =  8+5,       ///< Priority: low + 5
-  osPriorityLow6          =  8+6,       ///< Priority: low + 6
-  osPriorityLow7          =  8+7,       ///< Priority: low + 7
-  osPriorityBelowNormal   = 16,         ///< Priority: below normal
-  osPriorityBelowNormal1  = 16+1,       ///< Priority: below normal + 1
-  osPriorityBelowNormal2  = 16+2,       ///< Priority: below normal + 2
-  osPriorityBelowNormal3  = 16+3,       ///< Priority: below normal + 3
-  osPriorityBelowNormal4  = 16+4,       ///< Priority: below normal + 4
-  osPriorityBelowNormal5  = 16+5,       ///< Priority: below normal + 5
-  osPriorityBelowNormal6  = 16+6,       ///< Priority: below normal + 6
-  osPriorityBelowNormal7  = 16+7,       ///< Priority: below normal + 7
-  osPriorityNormal        = 24,         ///< Priority: normal
-  osPriorityNormal1       = 24+1,       ///< Priority: normal + 1
-  osPriorityNormal2       = 24+2,       ///< Priority: normal + 2
-  osPriorityNormal3       = 24+3,       ///< Priority: normal + 3
-  osPriorityNormal4       = 24+4,       ///< Priority: normal + 4
-  osPriorityNormal5       = 24+5,       ///< Priority: normal + 5
-  osPriorityNormal6       = 24+6,       ///< Priority: normal + 6
-  osPriorityNormal7       = 24+7,       ///< Priority: normal + 7
-  osPriorityAboveNormal   = 32,         ///< Priority: above normal
-  osPriorityAboveNormal1  = 32+1,       ///< Priority: above normal + 1
-  osPriorityAboveNormal2  = 32+2,       ///< Priority: above normal + 2
-  osPriorityAboveNormal3  = 32+3,       ///< Priority: above normal + 3
-  osPriorityAboveNormal4  = 32+4,       ///< Priority: above normal + 4
-  osPriorityAboveNormal5  = 32+5,       ///< Priority: above normal + 5
-  osPriorityAboveNormal6  = 32+6,       ///< Priority: above normal + 6
-  osPriorityAboveNormal7  = 32+7,       ///< Priority: above normal + 7
-  osPriorityHigh          = 40,         ///< Priority: high
-  osPriorityHigh1         = 40+1,       ///< Priority: high + 1
-  osPriorityHigh2         = 40+2,       ///< Priority: high + 2
-  osPriorityHigh3         = 40+3,       ///< Priority: high + 3
-  osPriorityHigh4         = 40+4,       ///< Priority: high + 4
-  osPriorityHigh5         = 40+5,       ///< Priority: high + 5
-  osPriorityHigh6         = 40+6,       ///< Priority: high + 6
-  osPriorityHigh7         = 40+7,       ///< Priority: high + 7
-  osPriorityRealtime      = 48,         ///< Priority: realtime
-  osPriorityRealtime1     = 48+1,       ///< Priority: realtime + 1
-  osPriorityRealtime2     = 48+2,       ///< Priority: realtime + 2
-  osPriorityRealtime3     = 48+3,       ///< Priority: realtime + 3
-  osPriorityRealtime4     = 48+4,       ///< Priority: realtime + 4
-  osPriorityRealtime5     = 48+5,       ///< Priority: realtime + 5
-  osPriorityRealtime6     = 48+6,       ///< Priority: realtime + 6
-  osPriorityRealtime7     = 48+7,       ///< Priority: realtime + 7
-  osPriorityISR           = 56,         ///< Reserved for ISR deferred thread.
-  osPriorityError         = -1,         ///< System cannot determine priority or illegal priority.
-  osPriorityReserved      = 0x7FFFFFFF  ///< Prevents enum down-size compiler optimization.
-} osPriority_t;
-
-/// Entry point of a thread.
-typedef void (*osThreadFunc_t) (void *argument);
-
-/// Timer callback function.
-typedef void (*osTimerFunc_t) (void *argument);
-
-/// Timer type.
-typedef enum {
-  osTimerOnce               = 0,          ///< One-shot timer.
-  osTimerPeriodic           = 1           ///< Repeating timer.
-} osTimerType_t;
-
-// Timeout value.
-#define osWaitForever         0xFFFFFFFFU ///< Wait forever timeout value.
-
-// Flags options (\ref osThreadFlagsWait and \ref osEventFlagsWait).
-#define osFlagsWaitAny        0x00000000U ///< Wait for any flag (default).
-#define osFlagsWaitAll        0x00000001U ///< Wait for all flags.
-#define osFlagsNoClear        0x00000002U ///< Do not clear flags which have been specified to wait for.
-
-// Flags errors (returned by osThreadFlagsXxxx and osEventFlagsXxxx).
-#define osFlagsError          0x80000000U ///< Error indicator.
-#define osFlagsErrorUnknown   0xFFFFFFFFU ///< osError (-1).
-#define osFlagsErrorTimeout   0xFFFFFFFEU ///< osErrorTimeout (-2).
-#define osFlagsErrorResource  0xFFFFFFFDU ///< osErrorResource (-3).
-#define osFlagsErrorParameter 0xFFFFFFFCU ///< osErrorParameter (-4).
-#define osFlagsErrorISR       0xFFFFFFFAU ///< osErrorISR (-6).
-
-// Thread attributes (attr_bits in \ref osThreadAttr_t).
-#define osThreadDetached      0x00000000U ///< Thread created in detached mode (default)
-#define osThreadJoinable      0x00000001U ///< Thread created in joinable mode
-
-// Mutex attributes (attr_bits in \ref osMutexAttr_t).
-#define osMutexRecursive      0x00000001U ///< Recursive mutex.
-#define osMutexPrioInherit    0x00000002U ///< Priority inherit protocol.
-#define osMutexRobust         0x00000008U ///< Robust mutex.
-
-/// Status code values returned by CMSIS-RTOS functions.
