文档结构调整

时钟测试完毕
时间终于同步，存储成功
2026-08-28 22:02:24 +08:00 · 2026-08-28 21:59:04 +08:00 · 2026-08-28 21:10:51 +08:00 · 2026-08-28 16:42:44 +08:00 · 2026-08-28 12:22:10 +08:00 · 2026-08-27 18:22:44 +08:00
172 changed files with 75496 additions and 2038 deletions
--- a/.mxproject
+++ b/.mxproject
--- a/.opencode/command/build.md
+++ b/.opencode/command/build.md
@@ -0,0 +1,14 @@
+---
+description: Build the STM32F4-Base Keil MDK project. Use ONLY when the user asks to build, compile, or verify the project.
+---
+
+Run the Keil MDK-ARM build from the project root:
+
+```
+cmd /c "cd /d "D:\Code\DTU 程序\STM32F4-Base\MDK-ARM" && build.bat"
+```
+
+Check the last 10 lines of `MDK-ARM/build_log.txt` for errors/warnings.
+Return code 0 = success (0 errors, 0 warnings).
+Return code 1 = warnings-only (also failure per project rules).
+Return code 2+ = compile errors.
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -1,133 +1,94 @@
 # STM32F4-Base

-## 项目概述
+> **编译验证：所有代码修改后必须执行 `@build` 验证编译通过（0 错误 0 警告），否则不要提交。**

-STM32F407ZGTx (Cortex-M4 FPU) 基础固件项目，集成 CH395F 以太网控制器 SPI 驱动、GD5F2GQ5UE SPI NAND Flash 存储（含 FlashDB KVDB/TSDB 数据库）和 TPAFE5160 16位8通道同步采样 ADC 并行接口驱动。
+## 构建

-## 目录结构
+- **仅支持 Keil MDK-ARM v5 (ARMCC)**，无其他工具链
+- 命令行编译：`@build`（自动执行 `MDK-ARM/build.bat`）
+- 退出码：0 = 成功 | 1 = 有警告（不通过）| 2+ = 错误，查看 `MDK-ARM/build_log.txt`
+
+## 硬件
+
+| 外设 | 接口 | 引脚 |
+|------|------|------|
+| CH395F 以太网 | SPI2 | PB12 CS, PB13 SCK, PB14 SDO, PB15 SDI |
+| GD5F2GQ5UE NAND | SPI1 | PE0 CS, PB3 SCK, PB4 MISO, PB5 MOSI, PB8 WP, PE1 HOLD |
+| TPAFE5160 ADC | 并行16位 | PG0-PG15 数据, PD3 RD, PD4 CONVST, PD7 BUSY |
+| USART1 | 串口 | PA9 TX, PA10 RX (115200bps) |
+| 6x LED | GPIO | PC4, PC5, PB1, PB2, PF11, PF12（低电平点亮） |
+
+MCU: STM32F407ZGTx @ 168MHz (HSE 8MHz → PLL M=4/N=168/P=2，见 `*.ioc`/`stm32f4xx_hal_conf.h`)
+
+## 架构

 ```
-STM32F4-Base/
-├── Src/                        # CubeMX 生成的外设初始化 + main
-├── Inc/                        # CubeMX 生成的头文件
-├── Drivers/
-│   ├── BSP/
-│   │   ├── CH395F/             # CH395F 以太网芯片驱动（手写）
-│   │   ├── GD5F2GQ5UE/        # GD5F2GQ5UE NAND Flash 驱动（手写）
-│   │   │   ├── gd5f2gq5ue.h/c         # 底层 SPI 驱动
-│   │   │   ├── fal_flash_gd5f2gq5ue.c  # FAL 设备适配层
-│   │   │   ├── fal_cfg.h               # FAL 设备表 + 分区表
-│   │   │   └── fdb_cfg.h               # FlashDB 功能配置
-│   │   └── TPAFE5160/          # TPAFE5160 ADC 并行接口驱动（手写）
-│   ├── STM32F4xx_HAL_Driver/  # ST HAL 库（CubeMX 生成）
-│   └── CMSIS/                 # ARM CMSIS（CubeMX 生成）
-├── Lib/
-│   └── FlashDB/               # FlashDB 数据库库（v2.2.99）
-│       ├── src/               # FlashDB 核心源码
-│       ├── inc/               # FlashDB 头文件
-│       └── port/fal/          # FAL 抽象层
-├── MDK-ARM/                   # Keil MDK 工程文件
-├── docs/                      # 参考文档
-└── STM32F407-Demo.ioc         # STM32CubeMX 项目源文件
+Src/main.c → 外设初始化 → app_main_init → gd5f2gq5ue_init → tpafe5160_init
+  → osKernelInitialize → MX_FREERTOS_Init → osKernelStart
+  → [FreeRTOS tasks: defaultTask, netTask, ftpTask]
 ```

+- **defaultTask**：FTL + FatFS 初始化测试（开机一次性）
+- **netTask**：`net_init()` → `net_poll()` + `net_process_messages()` 每 10ms
+- **ftpTask**：`lftpd_start("/", 21, &ftp)` 延迟 7s 后启动
+
+### 任务栈
+
+| Task | 栈大小 |
+|---|---|
+| defaultTask | 2048 |
+| netTask | 4096 |
+| ftpTask | 4096 |
+
+## CH395F 设计原则
+
+- **单连接 socket**：Socket 0 复用监听和数据通道，收到 CONNECT 后切换为数据通道，DISCONNECT/TIMEOUT 后重新 OPEN → LISTEN
+- **中断统一处理**：所有 CH395F 中断在 `net_poll()` 中通过 `GET_GLOB_INT_STATUS` 集中读取并清除，不得在 ISR 或其他地方单独处理
+
+## NET 网络层
+
+- `net_socket.h/c` — BSD Socket API，多连接模式下 Socket 0 监听、Socket 1~7 数据
+- `net_select.h/c` — select/poll I/O 多路复用
+- 线程安全通过消息队列（`netMsgQueue`）实现，所有 CH395F 操作在 netTask 中串行处理
+- 网络初始化顺序（多连接）：`ch395f_set_fun_para(0x02)` → `ch395f_init()` → 配置 Socket 1~7（缓冲区+端口+协议，不 OPEN）→ 配置 Socket 0（TCP LISTEN）
+- **新文件需手动添加到 Keil MDK 工程**才能编译
+
 ## 关键文件

 | 路径 | 说明 |
 |---|---|
-| `Src/main.c` | 程序入口，初始化序列及主循环 |
-| `Drivers/BSP/CH395F/ch395f.c/h` | CH395F 以太网芯片 SPI 驱动 |
-| `Drivers/BSP/GD5F2GQ5UE/gd5f2gq5ue.c/h` | GD5F2GQ5UE NAND Flash SPI 驱动 |
-| `Drivers/BSP/GD5F2GQ5UE/fal_flash_gd5f2gq5ue.c` | FAL 设备适配层 |
-| `Drivers/BSP/TPAFE5160/tpafe5160.c/h` | TPAFE5160 ADC 并行接口驱动 |
-| `MDK-ARM/STM32F407-Demo.uvprojx` | Keil MDK 项目文件 |
-| `STM32F407-Demo.ioc` | STM32CubeMX 项目源文件 |
+| `Src/main.c` | 入口，CubeMX 生成 + USER CODE 区域 |
+| `Src/freertos.c` | FreeRTOS task 创建，CubeMX 生成 + USER CODE 区域 |
+| `App/task/net_task.c` | netTask 主循环（网络初始化 + 轮询） |
+| `Drivers/BSP/NET/` | BSD Socket API 网络抽象层 |
+| `Drivers/BSP/CH395F/` | CH395F SPI 驱动 |
+| `Drivers/BSP/GD5F2GQ5UE/` | NAND Flash 驱动 + dhara FTL + FatFS diskio |
+| `Drivers/BSP/TPAFE5160/` | ADC 并行接口驱动 |
+| `Drivers/BSP/SD2506/` | RTC 驱动 |
+| `Drivers/BSP/RS485/` | RS-485 通信（UART5 + PD0 DE） |

-## 构建
+## 驱动关键点

-仅支持 Keil MDK-ARM v5 (ARMCC)。打开 `MDK-ARM/STM32F407-Demo.uvprojx` 编译。
-
- 编译器：ARMCC V5.06 update 7
- 优化等级：`-O4` (项目级)，`spi.c`/`usart.c` / HAL 源文件使用 `-O0`
- C 标准：C99
- 全局宏定义：`USE_HAL_DRIVER, STM32F407xx`
-
-## 硬件配置
-
- **主频：** HSE 25MHz → PLL 168MHz (4/168/2)
- **6 个 LED：** PC4, PC5, PB1, PB2, PF11, PF12（低电平点亮）
- **CH395F：** SPI2 (PB12 CS, PB13 SCK, PB14 SDO, PB15 SDI)
- **GD5F2GQ5UE：** SPI1 (PE0 CS, PB3 SCK, PB4 MISO, PB5 MOSI, PB8 WP, PE1 HOLD)
- **TPAFE5160：** 并行16位 (PG0-PG15 数据, PD3 RD, PD4 CONVST, PD7 BUSY, PD1 FRSTDATA, PF13-15 OS[2:0])
- **USART1：** PA9 TX, PA10 RX (115200bps)
-
-## 启动顺序
-
-```
-HAL_Init() → SystemClock_Config() → MX_GPIO_Init() → MX_USART1_UART_Init() → MX_SPI2_Init() → MX_SPI1_Init() → gd5f2gq5ue_init() → fdb_kvdb_init()
-```
-
-## 代码规范
-
-参考 `嵌入式C语言代码规范（V1.0）.md`，关键要点：
-
- 缩进：4 空格，禁止 Tab
- 命名：小写字母+下划线；全局变量 `g_` 前缀，静态 `s_`，指针 `p_`，数组 `a_`
- 函数注释块需包含：函数功能、入口参数、返回值、限定条件、函数说明
- 大括号：K&R 风格（左大括号不换行）
- 文件头注释：模块名称、功能、平台、作者、日期、修改记录
- 头文件保护宏：`__MODULE_NAME_H` 格式，带 `extern "C"`
+详见 `docs/` 目录：
+- `CH395F_Trap_Records.md` — CH395F 已知陷阱
+- `GD5F2GQ5UE_Trap_Records.md` — GD5F2GQ5UE 已知陷阱
+- `CH395F_Test_Guide.md` — 网络测试说明

 ## 注意

- `Inc/` 和 `Src/` 中 CubeMX 生成的文件带有 `USER CODE BEGIN`/`END` 标记，自定义代码应写在这些区域之间
- `ch395f.c/h`、`gd5f2gq5ue.c/h`、`fal_flash_gd5f2gq5ue.c` 为纯手工代码，不受 CubeMX 保护
- `tpafe5160.c/h` 为纯手工代码，不受 CubeMX 保护
- CH395F 每次 SPI 事务需调用 `ch395f_spi_begin()` / `ch395f_spi_end()` 包裹
- GD5F2GQ5UE 的 `gd5f2gq5ue.c` 中声明了 `extern SPI_HandleTypeDef hspi1`，需确保 SPI1 已初始化
- FlashDB 使用 FAL 模式，`fdb_cfg.h` 中定义 `FDB_USING_FAL_MODE`，`fal_cfg.h` 中定义分区表
- FlashDB 详细使用说明见 `FlashDB使用说明.md`
- `sd2506.c/h` 为纯手工代码，不受 CubeMX 保护
+- `Inc/` 和 `Src/` 中 CubeMX 生成的文件带有 `USER CODE BEGIN`/`END` 标记，自定义代码写在这些区域之间
+- `Drivers/BSP/` 下的驱动文件为纯手工代码，不受 CubeMX 保护
+- CH395F 每次 SPI 事务需用 `ch395f_spi_begin()` / `ch395f_spi_end()` 包裹
+-  CH395F SPI PCB设计问题，现在分频系数必须为 8，速度相对较低
+- FreeRTOS V10.3.1 via CMSIS-RTOS V2，HAL 时基用 TIM7（非 SysTick）
+- NVIC 优先级分组 4 位，外设中断优先级 ≥ 5（`configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY`）

-## CH395F 驱动关键点
+## 源码编辑与编码安全（铁律）

- 初始化必须按手册9.2.1节顺序：`SET_MAC` → `SET_IP/GWIP/MASK` → `INIT_CH395` → `SET_PHY`
- **IP/网关/掩码必须在 `INIT_CH395` 之前设置**，INIT 会读取并锁定当前寄存器值到协议栈，之后再设 IP 无效
- **`SET_PHY` 必须在 `INIT_CH395` 之后**，它会复位 MAC/PHY 建立物理链路，不影响已锁定的协议栈参数
- **`CMD_PING_ENABLE` 不需要显式调用**，INIT 后默认可用
- 每次 SPI 事务需调用 `ch395f_spi_begin()` / `ch395f_spi_end()` 包裹
+本工程源码含大量中文注释，曾因错误的文本重写方式导致整文件乱码（`U+FFFD` 替换符，不可逆）。以下规则必须遵守：

-## GD5F2GQ5UE 驱动关键点
-
- SPI Mode 0（CPOL=0, CPHA=0），时钟 42MHz
- 初始化必须按顺序：复位 → 读 ID → 使能 ECC（B0h=10h）→ 解除块保护（A0h=00h）
- SET_FEATURE 命令前必须先发写使能（06h）
- 块擦除（D8h）参数是字节地址（块编号 × 128KB），不是块编号
- 读取 ID（9Fh）返回 3 字节，第 0 字节无意义，第 1 字节 MID，第 2 字节 DID
-
-## FlashDB 分区规划
-
-| 分区名 | 偏移 | 大小 | 用途 |
-|--------|------|------|------|
-| fdb_kvdb1 | 0 | 64MB | KVDB 键值数据库 |
-| fdb_tsdb1 | 64MB | 64MB | TSDB 时序数据库 |
-
-## TPAFE5160 驱动关键点
-
- AD7606 P2P 兼容替代品，并行接口协议一致
- 并行模式：CS 接地（始终选中），PAR/SER/BYTE SEL 接 GND（并行），DB15/BYTE SEL 接 GND（非字节模式）
- 数据总线 DB[15:0] 接 GPIOG[15:0]，通过 `(uint16_t)GPIOG->IDR` 一次读取16位
- CONVST 上升沿触发全部8通道同步采样，BUSY 高电平表示转换中
- RD 下降沿输出通道数据，按通道1~8顺序依次输出
- FRSTDATA 在第一个 RD 下降沿变高，指示通道1数据就绪
- 过采样 OS[2:0] 在 BUSY 下降沿锁存，无过采样时 tCONV=1.74µs，64倍过采样时 tCONV=167µs
- 读取时序：168MHz 下 GPIO 写操作 + 5个 NOP (~30ns) 覆盖 t10=22ns 和 t14=21ns 要求
- 硬件 RANGE 接 GND → ±5V 量程，LSB=152.59µV
-
-## 已知问题
-
-### CH395F 与 RTL8305NBI 自动协商不兼容
-
-CH395F 与 RTL8305NBI-CG 直连（经网络变压器）时，自动协商始终失败（返回 `PHY_DISCONN`），但强制 100M 全双工工作正常。强制 10M 全双工同样失败。
-
-**解决方案：** 初始化协议栈后调用 `ch395f_set_phy(CH395F_PHY_100M_FULL)` 跳过自动协商。
+- **绝不用 `Get-Content` / `Set-Content` / `cmd` 文本重写含中文的源码文件**。这类"整文件重写"会按系统默认编码重新解码再写回，多字节中文必被 `U+FFFD` 替换且不可逆。
+- **改代码只用 Edit 工具**（精确子串替换，不重新编解码整个文件，安全）；批量替换用 Edit 的 `replaceAll`。
+- 必须脚本级替换时，使用显式且一致的编码（如 Python `open(p, encoding="utf-8")` 同编码回写），并先确认工程编码（Keil 工程常用 GBK）——但**最稳的是别碰**，只用 Edit / git。
+- **发现乱码先别急着 `git checkout`**：`git checkout` 会丢弃所有未提交工作，使损失扩大。先评估能否用 Edit 仅改坏掉的那几行。
+- 验证是否真损坏用字节级检查（统计 `EF BF BD` 出现次数），不要依赖终端/Read 渲染判断。
--- a/App/app_cfg.h
+++ b/App/app_cfg.h
@@ -0,0 +1,36 @@
+/*
+ * 模块名称：Application Configuration
+ * 模块功能：应用层全局配置宏，控制功能模块的编译开关
+ * 适用平台：STM32F407ZGTx
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ */
+
+#ifndef __APP_CFG_H
+#define __APP_CFG_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * 系统时钟源选择
+ *   0 - DWT CYCCNT（默认，0 外设开销）
+ *   1 - TIM2（32-bit 定时器，独立于 DWT）
+ */
+#define APP_SYS_TIME_SRC      0
+
+/*
+ * 功能模块使能开关
+ */
+#define APP_NET_ENABLE
+#define APP_ADC_ENABLE
+#define APP_RS485_ENABLE
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __APP_CFG_H */
--- a/App/app_main.c
+++ b/App/app_main.c
@@ -0,0 +1,42 @@
+/*
+ * 模块名称：Application Main Entry
+ * 模块功能：应用初始化流程编排、各模块启动、主循环
+ * 适用平台：STM32F407ZGTx
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ */
+
+#include "app_main.h"
+#include "app_cfg.h"
+
+#define DBG_TAG "[APP]"
+#include "dbg_log.h"
+
+/*
+ * 函数功能：应用层初始化
+ * 入口参数：无
+ * 返 回 值：0 - 成功，-1 - 失败
+ * 限定条件：CubeMX 外设初始化已完成
+ * 函数说明：在 CubeMX 外设初始化之后、FreeRTOS 调度器启动之前调用
+ */
+int app_main_init(void)
+{
+    DBG_INFO("App init OK");
+    return 0;
+}
+
+/*
+ * 函数功能：应用主循环
+ * 入口参数：无
+ * 返 回 值：无
+ * 限定条件：FreeRTOS 调度器启动后不再返回
+ * 函数说明：空闲任务可调用的应用层处理入口
+ */
+void app_main_run(void)
+{
+    for (;;) {
+        /* 应用层空闲处理 */
+    }
+}
--- a/App/app_main.h
+++ b/App/app_main.h
@@ -0,0 +1,27 @@
+/*
+ * 模块名称：Application Main Entry
+ * 模块功能：应用层入口，由 main.c 调用完成所有应用初始化与启动
+ * 适用平台：STM32F407ZGTx
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ */
+
+#ifndef __APP_MAIN_H
+#define __APP_MAIN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+int  app_main_init(void);
+void app_main_run(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __APP_MAIN_H */
--- a/App/protocol/.gitkeep
+++ b/App/protocol/.gitkeep
--- a/App/sys_clock.c
+++ b/App/sys_clock.c
@@ -0,0 +1,369 @@
+/*
+ * 模块名称：System Clock — Wall Clock Time Maintenance
+ * 模块功能：实现系统墙钟时间维护，包括 RTC 初始读取、HAL Tick 漂移维持
+ * 适用平台：STM32F407ZGTx (Cortex-M4 FPU, 168MHz)
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ */
+
+#include "sys_clock.h"
+#include "main.h"
+#include <string.h>
+#include <stdio.h>
+
+#define DBG_TAG "[CLK]"
+#include "dbg_log.h"
+
+/* ============================================================
+ * RTC 校时（开发期一次性）
+ * 使能 RTC_DEFAULT_INIT_ENABLE 后：
+ *   RTC_DEFAULT_INIT_FORCE=1：每次启动都写入默认时间（首次/覆盖校时用）
+ *   RTC_DEFAULT_INIT_FORCE=0：仅当 RTC 时间无效（越界）时写入
+ * 校时完成后建议将 FORCE 置 0（或注释 ENABLE），避免每次开机覆盖用户设的时间。
+ * 修改日期/时间时同步更新下列宏。
+ * ============================================================ */
+#define RTC_DEFAULT_INIT_ENABLE   1
+#define RTC_DEFAULT_INIT_FORCE    0
+#define RTC_DEFAULT_YEAR    2026
+#define RTC_DEFAULT_MONTH   8
+#define RTC_DEFAULT_DAY     24
+#define RTC_DEFAULT_HOUR    0
+#define RTC_DEFAULT_MINUTE  0
+#define RTC_DEFAULT_SECOND  0
+
+/* ============================================================
+ * 内部状态：系统墙钟
+ * ============================================================ */
+
+static volatile uint32_t s_base_tick = 0;  /* HAL_GetTick() 基准 */
+static volatile uint32_t s_base_unix_secs = UINT32_MAX;
+
+/* ============================================================
+ * 内部辅助函数：Unix time ↔ sd2506_time_t 转换
+ * ============================================================ */
+
+/*
+ * 函数功能：根据公历日期计算星期几
+ * 入口参数：y - 年份      uint16_t  1970~2099
+ *           m - 月份      uint8_t   1~12
+ *           d - 日        uint8_t   1~31
+ * 返回值：星期编号        uint8_t   0=Sunday, 1=Monday, ... 6=Saturday
+ * 限定条件：输入为公历合法日期
+ * 函数说明：1. 采用 Zeller 公式（变种），结果 0 表示周日
+ *           2. 与 unix_to_sd2506() 内星期算法保持一致
+ */
+static uint8_t rtc_calc_week(uint16_t y, uint8_t m, uint8_t d)
+{
+    uint32_t wy = y;
+    uint32_t wm = m;
+
+    if (wm <= 2) {
+        wy--;
+        wm += 12u;
+    }
+    /* Zeller 公式：世纪项 + 月项 + 日项，模 7 得星期（0=周日） */
+    return (uint8_t)(((uint32_t)(wy % 100u + wy / 100u / 4u - wy / 100u / 15u) +
+                      (uint32_t)((26u * (wm + 1u)) / 10u) + (uint32_t)(d % 100u)) % 7u);
+}
+
+/*
+ * 函数功能：将 Unix 时间戳（自 1970-01-01 00:00:00 起的秒数）转换为 SD2506 RTC 时间结构
+ * 入口参数：unix_secs - Unix 时间戳              uint32_t  0~0x7FFFFFFF（~2038）
+ *           p_sd_time - 输出时间结构指针          sd2506_time_t*  不得为 NULL
+ * 出口参数：p_sd_time - 填充年/月/日/时/分/秒/星期
+ * 返回值：无
+ * 限定条件：p_sd_time 必须指向有效缓冲区
+ * 函数说明：1. 先取模拆分时分秒，再按累计天数推算年月日
+ *           2. 星期由 Zeller 公式（与 rtc_calc_week 同算法）得出
+ *           3. SD2506 年份字段为相对值（0~99，+2000），故回写时减 2000
+ */
+static void unix_to_sd2506(uint32_t unix_secs, sd2506_time_t *p_sd_time)
+{
+    uint32_t y, m, d;
+    uint8_t h, mi, s;
+    int is_leap;
+
+    /* 时分秒 */
+    {
+        uint64_t total = (uint64_t)unix_secs;
+        s = (uint8_t)(total % 60uLL);
+        total /= 60uLL;
+        mi = (uint8_t)(total % 60uLL);
+        total /= 60uLL;
+        h = (uint8_t)(total % 24uL);
+    }
+
+    /* 年月日 */
+    {
+        uint64_t day_count = ((uint64_t)unix_secs / 86400uL);
+
+        y = 1970u;
+        while (day_count >= 365uLL) {
+            uint64_t diy = 365uLL;
+            if ((y % 4 == 0 && y % 100 != 0) || (y % 400 == 0)) {
+                diy = 366uLL;
+            }
+            if (day_count < diy) break;
+            day_count -= diy;
+            y++;
+        }
+
+        is_leap = ((y % 4 == 0 && y % 100 != 0) || (y % 400 == 0));
+        uint8_t mdays[12] = {31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
+        if (is_leap) mdays[1] = 29;
+
+        m = 0;
+        while (m < 12u) {
+            if (day_count < (uint64_t)mdays[m]) break;
+            day_count -= mdays[m];
+            m++;
+        }
+        d = (uint32_t)(day_count + 1uL);
+
+        /* 星期（Zeller's congruence，0=Sunday） */
+        uint64_t wy = y;
+        uint64_t wm = m;
+        if (wm <= 2) {
+            wy--;
+            wm += 12uL;
+        }
+        /* Zeller 公式同 rtc_calc_week()：世纪项 + 月项 + 日项，模 7 得星期（0=周日） */
+        uint8_t week = ((uint32_t)(wy % 100uLL + wy / 100uLL / 4uLL - wy / 100uLL / 15uLL) +
+                       (uint32_t)(((uint64_t)26 * (wm + 1uL)) / 10uLL) +
+                       (uint32_t)(d % 100uLL)) % 7uLL;
+
+        /* sd2506_time_t.year 采用完整年份（如 2026），与 sd2506_set_time
+         * 中 year-2000、sd2506_get_time 中 +2000 的约定保持一致；
+         * 此处绝不能再减 2000，否则写 RTC 时会被二次减 2000 导致年份错乱。 */
+        p_sd_time->year   = (uint16_t)y;
+        p_sd_time->month  = m + 1uL;    /* 月份从 0 → 1 */
+        p_sd_time->day    = d;
+        p_sd_time->hour   = h;
+        p_sd_time->minute = mi;
+        p_sd_time->second = s;
+        p_sd_time->week   = week;
+    }
+}
+
+/* ============================================================
+ * 系统墙钟时间维护
+ * ============================================================ */
+
+/*
+ * 函数功能：初始化系统墙钟时间基准
+ * 入口参数：无
+ * 返回值：0 - 成功（始终返回 0）
+ * 限定条件：CubeMX 外设初始化完成、SD2506 RTC 驱动已初始化
+ * 函数说明：1. 从 SD2506 读取初始时间，必要时按编译期默认宏校时（RTC_DEFAULT_INIT_*）
+ *           2. 将 RTC 时间换算为 Unix epoch 秒数
+ *           3. 记录当前 HAL Tick 与 Unix 秒数为基准，供 sys_clock_get() 后续推算
+ *           4. 注意：sd2506_get_time() 返回的 year 已是完整年份（驱动内 +2000），
+ *              换算时不得再加 2000，否则年份虚增导致 Unix 秒数超 uint32 回绕
+ */
+int sys_clock_init(void)
+{
+    sd2506_time_t sd_time;
+    uint32_t year, month, day, hour, minute, second;
+    int64_t unix_secs = 0;
+    int i;
+
+    /* ============================================================
+     * Step 1：从 SD2506 硬件 RTC 读取初始时间
+     * ============================================================
+     * 注意：sd2506_get_time() 返回的 year 已是完整年份（如 2026，
+     * 驱动内部已 +2000）。此处【禁止】再 +2000，否则年份虚增到 4026，
+     * 换算出的 Unix 秒数远超 uint32_t 上限被截断回绕，时间彻底错乱。 */
+    sd2506_get_time(&sd_time);
+
+    /* ============================================================
+     * Step 1.1：开发期校时（可选，由 RTC_DEFAULT_INIT_* 宏控制）
+     * ============================================================
+     * 作用：RTC 出厂/掉电异常导致时间非法时，写入一个可用初始值；
+     *       FORCE=1 时每次启动都强制写入，便于首次烧录或硬件时钟丢失。
+     * 判定"时间无效"：年份越界、月/日越界（仅粗判，不细校 2 月 29 日等）。 */
+#if defined(RTC_DEFAULT_INIT_ENABLE)
+    {
+        int rtc_invalid = (sd_time.year < 2000 || sd_time.year > 2099 ||
+                           sd_time.month < 1 || sd_time.month > 12 ||
+                           sd_time.day   < 1 || sd_time.day   > 31);
+#if (RTC_DEFAULT_INIT_FORCE == 1)
+        rtc_invalid = 1;   /* 强制每次启动校时：会覆盖用户/网络已设的正确时间，仅限开发期 */
+#endif
+        if (rtc_invalid) {
+            sd2506_time_t init_t;
+            /* 用编译期默认宏构造初始时间；week 由 Zeller 公式（rtc_calc_week）推算 */
+            init_t.year   = RTC_DEFAULT_YEAR;
+            init_t.month  = RTC_DEFAULT_MONTH;
+            init_t.day    = RTC_DEFAULT_DAY;
+            init_t.hour   = RTC_DEFAULT_HOUR;
+            init_t.minute = RTC_DEFAULT_MINUTE;
+            init_t.second = RTC_DEFAULT_SECOND;
+            init_t.week   = rtc_calc_week(init_t.year, init_t.month, init_t.day);
+
+            /* 写回 SD2506：断电后该时间被保留，下次上电即为有效值 */
+            if (sd2506_set_time(&init_t) == SD2506_OK) {
+                DBG_INFO("sys_clock_init: RTC set %04d-%02d-%02d %02d:%02d:%02d",
+                         init_t.year, init_t.month, init_t.day,
+                         init_t.hour, init_t.minute, init_t.second);
+                sd2506_get_time(&sd_time);   /* 重新读取校准后的值，确保后续换算用真实 RTC 数据 */
+            } else {
+                DBG_ERROR("sys_clock_init: RTC default write FAIL");
+            }
+        }
+    }
+#endif
+
+    /* 取出各时间字段（year 已是完整年份，直接用于下文 Unix 换算） */
+    year   = (uint32_t)sd_time.year;
+    month  = (uint32_t)sd_time.month;
+    day    = (uint32_t)sd_time.day;
+    hour   = (uint32_t)sd_time.hour;
+    minute = (uint32_t)sd_time.minute;
+    second = (uint32_t)sd_time.second;
+
+    /* ============================================================
+     * Step 2：将 RTC 日历时间换算为 Unix epoch 秒数
+     * ============================================================
+     * Unix 时间定义：自 1970-01-01 00:00:00 起经过的秒数。
+     * 算法：总天数（1970~去年整年 + 今年到上月 + 本月已过天）× 86400
+     *       + 当天时分秒。
+     * 用 int64_t / uint64_t 累加避免中间溢出；最终结果（受 uint32_t 限制）
+     * 有效范围约 1970-01-01 ~ 2038-01-19，超出将回绕（见文档第 12 节）。 */
+    {
+        uint64_t total_days = 0;
+
+        /* 2.1 累加 1970 至（今年-1）的整年天数：闰年 366、平年 365
+         * 闰年规则：能被 4 整除但不能被 100 整除，或能被 400 整除 */
+        for (i = 1970; i < year; i++) {
+            if ((i % 4 == 0 && i % 100 != 0) || (i % 400 == 0)) {
+                total_days += 366uLL;
+            } else {
+                total_days += 365uLL;
+            }
+        }
+
+        /* 2.2 判断今年是否闰年，构造各月天数表（2 月特判） */
+        int is_leap = ((year % 4 == 0 && year % 100 != 0) || (year % 400 == 0));
+        uint8_t mdays[12] = {31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
+        if (is_leap) mdays[1] = 29;   /* 闰年 2 月 29 天 */
+
+        /* 2.3 累加今年 1 月至（本月-1）月的天数 */
+        for (i = 0; i < month - 1; i++) {
+            total_days += mdays[i];
+        }
+        /* 2.4 加上本月已过天数（day-1：从今天 0 点起算） */
+        total_days += day - 1uL;
+
+        /* 2.5 总天数×86400（一天秒数）+ 当日时分秒 = 绝对 Unix 秒数 */
+        unix_secs = (int64_t)(total_days * 86400LL) + hour * 3600LL + minute * 60LL + second;
+    }
+
+    /* ============================================================
+     * Step 3：建立"墙钟基准"（基准法核心）
+     * ============================================================
+     * 记录当前 HAL Tick 与对应的 Unix 秒数。此后 sys_clock_get() 仅用
+     *   now_unix = s_base_unix_secs + (HAL_GetTick() - s_base_tick)/1000
+     * 推算当前时间，运行期不再访问 I2C RTC，零阻塞、无累积误差。 */
+    s_base_tick = HAL_GetTick();
+    s_base_unix_secs = (uint32_t)unix_secs;
+
+    DBG_INFO("sys_clock_init: RTC initial time %04d-%02d-%02d %02d:%02d:%02d",
+             year, month, day, hour, minute, second);
+
+    DBG_INFO("sys_clock_init: wall clock base = unix %lu, base_tick=%lu",
+             (unsigned long)s_base_unix_secs, (unsigned long)s_base_tick);
+
+    return 0;
+}
+
+/*
+ * 函数功能：获取当前系统墙钟时间（Unix 时间戳）
+ * 入口参数：无
+ * 返回值：当前 Unix 秒数      uint32_t  未初始化时返回 UINT32_MAX
+ * 限定条件：sys_clock_init() 已成功调用
+ * 函数说明：1. 以基准 Tick 与基准 Unix 秒数为起点，按当前 HAL Tick 与 1000ms
+ *              的整除差推算流逝秒数（避免每毫秒累加，减少漂移与溢出风险）
+ *           2. 若推算结果为负（基准未建立），返回 UINT32_MAX 表示无效
+ */
+uint32_t sys_clock_get(void)
+{
+    uint32_t now_tick = HAL_GetTick();
+    int64_t unix_secs = (int64_t)s_base_unix_secs + (int64_t)((uint32_t)(now_tick - s_base_tick) / 1000uL);
+
+    if (unix_secs < 0) {
+        return UINT32_MAX; /* 未初始化 */
+    }
+
+    return (uint32_t)unix_secs;
+}
+
+/*
+ * 函数功能：获取当前墙钟时间的可读字符串（YYYY-MM-DD HH:MM:SS）
+ * 入口参数：buf - 输出字符串缓冲区   char*    不得为 NULL
+ *           buf_size - 缓冲区大小    size_t   须 ≥ 20（含结尾 '\0'）
+ * 出口参数：buf - 填充格式化时间字符串
+ * 返回值：buf 指针（便于链式调用）
+ * 限定条件：buf 指向至少 buf_size 字节的有效缓冲区；sys_clock_init() 已调用
+ * 函数说明：1. 内部先取 Unix 秒数，未初始化时输出占位串 "----/--/-- --:--:--"
+ *           2. 通过 unix_to_sd2506() 转换为 SD2506 结构后格式化
+ *           3. 使用 snprintf 防止缓冲区溢出
+ */
+char *sys_clock_get_str(char *buf, size_t buf_size)
+{
+    uint32_t unix_secs = sys_clock_get();
+    if (unix_secs == UINT32_MAX) {
+        snprintf(buf, buf_size, "----/--/-- --:--:--");
+        return buf;
+    }
+
+    sd2506_time_t sd;
+    unix_to_sd2506(unix_secs, &sd);
+
+    snprintf(buf, buf_size, "%04d-%02d-%02d %02d:%02d:%02d",
+              sd.year, sd.month, sd.day,
+             sd.hour, sd.minute, sd.second);
+    return buf;
+}
+
+/*
+ * 函数功能：设置（更新）系统墙钟时间基准，并可写回 SD2506 RTC
+ * 入口参数：unix_secs - 新的 Unix 时间戳          uint32_t  0~0x7FFFFFFF
+ *           sd_time - 对应的 RTC 时间结构指针      sd2506_time_t*  可为 NULL（仅更新基准）
+ * 出口参数：无
+ * 返回值：0 - 成功（始终返回 0）
+ * 限定条件：unix_secs 为合法 Unix 时间戳
+ * 函数说明：1. 重置基准 Tick 与基准 Unix 秒数，使后续 sys_clock_get() 以此为准
+ *           2. 若 sd_time 非 NULL，将其写回 SD2506 RTC，实现断电保持
+ */
+int sys_clock_set(uint32_t unix_secs, const sd2506_time_t *sd_time)
+{
+    /* Step 1: 更新墙钟基准 */
+    s_base_tick = HAL_GetTick();
+    s_base_unix_secs = unix_secs;
+
+    DBG_INFO("sys_clock_set: wall clock updated to %lu", (unsigned long)unix_secs);
+
+    /* Step 2: 写回 SD2506 RTC（若提供了 sd_time） */
+    if (sd_time != NULL) {
+        if (sd2506_set_time(sd_time) == SD2506_OK) {
+            DBG_INFO("sys_clock_set: SD2506 RTC written");
+        } else {
+            DBG_ERROR("sys_clock_set: SD2506 RTC write FAIL");
+        }
+    }
+
+    return 0;
+}
+
+int sys_clock_set_unix(uint32_t unix_secs)
+{
+    sd2506_time_t sd;
+
+    /* 内部静态函数：将 Unix 秒数拆分为 SD2506 时间结构 */
+    unix_to_sd2506(unix_secs, &sd);
+
+    /* 更新运行期基准并写回 RTC，实现掉电保持 */
+    return sys_clock_set(unix_secs, &sd);
+}
--- a/App/sys_clock.h
+++ b/App/sys_clock.h
@@ -0,0 +1,75 @@
+/*
+ * 模块名称：System Clock — Wall Clock Time Maintenance
+ * 模块功能：基于 HAL Tick + SD2506 RTC 的系统墙钟时间维护
+ *          启动时从 SD2506 RTC 读取初始时间，运行期间以 HAL Tick 计数维持
+ * 适用平台：STM32F407ZGTx (Cortex-M4 FPU, 168MHz)
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ */
+
+#ifndef __SYS_CLOCK_H
+#define __SYS_CLOCK_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include "sd2506.h"
+
+/*
+ * 函数功能：系统时钟初始化（从 SD2506 RTC 读取初始时间）
+ * 入口参数：无
+ * 返回值：0 - 成功, -1 - 失败
+ * 限定条件：sd2506_init() 已调用
+ * 函数说明：读取 SD2506 RTC 当前值转换为 Unix timestamp，设为系统墙钟初始时间
+ */
+int sys_clock_init(void);
+
+/*
+ * 函数功能：获取当前系统墙钟时间（Unix epoch seconds）
+ * 入口参数：无
+ * 返回值：Unix time (秒)，失败返回 UINT32_MAX
+ * 限定条件：sys_clock_init() 已调用
+ * 函数说明：基于 HAL Tick 计数 + 上次校准时刻的 Unix 秒数计算当前时间，
+ *          精度为毫秒级
+ */
+uint32_t sys_clock_get(void);
+
+/*
+ * 函数功能：格式化系统墙钟时间为字符串
+ * 入口参数：buf      - 输出缓冲区（至少 20 字节）
+ *          buf_size - 缓冲区大小
+ * 返回值：buf 指针，失败返回 NULL
+ * 限定条件：sys_clock_init() 已调用
+ * 函数说明：格式 "YYYY-MM-DD HH:MM:SS"
+ */
+char *sys_clock_get_str(char *buf, size_t buf_size);
+
+/*
+ * 函数功能：设置系统墙钟时间
+ * 入口参数：unix_secs - Unix epoch time (秒)
+ *          sd_time   - SD2506 RTC 时间结构体（可选，非 NULL 时同时写入 RTC）
+ * 返回值：0 - 成功, -1 - 失败
+ * 限定条件：sys_clock_init() 已调用
+ * 函数说明：更新系统墙钟基准 + 写回 SD2506 RTC 保持长期准确性
+ */
+int sys_clock_set(uint32_t unix_secs, const sd2506_time_t *sd_time);
+
+/*
+ * 函数功能：以 Unix 时间戳设置系统墙钟并写回 SD2506 RTC
+ * 入口参数：unix_secs - Unix epoch time (秒，本地时间)   uint32_t  0~0x7FFFFFFF
+ * 返回值：0 - 成功
+ * 限定条件：sys_clock_init() 已调用
+ * 函数说明：内部将 Unix 秒数转换为 sd2506_time_t 后调用 sys_clock_set()，
+ *          便于时间同步模块（如 PC 推送）直接以时间戳校时
+ */
+int sys_clock_set_unix(uint32_t unix_secs);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __SYS_CLOCK_H */
--- a/App/task/adc_task.c
+++ b/App/task/adc_task.c
@@ -0,0 +1,45 @@
+/*
+ * 模块名称：ADC Sampling Task
+ * 模块功能：TPAFE5160 8 通道同步采样，数据缓存与通知
+ * 适用平台：STM32F407ZGTx + TPAFE5160
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ */
+
+#include "adc_task.h"
+#include "cmsis_os.h"
+#include "tpafe5160.h"
+
+#define DBG_TAG "[ADC_TASK]"
+#include "dbg_log.h"
+
+/*
+ * 函数功能：ADC 任务初始化
+ * 入口参数：无
+ * 返 回 值：0 - 成功，-1 - 失败
+ * 限定条件：TPAFE5160 硬件已上电
+ * 函数说明：配置采样参数，准备数据缓冲区
+ */
+int adc_task_init(void)
+{
+    DBG_INFO("adc_task_init");
+    return 0;
+}
+
+/*
+ * 函数功能：ADC 任务主函数
+ * 入口参数：arg - FreeRTOS 传入参数（未使用）
+ * 返 回 值：无
+ * 限定条件：adc_task_init() 已成功调用
+ * 函数说明：定时触发 TPAFE5160 同步采样并处理数据
+ */
+void adc_task_func(void const *arg)
+{
+    (void)arg;
+
+    for (;;) {
+        osDelay(1000);
+    }
+}
--- a/App/task/adc_task.h
+++ b/App/task/adc_task.h
@@ -0,0 +1,25 @@
+/*
+ * 模块名称：ADC Sampling Task
+ * 模块功能：TPAFE5160 8 通道同步采样，数据缓存与通知
+ * 适用平台：STM32F407ZGTx + TPAFE5160
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ */
+
+#ifndef __ADC_TASK_H
+#define __ADC_TASK_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int  adc_task_init(void);
+void adc_task_func(void const *arg);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __ADC_TASK_H */
--- a/App/task/net_task.c
+++ b/App/task/net_task.c
@@ -0,0 +1,114 @@
+/*
+ * 模块名称：Network Application Task
+ * 模块功能：CH395F 协议栈初始化 + 轮询 + TCP/UDP 业务处理
+ *          与 net_socket.h 配合，在 FreeRTOS 独立任务中运行
+ * 适用平台：STM32F407ZGTx + CH395F
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ *   v1.1  2026-07-19  王建锋  migrate from freertos.c StartNetTask
+ *   v1.2  2026-07-21  王建锋  网络初始化移入本任务（net_init + TCP 监听）
+ *   v1.3  2026-07-22  王建锋  单连接模式重构，增加大文件/边界/KeepAlive 测试
+ */
+
+#include <string.h>
+#include "net_task.h"
+#include "cmsis_os.h"
+#include "net_socket.h"
+#include "net_select.h"
+#include "ch395f.h"
+
+#define DBG_TAG "[NET_TASK]"
+#include "dbg_log.h"
+
+/* 网络初始化完成标志（供 ch395f_test_task 等外部任务等待） */
+volatile uint8_t g_net_ready = 0;
+
+/*
+ * 函数功能：CH395F 协议栈一次性初始化（两种构建模式共用）
+ * 入口参数：无
+ * 返 回 值：0 - 成功，-1 - 失败
+ * 函数说明：net_init → MAC 打印 → PHY 强制 100M 全双工 → 置 g_net_ready。
+ *          NET 层模式由 netTask 调用；硬件层模式（阶段 1~5）netTask 不创建，
+ *          由 ch395fTestTask 调用后独占 CH395F。
+ */
+int net_stack_bring_up(void)
+{
+    DBG_INFO("=== Network Init ===");
+
+    if (net_init("192.168.1.100", "255.255.255.0", "192.168.1.1") != 0) {
+        DBG_ERROR("net init: FAIL");
+        return -1;
+    }
+    DBG_INFO("net init: OK");
+
+    uint8_t mac[6];
+    ch395f_get_mac_addr(mac);
+    DBG_INFO("MAC: %02X:%02X:%02X:%02X:%02X:%02X",
+             mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
+
+    uint8_t ipinf[20];
+    ch395f_get_ip_inf(ipinf);
+    DBG_INFO("IP_INF: IP=%d.%d.%d.%d GW=%d.%d.%d.%d MASK=%d.%d.%d.%d",
+             ipinf[0], ipinf[1], ipinf[2], ipinf[3],
+             ipinf[4], ipinf[5], ipinf[6], ipinf[7],
+             ipinf[8], ipinf[9], ipinf[10], ipinf[11]);
+
+    ch395f_set_phy(CH395F_PHY_100M_FULL);
+    HAL_Delay(3000);
+    uint8_t phy = ch395f_get_phy_status();
+    DBG_INFO("PHY: %s",
+             (phy == CH395F_PHY_100M_FULL) ? "100M FULL" :
+             (phy == CH395F_PHY_100M_HALF) ? "100M HALF" :
+             (phy == CH395F_PHY_10M_FULL)  ? "10M FULL"  :
+             (phy == CH395F_PHY_10M_HALF)  ? "10M HALF"  :
+             (phy == CH395F_PHY_DISCONN)   ? "DISCONNECT" : "UNKNOWN");
+
+    g_net_ready = 1;
+    return 0;
+}
+
+/*
+ * 函数功能：网络任务初始化
+ * 入口参数：无
+ * 返 回 值：0 - 成功，-1 - 失败
+ * 限定条件：CH395F 协议栈已初始化
+ * 函数说明：创建 TCP Server 监听 Socket，注册回调等
+ */
+int net_task_init(void)
+{
+    DBG_INFO("net_task_init");
+    return 0;
+}
+
+/*
+ * 函数功能：网络任务主函数
+ * 入口参数：arg - FreeRTOS 传入参数（未使用）
+ * 返 回 值：无
+ * 函数说明：启动后先调用 net_stack_bring_up() 初始化 CH395F 协议栈，
+ *          再进入轮询循环处理网络事件。
+ *          仅 NET 层测试模式（阶段 6~10）会创建本任务；
+ *          硬件层模式下 netTask 不创建，CH395F 由 ch395fTestTask 独占。
+ */
+void net_task_func(void const *arg)
+{
+    (void)arg;
+
+    osDelay(2000);
+
+    if (net_stack_bring_up() != 0) {
+        for (;;) {
+            osDelay(1000);
+        }
+    }
+
+    DBG_INFO("netTask: started (single-socket mode)");
+
+    /* ==================== 主轮询循环 ==================== */
+    for (;;) {
+        net_poll();
+        net_process_messages();
+        osDelay(1);
+    }
+}
--- a/App/task/net_task.h
+++ b/App/task/net_task.h
@@ -0,0 +1,31 @@
+/*
+ * 模块名称：Network Application Task
+ * 模块功能：网络协议栈初始化、轮询、TCP/UDP 业务处理
+ * 适用平台：STM32F407ZGTx + CH395F
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ *   v1.1  2026-08-24  王建锋  提取 net_stack_bring_up() 供硬件层/NET 层两种测试模式共用
+ */
+
+#ifndef __NET_TASK_H
+#define __NET_TASK_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* CH395F 协议栈一次性初始化（net_init + MAC 打印 + PHY 配置 + g_net_ready 置位）。
+ * 返回 0 成功 / -1 失败。NET 层模式由 netTask 调用；硬件层模式（阶段 1~5）
+ * netTask 不创建，由 ch395fTestTask 调用后独占 CH395F。 */
+int  net_stack_bring_up(void);
+
+int  net_task_init(void);
+void net_task_func(void const *arg);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __NET_TASK_H */
--- a/App/task/rs485_task.c
+++ b/App/task/rs485_task.c
@@ -0,0 +1,45 @@
+/*
+ * 模块名称：RS485 Communication Task
+ * 模块功能：RS-485 轮询收发、协议帧解析与响应
+ * 适用平台：STM32F407ZGTx
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ */
+
+#include "rs485_task.h"
+#include "cmsis_os.h"
+#include "rs485.h"
+
+#define DBG_TAG "[RS485_TASK]"
+#include "dbg_log.h"
+
+/*
+ * 函数功能：RS485 任务初始化
+ * 入口参数：无
+ * 返 回 值：0 - 成功，-1 - 失败
+ * 限定条件：UART 和 GPIO 已由 CubeMX 初始化
+ * 函数说明：配置 RS-485 通信参数，注册接收回调
+ */
+int rs485_task_init(void)
+{
+    DBG_INFO("rs485_task_init");
+    return 0;
+}
+
+/*
+ * 函数功能：RS485 任务主函数
+ * 入口参数：arg - FreeRTOS 传入参数（未使用）
+ * 返 回 值：无
+ * 限定条件：rs485_task_init() 已成功调用
+ * 函数说明：轮询接收缓冲区并解析协议帧
+ */
+void rs485_task_func(void const *arg)
+{
+    (void)arg;
+
+    for (;;) {
+        osDelay(100);
+    }
+}
--- a/App/task/rs485_task.h
+++ b/App/task/rs485_task.h
@@ -0,0 +1,25 @@
+/*
+ * 模块名称：RS485 Communication Task
+ * 模块功能：RS-485 数据收发与协议解析
+ * 适用平台：STM32F407ZGTx
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ */
+
+#ifndef __RS485_TASK_H
+#define __RS485_TASK_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int  rs485_task_init(void);
+void rs485_task_func(void const *arg);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __RS485_TASK_H */
--- a/App/time_sync.c
+++ b/App/time_sync.c
@@ -0,0 +1,138 @@
+/*
+ * 模块名称：Time Sync — PC 本地时间推送接收（TCP）
+ * 模块功能：在独立任务 timeSyncTask 中以 TCP Server 方式监听端口，接收 PC 推送的本地时间包，
+ *          调用 sys_clock_set_unix() 更新系统墙钟并写回 SD2506 RTC
+ * 适用平台：STM32F407ZGTx + CH395F
+ * 作者：王建锋
+ * 创建日期：2026-08-27
+ * 修改记录：
+ *   v1.0  2026-08-27  王建锋  创建初始版本（UDP 推送，netTask 内轮询）
+ *   v1.1  2026-08-28  王建锋  改为 TCP Server，迁入独立任务 timeSyncTask，
+ *                           所有 socket 操作经 net_socket 线程安全 API 走消息队列，
+ *                           netTask 仅负责 net_poll/net_process_messages，多任务并发安全
+ */
+
+#include <string.h>
+#include "time_sync.h"
+#include "net_socket.h"
+#include "sys_clock.h"
+
+#define DBG_TAG "[TIME_SYNC]"
+#include "dbg_log.h"
+
+/* 监听端口：PC 推送端（TCP 客户端）需连到本端口 */
+#define TIME_SYNC_PORT   8888
+
+/*
+ * 函数功能：创建并监听 TCP 时间同步服务端口
+ * 入口参数：无
+ * 返回值：监听 Socket 描述符（>=0），失败返回 -1
+ * 限定条件：net_init() 已成功；可在非 netTask 上下文调用
+ * 函数说明：net_socket/net_bind/net_listen 均为线程安全 API，内部经消息队列由 netTask 串行处理。
+ *          单连接模式下监听 Socket 在收到连接后会转为数据通道，连接关闭后即被释放，
+ *          因此每次调用都会新建监听 Socket（与 lftpd 同模式），失败自动重试。
+ */
+static int time_sync_open_listener(void)
+{
+    int retry;
+    int s = -1;
+
+    for (retry = 0; retry < 5; retry++) {
+        s = net_socket(NET_AF_INET, NET_SOCK_STREAM);
+        if (s < 0) {
+            DBG_ERROR("time_sync: net_socket FAIL");
+            vTaskDelay(pdMS_TO_TICKS(500));
+            continue;
+        }
+
+        struct net_sockaddr_in addr;
+        memset(&addr, 0, sizeof(addr));
+        addr.sin_family      = NET_AF_INET;
+        addr.sin_port        = net_htons(TIME_SYNC_PORT);
+        addr.sin_addr.s_addr = NET_INADDR_ANY;
+
+        if (net_bind(s, (struct net_sockaddr *)&addr, sizeof(addr)) != 0) {
+            DBG_ERROR("time_sync: bind port %d FAIL", TIME_SYNC_PORT);
+            net_close(s);
+            vTaskDelay(pdMS_TO_TICKS(2000));
+            continue;
+        }
+
+        if (net_listen(s) != 0) {
+            DBG_ERROR("time_sync: listen FAIL");
+            net_close(s);
+            vTaskDelay(pdMS_TO_TICKS(2000));
+            continue;
+        }
+
+        DBG_INFO("time_sync: TCP listen on :%d (sock=%d)", TIME_SYNC_PORT, s);
+        return s;
+    }
+
+    return -1;
+}
+
+/*
+ * 函数功能：处理一个已建立的时间同步连接
+ * 入口参数：conn_sock - 已建立的连接 Socket 描述符（单连接模式下即监听 Socket 自身）
+ * 返回值：无
+ * 函数说明：阻塞读取 PC 发来的时间包（"TIME"+uint32 大端 本地时间），解析后写回 RTC，然后关闭连接
+ */
+static void time_sync_handle_conn(int conn_sock)
+{
+    uint8_t buf[16];
+    int len;
+
+    len = net_recv(conn_sock, buf, sizeof(buf), 0);
+    if (len >= 8) {
+        if (buf[0] == 'T' && buf[1] == 'I' && buf[2] == 'M' && buf[3] == 'E') {
+            uint32_t epoch = ((uint32_t)buf[4] << 24) |
+                             ((uint32_t)buf[5] << 16) |
+                             ((uint32_t)buf[6] << 8)  |
+                             ((uint32_t)buf[7]);
+            sys_clock_set_unix(epoch);
+            DBG_INFO("time_sync: wall clock updated (epoch=%lu)", (unsigned long)epoch);
+        }
+    }
+
+    net_close(conn_sock);
+}
+
+/*
+ * 函数功能：时间同步任务主体（独立 FreeRTOS 任务）
+ * 入口参数：argument - 未使用
+ * 返回值：无
+ * 限定条件：net_init() 已由 netTask 完成；netTask 正在处理消息队列
+ * 函数说明：等待网络栈就绪后，循环：建监听 -> 等连接 -> 处理 -> 关闭 -> 重建监听。
+ *           全部 socket 操作经消息队列由 netTask 串行执行，与本任务/其它网络任务并发安全。
+ */
+void timeSyncTask(void *argument)
+{
+    (void)argument;
+
+    /* 等网络栈起来（与 StartFtpTask 的 7s 延迟同风格，确保 netTask 已开始处理消息） */
+    vTaskDelay(pdMS_TO_TICKS(8000));
+
+    for (;;) {
+        int ls = time_sync_open_listener();
+        if (ls < 0) {
+            DBG_ERROR("time_sync: open listener FAIL, retry later");
+            vTaskDelay(pdMS_TO_TICKS(2000));
+            continue;
+        }
+
+        /* 等待 PC 连接：net_accept 在无连接时立即返回 -1，循环重试同一监听 Socket */
+        int conn = -1;
+        do {
+            conn = net_accept(ls, NULL, NULL);
+            if (conn < 0) {
+                vTaskDelay(pdMS_TO_TICKS(200));
+            }
+        } while (conn < 0);
+
+        time_sync_handle_conn(conn);
+        /* conn（单连接模式下即 ls）已被 net_close 释放，下次循环重建监听 */
+
+        vTaskDelay(pdMS_TO_TICKS(50));
+    }
+}
--- a/App/time_sync.h
+++ b/App/time_sync.h
@@ -0,0 +1,40 @@
+/*
+ * 模块名称：Time Sync — PC 本地时间推送接收（TCP）
+ * 模块功能：以 TCP Server 方式监听 TIME_SYNC_PORT，接收 PC 推送的本地时间包，
+ *          更新系统墙钟并写回 SD2506 RTC
+ * 适用平台：STM32F407ZGTx + CH395F
+ * 作者：王建锋
+ * 创建日期：2026-08-27
+ * 修改记录：
+ *   v1.0  2026-08-27  王建锋  创建初始版本（UDP 推送）
+ *   v1.1  2026-08-28  王建锋  改为 TCP Server，迁入独立任务 timeSyncTask
+ */
+
+#ifndef __TIME_SYNC_H
+#define __TIME_SYNC_H
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* 监听端口：PC 推送端（TCP 客户端）需连到本端口 */
+#define TIME_SYNC_PORT   8888
+
+/*
+ * 函数功能：时间同步任务主体（独立 FreeRTOS 任务）
+ * 入口参数：argument - FreeRTOS 传入参数（未使用）
+ * 返回值：无
+ * 限定条件：net_init() 已由 netTask 完成；网络消息队列由 netTask 处理
+ * 函数说明：以 TCP Server 方式监听 TIME_SYNC_PORT，接收 PC 推送的本地时间包，
+ *          经消息队列（由 netTask 串行执行）完成 socket 操作，更新系统墙钟。
+ *          该任务与 FTP 等其它网络任务并发安全。
+ */
+void timeSyncTask(void *argument);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __TIME_SYNC_H */
--- a/App/util/crc.c
+++ b/App/util/crc.c
@@ -0,0 +1,122 @@
+/*
+ * 模块名称：CRC Utility
+ * 模块功能：CRC-16 Modbus (poly=0x8005, init=0xFFFF, refin=true, refout=true, xorout=0x0000)
+ *          CRC-8 (poly=0x07, init=0x00, refin=false, refout=false, xorout=0x00)
+ * 适用平台：通用嵌入式平台
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ */
+
+#include "crc.h"
+
+static const uint16_t s_crc16_table[256] = {
+    0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
+    0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
+    0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
+    0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
+    0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
+    0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
+    0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
+    0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
+    0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
+    0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
+    0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
+    0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
+    0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
+    0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
+    0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
+    0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
+    0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
+    0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
+    0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
+    0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
+    0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
+    0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
+    0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
+    0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
+    0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
+    0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
+    0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
+    0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
+    0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
+    0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
+    0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
+    0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040,
+};
+
+static const uint8_t s_crc8_table[256] = {
+    0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15,
+    0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D,
+    0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,
+    0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,
+    0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,
+    0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,
+    0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,
+    0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,
+    0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,
+    0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,
+    0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,
+    0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,
+    0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,
+    0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,
+    0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,
+    0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,
+    0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,
+    0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,
+    0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,
+    0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,
+    0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,
+    0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,
+    0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,
+    0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,
+    0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,
+    0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,
+    0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,
+    0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,
+    0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,
+    0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,
+    0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB,
+    0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3,
+};
+
+/*
+ * 函数功能：计算 CRC-16 Modbus
+ * 入口参数：data - 数据指针
+ *           len  - 数据长度
+ * 返 回 值：16 位 CRC 值
+ * 限定条件：data 为非空指针
+ * 函数说明：多项式 0x8005，初始值 0xFFFF，结果异或 0x0000
+ */
+uint16_t crc16_modbus(const uint8_t *data, size_t len)
+{
+    uint16_t crc = 0xFFFF;
+    size_t i;
+
+    for (i = 0; i < len; i++) {
+        crc = (crc >> 8) ^ s_crc16_table[(crc ^ data[i]) & 0xFF];
+    }
+
+    return crc;
+}
+
+/*
+ * 函数功能：计算 CRC-8
+ * 入口参数：data - 数据指针
+ *           len  - 数据长度
+ * 返 回 值：8 位 CRC 值
+ * 限定条件：data 为非空指针
+ * 函数说明：多项式 0x07，初始值 0x00
+ */
+uint8_t crc8(const uint8_t *data, size_t len)
+{
+    uint8_t crc = 0;
+    size_t i;
+
+    for (i = 0; i < len; i++) {
+        crc = s_crc8_table[crc ^ data[i]];
+    }
+
+    return crc;
+}
--- a/App/util/crc.h
+++ b/App/util/crc.h
@@ -0,0 +1,28 @@
+/*
+ * 模块名称：CRC Utility
+ * 模块功能：CRC-16 Modbus & CRC-8 查表计算
+ * 适用平台：通用嵌入式平台
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ */
+
+#ifndef __CRC_H
+#define __CRC_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+uint16_t crc16_modbus(const uint8_t *data, size_t len);
+uint8_t  crc8(const uint8_t *data, size_t len);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CRC_H */
--- a/App/util/ringbuf.c
+++ b/App/util/ringbuf.c
@@ -0,0 +1,164 @@
+/*
+ * 模块名称：Ring Buffer
+ * 模块功能：字节环形缓冲区实现，head == tail 为空，head + 1 == tail 为满
+ * 适用平台：通用嵌入式平台
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ */
+
+#include "ringbuf.h"
+
+/*
+ * 函数功能：初始化环形缓冲区
+ * 入口参数：rb   - 缓冲区控制块指针
+ *           pool - 存储池指针
+ *           size - 存储池大小（字节）
+ * 返 回 值：无
+ * 限定条件：rb 和 pool 均为非空指针
+ * 函数说明：size 保留一个空位用于区分空/满状态
+ */
+void ringbuf_init(ringbuf_t *rb, uint8_t *pool, size_t size)
+{
+    rb->buf  = pool;
+    rb->size = size;
+    rb->head = 0;
+    rb->tail = 0;
+}
+
+/*
+ * 函数功能：写入数据到环形缓冲区
+ * 入口参数：rb   - 缓冲区控制块指针
+ *           data - 源数据指针
+ *           len  - 待写入长度
+ * 返 回 值：实际写入字节数
+ * 限定条件：rb 和 data 均为非空指针
+ * 函数说明：空间不足时写入能容纳的最大字节数
+ */
+size_t ringbuf_put(ringbuf_t *rb, const uint8_t *data, size_t len)
+{
+    size_t cap = 0;
+    size_t n = 0;
+    size_t i = 0;
+
+    cap = rb->size - 1 - ringbuf_avail(rb);
+    n = (len < cap) ? len : cap;
+
+    for (i = 0; i < n; i++) {
+        rb->buf[rb->head] = data[i];
+        rb->head = (rb->head + 1) % rb->size;
+    }
+
+    return n;
+}
+
+/*
+ * 函数功能：从环形缓冲区读取数据
+ * 入口参数：rb   - 缓冲区控制块指针
+ *           data - 目标数据指针
+ *           len  - 期望读取长度
+ * 返 回 值：实际读取字节数
+ * 限定条件：rb 和 data 均为非空指针
+ * 函数说明：读取后数据从缓冲区移除
+ */
+size_t ringbuf_get(ringbuf_t *rb, uint8_t *data, size_t len)
+{
+    size_t n = 0;
+    size_t i = 0;
+
+    n = ringbuf_avail(rb);
+    n = (n < len) ? n : len;
+
+    for (i = 0; i < n; i++) {
+        data[i] = rb->buf[rb->tail];
+        rb->tail = (rb->tail + 1) % rb->size;
+    }
+
+    return n;
+}
+
+/*
+ * 函数功能：预读取数据（不移除）
+ * 入口参数：rb   - 缓冲区控制块指针
+ *           data - 目标数据指针
+ *           len  - 期望读取长度
+ * 返 回 值：实际可读取字节数
+ * 限定条件：rb 和 data 均为非空指针
+ * 函数说明：与 ringbuf_get 的区别是不移动 tail 指针
+ */
+size_t ringbuf_peek(const ringbuf_t *rb, uint8_t *data, size_t len)
+{
+    size_t n = 0;
+    size_t i = 0;
+    size_t idx = 0;
+
+    n = ringbuf_avail(rb);
+    n = (n < len) ? n : len;
+
+    for (i = 0; i < n; i++) {
+        idx = (rb->tail + i) % rb->size;
+        data[i] = rb->buf[idx];
+    }
+
+    return n;
+}
+
+/*
+ * 函数功能：获取缓冲区中有效数据长度
+ * 入口参数：rb - 缓冲区控制块指针
+ * 返 回 值：有效数据字节数
+ * 限定条件：rb 为非空指针
+ */
+size_t ringbuf_avail(const ringbuf_t *rb)
+{
+    if (rb->head >= rb->tail) {
+        return rb->head - rb->tail;
+    }
+    return rb->size - rb->tail + rb->head;
+}
+
+/*
+ * 函数功能：获取缓冲区剩余空间
+ * 入口参数：rb - 缓冲区控制块指针
+ * 返 回 值：剩余空间字节数（保留一个空位）
+ * 限定条件：rb 为非空指针
+ */
+size_t ringbuf_space(const ringbuf_t *rb)
+{
+    return rb->size - 1 - ringbuf_avail(rb);
+}
+
+/*
+ * 函数功能：判断缓冲区是否为空
+ * 入口参数：rb - 缓冲区控制块指针
+ * 返 回 值：1 - 空，0 - 非空
+ * 限定条件：rb 为非空指针
+ */
+int ringbuf_is_empty(const ringbuf_t *rb)
+{
+    return (rb->head == rb->tail) ? 1 : 0;
+}
+
+/*
+ * 函数功能：判断缓冲区是否为满
+ * 入口参数：rb - 缓冲区控制块指针
+ * 返 回 值：1 - 满，0 - 非满
+ * 限定条件：rb 为非空指针
+ */
+int ringbuf_is_full(const ringbuf_t *rb)
+{
+    return (ringbuf_avail(rb) == rb->size - 1) ? 1 : 0;
+}
+
+/*
+ * 函数功能：重置缓冲区
+ * 入口参数：rb - 缓冲区控制块指针
+ * 返 回 值：无
+ * 限定条件：rb 为非空指针
+ */
+void ringbuf_reset(ringbuf_t *rb)
+{
+    rb->head = 0;
+    rb->tail = 0;
+}
--- a/App/util/ringbuf.h
+++ b/App/util/ringbuf.h
@@ -0,0 +1,42 @@
+/*
+ * 模块名称：Ring Buffer
+ * 模块功能：线程安全的字节环形缓冲区（单生产者-单消费者模型）
+ * 适用平台：通用嵌入式平台
+ * 作者：王建锋
+ * 创建日期：2026-07-19
+ * 修改记录：
+ *   v1.0  2026-07-19  王建锋  创建初始版本
+ */
+
+#ifndef __RINGBUF_H
+#define __RINGBUF_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct {
+    uint8_t *buf;
+    size_t   size;
+    size_t   head;
+    size_t   tail;
+} ringbuf_t;
+
+void     ringbuf_init(ringbuf_t *rb, uint8_t *pool, size_t size);
+size_t   ringbuf_put(ringbuf_t *rb, const uint8_t *data, size_t len);
+size_t   ringbuf_get(ringbuf_t *rb, uint8_t *data, size_t len);
+size_t   ringbuf_peek(const ringbuf_t *rb, uint8_t *data, size_t len);
+size_t   ringbuf_avail(const ringbuf_t *rb);
+size_t   ringbuf_space(const ringbuf_t *rb);
+int      ringbuf_is_empty(const ringbuf_t *rb);
+int      ringbuf_is_full(const ringbuf_t *rb);
+void     ringbuf_reset(ringbuf_t *rb);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __RINGBUF_H */
--- a/Drivers/BSP/CH395F/ch395f.c
+++ b/Drivers/BSP/CH395F/ch395f.c
--- a/Drivers/BSP/CH395F/ch395f.h
+++ b/Drivers/BSP/CH395F/ch395f.h
@@ -35,6 +35,7 @@ extern "C" {
 #define CH395F_CMD_GET_CMD_STATUS        0x2CU
 #define CH395F_CMD_GET_GLOB_INT_STATUS   0x29U
 #define CH395F_CMD_GET_GLOB_INT_STATUS_ALL 0x19U
+#define CH395F_CMD_GET_UNREACH_IPPT      0x28U
 #define CH395F_CMD_GET_PHY_STATUS        0x26U
 #define CH395F_CMD_GET_DHCP_STATUS       0x42U

@@ -109,6 +110,33 @@ extern "C" {
 /* 3 字节输入 + 数据输入（socket + 长度 + 数据） */
 #define CH395F_CMD_WRITE_SEND_BUF_SN     0x39U

+/*
+ * TCP MSS（CH395F_CMD_SET_TCP_MSS 参数）
+ * 由 net_init 经 ch395f_set_tcp_mss() 下发；此处作为单一真值源，
+ * DMA 缓冲大小亦由此推导（见下）。当前选取依据：8 Socket 共享 24KB 缓冲时，
+ * 各 Socket 接收缓冲 = 2×MSS，故 MSS 取 1024 为最大值（详见 net_socket.c 分配注释）。
+ */
+#define CH395F_TCP_MSS                  1024U
+
+/* 内部缓冲 RAM 每块字节数（手册 §5.45：48 块 × 512B = 24KB） */
+#define CH395F_RAM_BLOCK_SIZE          512U
+/* 单 Socket 缓冲块数由 MSS 推导：接收 = 2×MSS（满足手册 §9.2.8 接收 ≥ 2×MSS），发送 = 1×MSS；向上取整 */
+#define CH395F_RECV_BLOCKS             ((2U * CH395F_TCP_MSS + CH395F_RAM_BLOCK_SIZE - 1U) / CH395F_RAM_BLOCK_SIZE)
+#define CH395F_SEND_BLOCKS             ((CH395F_TCP_MSS + CH395F_RAM_BLOCK_SIZE - 1U) / CH395F_RAM_BLOCK_SIZE)
+/* 单 Socket 硬件收发缓冲字节数（= 块数 × 块大小）。写入发送 FIFO 的单次长度严禁超过此值，
+ * 否则会写穿有限的发送缓冲（见 Trap 20）。 */
+#define CH395F_SEND_BUF_SIZE_BYTES     (CH395F_SEND_BLOCKS * CH395F_RAM_BLOCK_SIZE)
+#define CH395F_RECV_BUF_SIZE_BYTES     (CH395F_RECV_BLOCKS * CH395F_RAM_BLOCK_SIZE)
+
+/*
+ * SPI DMA 事务限制
+ * CH395F_SPI_DMA_MAX_PAYLOAD: 单次 DMA 事务最大有效载荷（总缓冲 - 4 字节命令头）
+ * 接收方向需一次性读空整个 Socket 接收缓冲（= 2×MSS，避免 Trap 13 部分读导致数据不可见），
+ * 故总缓冲 = 2×MSS + 4（4 为命令头开销），有效载荷 = 2×MSS。
+ */
+#define CH395F_SPI_DMA_BUF_SIZE         (CH395F_TCP_MSS * 2U + 4U)
+#define CH395F_SPI_DMA_MAX_PAYLOAD      (CH395F_SPI_DMA_BUF_SIZE - 4U)
+
 /* 其他命令 */
 #define CH395F_CMD_SET_TCP_MSS           0x50U
 #define CH395F_CMD_SET_RECV_BUF          0x52U
@@ -124,19 +152,26 @@ extern "C" {
 #define CH395F_CMD_WRITE_GPIO_REG        0xEDU

 /*
- * CH395 错误码（来自手册 CH395INC.H 引用）
+ * CH395 命令执行状态码（CMD_GET_CMD_STATUS 返回值，与芯片手册一致）
 */
-#define CH395F_ERR_SUCCESS               0x00U
-#define CH395F_ERR_BUSY                  0x01U
-#define CH395F_ERR_CMD                   0x02U
-#define CH395F_ERR_MAC                   0x03U
-#define CH395F_ERR_PHY                   0x04U
-#define CH395F_ERR_IP_CONFLI             0x05U
-#define CH395F_ERR_SOCK                  0x06U
-#define CH395F_ERR_SOCK_BUSY             0x07U
-#define CH395F_ERR_SOCK_CLOSED           0x08U
-#define CH395F_ERR_SOCK_ERR              0x09U
-#define CH395F_ERR_UNKNOW                0xFFU
+#define CH395F_ERR_SUCCESS               0x00U  /* 成功 */
+#define CH395F_ERR_BUSY                  0x10U  /* 忙，命令正在执行 */
+#define CH395F_ERR_MEM                   0x11U  /* 内存管理错误 */
+#define CH395F_ERR_BUF                   0x12U  /* 缓冲区错误 */
+#define CH395F_ERR_TIMEOUT               0x13U  /* 超时 */
+#define CH395F_ERR_RTE                   0x14U  /* 路由错误 */
+#define CH395F_ERR_ABRT                  0x15U  /* 连接中止 */
+#define CH395F_ERR_RST                   0x16U  /* 连接复位 */
+#define CH395F_ERR_CLSD                  0x17U  /* 连接关闭 */
+#define CH395F_ERR_CONN                  0x18U  /* 无连接 */
+#define CH395F_ERR_VAL                   0x19U  /* 值错误 */
+#define CH395F_ERR_ARG                   0x1AH  /* 参数错误 */
+#define CH395F_ERR_USE                   0x1BH  /* 已被使用 */
+#define CH395F_ERR_IF                    0x1CH  /* MAC 错误 */
+#define CH395F_ERR_ISCONN                0x1DH  /* 已连接 */
+#define CH395F_ERR_OPEN                  0x20U  /* 已打开 */
+#define CH395F_CMD_RET_ABORT             0x5FU  /* 命令中止（来自官方库） */
+#define CH395F_ERR_UNKNOW                0xFAU  /* 未知错误」 */

 /*
 * PHY 状态码
@@ -148,6 +183,13 @@ extern "C" {
 #define CH395F_PHY_100M_HALF             0x10U  /* 100M 半双工 */
 #define CH395F_PHY_AUTO_NEGOTIATE        0x20U  /* 自动协商 */

+/*
+ * 功能参数标志位（CMD_SET_FUN_PARA）
+ */
+#define CH395F_FUN_PARA_TCP_SERVER       (1UL << 1)   /* TCP Server 多连接模式 */
+#define CH395F_FUN_PARA_SOCKET_CLOSE     (1UL << 3)   /* Socket 关闭控制（0=芯片自动，1=外部控制） */
+#define CH395F_FUN_PARA_DISABLE_SEND_OK  (1UL << 4)   /* 禁用 SEND_OK 中断 */
+
 /*
 * 协议类型
 */
@@ -178,7 +220,7 @@ extern "C" {
 #define CH395F_TCP_TIME_WAIT             0x0AU

 /*
- * 全局中断状态位
+ * 全局中断状态位（CMD_GET_GLOB_INT_STATUS 1字节版，仅Socket 0~3）
 */
 #define CH395F_GINT_STAT_UNREACH         0x01U
 #define CH395F_GINT_STAT_IP_CONFLI       0x02U
@@ -190,15 +232,25 @@ extern "C" {
 #define CH395F_GINT_STAT_SOCK3           0x80U

 /*
- * Socket 中断状态位
+ * 全局中断状态位（CMD_GET_GLOB_INT_STATUS_ALL 2字节版，支持Socket 0~7）
+ * 低字节高字节分别定义
 */
-#define CH395F_SINT_STAT_CONNECT         0x01U
-#define CH395F_SINT_STAT_DISCONNECT      0x02U
-#define CH395F_SINT_STAT_SEND_OK         0x04U
-#define CH395F_SINT_STAT_SENBUF_FREE     0x08U
-#define CH395F_SINT_STAT_RECV_OK         0x10U
-#define CH395F_SINT_STAT_DISCARD         0x20U
-#define CH395F_SINT_STAT_SOCK_TIMEOUT    0x40U
+#define CH395F_GINT_STAT_SOCK4           0x0100U
+#define CH395F_GINT_STAT_SOCK5           0x0200U
+#define CH395F_GINT_STAT_SOCK6           0x0400U
+#define CH395F_GINT_STAT_SOCK7           0x0800U
+#define CH395F_GINT_STAT_DHCPV6          0x8000U
+
+/*
+ * Socket 中断状态位（CMD_GET_INT_STATUS_SN 返回值，来自手册表5-x）
+ */
+#define CH395F_SINT_STAT_SENBUF_FREE     0x01U  /* bit0: 发送缓冲区空闲 */
+#define CH395F_SINT_STAT_SEND_OK         0x02U  /* bit1: 发送成功 */
+#define CH395F_SINT_STAT_RECV_OK         0x04U  /* bit2: 接收缓冲区非空 */
+#define CH395F_SINT_STAT_CONNECT         0x08U  /* bit3: TCP 连接成功 */
+#define CH395F_SINT_STAT_DISCONNECT      0x10U  /* bit4: TCP 连接断开 */
+#define CH395F_SINT_STAT_DISCARD         0x20U  /* bit5: 保留 */
+#define CH395F_SINT_STAT_SOCK_TIMEOUT    0x40U  /* bit6: 超时 */

 /*
 * 类型定义区 - 驱动返回码
@@ -277,6 +329,15 @@ ch395f_status_t ch395f_reset(void);
 */
 uint8_t ch395f_get_cmd_status(void);

+/*
+ * 函数功能：轮询等待命令执行完成
+ * 入口参数：timeout_ms - 超时时间（毫秒）  uint32_t
+ * 返回值：命令执行状态码（CH395F_ERR_SUCCESS 或 CH395F_CMD_RET_ABORT）
+ * 限定条件：在发送长执行命令（OPEN/TCP_LISTEN/CONNECT/DISCONNECT/CLOSE/DHCP）后调用
+ * 函数说明：每 20ms 查询一次，直到命令完成或超时
+ */
+uint8_t ch395f_poll_cmd_status(uint32_t timeout_ms);
+
 /*
 * 函数功能：初始化 CH395（包含 MAC、PHY、TCP/IP 协议栈）
 * 返回值：CH395F_STATUS_OK - 成功，CH395F_STATUS_TIMEOUT - 超时失败
@@ -382,7 +443,7 @@ uint8_t ch395f_get_dhcp_status(void);

 /*
 * 函数功能：设置 Socket 协议类型
- * 入口参数：sock - Socket 索引  uint8_t  0 - 3
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
 *          proto - 协议类型  uint8_t  CH395F_PROTO_TYPE_xxx
 * 限定条件：Socket 未打开
 */
@@ -390,7 +451,7 @@ void ch395f_set_proto_type(uint8_t sock, uint8_t proto);

 /*
 * 函数功能：设置 Socket 目标 IP 地址
- * 入口参数：sock - Socket 索引  uint8_t  0 - 3
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
 *          p_ip - 4 字节目标 IP 指针  uint8_t*
 * 限定条件：指针非空
 */
@@ -398,7 +459,7 @@ void ch395f_set_des_ip(uint8_t sock, uint8_t *p_ip);

 /*
 * 函数功能：设置 Socket 目标端口（小端序）
- * 入口参数：sock - Socket 索引  uint8_t  0 - 3
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
 *          port - 目标端口  uint16_t
 * 限定条件：无
 */
@@ -406,7 +467,7 @@ void ch395f_set_des_port(uint8_t sock, uint16_t port);

 /*
 * 函数功能：设置 Socket 源端口（小端序）
- * 入口参数：sock - Socket 索引  uint8_t  0 - 3
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
 *          port - 源端口  uint16_t
 * 限定条件：无
 */
@@ -414,38 +475,43 @@ void ch395f_set_sour_port(uint8_t sock, uint16_t port);

 /*
 * 函数功能：打开 Socket
- * 入口参数：sock - Socket 索引  uint8_t  0 - 3
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
+ * 返回值：命令执行状态码（CH395F_ERR_SUCCESS 表示成功）  uint8_t
 * 限定条件：协议类型、目标 IP、端口已设置
 */
-void ch395f_open_socket(uint8_t sock);
+uint8_t ch395f_open_socket(uint8_t sock);

 /*
 * 函数功能：关闭 Socket
- * 入口参数：sock - Socket 索引  uint8_t  0 - 3
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
+ * 返回值：命令执行状态码（CH395F_ERR_SUCCESS 表示成功）  uint8_t
 * 限定条件：Socket 已打开
 */
-void ch395f_close_socket(uint8_t sock);
+uint8_t ch395f_close_socket(uint8_t sock);

 /*
 * 函数功能：启动 TCP 监听模式
- * 入口参数：sock - Socket 索引  uint8_t  0 - 3
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
+ * 返回值：命令执行状态码（CH395F_ERR_SUCCESS 表示成功）  uint8_t
 * 限定条件：Socket 已打开且协议类型为 TCP
 */
-void ch395f_tcp_listen(uint8_t sock);
+uint8_t ch395f_tcp_listen(uint8_t sock);

 /*
 * 函数功能：启动 TCP 连接
- * 入口参数：sock - Socket 索引  uint8_t  0 - 3
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
+ * 返回值：命令执行状态码（CH395F_ERR_SUCCESS 表示成功）  uint8_t
 * 限定条件：Socket 已打开且协议类型为 TCP
 */
-void ch395f_tcp_connect(uint8_t sock);
+uint8_t ch395f_tcp_connect(uint8_t sock);

 /*
 * 函数功能：断开 TCP 连接
- * 入口参数：sock - Socket 索引  uint8_t  0 - 3
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
+ * 返回值：命令执行状态码（CH395F_ERR_SUCCESS 表示成功）  uint8_t
 * 限定条件：TCP 已建立连接
 */
-void ch395f_tcp_disconnect(uint8_t sock);
+uint8_t ch395f_tcp_disconnect(uint8_t sock);

 /*
 * 函数声明区 - Socket 数据传输
@@ -453,7 +519,7 @@ void ch395f_tcp_disconnect(uint8_t sock);

 /*
 * 函数功能：向 Socket 发送缓冲区写入数据
- * 入口参数：sock - Socket 索引  uint8_t  0 - 3
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
 *          p_data - 数据指针  uint8_t*
 *          len - 数据长度  uint16_t
 * 限定条件：指针非空，长度大于 0，TCP 已连接或 UDP 已打开
@@ -462,7 +528,7 @@ void ch395f_write_send_buf(uint8_t sock, uint8_t *p_data, uint16_t len);

 /*
 * 函数功能：从 Socket 接收缓冲区读取数据
- * 入口参数：sock - Socket 索引  uint8_t  0 - 3
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
 *          p_data - 输出缓冲区指针  uint8_t*
 *          len - 待读取数据长度  uint16_t
 * 限定条件：指针非空，长度大于 0，接收缓冲区有数据
@@ -471,7 +537,7 @@ void ch395f_read_recv_buf(uint8_t sock, uint8_t *p_data, uint16_t len);

 /*
 * 函数功能：获取 Socket 接收缓冲区数据长度
- * 入口参数：sock - Socket 索引  uint8_t  0 - 3
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
 * 返回值：接收数据长度  uint16_t
 * 限定条件：Socket 已打开
 */
@@ -482,20 +548,173 @@ uint16_t ch395f_get_recv_len(uint8_t sock);
 */

 /*
- * 函数功能：获取全局中断状态
- * 返回值：中断状态字节  uint8_t
+ * 函数功能：获取全局中断状态（2 字节版，支持 Socket 0~7）
+ * 返回值：中断状态 uint16_t（低字节=Socket 0~3 + PHY/DHCP，高字节=Socket 4~7 + DHCPv6）
 * 限定条件：芯片已初始化
 */
-uint8_t ch395f_get_glob_int_status(void);
+uint16_t ch395f_get_glob_int_status_all(void);

 /*
 * 函数功能：获取 Socket 中断状态
- * 入口参数：sock - Socket 索引  uint8_t  0 - 3
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
 * 返回值：Socket 中断状态字节  uint8_t
 * 限定条件：芯片已初始化
 */
 uint8_t ch395f_get_sock_int_status(uint8_t sock);