-typedef enum {
-  osOK                      =  0,         ///< Operation completed successfully.
-  osError                   = -1,         ///< Unspecified RTOS error: run-time error but no other error message fits.
-  osErrorTimeout            = -2,         ///< Operation not completed within the timeout period.
-  osErrorResource           = -3,         ///< Resource not available.
-  osErrorParameter          = -4,         ///< Parameter error.
-  osErrorNoMemory           = -5,         ///< System is out of memory: it was impossible to allocate or reserve memory for the operation.
-  osErrorISR                = -6,         ///< Not allowed in ISR context: the function cannot be called from interrupt service routines.
-  osStatusReserved          = 0x7FFFFFFF  ///< Prevents enum down-size compiler optimization.
-} osStatus_t;
-
-
-/// \details Thread ID identifies the thread.
-typedef void *osThreadId_t;
-
-/// \details Timer ID identifies the timer.
-typedef void *osTimerId_t;
-
-/// \details Event Flags ID identifies the event flags.
-typedef void *osEventFlagsId_t;
-
-/// \details Mutex ID identifies the mutex.
-typedef void *osMutexId_t;
-
-/// \details Semaphore ID identifies the semaphore.
-typedef void *osSemaphoreId_t;
-
-/// \details Memory Pool ID identifies the memory pool.
-typedef void *osMemoryPoolId_t;
-
-/// \details Message Queue ID identifies the message queue.
-typedef void *osMessageQueueId_t;
-
-
-#ifndef TZ_MODULEID_T
-#define TZ_MODULEID_T
-/// \details Data type that identifies secure software modules called by a process.
-typedef uint32_t TZ_ModuleId_t;
-#endif
-
-
-/// Attributes structure for thread.
-typedef struct {
-  const char                   *name;   ///< name of the thread
-  uint32_t                 attr_bits;   ///< attribute bits
-  void                      *cb_mem;    ///< memory for control block
-  uint32_t                   cb_size;   ///< size of provided memory for control block
-  void                   *stack_mem;    ///< memory for stack
-  uint32_t                stack_size;   ///< size of stack
-  osPriority_t              priority;   ///< initial thread priority (default: osPriorityNormal)
-  TZ_ModuleId_t            tz_module;   ///< TrustZone module identifier
-  uint32_t                  reserved;   ///< reserved (must be 0)
-} osThreadAttr_t;
-
-/// Attributes structure for timer.
-typedef struct {
-  const char                   *name;   ///< name of the timer
-  uint32_t                 attr_bits;   ///< attribute bits
-  void                      *cb_mem;    ///< memory for control block
-  uint32_t                   cb_size;   ///< size of provided memory for control block
-} osTimerAttr_t;
-
-/// Attributes structure for event flags.
-typedef struct {
-  const char                   *name;   ///< name of the event flags
-  uint32_t                 attr_bits;   ///< attribute bits
-  void                      *cb_mem;    ///< memory for control block
-  uint32_t                   cb_size;   ///< size of provided memory for control block
-} osEventFlagsAttr_t;
-
-/// Attributes structure for mutex.
-typedef struct {
-  const char                   *name;   ///< name of the mutex
-  uint32_t                 attr_bits;   ///< attribute bits
-  void                      *cb_mem;    ///< memory for control block
-  uint32_t                   cb_size;   ///< size of provided memory for control block
-} osMutexAttr_t;
-
-/// Attributes structure for semaphore.
-typedef struct {
-  const char                   *name;   ///< name of the semaphore
-  uint32_t                 attr_bits;   ///< attribute bits
-  void                      *cb_mem;    ///< memory for control block
-  uint32_t                   cb_size;   ///< size of provided memory for control block
-} osSemaphoreAttr_t;
-
-/// Attributes structure for memory pool.
-typedef struct {
-  const char                   *name;   ///< name of the memory pool
-  uint32_t                 attr_bits;   ///< attribute bits
-  void                      *cb_mem;    ///< memory for control block
-  uint32_t                   cb_size;   ///< size of provided memory for control block
-  void                      *mp_mem;    ///< memory for data storage
-  uint32_t                   mp_size;   ///< size of provided memory for data storage
-} osMemoryPoolAttr_t;
-
-/// Attributes structure for message queue.
-typedef struct {
-  const char                   *name;   ///< name of the message queue
-  uint32_t                 attr_bits;   ///< attribute bits
-  void                      *cb_mem;    ///< memory for control block
-  uint32_t                   cb_size;   ///< size of provided memory for control block
-  void                      *mq_mem;    ///< memory for data storage
-  uint32_t                   mq_size;   ///< size of provided memory for data storage
-} osMessageQueueAttr_t;
-
-
-//  ==== Kernel Management Functions ====
-
-/// Initialize the RTOS Kernel.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osKernelInitialize (void);
-
-///  Get RTOS Kernel Information.
-/// \param[out]    version       pointer to buffer for retrieving version information.
-/// \param[out]    id_buf        pointer to buffer for retrieving kernel identification string.
-/// \param[in]     id_size       size of buffer for kernel identification string.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size);
-
-/// Get the current RTOS Kernel state.
-/// \return current RTOS Kernel state.
-osKernelState_t osKernelGetState (void);
-
-/// Start the RTOS Kernel scheduler.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osKernelStart (void);
-
-/// Lock the RTOS Kernel scheduler.
-/// \return previous lock state (1 - locked, 0 - not locked, error code if negative).
-int32_t osKernelLock (void);
-
-/// Unlock the RTOS Kernel scheduler.
-/// \return previous lock state (1 - locked, 0 - not locked, error code if negative).
-int32_t osKernelUnlock (void);
-
-/// Restore the RTOS Kernel scheduler lock state.
-/// \param[in]     lock          lock state obtained by \ref osKernelLock or \ref osKernelUnlock.
-/// \return new lock state (1 - locked, 0 - not locked, error code if negative).
-int32_t osKernelRestoreLock (int32_t lock);
-
-/// Suspend the RTOS Kernel scheduler.
-/// \return time in ticks, for how long the system can sleep or power-down.
-uint32_t osKernelSuspend (void);
-
-/// Resume the RTOS Kernel scheduler.
-/// \param[in]     sleep_ticks   time in ticks for how long the system was in sleep or power-down mode.
-void osKernelResume (uint32_t sleep_ticks);
-
-/// Get the RTOS kernel tick count.
-/// \return RTOS kernel current tick count.
-uint32_t osKernelGetTickCount (void);
-
-/// Get the RTOS kernel tick frequency.
-/// \return frequency of the kernel tick in hertz, i.e. kernel ticks per second.
-uint32_t osKernelGetTickFreq (void);
-
-/// Get the RTOS kernel system timer count.
-/// \return RTOS kernel current system timer count as 32-bit value.
-uint32_t osKernelGetSysTimerCount (void);
-
-/// Get the RTOS kernel system timer frequency.
-/// \return frequency of the system timer in hertz, i.e. timer ticks per second.
-uint32_t osKernelGetSysTimerFreq (void);
-
-
-//  ==== Thread Management Functions ====
-
-/// Create a thread and add it to Active Threads.
-/// \param[in]     func          thread function.
-/// \param[in]     argument      pointer that is passed to the thread function as start argument.
-/// \param[in]     attr          thread attributes; NULL: default values.
-/// \return thread ID for reference by other functions or NULL in case of error.
-osThreadId_t osThreadNew (osThreadFunc_t func, void *argument, const osThreadAttr_t *attr);
-
-/// Get name of a thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
-/// \return name as NULL terminated string.
-const char *osThreadGetName (osThreadId_t thread_id);
-
-/// Return the thread ID of the current running thread.
-/// \return thread ID for reference by other functions or NULL in case of error.
-osThreadId_t osThreadGetId (void);
-
-/// Get current thread state of a thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
-/// \return current thread state of the specified thread.
-osThreadState_t osThreadGetState (osThreadId_t thread_id);
-
-/// Get stack size of a thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
-/// \return stack size in bytes.
-uint32_t osThreadGetStackSize (osThreadId_t thread_id);
-
-/// Get available stack space of a thread based on stack watermark recording during execution.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
-/// \return remaining stack space in bytes.
-uint32_t osThreadGetStackSpace (osThreadId_t thread_id);
-
-/// Change priority of a thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
-/// \param[in]     priority      new priority value for the thread function.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osThreadSetPriority (osThreadId_t thread_id, osPriority_t priority);
-
-/// Get current priority of a thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
-/// \return current priority value of the specified thread.
-osPriority_t osThreadGetPriority (osThreadId_t thread_id);
-
-/// Pass control to next thread that is in state \b READY.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osThreadYield (void);
-
-/// Suspend execution of a thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osThreadSuspend (osThreadId_t thread_id);
-
-/// Resume execution of a thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osThreadResume (osThreadId_t thread_id);
-
-/// Detach a thread (thread storage can be reclaimed when thread terminates).
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osThreadDetach (osThreadId_t thread_id);
-
-/// Wait for specified thread to terminate.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osThreadJoin (osThreadId_t thread_id);
-
-/// Terminate execution of current running thread.
-__NO_RETURN void osThreadExit (void);
-
-/// Terminate execution of a thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osThreadTerminate (osThreadId_t thread_id);
-
-/// Get number of active threads.
-/// \return number of active threads.
-uint32_t osThreadGetCount (void);
-
-/// Enumerate active threads.
-/// \param[out]    thread_array  pointer to array for retrieving thread IDs.
-/// \param[in]     array_items   maximum number of items in array for retrieving thread IDs.
-/// \return number of enumerated threads.
-uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items);
-
-
-//  ==== Thread Flags Functions ====
-
-/// Set the specified Thread Flags of a thread.
-/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
-/// \param[in]     flags         specifies the flags of the thread that shall be set.
-/// \return thread flags after setting or error code if highest bit set.
-uint32_t osThreadFlagsSet (osThreadId_t thread_id, uint32_t flags);
-
-/// Clear the specified Thread Flags of current running thread.
-/// \param[in]     flags         specifies the flags of the thread that shall be cleared.
-/// \return thread flags before clearing or error code if highest bit set.
-uint32_t osThreadFlagsClear (uint32_t flags);
-
-/// Get the current Thread Flags of current running thread.
-/// \return current thread flags.
-uint32_t osThreadFlagsGet (void);
-
-/// Wait for one or more Thread Flags of the current running thread to become signaled.
-/// \param[in]     flags         specifies the flags to wait for.
-/// \param[in]     options       specifies flags options (osFlagsXxxx).
-/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
-/// \return thread flags before clearing or error code if highest bit set.
-uint32_t osThreadFlagsWait (uint32_t flags, uint32_t options, uint32_t timeout);
-
-
-//  ==== Generic Wait Functions ====
-
-/// Wait for Timeout (Time Delay).
-/// \param[in]     ticks         \ref CMSIS_RTOS_TimeOutValue "time ticks" value
-/// \return status code that indicates the execution status of the function.
-osStatus_t osDelay (uint32_t ticks);
-
-/// Wait until specified time.
-/// \param[in]     ticks         absolute time in ticks
-/// \return status code that indicates the execution status of the function.
-osStatus_t osDelayUntil (uint32_t ticks);
-
-
-//  ==== Timer Management Functions ====
-
-/// Create and Initialize a timer.
-/// \param[in]     func          function pointer to callback function.
-/// \param[in]     type          \ref osTimerOnce for one-shot or \ref osTimerPeriodic for periodic behavior.
-/// \param[in]     argument      argument to the timer callback function.
-/// \param[in]     attr          timer attributes; NULL: default values.
-/// \return timer ID for reference by other functions or NULL in case of error.
-osTimerId_t osTimerNew (osTimerFunc_t func, osTimerType_t type, void *argument, const osTimerAttr_t *attr);
-
-/// Get name of a timer.