+/*
+ * 函数功能：获取 Socket 状态（2 字节输出）
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
+ *          status - 2 字节输出缓冲区 [0]=Socket状态, [1]=TCP状态
+ * 限定条件：芯片已初始化
+ * 函数说明：Socket 状态: 00H=CLOSED, 05H=OPEN
+ *           TCP 状态: 00H=CLOSED, 01H=LISTEN, 02H=SYN_SENT, 03H=SYN_RCVD, 04H=ESTABLISHED
+ */
+void ch395f_get_socket_status(uint8_t sock, uint8_t *status);
+
+/*
+ * 函数声明区 - Socket 远端信息
+ */
+
+/*
+ * 函数功能：获取远端 IP 和端口
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
+ *          p_buf - 6 字节输出缓冲区（4字节IP + 2字节端口）
+ * 限定条件：TCP Server 模式下连接建立后调用
+ * 函数说明：IP 低字节在前，端口低字节在前
+ */
+void ch395f_get_remot_ipp(uint8_t sock, uint8_t *p_buf);
+
+/*
+ * 函数声明区 - 功能参数设置
+ */
+
+/*
+ * 函数功能：设置 CH395 功能参数
+ * 入口参数：para - 4 字节功能参数  uint32_t
+ *          bit0: 未使用，必须为 0
+ *          bit1: TCP Server 多连接模式使能
+ *          bit2: 低功耗模式
+ *          bit3: Socket 关闭控制（0=芯片自动关闭，1=外部关闭）
+ *          bit4: 禁用 SEND_OK 中断
+ * 限定条件：必须在 ch395f_init() 之前调用
+ */
+void ch395f_set_fun_para(uint32_t para);
+
+/*
+ * 函数声明区 - TCP MSS 设置
+ */
+
+/*
+ * 函数功能：设置 TCP MSS
+ * 入口参数：mss - MSS 值  uint16_t  60~1460
+ * 限定条件：必须在 ch395f_init() 之前调用
+ */
+void ch395f_set_tcp_mss(uint16_t mss);
+
+/*
+ * 函数声明区 - Socket 缓冲区设置
+ */
+
+/*
+ * 函数功能：设置 Socket 接收缓冲区
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
+ *          start_block - 起始块地址  uint8_t
+ *          block_count - 块个数  uint8_t
+ * 限定条件：必须在 OPEN_SOCKET_SN 之前调用
+ */
+void ch395f_set_recv_buf(uint8_t sock, uint8_t start_block, uint8_t block_count);
+
+/*
+ * 函数功能：设置 Socket 发送缓冲区
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
+ *          start_block - 起始块地址  uint8_t
+ *          block_count - 块个数  uint8_t
+ * 限定条件：必须在 OPEN_SOCKET_SN 之前调用
+ */
+void ch395f_set_send_buf(uint8_t sock, uint8_t start_block, uint8_t block_count);
+
+/*
+ * 函数功能：清空 Socket 接收缓冲区
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
+ * 限定条件：Socket 已打开
+ */
+void ch395f_clear_recv_buf(uint8_t sock);
+
+/*
+ * 函数功能：设置 TCP KeepAlive 空闲时间
+ * 入口参数：time - 空闲时间（毫秒，必须为 500 的倍数）  uint32_t
+ * 限定条件：必须在 ch395f_init() 之前调用
+ */
+void ch395f_set_keepalive_idle(uint32_t time);
+
+/*
+ * 函数功能：设置 TCP KeepAlive 探测间隔
+ * 入口参数：time - 间隔时间（毫秒，必须为 500 的倍数）  uint32_t
+ * 限定条件：必须在 ch395f_init() 之前调用
+ */
+void ch395f_set_keepalive_intvl(uint32_t time);
+
+/*
+ * 函数功能：设置 TCP KeepAlive 探测次数
+ * 入口参数：cnt - 探测次数  uint8_t
+ * 限定条件：必须在 ch395f_init() 之前调用
+ */
+void ch395f_set_keepalive_cnt(uint8_t cnt);
+
+/*
+ * 函数功能：启用/禁用指定 Socket 的 KeepAlive
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
+ *          enable - 1 启用，0 禁用  uint8_t
+ * 限定条件：Socket 已打开
+ */
+void ch395f_set_keepalive_enable(uint8_t sock, uint8_t enable);
+
+/*
+ * 函数声明区 - TCP 重传参数设置
+ */
+
+/*
+ * 函数功能：设置 TCP 重传次数
+ * 入口参数：cnt - 重传次数  uint8_t（0=使用默认值5）
+ * 限定条件：必须在 ch395f_init() 之前调用
+ */
+void ch395f_set_retrans_count(uint8_t cnt);
+
+/*
+ * 函数功能：设置 TCP 重传周期
+ * 入口参数：period - 重传周期（毫秒）  uint16_t
+ * 限定条件：必须在 ch395f_init() 之前调用
+ */
+void ch395f_set_retrans_period(uint16_t period);
+
+/*
+ * 函数声明区 - ARP / TTL / 不可达信息
+ */
+
+/*
+ * 函数功能：设置 ARP 重传参数
+ * 入口参数：period_100ms - ARP 重传周期（单位 100ms，0=默认值=10即1秒）  uint8_t
+ *          cnt - ARP 重传次数（0=默认值=3，255=无限重传）  uint8_t
+ * 限定条件：应在 ch395f_init() 之后调用
+ */
+void ch395f_set_arp(uint8_t period_100ms, uint8_t cnt);
+
+/*
+ * 函数功能：设置 Socket TTL
+ * 入口参数：sock - Socket 索引  uint8_t  0 - 7
+ *          ttl - TTL 值  uint8_t  最大 128
+ * 限定条件：Socket 已打开，TCP Server 模式下不生效
+ */
+void ch395f_set_ttl(uint8_t sock, uint8_t ttl);
+
+/*
+ * 函数功能：获取不可达信息（用于调试连接失败原因）
+ * 出口参数：p_buf - 8 字节输出缓冲区（类型+协议码+端口+IP）
+ * 限定条件：收到 GINT_STAT_UNREACH 中断后调用
+ */
+void ch395f_get_unreach_info(uint8_t *p_buf);
+
 #ifdef __cplusplus
 }
 #endif
--- a/Drivers/BSP/GD5F2GQ5UE/fal_cfg.h
+++ b/Drivers/BSP/GD5F2GQ5UE/fal_cfg.h
@@ -1,51 +0,0 @@
-#ifndef __FAL_CFG_H
-#define __FAL_CFG_H
-
-/*
- * 模块名称：FAL 配置
- * 模块功能：定义 FAL Flash 设备表和分区表
- * 适用平台：STM32F407ZGT6
- * 作者：王建锋
- * 创建日期：2026-07-16
- * 修改记录：
- *     2026-07-16  王建锋  创建初始版本
- */
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* FAL 调试开关：0-关闭，1-开启 */
-#define FAL_DEBUG 0
-
-/* 启用分区表配置 */
-#define FAL_PART_HAS_TABLE_CFG
-
-/* ======================== Flash 设备表 ======================== */
-
-extern const struct fal_flash_dev gd5f2gq5ue_flash;
-
-#define FAL_FLASH_DEV_TABLE          \
-{                                    \
-    &gd5f2gq5ue_flash,              \
-}
-
-/* ======================== 分区表 ======================== */
-/*
- *  分区名称       设备名称        偏移             大小
- *  KVDB: 64MB @ 0
- *  TSDB: 64MB @ 64MB
- */
-#ifdef FAL_PART_HAS_TABLE_CFG
-#define FAL_PART_TABLE                                                        \
-{                                                                             \
-    {FAL_PART_MAGIC_WORD, "fdb_kvdb1", "gd5f2gq5ue",           0, 64*1024*1024, 0}, \
-    {FAL_PART_MAGIC_WORD, "fdb_tsdb1", "gd5f2gq5ue", 64*1024*1024, 64*1024*1024, 0}, \
-}
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __FAL_CFG_H */
--- a/Drivers/BSP/GD5F2GQ5UE/fal_flash_gd5f2gq5ue.c
+++ b/Drivers/BSP/GD5F2GQ5UE/fal_flash_gd5f2gq5ue.c
@@ -1,85 +0,0 @@
-/*
- * 模块名称：FAL Flash 设备适配
- * 模块功能：将 GD5F2GQ5UE 驱动接口适配到 FAL 框架
- * 适用平台：STM32F407ZGT6
- * 作者：王建锋
- * 创建日期：2026-07-16
- * 修改记录：
- *     2026-07-16  王建锋  创建初始版本
- */
-
-/* 头文件包含区 */
-#include "fal_def.h"
-#include "gd5f2gq5ue.h"
-
-/* ======================== FAL 操作函数适配 ======================== */
-
-/*
- * 函数功能：Flash 设备初始化适配
- * 入口参数：无
- * 返回值：0 - 成功，其他 - 错误码
- * 限定条件：SPI 和 GPIO 已由 CubeMX 初始化完成
- * 函数说明：调用底层驱动的初始化函数
- */
-static int gd5f_fal_init(void)
-{
-    return gd5f2gq5ue_init();
-}
-
-/*
- * 函数功能：Flash 读取适配
- * 入口参数：offset - 起始字节偏移  long
- *           p_buf  - 数据缓冲区     uint8_t*
- *           size   - 读取字节数     size_t
- * 返回值：0 - 成功，其他 - 错误码
- * 限定条件：gd5f_fal_init() 已成功调用
- * 函数说明：直接转发到底层驱动的读取函数
- */
-static int gd5f_fal_read(long offset, uint8_t *p_buf, size_t size)
-{
-    return gd5f2gq5ue_read(offset, p_buf, size);
-}
-
-/*
- * 函数功能：Flash 写入适配
- * 入口参数：offset - 起始字节偏移  long
- *           p_buf  - 数据缓冲区     const uint8_t*
- *           size   - 写入字节数     size_t
- * 返回值：0 - 成功，其他 - 错误码
- * 限定条件：目标区域已擦除
- * 函数说明：直接转发到底层驱动的写入函数
- */
-static int gd5f_fal_write(long offset, const uint8_t *p_buf, size_t size)
-{
-    return gd5f2gq5ue_write(offset, p_buf, size);
-}
-
-/*
- * 函数功能：Flash 擦除适配
- * 入口参数：offset - 起始字节偏移  long
- *           size   - 擦除字节数    size_t
- * 返回值：0 - 成功，其他 - 错误码
- * 限定条件：gd5f_fal_init() 已成功调用
- * 函数说明：直接转发到底层驱动的擦除函数
- */
-static int gd5f_fal_erase(long offset, size_t size)
-{
-    return gd5f2gq5ue_erase(offset, size);
-}
-
-/* ======================== FAL Flash 设备定义 ======================== */
-
-/* GD5F2GQ5UE FAL 设备实例，总容量256MB，块大小128KB */
-const struct fal_flash_dev gd5f2gq5ue_flash = {
-    .name       = "gd5f2gq5ue",
-    .addr       = 0,
-    .len        = GD5F_TOTAL_SIZE,
-    .blk_size   = GD5F_BLOCK_SIZE,
-    .ops        = {
-        .init   = gd5f_fal_init,
-        .read   = gd5f_fal_read,
-        .write  = gd5f_fal_write,
-        .erase  = gd5f_fal_erase,
-    },
-    .write_gran = 8,
-};
--- a/Drivers/BSP/GD5F2GQ5UE/fdb_cfg.h
+++ b/Drivers/BSP/GD5F2GQ5UE/fdb_cfg.h
@@ -1,40 +0,0 @@
-#ifndef __FDB_CFG_H
-#define __FDB_CFG_H
-
-/*
- * 模块名称：FlashDB 配置
- * 模块功能：配置 FlashDB 数据库功能开关和参数
- * 适用平台：STM32F407ZGT6
- * 作者：王建锋
- * 创建日期：2026-07-16
- * 修改记录：
- *     2026-07-16  王建锋  创建初始版本
- */
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* 启用 KVDB（键值数据库） */
-#define FDB_USING_KVDB
-
-/* KVDB 版本号变化时自动更新到最新默认值（默认关闭） */
-/* #define FDB_KV_AUTO_UPDATE */
-
-/* 启用 TSDB（时序数据库） */
-#define FDB_USING_TSDB
-
-/* 使用 FAL 存储模式（非文件模式） */
-#define FDB_USING_FAL_MODE
-
-/* Flash 写入粒度，单位：bit，STM32F4 字节可编程 = 8 */
-#define FDB_WRITE_GRAN  8
-
-/* 调试输出使能 */
-/*#define FDB_DEBUG_ENABLE*/
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __FDB_CFG_H */
--- a/Drivers/BSP/GD5F2GQ5UE/gd5f2gq5ue.c
+++ b/Drivers/BSP/GD5F2GQ5UE/gd5f2gq5ue.c
@@ -7,32 +7,86 @@
 * 修改记录：
 *     2026-07-16  王建锋  创建初始版本
 *     2026-07-17  王建锋  切换硬件 SPI，修正擦除地址，参考 NuttX 驱动
+ *     2026-08-27  补充函数注释（代码规范 V1.0）；修正工厂坏块扫描为首页；增加 BBT 持久化
 */

 /* 头文件包含区 */
-#include "gd5f2gq5ue.h"
 #include <string.h>
+#include "gd5f2gq5ue.h"
+
+/*
+ * 调试输出配置
+ */
+#define DBG_TAG "[NAND]"
+#include "dbg_log.h"

 /* 私有宏定义区 */
-#define GD5F_SPI_TIMEOUT  100
+#define GD5F_SPI_TIMEOUT          100
+#define GD5F_BBT_SIZE             (GD5F_TOTAL_BLOCKS / 8)
+
+/* BBT 静态数组（1 bit 表示一个块，0=好块 1=坏块） */
+static uint8_t s_bbt[GD5F_BBT_SIZE];
+
+/* BBT 持久化：保留块池（从 NAND 顶部向下挑选出厂好块，存储 BBT 副本） */
+#define GD5F_BBT_HDR_SIZE          16
+static uint32_t s_bbt_pool_blocks[GD5F_BBT_POOL_COUNT];  /* BBT 保留池块号列表（出厂好块） */
+static uint32_t s_bbt_pool_count = 0;            /* 实际可用池块数（<= GD5F_BBT_POOL_COUNT） */
+static uint32_t s_usable_blocks = GD5F_TOTAL_BLOCKS;  /* dhara 可见块数（= 最低池块号） */
+static uint32_t s_bbt_write_slot = 0;            /* 下一写入槽（轮转指针） */
+static uint32_t s_bbt_version = 0;               /* 当前持久化 BBT 版本号 */
+static uint8_t  s_bbt_slot_dead = 0;             /* 池块损坏位掩码 */
+static uint8_t  s_bbt_page_buf[GD5F_PAGE_SIZE];  /* BBT 读写页缓冲（静态，避免占栈） */
+static uint8_t  s_bbt_best[GD5F_BBT_SIZE];       /* 最高版本位图缓存 */
+static const uint8_t s_bbt_magic[4] = { 'G', 'B', 'B', 'T' };  /* BBT 存储魔数 "GBBT" */

 /* 外部 SPI 句柄声明 */
 extern SPI_HandleTypeDef hspi1;

+/* DMA 完成标志（ch395f.c 中的 HAL_SPI_TxRxCpltCallback 会设置此标志） */
+volatile uint8_t g_spi1_dma_done;
+
+/* DMA 阈值（字节数超过此值使用 DMA 传输） */
+#define GD5F_DMA_THRESHOLD       32
+
+/*
+ * 函数功能：SPI1 TX DMA 完成回调（PROGRAM_LOAD 数据发送用）
+ * 入口参数：hspi - 触发回调的 SPI 句柄  SPI_HandleTypeDef*
+ * 返回值：无
+ * 限定条件：由 HAL DMA 中断调用
+ * 函数说明：仅当 SPI1 传输完成时置位 g_spi1_dma_done 标志
+ */
+void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) {
+    if (hspi->Instance == SPI1) {
+        g_spi1_dma_done = 1U;
+    }
+}
+
+/*
+ * 函数功能：SPI1 RX DMA 完成回调（READ_FROM_CACHE 数据接收用）
+ * 函数说明：HAL_SPI_Receive_DMA() 在 2 线 master 模式下
+ *           内部走 HAL_SPI_TransmitReceive_DMA 但 state=BUSY_RX，
+ *           完成回调是 HAL_SPI_RxCpltCallback 而非 TxRxCpltCallback
+ */
+void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) {
+    if (hspi->Instance == SPI1) {
+        g_spi1_dma_done = 1U;
+    }
+}
+
 /* ======================== 私有函数声明 ======================== */

-static int gd5f_wait_busy(uint32_t timeout_ms);
-static int gd5f_write_enable(void);
-static int gd5f_read_status(uint8_t *p_status);
-static int gd5f_page_read(uint32_t page_addr);
-static int gd5f_read_from_cache(uint16_t column, uint8_t *p_buf,
-                                 size_t size);
 static int gd5f_page_program(uint32_t page_addr, uint16_t column,
                              const uint8_t *p_buf, size_t size);
 static int gd5f_set_feature(uint8_t addr, uint8_t data);
-static int gd5f_block_erase(uint32_t block_addr);

-/* ======================== 私有函数定义 ======================== */
+/* BBT 持久化内部函数 */
+static int gd5f_private_bbt_locate_pool(void);
+static uint32_t gd5f_private_crc32(const uint8_t *p_buf, uint32_t len);
+static int gd5f_private_bbt_find_best(void);
+static int gd5f_bbt_load(void);
+static int gd5f_bbt_save(void);
+
+/* ======================== SPI 原语定义 ======================== */

 /*
 * 函数功能：等待芯片操作完成（轮询 OIP 位）
@@ -41,8 +95,7 @@ static int gd5f_block_erase(uint32_t block_addr);
 * 限定条件：SPI 已初始化
 * 函数说明：循环读取状态寄存器直到 OIP 位清零或超时
 */
-static int gd5f_wait_busy(uint32_t timeout_ms)
-{
+int gd5f_wait_busy(uint32_t timeout_ms) {
    uint8_t cmd = GD5F_CMD_GET_FEATURE;
    uint8_t addr = GD5F_REG_STATUS;
    uint8_t status = 0;
@@ -69,10 +122,8 @@ static int gd5f_wait_busy(uint32_t timeout_ms)
 * 入口参数：无
 * 返回值：0 - 成功
 * 限定条件：SPI 已初始化
- * 函数说明：CS# 拉低后发送 06h 命令再拉高
- */
-static int gd5f_write_enable(void)
-{
+ * 函数说明：CS# 拉低后发 06h 命令再拉高 */
+int gd5f_write_enable(void) {
    uint8_t cmd = GD5F_CMD_WRITE_ENABLE;

    GD5F_CS_LOW();
@@ -84,13 +135,11 @@ static int gd5f_write_enable(void)

 /*
 * 函数功能：读取状态寄存器
- * 入口参数：p_status - 状态值输出指针  uint8_t*  不为 NULL
+ * 出口参数：p_status - 状态值输出指针  uint8_t*  不为 NULL
 * 返回值：0 - 成功
 * 限定条件：SPI 已初始化
- * 函数说明：发送 0Fh + C0h 地址后读取1字节状态值
- */
-static int gd5f_read_status(uint8_t *p_status)
-{
+ * 函数说明：发 0Fh + C0h 地址后读 1 字节状态 */
+int gd5f_read_status(uint8_t *p_status) {
    uint8_t cmd = GD5F_CMD_GET_FEATURE;
    uint8_t addr = GD5F_REG_STATUS;

@@ -105,14 +154,13 @@ static int gd5f_read_status(uint8_t *p_status)

 /*
 * 函数功能：页读取（将数据从存储阵列加载到内部缓存）
- * 入口参数：page_addr - 页地址  uint32_t
- * 返回值：0 - 成功，其他 - 错误码
+ * 入口参数：page_addr - 页地址  uint32_t  0 ~ GD5F_TOTAL_BLOCKS*64-1
+ * 返回值：0 - 成功，其它 - 错误
 * 限定条件：SPI 已初始化
- * 函数说明：发送 13h + 3字节行地址，等待 OIP 清零
+ * 函数说明：发 13h + 3字节行地址，等待 OIP 清零
 */
-static int gd5f_page_read(uint32_t page_addr)
-{
-    uint8_t cmd[4];
+int gd5f_page_read(uint32_t page_addr) {
+    uint8_t cmd[4] = {0};

    cmd[0] = GD5F_CMD_PAGE_READ;
    cmd[1] = (page_addr >> 16) & 0xFF;
@@ -129,16 +177,14 @@ static int gd5f_page_read(uint32_t page_addr)
 /*
 * 函数功能：从内部缓存读取数据
 * 入口参数：column - 列地址（页内偏移）  uint16_t  0 - 2047
- *           p_buf  - 数据输出缓冲区       uint8_t*  不为 NULL
- *           size   - 读取字节数           size_t    > 0
+ *           size   - 读取字节数          size_t    > 0
+ * 出口参数：p_buf  - 数据输出缓冲区      uint8_t*  不为 NULL
 * 返回值：0 - 成功
 * 限定条件：必须先调用 gd5f_page_read 完成数据加载
- * 函数说明：发送 0Bh + 2字节列地址 +1字节 dummy 后读取数据
- */
-static int gd5f_read_from_cache(uint16_t column, uint8_t *p_buf,
-                                 size_t size)
-{
-    uint8_t cmd[4];
+ * 函数说明：发 0Bh + 2字节列地址 +1字节 dummy 后读取数据 */
+int gd5f_read_from_cache(uint16_t column, uint8_t *p_buf,
+                                 size_t size) {
+    uint8_t cmd[4] = {0};

    cmd[0] = GD5F_CMD_READ_FROM_CACHE;
    cmd[1] = (column >> 8) & 0xFF;
@@ -147,7 +193,24 @@ static int gd5f_read_from_cache(uint16_t column, uint8_t *p_buf,

    GD5F_CS_LOW();
    HAL_SPI_Transmit(&hspi1, cmd, 4, GD5F_SPI_TIMEOUT);
-    HAL_SPI_Receive(&hspi1, p_buf, size, GD5F_SPI_TIMEOUT);
+
+    if (size > GD5F_DMA_THRESHOLD) {
+        uint32_t tick_start = HAL_GetTick();
+        g_spi1_dma_done = 0U;
+        if (HAL_SPI_Receive_DMA(&hspi1, p_buf, (uint16_t)size) != HAL_OK) {
+            GD5F_CS_HIGH();
+            return GD5F_ERROR;
+        }
+        while (g_spi1_dma_done == 0U) {
+            if ((HAL_GetTick() - tick_start) >= GD5F_SPI_TIMEOUT) {
+                HAL_SPI_DMAStop(&hspi1);
+                GD5F_CS_HIGH();
+                return GD5F_BUSY_TIMEOUT;
+            }
+        }
+    } else {
+        HAL_SPI_Receive(&hspi1, p_buf, size, GD5F_SPI_TIMEOUT);
+    }
    GD5F_CS_HIGH();

    return GD5F_OK;
@@ -157,32 +220,73 @@ static int gd5f_read_from_cache(uint16_t column, uint8_t *p_buf,
 * 函数功能：页编程（将数据写入指定页）
 * 入口参数：page_addr - 页地址   uint32_t
 *           column    - 列地址   uint16_t  0 - 2047
- *           p_buf     - 数据缓冲区  const uint8_t*
- *           size      - 写入字节数  size_t    > 0
- * 返回值：0 - 成功，其他 - 错误码
- * 限定条件：目标区域已擦除
+ *           p_buf     - 数据缓冲区 const uint8_t*
+ *           size      - 写入字节数 size_t    > 0
+ * 返回值：0 - 成功，其它 - 错误 * 限定条件：目标区域已擦除
 * 函数说明：1. 写使能 - 02h 加载数据 - 10h 执行编程 - 等待完成
- *           2. 编程完成后检查 P_FAIL 位
- */
+ *           2. 编程完成后检查 P_FAIL 位 */
 static int gd5f_page_program(uint32_t page_addr, uint16_t column,
-                              const uint8_t *p_buf, size_t size)
-{
-    int ret = GD5F_OK;
-    uint8_t cmd[4];
-    uint8_t status = 0;
-
+                              const uint8_t *p_buf, size_t size) {
+    int ret;
    gd5f_write_enable();
+    ret = gd5f_program_load(column, p_buf, size);
+    if (ret != GD5F_OK) return ret;
+    return gd5f_program_exec(page_addr);
+}

+/*
+ * 函数功能：将数据加载到内部缓存（PROGRAM LOAD）
+ * 入口参数：column - 列地址（页内偏移）  uint16_t       0 - 2047
+ *           p_buf  - 待写入数据缓冲区    const uint8_t* 不为 NULL
+ *           size   - 写入字节数          size_t         > 0
+ * 返回值：0 - 成功，其它 - 错误
+ * 限定条件：SPI 已初始化，目标区域已擦除
+ * 函数说明：发 02h + 2字节列地址后发送数据；超过 DMA 阈值走 DMA
+ */
+int gd5f_program_load(uint16_t column, const uint8_t *p_buf, size_t size) {
+    uint8_t cmd[3];
    cmd[0] = GD5F_CMD_PROGRAM_LOAD;
-    cmd[1] = (column >> 8) & 0xFF;
-    cmd[2] = column & 0xFF;
+    cmd[1] = (uint8_t)(column >> 8);
+    cmd[2] = (uint8_t)(column);

    GD5F_CS_LOW();
    HAL_SPI_Transmit(&hspi1, cmd, 3, GD5F_SPI_TIMEOUT);
-    HAL_SPI_Transmit(&hspi1, (uint8_t *)p_buf, size,
-                     GD5F_SPI_TIMEOUT);
+
+    if (size > GD5F_DMA_THRESHOLD) {
+        uint32_t tick_start = HAL_GetTick();
+        g_spi1_dma_done = 0U;
+        if (HAL_SPI_Transmit_DMA(&hspi1, (uint8_t *)p_buf, (uint16_t)size)
+                != HAL_OK) {
+            GD5F_CS_HIGH();
+            return GD5F_ERROR;
+        }
+        while (g_spi1_dma_done == 0U) {
+            if ((HAL_GetTick() - tick_start) >= GD5F_SPI_TIMEOUT) {
+                HAL_SPI_DMAStop(&hspi1);
+                GD5F_CS_HIGH();
+                return GD5F_BUSY_TIMEOUT;
+            }
+        }
+    } else {
+        HAL_SPI_Transmit(&hspi1, (uint8_t *)p_buf, size, GD5F_SPI_TIMEOUT);
+    }
    GD5F_CS_HIGH();

+    return GD5F_OK;
+}
+
+/*
+ * 函数功能：执行页编程（PROGRAM EXECUTE）
+ * 入口参数：page_addr - 目标页地址  uint32_t  0 ~ GD5F_TOTAL_BLOCKS*64-1
+ * 返回值：0 - 成功，其它 - 错误（GD5F_PROGRAM_FAIL 等）
+ * 限定条件：已先调用 gd5f_program_load 加载数据
+ * 函数说明：发 10h + 3字节页地址触发编程，等待完成后检查 P_FAIL 位
+ */
+int gd5f_program_exec(uint32_t page_addr) {
+    int ret;
+    uint8_t cmd[4];
+    uint8_t status;
+
    cmd[0] = GD5F_CMD_PROGRAM_EXEC;
    cmd[1] = (page_addr >> 16) & 0xFF;
    cmd[2] = (page_addr >> 8) & 0xFF;
@@ -193,28 +297,37 @@ static int gd5f_page_program(uint32_t page_addr, uint16_t column,
    GD5F_CS_HIGH();

    ret = gd5f_wait_busy(1000);
-    if (ret != GD5F_OK) {
-        return ret;
-    }
+    if (ret != GD5F_OK) return ret;

    gd5f_read_status(&status);
-    if (status & GD5F_STATUS_P_FAIL) {
-        return GD5F_PROGRAM_FAIL;
-    }
+    if (status & GD5F_STATUS_P_FAIL) return GD5F_PROGRAM_FAIL;

    return GD5F_OK;
 }

+/*
+ * 函数功能：检查上次读操作的 ECC 状态
+ * 入口参数：无
+ * 返回值：0 - 无 ECC 错误，GD5F_ECC_ERROR - 存在不可纠正 ECC 错误
+ * 限定条件：SPI 已初始化，ECC 已使能
+ * 函数说明：读取状态寄存器 ECCS[5:4] 位，0x02 表示不可纠正错误
+ */
+int gd5f_check_ecc(void) {
+    uint8_t status;
+    gd5f_read_status(&status);
+    uint8_t ecc = (status >> 4) & 0x03;
+    if (ecc == 0x02) return GD5F_ECC_ERROR;
+    return GD5F_OK;
+}
+
 /*
 * 函数功能：设置 Feature 寄存器
 * 入口参数：addr - 寄存器地址  uint8_t
 *           data - 写入数据    uint8_t
 * 返回值：0 - 成功
 * 限定条件：SPI 已初始化
- * 函数说明：先写使能，发送 1Fh + 地址 + 数据，等待操作完成
- */
-static int gd5f_set_feature(uint8_t addr, uint8_t data)
-{
+ * 函数说明：先写使能，发 1Fh + 地址 + 数据，等待操作完成 */
+static int gd5f_set_feature(uint8_t addr, uint8_t data) {
    uint8_t cmd[3];

    gd5f_write_enable();
@@ -237,22 +350,20 @@ static int gd5f_set_feature(uint8_t addr, uint8_t data)
 * 入口参数：block_addr - 块编号  uint32_t  0 - 2047
 * 返回值：0 - 成功，其他 - 错误码
 * 限定条件：gd5f2gq5ue_init() 已调用
- * 函数说明：1. 写使能 - D8h + 3字节字节地址 - 等待完成
- *           2. 擦除完成后检查 E_FAIL 位
- */
-static int gd5f_block_erase(uint32_t block_addr)
-{
+ * 函数说明：1. 写使能 - D8h + 3字节页地址 - 等待完成
+ *           2. 擦除完成后检查 E_FAIL */
+int gd5f_block_erase(uint32_t block_addr) {
    int ret = GD5F_OK;
    uint8_t cmd[4];
    uint8_t status = 0;
-    uint32_t byte_addr = block_addr * GD5F_BLOCK_SIZE;
+    uint32_t page_addr = block_addr * GD5F_PAGES_PER_BLOCK;

    gd5f_write_enable();

    cmd[0] = GD5F_CMD_BLOCK_ERASE;
-    cmd[1] = (byte_addr >> 16) & 0xFF;
-    cmd[2] = (byte_addr >> 8) & 0xFF;
-    cmd[3] = byte_addr & 0xFF;
+    cmd[1] = (page_addr >> 16) & 0xFF;
+    cmd[2] = (page_addr >> 8) & 0xFF;
+    cmd[3] = page_addr & 0xFF;

    GD5F_CS_LOW();
    HAL_SPI_Transmit(&hspi1, cmd, 4, GD5F_SPI_TIMEOUT);
@@ -271,6 +382,106 @@ static int gd5f_block_erase(uint32_t block_addr)
    return GD5F_OK;
 }

+/*
+ * 函数功能：扫描所有块构建 BBT（在 ECC 使能前调用）
+ * 入口参数：无
+ * 返回值：0 - 成功
+ * 限定条件：SPI 已初始化，ECC 尚未使能
+ * 函数说明：读取每个块首页（page 0）的 spare byte 0，
+ *           若不为 0xFF 则为出厂坏块（符合 datasheet §12.4）
+ */
+static int gd5f_bbt_scan(void) {
+    uint32_t block;
+    uint8_t spare[8];
+    uint32_t bad_count = 0;
+
+    memset(s_bbt, 0, GD5F_BBT_SIZE);
+
+    for (block = 0; block < GD5F_TOTAL_BLOCKS; block++) {
+        uint32_t page = block << 6;
+
+        gd5f_page_read(page);
+        gd5f_read_from_cache(GD5F_PAGE_SIZE, spare, 1);
+
+        if (spare[0] != 0xFF) {
+            s_bbt[block >> 3] |= (1 << (block & 7));
+            bad_count++;
+        }
+    }
+
+    DBG_INFO("BBT scan: %lu bad blocks found", bad_count);
+    return GD5F_OK;
+}
+
+/*
+ * 函数功能：清空 RAM 中的 BBT
+ * 入口参数：无
+ * 返回值：无
+ * 限定条件：无
+ * 函数说明：仅清空内存位图，不影响闪存中的持久化副本
+ */
+void gd5f2gq5ue_bbt_clear(void) {
+    memset(s_bbt, 0, GD5F_BBT_SIZE);
+}
+
+/*
+ * 函数功能：重建 BBT（重新扫描出厂坏块并持久化，覆盖运行时注入的坏块）
+ * 入口参数：无
+ * 返回值：GD5F_OK - 成功，其他 - 错误码
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：临时关闭 ECC 重新扫描每块 page0 spare[0] 的出厂坏块标记，覆盖 RAM BBT，
+ *           再写回持久化 BBT 池（版本 +1，掉电安全），从而清除 TC-STO-03 等运行时
+ *           标记的坏块。调用后建议再执行 nand_ftl_format() 清空 dhara map。
+ */
+int gd5f2gq5ue_bbt_rebuild(void) {
+    DBG_INFO("Rebuilding BBT from factory scan...");
+
+    /* 1. 关闭 ECC 以读取原始出厂坏块标记（与 gd5f2gq5ue_init 的扫描前提一致） */
+    gd5f_set_feature(0xB0, 0x00);
+    gd5f_wait_busy(100);
+
+    /* 2. 重新扫描出厂坏块（覆盖 RAM BBT，剔除运行时注入的坏块） */
+    gd5f_bbt_scan();
+
+    /* 3. 重新使能 ECC */
+    gd5f_set_feature(0xB0, 0x10);
+    gd5f_wait_busy(100);
+
+    /* 4. 持久化重建后的 BBT（覆盖持久化区中的脏副本） */
+    if (gd5f_bbt_save() != GD5F_OK) {
+        DBG_ERROR("BBT rebuild: persist failed");
+        return GD5F_ERROR;
+    }
+
+    DBG_INFO("BBT rebuilt and persisted");
+    return GD5F_OK;
+}
+
+/*
+ * 函数功能：通过调试串口打印当前 BBT 统计与坏块列表
+ * 入口参数：无
+ * 返回值：无
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：最多打印前 32 个坏块块号与偏移
+ */
+void gd5f2gq5ue_print_bbt(void) {
+    uint32_t bad_count = 0;
+    for (uint32_t b = 0; b < GD5F_TOTAL_BLOCKS; b++) {
+        if ((s_bbt[b >> 3] >> (b & 7)) & 1) bad_count++;
+    }
+    DBG_INFO("BBT: %lu/%lu blocks bad", bad_count, GD5F_TOTAL_BLOCKS);
+    if (bad_count > 0) {
+        uint32_t shown = 0;
+        for (uint32_t b = 0; b < GD5F_TOTAL_BLOCKS && shown < 32; b++) {
+            if ((s_bbt[b >> 3] >> (b & 7)) & 1) {
+                DBG_INFO("  block %lu (offset 0x%08lX)", b, b * GD5F_BLOCK_SIZE);
+                shown++;
+            }
+        }
+        if (bad_count > 32) DBG_INFO("  ... and %lu more", bad_count - 32);
+    }
+}
+
 /* ======================== 公共函数定义 ======================== */

 /*
@@ -280,11 +491,12 @@ static int gd5f_block_erase(uint32_t block_addr)
 * 限定条件：SPI1 和相关 GPIO 已由 CubeMX 初始化完成
 * 函数说明：1. 发送复位命令并等待完成
 *           2. 读取芯片 ID 并校验
- *           3. 使能内部 ECC (B0h bit4)
- *           4. 解除所有块保护 (A0h = 0x00)
+ *           3. 扫描出厂坏块构建 BBT（ECC 使能前，读每块首页 spare[0]）
+ *           4. 使能内部 ECC (B0h bit4)
+ *           5. 解除所有块保护 (A0h = 0x00)
+ *           6. 定位保留块池并加载持久化 BBT（ECC 使能后）
 */
-int gd5f2gq5ue_init(void)
-{
+int gd5f2gq5ue_init(void) {
    int ret = GD5F_OK;
    uint8_t mid = 0;
    uint8_t did = 0;
@@ -295,41 +507,60 @@ int gd5f2gq5ue_init(void)

    HAL_Delay(10);

+    DBG_INFO("Resetting NAND...");
    ret = gd5f2gq5ue_reset();
    if (ret != GD5F_OK) {
+        DBG_ERROR("Reset failed: %d", ret);
        return ret;
    }

    HAL_Delay(5);

+    DBG_INFO("Reading NAND ID...");
    ret = gd5f2gq5ue_read_id(&mid, &did);
    if (ret != GD5F_OK) {
+        DBG_ERROR("Read ID failed: %d", ret);
        return ret;
    }

+    DBG_INFO("NAND ID: MID=0x%02X, DID=0x%02X", mid, did);
+
    if (mid != GD5F_MANUFACTURER_ID || did != GD5F_DEVICE_ID) {
+        DBG_ERROR("ID mismatch: expected MID=0x%02X DID=0x%02X, got MID=0x%02X DID=0x%02X",
+                  GD5F_MANUFACTURER_ID, GD5F_DEVICE_ID, mid, did);
        return GD5F_ID_MISMATCH;
    }

+    DBG_INFO("Scanning bad blocks...");
+    gd5f_bbt_scan();
+
+    DBG_INFO("Enabling ECC...");
    gd5f_set_feature(0xB0, 0x10);
    gd5f_wait_busy(100);

+    DBG_INFO("Unlocking block protection...");
    gd5f_set_feature(GD5F_REG_PROTECT, 0x00);
    gd5f_wait_busy(100);

+    DBG_INFO("Locating BBT pool...");
+    gd5f_private_bbt_locate_pool();
+
+    DBG_INFO("Loading persisted BBT...");
+    gd5f_bbt_load();
+
+    DBG_INFO("NAND init OK");
    return GD5F_OK;
 }

 /*
 * 函数功能：读取芯片 ID（MID + DID）
- * 入口参数：mid - 制造商 ID 输出指针  uint8_t*  不为 NULL
- *           did - 设备 ID 输出指针    uint8_t*  不为 NULL
+ * 出口参数：p_mid - 制造商 ID 输出指针  uint8_t*  不为 NULL
+ *           p_did - 设备 ID 输出指针    uint8_t*  不为 NULL
 * 返回值：0 - 成功
 * 限定条件：SPI 已初始化
- * 函数说明：发送 9Fh 命令后接收1个 dummy + MID + DID
+ * 函数说明：发 9Fh 命令后接 1 字节 dummy + MID + DID
 */
-int gd5f2gq5ue_read_id(uint8_t *mid, uint8_t *did)
-{
+int gd5f2gq5ue_read_id(uint8_t *p_mid, uint8_t *p_did) {
    uint8_t cmd = GD5F_CMD_READ_ID;
    uint8_t id_buf[3] = {0};

@@ -338,8 +569,8 @@ int gd5f2gq5ue_read_id(uint8_t *mid, uint8_t *did)
    HAL_SPI_Receive(&hspi1, id_buf, 3, GD5F_SPI_TIMEOUT);
    GD5F_CS_HIGH();

-    *mid = id_buf[1];
-    *did = id_buf[2];
+    *p_mid = id_buf[1];
+    *p_did = id_buf[2];

    return GD5F_OK;
 }
@@ -347,16 +578,19 @@ int gd5f2gq5ue_read_id(uint8_t *mid, uint8_t *did)
 /*
 * 函数功能：从 NAND 读取数据（支持跨页）
 * 入口参数：offset - 起始字节偏移  long      0 ~ 总容量-1
- *           p_buf  - 数据缓冲区     uint8_t*  不为 NULL
- *           size   - 读取字节数     size_t    > 0
- * 返回值：0 - 成功，其他 - 错误码
+ *           size   - 读取字节数    size_t    > 0
+ * 出口参数：p_buf  - 数据缓冲区    uint8_t*  不为 NULL
+ * 返回值：0 - 成功，其它 - 错误
 * 限定条件：gd5f2gq5ue_init() 已成功调用
- * 函数说明：自动处理跨页读取
+ * 函数说明：自动处理跨页读取；offset+size 越界返回错误
 */
-int gd5f2gq5ue_read(long offset, uint8_t *p_buf, size_t size)
-{
+int gd5f2gq5ue_read(long offset, uint8_t *p_buf, size_t size) {
    int ret = GD5F_OK;

+    if (offset < 0 || (uint32_t)offset + (uint32_t)size > GD5F_TOTAL_SIZE) {
+        return GD5F_ERROR;
+    }
+
    while (size > 0) {
        uint32_t page_addr = offset / GD5F_PAGE_SIZE;
        uint16_t column = offset % GD5F_PAGE_SIZE;
@@ -386,17 +620,20 @@ int gd5f2gq5ue_read(long offset, uint8_t *p_buf, size_t size)

 /*
 * 函数功能：向 NAND 写入数据（支持跨页）
- * 入口参数：offset - 起始字节偏移  long          0 ~ 总容量-1
- *           p_buf  - 数据缓冲区     const uint8_t*  不为 NULL
- *           size   - 写入字节数     size_t        > 0
- * 返回值：0 - 成功，其他 - 错误码
+ * 入口参数：offset - 起始字节偏移  long           0 ~ 总容量-1
+ *           p_buf  - 数据缓冲区    const uint8_t* 不为 NULL
+ *           size   - 写入字节数    size_t         > 0
+ * 返回值：0 - 成功，其它 - 错误
 * 限定条件：gd5f2gq5ue_init() 已成功调用，目标区域已擦除
- * 函数说明：自动处理跨页写入
+ * 函数说明：自动处理跨页写入；offset+size 越界返回错误
 */
-int gd5f2gq5ue_write(long offset, const uint8_t *p_buf, size_t size)
-{
+int gd5f2gq5ue_write(long offset, const uint8_t *p_buf, size_t size) {
    int ret = GD5F_OK;

+    if (offset < 0 || (uint32_t)offset + (uint32_t)size > GD5F_TOTAL_SIZE) {
+        return GD5F_ERROR;
+    }
+
    while (size > 0) {
        uint32_t page_addr = offset / GD5F_PAGE_SIZE;
        uint16_t column = offset % GD5F_PAGE_SIZE;
@@ -421,14 +658,13 @@ int gd5f2gq5ue_write(long offset, const uint8_t *p_buf, size_t size)

 /*
 * 函数功能：擦除块（按块擦除，最小单位 128KB）
- * 入口参数：offset - 起始字节偏移  long    必须块对齐
- *           size   - 擦除字节数    size_t  必须块大小整数倍
- * 返回值：0 - 成功，其他 - 错误码
+ * 入口参数：offset - 起始字节偏移  long     必须 GD5F_BLOCK_SIZE 对齐
+ *           size   - 擦除字节数    size_t   必须 GD5F_BLOCK_SIZE 整数倍
+ * 返回值：0 - 成功，其它 - 错误码
 * 限定条件：gd5f2gq5ue_init() 已成功调用
- * 函数说明：擦除操作以块为单位
+ * 函数说明：循环擦除 [offset, offset+size) 覆盖的每个块，偏移/长度不对齐返回错误
 */
-int gd5f2gq5ue_erase(long offset, size_t size)
-{
+int gd5f2gq5ue_erase(long offset, size_t size) {
    int ret = GD5F_OK;

    if (offset % GD5F_BLOCK_SIZE != 0) {
@@ -455,13 +691,11 @@ int gd5f2gq5ue_erase(long offset, size_t size)

 /*
 * 函数功能：复位芯片
- * 入口参数：无
 * 返回值：0 - 成功
 * 限定条件：SPI 已初始化
- * 函数说明：发送 FFh 复位命令后等待 5ms
+ * 函数说明：发 FFh 复位命令后等待 5ms
 */
-int gd5f2gq5ue_reset(void)
-{
+int gd5f2gq5ue_reset(void) {
    uint8_t cmd = GD5F_CMD_RESET;