-/// \param[in]     timer_id      timer ID obtained by \ref osTimerNew.
-/// \return name as NULL terminated string.
-const char *osTimerGetName (osTimerId_t timer_id);
-
-/// Start or restart a timer.
-/// \param[in]     timer_id      timer ID obtained by \ref osTimerNew.
-/// \param[in]     ticks         \ref CMSIS_RTOS_TimeOutValue "time ticks" value of the timer.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osTimerStart (osTimerId_t timer_id, uint32_t ticks);
-
-/// Stop a timer.
-/// \param[in]     timer_id      timer ID obtained by \ref osTimerNew.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osTimerStop (osTimerId_t timer_id);
-
-/// Check if a timer is running.
-/// \param[in]     timer_id      timer ID obtained by \ref osTimerNew.
-/// \return 0 not running, 1 running.
-uint32_t osTimerIsRunning (osTimerId_t timer_id);
-
-/// Delete a timer.
-/// \param[in]     timer_id      timer ID obtained by \ref osTimerNew.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osTimerDelete (osTimerId_t timer_id);
-
-
-//  ==== Event Flags Management Functions ====
-
-/// Create and Initialize an Event Flags object.
-/// \param[in]     attr          event flags attributes; NULL: default values.
-/// \return event flags ID for reference by other functions or NULL in case of error.
-osEventFlagsId_t osEventFlagsNew (const osEventFlagsAttr_t *attr);
-
-/// Get name of an Event Flags object.
-/// \param[in]     ef_id         event flags ID obtained by \ref osEventFlagsNew.
-/// \return name as NULL terminated string.
-const char *osEventFlagsGetName (osEventFlagsId_t ef_id);
-
-/// Set the specified Event Flags.
-/// \param[in]     ef_id         event flags ID obtained by \ref osEventFlagsNew.
-/// \param[in]     flags         specifies the flags that shall be set.
-/// \return event flags after setting or error code if highest bit set.
-uint32_t osEventFlagsSet (osEventFlagsId_t ef_id, uint32_t flags);
-
-/// Clear the specified Event Flags.
-/// \param[in]     ef_id         event flags ID obtained by \ref osEventFlagsNew.
-/// \param[in]     flags         specifies the flags that shall be cleared.
-/// \return event flags before clearing or error code if highest bit set.
-uint32_t osEventFlagsClear (osEventFlagsId_t ef_id, uint32_t flags);
-
-/// Get the current Event Flags.
-/// \param[in]     ef_id         event flags ID obtained by \ref osEventFlagsNew.
-/// \return current event flags.
-uint32_t osEventFlagsGet (osEventFlagsId_t ef_id);
-
-/// Wait for one or more Event Flags to become signaled.
-/// \param[in]     ef_id         event flags ID obtained by \ref osEventFlagsNew.
-/// \param[in]     flags         specifies the flags to wait for.
-/// \param[in]     options       specifies flags options (osFlagsXxxx).
-/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
-/// \return event flags before clearing or error code if highest bit set.
-uint32_t osEventFlagsWait (osEventFlagsId_t ef_id, uint32_t flags, uint32_t options, uint32_t timeout);
-
-/// Delete an Event Flags object.
-/// \param[in]     ef_id         event flags ID obtained by \ref osEventFlagsNew.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osEventFlagsDelete (osEventFlagsId_t ef_id);
-
-
-//  ==== Mutex Management Functions ====
-
-/// Create and Initialize a Mutex object.
-/// \param[in]     attr          mutex attributes; NULL: default values.
-/// \return mutex ID for reference by other functions or NULL in case of error.
-osMutexId_t osMutexNew (const osMutexAttr_t *attr);
-
-/// Get name of a Mutex object.
-/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexNew.
-/// \return name as NULL terminated string.
-const char *osMutexGetName (osMutexId_t mutex_id);
-
-/// Acquire a Mutex or timeout if it is locked.
-/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexNew.
-/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osMutexAcquire (osMutexId_t mutex_id, uint32_t timeout);
-
-/// Release a Mutex that was acquired by \ref osMutexAcquire.
-/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexNew.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osMutexRelease (osMutexId_t mutex_id);
-
-/// Get Thread which owns a Mutex object.
-/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexNew.
-/// \return thread ID of owner thread or NULL when mutex was not acquired.
-osThreadId_t osMutexGetOwner (osMutexId_t mutex_id);
-
-/// Delete a Mutex object.
-/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexNew.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osMutexDelete (osMutexId_t mutex_id);
-
-
-//  ==== Semaphore Management Functions ====
-
-/// Create and Initialize a Semaphore object.
-/// \param[in]     max_count     maximum number of available tokens.
-/// \param[in]     initial_count initial number of available tokens.
-/// \param[in]     attr          semaphore attributes; NULL: default values.
-/// \return semaphore ID for reference by other functions or NULL in case of error.
-osSemaphoreId_t osSemaphoreNew (uint32_t max_count, uint32_t initial_count, const osSemaphoreAttr_t *attr);
-
-/// Get name of a Semaphore object.
-/// \param[in]     semaphore_id  semaphore ID obtained by \ref osSemaphoreNew.
-/// \return name as NULL terminated string.
-const char *osSemaphoreGetName (osSemaphoreId_t semaphore_id);
-
-/// Acquire a Semaphore token or timeout if no tokens are available.
-/// \param[in]     semaphore_id  semaphore ID obtained by \ref osSemaphoreNew.
-/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osSemaphoreAcquire (osSemaphoreId_t semaphore_id, uint32_t timeout);
-
-/// Release a Semaphore token up to the initial maximum count.
-/// \param[in]     semaphore_id  semaphore ID obtained by \ref osSemaphoreNew.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osSemaphoreRelease (osSemaphoreId_t semaphore_id);
-
-/// Get current Semaphore token count.
-/// \param[in]     semaphore_id  semaphore ID obtained by \ref osSemaphoreNew.