    GD5F_CS_LOW();
@@ -472,3 +706,257 @@ int gd5f2gq5ue_reset(void)

    return GD5F_OK;
 }
+
+/*
+ * 函数功能：查询块是否坏块
+ * 入口参数：block - 块编号  uint32_t  0 ~ GD5F_TOTAL_BLOCKS-1
+ * 返回值：0 - 好块，1 - 坏块
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：通过 BBT 查询
+ */
+int gd5f2gq5ue_is_block_bad(uint32_t block) {
+    if (block >= GD5F_TOTAL_BLOCKS) {
+        return 1;
+    }
+    return (s_bbt[block >> 3] >> (block & 7)) & 1;
+}
+
+/*
+ * 函数功能：标记块为坏块
+ * 入口参数：block - 块编号  uint32_t  0 ~ GD5F_TOTAL_BLOCKS-1
+ * 返回值：无
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：更新 BBT
+ */
+void gd5f2gq5ue_mark_block_bad(uint32_t block) {
+    if (block >= GD5F_TOTAL_BLOCKS) {
+        return;
+    }
+    uint32_t byte = block >> 3;
+    uint8_t  bit  = (uint8_t)(1U << (block & 7));
+    if (s_bbt[byte] & bit) {
+        return;  /* 已是坏块，幂等，无需重复持久化 */
+    }
+    s_bbt[byte] |= bit;
+    gd5f_bbt_save();  /* 持久化到保留块池（带版本号 + CRC） */
+}
+
+/* ======================== BBT 持久化实现 ======================== */
+
+/*
+ * 函数功能：从 NAND 顶部向下挑选出厂好块作为 BBT 保留池
+ * 入口参数：无
+ * 返回值：0 - 成功
+ * 限定条件：gd5f_bbt_scan() 已完成（s_bbt 已就绪）
+ * 函数说明：保留池不交给 dhara 管理；最低池块号以上的块全部排除，
+ *           并将可用块数 s_usable_blocks 设为最低池块号
+ */
+static int gd5f_private_bbt_locate_pool(void) {
+    uint32_t cnt = 0;
+    uint32_t b = GD5F_TOTAL_BLOCKS;
+
+    while (b-- > 0 && cnt < GD5F_BBT_POOL_COUNT) {
+        if (((s_bbt[b >> 3] >> (b & 7)) & 1) == 0) {
+            s_bbt_pool_blocks[cnt++] = b;
+        }
+    }
+    s_bbt_pool_count = cnt;
+    if (cnt > 0) {
+        s_usable_blocks = s_bbt_pool_blocks[cnt - 1];  /* 最低池块 = dhara 可见上限 */
+    }
+    return GD5F_OK;
+}
+
+/*
+ * 函数功能：CRC32 计算（IEEE 802.3，多项式 0xEDB88320）
+ * 入口参数：p_buf - 数据缓冲区    const uint8_t*  不为 NULL
+ *           len   - 数据长度      uint32_t        > 0
+ * 返回值：32 位 CRC 校验值
+ * 限定条件：无
+ * 函数说明：采用位级（bit-by-bit）实现，初始值 0xFFFFFFFF
+ */
+static uint32_t gd5f_private_crc32(const uint8_t *p_buf, uint32_t len) {
+    uint32_t crc = 0xFFFFFFFFU;
+    for (uint32_t i = 0; i < len; i++) {
+        crc ^= p_buf[i];
+        for (int j = 0; j < 8; j++) {
+            uint32_t mask = (crc & 1U) ? 0xEDB88320U : 0U;
+            crc = (crc >> 1) ^ mask;
+        }
+    }
+    return ~crc;
+}
+
+/*
+ * 函数功能：在保留池中找出版本号最高的有效 BBT 副本
+ * 入口参数：无
+ * 返回值：0 - 成功
+ * 限定条件：gd5f_private_bbt_locate_pool() 已成功执行
+ * 函数说明：校验 magic / len / CRC；结果缓存到 s_bbt_best / s_bbt_version，
+ *           并设置下一轮转写入槽 s_bbt_write_slot
+ */
+static int gd5f_private_bbt_find_best(void) {
+    uint32_t best_ver = 0;
+    int      best_slot = -1;
+
+    s_bbt_slot_dead = 0;
+    for (uint32_t i = 0; i < s_bbt_pool_count; i++) {
+        uint32_t block = s_bbt_pool_blocks[i];
+        uint32_t page  = block * GD5F_PAGES_PER_BLOCK;
+        uint32_t ver, len, crc;
+
+        gd5f_page_read(page);
+        gd5f_read_from_cache(0, s_bbt_page_buf, GD5F_BBT_HDR_SIZE + GD5F_BBT_SIZE);
+        if (memcmp(s_bbt_page_buf, s_bbt_magic, 4) != 0) {
+            continue;
+        }
+        memcpy(&ver, s_bbt_page_buf + 4, 4);
+        memcpy(&len, s_bbt_page_buf + 8, 4);
+        memcpy(&crc, s_bbt_page_buf + 12, 4);
+        if (len != GD5F_BBT_SIZE) {
+            continue;
+        }
+        if (gd5f_private_crc32(s_bbt_page_buf + GD5F_BBT_HDR_SIZE, GD5F_BBT_SIZE) != crc) {
+            continue;
+        }
+        if (best_slot < 0 || (int32_t)ver > (int32_t)best_ver) {
+            best_ver = ver;
+            best_slot = (int)i;
+            memcpy(s_bbt_best, s_bbt_page_buf + GD5F_BBT_HDR_SIZE, GD5F_BBT_SIZE);
+        }
+    }
+    if (best_slot >= 0) {
+        s_bbt_version = best_ver;
+        s_bbt_write_slot = (uint32_t)(best_slot + 1) % s_bbt_pool_count;
+    } else {
+        s_bbt_write_slot = 0;
+    }
+    return GD5F_OK;
+}
+
+/*
+ * 函数功能：加载持久化 BBT（OR 进 RAM BBT）
+ * 入口参数：无
+ * 返回值：0 - 成功
+ * 限定条件：gd5f_private_bbt_locate_pool() 已成功执行
+ * 函数说明：工厂扫描已填好块，持久化副本补充运行期坏块
+ */
+static int gd5f_bbt_load(void) {
+    gd5f_private_bbt_find_best();
+    if (s_bbt_pool_count == 0) {
+        return GD5F_OK;
+    }
+    for (uint32_t i = 0; i < GD5F_BBT_SIZE; i++) {
+        s_bbt[i] |= s_bbt_best[i];
+    }
+    return GD5F_OK;
+}
+
+/*
+ * 函数功能：将当前 RAM BBT 持久化到保留池（轮转写入，掉电安全）
+ * 入口参数：无
+ * 返回值：0 - 成功，GD5F_ERROR - 写入失败
+ * 限定条件：gd5f_private_bbt_locate_pool() 已成功执行
+ * 函数说明：版本号自增；先擦除目标块再编程；损坏块标记后跳到下一槽
+ */
+static int gd5f_bbt_save(void) {
+    if (s_bbt_pool_count == 0) {
+        return GD5F_OK;
+    }
+    uint32_t slot = s_bbt_write_slot;
+
+    while (s_bbt_slot_dead & (1U << slot)) {
+        slot = (slot + 1) % s_bbt_pool_count;
+        if (slot == s_bbt_write_slot) {
+            break;  /* 所有池块均损坏 */
+        }
+    }
+
+    uint32_t block = s_bbt_pool_blocks[slot];
+    uint32_t page  = block * GD5F_PAGES_PER_BLOCK;
+    uint32_t ver   = s_bbt_version + 1;
+    uint32_t len   = GD5F_BBT_SIZE;
+    uint32_t crc   = gd5f_private_crc32(s_bbt, GD5F_BBT_SIZE);
+
+    if (gd5f_block_erase(block) != GD5F_OK) {
+        s_bbt_slot_dead |= (1U << slot);
+        s_bbt_write_slot = (slot + 1) % s_bbt_pool_count;
+        return GD5F_ERROR;
+    }
+
+    memcpy(s_bbt_page_buf, s_bbt_magic, 4);
+    memcpy(s_bbt_page_buf + 4, &ver, 4);
+    memcpy(s_bbt_page_buf + 8, &len, 4);
+    memcpy(s_bbt_page_buf + 12, &crc, 4);
+    memcpy(s_bbt_page_buf + GD5F_BBT_HDR_SIZE, s_bbt, GD5F_BBT_SIZE);
+
+    gd5f_write_enable();
+    gd5f_program_load(0, s_bbt_page_buf, GD5F_BBT_HDR_SIZE + GD5F_BBT_SIZE);
+    gd5f_program_exec(page);
+    gd5f_wait_busy(100);
+
+    s_bbt_version = ver;
+    s_bbt_write_slot = (slot + 1) % s_bbt_pool_count;
+    return GD5F_OK;
+}
+
+/*
+ * 函数功能：获取 dhara 可用块数（= 最低保留池块号）
+ * 入口参数：无
+ * 返回值：dhara 可见的块数量（= 保留块池起始块号）
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：保留块池用于存储持久化 BBT，不交给 dhara 管理
+ */
+uint32_t gd5f_get_usable_blocks(void) {
+    return s_usable_blocks;
+}
+
+/*
+ * 函数功能：从闪存读取当前生效的 BBT 位图（测试/调试用）
+ * 入口参数：无
+ * 出口参数：p_bbt     - 位图输出缓冲  uint8_t*  不为 NULL，长度 >= GD5F_BBT_SIZE
+ *           p_version - 版本号输出    uint32_t* 不为 NULL
+ * 返回值：0 - 成功，GD5F_ERROR - 参数非法
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：返回闪存中版本号最高的有效 BBT 拷贝（供测试验证持久化）
+ */
+int32_t gd5f_bbt_dump_flash(uint8_t *p_bbt, uint32_t *p_version) {
+    if (p_bbt == NULL || p_version == NULL) {
+        return GD5F_ERROR;
+    }
+    gd5f_private_bbt_find_best();
+    memcpy(p_bbt, s_bbt_best, GD5F_BBT_SIZE);
+    *p_version = s_bbt_version;
+    return GD5F_OK;
+}
+
+/*
+ * 函数功能：擦除保留块池（撤销持久化 BBT，回到仅工厂扫描态）
+ * 入口参数：无
+ * 返回值：0 - 成功
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：仅供测试/出厂重置；调用方需自行还原 RAM BBT
+ */
+int32_t gd5f_bbt_wipe_pool(void) {
+    if (s_bbt_pool_count == 0) {
+        return GD5F_OK;
+    }
+    for (uint32_t i = 0; i < s_bbt_pool_count; i++) {
+        gd5f_block_erase(s_bbt_pool_blocks[i]);
+    }
+    s_bbt_write_slot = 0;
+    s_bbt_version = 0;
+    return GD5F_OK;
+}
+
+/*
+ * 函数功能：从保留块池重新加载持久化 BBT 到 RAM（测试/调试用）
+ * 入口参数：无
+ * 返回值：0 - 成功
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：将闪存中版本号最高的有效副本 OR 进 RAM BBT
+ */
+int32_t gd5f_bbt_reload(void) {
+    return gd5f_bbt_load();
+}
+
--- a/Drivers/BSP/GD5F2GQ5UE/gd5f2gq5ue.h
+++ b/Drivers/BSP/GD5F2GQ5UE/gd5f2gq5ue.h
@@ -17,6 +17,7 @@ extern "C" {
 #endif

 #include "main.h"
+#include <stdint.h>

 /* ======================== 宏定义 ======================== */

@@ -60,6 +61,9 @@ extern "C" {
 #define GD5F_TOTAL_BLOCKS            2048
 #define GD5F_TOTAL_SIZE              (GD5F_TOTAL_BLOCKS * GD5F_BLOCK_SIZE)

+/* 坏块表持久化：保留块池数量（从 NAND 顶部向下挑选出厂好块存储 BBT） */
+#define GD5F_BBT_POOL_COUNT          4
+
 /* 制造商 ID 和设备 ID */
 #define GD5F_MANUFACTURER_ID         0xC8
 #define GD5F_DEVICE_ID               0x52
@@ -91,7 +95,7 @@ extern "C" {
 *           3. 使能内部 ECC (B0h bit4)
 *           4. 解除所有块保护 (A0h = 0x00)
 */
-int gd5f2gq5ue_init(void);
+int32_t gd5f2gq5ue_init(void);

 /*
 * 函数功能：读取芯片 ID（MID + DID）
@@ -101,13 +105,13 @@ int gd5f2gq5ue_init(void);
 * 限定条件：SPI 已初始化
 * 函数说明：发送 9Fh 命令后接收1个 dummy + MID + DID
 */
-int gd5f2gq5ue_read_id(uint8_t *mid, uint8_t *did);
+int32_t gd5f2gq5ue_read_id(uint8_t *p_mid, uint8_t *p_did);

 /*
 * 函数功能：从 NAND 读取数据（支持跨页）
- * 入口参数：offset - 起始字节偏移  long     0 - GD5F_TOTAL_SIZE-1
+ * 入口参数：offset - 起始字节偏移  int32_t     0 - GD5F_TOTAL_SIZE-1
 *           buf    - 数据缓冲区     uint8_t* 不为 NULL
- *           size   - 读取字节数     size_t   > 0
+ *           size   - 读取字节数     uint32_t   > 0
 * 返回值：0 - 成功，其他 - 错误码
 * 限定条件：gd5f2gq5ue_init() 已成功调用
 * 函数说明：自动处理跨页读取，每次读取不超过当前页剩余空间
@@ -116,9 +120,9 @@ int gd5f2gq5ue_read(long offset, uint8_t *buf, size_t size);

 /*
 * 函数功能：向 NAND 写入数据（支持跨页）
- * 入口参数：offset - 起始字节偏移  long        0 - GD5F_TOTAL_SIZE-1
+ * 入口参数：offset - 起始字节偏移  int32_t        0 - GD5F_TOTAL_SIZE-1
 *           buf    - 数据缓冲区     uint8_t*    不为 NULL
- *           size   - 写入字节数     size_t      > 0
+ *           size   - 写入字节数     uint32_t      > 0
 * 返回值：0 - 成功，其他 - 错误码
 * 限定条件：gd5f2gq5ue_init() 已成功调用，目标区域已擦除
 * 函数说明：自动处理跨页写入，每次写入不超过当前页剩余空间
@@ -127,8 +131,8 @@ int gd5f2gq5ue_write(long offset, const uint8_t *buf, size_t size);

 /*
 * 函数功能：擦除块（按块擦除，最小单位 128KB）
- * 入口参数：offset - 起始字节偏移  long    必须 GD5F_BLOCK_SIZE 对齐
- *           size   - 擦除字节数    size_t  必须 GD5F_BLOCK_SIZE 整数倍
+ * 入口参数：offset - 起始字节偏移  int32_t    必须 GD5F_BLOCK_SIZE 对齐
+ *           size   - 擦除字节数    uint32_t  必须 GD5F_BLOCK_SIZE 整数倍
 * 返回值：0 - 成功，其他 - 错误码
 * 限定条件：gd5f2gq5ue_init() 已成功调用
 * 函数说明：擦除操作以块为单位，offset 和 size 必须块对齐
@@ -142,7 +146,90 @@ int gd5f2gq5ue_erase(long offset, size_t size);
 * 限定条件：SPI 已初始化
 * 函数说明：发送 FFh 复位命令后等待 5ms
 */
-int gd5f2gq5ue_reset(void);
+int32_t gd5f2gq5ue_reset(void);
+
+/*
+ * 函数功能：查询块是否坏块
+ * 入口参数：block - 块编号  uint32_t  0 ~ GD5F_TOTAL_BLOCKS-1
+ * 返回值：0 - 好块，1 - 坏块
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：通过 BBT（Bad Block Table）查询，BBT 在 init 阶段 ECC 使能前扫描构建
+ */
+int32_t gd5f2gq5ue_is_block_bad(uint32_t block);
+
+/*
+ * 函数功能：标记块为坏块
+ * 入口参数：block - 块编号  uint32_t  0 ~ GD5F_TOTAL_BLOCKS-1
+ * 返回值：无
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：更新 RAM 中的 BBT，并持久化到保留块池（带版本号 + CRC，
+ *           轮转写入，掉电安全）；仅在管理区内的块才纳入持久化 BBT
+ */
+void gd5f2gq5ue_mark_block_bad(uint32_t block);
+void gd5f2gq5ue_bbt_clear(void);
+void gd5f2gq5ue_print_bbt(void);
+
+/*
+ * 函数功能：重建 BBT（重新扫描出厂坏块并持久化，覆盖运行时注入的坏块）
+ * 入口参数：无
+ * 返回值：GD5F_OK - 成功，其他 - 错误码
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：用于测试（如 TC-STO-03 注入坏块后）或出厂重置后恢复。
+ *           临时关闭 ECC 重新扫描每块 page0 spare[0] 的出厂坏块标记，覆盖 RAM BBT，
+ *           再写回持久化 BBT 池（版本 +1，掉电安全），从而清除运行时 mark 的坏块。
+ *           调用后建议再执行 nand_ftl_format() 清空 dhara map。
+ */
+int gd5f2gq5ue_bbt_rebuild(void);
+
+/*
+ * 函数功能：获取 dhara 可用块数（总块数减去保留块池）
+ * 入口参数：无
+ * 返回值：dhara 可见的块数量（= 保留块池起始块号）
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：保留块池用于存储持久化 BBT，不交给 dhara 管理
+ */
+uint32_t gd5f_get_usable_blocks(void);
+
+/*
+ * 函数功能：从闪存读取当前生效的 BBT 位图（测试/调试用）
+ * 入口参数：p_bbt     - 位图输出缓冲  uint8_t*  不为 NULL，长度 >= GD5F_BBT_SIZE
+ *           p_version - 版本号输出    uint32_t* 不为 NULL
+ * 返回值：0 - 成功，其他 - 错误码
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：返回闪存中版本号最高的有效 BBT 拷贝（供测试验证持久化）
+ */
+int32_t gd5f_bbt_dump_flash(uint8_t *p_bbt, uint32_t *p_version);
+
+/*
+ * 函数功能：擦除保留块池（撤销持久化 BBT，回到仅工厂扫描态）
+ * 入口参数：无
+ * 返回值：0 - 成功
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：仅供测试/出厂重置使用；擦除后下次启动 load 找不到副本，
+ *           仅保留 RAM 中工厂扫描结果（调用方需自行还原 RAM BBT）。
+ */
+int32_t gd5f_bbt_wipe_pool(void);
+
+/*
+ * 函数功能：从保留块池重新加载持久化 BBT 到 RAM（测试/调试用）
+ * 入口参数：无
+ * 返回值：0 - 成功
+ * 限定条件：gd5f2gq5ue_init() 已成功调用
+ * 函数说明：将闪存中版本号最高的有效副本 OR 进 RAM BBT
+ */
+int32_t gd5f_bbt_reload(void);
+
+/* ==================== SPI 原语（FTL 共享） ==================== */
+
+int32_t gd5f_wait_busy(uint32_t timeout_ms);
+int32_t gd5f_write_enable(void);
+int32_t gd5f_read_status(uint8_t *p_status);
+int32_t gd5f_page_read(uint32_t page_addr);
+int32_t gd5f_read_from_cache(uint16_t column, uint8_t *p_buf, uint32_t size);
+int32_t gd5f_program_load(uint16_t column, const uint8_t *p_buf, uint32_t size);
+int32_t gd5f_program_exec(uint32_t page_addr);
+int32_t gd5f_block_erase(uint32_t block_addr);
+int32_t gd5f_check_ecc(void);