-/// \return number of tokens available.
-uint32_t osSemaphoreGetCount (osSemaphoreId_t semaphore_id);
-
-/// Delete a Semaphore object.
-/// \param[in]     semaphore_id  semaphore ID obtained by \ref osSemaphoreNew.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osSemaphoreDelete (osSemaphoreId_t semaphore_id);
-
-
-//  ==== Memory Pool Management Functions ====
-
-/// Create and Initialize a Memory Pool object.
-/// \param[in]     block_count   maximum number of memory blocks in memory pool.
-/// \param[in]     block_size    memory block size in bytes.
-/// \param[in]     attr          memory pool attributes; NULL: default values.
-/// \return memory pool ID for reference by other functions or NULL in case of error.
-osMemoryPoolId_t osMemoryPoolNew (uint32_t block_count, uint32_t block_size, const osMemoryPoolAttr_t *attr);
-
-/// Get name of a Memory Pool object.
-/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
-/// \return name as NULL terminated string.
-const char *osMemoryPoolGetName (osMemoryPoolId_t mp_id);
-
-/// Allocate a memory block from a Memory Pool.
-/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
-/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
-/// \return address of the allocated memory block or NULL in case of no memory is available.
-void *osMemoryPoolAlloc (osMemoryPoolId_t mp_id, uint32_t timeout);
-
-/// Return an allocated memory block back to a Memory Pool.
-/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
-/// \param[in]     block         address of the allocated memory block to be returned to the memory pool.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osMemoryPoolFree (osMemoryPoolId_t mp_id, void *block);
-
-/// Get maximum number of memory blocks in a Memory Pool.
-/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
-/// \return maximum number of memory blocks.
-uint32_t osMemoryPoolGetCapacity (osMemoryPoolId_t mp_id);
-
-/// Get memory block size in a Memory Pool.
-/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
-/// \return memory block size in bytes.
-uint32_t osMemoryPoolGetBlockSize (osMemoryPoolId_t mp_id);
-
-/// Get number of memory blocks used in a Memory Pool.
-/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
-/// \return number of memory blocks used.
-uint32_t osMemoryPoolGetCount (osMemoryPoolId_t mp_id);
-
-/// Get number of memory blocks available in a Memory Pool.
-/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
-/// \return number of memory blocks available.
-uint32_t osMemoryPoolGetSpace (osMemoryPoolId_t mp_id);
-
-/// Delete a Memory Pool object.
-/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osMemoryPoolDelete (osMemoryPoolId_t mp_id);
-
-
-//  ==== Message Queue Management Functions ====
-
-/// Create and Initialize a Message Queue object.
-/// \param[in]     msg_count     maximum number of messages in queue.
-/// \param[in]     msg_size      maximum message size in bytes.
-/// \param[in]     attr          message queue attributes; NULL: default values.
-/// \return message queue ID for reference by other functions or NULL in case of error.
-osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr);
-
-/// Get name of a Message Queue object.
-/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
-/// \return name as NULL terminated string.
-const char *osMessageQueueGetName (osMessageQueueId_t mq_id);
-
-/// Put a Message into a Queue or timeout if Queue is full.
-/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
-/// \param[in]     msg_ptr       pointer to buffer with message to put into a queue.
-/// \param[in]     msg_prio      message priority.
-/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout);
-
-/// Get a Message from a Queue or timeout if Queue is empty.
-/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
-/// \param[out]    msg_ptr       pointer to buffer for message to get from a queue.
-/// \param[out]    msg_prio      pointer to buffer for message priority or NULL.
-/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t timeout);
-
-/// Get maximum number of messages in a Message Queue.
-/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
-/// \return maximum number of messages.
-uint32_t osMessageQueueGetCapacity (osMessageQueueId_t mq_id);
-
-/// Get maximum message size in a Memory Pool.
-/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
-/// \return maximum message size in bytes.
-uint32_t osMessageQueueGetMsgSize (osMessageQueueId_t mq_id);
-
-/// Get number of queued messages in a Message Queue.
-/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
-/// \return number of queued messages.
-uint32_t osMessageQueueGetCount (osMessageQueueId_t mq_id);
-
-/// Get number of available slots for messages in a Message Queue.
-/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
-/// \return number of available slots for messages.
-uint32_t osMessageQueueGetSpace (osMessageQueueId_t mq_id);
-
-/// Reset a Message Queue to initial empty state.
-/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osMessageQueueReset (osMessageQueueId_t mq_id);
-
-/// Delete a Message Queue object.
-/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
-/// \return status code that indicates the execution status of the function.