 #ifdef __cplusplus
 }
--- a/Drivers/BSP/GD5F2GQ5UE/nand_ftl.c
+++ b/Drivers/BSP/GD5F2GQ5UE/nand_ftl.c
@@ -0,0 +1,403 @@
+/*
+ * 模块名称：NAND FTL 适配层（dhara + FatFS diskio 胶水）
+ * 模块功能：实现 dhara NAND HAL 和 FatFS 磁盘 I/O，连接 GD5F2GQ5UE 底层驱动
+ * 适用平台：STM32F407ZGT6
+ * 作者：王建锋
+ * 创建日期：2026-07-20
+ * 修改记录：
+ *     2026-07-20  王建锋  创建初始版本
+ */
+
+/* 头文件包含区 */
+#include <string.h>
+#include "gd5f2gq5ue.h"
+#include "ff.h"
+#include "diskio.h"
+#include "nand.h"
+#include "map.h"
+
+/* FTL 分区起始地址（块 0，偏移 0，占用全部 256MB） */
+#define FTL_FATFS_OFFSET    0U
+
+/* 调试输出配置 */
+#define DBG_TAG "[NAND_FTL]"
+#include "dbg_log.h"
+
+/* 私有宏定义区 */
+#define FTL_PAGE_SIZE           GD5F_PAGE_SIZE
+#define FTL_SECTORS_PER_PAGE    (FTL_PAGE_SIZE / 512)
+#define FTL_START_BLOCK         (FTL_FATFS_OFFSET / GD5F_BLOCK_SIZE)
+#define FTL_NUM_BLOCKS          (GD5F_TOTAL_BLOCKS - FTL_START_BLOCK)
+#define FTL_START_PAGE          (FTL_START_BLOCK * GD5F_PAGES_PER_BLOCK)
+
+/* dhara 逻辑地址到物理地址转换 */
+static inline uint32_t ftl_phy_block(dhara_block_t b) { return b + FTL_START_BLOCK; }
+static inline uint32_t ftl_phy_page(dhara_page_t p)   { return p + FTL_START_PAGE; }
+
+/* ======================== 私有变量 ======================== */
+
+/* dhara 核心数据结构 */
+static struct dhara_nand      s_nand;
+static struct dhara_map       s_map;
+static uint8_t                s_page_buf[FTL_PAGE_SIZE];  /* dhara 内部页缓冲区 */
+
+/* 页面缓存（FatFS 读写缓存） */
+static uint8_t                s_cache_buf[FTL_PAGE_SIZE];
+static dhara_sector_t         s_cached_lpn;
+static uint8_t                s_cache_dirty;
+
+/* 拷贝临时缓冲区 */
+static uint8_t                s_copy_buf[FTL_PAGE_SIZE];
+
+/* 初始化状态 */
+static uint8_t                s_initialized;
+
+/* ======================== 私有函数声明 ======================== */
+
+static int ftl_flush_cache(void);
+static int ftl_read_page(dhara_sector_t lpn);
+
+/* SPI 原语从 gd5f2gq5ue.h 获取 */
+
+/* ======================== 页面缓存管理 ======================== */
+
+static int ftl_flush_cache(void) {
+    if (!s_cache_dirty) {
+        return GD5F_OK;
+    }
+
+    dhara_error_t err;
+    if (dhara_map_write(&s_map, s_cached_lpn, s_cache_buf, &err) < 0) {
+        DBG_ERROR("Cache flush failed: LPN=%lu err=%d", s_cached_lpn, err);
+        return GD5F_ERROR;
+    }
+
+    s_cache_dirty = 0;
+    return GD5F_OK;
+}
+
+static int ftl_read_page(dhara_sector_t lpn) {
+    dhara_error_t err;
+
+    if (dhara_map_read(&s_map, lpn, s_cache_buf, &err) < 0) {
+        DBG_ERROR("Page read failed: LPN=%lu err=%d", lpn, err);
+        return GD5F_ERROR;
+    }
+
+    s_cached_lpn = lpn;
+    s_cache_dirty = 0;
+    return GD5F_OK;
+}
+
+/* ======================== dhara NAND HAL ======================== */
+
+int dhara_nand_is_bad(const struct dhara_nand *n, dhara_block_t b) {
+    (void)n;
+    return gd5f2gq5ue_is_block_bad(ftl_phy_block(b));
+}
+
+void dhara_nand_mark_bad(const struct dhara_nand *n, dhara_block_t b) {
+    (void)n;
+    gd5f2gq5ue_mark_block_bad(ftl_phy_block(b));
+}
+
+int dhara_nand_erase(const struct dhara_nand *n, dhara_block_t b, dhara_error_t *err) {
+    (void)n;
+    int ret = gd5f_block_erase(ftl_phy_block(b));
+    if (ret == GD5F_ERASE_FAIL || ret != GD5F_OK) {
+        dhara_nand_mark_bad(n, b);
+        dhara_set_error(err, DHARA_E_BAD_BLOCK);
+        return -1;
+    }
+    return 0;
+}
+
+int dhara_nand_prog(const struct dhara_nand *n, dhara_page_t p, const uint8_t *data, dhara_error_t *err) {
+    int ret;
+    uint32_t phy_pg = ftl_phy_page(p);
+
+    gd5f_write_enable();
+    ret = gd5f_program_load(0, data, FTL_PAGE_SIZE);
+    if (ret != GD5F_OK) {
+        dhara_nand_mark_bad(n, p >> n->log2_ppb);
+        dhara_set_error(err, DHARA_E_BAD_BLOCK);
+        return -1;
+    }
+
+    ret = gd5f_program_exec(phy_pg);
+    if (ret == GD5F_PROGRAM_FAIL || ret != GD5F_OK) {
+        dhara_nand_mark_bad(n, p >> n->log2_ppb);
+        dhara_set_error(err, DHARA_E_BAD_BLOCK);
+        return -1;
+    }
+
+    return 0;
+}
+
+int dhara_nand_is_free(const struct dhara_nand *n, dhara_page_t p) {
+    (void)n;
+    uint32_t i;
+    uint8_t buf[64];
+    uint32_t phy_pg = ftl_phy_page(p);
+
+    if (gd5f_page_read(phy_pg) != GD5F_OK) {
+        return 0;
+    }
+    gd5f_read_from_cache(0, buf, sizeof(buf));
+
+    for (i = 0; i < sizeof(buf); i++) {
+        if (buf[i] != 0xFF) {
+            return 0;
+        }
+    }
+    return 1;
+}
+
+int dhara_nand_read(const struct dhara_nand *n, dhara_page_t p, size_t offset, size_t length, uint8_t *data, dhara_error_t *err) {
+    (void)n;
+    uint32_t phy_pg = ftl_phy_page(p);
+
+    if (gd5f_page_read(phy_pg) != GD5F_OK) {
+        dhara_set_error(err, DHARA_E_ECC);
+        return -1;
+    }
+
+    if (gd5f_check_ecc() != GD5F_OK) {
+        dhara_set_error(err, DHARA_E_ECC);
+        return -1;
+    }
+
+    gd5f_read_from_cache((uint16_t)offset, data, length);
+    return 0;
+}
+
+int dhara_nand_copy(const struct dhara_nand *n, dhara_page_t src, dhara_page_t dst, dhara_error_t *err) {
+    (void)n;
+
+    if (dhara_nand_read(n, src, 0, FTL_PAGE_SIZE, s_copy_buf, err) < 0) {
+        return -1;
+    }
+
+    if (dhara_nand_prog(n, dst, s_copy_buf, err) < 0) {
+        return -1;
+    }
+
+    return 0;
+}
+
+/* ======================== FatFS 磁盘 I/O ======================== */
+
+DSTATUS disk_initialize(BYTE pdrv) {
+    if (pdrv != 0) {
+        return STA_NOINIT;
+    }
+
+    if (s_initialized) {
+        return 0;
+    }
+
+    DBG_INFO("Initializing NAND FTL...");
+
+    s_nand.log2_page_size = 11;
+    s_nand.log2_ppb = 6;
+    /* dhara 可见块数 = 总块数 - 保留块池（BBT 存储区不交给 dhara，避免被擦写） */
+    s_nand.num_blocks = gd5f_get_usable_blocks();
+
+    dhara_map_init(&s_map, &s_nand, s_page_buf, 4);
+
+    memset(s_cache_buf, 0, FTL_PAGE_SIZE);
+    s_cached_lpn = (dhara_sector_t)-1;   /* -1 表示缓存未加载；LPN 0 合法，不能用 0 作哨兵 */
+    s_cache_dirty = 0;
+
+    {
+        dhara_error_t err;
+        if (dhara_map_resume(&s_map, &err) < 0) {
+            DBG_INFO("No valid map found, creating fresh (err=%d)", err);
+            dhara_map_clear(&s_map);
+        } else {
+            DBG_INFO("Map resumed: %lu/%lu sectors used",
+                     dhara_map_size(&s_map), dhara_map_capacity(&s_map));
+        }
+    }
+
+    s_initialized = 1;
+    DBG_INFO("NAND FTL ready (capacity: %lu pages = %lu MB)",
+             dhara_map_capacity(&s_map),
+             (dhara_map_capacity(&s_map) * FTL_PAGE_SIZE) / (1024 * 1024));
+
+    return 0;
+}
+
+int nand_ftl_init(void)
+{
+    DSTATUS sta = disk_initialize(0);
+    return (sta == 0) ? 0 : -1;
+}
+
+void nand_ftl_deinit(void)
+{
+    /* 复位 FTL 状态，使下次 nand_ftl_init() 真正重新走 dhara_map_resume，
+        用于测试"掉电恢复"与"坏块注入后重建"场景（模拟设备重启） */
+    s_initialized = 0;
+    s_cached_lpn = (dhara_sector_t)-1;
+    s_cache_dirty = 0;
+}
+
+DSTATUS disk_status(BYTE pdrv) {
+    if (pdrv != 0) {
+        return STA_NOINIT;
+    }
+    if (!s_initialized) {
+        return STA_NOINIT;
+    }
+    return 0;
+}
+
+DRESULT disk_read(BYTE pdrv, BYTE *buff, LBA_t sector, UINT count) {
+    if (pdrv != 0 || !buff) {
+        return RES_PARERR;
+    }
+    if (!s_initialized && disk_initialize(pdrv) != 0) {
+        return RES_NOTRDY;
+    }
+
+    while (count > 0) {
+        dhara_sector_t lpn = (dhara_sector_t)(sector / FTL_SECTORS_PER_PAGE);
+        uint32_t offset = (uint32_t)(sector % FTL_SECTORS_PER_PAGE) * 512;
+        uint32_t batch = FTL_SECTORS_PER_PAGE - (sector % FTL_SECTORS_PER_PAGE);
+
+        if (batch > count) {
+            batch = count;
+        }
+
+        if (lpn != s_cached_lpn) {
+            if (ftl_flush_cache() != GD5F_OK) {
+                return RES_ERROR;
+            }
+            if (ftl_read_page(lpn) != GD5F_OK) {
+                return RES_ERROR;
+            }
+        }
+
+        memcpy(buff, s_cache_buf + offset, batch * 512);
+        buff += batch * 512;
+        sector += batch;
+        count -= (UINT)batch;
+    }
+
+    return RES_OK;
+}
+
+DRESULT disk_write(BYTE pdrv, const BYTE *buff, LBA_t sector, UINT count) {
+    if (pdrv != 0 || !buff) {
+        return RES_PARERR;
+    }
+    if (!s_initialized && disk_initialize(pdrv) != 0) {
+        return RES_NOTRDY;
+    }
+
+    while (count > 0) {
+        dhara_sector_t lpn = (dhara_sector_t)(sector / FTL_SECTORS_PER_PAGE);
+        uint32_t offset = (uint32_t)(sector % FTL_SECTORS_PER_PAGE) * 512;
+        uint32_t batch = FTL_SECTORS_PER_PAGE - (sector % FTL_SECTORS_PER_PAGE);
+
+        if (batch > count) {
+            batch = count;
+        }
+
+        if (lpn != s_cached_lpn) {
+            if (ftl_flush_cache() != GD5F_OK) {
+                return RES_ERROR;
+            }
+            if (ftl_read_page(lpn) != GD5F_OK) {
+                return RES_ERROR;
+            }
+        }
+
+        memcpy(s_cache_buf + offset, buff, batch * 512);
+        s_cache_dirty = 1;
+
+        if (offset == 0 && batch == FTL_SECTORS_PER_PAGE) {
+            if (ftl_flush_cache() != GD5F_OK) {
+                return RES_ERROR;
+            }
+        }
+
+        buff += batch * 512;
+        sector += batch;
+        count -= (UINT)batch;
+    }
+
+    return RES_OK;
+}
+
+DRESULT disk_ioctl(BYTE pdrv, BYTE cmd, void *buff) {
+    if (pdrv != 0) {
+        return RES_PARERR;
+    }
+    if (!s_initialized) {
+        return RES_NOTRDY;
+    }
+
+    switch (cmd) {
+    case CTRL_SYNC:
+        if (ftl_flush_cache() != GD5F_OK) {
+            return RES_ERROR;
+        }
+        {
+            dhara_error_t err;
+            if (dhara_map_sync(&s_map, &err) < 0) {
+                DBG_ERROR("Map sync failed: %d", err);
+                return RES_ERROR;
+            }
+        }
+        return RES_OK;
+
+    case GET_SECTOR_COUNT: {
+        LBA_t *p_sectors = (LBA_t *)buff;
+        dhara_sector_t pages = dhara_map_capacity(&s_map);
+        *p_sectors = pages * FTL_SECTORS_PER_PAGE;
+        return RES_OK;
+    }
+
+    case GET_SECTOR_SIZE:
+        *(WORD *)buff = 512;
+        return RES_OK;
+
+    case GET_BLOCK_SIZE:
+        *(DWORD *)buff = 1;
+        return RES_OK;
+
+    default:
+        return RES_PARERR;
+    }
+}
+
+/* ======================== 公共函数定义 ======================== */
+
+int nand_ftl_format(void) {
+    dhara_error_t err;
+
+    if (!s_initialized) {
+        if (disk_initialize(0) != 0) {
+            return GD5F_ERROR;
+        }
+    }
+
+    if (ftl_flush_cache() != GD5F_OK) {
+        return GD5F_ERROR;
+    }
+
+    dhara_map_clear(&s_map);
+
+    if (dhara_map_sync(&s_map, &err) < 0) {
+        DBG_ERROR("Map sync after clear failed: %d", err);
+        return GD5F_ERROR;
+    }
+
+    s_cache_dirty = 0;
+    s_cached_lpn = (dhara_sector_t)-1;
+
+    DBG_INFO("NAND FTL formatted, capacity: %lu pages", dhara_map_capacity(&s_map));
+    return GD5F_OK;
+}
--- a/Drivers/BSP/GD5F2GQ5UE/nand_ftl.h
+++ b/Drivers/BSP/GD5F2GQ5UE/nand_ftl.h
@@ -0,0 +1,18 @@
+#ifndef __NAND_FTL_H
+#define __NAND_FTL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+int nand_ftl_init(void);
+int nand_ftl_format(void);
+void nand_ftl_deinit(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
--- a/Drivers/BSP/NET/lftpd/LICENSE.txt
+++ b/Drivers/BSP/NET/lftpd/LICENSE.txt
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2018 Jason von Nieda <jason@vonnieda.org>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
--- a/Drivers/BSP/NET/lftpd/lftpd.c
+++ b/Drivers/BSP/NET/lftpd/lftpd.c
@@ -0,0 +1,675 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdint.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <ctype.h>
+
+#include "lftpd.h"
+#include "private/lftpd_status.h"
+#include "private/lftpd_inet.h"
+#include "private/lftpd_log.h"
+#include "private/lftpd_string.h"
+#include "private/lftpd_io.h"
+#include "net_socket.h"
+#include "net_config.h"
+#include "ff.h"
+
+typedef struct {
+    const char *command;
+    int (*handler)(lftpd_client_t *client, const char *arg);
+} command_t;
+
+static int cmd_cwd(lftpd_client_t *client, const char *arg);
+static int cmd_dele(lftpd_client_t *client, const char *arg);
+static int cmd_epsv(lftpd_client_t *client, const char *arg);
+static int cmd_feat(lftpd_client_t *client, const char *arg);
+static int cmd_list(lftpd_client_t *client, const char *arg);
+static int cmd_nlst(lftpd_client_t *client, const char *arg);
+static int cmd_noop(lftpd_client_t *client, const char *arg);
+static int cmd_pass(lftpd_client_t *client, const char *arg);
+static int cmd_pasv(lftpd_client_t *client, const char *arg);
+static int cmd_pwd(lftpd_client_t *client, const char *arg);
+static int cmd_quit(lftpd_client_t *client, const char *arg);
+static int cmd_retr(lftpd_client_t *client, const char *arg);
+static int cmd_size(lftpd_client_t *client, const char *arg);
+static int cmd_stor(lftpd_client_t *client, const char *arg);
+static int cmd_syst(lftpd_client_t *client, const char *arg);
+static int cmd_type(lftpd_client_t *client, const char *arg);
+static int cmd_user(lftpd_client_t *client, const char *arg);
+
+static command_t commands[] = {
+    { "CWD",  cmd_cwd  },
+    { "DELE", cmd_dele },
+    { "EPSV", cmd_epsv },
+    { "FEAT", cmd_feat },
+    { "LIST", cmd_list },
+    { "NLST", cmd_nlst },
+    { "NOOP", cmd_noop },
+    { "PASS", cmd_pass },
+    { "PASV", cmd_pasv },
+    { "PWD",  cmd_pwd  },
+    { "QUIT", cmd_quit },
+    { "RETR", cmd_retr },
+    { "SIZE", cmd_size },
+    { "STOR", cmd_stor },
+    { "SYST", cmd_syst },
+    { "TYPE", cmd_type },
+    { "USER", cmd_user },
+    { NULL,   NULL     },
+};
+
+static int send_response(int socket, int code, bool include_code,
+                         bool multiline_start, const char *format, ...)
+{
+    va_list args;
+    char message[256];
+    char response[512];
+
+    va_start(args, format);
+    vsnprintf(message, sizeof(message), format, args);
+    va_end(args);
+
+    if (include_code) {
+        if (multiline_start) {
+            snprintf(response, sizeof(response), "%d-%s%s", code, message, CRLF);
+        } else {
+            snprintf(response, sizeof(response), "%d %s%s", code, message, CRLF);
+        }
+    } else {
+        snprintf(response, sizeof(response), "%s%s", message, CRLF);
+    }
+
+    return lftpd_inet_write_string(socket, response);
+}
+
+#define send_simple_response(socket, code, format, ...) \
+    send_response(socket, code, true, false, format, ##__VA_ARGS__)
+
+#define send_multiline_response_begin(socket, code, format, ...) \
+    send_response(socket, code, true, true, format, ##__VA_ARGS__)
+
+#define send_multiline_response_line(socket, format, ...) \
+    send_response(socket, 0, false, false, format, ##__VA_ARGS__)
+
+#define send_multiline_response_end(socket, code, format, ...) \
+    send_response(socket, code, true, false, format, ##__VA_ARGS__)
+
+static int send_list(int socket, const char *path)
+{
+    static const char *directory_format = "drw-rw-rw- 1 owner group %13lu Jan 01  1970 %s";
+    static const char *file_format     = "-rw-rw-rw- 1 owner group %13lu Jan 01  1970 %s";
+
+    void *dp = lftpd_io_opendir(path);
+    if (dp == NULL) {
+        return -1;
+    }
+
+    char name[256];
+    uint32_t size;
+    int is_dir;
+
+    while (lftpd_io_readdir(dp, name, sizeof(name), &size, &is_dir) == 0) {
+        if (is_dir) {
+            send_multiline_response_line(socket, directory_format,
+                                         (unsigned long)size, name);
+        } else {
+            send_multiline_response_line(socket, file_format,
+                                         (unsigned long)size, name);
+        }
+    }
+
+    lftpd_io_closedir(dp);
+    return 0;
+}
+
+static int send_nlst(int socket, const char *path)
+{
+    void *dp = lftpd_io_opendir(path);
+    if (dp == NULL) {
+        return -1;
+    }
+
+    char name[256];
+    uint32_t size;
+    int is_dir;
+
+    while (lftpd_io_readdir(dp, name, sizeof(name), &size, &is_dir) == 0) {
+        if (!is_dir) {
+            send_multiline_response_line(socket, name);
+        }
+    }
+
+    lftpd_io_closedir(dp);
+    return 0;
+}
+
+static int send_file(int socket, const char *path)
+{
+    int fh = lftpd_io_open_read(path);
+    if (fh < 0) {
+        lftpd_log_error("failed to open file for read");
+        return -1;
+    }
+
+    unsigned char buffer[1024];
+    int read_len;
+
+    while ((read_len = lftpd_io_read(fh, buffer, sizeof(buffer))) > 0) {
+        unsigned char *p = buffer;
+        while (read_len > 0) {
+            int write_len = lftpd_inet_write(socket, p, read_len);
+            if (write_len < 0) {
+                lftpd_log_error("write error");
+                lftpd_io_close(fh);
+                return -1;
+            }
+            p += write_len;
+            read_len -= write_len;
+        }
+    }
+
+    lftpd_io_close(fh);
+    return 0;
+}
+
+static int receive_file(int socket, const char *path)
+{
+    int fh = lftpd_io_open_write(path);
+    if (fh < 0) {
+        lftpd_log_error("failed to open file for write");
+        return -1;
+    }
+
+    unsigned char buffer[1024];
+    int err;
+    int total = 0;
+
+    while ((err = lftpd_inet_read(socket, buffer, sizeof(buffer))) > 0) {
+        total += err;
+        if (lftpd_io_write(fh, buffer, err) != err) {
+            err = -1;
+            break;
+        }
+    }
+
+    lftpd_io_close(fh);
+
+    if (err < 0) {
+        return err;
+    }
+    if (total == 0) {
+        lftpd_log_error("received 0 bytes");
+        lftpd_io_unlink(path);
+        return -1;
+    }
+    return 0;
+}
+
+static int cmd_cwd(lftpd_client_t *client, const char *arg)
+{
+    if (arg == NULL || strlen(arg) == 0) {
+        send_simple_response(client->socket, 550, STATUS_550);
+        return -1;
+    }
+
+    char *path = lftpd_io_canonicalize_path(client->directory, arg);
+
+    /* 根目录始终有效，跳过 stat 检查（FatFS FF_FS_RPATH=0 下 stat 根目录可能失败） */
+    if (strcmp(path, "/") != 0) {
+        uint32_t size;
+        int is_dir;
+        if (lftpd_io_stat(path, &size, &is_dir) != 0 || !is_dir) {
+            send_simple_response(client->socket, 550, STATUS_550);
+            free(path);
+            return -1;
+        }
+    }
+
+    strncpy(client->directory, path, sizeof(client->directory) - 1);
+    client->directory[sizeof(client->directory) - 1] = '\0';
+    free(path);
+
+    send_simple_response(client->socket, 250, STATUS_250);
+    return 0;
+}
+
+static int cmd_dele(lftpd_client_t *client, const char *arg)
+{
+    if (arg == NULL || strlen(arg) == 0) {
+        send_simple_response(client->socket, 550, STATUS_550);
+        return -1;
+    }
+
+    char *path = lftpd_io_canonicalize_path(client->directory, arg);
+
+    uint32_t size;
+    int is_dir;
+    if (lftpd_io_stat(path, &size, &is_dir) != 0) {
+        send_simple_response(client->socket, 550, STATUS_550);
+        free(path);
+        return -1;
+    }
+
+    if (is_dir) {
+        send_simple_response(client->socket, 550, STATUS_550);
+        free(path);
+        return -1;
+    }
+
+    lftpd_io_unlink(path);
+    free(path);
+    send_simple_response(client->socket, 250, STATUS_250);
+    return 0;
+}
+
+static int cmd_epsv(lftpd_client_t *client, const char *arg)
+{
+    if (client->data_socket >= 0) {
+        lftpd_inet_close(client->data_socket);
+        client->data_socket = -1;
+    }
+
+    int listener_socket = lftpd_inet_listen(0);
+    if (listener_socket < 0) {
+        send_simple_response(client->socket, 425, STATUS_425);
+        return -1;
+    }
+
+    int port = lftpd_inet_get_socket_port(listener_socket);
+
+    send_simple_response(client->socket, 229, STATUS_229, port);
+
+    lftpd_log_debug("EPSV listener on port %d", port);
+
+    client->data_socket = listener_socket;
+    return 0;
+}
+
+static int cmd_feat(lftpd_client_t *client, const char *arg)
+{
+    send_multiline_response_begin(client->socket, 211, STATUS_211);
+    send_multiline_response_line(client->socket, "EPSV");
+    send_multiline_response_line(client->socket, "PASV");
+    send_multiline_response_line(client->socket, "SIZE");
+    send_multiline_response_line(client->socket, "NLST");
+    send_multiline_response_end(client->socket, 211, STATUS_211);
+    return 0;
+}
+
+static int cmd_list(lftpd_client_t *client, const char *arg)
+{
+    if (client->data_socket == -1) {
+        send_simple_response(client->socket, 425, STATUS_425);
+        return -1;
+    }
+
+    send_simple_response(client->socket, 150, STATUS_150);
+    int data_sock = lftpd_inet_accept_timeout(client->data_socket, 5000);
+    if (data_sock < 0) {
+        lftpd_log_error("%s accept failed, sk=%d", __func__, client->data_socket);
+        send_simple_response(client->socket, 425, STATUS_425);
+        lftpd_inet_close(client->data_socket);
+        client->data_socket = -1;
+        return -1;
+    }
+
+    int err = send_list(data_sock, client->directory);
+    lftpd_inet_close(data_sock);
+    client->data_socket = -1;
+
+    if (err == 0) {
+        send_simple_response(client->socket, 226, STATUS_226);
+    } else {
+        send_simple_response(client->socket, 550, STATUS_550);
+    }
+    return 0;
+}
+
+static int cmd_nlst(lftpd_client_t *client, const char *arg)
+{
+    if (client->data_socket == -1) {
+        send_simple_response(client->socket, 425, STATUS_425);
+        return -1;
+    }
+
+    send_simple_response(client->socket, 150, STATUS_150);
+    int data_sock = lftpd_inet_accept_timeout(client->data_socket, 5000);
+    if (data_sock < 0) {
+        lftpd_log_error("%s accept failed, sk=%d", __func__, client->data_socket);
+        send_simple_response(client->socket, 425, STATUS_425);
+        lftpd_inet_close(client->data_socket);
+        client->data_socket = -1;
+        return -1;
+    }
+
+    int err = send_nlst(data_sock, client->directory);
+    lftpd_inet_close(data_sock);
+    client->data_socket = -1;
+
+    if (err == 0) {
+        send_simple_response(client->socket, 226, STATUS_226);
+    } else {
+        send_simple_response(client->socket, 550, STATUS_550);
+    }
+    return 0;
+}
+
+static int cmd_noop(lftpd_client_t *client, const char *arg)
+{
+    send_simple_response(client->socket, 200, STATUS_200);
+    return 0;
+}
+
+static int cmd_pass(lftpd_client_t *client, const char *arg)
+{
+    send_simple_response(client->socket, 230, STATUS_230);
+    return 0;
+}
+
+static int cmd_pasv(lftpd_client_t *client, const char *arg)
+{
+    int listener_socket = -1;
+    int retry;
+
+    if (client->data_socket >= 0) {
+        lftpd_inet_close(client->data_socket);
+        client->data_socket = -1;
+    }
+
+    for (retry = 0; retry < 3; retry++) {
+        listener_socket = lftpd_inet_listen(0);
+        if (listener_socket >= 0) break;
+        vTaskDelay(pdMS_TO_TICKS(200));
+    }
+    if (listener_socket < 0) {
+        send_simple_response(client->socket, 425, STATUS_425);
+        return -1;
+    }
+
+    int port = lftpd_inet_get_socket_port(listener_socket);
+
+    {
+        struct net_sockaddr_in local_addr;
+        int addrlen = sizeof(local_addr);
+        int err = net_getsockname(client->socket,
+                                  (struct net_sockaddr *)&local_addr, &addrlen);
+        if (err != 0) {
+            lftpd_log_error("error getting client IP info");
+            send_simple_response(client->socket, 425, STATUS_425);
+            lftpd_inet_close(listener_socket);
+            return -1;
+        }
+
+        uint32_t ip = net_htonl(local_addr.sin_addr.s_addr);
+        send_simple_response(client->socket, 227, STATUS_227,
+                             (ip >> 24) & 0xff,
+                             (ip >> 16) & 0xff,
+                             (ip >> 8) & 0xff,
+                             (ip >> 0) & 0xff,
+                             (port >> 8) & 0xff, (port >> 0) & 0xff);
+    }
+
+    lftpd_log_debug("PASV listener on port %d", port);
+
+    client->data_socket = listener_socket;
+    return 0;
+}
+
+static int cmd_pwd(lftpd_client_t *client, const char *arg)
+{
+    send_simple_response(client->socket, 257, "\"%s\"", client->directory);
+    return 0;
+}
+
+static int cmd_quit(lftpd_client_t *client, const char *arg)
+{
+    send_simple_response(client->socket, 221, STATUS_221);
+    return -1;
+}
+
+static int cmd_retr(lftpd_client_t *client, const char *arg)
+{
+    if (client->data_socket == -1) {
+        send_simple_response(client->socket, 425, STATUS_425);
+        return -1;
+    }
+
+    send_simple_response(client->socket, 150, STATUS_150);
+    int data_sock = lftpd_inet_accept_timeout(client->data_socket, 5000);
+    if (data_sock < 0) {
+        lftpd_log_error("%s accept failed, sk=%d", __func__, client->data_socket);
+        send_simple_response(client->socket, 425, STATUS_425);
+        lftpd_inet_close(client->data_socket);
+        client->data_socket = -1;
+        return -1;
+    }
+
+    char *path = lftpd_io_canonicalize_path(client->directory, arg);
+    lftpd_log_debug("send '%s'", path);
+    int err = send_file(data_sock, path);
+    lftpd_inet_close(data_sock);
+    client->data_socket = -1;
+
+    if (err == 0) {
+        lftpd_log_info("DOWNLOAD '%s' OK", path);
+        send_simple_response(client->socket, 226, STATUS_226);
+    } else {
+        lftpd_log_error("DOWNLOAD '%s' FAILED", path);
+        send_simple_response(client->socket, 450, STATUS_450);
+    }
+    free(path);
+    return 0;
+}
+
+static int cmd_size(lftpd_client_t *client, const char *arg)
+{
+    if (arg == NULL) {
+        send_simple_response(client->socket, 550, STATUS_550);
+        return 0;
+    }
+
+    char *path = lftpd_io_canonicalize_path(client->directory, arg);
+    lftpd_log_debug("size %s", path);
+
+    uint32_t size;
+    int is_dir;
+    if (lftpd_io_stat(path, &size, &is_dir) == 0 && !is_dir) {
+        send_simple_response(client->socket, 213, "%lu", (unsigned long)size);
+    } else {
+        send_simple_response(client->socket, 550, STATUS_550);
+    }
+
+    free(path);
+    return 0;
+}
+
+static int cmd_stor(lftpd_client_t *client, const char *arg)
+{
+    if (client->data_socket == -1) {
+        send_simple_response(client->socket, 425, STATUS_425);
+        return -1;
+    }
+
+    send_simple_response(client->socket, 150, STATUS_150);
+    int data_sock = lftpd_inet_accept_timeout(client->data_socket, 5000);
+    if (data_sock < 0) {
+        lftpd_log_error("%s accept failed, sk=%d", __func__, client->data_socket);
+        send_simple_response(client->socket, 425, STATUS_425);
+        lftpd_inet_close(client->data_socket);
+        client->data_socket = -1;
+        return -1;
+    }
+
+    char *path = lftpd_io_canonicalize_path(client->directory, arg);
+    lftpd_log_debug("receive '%s'", path);
+    int err = receive_file(data_sock, path);
+    lftpd_inet_close(data_sock);
+    client->data_socket = -1;
+
+    if (err == 0) {
+        uint32_t size = 0;
+        int is_dir = 0;
+        lftpd_io_stat(path, &size, &is_dir);
+        lftpd_log_info("UPLOAD '%s' %lu bytes OK", path, (unsigned long)size);
+        send_simple_response(client->socket, 226, STATUS_226);
+    } else {
+        lftpd_log_error("UPLOAD '%s' FAILED", path);
+        send_simple_response(client->socket, 450, STATUS_450);
+    }
+    free(path);
+    return 0;
+}
+
+static int cmd_syst(lftpd_client_t *client, const char *arg)
+{
+    send_simple_response(client->socket, 215, "UNIX Type: L8");
+    return 0;
+}
+
+static int cmd_type(lftpd_client_t *client, const char *arg)
+{
+    send_simple_response(client->socket, 200, STATUS_200);
+    return 0;
+}
+
+static int cmd_user(lftpd_client_t *client, const char *arg)
+{
+    send_simple_response(client->socket, 230, STATUS_230);
+    return 0;
+}
+
+static int handle_control_channel(lftpd_client_t *client)
+{
+    int err = send_simple_response(client->socket, 220, STATUS_220);
+    if (err != 0) {
+        lftpd_log_error("error sending welcome message");
+        goto cleanup;
+    }
+
+    char read_buffer[512];
+
+    while (err == 0) {
+        int line_len = lftpd_inet_read_line(client->socket, read_buffer,
+                                            sizeof(read_buffer));
+        if (line_len != 0) {
+            lftpd_log_error("error reading next command");
+            goto cleanup;
+        }
+
+        int index;
+        char *p = strchr(read_buffer, ' ');
+        if (p != NULL) {
+            index = (int)(p - read_buffer);
+        } else {
+            index = (int)strlen(read_buffer);
+        }
+
+        if (index >= 5) {
+            err = send_simple_response(client->socket, 500, STATUS_500);
+            continue;
+        }
+
+        char command_tmp[4 + 1];
+        memset(command_tmp, 0, sizeof(command_tmp));
+        memcpy(command_tmp, read_buffer, (size_t)index);
+
+        for (int i = 0; command_tmp[i]; i++) {
+            command_tmp[i] = (char)toupper((int)command_tmp[i]);
+        }
+
+        bool matched = false;
+        for (int i = 0; commands[i].command; i++) {
+            if (strcmp(commands[i].command, command_tmp) == 0) {
+                char arg_buf[512];
+                const char *arg = NULL;
+
+                if (index < (int)strlen(read_buffer)) {
+                    strncpy(arg_buf, read_buffer + index + 1, sizeof(arg_buf) - 1);
+                    arg_buf[sizeof(arg_buf) - 1] = '\0';
+                    arg = lftpd_string_trim(arg_buf);
+                }
+
+                lftpd_log_info("CMD %s %s", command_tmp, arg ? arg : "");
+                err = commands[i].handler(client, arg);
+                matched = true;
+                break;
+            }
+        }
+
+        if (!matched) {
+            send_simple_response(client->socket, 502, STATUS_502);
+        }
+    }
+
+cleanup:
+    lftpd_inet_close(client->socket);
+    return 0;
+}
+
+int lftpd_start(const char *directory, int port, lftpd_t *lftpd)
+{
+    memset(lftpd, 0, sizeof(lftpd_t));
+
+    lftpd->directory = directory;
+    lftpd->port = port;
+
+    while (true) {
+        lftpd->server_socket = lftpd_inet_listen(port);
+        if (lftpd->server_socket < 0) {
+            lftpd_log_error("error creating listener");
+            vTaskDelay(pdMS_TO_TICKS(3000));
+            continue;
+        }
+
+        lftpd_log_info("waiting for connection...");
+
+        int client_socket = lftpd_inet_accept(lftpd->server_socket);
+        if (client_socket < 0) {
+            lftpd_log_error("error accepting client socket");
+            lftpd_inet_close(lftpd->server_socket);
+            continue;
+        }
+
+        {
+            char ip_str[16];
+            struct net_sockaddr_in addr;
+            int addrlen = sizeof(addr);
+            if (net_getsockname(client_socket,
+                                (struct net_sockaddr *)&addr, &addrlen) == 0) {
+                net_inet_ntoa(addr.sin_addr.s_addr, ip_str);
+                int remote_port = lftpd_inet_get_socket_port(client_socket);
+                lftpd_log_info("connection received from %s:%d...",
+                               ip_str, remote_port);
+            } else {
+                lftpd_log_info("connection received...");
+            }
+        }
+
+        lftpd_client_t client;
+        memset(&client, 0, sizeof(client));
+        strncpy(client.directory, directory, sizeof(client.directory) - 1);
+        client.directory[sizeof(client.directory) - 1] = '\0';
+        client.socket = client_socket;
+        client.data_socket = -1;
+
+        lftpd->client = &client;
+        handle_control_channel(&client);
+        lftpd->client = NULL;
+
+        /* standalone mode: socket was closed in handle_control_channel,
+         * loop back to create a new listener */
+    }
+}
+
+int lftpd_stop(lftpd_t *lftpd)
+{
+    if (lftpd->server_socket >= 0) {
+        lftpd_inet_close(lftpd->server_socket);
+    }
+    if (lftpd->client) {
+        lftpd_inet_close(lftpd->client->socket);
+    }
+    return 0;
+}
--- a/Drivers/BSP/NET/lftpd/lftpd.h
+++ b/Drivers/BSP/NET/lftpd/lftpd.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <stdint.h>
+
+typedef struct {
+    char   directory[256];
+    int    socket;
+    int    data_socket;
+} lftpd_client_t;
+
+typedef struct {
+    const char *directory;
+    int    port;
+    int    server_socket;
+    lftpd_client_t *client;
+} lftpd_t;
+
+int lftpd_start(const char *directory, int port, lftpd_t *lftpd);
+int lftpd_stop(lftpd_t *lftpd);
--- a/Drivers/BSP/NET/lftpd/lftpd_inet.c
+++ b/Drivers/BSP/NET/lftpd/lftpd_inet.c
@@ -0,0 +1,166 @@
+#define DBG_TAG "[LFT_INET]"
+
+#include "private/lftpd_inet.h"
+#include "dbg_log.h"
+#include "net_socket.h"
+#include <string.h>
+
+int lftpd_inet_listen(int port)
+{
+    int retry;
+    int s;
+
+    for (retry = 0; retry < 5; retry++) {
+        s = net_socket(NET_AF_INET, NET_SOCK_STREAM);
+        if (s < 0) {
+            if (retry == 0) DBG_ERROR("create socket");
+            vTaskDelay(pdMS_TO_TICKS(500));
+            continue;
+        }
+
+        struct net_sockaddr_in addr;
+        addr.sin_family = NET_AF_INET;
+        addr.sin_port = net_htons((uint16_t)port);
+        addr.sin_addr.s_addr = 0;
+
+        if (net_bind(s, (struct net_sockaddr *)&addr, sizeof(addr)) < 0) {
+            DBG_ERROR("bind port %d", port);
+            net_close(s);
+            return -1;
+        }
+
+        if (net_listen(s) >= 0) {
+            return s;
+        }
+
+        net_close(s);
+        if (retry < 4) {
+            vTaskDelay(pdMS_TO_TICKS(2000));
+        }
+    }
+
+    DBG_ERROR("listen failed after 5 retries (total 10s wait)");
+    return -1;
+}
+
+int lftpd_inet_get_socket_port(int socket)
+{
+    struct net_sockaddr_in addr;
+    int addrlen = sizeof(addr);
+
+    if (net_getsockname(socket, (struct net_sockaddr *)&addr, &addrlen) < 0) {
+        DBG_ERROR("error getting socket port number");
+        return -1;
+    }
+
+    return (int)net_ntohs(addr.sin_port);
+}
+
+int lftpd_inet_accept(int socket)
+{
+    while (1) {
+        int s = net_accept(socket, NULL, NULL);
+        if (s >= 0) {
+            return s;
+        }
+        vTaskDelay(pdMS_TO_TICKS(100));
+    }
+}
+
+int lftpd_inet_accept_timeout(int socket, int timeout_ms)
+{
+    int elapsed = 0;
+
+    while (elapsed < timeout_ms) {
+        int s = net_accept(socket, NULL, NULL);
+        if (s >= 0) {
+            return s;
+        }
+        /* 数据连接已被对端关闭时提前退出，不等待超时 */
+        net_sock_t *p_sock = net_get_sock(socket);
+        if (p_sock == NULL || p_sock->state != NET_SOCK_STATE_LISTENING) {
+            DBG_ERROR("data socket closed, accept aborted");
+            return -1;
+        }
+        vTaskDelay(pdMS_TO_TICKS(100));
+        elapsed += 100;
+    }
+
+    DBG_ERROR("accept timeout (%dms)", timeout_ms);
+    return -1;
+}
+
+int lftpd_inet_read_line(int socket, char *buffer, size_t buffer_len)
+{
+    memset(buffer, 0, buffer_len);
+    int total_read_len = 0;
+
+    while (total_read_len < (int)buffer_len) {
+        int read_len = net_recv(socket,
+                                buffer + total_read_len,
+                                buffer_len - total_read_len - 1,
+                                0);
+        if (read_len == 0) {
+            return -1;
+        }
+        if (read_len < 0) {
+            return read_len;
+        }
+
+        total_read_len += read_len;
+
+        char *p = strstr(buffer, "\r\n");
+        if (p != NULL) {
+            *p = '\0';
+            return 0;
+        }
+    }
+
+    return -1;
+}
+
+int lftpd_inet_write_string(int socket, const char *message)
+{
+    const char *p = message;
+    int length = (int)strlen(message);
+
+    while (length > 0) {
+        int write_len = net_send(socket, p, length, 0);
+        if (write_len < 0) {
+            DBG_ERROR("write error");
+            return write_len;
+        }
+        p += write_len;
+        length -= write_len;
+    }
+
+    return 0;
+}
+
+int lftpd_inet_write(int socket, const void *buf, int len)
+{
+    const char *p = (const char *)buf;
+    int remaining = len;
+
+    while (remaining > 0) {
+        int n = net_send(socket, p, remaining, 0);
+        if (n < 0) {
+            return n;
+        }
+        p += n;
+        remaining -= n;
+    }
+
+    return len;
+}
+
+int lftpd_inet_read(int socket, void *buf, int len)
+{
+    int n = net_recv(socket, buf, len, 0);
+    return n;
+}
+
+int lftpd_inet_close(int socket)
+{
+    return net_close(socket);
+}
--- a/Drivers/BSP/NET/lftpd/lftpd_io.c
+++ b/Drivers/BSP/NET/lftpd/lftpd_io.c
@@ -0,0 +1,236 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <ctype.h>
+
+#include "ff.h"
+#include "private/lftpd_io.h"
+
+#define DBG_TAG "[LFT_IO]"
+#include "dbg_log.h"
+
+/*
+ * FatFS 在 FF_USE_LFN=0 时不接受 "/" 前缀路径。
+ * 剥离前导 "/" 后用 FatFS 兼容路径，根目录用 "0:"（驱动号格式）替代。
+ */
+static const char *to_fatfs_path(const char *path)
+{
+    if (path == NULL || *path == '\0') {
+        return "0:";
+    }
+    if (*path == '/') {
+        path++;
+        if (*path == '\0') {
+            return "0:";
+        }
+    }
+    return path;
+}
+
+static int s_file_open = 0;
+static FIL s_ftp_file;
+
+char *lftpd_io_canonicalize_path(const char *base, const char *name)
+{
+    if (base == NULL) {
+        base = "";
+    }
+    if (name == NULL) {
+        name = "";
+    }
+
+    char *path;
+    if (name[0] == '/') {
+        path = (char *)malloc(strlen(name) + 1);
+        if (path == NULL) return NULL;
+        strcpy(path, name);
+    } else {
+        size_t len = strlen(base) + 1 + strlen(name) + 1;
+        path = (char *)malloc(len);
+        if (path == NULL) return NULL;
+        snprintf(path, len, "%s/%s", base, name);
+    }
+
+    char *abs_path = (char *)malloc(strlen(path) + 2);
+    if (abs_path == NULL) {
+        free(path);
+        return NULL;
+    }
+    abs_path[0] = '\0';
+
+    char *p = path;
+    while (*p != '\0') {
+        while (*p == '/') p++;
+        if (*p == '\0') break;
+
+        char *seg_start = p;
+        while (*p != '\0' && *p != '/') p++;
+
+        char saved = *p;
+        *p = '\0';
+
+        if (strcmp(seg_start, ".") == 0) {
+            /* ignore */
+        } else if (strcmp(seg_start, "..") == 0) {
+            char *slash = strrchr(abs_path, '/');
+            if (slash != NULL) {
+                *slash = '\0';
+            }
+        } else {
+            strcat(abs_path, "/");
+            strcat(abs_path, seg_start);
+        }
+
+        *p = saved;
+    }
+    free(path);
+
+    if (strlen(abs_path) == 0) {
+        strcpy(abs_path, "/");
+    }
+
+    return abs_path;
+}
+
+int lftpd_io_open_read(const char *path)
+{
+    if (s_file_open) {
+        DBG_ERROR("open_read '%s': already open", path);
+        return -1;
+    }
+    const char *fpath = to_fatfs_path(path);
+    FRESULT fr = f_open(&s_ftp_file, fpath, FA_READ);
+    if (fr != FR_OK) {
+        DBG_ERROR("open_read '%s': f_open err=%d", fpath, (int)fr);
+        return -1;
+    }
+    s_file_open = 1;
+    return 0;
+}
+
+int lftpd_io_open_write(const char *path)
+{
+    if (s_file_open) {
+        DBG_ERROR("open_write '%s': already open", path);
+        return -1;
+    }
+    const char *fpath = to_fatfs_path(path);
+    FRESULT fr = f_open(&s_ftp_file, fpath, FA_WRITE | FA_CREATE_ALWAYS);
+    if (fr != FR_OK) {
+        DBG_ERROR("open_write '%s': f_open err=%d", fpath, (int)fr);
+        return -1;
+    }
+    s_file_open = 1;
+    return 0;
+}
+
+int lftpd_io_read(int handle, void *buf, int len)
+{
+    (void)handle;
+    UINT br;
+    if (f_read(&s_ftp_file, buf, (UINT)len, &br) != FR_OK) {
+        return -1;
+    }
+    return (int)br;
+}
+
+int lftpd_io_write(int handle, const void *buf, int len)
+{
+    (void)handle;
+    UINT bw;
+    if (f_write(&s_ftp_file, buf, (UINT)len, &bw) != FR_OK) {
+        return -1;
+    }
+    if ((int)bw != len) {
+        return -1;
+    }
+    return (int)bw;
+}
+
+void lftpd_io_close(int handle)
+{
+    (void)handle;
+    if (s_file_open) {
+        f_close(&s_ftp_file);
+        s_file_open = 0;
+    }
+}
+
+int lftpd_io_stat(const char *path, uint32_t *p_size, int *p_is_dir)
+{
+    FILINFO fno;
+    const char *fpath = to_fatfs_path(path);
+
+    if (f_stat(fpath, &fno) != FR_OK) {
+        return -1;
+    }
+
+    if (p_size != NULL) {
+        *p_size = (uint32_t)fno.fsize;
+    }
+    if (p_is_dir != NULL) {
+        *p_is_dir = (fno.fattrib & AM_DIR) ? 1 : 0;
+    }
+
+    return 0;
+}
+
+int lftpd_io_unlink(const char *path)
+{
+    const char *fpath = to_fatfs_path(path);
+    if (f_unlink(fpath) == FR_OK) {
+        return 0;
+    }
+    return -1;
+}
+
+void *lftpd_io_opendir(const char *path)
+{
+    DIR *dp = (DIR *)malloc(sizeof(DIR));
+    if (dp == NULL) {
+        return NULL;
+    }
+    const char *fpath = to_fatfs_path(path);
+    if (f_opendir(dp, fpath) != FR_OK) {
+        free(dp);
+        return NULL;
+    }
+    return (void *)dp;
+}
+
+int lftpd_io_readdir(void *dp, char *name, int name_max, uint32_t *p_size, int *p_is_dir)
+{
+    FILINFO fno;
+    FRESULT fr;
+
+    while (1) {
+        fr = f_readdir((DIR *)dp, &fno);
+        if (fr != FR_OK || fno.fname[0] == 0) {
+            return -1;
+        }
+        if (fno.fname[0] == '.') {
+            continue;
+        }
+        break;
+    }
+
+    strncpy(name, fno.fname, (size_t)(name_max - 1));
+    name[name_max - 1] = '\0';
+
+    if (p_size != NULL) {
+        *p_size = (uint32_t)fno.fsize;
+    }
+    if (p_is_dir != NULL) {
+        *p_is_dir = (fno.fattrib & AM_DIR) ? 1 : 0;
+    }
+
+    return 0;
+}
+
+void lftpd_io_closedir(void *dp)
+{
+    if (dp != NULL) {
+        f_closedir((DIR *)dp);
+        free(dp);
+    }
+}
--- a/Drivers/BSP/NET/lftpd/lftpd_log.c
+++ b/Drivers/BSP/NET/lftpd/lftpd_log.c
@@ -0,0 +1,18 @@
+#include "private/lftpd_log.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+
+
+void lftpd_log_internal(const char* level, const char* format, ...) {
+	char buffer[256];
+	va_list args;
+	va_start(args, format);
+	int err = vsnprintf(buffer, sizeof(buffer), format, args);
+	va_end(args);
+	if (err >= sizeof(buffer)) {
+		return;
+	}
+	printf("%s %s\n", level, buffer);
+}
--- a/Drivers/BSP/NET/lftpd/lftpd_string.c
+++ b/Drivers/BSP/NET/lftpd/lftpd_string.c
@@ -0,0 +1,16 @@
+#include <string.h>
+#include <ctype.h>
+
+#include "private/lftpd_string.h"
+
+char *lftpd_string_trim(char *s)
+{
+    char *p = s;
+    for (int i = 0, len = (int)strlen(s); i < len && isspace((int)s[i]); i++) {
+        p++;
+    }
+    for (int i = (int)strlen(p); i >= 0 && isspace((int)p[i]); i--) {
+        p[i] = '\0';
+    }
+    return p;
+}
--- a/Drivers/BSP/NET/lftpd/private/lftpd_inet.h
+++ b/Drivers/BSP/NET/lftpd/private/lftpd_inet.h
@@ -0,0 +1,14 @@
+#pragma once
+
+#include <stdlib.h>
+#include <stdint.h>
+
+int lftpd_inet_listen(int port);
+int lftpd_inet_get_socket_port(int socket);
+int lftpd_inet_accept(int socket);
+int lftpd_inet_accept_timeout(int socket, int timeout_ms);
+int lftpd_inet_read_line(int socket, char *buffer, size_t buffer_len);
+int lftpd_inet_write_string(int socket, const char *message);
+int lftpd_inet_write(int socket, const void *buf, int len);
+int lftpd_inet_read(int socket, void *buf, int len);
+int lftpd_inet_close(int socket);
--- a/Drivers/BSP/NET/lftpd/private/lftpd_io.h
+++ b/Drivers/BSP/NET/lftpd/private/lftpd_io.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <stdint.h>
+
+char *lftpd_io_canonicalize_path(const char *base, const char *name);
+
+int lftpd_io_open_read(const char *path);
+int lftpd_io_open_write(const char *path);
+int lftpd_io_read(int handle, void *buf, int len);
+int lftpd_io_write(int handle, const void *buf, int len);
+void lftpd_io_close(int handle);
+
+int lftpd_io_stat(const char *path, uint32_t *p_size, int *p_is_dir);
+int lftpd_io_unlink(const char *path);
+
+void *lftpd_io_opendir(const char *path);
+int lftpd_io_readdir(void *dp, char *name, int name_max, uint32_t *p_size, int *p_is_dir);
+void lftpd_io_closedir(void *dp);
--- a/Drivers/BSP/NET/lftpd/private/lftpd_log.h
+++ b/Drivers/BSP/NET/lftpd/private/lftpd_log.h
@@ -0,0 +1,7 @@
+#pragma once
+
+#include "dbg_log.h"
+
+#define lftpd_log_error(format, ...)  DBG_ERROR("[FTP] " format, ##__VA_ARGS__)
+#define lftpd_log_info(format, ...)   DBG_INFO("[FTP] " format, ##__VA_ARGS__)
+#define lftpd_log_debug(format, ...)
--- a/Drivers/BSP/NET/lftpd/private/lftpd_status.h
+++ b/Drivers/BSP/NET/lftpd/private/lftpd_status.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#define STATUS_110 "Restart marker reply."
+#define STATUS_120 "Service ready in %d minutes."
+#define STATUS_125 "Data connection already open; transfer starting."
+#define STATUS_150 "File status okay; about to open data connection."
+#define STATUS_200 "Command okay."
+#define STATUS_202 "Command not implemented, superfluous at this site."
+#define STATUS_211 "System status, or system help reply."
+#define STATUS_212 "Directory status."
+#define STATUS_213 "File status."
+#define STATUS_214 "Help message."
+#define STATUS_215 "%s system type."
+#define STATUS_220 "Service ready for new user."
+#define STATUS_221 "Service closing control connection."
+#define STATUS_225 "Data connection open; no transfer in progress."
+#define STATUS_226 "Closing data connection."
+#define STATUS_227 "Entering Passive Mode (%d,%d,%d,%d,%d,%d)."
+#define STATUS_229 "Entering Extended Passive Mode (|||%d|)."
+#define STATUS_230 "User logged in, proceed."
+#define STATUS_250 "Requested file action okay, completed."
+#define STATUS_257 "\"%s\" created."
+#define STATUS_331 "User name okay, need password."
+#define STATUS_332 "Need account for login."
+#define STATUS_350 "Requested file action pending further information."
+#define STATUS_421 "Service not available, closing control connection."
+#define STATUS_425 "Can't open data connection."
+#define STATUS_426 "Connection closed; transfer aborted."
+#define STATUS_450 "Requested file action not taken. File unavailable (e.g., file busy)."
+#define STATUS_451 "Requested action aborted: local error in processing."
+#define STATUS_452 "Requested action not taken. Insufficient storage space in system."
+#define STATUS_500 "Syntax error, command unrecognized. This may include errors such as command line too long."
+#define STATUS_501 "Syntax error in parameters or arguments."
+#define STATUS_502 "Command not implemented."
+#define STATUS_503 "Bad sequence of commands."
+#define STATUS_504 "Command not implemented for that parameter."
+#define STATUS_530 "Not logged in."
+#define STATUS_532 "Need account for storing files."
+#define STATUS_550 "Requested action not taken. File unavailable (e.g., file not found, no access)."
+#define STATUS_551 "Requested action aborted: page type unknown."
+#define STATUS_552 "Requested file action aborted. Exceeded storage allocation (for current directory or dataset)."
+#define STATUS_553 "Requested action not taken. File name not allowed."
--- a/Drivers/BSP/NET/lftpd/private/lftpd_string.h
+++ b/Drivers/BSP/NET/lftpd/private/lftpd_string.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#define CRLF "\r\n"
+
+char* lftpd_string_trim(char* s);
--- a/Drivers/BSP/NET/net_config.h
+++ b/Drivers/BSP/NET/net_config.h
@@ -0,0 +1,104 @@
+/*
+ * 模块名称：Network Configuration
+ * 模块功能：网络子系统配置宏定义，包括最大Socket数量、缓冲区大小、
+ *          超时时间等参数配置
+ * 适用平台：STM32F4 系列（CH395F 以太网芯片）
+ * 作者：王建锋
+ * 创建日期：2026-07-18
+ * 修改记录：
+ */
+
+#ifndef __NET_CONFIG_H
+#define __NET_CONFIG_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * 最大支持的 Socket 数量（CH395F 支持 0~7）
+ */
+#ifndef NET_MAX_SOCKETS
+#define NET_MAX_SOCKETS                 8
+#endif
+
+/*
+ * TCP Server 多连接模式配置
+ * 监听 Socket 索引和数据 Socket 起始索引
+ */
+#ifndef NET_TCP_SERVER_LISTEN_SOCK
+#define NET_TCP_SERVER_LISTEN_SOCK      0       /* 监听 Socket 索引 */
+#endif
+
+/*
+ * 缓冲区大小配置
+ */
+#ifndef NET_SEND_BUF_SIZE
+#define NET_SEND_BUF_SIZE               4096    /* 发送缓冲区大小（字节） */
+#endif
+
+#ifndef NET_RECV_BUF_SIZE
+#define NET_RECV_BUF_SIZE               4096    /* 接收缓冲区大小（字节） */
+#endif
+
+/*
+ * 超时时间配置（毫秒）
+ * 0 = 无限等待（阻塞模式）
+ */
+#ifndef NET_CONNECT_TIMEOUT_MS
+#define NET_CONNECT_TIMEOUT_MS          5000    /* 连接超时 */
+#endif
+
+#ifndef NET_ACCEPT_TIMEOUT_MS
+#define NET_ACCEPT_TIMEOUT_MS           0       /* 接受连接超时（0=无限等待） */
+#endif
+
+#ifndef NET_SEND_TIMEOUT_MS
+#define NET_SEND_TIMEOUT_MS             1000    /* 发送超时 */
+#endif
+
+#ifndef NET_RECV_TIMEOUT_MS
+#define NET_RECV_TIMEOUT_MS             30000   /* 接收超时（30秒，0=无限等待） */
+#endif
+
+/*
+ * TCP KeepAlive 配置
+ */
+#ifndef NET_KEEPALIVE_IDLE_MS
+#define NET_KEEPALIVE_IDLE_MS           7200000 /* KeepAlive 空闲时间（默认2小时） */
+#endif
+
+#ifndef NET_KEEPALIVE_INTVL_MS
+#define NET_KEEPALIVE_INTVL_MS          75000   /* KeepAlive 探测间隔（默认75秒） */
+#endif
+
+#ifndef NET_KEEPALIVE_CNT
+#define NET_KEEPALIVE_CNT               9       /* KeepAlive 探测次数（默认9次） */
+#endif
+
+/*
+ * select/poll 最大 fd 数量
+ */
+#ifndef NET_SELECT_MAX_FDS
+#define NET_SELECT_MAX_FDS              NET_MAX_SOCKETS
+#endif
+
+/*
+ * 轮询延时配置（毫秒）
+ */
+#ifndef NET_POLL_DELAY_MS
+#define NET_POLL_DELAY_MS               1       /* 非阻塞轮询延时 */
+#endif
+
+/*
+ * 消息队列配置
+ */
+#ifndef NET_MSG_QUEUE_LENGTH
+#define NET_MSG_QUEUE_LENGTH            8       /* 消息队列深度 */
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __NET_CONFIG_H */
--- a/Drivers/BSP/NET/net_select.c
+++ b/Drivers/BSP/NET/net_select.c
@@ -0,0 +1,320 @@
+/*
+ * 模块名称：Network Select Implementation
+ * 模块功能：I/O 多路复用实现，包括 select 和 poll 两种模式，用于同时监控多个 Socket 的读写事件
+ * 适用平台：STM32F407ZGTx + CH395F 以太网芯片
+ * 作者：王建锋
+ * 创建日期：2026-07-18
+ * 修改记录：
+ *     2026-07-18  王建锋  创建初始版本
+ */
+
+#include <string.h>
+#include <stdio.h>
+
+#include "cmsis_os.h"  /* CMSIS-RTOS2 API: osDelay() */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "net_select.h"
+#include "net_socket.h"
+#include "ch395f.h"
+#include "main.h"
+
+/*
+ * 私有函数声明区
+ */
+
+static int check_socket_readable(int sockfd);
+static int check_socket_writable(int sockfd);
+static int check_socket_error(int sockfd);
+
+/*
+ * 公共函数实现区
+ */
+
+/*
+ * 函数功能：I/O 多路复用（select 模式），等待多个 Socket 的读写事件就绪
+ * 入口参数：nfds     - 最大文件描述符数 +1                                       int    > 0
+ *           readfds  - 读事件集合指针                                           net_fd_set *（可为 NULL）
+ *           writefds - 写事件集合指针                                           net_fd_set *（可为 NULL）
+ *           exceptfds- 异常事件集合指针                                         net_fd_set *（可为 NULL）
+ *           timeout  - 超时时间结构体指针                                       net_timeval *（NULL=无限等待）
+ * 出口参数：readfds/writefds/exceptfds - 仅保留就绪的 Socket 位                  net_fd_set *
+ * 返回值：就绪的 Socket 数量（>= 0）；-1 表示参数无效                           int
+ * 限定条件：net_init() + MX_FREERTOS_Init() 已执行；可在任意任务上下文调用
+ * 函数说明：1. 轮询 Socket 控制块（RAM）中的读/写/异常状态，判断事件是否就绪
+ *           2. 不在此直接访问 CH395F SPI——所有 ch395f 事务统一由 netTask 的 net_poll()
+ *              每 10ms 串行执行并刷新控制块状态（send_ready / readable），本函数仅做
+ *              RAM 读取，避免与应用任务发起的 SPI 访问竞争（见 Trap 16）
+ *           3. 阻塞等待直到有事件就绪或超时
+ *           4. 通过 osDelay(1) 让出 CPU，平衡实时性与 CPU 利用率（状态刷新延迟 <=10ms）
+ */
+int net_select(int nfds, net_fd_set *readfds, net_fd_set *writefds,
+                net_fd_set *exceptfds, net_timeval *timeout) {
+    uint32_t start_tick;
+    uint32_t timeout_ms = 0;
+    net_fd_set result_read = {0};
+    net_fd_set result_write = {0};
+    net_fd_set result_except = {0};
+    int ready_count = 0;
+    int i;
+
+    /* 检查输入参数合法性 */
+    if ((0 >= nfds) || (NET_MAX_SOCKETS < nfds)) {
+        return -1;
+    }
+
+    /* 计算超时时间（毫秒） */
+    if (NULL != timeout) {
+        timeout_ms = (uint32_t)(timeout->tv_sec * 1000) +
+                     (uint32_t)(timeout->tv_usec / 1000);
+    }
+
+    start_tick = HAL_GetTick();
+
+    while (1) {
+        /* 仅读取 netTask 的 net_poll() 已刷新的控制块状态（无 CH395F SPI 访问） */
+        ready_count = 0;
+
+        /* 检查哪个 Socket 有事件 */
+        for (i = 0; i < nfds && i < NET_MAX_SOCKETS; i++) {
+            net_sock_t *p_sock = net_get_sock(i);
+
+            if (NULL == p_sock) {
+                continue;
+            }
+
+            /* 检查可读事件 */
+            if ((NULL != readfds) && NET_FD_ISSET(i, readfds)) {
+                if (check_socket_readable(i)) {
+                    NET_FD_SET(i, &result_read);
+                    ready_count++;
+                }
+            }
+
+            /* 检查可写事件 */
+            if ((NULL != writefds) && NET_FD_ISSET(i, writefds)) {
+                if (check_socket_writable(i)) {
+                    NET_FD_SET(i, &result_write);
+                    ready_count++;
+                }
+            }
+
+            /* 检查异常事件 */
+            if ((NULL != exceptfds) && NET_FD_ISSET(i, exceptfds)) {
+                if (check_socket_error(i)) {
+                    NET_FD_SET(i, &result_except);
+                    ready_count++;
+                }
+            }
+        }
+
+        /* 有事件就绪，返回 */
+        if (0 < ready_count) {
+            break;
+        }
+
+        /* 超时检测 */
+        if (NULL != timeout) {
+            if ((0 < timeout_ms) &&
+                ((HAL_GetTick() - start_tick) >= timeout_ms)) {
+                break;  /* 超时返回 0 */
+            }
+        }
+
+        /* 让出 CPU：FreeRTOS osDelay() 会正确进入休眠，允许其他任务运行 */
+        osDelay(1);  /* 1ms 周期轮询，平衡实时性和 CPU 利用率 */
+    }
+
+    /* 复制结果集合 */
+    if (NULL != readfds) {
+        readfds->fd_bits = result_read.fd_bits;
+    }
+    if (NULL != writefds) {
+        writefds->fd_bits = result_write.fd_bits;
+    }
+    if (NULL != exceptfds) {
+        exceptfds->fd_bits = result_except.fd_bits;
+    }
+
+    return ready_count;
+}
+
+/*
+ * 函数功能：I/O 多路复用（poll 模式），等待多个 Socket 的读写事件就绪
+ * 入口参数：fds     - pollfd 数组指针                                          net_pollfd *
+ *           nfds    - 数组元素数量                                              int    > 0
+ *           timeout - 超时时间（毫秒）                                          int    >= 0（-1=无限等待，但本实现按 >=0 处理）
+ * 出口参数：fds[i].revents - 填充实际发生的事件掩码                            short
+ * 返回值：就绪的 fd 数量（>= 0）；-1 表示参数无效                              int
+ * 限定条件：net_init() + MX_FREERTOS_Init() 已执行；可在任意任务上下文调用
+ * 函数说明：1. 轮询 Socket 控制块（RAM）中的读/写/错误/挂起状态，判断事件是否就绪
+ *           2. 不在此直接访问 CH395F SPI——状态由 netTask 的 net_poll() 每 10ms 刷新
+ *           3. 阻塞等待直到有事件就绪或超时
+ *           4. 通过 osDelay(1) 让出 CPU，平衡实时性与 CPU 利用率（状态刷新延迟 <=10ms）
+ */
+int net_poll_events(net_pollfd *fds, int nfds, int timeout) {
+    uint32_t start_tick;
+    int ready = 0;
+    int i;
+
+    if ((NULL == fds) || (0 >= nfds)) {
+        return -1;
+    }
+
+    start_tick = HAL_GetTick();
+
+    while (1) {
+        /* 仅读取 netTask 的 net_poll() 已刷新的控制块状态（无 CH395F SPI 访问） */
+        ready = 0;
+
+        for (i = 0; i < nfds; i++) {
+            fds[i].revents = 0;
+
+            /* 检查 fd 有效性 */
+            if ((0 > fds[i].fd) || (NET_MAX_SOCKETS <= fds[i].fd)) {
+                fds[i].revents |= NET_POLLNVAL;
+                ready++;
+                continue;
+            }
+
+            net_sock_t *p_sock = net_get_sock(fds[i].fd);
+
+            if (NULL == p_sock) {
+                fds[i].revents |= NET_POLLNVAL;
+                ready++;
+                continue;
+            }
+
+            /* 检查可读 */
+            if (fds[i].events & NET_POLLIN) {
+                if (check_socket_readable(fds[i].fd)) {
+                    fds[i].revents |= NET_POLLIN;
+                    ready++;
+                }
+            }
+
+            /* 检查可写 */
+            if (fds[i].events & NET_POLLOUT) {
+                if (check_socket_writable(fds[i].fd)) {
+                    fds[i].revents |= NET_POLLOUT;
+                    ready++;
+                }
+            }
+
+            /* 检查错误 */
+            if (check_socket_error(fds[i].fd)) {
+                fds[i].revents |= NET_POLLERR;
+                ready++;
+            }
+
+            /* 检查挂起（连接断开） */
+            if (NET_SOCK_STATE_CLOSED == p_sock->state) {
+                fds[i].revents |= NET_POLLHUP;
+                ready++;
+            }
+        }
+
+        if (0 < ready) {
+            break;
+        }
+
+        /* 超时检测 */
+        if (0 <= timeout) {
+            if ((HAL_GetTick() - start_tick) >= (uint32_t)timeout) {
+                break;
+            }
+        }
+
+        /* 让出 CPU：FreeRTOS osDelay() 会正确进入休眠，允许其他任务运行 */
+        osDelay(1);  /* 1ms 周期轮询，平衡实时性和 CPU 利用率 */
+    }
+
+    return ready;
+}
+
+/*
+ * 私有函数实现区
+ */
+
+/*
+ * 函数功能：检查指定 Socket 当前是否可读
+ * 入口参数：sockfd - 待检查的 Socket 描述符                                int    0 - NET_MAX_SOCKETS-1
+ * 出口参数：无
+ * 返回值：1 - 可读（监听态有新连接，或已连接态接收缓冲非空）；0 - 不可读或描述符无效  int
+ * 限定条件：net_init() 已调用
+ * 函数说明：1. 监听态 Socket 视为可读（存在可 accept 的新连接）
+ *           2. 已建立连接且接收缓冲区长度大于 0 时视为可读
+ */
+static int check_socket_readable(int sockfd) {
+    net_sock_t *p_sock;
+
+    p_sock = net_get_sock(sockfd);
+    if (NULL == p_sock) {
+        return 0;
+    }
+
+    /* 监听 Socket 有新连接时可读 */
+    if (NET_SOCK_STATE_LISTENING == p_sock->state) {
+        return 1;
+    }
+
+    /* 已建立连接或 UDP 等有数据可读：readable 由 net_poll 在 RECV_OK 时置位、
+     * net_recv_locked 读空后清零。避免应用任务直接访问 CH395F SPI（见 Trap 16） */
+    if (p_sock->readable) {
+        return 1;
+    }
+
+    return 0;
+}
+
+/*
+ * 函数功能：检查指定 Socket 当前是否可写
+ * 入口参数：sockfd - 待检查的 Socket 描述符                                int    0 - NET_MAX_SOCKETS-1
+ * 出口参数：无
+ * 返回值：1 - 可写（已连接且发送缓冲空闲）；0 - 不可写或描述符无效        int
+ * 限定条件：net_init() 已调用
+ * 函数说明：1. 仅已建立连接且 send_ready 标志置位的 Socket 视为可写
+ */
+static int check_socket_writable(int sockfd) {
+    net_sock_t *p_sock;
+
+    p_sock = net_get_sock(sockfd);
+    if (NULL == p_sock) {
+        return 0;
+    }
+
+    /* 已建立连接的 Socket 发送缓冲区空闲时可写 */
+    if (NET_SOCK_STATE_ESTABLISHED == p_sock->state) {
+        if (p_sock->send_ready) {
+            return 1;
+        }
+    }
+
+    return 0;
+}
+
+/*
+ * 函数功能：检查指定 Socket 是否存在错误状态
+ * 入口参数：sockfd - 待检查的 Socket 描述符                                int    0 - NET_MAX_SOCKETS-1
+ * 出口参数：无
+ * 返回值：1 - 有错误（含描述符越界或 Socket 未分配）；0 - 无错误          int
+ * 限定条件：无
+ * 函数说明：1. 描述符越界视为错误
+ *           2. 未分配（net_get_sock 返回 NULL）的 Socket 视为错误
+ */
+static int check_socket_error(int sockfd) {
+    net_sock_t *p_sock;
+
+    /* 无效 fd 视为错误 */
+    if ((0 > sockfd) || (NET_MAX_SOCKETS <= sockfd)) {
+        return 1;
+    }
+
+    p_sock = net_get_sock(sockfd);
+    if (NULL == p_sock) {
+        return 1;  /* 未使用的 Socket 视为错误 */
+    }
+
+    return 0;
+}
--- a/Drivers/BSP/NET/net_select.h
+++ b/Drivers/BSP/NET/net_select.h
@@ -0,0 +1,114 @@
+/*
+ * 模块名称：Network Select API
+ * 模块功能：I/O 多路复用接口，支持 select 和 poll 模式，
+ *          用于同时监控多个 Socket 的读写事件
+ * 适用平台：STM32F4 系列（CH395F 以太网芯片）
+ * 作者：王建锋
+ * 创建日期：2026-07-18
+ * 修改记录：
+ */
+
+#ifndef __NET_SELECT_H
+#define __NET_SELECT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "net_types.h"
+#include "net_config.h"
+
+/*
+ * 文件描述符集合
+ * 每个位对应一个 socket 描述符 (0~7)
+ */
+typedef struct {
+    uint32_t fd_bits;                   /* 位掩码 */
+} net_fd_set;
+
+/*
+ * 时间结构体
+ */
+typedef struct {
+    long tv_sec;                        /* 秒 */
+    long tv_usec;                       /* 微秒 */
+} net_timeval;
+
+/*
+ * poll 事件结构体
+ */
+typedef struct {
+    int fd;                             /* socket 描述符 */
+    short events;                       /* 请求的事件 */
+    short revents;                      /* 实际发生的事件 */
+} net_pollfd;
+
+/*
+ * poll 事件掩码
+ */
+#define NET_POLLIN          0x0001      /* 可读 */
+#define NET_POLLOUT         0x0004      /* 可写 */
+#define NET_POLLERR         0x0008      /* 错误 */
+#define NET_POLLHUP         0x0010      /* 挂起 */
+#define NET_POLLNVAL        0x0020      /* 无效请求 */
+
+/*
+ * fd_set 操作宏
+ */
+
+/*
+ * 函数功能：清空 fd_set
+ */
+#define NET_FD_ZERO(fdset) ((fdset)->fd_bits = 0)
+
+/*
+ * 函数功能：将 fd 加入 fd_set
+ */
+#define NET_FD_SET(fd, fdset) ((fdset)->fd_bits |= (1U << (fd)))
+
+/*
+ * 函数功能：将 fd 从 fd_set 移除
+ */
+#define NET_FD_CLR(fd, fdset) ((fdset)->fd_bits &= ~(1U << (fd)))
+
+/*
+ * 函数功能：检查 fd 是否在 fd_set 中
+ */
+#define NET_FD_ISSET(fd, fdset) (((fdset)->fd_bits & (1U << (fd))) != 0)
+
+/*
+ * I/O 多路复用 API
+ */
+
+/*
+ * 函数功能：I/O 多路复用（select 模式）
+ * 入口参数：nfds      - 最大 fd + 1（通常为 NET_MAX_SOCKETS）
+ *          readfds   - 可读事件集合，NULL 表示不关心
+ *          writefds  - 可写事件集合，NULL 表示不关心
+ *          exceptfds - 异常事件集合，NULL 表示不关心
+ *          timeout   - 超时时间，NULL 表示无限等待
+ * 返回值：就绪的 fd 数量，0=超时，-1=错误
+ * 限定条件：net_init() 已调用
+ * 函数说明：此函数会调用 net_poll() 轮询所有 Socket，
+ *          并检查哪些 Socket 有指定的事件发生。
+ */
+int net_select(int nfds, net_fd_set *readfds, net_fd_set *writefds,
+               net_fd_set *exceptfds, net_timeval *timeout);
+
+/*
+ * 函数功能：I/O 多路复用（poll 模式）
+ * 入口参数：fds     - net_pollfd 数组
+ *          nfds    - 数组元素数量
+ *          timeout - 超时时间（毫秒），-1 表示无限等待
+ * 返回值：就绪的 fd 数量，0=超时，-1=错误
+ * 限定条件：net_init() 已调用
+ * 函数说明：与 select 类似，但使用 pollfd 结构体数组，
+ *          更灵活，支持更多事件类型。
+ */
+int net_poll_events(net_pollfd *fds, int nfds, int timeout);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __NET_SELECT_H */
--- a/Drivers/BSP/NET/net_socket.c
+++ b/Drivers/BSP/NET/net_socket.c
--- a/Drivers/BSP/NET/net_socket.h
+++ b/Drivers/BSP/NET/net_socket.h
@@ -0,0 +1,343 @@
+/*
+ * 模块名称：Network Socket API
+ * 模块功能：BSD Socket API 兼容接口，提供 TCP/UDP 网络通信功能，
+ *          底层基于 CH395F 以太网协议栈芯片
+ * 适用平台：STM32F4 系列（CH395F 以太网芯片）
+ * 作者：王建锋
+ * 创建日期：2026-07-18
+ * 修改记录：
+ */
+
+#ifndef __NET_SOCKET_H
+#define __NET_SOCKET_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "net_types.h"
+#include "FreeRTOS.h"
+#include "task.h"
+
+/*
+ * 消息队列类型定义
+ */
+typedef enum {
+    NET_MSG_SEND,
+    NET_MSG_RECV,
+    NET_MSG_CLOSE,
+    NET_MSG_CONNECT,
+    NET_MSG_LISTEN,
+    NET_MSG_ACCEPT,
+} net_msg_type_t;
+
+typedef struct {
+    net_msg_type_t  type;           /* 操作类型 */
+    int             sockfd;         /* Socket 描述符 */
+    void           *buf;            /* 数据缓冲区（send/recv） */
+    int             len;            /* 数据长度/缓冲区大小 */
+    int             flags;          /* 接收标志 */
+    TaskHandle_t    caller;         /* 调用方任务句柄 */
+    int             result;         /* 操作结果 */
+    /* 连接参数 */
+    struct net_sockaddr_in  addr;   /* 连接地址 */
+    int             addrlen;        /* 地址长度 */
+} net_msg_t;
+
+/*
+ * 网络初始化接口
+ */
+
+/*
+ * 函数功能：网络子系统初始化（配置 CH395F + 启用多连接模式）
+ * 入口参数：ip       - 本地 IP 地址字符串 "192.168.1.100"，NULL 使用 DHCP
+ *          mask     - 子网掩码字符串 "255.255.255.0"，NULL 使用默认
+ *          gateway  - 网关地址字符串 "192.168.1.1"，NULL 使用默认
+ * 返回值：0 成功，-1 失败
+ * 限定条件：SPI2 已正确初始化
+ * 函数说明：必须在所有网络操作之前调用
+ */
+int net_init(const char *ip, const char *mask, const char *gateway);
+
+/*
+ * 函数功能：轮询所有 Socket 状态（必须在主循环中调用）
+ * 返回值：有事件发生的 socket 数量
+ * 限定条件：net_init() 已调用
+ * 函数说明：此函数处理所有 Socket 的中断事件，更新状态，
+ *          并触发事件回调。在非阻塞模式下必须定期调用。
+ */
+int net_poll(void);
+
+/*
+ * 核心 Socket API
+ */
+
+/*
+ * 函数功能：创建 socket
+ * 入口参数：domain   - 地址族，仅支持 AF_INET
+ *          type     - SOCK_STREAM(TCP) 或 SOCK_DGRAM(UDP)
+ * 返回值：socket 描述符 (0~7)，失败返回 -1
+ * 限定条件：net_init() 已调用
+ * 函数说明：自动分配空闲 Socket 控制块
+ */
+int net_socket(int domain, int type);
+
+/*
+ * 函数功能：绑定本地地址和端口
+ * 入口参数：sockfd   - socket 描述符
+ *          addr     - 本地地址结构体指针
+ *          addrlen  - 地址结构体长度
+ * 返回值：0 成功，-1 失败
+ * 限定条件：socket 已创建且未绑定
+ * 函数说明：设置 CH395F 源端口
+ */
+int net_bind(int sockfd, const struct net_sockaddr *addr, int addrlen);
+
+/*
+ * 函数功能：TCP Server 监听
+ * 入口参数：sockfd   - socket 描述符
+ * 返回值：0 成功，-1 失败
+ * 限定条件：socket 已绑定
+ * 函数说明：内部调用 ch395f_tcp_listen，监听 Socket 自身即为数据通道
+ */
+int net_listen(int sockfd);
+
+/*
+ * 函数功能：TCP Server 接受连接
+ * 入口参数：sockfd   - 监听 socket 描述符
+ *          addr     - 输出：客户端地址
+ *          addrlen  - 输入输出：地址长度
+ * 返回值：新 socket 描述符，失败返回 -1
+ * 限定条件：socket 正在监听
+ * 函数说明：在非阻塞模式下，如果没有新连接，返回 -1 并设置
+ *          net_errno 为 NET_ERR_WOULDBLOCK
+ */
+int net_accept(int sockfd, struct net_sockaddr *addr, int *addrlen);
+
+/*
+ * 函数功能：TCP Client 发起连接
+ * 入口参数：sockfd   - socket 描述符
+ *          addr     - 服务器地址
+ *          addrlen  - 地址长度
+ * 返回值：0 成功，-1 失败
+ * 限定条件：socket 已创建
+ * 函数说明：连接过程是异步的，需要调用 net_poll() 等待连接完成，
+ *          或使用 select() 等待可写事件
+ */
+int net_connect(int sockfd, const struct net_sockaddr *addr, int addrlen);
+
+/*
+ * 函数功能：发送数据（TCP）
+ * 入口参数：sockfd  - socket 描述符
+ *          buf     - 数据缓冲区
+ *          len     - 数据长度
+ *          flags   - 通常为 0
+ * 返回值：实际发送字节数，失败返回 -1
+ * 限定条件：TCP 连接已建立，指针非空
+ * 函数说明：阻塞等待发送缓冲区空闲，拷贝数据后触发发送
+ */
+int net_send(int sockfd, const void *buf, int len, int flags);
+
+/*
+ * 函数功能：接收数据（TCP）
+ * 入口参数：sockfd  - socket 描述符
+ *          buf     - 接收缓冲区
+ *          len     - 缓冲区大小
+ *          flags   - 通常为 0，可设置 NET_MSG_DONTWAIT 非阻塞
+ * 返回值：实际接收字节数，0=对端关闭，-1=错误
+ * 限定条件：TCP 连接已建立
+ * 函数说明：在阻塞模式下，如果没有数据，函数会等待；
+ *          在非阻塞模式下，如果没有数据，返回 -1 并设置
+ *          net_errno 为 NET_ERR_WOULDBLOCK
+ */
+int net_recv(int sockfd, void *buf, int len, int flags);
+
+/*
+ * 函数功能：发送 UDP 数据
+ * 入口参数：sockfd    - socket 描述符
+ *          buf       - 数据缓冲区
+ *          len       - 数据长度
+ *          flags     - 通常为 0
+ *          dest_addr - 目标地址
+ *          addrlen   - 地址长度
+ * 返回值：实际发送字节数，失败返回 -1
+ * 限定条件：socket 已创建，指针非空
+ * 函数说明：设置目标地址后调用 CH395F 发送
+ */
+int net_sendto(int sockfd, const void *buf, int len, int flags,
+               const struct net_sockaddr *dest_addr, int addrlen);
+
+/*
+ * 函数功能：接收 UDP 数据
+ * 入口参数：sockfd   - socket 描述符
+ *          buf      - 接收缓冲区
+ *          len      - 缓冲区大小
+ *          flags    - 通常为 0
+ *          src_addr - 输出：发送方地址
+ *          addrlen  - 输入输出：地址长度
+ * 返回值：实际接收字节数，失败返回 -1
+ * 限定条件：socket 已创建，指针非空
+ * 函数说明：读取 CH395F 接收缓冲区，获取对端地址
+ */
+int net_recvfrom(int sockfd, void *buf, int len, int flags,
+                 struct net_sockaddr *src_addr, int *addrlen);
+
+/*
+ * 函数功能：关闭 socket
+ * 入口参数：sockfd - socket 描述符
+ * 返回值：0 成功，-1 失败
+ * 限定条件：socket 已打开
+ * 函数说明：释放 Socket 控制块，TCP 先断开连接
+ */
+int net_close(int sockfd);
+
+/*
+ * 事件回调 API
+ */
+
+/*
+ * 函数功能：注册事件回调
+ * 入口参数：sockfd - socket 描述符
+ *          cb     - 回调函数
+ *          arg    - 用户参数
+ * 返回值：0 成功，-1 失败
+ * 限定条件：socket 已创建
+ * 函数说明：回调在 net_poll 上下文中触发
+ */
+int net_set_event_cb(int sockfd, net_event_cb_t cb, void *arg);
+
+/*
+ * 辅助函数
+ */
+
+/*
+ * 函数功能：获取 socket 最后错误码
+ * 返回值：错误码（NET_ERR_xxx）
+ */
+int net_get_errno(void);
+
+/*
+ * 函数功能：将 IP 地址字符串转为网络字节序
+ * 入口参数：cp - 点分十进制字符串 "192.168.1.100"
+ * 返回值：网络字节序 IP，失败返回 0
+ * 限定条件：cp 指针非空
+ * 函数说明：不支持域名解析
+ */
+uint32_t net_inet_addr(const char *cp);
+
+/*
+ * 函数功能：将网络字节序 IP 转为字符串
+ * 入口参数：addr - 网络字节序 IP
+ *          buf  - 输出缓冲区（至少 16 字节）
+ * 返回值：buf 指针
+ * 限定条件：buf 指针非空
+ */
+char *net_inet_ntoa(uint32_t addr, char *buf);
+
+/*
+ * 函数功能：端口字节序转换（主机序 -> 网络序）
+ * 入口参数：hostshort - 主机序端口
+ * 返回值：网络序端口
+ * 限定条件：无
+ * 函数说明：小端 → 大端
+ */
+uint16_t net_htons(uint16_t hostshort);
+
+/*
+ * 函数功能：端口字节序转换（网络序 -> 主机序）
+ * 入口参数：netshort - 网络序端口
+ * 返回值：主机序端口
+ * 限定条件：无
+ * 函数说明：大端 → 小端
+ */
+uint16_t net_ntohs(uint16_t netshort);
+
+/*
+ * 函数功能：IP 地址字节序转换（主机序 -> 网络序）
+ * 入口参数：hostlong - 主机序 IP
+ * 返回值：网络序 IP
+ * 限定条件：无
+ * 函数说明：小端 → 大端
+ */
+uint32_t net_htonl(uint32_t hostlong);
+
+/*
+ * 函数功能：IP 地址字节序转换（网络序 -> 主机序）
+ * 入口参数：netlong - 网络序 IP
+ * 返回值：主机序 IP
+ * 限定条件：无
+ * 函数说明：大端 → 小端
+ */
+uint32_t net_ntohl(uint32_t netlong);
+
+/*
+ * 函数功能：处理消息队列中的请求（必须在 netTask 主循环中调用）
+ * 限定条件：net_init() 已调用
+ * 函数说明：处理其他任务通过 net_send/net_recv 等接口发送的请求，
+ *          在 netTask 上下文中串行化执行所有 CH395F 操作
+ */
+void net_process_messages(void);
+
+/*
+ * 函数功能：获取 Socket 控制块指针（内部使用）
+ * 入口参数：sockfd - socket 描述符
+ * 返回值：Socket 控制块指针，失败返回 NULL
+ */
+net_sock_t *net_get_sock(int sockfd);
+
+/*
+ * 函数功能：获取 Socket 本地地址（IP + Port）
+ * 入口参数：sockfd  - socket 描述符
+ *          addr    - 输出：本地地址
+ *          addrlen - 输入输出：地址结构体长度
+ * 返回值：0 成功，-1 失败
+ * 限定条件：socket 已创建或已绑定
+ */
+int net_getsockname(int sockfd, struct net_sockaddr *addr, int *addrlen);
+
+/*
+ * 内部 API（需在 netTask 上下文中调用，绕过消息队列）
+ */
+
+/*
+ * 函数功能：发送数据（内部版本，直接操作，不经过消息队列）
+ * 入口参数：p_sock - Socket 控制块指针
+ *          buf    - 数据缓冲区
+ *          len    - 数据长度
+ * 返回值：实际发送字节数，失败返回 -1
+ * 限定条件：必须在 netTask 上下文中调用
+ */
+int net_send_sock(net_sock_t *p_sock, const void *buf, int len);
+
+/*
+ * 函数功能：接收数据（内部版本，直接操作，不经过消息队列）
+ * 入口参数：p_sock - Socket 控制块指针
+ *          buf    - 接收缓冲区
+ *          len    - 缓冲区大小
+ *          flags  - 通常为 0，可设置 NET_MSG_DONTWAIT
+ * 返回值：实际接收字节数，0=对端关闭，-1=错误
+ * 限定条件：必须在 netTask 上下文中调用
+ */
+int net_recv_sock(net_sock_t *p_sock, void *buf, int len, int flags);
+
+/*
+ * 函数功能：关闭 socket（内部版本，直接操作，不经过消息队列）
+ * 入口参数：p_sock - Socket 控制块指针
+ * 返回值：0 成功，-1 失败
+ * 限定条件：必须在 netTask 上下文中调用
+ */
+int net_close_sock(net_sock_t *p_sock);
+
+/*
+ * 函数功能：启动 TCP Server 监听（内部版本，直接操作，不经过消息队列）
+ * 入口参数：sockfd  - Socket 描述符
+ * 返回值：0 成功，-1 失败
+ * 限定条件：必须在 netTask 上下文中调用
+ */
+int net_listen_locked(int sockfd);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __NET_SOCKET_H */
--- a/Drivers/BSP/NET/net_types.h
+++ b/Drivers/BSP/NET/net_types.h
@@ -0,0 +1,178 @@
+/*
+ * 模块名称：Network Types
+ * 模块功能：网络子系统类型定义，包括地址结构体、Socket状态、
+ *          事件类型、Socket控制块等
+ * 适用平台：STM32F4 系列（CH395F 以太网芯片）
+ * 作者：王建锋
+ * 创建日期：2026-07-18
+ * 修改记录：
+ */
+
+#ifndef __NET_TYPES_H
+#define __NET_TYPES_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include "net_config.h"
+
+/*
+ * 地址族定义
+ */
+#define NET_AF_INET                 2       /* IPv4 */
+#define NET_AF_INET6                10      /* IPv6（未支持） */
+#define NET_AF_UNSPEC               0       /* 未指定 */
+
+/*
+ * Socket 类型定义
+ */
+#define NET_SOCK_STREAM             1       /* TCP */
+#define NET_SOCK_DGRAM              2       /* UDP */
+
+/*
+ * 协议号定义
+ */
+#define NET_IPPROTO_TCP             6
+#define NET_IPPROTO_UDP             17
+#define NET_IPPROTO_ICMP            1
+
+/*
+ * 特殊地址定义
+ */
+#define NET_INADDR_ANY              0       /* 任意地址 */
+#define NET_INADDR_NONE             0xFFFFFFFF  /* 无效地址 */
+
+/*
+ * 接收标志定义
+ */
+#define NET_MSG_DONTWAIT            0x01    /* 非阻塞模式 */
+
+/*
+ * 网络字节序转换宏
+ */
+#ifdef __BIG_ENDIAN
+#define NET_htonl(x)                (x)
+#define NET_htons(x)                (x)
+#define NET_ntohl(x)                (x)
+#define NET_ntohs(x)                (x)
+#else
+#define NET_htonl(x)                (((uint32_t)(x) << 24) | \
+                                     (((uint32_t)(x) & 0xFF00) << 8) | \
+                                     (((uint32_t)(x) & 0xFF0000) >> 8) | \
+                                     ((uint32_t)(x) >> 24))
+#define NET_htons(x)                (((uint16_t)(x) << 8) | ((uint16_t)(x) >> 8))
+#define NET_ntohl(x)                NET_htonl(x)
+#define NET_ntohs(x)                NET_htons(x)
+#endif
+
+/*
+ * 套接字地址结构体
+ */
+struct net_sockaddr {
+    uint16_t sa_family;                 /* 地址族 */
+    char     sa_data[14];               /* 地址数据 */
+};
+
+/*
+ * IPv4 套接字地址结构体
+ */
+struct net_sockaddr_in {
+    uint16_t sin_family;                /* 地址族，必须为 AF_INET */
+    uint16_t sin_port;                  /* 端口号（网络字节序） */
+    struct {
+        uint32_t s_addr;                /* IP 地址（网络字节序） */
+    } sin_addr;
+    char sin_zero[8];                   /* 填充字节 */
+};
+
+/*
+ * Socket 错误码定义
+ */
+#define NET_OK                       0      /* 成功 */
+#define NET_ERR                     -1      /* 通用错误 */
+#define NET_ERR_BADF                -2      /* 无效 socket 描述符 */
+#define NET_ERR_INVAL               -3      /* 无效参数 */
+#define NET_ERR_NOMEM               -4      /* 内存不足 */
+#define NET_ERR_NOTCONN             -5      /* 未连接 */
+#define NET_ERR_ISCONN              -6      /* 已连接 */
+#define NET_ERR_WOULDBLOCK          -7      /* 非阻塞模式下操作未完成 */
+#define NET_ERR_CONNRESET           -8      /* 连接被重置 */
+#define NET_ERR_TIMEDOUT            -9      /* 操作超时 */
+#define NET_ERR_NOSPACE             -10     /* 发送缓冲区无空间 */
+#define NET_ERR_BUSY                -11     /* 操作未完成（CH395F BUSY） */
+
+/*
+ * Socket 状态枚举
+ */
+typedef enum {
+    NET_SOCK_STATE_CLOSED = 0,               /* 未使用 */
+    NET_SOCK_STATE_CREATED,                  /* 已创建，未绑定 */
+    NET_SOCK_STATE_BOUND,                    /* 已绑定 */
+    NET_SOCK_STATE_LISTENING,                /* TCP Server 监听中（仅监听 Socket） */
+    NET_SOCK_STATE_CONNECTING,               /* TCP Client 连接中 */
+    NET_SOCK_STATE_ESTABLISHED,              /* TCP 已连接 */
+    NET_SOCK_STATE_UDP_OPEN,                 /* UDP 已打开 */
+    NET_SOCK_STATE_TCP_CLIENT_RECONNECTING,  /* TCP Client 重连中 */
+} net_sock_state_t;
+
+/*
+ * 网络事件类型枚举
+ */
+typedef enum {
+    NET_EVENT_CONNECTED = 0,         /* 连接建立 */
+    NET_EVENT_DISCONNECTED,          /* 连接断开 */
+    NET_EVENT_DATA_RECEIVED,         /* 收到数据 */
+    NET_EVENT_SEND_COMPLETE,         /* 发送完成 */
+    NET_EVENT_TIMEOUT,               /* 操作超时 */
+    NET_EVENT_ERROR,                 /* 错误发生 */
+} net_event_t;
+
+/*
+ * 事件回调函数类型定义
+ * 参数：sockfd - socket 描述符
+ *       event  - 事件类型
+ *       arg    - 用户参数
+ */
+typedef void (*net_event_cb_t)(int sockfd, net_event_t event, void *arg);
+
+/*
+ * Socket 控制块结构体
+ * 每个 socket 对应一个控制块，管理其状态和参数
+ */
+typedef struct {
+    uint8_t             ch395_sock;             /* CH395F 物理 Socket 索引 (0~7) */
+    net_sock_state_t    state;                  /* Socket 状态 */
+    uint8_t             type;                   /* SOCK_STREAM / SOCK_DGRAM */
+    uint8_t             in_use;                 /* 是否在用标志 */
+    uint16_t            local_port;             /* 本地端口（主机序） */
+    uint16_t            remote_port;            /* 远端端口（主机序） */
+    uint32_t            remote_ip;              /* 远端 IP（网络字节序） */
+    uint8_t             remote_ip_arr[4];       /* 远端 IP 数组（大端/网络字节序） */
+
+    /* 事件回调（可选） */
+    net_event_cb_t      event_cb;
+    void               *event_arg;
+
+    /* 发送就绪标志 */
+    uint8_t             send_ready;
+
+    /* 接收可读标志：net_poll 检测到 RECV_OK 时置 1，net_recv_locked 读空后清零。
+     * net_select 据此判断可读性，从而无需在应用/测试任务上下文直接访问 CH395F SPI
+     * （所有 ch395f 事务统一由 netTask 串行执行，避免与 net_poll 竞争，见 Trap 16）。 */
+    uint8_t             readable;
+
+    /* 单连接模式自动重监听：连接断开后由 net 层自动回到 LISTEN（BSD 风格监听常驻） */
+    uint8_t             auto_relisten;
+
+    /* 统计信息 */
+    uint32_t            recv_bytes;             /* 累计接收字节数 */
+    uint32_t            send_bytes;             /* 累计发送字节数 */
+} net_sock_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __NET_TYPES_H */
--- a/Drivers/BSP/RS485/rs485.c
+++ b/Drivers/BSP/RS485/rs485.c
@@ -1,133 +1,152 @@
 /*
 * 模块名称：RS-485 半双工通信驱动
- * 模块功能：RS-485 半双工通信驱动实现，核心要点：
- *          1. 发送前拉高 DE（切换到发送态）
- *          2. HAL_UART_Transmit 内部已等待 TC（发送完成）标志
- *          3. 发送完毕后拉低 DE（切回接收态）
- *          4. 使用 HAL_UARTEx_ReceiveToIdle_IT 实现变长帧接收
- *          参考：ST AN3070 应用笔记、controllerstech.com RS485 教程
+ * 模块功能：RS-485 半双工通信驱动实现，封装任意 UART 外设实现 485 方向控制，
+ *          提供阻塞发送、中断接收（IDLE 空闲帧检测）。使用 DWT CYCCNT 提供
+ *          微秒级延时，确保 RS485 收发器 DE 使能稳定。
 * 适用平台：STM32F4 系列
 * 作者：王建锋
 * 创建日期：2026-07-18
 * 修改记录：
 *     2026-07-18  王建锋  创建初始版本
+ *     2026-07-20  王建锋  修复 DE 时序：添加 DWT 微秒延时替代 for 循环
+ *     2026-07-20  王建锋  清理中文注释乱码，对齐代码规范
 */