-osStatus_t osMessageQueueDelete (osMessageQueueId_t mq_id);
-
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif  // CMSIS_OS2_H_
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h
deleted file mode 100644
index cea5017..0000000
--- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/* --------------------------------------------------------------------------
- * Copyright (c) 2013-2020 Arm Limited. All rights reserved.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- *      Name:    freertos_mpool.h
- *      Purpose: CMSIS RTOS2 wrapper for FreeRTOS
- *
- *---------------------------------------------------------------------------*/
-
-#ifndef FREERTOS_MPOOL_H_
-#define FREERTOS_MPOOL_H_
-
-#include <stdint.h>
-#include "FreeRTOS.h"
-#include "semphr.h"
-
-/* Memory Pool implementation definitions */
-#define MPOOL_STATUS              0x5EED0000U
-
-/* Memory Block header */
-typedef struct {
-  void *next;                   /* Pointer to next block  */
-} MemPoolBlock_t;
-
-/* Memory Pool control block */
-typedef struct MemPoolDef_t {
-  MemPoolBlock_t    *head;      /* Pointer to head block   */
-  SemaphoreHandle_t  sem;       /* Pool semaphore handle   */
-  uint8_t           *mem_arr;   /* Pool memory array       */
-  uint32_t           mem_sz;    /* Pool memory array size  */
-  const char        *name;      /* Pointer to name string  */
-  uint32_t           bl_sz;     /* Size of a single block  */
-  uint32_t           bl_cnt;    /* Number of blocks        */
-  uint32_t           n;         /* Block allocation index  */
-  volatile uint32_t  status;    /* Object status flags     */
-#if (configSUPPORT_STATIC_ALLOCATION == 1)
-  StaticSemaphore_t  mem_sem;   /* Semaphore object memory */
-#endif
-} MemPool_t;
-
-/* No need to hide static object type, just align to coding style */
-#define StaticMemPool_t         MemPool_t
-
-/* Define memory pool control block size */
-#define MEMPOOL_CB_SIZE         (sizeof(StaticMemPool_t))
-
-/* Define size of the byte array required to create count of blocks of given size */
-#define MEMPOOL_ARR_SIZE(bl_count, bl_size) (((((bl_size) + (4 - 1)) / 4) * 4)*(bl_count))
-
-#endif /* FREERTOS_MPOOL_H_ */
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h
deleted file mode 100644
index c125e2a..0000000
--- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h
+++ /dev/null
@@ -1,310 +0,0 @@
-/* --------------------------------------------------------------------------
- * Copyright (c) 2013-2020 Arm Limited. All rights reserved.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- *      Name:    freertos_os2.h
- *      Purpose: CMSIS RTOS2 wrapper for FreeRTOS
- *
- *---------------------------------------------------------------------------*/
-
-#ifndef FREERTOS_OS2_H_
-#define FREERTOS_OS2_H_
-
-#include <string.h>
-#include <stdint.h>
-
-#include "FreeRTOS.h"                   // ARM.FreeRTOS::RTOS:Core
-
-#include CMSIS_device_header
-
-/*
-  CMSIS-RTOS2 FreeRTOS image size optimization definitions.
-
-  Note: Definitions configUSE_OS2 can be used to optimize FreeRTOS image size when
-        certain functionality is not required when using CMSIS-RTOS2 API.
-        In general optimization decisions are left to the tool chain but in cases
-        when coding style prevents it to optimize the code following optional
-        definitions can be used.
-*/
-
-/*
-  Option to exclude CMSIS-RTOS2 functions osThreadSuspend and osThreadResume from
-  the application image.
-*/
-#ifndef configUSE_OS2_THREAD_SUSPEND_RESUME
-#define configUSE_OS2_THREAD_SUSPEND_RESUME   1
-#endif
-
-/*
-  Option to exclude CMSIS-RTOS2 function osThreadEnumerate from the application image.
-*/
-#ifndef configUSE_OS2_THREAD_ENUMERATE
-#define configUSE_OS2_THREAD_ENUMERATE        1
-#endif
-
-/*
-  Option to disable CMSIS-RTOS2 function osEventFlagsSet and osEventFlagsClear
-  operation from ISR.
-*/
-#ifndef configUSE_OS2_EVENTFLAGS_FROM_ISR
-#define configUSE_OS2_EVENTFLAGS_FROM_ISR     1
-#endif
-
-/*
-  Option to exclude CMSIS-RTOS2 Thread Flags API functions from the application image.
-*/
-#ifndef configUSE_OS2_THREAD_FLAGS
-#define configUSE_OS2_THREAD_FLAGS            configUSE_TASK_NOTIFICATIONS
-#endif
-
-/*
-  Option to exclude CMSIS-RTOS2 Timer API functions from the application image.
-*/
-#ifndef configUSE_OS2_TIMER
-#define configUSE_OS2_TIMER                   configUSE_TIMERS
-#endif
-
-/*
-  Option to exclude CMSIS-RTOS2 Mutex API functions from the application image.
-*/
-#ifndef configUSE_OS2_MUTEX
-#define configUSE_OS2_MUTEX                   configUSE_MUTEXES
-#endif
-
-
-/*
-  CMSIS-RTOS2 FreeRTOS configuration check (FreeRTOSConfig.h).
-
-  Note: CMSIS-RTOS API requires functions included by using following definitions.
-        In case if certain API function is not used compiler will optimize it away.
-*/
-#if (INCLUDE_xSemaphoreGetMutexHolder == 0)
-  /*
-    CMSIS-RTOS2 function osMutexGetOwner uses FreeRTOS function xSemaphoreGetMutexHolder. In case if
-    osMutexGetOwner is not used in the application image, compiler will optimize it away.
-    Set #define INCLUDE_xSemaphoreGetMutexHolder 1 to fix this error.
-  */
-  #error "Definition INCLUDE_xSemaphoreGetMutexHolder must equal 1 to implement Mutex Management API."
-#endif
-#if (INCLUDE_vTaskDelay == 0)
-  /*
-    CMSIS-RTOS2 function osDelay uses FreeRTOS function vTaskDelay. In case if
-    osDelay is not used in the application image, compiler will optimize it away.
-    Set #define INCLUDE_vTaskDelay 1 to fix this error.
-  */
-  #error "Definition INCLUDE_vTaskDelay must equal 1 to implement Generic Wait Functions API."
-#endif
-#if (INCLUDE_vTaskDelayUntil == 0)
-  /*
-    CMSIS-RTOS2 function osDelayUntil uses FreeRTOS function vTaskDelayUntil. In case if
-    osDelayUntil is not used in the application image, compiler will optimize it away.
-    Set #define INCLUDE_vTaskDelayUntil 1 to fix this error.
-  */
-  #error "Definition INCLUDE_vTaskDelayUntil must equal 1 to implement Generic Wait Functions API."
-#endif
-#if (INCLUDE_vTaskDelete == 0)
-  /*
-    CMSIS-RTOS2 function osThreadTerminate and osThreadExit uses FreeRTOS function
-    vTaskDelete. In case if they are not used in the application image, compiler
-    will optimize them away.
-    Set #define INCLUDE_vTaskDelete 1 to fix this error.
-  */
-  #error "Definition INCLUDE_vTaskDelete must equal 1 to implement Thread Management API."
-#endif
-#if (INCLUDE_xTaskGetCurrentTaskHandle == 0)
-  /*
-    CMSIS-RTOS2 API uses FreeRTOS function xTaskGetCurrentTaskHandle to implement
-    functions osThreadGetId, osThreadFlagsClear and osThreadFlagsGet. In case if these
-    functions are not used in the application image, compiler will optimize them away.
-    Set #define INCLUDE_xTaskGetCurrentTaskHandle 1 to fix this error.
-  */
-  #error "Definition INCLUDE_xTaskGetCurrentTaskHandle must equal 1 to implement Thread Management API."
-#endif
-#if (INCLUDE_xTaskGetSchedulerState == 0)
-  /*
-    CMSIS-RTOS2 API uses FreeRTOS function xTaskGetSchedulerState to implement Kernel
-    tick handling and therefore it is vital that xTaskGetSchedulerState is included into
-    the application image.
-    Set #define INCLUDE_xTaskGetSchedulerState 1 to fix this error.
-  */
-  #error "Definition INCLUDE_xTaskGetSchedulerState must equal 1 to implement Kernel Information and Control API."
-#endif
-#if (INCLUDE_uxTaskGetStackHighWaterMark == 0)
-  /*
-    CMSIS-RTOS2 function osThreadGetStackSpace uses FreeRTOS function uxTaskGetStackHighWaterMark.
-    In case if osThreadGetStackSpace is not used in the application image, compiler will
-    optimize it away.
-    Set #define INCLUDE_uxTaskGetStackHighWaterMark 1 to fix this error.
-  */
-  #error "Definition INCLUDE_uxTaskGetStackHighWaterMark must equal 1 to implement Thread Management API."
-#endif
-#if (INCLUDE_uxTaskPriorityGet == 0)
-  /*
-    CMSIS-RTOS2 function osThreadGetPriority uses FreeRTOS function uxTaskPriorityGet. In case if
-    osThreadGetPriority is not used in the application image, compiler will optimize it away.
-    Set #define INCLUDE_uxTaskPriorityGet 1 to fix this error.
-  */
-  #error "Definition INCLUDE_uxTaskPriorityGet must equal 1 to implement Thread Management API."
-#endif
-#if (INCLUDE_vTaskPrioritySet == 0)
-  /*
-    CMSIS-RTOS2 function osThreadSetPriority uses FreeRTOS function vTaskPrioritySet. In case if
-    osThreadSetPriority is not used in the application image, compiler will optimize it away.
-    Set #define INCLUDE_vTaskPrioritySet 1 to fix this error.
-  */
-  #error "Definition INCLUDE_vTaskPrioritySet must equal 1 to implement Thread Management API."
-#endif
-#if (INCLUDE_eTaskGetState == 0)
-  /*
-    CMSIS-RTOS2 API uses FreeRTOS function vTaskDelayUntil to implement functions osThreadGetState
-    and osThreadTerminate. In case if these functions are not used in the application image,
-    compiler will optimize them away.
-    Set #define INCLUDE_eTaskGetState 1 to fix this error.
-  */
-  #error "Definition INCLUDE_eTaskGetState must equal 1 to implement Thread Management API."
-#endif
-#if (INCLUDE_vTaskSuspend == 0)
-  /*
-    CMSIS-RTOS2 API uses FreeRTOS functions vTaskSuspend and vTaskResume to implement
-    functions osThreadSuspend and osThreadResume. In case if these functions are not
-    used in the application image, compiler will optimize them away.
-    Set #define INCLUDE_vTaskSuspend 1 to fix this error.
-
-    Alternatively, if the application does not use osThreadSuspend and
-    osThreadResume they can be excluded from the image code by setting:
-    #define configUSE_OS2_THREAD_SUSPEND_RESUME 0 (in FreeRTOSConfig.h)
-  */
-  #if (configUSE_OS2_THREAD_SUSPEND_RESUME == 1)
-    #error "Definition INCLUDE_vTaskSuspend must equal 1 to implement Kernel Information and Control API."
-  #endif
-#endif
-#if (INCLUDE_xTimerPendFunctionCall == 0)
-  /*
-    CMSIS-RTOS2 function osEventFlagsSet and osEventFlagsClear, when called from
-    the ISR, call FreeRTOS functions xEventGroupSetBitsFromISR and
-    xEventGroupClearBitsFromISR which are only enabled if timers are operational and
-    xTimerPendFunctionCall in enabled.
-    Set #define INCLUDE_xTimerPendFunctionCall 1 and #define configUSE_TIMERS 1
-    to fix this error.
-
-    Alternatively, if the application does not use osEventFlagsSet and osEventFlagsClear
-    from the ISR their operation from ISR can be restricted by setting:
-    #define configUSE_OS2_EVENTFLAGS_FROM_ISR 0 (in FreeRTOSConfig.h)
-  */
-  #if (configUSE_OS2_EVENTFLAGS_FROM_ISR == 1)
-    #error "Definition INCLUDE_xTimerPendFunctionCall must equal 1 to implement Event Flags API."
-  #endif
-#endif
-
-#if (configUSE_TIMERS == 0)
-  /*
-    CMSIS-RTOS2 Timer Management API functions use FreeRTOS timer functions to implement
-    timer management. In case if these functions are not used in the application image,
-    compiler will optimize them away.
-    Set #define configUSE_TIMERS 1 to fix this error.
-
-    Alternatively, if the application does not use timer functions they can be
-    excluded from the image code by setting:
-    #define configUSE_OS2_TIMER 0 (in FreeRTOSConfig.h)
-  */
-  #if (configUSE_OS2_TIMER == 1)
-    #error "Definition configUSE_TIMERS must equal 1 to implement Timer Management API."
-  #endif
-#endif
-
-#if (configUSE_MUTEXES == 0)
-  /*
-    CMSIS-RTOS2 Mutex Management API functions use FreeRTOS mutex functions to implement
-    mutex management. In case if these functions are not used in the application image,
-    compiler will optimize them away.