 #include "rs485.h"

+/* ======================== 内部辅助函数 ======================== */
+
 /*
- * 内部辅助宏 - 方向控制
+ * 函数功能：DWT 微秒级延时
+ * 入口参数：us - 延时微秒数                                                           uint32_t  1 - N
+ * 返回值：无
+ * 限定条件：无（首次调用自动初始化 DWT CYCCNT）
+ * 函数说明：利用 Cortex-M4 DWT CYCCNT 实现精确微秒延时，168MHz 下 1us = 168 计数。
+ *          首次调用时自动使能 DWT 和 CYCCNT，后续只读 CYCCNT 寄存器，不影响其他模块。
 */
+static void delay_us(uint32_t us)
+{
+    if (!(CoreDebug->DEMCR & CoreDebug_DEMCR_TRCENA_Msk)) {
+        CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+        DWT->CYCCNT = 0;
+        DWT->CTRL  |= DWT_CTRL_CYCCNTENA_Msk;
+    }
+    uint32_t start = DWT->CYCCNT;
+    uint32_t ticks = us * (SystemCoreClock / 1000000uL);
+    while ((DWT->CYCCNT - start) < ticks) { ; }
+}
+
+/* ======================== 方向控制宏 ======================== */
+
 #define RS485_DIR_TX(h)  HAL_GPIO_WritePin((h)->dir_port, (h)->dir_pin, GPIO_PIN_SET)
 #define RS485_DIR_RX(h)  HAL_GPIO_WritePin((h)->dir_port, (h)->dir_pin, GPIO_PIN_RESET)

-/*
- * 公共函数实现
- */
+/* ======================== 公共函数实现 ======================== */

 /*
 * 函数功能：初始化 RS-485 句柄
- * 入口参数：handle   - RS-485 句柄指针
- *           huart    - UART 外设句柄
- *           dir_port - DE 引脚 GPIO 端口
- *           dir_pin  - DE 引脚 GPIO 编号
+ * 入口参数：p_handle - RS-485 句柄指针                                                 rs485_handle_t*（非空）
+ *           p_huart  - UART 外设句柄指针（已由 CubeMX 初始化）                          UART_HandleTypeDef*（非空）
+ *           p_dir_port - 方向控制 GPIO 端口（如 GPIOD）                                 GPIO_TypeDef*（非空）
+ *           dir_pin  - 方向控制 GPIO 引脚号（如 GPIO_PIN_0）                            uint16_t
 * 返回值：无
 * 限定条件：UART 和 GPIO 须先由 CubeMX 完成初始化
- * 函数说明：初始化后立即将 DE 拉低，使 RS-485 收发器处于接收状态
+ * 函数说明：初始化后默认处于接收状态（DE 引脚拉低）
 */
-void rs485_init(rs485_handle_t *handle,
-                UART_HandleTypeDef *huart,
-                GPIO_TypeDef *dir_port,
+void rs485_init(rs485_handle_t *p_handle,
+                UART_HandleTypeDef *p_huart,
+                GPIO_TypeDef *p_dir_port,
                uint16_t dir_pin)
 {
-    handle->huart    = huart;
-    handle->dir_port = dir_port;
-    handle->dir_pin  = dir_pin;
-    handle->rx_size  = 0;
+    p_handle->huart    = p_huart;
+    p_handle->dir_port = p_dir_port;
+    p_handle->dir_pin  = dir_pin;
+    p_handle->rx_size  = 0;

-    /* 默认进入接收状态 */
-    RS485_DIR_RX(handle);
+    RS485_DIR_RX(p_handle);
 }

 /*
 * 函数功能：阻塞方式发送数据
- * 入口参数：handle  - RS-485 句柄指针
- *           data    - 待发送数据缓冲区
- *           len     - 待发送字节数
- *           timeout - 发送超时（ms），传 0 使用默认值
- * 返回值：HAL_OK / HAL_TIMEOUT / HAL_ERROR
- * 限定条件：须在主循环或 RTOS 任务中调用，不可在 UART 中断中调用
- * 函数说明：
- *   时序：DE=HIGH → UART 发送 N 字节 → 等 TC → DE=LOW
- *   HAL_UART_Transmit 内部会等待 TXE（发送寄存器空）逐字节搬数据，
- *   最后还会等待 TC（发送完成）标志，确保最后一字节的停止位已移出。
- *   因此返回后再拉低 DE 是安全的
+ * 入口参数：p_handle - RS-485 句柄指针                                                 rs485_handle_t*（非空）
+ *           p_data   - 待发送数据缓冲区                                                uint8_t*（非空）
+ *           len      - 待发送字节数                                                    uint16_t  1 - N
+ *           timeout  - 发送超时（ms），传 0 使用 RS485_TIMEOUT_DEFAULT                uint32_t  0 / 1 - N
+ * 返回值：HAL_OK - 发送成功                                                           HAL_StatusTypeDef
+ *         HAL_TIMEOUT - 发送超时
+ *         HAL_ERROR - 发送错误
+ * 限定条件：须在主循环或 FreeRTOS 任务中调用，不可在 UART 中断中调用
+ * 函数说明：发送前拉高 DE，等待 50us 确保 RS485 收发器驱动使能稳定后再启动 UART 发送。
+ *          HAL_UART_Transmit 内部等待 TC（发送完成）标志，确保最后一字节完全移出后
+ *          再拉低 DE 切回接收状态。
 */
-HAL_StatusTypeDef rs485_transmit(rs485_handle_t *handle,
-                                  const uint8_t *data,
+HAL_StatusTypeDef rs485_transmit(rs485_handle_t *p_handle,
+                                  const uint8_t *p_data,
                                  uint16_t len,
                                  uint32_t timeout)
 {
-    HAL_StatusTypeDef status;
+    HAL_StatusTypeDef status = HAL_OK;

    if (timeout == 0U) {
        timeout = RS485_TIMEOUT_DEFAULT;
    }

-    /* 1. 切换到发送状态 */
-    RS485_DIR_TX(handle);
+    RS485_DIR_TX(p_handle);

-    /* 2. 阻塞发送（内部等待 TC） */
-    status = HAL_UART_Transmit(handle->huart,
-                                (uint8_t *)data,
+    delay_us(50);
+
+    status = HAL_UART_Transmit(p_handle->huart,
+                                (uint8_t *)p_data,
                                len,
                                timeout);

-    /* 3. 发送完毕或超时，切回接收状态 */
-    RS485_DIR_RX(handle);
+    RS485_DIR_RX(p_handle);

    return status;
 }

 /*
 * 函数功能：启动中断方式接收（IDLE 空闲帧检测）
- * 入口参数：handle    - RS-485 句柄指针
- *           buf       - 接收缓冲区
- *           buf_size  - 缓冲区最大容量
- * 返回值：HAL_OK / HAL_ERROR
+ * 入口参数：p_handle - RS-485 句柄指针                                                 rs485_handle_t*（非空）
+ *           p_buf    - 接收缓冲区                                                      uint8_t*（非空）
+ *           buf_size - 缓冲区大小                                                      uint16_t
+ * 返回值：HAL_OK - 启动成功                                                           HAL_StatusTypeDef
+ *         HAL_ERROR - 启动失败
 * 限定条件：UART 须已开启全局中断（NVIC 使能）
- * 函数说明：
- *   使用 HAL_UARTEx_ReceiveToIdle_IT 实现变长帧接收。
- *   当 UART 总线空闲超过 1 个字符时间后，硬件触发 IDLE 中断，
- *   HAL 自动调用 HAL_UARTEx_RxEventCallback 并返回已接收字节数。
- *   用户须在该回调中重新调用本函数重新开启接收
+ * 函数说明：使用 HAL_UARTEx_ReceiveToIdle_IT 实现变长帧接收。
+ *          当 UART 总线空闲超过 1 个字符时间后硬件触发 IDLE 中断，
+ *          HAL 自动调用 HAL_UARTEx_RxEventCallback 并返回已接收字节数。
+ *          用户须在回调中重新调用本函数重新开启接收。
 */
-HAL_StatusTypeDef rs485_receive_start(rs485_handle_t *handle,
-                                       uint8_t *buf,
+HAL_StatusTypeDef rs485_receive_start(rs485_handle_t *p_handle,
+                                       uint8_t *p_buf,
                                       uint16_t buf_size)
 {
-    handle->rx_size = 0;
-    return HAL_UARTEx_ReceiveToIdle_IT(handle->huart, buf, buf_size);
+    p_handle->rx_size = 0;
+    return HAL_UARTEx_ReceiveToIdle_IT(p_handle->huart, p_buf, buf_size);
 }

 /*
 * 函数功能：缓存最近一次接收的字节数
- * 入口参数：handle - RS-485 句柄指针
- *           size   - 本次接收到的字节数
+ * 入口参数：p_handle - RS-485 句柄指针                                                 rs485_handle_t*（非空）
+ *           size     - 本次接收到的字节数                                              uint16_t
 * 返回值：无
 * 限定条件：须在 HAL_UARTEx_RxEventCallback 中调用
+ * 函数说明：将 HAL 回调中接收到的数据大小回写到句柄的 rx_size 字段
 */
-void rs485_rx_set_size(rs485_handle_t *handle, uint16_t size)
+void rs485_rx_set_size(rs485_handle_t *p_handle, uint16_t size)
 {
-    handle->rx_size = size;
+    p_handle->rx_size = size;
 }

 /*
 * 函数功能：获取最近一次接收的字节数
- * 入口参数：handle - RS-485 句柄指针
- * 返回值：字节数
+ * 入口参数：p_handle - RS-485 句柄指针                                                 const rs485_handle_t*（非空）
+ * 返回值：最近一次接收的字节数                                                        uint16_t
+ * 限定条件：须在 HAL_UARTEx_RxEventCallback 触发后调用
+ * 函数说明：获取 rx_size 字段中缓存的接收字节数
 */
-uint16_t rs485_rx_get_size(const rs485_handle_t *handle)
+uint16_t rs485_rx_get_size(const rs485_handle_t *p_handle)
 {
-    return handle->rx_size;
+    return p_handle->rx_size;
 }
--- a/Drivers/BSP/RS485/rs485.h
+++ b/Drivers/BSP/RS485/rs485.h
@@ -50,9 +50,9 @@ typedef struct {
 * 限定条件：UART 和 GPIO 须先由 CubeMX 完成初始化
 * 函数说明：初始化后默认处于接收状态（DE 引脚拉低）
 */
-void rs485_init(rs485_handle_t *handle,
-                UART_HandleTypeDef *huart,
-                GPIO_TypeDef *dir_port,
+void rs485_init(rs485_handle_t *p_handle,
+                UART_HandleTypeDef *p_huart,
+                GPIO_TypeDef *p_dir_port,
                uint16_t dir_pin);

 /*
@@ -66,8 +66,8 @@ void rs485_init(rs485_handle_t *handle,
 * 函数说明：发送前自动拉高 DE，发送完成后等待 TC 标志再拉低 DE，
 *          确保最后一字节完全移出后再切换到接收状态
 */
-HAL_StatusTypeDef rs485_transmit(rs485_handle_t *handle,
-                                  const uint8_t *data,
+HAL_StatusTypeDef rs485_transmit(rs485_handle_t *p_handle,
+                                  const uint8_t *p_data,
                                  uint16_t len,
                                  uint32_t timeout);

@@ -82,8 +82,8 @@ HAL_StatusTypeDef rs485_transmit(rs485_handle_t *handle,
 *          收到完整帧后在 RxEventCallback 中通知用户。
 *          用户须在回调中重新调用本函数重新开启接收
 */
-HAL_StatusTypeDef rs485_receive_start(rs485_handle_t *handle,
-                                       uint8_t *buf,
+HAL_StatusTypeDef rs485_receive_start(rs485_handle_t *p_handle,
+                                       uint8_t *p_buf,
                                       uint16_t buf_size);

 /*
@@ -93,7 +93,7 @@ HAL_StatusTypeDef rs485_receive_start(rs485_handle_t *handle,
 * 限定条件：须在 HAL_UART_RxCpltCallback / HAL_UARTEx_RxEventCallback 中调用
 * 函数说明：将 HAL 回调中接收到的数据大小回写到句柄的 rx_size 字段
 */
-void rs485_rx_set_size(rs485_handle_t *handle, uint16_t size);
+void rs485_rx_set_size(rs485_handle_t *p_handle, uint16_t size);

 /*
 * 函数功能：获取最近一次接收的字节数
@@ -101,7 +101,7 @@ void rs485_rx_set_size(rs485_handle_t *handle, uint16_t size);
 * 返回值：最近一次接收的字节数
 * 限定条件：须在 HAL_UARTEx_RxEventCallback 触发后调用
 */
-uint16_t rs485_rx_get_size(const rs485_handle_t *handle);
+uint16_t rs485_rx_get_size(const rs485_handle_t *p_handle);

 #ifdef __cplusplus
 }
--- a/Drivers/BSP/SD2506/sd2506.c
+++ b/Drivers/BSP/SD2506/sd2506.c
@@ -1,39 +1,52 @@
 /*
- * 模块名称：SD2506API-G RTC 实时时钟驱动
- * 模块功能：SD2506API-G 高精度温补实时时钟模块 I2C 驱动
- * 适用平台：STM32F407ZGT6，I2C1 接口 (PB6-SCL, PB7-SDA)
+ * 模块名称：SD2506API-G RTC Driver
+ * 模块功能：SD2506API-G 高精度温补实时时钟驱动，I2C 接口
+ * 适用平台：STM32F407ZGTx + SD2506API-G 实时时钟芯片（I2C1: PB6-SCL, PB7-SDA）
 * 作者：王建锋
 * 创建日期：2026-07-17
 * 修改记录：
 *     2026-07-17  王建锋  创建初始版本，参考 SD2506API-G Ver2.0 手册
 */

+#include <string.h>
+#include <stdio.h>
+
 #include "sd2506.h"
 #include "i2c.h"
-#include <string.h>

 extern I2C_HandleTypeDef hi2c1;

 /* ======================== 内部辅助函数 ======================== */

-uint8_t sd2506_bcd_to_dec(uint8_t bcd)
-{
+/*
+ * 函数功能：BCD 码转十进制数
+ * 入口参数：bcd - BCD 编码值                                                          uint8_t  0x00 - 0x99
+ * 返回值：十进制数值                                                                  uint8_t
+ * 限定条件：输入为合法 BCD 编码（高 4 位和低 4 位均 <= 9）
+ * 函数说明：高 4 位为十位，低 4 位为个位，分别乘 10 和加后返回
+ */
+uint8_t sd2506_bcd_to_dec(uint8_t bcd) {
    return ((bcd >> 4) * 10) + (bcd & 0x0FU);
 }

-uint8_t sd2506_dec_to_bcd(uint8_t dec)
-{
+/*
+ * 函数功能：十进制转 BCD 码
+ * 入口参数：dec - 十进制数                                                          uint8_t  0 - 99 */
+uint8_t sd2506_dec_to_bcd(uint8_t dec) {
    return ((dec / 10) << 4) | (dec % 10);
 }

 /*
- * 写单字节寄存器
- * reg: 寄存器地址 (00H~79H)
- * val: 写入值
- * 返回: 0=成功, -2=I2C错误
+ * 函数功能：写单字节寄存器
+ * 入口参数：reg - 寄存器地址                                                          uint8_t  0x00 - 0x79
+ *           val - 写入数据                                                            uint8_t  0x00 - 0xFF
+ * 返回值：0-成功，2-I2C 错误                                                          int
+ * 限定条件：I2C 外设已初始化
+ * 函数说明：通过 I2C 向指定地址写入 1 字节数据
+ * 限定条件：I2C 外设已初始化
+ * 函数说明：通过 I2C 向指定地址写入 1 字节
 */
-static int sd2506_write_reg(uint8_t reg, uint8_t val)
-{
+static int sd2506_write_reg(uint8_t reg, uint8_t val) {
    if (HAL_I2C_Mem_Write(&hi2c1, SD2506_I2C_ADDR_WRITE, reg,
                          I2C_MEMADD_SIZE_8BIT, &val, 1,
                          SD2506_I2C_TIMEOUT_MS) != HAL_OK) {
@@ -43,15 +56,17 @@ static int sd2506_write_reg(uint8_t reg, uint8_t val)
 }

 /*
- * 读单字节寄存器
- * reg: 寄存器地址 (00H~79H)
- * val: 读取值指针
- * 返回: 0=成功, -2=I2C错误
+ * 函数功能：读单字节寄存器
+ * 入口参数：reg - 寄存器地址                                                          uint8_t  0x00 - 0x79
+ *           p_val - 读取值指针                                                        uint8_t*（非空）
+ * 返回值：0-成功，2-I2C 错误                                                          int
+ * 限定条件：I2C 外设已初始化，p_val 为非空指针
+ * 函数说明：通过 I2C 从指定地址读取 1 字节数据
+ * 限定条件：I2C 外设已初始化，val 为非空指针函数说明：通过 I2C 从指定地址读取 1 字节
 */
-static int sd2506_read_reg(uint8_t reg, uint8_t *val)
-{
+static int sd2506_read_reg(uint8_t reg, uint8_t *p_val) {
    if (HAL_I2C_Mem_Read(&hi2c1, SD2506_I2C_ADDR_READ, reg,
-                         I2C_MEMADD_SIZE_8BIT, val, 1,
+                         I2C_MEMADD_SIZE_8BIT, p_val, 1,
                         SD2506_I2C_TIMEOUT_MS) != HAL_OK) {
        return SD2506_I2C_ERROR;
    }
@@ -59,16 +74,18 @@ static int sd2506_read_reg(uint8_t reg, uint8_t *val)
 }

 /*
- * 写多字节寄存器 (从 reg 开始连续写入 len 字节)
- * reg: 起始寄存器地址
- * data: 数据缓冲区
- * len: 数据长度
- * 返回: 0=成功, -2=I2C错误
+ * 函数功能：写多字节寄存器（连续写）
+ * 入口参数：reg - 起始寄存器地址                                                      uint8_t  0x00 - 0x79
+ *           p_data - 数据缓冲区指针                                                    uint8_t*（非空）
+ *           len   - 数据长度                                                          uint8_t  1 - N
+ * 返回值：0-成功，2-I2C 错误                                                          int
+ * 限定条件：I2C 外设已初始化，p_data 为非空指针
+ * 函数说明：从 reg 开始连续写入 len 字节数据
+ * 限定条件：I2C 外设已初始化，data 为非空指针
 */
-static int sd2506_write_regs(uint8_t reg, const uint8_t *data, uint8_t len)
-{
+static int sd2506_write_regs(uint8_t reg, const uint8_t *p_data, uint8_t len) {
    if (HAL_I2C_Mem_Write(&hi2c1, SD2506_I2C_ADDR_WRITE, reg,
-                          I2C_MEMADD_SIZE_8BIT, (uint8_t *)data, len,
+                          I2C_MEMADD_SIZE_8BIT, (uint8_t *)p_data, len,
                          SD2506_I2C_TIMEOUT_MS) != HAL_OK) {
        return SD2506_I2C_ERROR;
    }
@@ -76,16 +93,18 @@ static int sd2506_write_regs(uint8_t reg, const uint8_t *data, uint8_t len)
 }

 /*
- * 读多字节寄存器 (从 reg 开始连续读取 len 字节)
- * reg: 起始寄存器地址
- * data: 数据缓冲区
- * len: 数据长度
- * 返回: 0=成功, -2=I2C错误
+ * 函数功能：读多字节寄存器（连续读）
+ * 入口参数：reg - 起始寄存器地址                                                      uint8_t  0x00 - 0x79
+ *           p_data - 数据缓冲区指针                                                    uint8_t*（非空）
+ *           len   - 数据长度                                                          uint8_t  1 - N
+ * 返回值：0-成功，2-I2C 错误                                                          int
+ * 限定条件：I2C 外设已初始化，p_data 为非空指针
+ * 函数说明：从 reg 开始连续读取 len 字节数据
+ * 限定条件：I2C 外设已初始化，data 为非空指针
 */
-static int sd2506_read_regs(uint8_t reg, uint8_t *data, uint8_t len)
-{
+static int sd2506_read_regs(uint8_t reg, uint8_t *p_data, uint8_t len) {
    if (HAL_I2C_Mem_Read(&hi2c1, SD2506_I2C_ADDR_READ, reg,
-                         I2C_MEMADD_SIZE_8BIT, data, len,
+                         I2C_MEMADD_SIZE_8BIT, p_data, len,
                         SD2506_I2C_TIMEOUT_MS) != HAL_OK) {
        return SD2506_I2C_ERROR;
    }
@@ -93,38 +112,41 @@ static int sd2506_read_regs(uint8_t reg, uint8_t *data, uint8_t len)
 }

 /*
- * 开启写保护 (允许写入 00H~71H 寄存器)
- * 顺序: 先写 WRTC1=1, 再写 WRTC2=1 + WRTC3=1
+ * 函数功能：开启写保护（允许写入 00H~71H 寄存器）
+ * 入口参数：无
+ * 返回值：0 - 成功 2 - I2C 错误
+ * 限定条件：I2C 外设已初始化
+ * 函数说明：顺序：先写 WRTC1=1, 再写 WRTC2=1 + WRTC3=1
 */
-static int sd2506_write_enable(void)
-{
-    int ret;
+static int sd2506_write_enable(void) {
+    int ret = 0;

-    /* 先置 WRTC1=1 (bit6=1), 其它位参考手册: 0x84 */
-    ret = sd2506_write_reg(SD2506_REG_CTR1, 0x84U);
+    /* 写允许顺序（SD2506/SD24xx 手册要求）：先置 WRTC1(CTR2 bit7)=1，
+     * 再置 WRTC2(CTR1 bit2) + WRTC3(CTR1 bit7)=1。顺序反了芯片不会解开写保护。 */
+    ret = sd2506_write_reg(SD2506_REG_CTR2, 0x80U);
    if (ret != SD2506_OK) return ret;

-    /* 再置 WRTC2=1(bit5) + WRTC3=1(bit4): 0x8C */
-    ret = sd2506_write_reg(SD2506_REG_CTR2, 0x8CU);
+    ret = sd2506_write_reg(SD2506_REG_CTR1, 0x84U);
    if (ret != SD2506_OK) return ret;

    return SD2506_OK;
 }

 /*
- * 关闭写保护 (禁止写入 00H~71H 寄存器)
- * 顺序: 先写 WRTC2=0 + WRTC3=0, 再写 WRTC1=0
+ * 函数功能：关闭写保护（禁止写入 00H~71H 寄存器）
+ * 入口参数：无
+ * 返回值：0 - 成功 2 - I2C 错误
+ * 限定条件：I2C 外设已初始化
+ * 函数说明：顺序：先写 WRTC2=0 + WRTC3=0, 再写 WRTC1=0
 */
-static int sd2506_write_disable(void)
-{
-    int ret;
+static int sd2506_write_disable(void) {
+    int ret = 0;

-    /* 先清 WRTC2=0, WRTC3=0: 0x00 */
-    ret = sd2506_write_reg(SD2506_REG_CTR2, 0x00U);
+    /* 写禁止顺序（手册要求）：先清 WRTC2/WRTC3(CTR1)，再清 WRTC1(CTR2) */
+    ret = sd2506_write_reg(SD2506_REG_CTR1, 0x00U);
    if (ret != SD2506_OK) return ret;

-    /* 再清 WRTC1=0, 同时 ARST=1 使能自动复位: 0x20 */
-    ret = sd2506_write_reg(SD2506_REG_CTR1, SD2506_CTR1_WRITE_OFF);
+    ret = sd2506_write_reg(SD2506_REG_CTR2, 0x00U);
    if (ret != SD2506_OK) return ret;

    return SD2506_OK;
@@ -132,28 +154,40 @@ static int sd2506_write_disable(void)

 /* ======================== 公共 API 实现 ======================== */

-int sd2506_init(void)
-{
-    int ret;
-    uint8_t id[8];
+/*
+ * 函数功能：初始化 SD2506API-G RTC
+ * 入口参数：无
+ * 返回值：0-成功，2-I2C 错误                                                          int
+ * 限定条件：CubeMX 已完成 I2C1 初始化（PB6-SCL, PB7-SDA）
+ * 函数说明：1. 读取芯片 ID 验证通信
+ *           2. 上电重置充电寄存器 (0x18=0x82)
+ *           3. 配置 24 小时制、开自动复位
+ * 限定条件：CubeMX 已完成I2C1 初始化
+ * 函数说明：读取芯片 ID 验证通信
+ *           2. 上电重置充电寄存器18H=82H
+ *           3. 配置 24 小时制、开自动复位
+ */
+int sd2506_init(void) {
+    int ret = 0;
+    uint8_t a_id[8] = {0};

    /* 验证 I2C 通信: 尝试读取 8 字节 ID */
-    ret = sd2506_read_regs(SD2506_REG_ID_START, id, SD2506_ID_SIZE);
+    ret = sd2506_read_regs(SD2506_REG_ID_START, a_id, SD2506_ID_SIZE);
    if (ret != SD2506_OK) {
        return ret;
    }

-    /* 上电重置充电寄存器 18H = 82H (开启充电, 5K电阻)
-     * 手册强烈建议每次上电时重置此值 */
+    /* 上电重置充电寄存器 18H = 82H (开启充电 5K电阻)
+     * 手册强烈建议每次上电时重置此寄存器 */
    ret = sd2506_write_reg(SD2506_REG_CHARGE, 0x82U);
    if (ret != SD2506_OK) {
        return ret;
    }

-    /* 配置: 24小时制, 自动复位使能
+    /* 配置: 24小时制，写允许状态下 0FH 的 WRTC 位必须为 1
     * 0FH = 0x20 (bit5=ARST=1, 其它标志位清零)
-     * 写入时需注意: 写允许状态下 0FH 的 WRTC 位必须为1
-     * 此处直接写入 0x20 即可 (ARST=1, 无 WRTC 位) */
+     * 注意: 写入时需注意 0FH 的 WRTC 位必须为 1
+     * 此处直接写入 0x20 即可 (ARST=1, 的 WRTC 位) */
    ret = sd2506_write_reg(SD2506_REG_CTR1, SD2506_CTR1_WRITE_OFF);
    if (ret != SD2506_OK) {
        return ret;
@@ -162,30 +196,38 @@ int sd2506_init(void)
    return SD2506_OK;
 }

-int sd2506_set_time(const sd2506_time_t *time)
-{
-    int ret;
-    uint8_t buf[7];
+/*
+ * 函数功能：设置 RTC 时间日期
+ * 入口参数：p_time - 时间结构体指针，包含要设置的时间
+ * 返回值：0 - 成功，2 - I2C 错误
+ * 限定条件：sd2506_init() 已调用成功
+ * 函数说明：1. 先开写保护
+ *           2. 一次性写入 7 字节时间数据 (00H~06H)
+ *           3. 关闭写保护
+ */
+int sd2506_set_time(const sd2506_time_t *p_time) {
+    int ret = 0;
+    uint8_t buf[7] = {0};

-    if (time == NULL) {
+    if (p_time == NULL) {
        return SD2506_ERROR;
    }

    /* 组装 7 字节时间数据 (BCD 码) */
-    buf[0] = sd2506_dec_to_bcd(time->second);          /* 00H: 秒 */
-    buf[1] = sd2506_dec_to_bcd(time->minute);          /* 01H: 分 */
-    buf[2] = sd2506_dec_to_bcd(time->hour) | 0x80U;    /* 02H: 时 (bit7=1, 24小时制) */
-    buf[3] = sd2506_dec_to_bcd(time->week);            /* 03H: 星期 */
-    buf[4] = sd2506_dec_to_bcd(time->day);             /* 04H: 日 */
-    buf[5] = sd2506_dec_to_bcd(time->month);           /* 05H: 月 */
-    buf[6] = sd2506_dec_to_bcd(time->year - 2000U);    /* 06H: 年 */
+    buf[0] = sd2506_dec_to_bcd(p_time->second);          /* 00H: 秒 */
+    buf[1] = sd2506_dec_to_bcd(p_time->minute);          /* 01H: 分 */
+    buf[2] = sd2506_dec_to_bcd(p_time->hour) | 0x80U;    /* 02H: 时(bit7=1, 24小时制) */
+    buf[3] = sd2506_dec_to_bcd(p_time->week);            /* 03H: 星期 */
+    buf[4] = sd2506_dec_to_bcd(p_time->day);             /* 04H: 日 */
+    buf[5] = sd2506_dec_to_bcd(p_time->month);           /* 05H: 月 */
+    buf[6] = sd2506_dec_to_bcd(p_time->year - 2000U);    /* 06H: 年 */

    /* 开启写保护 */
    ret = sd2506_write_enable();
    if (ret != SD2506_OK) return ret;

    /* 一次性写入 7 字节时间数据 (00H~06H)
-     * 手册要求: 不可单独写某一个时间寄存器，否则可能引起错误进位 */
+     * 手册要求: 不可单独写某一个时间寄存器，否则可能引起错误进入 */
    ret = sd2506_write_regs(SD2506_REG_SEC, buf, 7);
    if (ret != SD2506_OK) return ret;

@@ -196,39 +238,54 @@ int sd2506_set_time(const sd2506_time_t *time)
    return SD2506_OK;
 }

-int sd2506_get_time(sd2506_time_t *time)
-{
-    int ret;
-    uint8_t buf[7];
+/*
+ * 函数功能：读取 RTC 时间日期
+ * 入口参数：p_time - 输出时间结构体指针                                                sd2506_time_t*（非空）
+ * 返回值：0-成功，2-I2C 错误                                                          int
+ * 限定条件：sd2506_init() 已调用成功
+ * 函数说明：一次读取 7 字节时间数据 (00H~06H)，所有实时数据被锁存避免错误
+ *  note: sd2506_init() must be called first
+ */
+int sd2506_get_time(sd2506_time_t *p_time) {
+    int ret = 0;
+    uint8_t buf[7] = {0};

-    if (time == NULL) {
+    if (p_time == NULL) {
        return SD2506_ERROR;
    }

    /* 一次读取 7 字节时间数据 (00H~06H)
-     * 手册说明: 读取时所有实时数据被锁存，避免错读 */
+     * 手册说明: 读取时所有实时数据被锁存，避免错误 */
    ret = sd2506_read_regs(SD2506_REG_SEC, buf, 7);
    if (ret != SD2506_OK) {
        return ret;
    }

-    time->second = sd2506_bcd_to_dec(buf[0] & 0x7FU);     /* 00H: 秒 */
-    time->minute = sd2506_bcd_to_dec(buf[1] & 0x7FU);     /* 01H: 分 */
-    time->hour   = sd2506_bcd_to_dec(buf[2] & 0x7FU);     /* 02H: 屏蔽 bit7 (12/24标志) */
-    time->week   = sd2506_bcd_to_dec(buf[3] & 0x07U);     /* 03H: 星期 */
-    time->day    = sd2506_bcd_to_dec(buf[4] & 0x3FU);     /* 04H: 日 */
-    time->month  = sd2506_bcd_to_dec(buf[5] & 0x1FU);     /* 05H: 月 */
-    time->year   = sd2506_bcd_to_dec(buf[6]) + 2000U;     /* 06H: 年 */
+    p_time->second = sd2506_bcd_to_dec(buf[0] & 0x7FU);     /* 00H: 秒 */
+    p_time->minute = sd2506_bcd_to_dec(buf[1] & 0x7FU);     /* 01H: 分 */
+    p_time->hour   = sd2506_bcd_to_dec(buf[2] & 0x7FU);     /* 02H: 屏蔽 bit7 (12/24标志) */
+    p_time->week   = sd2506_bcd_to_dec(buf[3] & 0x07U);     /* 03H: 星期 */
+    p_time->day    = sd2506_bcd_to_dec(buf[4] & 0x3FU);     /* 04H: 日 */
+    p_time->month  = sd2506_bcd_to_dec(buf[5] & 0x1FU);     /* 05H: 月 */
+    p_time->year   = sd2506_bcd_to_dec(buf[6]) + 2000U;     /* 06H: 年 */

    return SD2506_OK;
 }

-int sd2506_get_temperature(int8_t *temp)
-{
-    int ret;
-    uint8_t val;
+/*
+ * 函数功能：读取内部温度
+ * 入口参数：p_temp - 输出温度值指针                                                    int8_t*（非空）
+ * 返回值：0-成功，2-I2C 错误                                                          int
+ * 限定条件：sd2506_init() 已调用成功
+ * 函数说明：读取寄存器 0x16，bit7 为符号位
+ *  return: 0=OK, -2=I2C error
+ *  note: reads register 0x16
+ */
+int sd2506_get_temperature(int8_t *p_temp) {
+    int ret = 0;
+    uint8_t val = 0;

-    if (temp == NULL) {
+    if (p_temp == NULL) {
        return SD2506_ERROR;
    }

@@ -239,52 +296,79 @@ int sd2506_get_temperature(int8_t *temp)

    /* bit7 为符号位, 其余为温度值 */
    if (val & 0x80U) {
-        /* 负温度: 取补码 */
-        *temp = (int8_t)(val | 0xF0U);
+        /* 负温度 取补码 */
+        *p_temp = (int8_t)(val | 0xF0U);
    } else {
        /* 正温度 */
-        *temp = (int8_t)(val & 0x7FU);
+        *p_temp = (int8_t)(val & 0x7FU);
    }

    return SD2506_OK;
 }

-int sd2506_get_battery_voltage(uint16_t *voltage)
-{
-    int ret;
-    uint8_t val_high, val_low;
+/*
+ * 函数功能：读取电池电压（毫伏）
+ * 入口参数：p_voltage - 输出电压指针                                                    uint16_t*（非空）
+ * 返回值：0-成功，2-I2C 错误                                                          int
+ * 限定条件：sd2506_init() 已调用成功
+ * 函数说明：组合 9 位值 (bit8=BAT8_VAL, bit7~0=BAT_VL)，转换为毫伏
+ *  return: 0=OK, -2=I2C error
+ *  note: combines 9-bit value
+ */
+int sd2506_get_battery_voltage(uint16_t *p_voltage) {
+    int ret = 0;
+    uint8_t val_high = 0;
+    uint8_t val_low = 0;

-    if (voltage == NULL) {
+    if (p_voltage == NULL) {
        return SD2506_ERROR;
    }

-    /* 读取 1AH bit7 (BAT8_VAL) 和 1BH (BAT_VL) */
+    /* 读取 1AH bit7 (BAT8_VAL) 与 1BH (BAT_VL) */
    ret = sd2506_read_reg(SD2506_REG_CTR5, &val_high);
    if (ret != SD2506_OK) return ret;

    ret = sd2506_read_reg(SD2506_REG_BAT_VAL, &val_low);
    if (ret != SD2506_OK) return ret;

-    /* 组合 9 位: bit8=BAT8_VAL(1AH bit7), bit7~0=BAT_VL(1BH)
-     * 如 1AH=80H, 1BH=30H => 电压 = 0x130 = 304 => 3.04V => 3040mV */
+    /* 组合 9 位值 bit8=BAT8_VAL(1AH bit7), bit7~0=BAT_VL(1BH)
+     * 例: 1AH=80H, 1BH=30H => 电压 = 0x130 = 304 => 3.04V => 3040mV */
    uint16_t raw = ((val_high & 0x80U) << 1) | val_low;
-    *voltage = raw * 10;  /* 转换为毫伏 (raw 单位 0.01V) */
+    *p_voltage = raw * 10;  /* 转换为毫伏 (raw 单位 0.01V) */

    return SD2506_OK;
 }

-int sd2506_get_id(uint8_t id[8])
-{
-    if (id == NULL) {
+/*
+ * 函数功能：读取 8 字节芯片 ID
+ * 入口参数：p_id - 输出缓冲区指针                                                      uint8_t[8]（非空）
+ * 返回值：0-成功，2-I2C 错误                                                          int
+ * 限定条件：sd2506_init() 已调用成功
+ * 函数说明：读取寄存器 0x72~0x79
+ *  return: 0=OK, -2=I2C error
+ *  note: reads registers 0x72-0x79
+ */
+int sd2506_get_id(uint8_t p_id[8]) {
+    if (p_id == NULL) {
        return SD2506_ERROR;
    }

-    return sd2506_read_regs(SD2506_REG_ID_START, id, SD2506_ID_SIZE);
+    return sd2506_read_regs(SD2506_REG_ID_START, p_id, SD2506_ID_SIZE);
 }

-int sd2506_read_sram(uint8_t addr, uint8_t *buf, uint8_t len)
-{
-    if (buf == NULL || len == 0 || addr >= SD2506_SRAM_SIZE) {
+/*
+ * 函数功能：读取 SRAM 数据
+ * 入口参数：addr - 起始地址                                                            uint8_t  0-69
+ *           p_buf - 输出缓冲区指针                                                     uint8_t*（非空）
+ *           len   - 读取长度                                                          uint8_t  1-N
+ * 返回值：0-成功，-1=参数错误，-2=I2C 错误                                            int
+ * 限定条件：sd2506_init() 已调用成功；addr+len <= SD2506_SRAM_SIZE(70)
+ * 函数说明：SRAM 范围 0x2C~0x71
+ *  return: 0=OK, -1=param err, -2=I2C err
+ *  note: SRAM range 0x2C-0x71
+ */
+int sd2506_read_sram(uint8_t addr, uint8_t *p_buf, uint8_t len) {
+    if (p_buf == NULL || len == 0 || addr >= SD2506_SRAM_SIZE) {
        return SD2506_ERROR;
    }

@@ -292,12 +376,21 @@ int sd2506_read_sram(uint8_t addr, uint8_t *buf, uint8_t len)
        return SD2506_ERROR;
    }

-    return sd2506_read_regs(SD2506_REG_SRAM_START + addr, buf, len);
+    return sd2506_read_regs(SD2506_REG_SRAM_START + addr, p_buf, len);
 }

-int sd2506_write_sram(uint8_t addr, const uint8_t *buf, uint8_t len)
-{
-    if (buf == NULL || len == 0 || addr >= SD2506_SRAM_SIZE) {
+/*
+ * 函数功能：写入 SRAM 数据
+ * 入口参数：addr - 起始地址                                                            uint8_t  0-69
+ *           p_buf - 输入数据指针                                                       uint8_t*（非空）
+ *           len   - 写入长度                                                          uint8_t  1-N
+ * 返回值：0-成功，-1=参数错误，-2=I2C 错误                                            int
+ * 限定条件：sd2506_init() 已调用成功；addr+len <= SD2506_SRAM_SIZE(70)
+ * 函数说明：SRAM 写入需走写保护流程（虽 SRAM 本身无需）
+ *  return: 0=OK, -1=param err, -2=I2C err
+ */
+int sd2506_write_sram(uint8_t addr, const uint8_t *p_buf, uint8_t len) {
+    if (p_buf == NULL || len == 0 || addr >= SD2506_SRAM_SIZE) {
        return SD2506_ERROR;
    }

@@ -305,36 +398,44 @@ int sd2506_write_sram(uint8_t addr, const uint8_t *buf, uint8_t len)
        return SD2506_ERROR;
    }

-    /* SRAM 无需开写保护即可写入 (写保护仅对 00H~71H 有效, SRAM 是 2CH~71H)
+    /* SRAM 无需开写保护即可写入 (写保护仅对 00H~71H 有效, SRAM 为 2CH~71H)
     * 但为安全起见, SRAM 写入也走写保护流程 */
-    int ret;
+    int ret = 0;
    ret = sd2506_write_enable();
    if (ret != SD2506_OK) return ret;

-    ret = sd2506_write_regs(SD2506_REG_SRAM_START + addr, buf, len);
+    ret = sd2506_write_regs(SD2506_REG_SRAM_START + addr, p_buf, len);
    if (ret != SD2506_OK) return ret;

    ret = sd2506_write_disable();
    return ret;
 }

-int sd2506_set_alarm(const sd2506_time_t *time, uint8_t mask)
-{
-    int ret;
-    uint8_t buf[8];
+/*
+ * 函数功能：设置闹钟中断
+ * 入口参数：p_time - 报警时间结构体指针                                                sd2506_time_t*（非空）
+ *           mask  - 报警匹配掩码                                                       uint8_t
+ * 返回值：0-成功，-2=I2C 错误                                                          int
+ * 限定条件：sd2506_init() 已调用成功
+ * 函数说明：写入 8 字节报警数据 (07H~0EH)，使能 CTR2.INTAE+INTS0+IM
+ *  return: 0=OK, -2=I2C error
+ */
+int sd2506_set_alarm(const sd2506_time_t *p_time, uint8_t mask) {
+    int ret = 0;
+    uint8_t buf[8] = {0};

-    if (time == NULL) {
+    if (p_time == NULL) {
        return SD2506_ERROR;
    }

    /* 组装 8 字节报警数据 (07H~0EH) */
-    buf[0] = sd2506_dec_to_bcd(time->second) & 0x7FU;     /* 07H: 秒报警 */
-    buf[1] = sd2506_dec_to_bcd(time->minute) & 0x7FU;     /* 08H: 分报警 */
-    buf[2] = sd2506_dec_to_bcd(time->hour) & 0x3FU;       /* 09H: 时报警 (最高位始终为0) */
+    buf[0] = sd2506_dec_to_bcd(p_time->second) & 0x7FU;     /* 07H: 秒报 */
+    buf[1] = sd2506_dec_to_bcd(p_time->minute) & 0x7FU;     /* 08H: 分报 */
+    buf[2] = sd2506_dec_to_bcd(p_time->hour) & 0x3FU;       /* 09H: 时报（最高位始终为0） */
    buf[3] = 0x00U;                                         /* 0AH: 星期报警 */
-    buf[4] = sd2506_dec_to_bcd(time->day) & 0x3FU;        /* 0BH: 日报警 */
-    buf[5] = sd2506_dec_to_bcd(time->month) & 0x1FU;      /* 0CH: 月报警 */
-    buf[6] = sd2506_dec_to_bcd(time->year - 2000U);       /* 0DH: 年报警 */
+    buf[4] = sd2506_dec_to_bcd(p_time->day) & 0x3FU;        /* 0BH: 日报 */
+    buf[5] = sd2506_dec_to_bcd(p_time->month) & 0x1FU;      /* 0CH: 月报 */
+    buf[6] = sd2506_dec_to_bcd(p_time->year - 2000U);       /* 0DH: 年报 */
    buf[7] = mask;                                          /* 0EH: 报警允许 */

    /* 开启写保护 */
@@ -345,7 +446,7 @@ int sd2506_set_alarm(const sd2506_time_t *time, uint8_t mask)
    ret = sd2506_write_regs(SD2506_REG_AL_SEC, buf, 8);
    if (ret != SD2506_OK) return ret;

-    /* 使能报警中断: CTR2 的 INTAE=1, INTS1=0, INTS0=1, IM=1 (周期性) */
+    /* 使能报警中断: CTR2 中 INTAE=1, INTS1=0, INTS0=1, IM=1 (周期中断) */
    ret = sd2506_write_reg(SD2506_REG_CTR2,
                           SD2506_CTR2_INTAE | SD2506_CTR2_INTS0 | SD2506_CTR2_IM);
    if (ret != SD2506_OK) return ret;
@@ -357,10 +458,18 @@ int sd2506_set_alarm(const sd2506_time_t *time, uint8_t mask)
    return SD2506_OK;
 }

-int sd2506_clear_alarm(void)
-{
-    int ret;
-    uint8_t val;
+/*
+ * 函数功能：清除闹钟中断标志
+ * 入口参数：无
+ * 返回值：0-成功，-2=I2C 错误                                                          int
+ * 限定条件：sd2506_init() 已调用成功；ARST=1 时自动清除 INTAF
+ * 函数说明：读取 CTR1 即可清除 INTAF 标志
+ *  return: 0=OK, -2=I2C error
+ *  note: reading CTR1 clears INTAF
+ */
+int sd2506_clear_alarm(void) {
+    int ret = 0;
+    uint8_t val = 0;

    /* 读取 CTR1, ARST=1 时自动清除 INTAF */
    ret = sd2506_read_reg(SD2506_REG_CTR1, &val);
@@ -371,11 +480,18 @@ int sd2506_clear_alarm(void)
    return SD2506_OK;
 }

-int sd2506_read_ctr1(uint8_t *val)
-{
-    if (val == NULL) {
+/*
+ * 函数功能：读取控制寄存器 1 (CTR1)
+ * 入口参数：p_val - 输出值指针                                                        uint8_t*（非空）
+ * 返回值：0-成功，-2=I2C 错误                                                          int
+ * 限定条件：sd2506_init() 已调用成功
+ *  return: 0=OK, -2=I2C error
+ */
+int sd2506_read_ctr1(uint8_t *p_val) {
+    if (p_val == NULL) {
        return SD2506_ERROR;
    }

-    return sd2506_read_reg(SD2506_REG_CTR1, val);
+    return sd2506_read_reg(SD2506_REG_CTR1, p_val);
 }
+
--- a/Drivers/BSP/SD2506/sd2506.h
+++ b/Drivers/BSP/SD2506/sd2506.h
@@ -50,7 +50,7 @@ extern "C" {
 #define SD2506_REG_AL_EN            0x0EU   /* 报警允许寄存器 */

 /* 控制寄存器 */
-#define SD2506_REG_CTR1             0x0FH   /* 控制寄存器1 */
+#define SD2506_REG_CTR1             0x0FU   /* 控制寄存器1 */
 #define SD2506_REG_CTR2             0x10U   /* 控制寄存器2 */
 #define SD2506_REG_CTR3             0x11U   /* 控制寄存器3 */

@@ -180,7 +180,7 @@ int sd2506_init(void);
 *           3. 关闭写保护
 *           注意：不可单独写某一个时间寄存器
 */
-int sd2506_set_time(const sd2506_time_t *time);
+int sd2506_set_time(const sd2506_time_t *p_time);

 /*
 * 函数功能：读取 RTC 时间日期
@@ -191,7 +191,7 @@ int sd2506_set_time(const sd2506_time_t *time);
 *           2. BCD 转十进制
 *           3. 屏蔽小时 bit7 (12/24标志位)
 */
-int sd2506_get_time(sd2506_time_t *time);
+int sd2506_get_time(sd2506_time_t *p_time);

 /*
 * 函数功能：读取芯片内部温度
@@ -200,7 +200,7 @@ int sd2506_get_time(sd2506_time_t *time);
 * 限定条件：sd2506_init() 已调用
 * 函数说明：读取 16H 寄存器，bit7 为符号位，范围 -40~+85
 */
-int sd2506_get_temperature(int8_t *temp);
+int sd2506_get_temperature(int8_t *p_temp);

 /*
 * 函数功能：读取电池电压 (毫伏)
@@ -210,7 +210,7 @@ int sd2506_get_temperature(int8_t *temp);
 * 函数说明：1. 读取 1AH bit7 (BAT8_VAL) 和 1BH (BAT_VL)
 *           2. 组合 9 位数据得到电压值 (如 0x135 = 309 = 3.09V)
 */
-int sd2506_get_battery_voltage(uint16_t *voltage);
+int sd2506_get_battery_voltage(uint16_t *p_voltage);

 /*
 * 函数功能：读取芯片 8 字节 ID
@@ -219,7 +219,7 @@ int sd2506_get_battery_voltage(uint16_t *voltage);
 * 限定条件：sd2506_init() 已调用
 * 函数说明：读取 72H~79H 共 8 字节唯一 ID
 */
-int sd2506_get_id(uint8_t id[8]);
+int sd2506_get_id(uint8_t p_id[8]);

 /*
 * 函数功能：读取用户 SRAM 数据
@@ -230,7 +230,7 @@ int sd2506_get_id(uint8_t id[8]);
 * 限定条件：sd2506_init() 已调用
 * 函数说明：SRAM 地址范围 0~69，对应寄存器 2CH~71H
 */
-int sd2506_read_sram(uint8_t addr, uint8_t *buf, uint8_t len);
+int sd2506_read_sram(uint8_t addr, uint8_t *p_buf, uint8_t len);

 /*
 * 函数功能：写入用户 SRAM 数据
@@ -242,7 +242,7 @@ int sd2506_read_sram(uint8_t addr, uint8_t *buf, uint8_t len);
 * 函数说明：SRAM 地址范围 0~69，对应寄存器 2CH~71H
 *           SRAM 无需开写保护即可写入
 */
-int sd2506_write_sram(uint8_t addr, const uint8_t *buf, uint8_t len);
+int sd2506_write_sram(uint8_t addr, const uint8_t *p_buf, uint8_t len);

 /*
 * 函数功能：设置报警中断
@@ -255,7 +255,7 @@ int sd2506_write_sram(uint8_t addr, const uint8_t *buf, uint8_t len);
 *           3. 使能报警中断 INTAE
 *           4. 关写保护
 */
-int sd2506_set_alarm(const sd2506_time_t *time, uint8_t mask);
+int sd2506_set_alarm(const sd2506_time_t *p_time, uint8_t mask);

 /*
 * 函数功能：清除报警中断标志
@@ -271,7 +271,7 @@ int sd2506_clear_alarm(void);
 * 入口参数：val - 输出值指针
 * 返回值：0 - 成功，-2 - I2C 通信错误
 */
-int sd2506_read_ctr1(uint8_t *val);
+int sd2506_read_ctr1(uint8_t *p_val);

 /*
 * 函数功能：BCD 码转十进制
--- a/Drivers/BSP/TPAFE5160/tpafe5160.c
+++ b/Drivers/BSP/TPAFE5160/tpafe5160.c
@@ -1,46 +1,46 @@
 /*
- * 模块名称：TPAFE5160 16位8通道同步采样ADC驱动
- * 模块功能：提供 TPAFE5160 并行接口模式下的初始化、过采样设置、转换启动、数据读取接口
- * 适用平台：STM32F407ZGT6，并行16位数据总线接 GPIOG[15:0]
- * 作者：王建锋
- * 创建日期：2026-07-17
- * 修改记录：
- *     2026-07-17  王建锋  创建初始版本，参考 AD7606 并行驱动及 TPAFE5160 手册
- *     2026-07-17  王建锋  增加 EXTI 中断读取模式
+ * 模块名称：TPAFE5160 16<EFBFBD>?通道同步采样ADC驱动
+ * 模块功能：提<EFBFBD>?TPAFE5160 并行接口模式下的初始化、过采样设置、转换启动、数据读取接<EFBFBD>? * 适用平台：STM32F407ZGT6，并<EFBC8C>?6位数据总线<E680BB>?GPIOG[15:0]
+ * 作者：王建<EFBFBD>? * 创建日期<E697A5>?026-07-17
+ * 修改记录<EFBFBD>? *     2026-07-17  王建<E78E8B>? 创建初始版本，参<EFBC8C>?AD7606 并行驱动<E9A9B1>?TPAFE5160 手册
+ *     2026-07-17  王建<E78E8B>? 增加 EXTI 中断读取模式
 */

 /* 头文件包含区 */
 #include "tpafe5160.h"
-
-/* ======================== 私有宏定义 ======================== */
+#include "main.h"

 /*
- * 并行读取时序延时 (168MHz 主频，1 NOP ≈ 5.95ns)
- *
- * TPAFE5160 并行时序要求 (VDRIVE > 2.7V)：
- *   t10 (RD 低脉宽)   ≥ 22ns
- *   t11 (RD 高脉宽)   ≥ 10ns
- *   t14 (数据访问时间) ≤ 21ns (从 RD 下降沿算起)
- *   t15 (数据保持时间) ≥ 6ns  (从 RD 下降沿算起)
- *
- * GPIO 写操作本身约 1 个 AHB 周期 (~6ns)，
- * 加上端口延迟 (~12-18ns)，实际 RD 引脚翻转滞后约 18-24ns。
- * 因此 NOP 延时只需覆盖数据建立时间即可。
+ * 调试输出配置
 */
-#define TP_NOP_5()      __NOP(); __NOP(); __NOP(); __NOP(); __NOP()
+#define DBG_TAG "[ADC]"
+#include "dbg_log.h"

-/* RD 低脉宽延时：GPIO写(~6ns) + 5NOP(~30ns) > 22ns */
-#define TP_RD_LOW_DLY() do { TPAFE5160_RD_LOW();  TP_NOP_5(); } while (0)
+/* ======================== 私有宏定<E5AE8F>?======================== */

-/* RD 高脉宽延时：GPIO写(~6ns) + 3NOP(~18ns) > 10ns */
-#define TP_RD_HIGH_DLY() do { TPAFE5160_RD_HIGH(); __NOP(); __NOP(); __NOP(); } while (0)
+/*
+ * 并行读取时序延时 (168MHz 主频<E4B8BB>? NOP <20>?5.95ns)
+ *
+ * TPAFE5160 并行时序要求 (VDRIVE > 2.7V)<29>? *   t10 (RD 低脉<E4BD8E>?   <20>?22ns
+ *   t11 (RD 高脉<E9AB98>?   <20>?10ns
+ *   t14 (数据访问时间) <20>?21ns (<28>?RD 下降沿算<E6B2BF>?
+ *   t15 (数据保持时间) <20>?6ns  (<28>?RD 下降沿算<E6B2BF>?
+ *
+ * GPIO 写操作本身约 1 <20>?AHB 周期 (~6ns)<29>? * 加上端口延迟 (~12-18ns)，实<EFBC8C>?RD 引脚翻转滞后<E6BB9E>?18-24ns<6E>? * 因此 NOP 延时只需覆盖数据建立时间即可<E58DB3>? */
+#define TPAFE5160_NOP_5()      __NOP(); __NOP(); __NOP(); __NOP(); __NOP()

-/* CONVST 脉冲延时：上升沿前需保证低电平，5NOP 覆盖 t5 ≥ 20ns */
-#define TP_CONVST_PULSE() do { \
+/* RD 低脉宽延时：GPIO<49>?~6ns) + 5NOP(~30ns) > 22ns */
+#define TPAFE5160_RD_LOW_DLY() do { TPAFE5160_RD_LOW();  TPAFE5160_NOP_5(); } while (0)
+
+/* RD 高脉宽延时：GPIO<49>?~6ns) + 3NOP(~18ns) > 10ns */
+#define TPAFE5160_RD_HIGH_DLY() do { TPAFE5160_RD_HIGH(); __NOP(); __NOP(); __NOP(); } while (0)
+
+/* CONVST 脉冲延时：上升沿前需保证低电平，5NOP 覆盖 t5 <20>?20ns */
+#define TPAFE5160_CONVST_PULSE() do { \
    TPAFE5160_CONVST_LOW(); \
-    TP_NOP_5(); \
+    TPAFE5160_NOP_5(); \
    TPAFE5160_CONVST_HIGH(); \
-    TP_NOP_5(); \
+    TPAFE5160_NOP_5(); \
 } while (0)

 /* ======================== 私有函数声明 ======================== */
@@ -52,34 +52,34 @@ static void tpafe5160_read_channels(uint8_t count, int16_t *buf);
 /*
 * 函数功能：初始化 TPAFE5160（设置过采样、等待就绪）
 * 入口参数：无
- * 返回值：0 - 成功，-2 - BUSY 超时
- * 限定条件：CubeMX 已完成 GPIO 初始化
- * 函数说明：1. 设置过采样为无过采样 (000)
+ * 返回值：0 - 成功<EFBFBD>?2 - BUSY 超时
+ * 限定条件：CubeMX 已完<EFBFBD>?GPIO 初始<EFBFBD>? * 函数说明<E8AFB4>?. 设置过采样为无过采样 (000)
 *           2. 确保 RD 为高、CONVST 为低
 *           3. 等待 BUSY 释放（转换空闲）
 */
-int tpafe5160_init(void)
-{
+int tpafe5160_init(void) {
    /* 设置默认过采样：无过采样 (OS[2:0] = 000) */
-    tpafe5160_set_os(TP_OS_NONE);
+    tpafe5160_set_os(TPAFE5160_OS_NONE);

-    /* 确保控制引脚处于空闲状态 */
+    /* 确保控制引脚处于空闲状<EFBFBD>?*/
    TPAFE5160_RD_HIGH();
    TPAFE5160_CONVST_LOW();

-    /* 等待 BUSY 释放，确保上电后无残留转换 */
-    return tpafe5160_wait_busy(TPAFE5160_CONV_TIMEOUT_MS);
+    /* 等待 BUSY 释放，确保上电后无残留转<EFBFBD>?*/
+    int ret = tpafe5160_wait_busy(TPAFE5160_CONV_TIMEOUT_MS);
+    if (ret != TPAFE5160_OK) {
+        DBG_ERROR("Init wait BUSY timeout");
+    } else {
+        DBG_INFO("Init OK");
+    }
+    return ret;
 }

 /*
- * 函数功能：设置过采样率
- * 入口参数：os - 过采样率枚举值  tpafe5160_os_t
- * 返回值：无
- * 限定条件：GPIO 已初始化
- * 函数说明：通过 OS[2:0] 引脚设置过采样率，在下一次 BUSY 下降沿锁存生效
- */
-void tpafe5160_set_os(tpafe5160_os_t os)
-{
+ * 函数功能：设置过采样<EFBFBD>? * 入口参数：os - 过采样率枚举<E69E9A>? tpafe5160_os_t
+ * 返回值：<EFBFBD>? * 限定条件：GPIO 已初始化
+ * 函数说明：通过 OS[2:0] 引脚设置过采样率，在下一<E4B88B>?BUSY 下降沿锁存生<E5AD98>? */
+void tpafe5160_set_os(tpafe5160_os_t os) {
    TPAFE5160_OS0(os & 0x01);       /* OS0 = bit0 */
    TPAFE5160_OS1((os >> 1) & 0x01); /* OS1 = bit1 */
    TPAFE5160_OS2((os >> 2) & 0x01); /* OS2 = bit2 */
@@ -88,27 +88,22 @@ void tpafe5160_set_os(tpafe5160_os_t os)
 /*
 * 函数功能：启动一次转换（CONVST 上升沿触发）
 * 入口参数：无
- * 返回值：无
- * 限定条件：GPIO 已初始化
- * 函数说明：产生 CONVST 脉冲上升沿，启动全部8通道同步采样与转换
- */
-void tpafe5160_start_conv(void)
-{
-    TP_CONVST_PULSE();
+ * 返回值：<EFBFBD>? * 限定条件：GPIO 已初始化
+ * 函数说明：产<EFBFBD>?CONVST 脉冲上升沿，启动全部8通道同步采样与转<E4B88E>? */
+void tpafe5160_start_conv(void) {
+    TPAFE5160_CONVST_PULSE();
 }

 /*
- * 函数功能：等待转换完成
- * 入口参数：timeout_ms - 超时时间  uint32_t  > 0
- * 返回值：0 - 转换完成，-2 - 超时
+
+ * 函数功能：等待转换完<E68DA2>? * 入口参数：timeout_ms - 超时时间  uint32_t  > 0
+ * 返回值：0 - 转换完成<EFBFBD>?2 - 超时
 * 限定条件：已调用 tpafe5160_start_conv()
- * 函数说明：轮询 BUSY 引脚等待下降沿
- */
-int tpafe5160_wait_busy(uint32_t timeout_ms)
-{
+ * 函数说明：轮<EFBFBD>?BUSY 引脚等待下降<EFBFBD>? */
+int tpafe5160_wait_busy(uint32_t timeout_ms) {
    uint32_t tick_start = HAL_GetTick();

-    /* 等待 BUSY 释放（低电平表示空闲） */
+    /* 等待 BUSY 释放（低电平表示空闲<EFBFBD>?*/
    while (TPAFE5160_BUSY_READ() == GPIO_PIN_SET) {
        if ((HAL_GetTick() - tick_start) >= timeout_ms) {
            return TPAFE5160_BUSY_TIMEOUT;
@@ -119,29 +114,26 @@ int tpafe5160_wait_busy(uint32_t timeout_ms)
 }

 /*
- * 函数功能：查询当前是否正在转换
- * 入口参数：无
- * 返回值：1 - 正在转换，0 - 空闲
+ * 函数功能：查询当前是否正在转<EFBFBD>? * 入口参数：无
+ * 返回值：1 - 正在转换<E8BDAC>? - 空闲
 * 限定条件：GPIO 已初始化
- * 函数说明：读取 BUSY 引脚电平
+ * 函数说明：读<EFBFBD>?BUSY 引脚电平
 */
-uint8_t tpafe5160_is_busy(void)
-{
+uint8_t tpafe5160_is_busy(void) {
    return (TPAFE5160_BUSY_READ() == GPIO_PIN_SET) ? 1 : 0;
 }