-    Set #define configUSE_MUTEXES 1 to fix this error.
-
-    Alternatively, if the application does not use mutex functions they can be
-    excluded from the image code by setting:
-    #define configUSE_OS2_MUTEX 0 (in FreeRTOSConfig.h)
-  */
-  #if (configUSE_OS2_MUTEX == 1)
-    #error "Definition configUSE_MUTEXES must equal 1 to implement Mutex Management API."
-  #endif
-#endif
-
-#if (configUSE_COUNTING_SEMAPHORES == 0)
-  /*
-    CMSIS-RTOS2 Memory Pool functions use FreeRTOS function xSemaphoreCreateCounting
-    to implement memory pools. In case if these functions are not used in the application image,
-    compiler will optimize them away.
-    Set #define configUSE_COUNTING_SEMAPHORES 1 to fix this error.
-  */
-  #error "Definition configUSE_COUNTING_SEMAPHORES must equal 1 to implement Memory Pool API."
-#endif
-#if (configUSE_TASK_NOTIFICATIONS == 0)
-  /*
-    CMSIS-RTOS2 Thread Flags API functions use FreeRTOS Task Notification functions to implement
-    thread flag management. In case if these functions are not used in the application image,
-    compiler will optimize them away.
-    Set #define configUSE_TASK_NOTIFICATIONS 1 to fix this error.
-
-    Alternatively, if the application does not use thread flags functions they can be
-    excluded from the image code by setting:
-    #define configUSE_OS2_THREAD_FLAGS 0 (in FreeRTOSConfig.h)
-  */
-  #if (configUSE_OS2_THREAD_FLAGS == 1)
-    #error "Definition configUSE_TASK_NOTIFICATIONS must equal 1 to implement Thread Flags API."
-  #endif
-#endif
-
-#if (configUSE_TRACE_FACILITY == 0)
-  /*
-    CMSIS-RTOS2 function osThreadEnumerate requires FreeRTOS function uxTaskGetSystemState
-    which is only enabled if configUSE_TRACE_FACILITY == 1.
-    Set #define configUSE_TRACE_FACILITY 1 to fix this error.
-
-    Alternatively, if the application does not use osThreadEnumerate it can be
-    excluded from the image code by setting:
-    #define configUSE_OS2_THREAD_ENUMERATE 0 (in FreeRTOSConfig.h)
-  */
-  #if (configUSE_OS2_THREAD_ENUMERATE == 1)
-    #error "Definition configUSE_TRACE_FACILITY must equal 1 to implement osThreadEnumerate."
-  #endif
-#endif
-
-#if (configUSE_16_BIT_TICKS == 1)
-  /*
-    CMSIS-RTOS2 wrapper for FreeRTOS relies on 32-bit tick timer which is also optimal on
-    a 32-bit CPU architectures.
-    Set #define configUSE_16_BIT_TICKS 0 to fix this error.
-  */
-  #error "Definition configUSE_16_BIT_TICKS must be zero to implement CMSIS-RTOS2 API."
-#endif
-
-#if (configMAX_PRIORITIES != 56)
-  /*
-    CMSIS-RTOS2 defines 56 different priorities (see osPriority_t) and portable CMSIS-RTOS2
-    implementation should implement the same number of priorities.
-    Set #define configMAX_PRIORITIES 56 to fix this error.
-  */
-  #error "Definition configMAX_PRIORITIES must equal 56 to implement Thread Management API."
-#endif
-#if (configUSE_PORT_OPTIMISED_TASK_SELECTION != 0)
-  /*
-    CMSIS-RTOS2 requires handling of 56 different priorities (see osPriority_t) while FreeRTOS port
-    optimised selection for Cortex core only handles 32 different priorities.
-    Set #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 to fix this error.
-  */
-  #error "Definition configUSE_PORT_OPTIMISED_TASK_SELECTION must be zero to implement Thread Management API."
-#endif
-
-#endif /* FREERTOS_OS2_H_ */
diff --git a/TEST2.ioc b/TEST2.ioc
index ce544d0..2f974c5 100644
--- a/TEST2.ioc
+++ b/TEST2.ioc
@@ -73,7 +73,7 @@ ETH.IPParameters=MediaInterface
 ETH.MediaInterface=HAL_ETH_RMII_MODE
 FREERTOS.FootprintOK=true
 FREERTOS.IPParameters=Tasks01,configMAX_TASK_NAME_LEN,configENABLE_FPU,FootprintOK
-FREERTOS.Tasks01=defaultTask,24,512,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.Tasks01=defaultTask,0,512,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;led_toggle,-3,128,start_led_toggle,Default,NULL,Dynamic,NULL,NULL;dac_task,-3,512,start_dac_task,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configENABLE_FPU=1
 FREERTOS.configMAX_TASK_NAME_LEN=24
 File.Version=6
@@ -167,7 +167,7 @@ Mcu.Pin5=PA2
 Mcu.Pin50=PB7
 Mcu.Pin51=PE0
 Mcu.Pin52=PE1
-Mcu.Pin53=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin53=VP_FREERTOS_VS_CMSIS_V1
 Mcu.Pin54=VP_LWIP_VS_Enabled
 Mcu.Pin55=VP_SYS_VS_tim1
 Mcu.Pin56=VP_TIM2_VS_ClockSourceINT
@@ -571,8 +571,8 @@ USART3.IPParameters=VirtualMode
 USART3.VirtualMode=VM_ASYNC
 USART6.IPParameters=VirtualMode
 USART6.VirtualMode=VM_ASYNC
-VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
-VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
+VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1
+VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1
 VP_LWIP_VS_Enabled.Mode=Enabled
 VP_LWIP_VS_Enabled.Signal=LWIP_VS_Enabled
 VP_SYS_VS_tim1.Mode=TIM1
@@ -582,3 +582,4 @@ VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
 VP_TIM3_VS_ClockSourceINT.Mode=Internal
 VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
 board=custom
+rtos.0.ip=FREERTOS