 /*
- * 函数功能：读取全部8通道转换结果
+ * 函数功能：读取全<EFBFBD>?通道转换结果
 * 入口参数：buf - 8个int16_t的输出缓冲区  int16_t*  不为 NULL
- * 返回值：0 - 成功，-2 - BUSY 超时
+ * 返回值：0 - 成功<EFBFBD>?2 - BUSY 超时
 * 限定条件：GPIO 已初始化
- * 函数说明：1. 启动转换并等待 BUSY 释放
+ * 函数说明<EFBFBD>?. 启动转换并等<EFBFBD>?BUSY 释放
 *           2. 连续8次拉低RD读取各通道数据
 *           3. 通过 FRSTDATA 验证第一通道
 */
-int tpafe5160_read_all(int16_t *buf)
-{
-    int ret;
+int tpafe5160_read_all(int16_t *buf) {
+    int ret = 0;

    /* 启动转换 */
    tpafe5160_start_conv();
@@ -149,6 +141,7 @@ int tpafe5160_read_all(int16_t *buf)
    /* 等待转换完成 */
    ret = tpafe5160_wait_busy(TPAFE5160_CONV_TIMEOUT_MS);
    if (ret != TPAFE5160_OK) {
+        DBG_ERROR("read_all BUSY timeout");
        return ret;
    }

@@ -159,17 +152,15 @@ int tpafe5160_read_all(int16_t *buf)
 }

 /*
- * 函数功能：读取指定通道的转换结果
- * 入口参数：channel - 通道号  uint8_t  0 - 7
+ * 函数功能：读取指定通道的转换结<EFBFBD>? * 入口参数：channel - 通道<E9809A>? uint8_t  0 - 7
 *           value   - 输出指针 int16_t*  不为 NULL
- * 返回值：0 - 成功，-1 - 通道号无效，-2 - BUSY 超时
+ * 返回值：0 - 成功<EFBFBD>?1 - 通道号无效，-2 - BUSY 超时
 * 限定条件：GPIO 已初始化
 * 函数说明：启动转换并等待完成后，连续读取至指定通道
 */
-int tpafe5160_read_channel(uint8_t channel, int16_t *value)
-{
-    int ret;
-    int16_t buf[TPAFE5160_CH_NUM];
+int tpafe5160_read_channel(uint8_t channel, int16_t *value) {
+    int ret = 0;
+    int16_t buf[TPAFE5160_CH_NUM] = {0};

    if (channel >= TPAFE5160_CH_NUM || value == NULL) {
        return TPAFE5160_ERROR;
@@ -185,29 +176,23 @@ int tpafe5160_read_channel(uint8_t channel, int16_t *value)
 }

 /*
- * 函数功能：原始ADC值转电压值
- * 入口参数：raw - ADC原始值  int16_t  有符号补码
- * 返回值：电压值  float  单位 V
+ * 函数功能：原始ADC值转电压<EFBFBD>? * 入口参数：raw - ADC原始<E58E9F>? int16_t  有符号补<E58FB7>? * 返回值：电压<E794B5>? float  单位 V
 * 限定条件：无
- * 函数说明：±5V量程时 LSB = 10V / 65536 ≈ 152.59μV
- *           ±10V量程时 LSB = 20V / 65536 ≈ 305.18μV
- *           硬件 RANGE 引脚接 GND，默认 ±5V 量程
+ * 函数说明：<EFBFBD>?V量程<EFBFBD>?LSB = 10V / 65536 <EFBFBD>?152.59μV
+ *           ±10V量程<EFBFBD>?LSB = 20V / 65536 <EFBFBD>?305.18μV
+ *           硬件 RANGE 引脚<EFBFBD>?GND，默<EFBFBD>?±5V 量程
 */
-float tpafe5160_to_voltage(int16_t raw)
-{
-    /* RANGE 接 GND → ±5V 量程，满量程 10V */
+float tpafe5160_to_voltage(int16_t raw) {
+    /* RANGE <20>?GND <20>?±5V 量程，满量程 10V */
    return (float)raw * (10.0f / 65536.0f);
 }

 /*
- * 函数功能：直接读取并行数据总线（不启动转换）
- * 入口参数：无
- * 返回值：16位原始数据  uint16_t
- * 限定条件：RD 为低或 CS 与 RD 已拉低
- * 函数说明：读取 GPIOG->IDR 低16位，对应 DB[15:0]
+ * 函数功能：直接读取并行数据总线（不启动转换<EFBFBD>? * 入口参数：无
+ * 返回值：16位原始数<EFBFBD>? uint16_t
+ * 限定条件：RD 为低<E4B8BA>?CS <20>?RD 已拉<E5B7B2>? * 函数说明：读<EFBC9A>?GPIOG->IDR <20>?6位，对应 DB[15:0]
 */
-uint16_t tpafe5160_read_bus(void)
-{
+uint16_t tpafe5160_read_bus(void) {
    return TPAFE5160_READ_BUS();
 }

@@ -215,100 +200,82 @@ uint16_t tpafe5160_read_bus(void)

 /*
 * 函数功能：通过 RD 脉冲连续读取多个通道数据
- * 入口参数：count - 要读取的通道数  uint8_t  1 - 8
- *           buf   - 输出缓冲区       int16_t* 不为 NULL
- * 返回值：无
- * 限定条件：转换已完成（BUSY 为低），RD 初始为高
- * 函数说明：每次 RD 下降沿输出一个通道数据，按通道1~8顺序输出
- *           DB[15:0] 直接接 GPIOG[15:0]，通过 IDR 寄存器一次读取
- *
- * 时序关键点 (VDRIVE > 2.7V, 168MHz 主频)：
- *   GPIO 写操作 ~6ns + 端口延迟 ~18ns → RD 引脚实际翻转约 24ns 后
- *   t14 数据建立 ≤ 21ns → 数据在 RD 下降沿后 21ns 内有效
- *   5 个 NOP (~30ns) 覆盖建立时间
+ * 入口参数：count - 要读取的通道<EFBFBD>? uint8_t  1 - 8
+ *           buf   - 输出缓冲<EFBFBD>?      int16_t* 不为 NULL
+ * 返回值：<EFBFBD>? * 限定条件：转换已完成（BUSY 为低），RD 初始为高
+ * 函数说明：每<EFBFBD>?RD 下降沿输出一个通道数据，按通道1~8顺序输出
+ *           DB[15:0] 直接<E79BB4>?GPIOG[15:0]，通过 IDR 寄存器一次读<E6ACA1>? *
+ * 时序关键<EFBFBD>?(VDRIVE > 2.7V, 168MHz 主频)<29>? *   GPIO 写操<E58699>?~6ns + 端口延迟 ~18ns <20>?RD 引脚实际翻转<E7BFBB>?24ns <20>? *   t14 数据建立 <20>?21ns <20>?数据<E695B0>?RD 下降沿后 21ns 内有<E58685>? *   5 <20>?NOP (~30ns) 覆盖建立时间
 */
-static void tpafe5160_read_channels(uint8_t count, int16_t *buf)
-{
+static void tpafe5160_read_channels(uint8_t count, int16_t *buf) {
    uint8_t i;

    for (i = 0; i < count; i++) {
-        /* RD 下降沿：ADC 输出当前通道数据到 DB[15:0] */
-        TP_RD_LOW_DLY();
+        /* RD 下降沿：ADC 输出当前通道数据<EFBFBD>?DB[15:0] */
+        TPAFE5160_RD_LOW_DLY();

-        /* 读取16位并行数据 */
+        /* 读取16位并行数<EFBFBD>?*/
        buf[i] = (int16_t)TPAFE5160_READ_BUS();

        /* RD 上升沿：准备下一通道 */
-        TP_RD_HIGH_DLY();
+        TPAFE5160_RD_HIGH_DLY();
    }
 }

 /* ======================== 中断模式实现 ======================== */

-/* 双缓冲区：ISR 写 s_buf_b，主循环读 s_buf_a */
+/* 双缓冲区：ISR <EFBFBD>?s_buf_b，主循环<EFBFBD>?s_buf_a */
 static int16_t s_buf_a[TPAFE5160_CH_NUM];
 static int16_t s_buf_b[TPAFE5160_CH_NUM];
 static volatile uint8_t s_ready = 0;
-static volatile uint8_t s_buf_sel = 0;   /* 0 = 写 B / 读 A, 1 = 写 A / 读 B */
+static volatile uint8_t s_buf_sel = 0;   /* 0 = <EFBFBD>?B / <EFBFBD>?A, 1 = <EFBFBD>?A / <EFBFBD>?B */

 /*
- * 函数功能：使能 BUSY EXTI 中断（运行时重使能用）
- * 入口参数：无
- * 返回值：无
- * 限定条件：CubeMX 已完成 GPIO 和 NVIC 配置
- * 函数说明：正常启动流程无需调用，仅在 irq_disable() 后需要重新使能时使用
+ * 函数功能：使<EFBFBD>?BUSY EXTI 中断（运行时重使能用<EFBFBD>? * 入口参数：无
+ * 返回值：<EFBFBD>? * 限定条件：CubeMX 已完<E5B7B2>?GPIO <20>?NVIC 配置
+ * 函数说明：正常启动流程无需调用，仅<EFBFBD>?irq_disable() 后需要重新使能时使用
 */
-void tpafe5160_irq_enable(void)
-{
+void tpafe5160_irq_enable(void) {
    HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
 }

 /*
- * 函数功能：关闭 BUSY EXTI 中断
+ * 函数功能：关<EFBFBD>?BUSY EXTI 中断
 * 入口参数：无
- * 返回值：无
- * 限定条件：已调用 tpafe5160_irq_enable()
+ * 返回值：<EFBFBD>? * 限定条件：已调用 tpafe5160_irq_enable()
 * 函数说明：仅禁用 NVIC 中断，GPIO 配置保持 CubeMX 设定
 */
-void tpafe5160_irq_disable(void)
-{
+void tpafe5160_irq_disable(void) {
    HAL_NVIC_DisableIRQ(EXTI9_5_IRQn);
 }

 /*
- * 函数功能：启动转换（中断模式）
- * 入口参数：无
- * 返回值：无
- * 限定条件：已调用 tpafe5160_irq_enable()
- * 函数说明：产生 CONVST 脉冲，转换完成后由 EXTI 中断自动读取 8 通道数据
+ * 函数功能：启动转换（中断模式<EFBFBD>? * 入口参数：无
+ * 返回值：<EFBFBD>? * 限定条件：已调用 tpafe5160_irq_enable()
+ * 函数说明：产<EFBFBD>?CONVST 脉冲，转换完成后<E68890>?EXTI 中断自动读取 8 通道数据
 */
-void tpafe5160_start_conv_irq(void)
-{
+void tpafe5160_start_conv_irq(void) {
    s_ready = 0;
-    TP_CONVST_PULSE();
+    TPAFE5160_CONVST_PULSE();
 }

 /*
 * 函数功能：检查是否有新的转换数据
 * 入口参数：无
- * 返回值：1 - 数据就绪，0 - 无新数据
+ * 返回值：1 - 数据就绪<EFBFBD>? - 无新数据
 * 限定条件：中断模式已启用
 * 函数说明：在 EXTI 回调中置位，主循环读取后需调用 tpafe5160_clear_ready() 清除
 */
-uint8_t tpafe5160_data_ready(void)
-{
+uint8_t tpafe5160_data_ready(void) {
    return s_ready;
 }

 /*
- * 函数功能：清除数据就绪标志
- * 入口参数：无
- * 返回值：无
- * 限定条件：中断模式已启用
+ * 函数功能：清除数据就绪标<EFBFBD>? * 入口参数：无
+ * 返回值：<EFBFBD>? * 限定条件：中断模式已启用
 * 函数说明：主循环处理完数据后调用
 */
-void tpafe5160_clear_ready(void)
-{
+void tpafe5160_clear_ready(void) {
    s_ready = 0;
 }

@@ -316,23 +283,16 @@ void tpafe5160_clear_ready(void)
 * 函数功能：获取数据缓冲区指针
 * 入口参数：无
 * 返回值：int16_t[8] 数据缓冲区的 const 指针
- * 限定条件：tpafe5160_data_ready() 返回 1 时调用
- * 函数说明：双缓冲切换，ISR 写另一个缓冲区，主循环安全读取当前缓冲区
- */
-const int16_t* tpafe5160_get_buf(void)
-{
+ * 限定条件：tpafe5160_data_ready() 返回 1 时调<EFBFBD>? * 函数说明：双缓冲切换，ISR 写另一个缓冲区，主循环安全读取当前缓冲<E7BC93>? */
+const int16_t* tpafe5160_get_buf(void) {
    return (s_buf_sel == 0) ? s_buf_a : s_buf_b;
 }

 /*
- * 函数功能：BUSY 下降沿 EXTI 回调（由 HAL_GPIO_EXTI_IRQHandler 调用）
- * 入口参数：GPIO_Pin - 触发中断的引脚号
- * 返回值：无
- * 限定条件：BUSY EXTI 已使能
- * 函数说明：转换完成后自动读取 8 通道数据到缓冲区，耗时约 0.5µs (168MHz)
+ * 函数功能：BUSY 下降<EFBFBD>?EXTI 处理（由 HAL_GPIO_EXTI_Callback 调用<E8B083>? * 入口参数：GPIO_Pin - 触发中断的引脚号
+ * 返回值：<EFBFBD>? * 限定条件：BUSY EXTI 已使<E5B7B2>? * 函数说明：转换完成后自动读取 8 通道数据到缓冲区，耗时<E88097>?0.5µs (168MHz)
 */
-void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
-{
+void tpafe5160_exti_handler(uint16_t GPIO_Pin) {
    if (GPIO_Pin != TP_BUSY_Pin) {
        return;
    }
@@ -343,9 +303,9 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
    /* 连续读取8个通道，约 0.5µs @ 168MHz */
    uint8_t i;
    for (i = 0; i < TPAFE5160_CH_NUM; i++) {
-        TP_RD_LOW_DLY();
+        TPAFE5160_RD_LOW_DLY();
        p_wr[i] = (int16_t)TPAFE5160_READ_BUS();
-        TP_RD_HIGH_DLY();
+        TPAFE5160_RD_HIGH_DLY();
    }

    /* 切换缓冲区并标记就绪 */
--- a/Drivers/BSP/TPAFE5160/tpafe5160.h
+++ b/Drivers/BSP/TPAFE5160/tpafe5160.h
@@ -48,20 +48,20 @@ extern "C" {

 /* 过采样率枚举 (OS[2:0] 编码，OS2为MSB, OS0为LSB) */
 typedef enum {
-    TP_OS_NONE  = 0,    /* 000 — 无过采样，350 kSPS */
-    TP_OS_X2    = 1,    /* 001 — 2倍过采样，175 kSPS */
-    TP_OS_X4    = 2,    /* 010 — 4倍过采样，87.5 kSPS */
-    TP_OS_X8    = 3,    /* 011 — 8倍过采样，43.75 kSPS */
-    TP_OS_X16   = 4,    /* 100 — 16倍过采样，21.875 kSPS */
-    TP_OS_X32   = 5,    /* 101 — 32倍过采样，10.94 kSPS */
-    TP_OS_X64   = 6,    /* 110 — 64倍过采样，5.47 kSPS */
-    TP_OS_HBW   = 7     /* 111 — 高带宽模式 (~30kHz)，350 kSPS */
+    TPAFE5160_OS_NONE  = 0,    /* 000 — 无过采样，350 kSPS */
+    TPAFE5160_OS_X2    = 1,    /* 001 — 2倍过采样，175 kSPS */
+    TPAFE5160_OS_X4    = 2,    /* 010 — 4倍过采样，87.5 kSPS */
+    TPAFE5160_OS_X8    = 3,    /* 011 — 8倍过采样，43.75 kSPS */
+    TPAFE5160_OS_X16   = 4,    /* 100 — 16倍过采样，21.875 kSPS */
+    TPAFE5160_OS_X32   = 5,    /* 101 — 32倍过采样，10.94 kSPS */
+    TPAFE5160_OS_X64   = 6,    /* 110 — 64倍过采样，5.47 kSPS */
+    TPAFE5160_OS_HBW   = 7     /* 111 — 高带宽模式 (~30kHz)，350 kSPS */
 } tpafe5160_os_t;

 /* 输入量程枚举 */
 typedef enum {
-    TP_RANGE_5V  = 0,   /* ±5V  (RANGE = LOW) */
-    TP_RANGE_10V = 1    /* ±10V (RANGE = HIGH) */
+    TPAFE5160_RANGE_5V  = 0,   /* ±5V  (RANGE = LOW) */
+    TPAFE5160_RANGE_10V = 1    /* ±10V (RANGE = HIGH) */
 } tpafe5160_range_t;

 /* 返回值定义 */
@@ -217,6 +217,15 @@ void tpafe5160_clear_ready(void);
 */
 const int16_t* tpafe5160_get_buf(void);

+/*
+ * 函数功能：EXTI 中断处理（由 HAL_GPIO_EXTI_Callback 调用）
+ * 入口参数：GPIO_Pin - 触发的引脚号
+ * 返回值：无
+ * 限定条件：BUSY EXTI 已使能
+ * 函数说明：BUSY 下降沿时自动读取 8 通道数据到缓冲区
+ */
+void tpafe5160_exti_handler(uint16_t GPIO_Pin);
+
 #ifdef __cplusplus
 }
 #endif
--- a/Drivers/BSP/dbg_cfg.h
+++ b/Drivers/BSP/dbg_cfg.h
@@ -0,0 +1,46 @@
+/*
+ * 模块名称：Debug Output Configuration
+ * 模块功能：全局调试输出配置，定义各调试级别的编译开关
+ *          参考 FlashDB fdb_cfg.h 设计模式
+ * 使用方法：
+ *   - DBG_ENABLE 总开关，定义后启用 DBG_ERROR / DBG_INFO
+ *   - DBG_DEBUG_ENABLE 子开关，同时定义 DBG_ENABLE 后启用 DBG_DEBUG（含 __func__:__LINE__）
+ *   - 两者都不定义：所有 DBG_* 宏为空操作（release 版本）
+ *
+ * 用户可在本文件中直接控制，也可在编译器预定义中覆盖
+ * 适用平台：所有 BSP 驱动
+ * 作者：王建锋
+ * 创建日期：2026-07-18
+ * 修改记录：
+ *     2026-07-18  王建锋  创建初始版本
+ */
+
+#ifndef __DBG_CFG_H
+#define __DBG_CFG_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * 总开关：取消注释启用所有调试输出
+ */
+#define DBG_ENABLE 
+
+/*
+ * 调试级别开关：取消注释额外输出 DBG_DEBUG 级别
+ * 仅在 DBG_ENABLE 定义时生效
+ */
+/* #define DBG_DEBUG_ENABLE */
+
+/*
+ * 系统时间戳开关：取消注释在所有日志行首追加 [YYYY-MM-DD HH:MM:SS] 时间戳
+ * 依赖 sys_clock_init() 已调用（SD2506 RTC 初始化完成）
+ */
+#define APP_TIMESTAMP_ENABLE
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __DBG_CFG_H */
--- a/Drivers/BSP/dbg_log.h
+++ b/Drivers/BSP/dbg_log.h
@@ -0,0 +1,138 @@
+/*
+ * 模块名称：Unified Debug Logging
+ * 模块功能：提供统一的调试输出宏，支持 DEBUG / INFO / ERROR 三级日志控制
+ *          参考 FlashDB FDB_DEBUG/FDB_INFO 设计模式
+ * 使用方法：
+ *   1. 在 dbg_cfg.h 中定义 DBG_ENABLE（总开关）和 DBG_DEBUG_ENABLE（DEBUG 级别）
+ *   2. 每个 .c 文件在包含本文件前定义 DBG_TAG，如：
+ *      #define DBG_TAG "[CH395]"
+ *      #include "dbg_log.h"
+ * 适用平台：所有 BSP 驱动
+ * 作者：王建锋
+ * 创建日期：2026-07-18
+ * 修改记录：
+ *     2026-07-18  王建锋  创建初始版本
+ */
+
+#ifndef __DBG_LOG_H
+#define __DBG_LOG_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdio.h>
+#include <stddef.h>
+#include "dbg_cfg.h"
+
+#ifdef APP_TIMESTAMP_ENABLE
+#include "sys_clock.h"
+#endif
+
+/*
+ * 总开关：DBG_ENABLE
+ *   定义 → 输出 DBG_ERROR / DBG_INFO；若 DBG_DEBUG_ENABLE 也定义则输出 DBG_DEBUG
+ * 不定义 → 所有输出宏为空操作（release 版本）
+ * 在 net_config.h 或编译器预定义中控制
+ */
+#ifdef DBG_ENABLE
+
+/*
+ * 可重定向的打印函数，用户可在编译选项或 net_config.h 中预定义
+ * #define DBG_PRINT(...) my_printf(__VA_ARGS__)
+ */
+#ifndef DBG_PRINT
+#define DBG_PRINT(...)      printf(__VA_ARGS__)
+#endif
+
+/*
+ * 模块标签默认值，每个 .c 文件应在包含本文件前定义 DBG_TAG
+ * #define DBG_TAG "[CH395]"
+ */
+#ifndef DBG_TAG
+#define DBG_TAG             ""
+#endif
+
+#ifdef APP_TIMESTAMP_ENABLE
+/*
+ * 时间戳输出宏 — 在日志行首追加 [YYYY-MM-DD HH:MM:SS] 格式的系统墙钟时间
+ * sys_clock_get_str() 线程安全（内部使用 DWT US 计数，无锁）
+ */
+#define DBG_TS()   sys_clock_get_str((char[32]){0}, 32)
+
+/*
+ * DBG_ERROR - 错误输出，受 DBG_ENABLE + APP_TIMESTAMP_ENABLE 控制
+ */
+#define DBG_ERROR(fmt, ...) do { \
+    char __ts_buf[32]; \
+    (void)__ts_buf; \
+    DBG_PRINT("[%s]" "[ERR]" DBG_TAG " " fmt "\r\n", \
+              sys_clock_get_str(__ts_buf, sizeof(__ts_buf)), ##__VA_ARGS__); \
+} while (0)
+
+/*
+ * DBG_INFO - 信息输出，受 DBG_ENABLE + APP_TIMESTAMP_ENABLE 控制
+ */
+#define DBG_INFO(fmt, ...) do { \
+    char __ts_buf[32]; \
+    (void)__ts_buf; \
+    DBG_PRINT("[%s]" DBG_TAG " " fmt "\r\n", \
+              sys_clock_get_str(__ts_buf, sizeof(__ts_buf)), ##__VA_ARGS__); \
+} while (0)
+
+/*
+ * DBG_DEBUG - 调试输出，需 DBG_ENABLE + DBG_DEBUG_ENABLE + APP_TIMESTAMP_ENABLE 同时定义
+ */
+#ifdef DBG_DEBUG_ENABLE
+#define DBG_DEBUG(fmt, ...) do { \
+    char __ts_buf[32]; \
+    (void)__ts_buf; \
+    DBG_PRINT("[%s]" DBG_TAG "(%s:%d) " fmt "\r\n", \
+              sys_clock_get_str(__ts_buf, sizeof(__ts_buf)), __func__, __LINE__, ##__VA_ARGS__); \
+} while (0)
+#else
+#define DBG_DEBUG(fmt, ...)
+#endif
+
+#else /* APP_TIMESTAMP_ENABLE not defined */
+
+/*
+ * DBG_ERROR - 错误输出，受 DBG_ENABLE 控制（无时间戳）
+ */
+#define DBG_ERROR(fmt, ...) do { \
+    DBG_PRINT("[ERR]" DBG_TAG " " fmt "\r\n", ##__VA_ARGS__); \
+} while (0)
+
+/*
+ * DBG_INFO - 信息输出，受 DBG_ENABLE 控制（无时间戳）
+ */
+#define DBG_INFO(fmt, ...) do { \
+    DBG_PRINT(DBG_TAG " " fmt "\r\n", ##__VA_ARGS__); \
+} while (0)
+
+/*
+ * DBG_DEBUG - 调试输出，需 DBG_ENABLE + DBG_DEBUG_ENABLE 同时定义（无时间戳）
+ */
+#ifdef DBG_DEBUG_ENABLE
+#define DBG_DEBUG(fmt, ...) do { \
+    DBG_PRINT(DBG_TAG "(%s:%d) " fmt "\r\n", __func__, __LINE__, ##__VA_ARGS__); \
+} while (0)
+#else
+#define DBG_DEBUG(fmt, ...)
+#endif
+
+#endif /* APP_TIMESTAMP_ENABLE */
+
+#else /* DBG_ENABLE not defined — all debug output disabled */
+
+#define DBG_ERROR(fmt, ...)
+#define DBG_INFO(fmt, ...)
+#define DBG_DEBUG(fmt, ...)
+
+#endif /* DBG_ENABLE */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __DBG_LOG_H */
--- a/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
+++ b/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
--- a/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
+++ b/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
@@ -0,0 +1,357 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_tim_ex.h
+  * @author  MCD Application Team
+  * @brief   Header file of TIM HAL Extended module.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 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.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef STM32F4xx_HAL_TIM_EX_H
+#define STM32F4xx_HAL_TIM_EX_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_def.h"
+
+/** @addtogroup STM32F4xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup TIMEx
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+/** @defgroup TIMEx_Exported_Types TIM Extended Exported Types
+  * @{
+  */
+
+/**
+  * @brief  TIM Hall sensor Configuration Structure definition
+  */
+
+typedef struct
+{
+  uint32_t IC1Polarity;         /*!< Specifies the active edge of the input signal.
+                                     This parameter can be a value of @ref TIM_Input_Capture_Polarity */
+
+  uint32_t IC1Prescaler;        /*!< Specifies the Input Capture Prescaler.
+                                     This parameter can be a value of @ref TIM_Input_Capture_Prescaler */
+
+  uint32_t IC1Filter;           /*!< Specifies the input capture filter.
+                                     This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */
+
+  uint32_t Commutation_Delay;   /*!< Specifies the pulse value to be loaded into the Capture Compare Register.
+                                     This parameter can be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
+} TIM_HallSensor_InitTypeDef;
+/**
+  * @}
+  */
+/* End of exported types -----------------------------------------------------*/
+
+/* Exported constants --------------------------------------------------------*/
+/** @defgroup TIMEx_Exported_Constants TIM Extended Exported Constants
+  * @{
+  */
+
+/** @defgroup TIMEx_Remap TIM Extended Remapping
+  * @{
+  */
+#if defined (TIM2)
+#if defined(TIM8)
+#define TIM_TIM2_TIM8_TRGO                     0x00000000U                              /*!< TIM2 ITR1 is connected to TIM8 TRGO */
+#endif /*  TIM8 */
+#define TIM_TIM2_ETH_PTP                       TIM_OR_ITR1_RMP_0                        /*!< TIM2 ITR1 is connected to PTP trigger output */
+#define TIM_TIM2_USBFS_SOF                     TIM_OR_ITR1_RMP_1                        /*!< TIM2 ITR1 is connected to OTG FS SOF */
+#define TIM_TIM2_USBHS_SOF                     (TIM_OR_ITR1_RMP_1 | TIM_OR_ITR1_RMP_0)  /*!< TIM2 ITR1 is connected to OTG HS SOF */
+#endif /* TIM2 */
+
+#define TIM_TIM5_GPIO                          0x00000000U                              /*!< TIM5 TI4 is connected to GPIO */
+#define TIM_TIM5_LSI                           TIM_OR_TI4_RMP_0                         /*!< TIM5 TI4 is connected to LSI */
+#define TIM_TIM5_LSE                           TIM_OR_TI4_RMP_1                         /*!< TIM5 TI4 is connected to LSE */
+#define TIM_TIM5_RTC                           (TIM_OR_TI4_RMP_1 | TIM_OR_TI4_RMP_0)    /*!< TIM5 TI4 is connected to the RTC wakeup interrupt */
+
+#define TIM_TIM11_GPIO                         0x00000000U                              /*!< TIM11 TI1 is connected to GPIO */
+#define TIM_TIM11_HSE                          TIM_OR_TI1_RMP_1                         /*!< TIM11 TI1 is connected to HSE_RTC clock */
+#if defined(SPDIFRX)
+#define TIM_TIM11_SPDIFRX                      TIM_OR_TI1_RMP_0                         /*!< TIM11 TI1 is connected to SPDIFRX_FRAME_SYNC */
+#endif /* SPDIFRX*/
+
+#if defined(LPTIM_OR_TIM1_ITR2_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP)
+#define LPTIM_REMAP_MASK                       0x10000000U
+
+#define TIM_TIM9_TIM3_TRGO                     LPTIM_REMAP_MASK                             /*!< TIM9 ITR1 is connected to TIM3 TRGO */
+#define TIM_TIM9_LPTIM                         (LPTIM_REMAP_MASK | LPTIM_OR_TIM9_ITR1_RMP)  /*!< TIM9 ITR1 is connected to LPTIM1 output */
+
+#define TIM_TIM5_TIM3_TRGO                     LPTIM_REMAP_MASK                             /*!< TIM5 ITR1 is connected to TIM3 TRGO */
+#define TIM_TIM5_LPTIM                         (LPTIM_REMAP_MASK | LPTIM_OR_TIM5_ITR1_RMP)  /*!< TIM5 ITR1 is connected to LPTIM1 output */
+
+#define TIM_TIM1_TIM3_TRGO                     LPTIM_REMAP_MASK                             /*!< TIM1 ITR2 is connected to TIM3 TRGO */
+#define TIM_TIM1_LPTIM                         (LPTIM_REMAP_MASK | LPTIM_OR_TIM1_ITR2_RMP)  /*!< TIM1 ITR2 is connected to LPTIM1 output */
+#endif /* LPTIM_OR_TIM1_ITR2_RMP &&  LPTIM_OR_TIM5_ITR1_RMP && LPTIM_OR_TIM5_ITR1_RMP */
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+/* End of exported constants -------------------------------------------------*/
+
+/* Exported macro ------------------------------------------------------------*/
+/** @defgroup TIMEx_Exported_Macros TIM Extended Exported Macros
+  * @{
+  */
+
+/**
+  * @}
+  */
+/* End of exported macro -----------------------------------------------------*/
+
+/* Private macro -------------------------------------------------------------*/
+/** @defgroup TIMEx_Private_Macros TIM Extended Private Macros
+  * @{
+  */
+#if defined(SPDIFRX)
+#define IS_TIM_REMAP(INSTANCE, TIM_REMAP)                                 \
+  ((((INSTANCE) == TIM2)  && (((TIM_REMAP) == TIM_TIM2_TIM8_TRGO)      || \
+                              ((TIM_REMAP) == TIM_TIM2_USBFS_SOF)      || \
+                              ((TIM_REMAP) == TIM_TIM2_USBHS_SOF)))    || \
+   (((INSTANCE) == TIM5)  && (((TIM_REMAP) == TIM_TIM5_GPIO)           || \
+                              ((TIM_REMAP) == TIM_TIM5_LSI)            || \
+                              ((TIM_REMAP) == TIM_TIM5_LSE)            || \
+                              ((TIM_REMAP) == TIM_TIM5_RTC)))          || \
+   (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO)          || \
+                              ((TIM_REMAP) == TIM_TIM11_SPDIFRX)       || \
+                              ((TIM_REMAP) == TIM_TIM11_HSE))))
+#elif defined(TIM2)
+#if defined(LPTIM_OR_TIM1_ITR2_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP)
+#define IS_TIM_REMAP(INSTANCE, TIM_REMAP)                                 \
+  ((((INSTANCE) == TIM2)  && (((TIM_REMAP) == TIM_TIM2_TIM8_TRGO)      || \
+                              ((TIM_REMAP) == TIM_TIM2_ETH_PTP)        || \
+                              ((TIM_REMAP) == TIM_TIM2_USBFS_SOF)      || \
+                              ((TIM_REMAP) == TIM_TIM2_USBHS_SOF)))    || \
+   (((INSTANCE) == TIM5)  && (((TIM_REMAP) == TIM_TIM5_GPIO)           || \
+                              ((TIM_REMAP) == TIM_TIM5_LSI)            || \
+                              ((TIM_REMAP) == TIM_TIM5_LSE)            || \
+                              ((TIM_REMAP) == TIM_TIM5_RTC)))          || \
+   (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO)          || \
+                              ((TIM_REMAP) == TIM_TIM11_HSE)))         || \
+   (((INSTANCE) == TIM1)  && (((TIM_REMAP) == TIM_TIM1_TIM3_TRGO)      || \
+                              ((TIM_REMAP) == TIM_TIM1_LPTIM)))        || \
+   (((INSTANCE) == TIM5)  && (((TIM_REMAP) == TIM_TIM5_TIM3_TRGO)      || \
+                              ((TIM_REMAP) == TIM_TIM5_LPTIM)))        || \
+   (((INSTANCE) == TIM9)  && (((TIM_REMAP) == TIM_TIM9_TIM3_TRGO)      || \
+                              ((TIM_REMAP) == TIM_TIM9_LPTIM))))
+#elif defined(TIM8)
+#define IS_TIM_REMAP(INSTANCE, TIM_REMAP)                                 \
+  ((((INSTANCE) == TIM2)  && (((TIM_REMAP) == TIM_TIM2_TIM8_TRGO)      || \
+                              ((TIM_REMAP) == TIM_TIM2_ETH_PTP)        || \
+                              ((TIM_REMAP) == TIM_TIM2_USBFS_SOF)      || \
+                              ((TIM_REMAP) == TIM_TIM2_USBHS_SOF)))    || \
+   (((INSTANCE) == TIM5)  && (((TIM_REMAP) == TIM_TIM5_GPIO)           || \
+                              ((TIM_REMAP) == TIM_TIM5_LSI)            || \
+                              ((TIM_REMAP) == TIM_TIM5_LSE)            || \
+                              ((TIM_REMAP) == TIM_TIM5_RTC)))          || \
+   (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO)          || \
+                              ((TIM_REMAP) == TIM_TIM11_HSE))))
+#else
+#define IS_TIM_REMAP(INSTANCE, TIM_REMAP)                                 \
+  ((((INSTANCE) == TIM2)  && (((TIM_REMAP) == TIM_TIM2_ETH_PTP)        || \
+                              ((TIM_REMAP) == TIM_TIM2_USBFS_SOF)      || \
+                              ((TIM_REMAP) == TIM_TIM2_USBHS_SOF)))    || \
+   (((INSTANCE) == TIM5)  && (((TIM_REMAP) == TIM_TIM5_GPIO)           || \
+                              ((TIM_REMAP) == TIM_TIM5_LSI)            || \
+                              ((TIM_REMAP) == TIM_TIM5_LSE)            || \
+                              ((TIM_REMAP) == TIM_TIM5_RTC)))          || \
+   (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO)          || \
+                              ((TIM_REMAP) == TIM_TIM11_HSE))))
+#endif /* LPTIM_OR_TIM1_ITR2_RMP &&  LPTIM_OR_TIM5_ITR1_RMP && LPTIM_OR_TIM5_ITR1_RMP */
+#else
+#define IS_TIM_REMAP(INSTANCE, TIM_REMAP)                                 \
+  ((((INSTANCE) == TIM5)  && (((TIM_REMAP) == TIM_TIM5_GPIO)           || \
+                              ((TIM_REMAP) == TIM_TIM5_LSI)            || \
+                              ((TIM_REMAP) == TIM_TIM5_LSE)            || \
+                              ((TIM_REMAP) == TIM_TIM5_RTC)))          || \
+   (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO)          || \
+                              ((TIM_REMAP) == TIM_TIM11_HSE))))
+#endif /* SPDIFRX */
+
+/**
+  * @}
+  */
+/* End of private macro ------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+/** @addtogroup TIMEx_Exported_Functions TIM Extended Exported Functions
+  * @{
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group1 Extended Timer Hall Sensor functions
+  *  @brief    Timer Hall Sensor functions
+  * @{
+  */
+/*  Timer Hall Sensor functions  **********************************************/
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Init(TIM_HandleTypeDef *htim, const TIM_HallSensor_InitTypeDef *sConfig);
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_DeInit(TIM_HandleTypeDef *htim);
+
+void HAL_TIMEx_HallSensor_MspInit(TIM_HandleTypeDef *htim);
+void HAL_TIMEx_HallSensor_MspDeInit(TIM_HandleTypeDef *htim);
+
+/* Blocking mode: Polling */
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start(TIM_HandleTypeDef *htim);
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop(TIM_HandleTypeDef *htim);
+/* Non-Blocking mode: Interrupt */
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start_IT(TIM_HandleTypeDef *htim);
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop_IT(TIM_HandleTypeDef *htim);
+/* Non-Blocking mode: DMA */
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start_DMA(TIM_HandleTypeDef *htim, uint32_t *pData, uint16_t Length);
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop_DMA(TIM_HandleTypeDef *htim);
+/**
+  * @}
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group2 Extended Timer Complementary Output Compare functions
+  *  @brief   Timer Complementary Output Compare functions
+  * @{
+  */
+/*  Timer Complementary Output Compare functions  *****************************/
+/* Blocking mode: Polling */
+HAL_StatusTypeDef HAL_TIMEx_OCN_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
+HAL_StatusTypeDef HAL_TIMEx_OCN_Stop(TIM_HandleTypeDef *htim, uint32_t Channel);
+
+/* Non-Blocking mode: Interrupt */
+HAL_StatusTypeDef HAL_TIMEx_OCN_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
+HAL_StatusTypeDef HAL_TIMEx_OCN_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
+
+/* Non-Blocking mode: DMA */
+HAL_StatusTypeDef HAL_TIMEx_OCN_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, const uint32_t *pData,
+                                          uint16_t Length);
+HAL_StatusTypeDef HAL_TIMEx_OCN_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel);
+/**
+  * @}
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group3 Extended Timer Complementary PWM functions
+  *  @brief    Timer Complementary PWM functions
+  * @{
+  */
+/*  Timer Complementary PWM functions  ****************************************/
+/* Blocking mode: Polling */
+HAL_StatusTypeDef HAL_TIMEx_PWMN_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
+HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop(TIM_HandleTypeDef *htim, uint32_t Channel);
+
+/* Non-Blocking mode: Interrupt */
+HAL_StatusTypeDef HAL_TIMEx_PWMN_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
+HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
+/* Non-Blocking mode: DMA */
+HAL_StatusTypeDef HAL_TIMEx_PWMN_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, const uint32_t *pData,
+                                           uint16_t Length);
+HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel);
+/**
+  * @}
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group4 Extended Timer Complementary One Pulse functions
+  *  @brief    Timer Complementary One Pulse functions
+  * @{
+  */
+/*  Timer Complementary One Pulse functions  **********************************/
+/* Blocking mode: Polling */
+HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Start(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
+HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Stop(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
+
+/* Non-Blocking mode: Interrupt */
+HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Start_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
+HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Stop_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
+/**
+  * @}
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group5 Extended Peripheral Control functions
+  *  @brief    Peripheral Control functions
+  * @{
+  */
+/* Extended Control functions  ************************************************/
+HAL_StatusTypeDef HAL_TIMEx_ConfigCommutEvent(TIM_HandleTypeDef *htim, uint32_t  InputTrigger,
+                                              uint32_t  CommutationSource);
+HAL_StatusTypeDef HAL_TIMEx_ConfigCommutEvent_IT(TIM_HandleTypeDef *htim, uint32_t  InputTrigger,
+                                                 uint32_t  CommutationSource);
+HAL_StatusTypeDef HAL_TIMEx_ConfigCommutEvent_DMA(TIM_HandleTypeDef *htim, uint32_t  InputTrigger,
+                                                  uint32_t  CommutationSource);
+HAL_StatusTypeDef HAL_TIMEx_MasterConfigSynchronization(TIM_HandleTypeDef *htim,
+                                                        const TIM_MasterConfigTypeDef *sMasterConfig);
+HAL_StatusTypeDef HAL_TIMEx_ConfigBreakDeadTime(TIM_HandleTypeDef *htim,
+                                                const TIM_BreakDeadTimeConfigTypeDef *sBreakDeadTimeConfig);
+HAL_StatusTypeDef HAL_TIMEx_RemapConfig(TIM_HandleTypeDef *htim, uint32_t Remap);
+/**
+  * @}
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group6 Extended Callbacks functions
+  * @brief    Extended Callbacks functions
+  * @{
+  */
+/* Extended Callback **********************************************************/
+void HAL_TIMEx_CommutCallback(TIM_HandleTypeDef *htim);
+void HAL_TIMEx_CommutHalfCpltCallback(TIM_HandleTypeDef *htim);
+void HAL_TIMEx_BreakCallback(TIM_HandleTypeDef *htim);
+/**
+  * @}
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group7 Extended Peripheral State functions
+  * @brief    Extended Peripheral State functions
+  * @{
+  */
+/* Extended Peripheral State functions  ***************************************/
+HAL_TIM_StateTypeDef HAL_TIMEx_HallSensor_GetState(const TIM_HandleTypeDef *htim);
+HAL_TIM_ChannelStateTypeDef HAL_TIMEx_GetChannelNState(const TIM_HandleTypeDef *htim,  uint32_t ChannelN);
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+/* End of exported functions -------------------------------------------------*/
+
+/* Private functions----------------------------------------------------------*/
+/** @addtogroup TIMEx_Private_Functions TIM Extended Private Functions
+  * @{
+  */
+void TIMEx_DMACommutationCplt(DMA_HandleTypeDef *hdma);
+void TIMEx_DMACommutationHalfCplt(DMA_HandleTypeDef *hdma);
+/**
+  * @}
+  */
+/* End of private functions --------------------------------------------------*/
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /* STM32F4xx_HAL_TIM_EX_H */
--- a/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c
+++ b/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c
--- a/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c
+++ b/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c
--- a/Inc/FreeRTOSConfig.h
+++ b/Inc/FreeRTOSConfig.h
@@ -0,0 +1,170 @@
+/* USER CODE BEGIN Header */
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Portion Copyright (C) 2019 StMicroelectronics, Inc.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+/* USER CODE END Header */
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * These parameters and more are described within the 'configuration' section of the
+ * FreeRTOS API documentation available on the FreeRTOS.org web site.
+ *
+ * See http://www.freertos.org/a00110.html
+ *----------------------------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+/* Section where include file can be added */
+/* USER CODE END Includes */
+
+/* Ensure definitions are only used by the compiler, and not by the assembler. */
+#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
+  #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
+
+#define configUSE_PREEMPTION                     1
+#define configSUPPORT_STATIC_ALLOCATION          1
+#define configSUPPORT_DYNAMIC_ALLOCATION         1
+#define configUSE_IDLE_HOOK                      0
+#define configUSE_TICK_HOOK                      0
+#define configCPU_CLOCK_HZ                       ( SystemCoreClock )
+#define configTICK_RATE_HZ                       ((TickType_t)1000)
+#define configMAX_PRIORITIES                     ( 56 )
+#define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
+#define configTOTAL_HEAP_SIZE                    ((size_t)30720)
+#define configMAX_TASK_NAME_LEN                  ( 16 )
+#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
+/* 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. */
+#define configMESSAGE_BUFFER_LENGTH_TYPE         size_t
+/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
+
+/* Co-routine definitions. */
+#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
+#define INCLUDE_uxTaskPriorityGet            1
+#define INCLUDE_vTaskDelete                  1
+#define INCLUDE_vTaskCleanUpResources        0
+#define INCLUDE_vTaskSuspend                 1
+#define INCLUDE_vTaskDelayUntil              1
+#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
+ /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
+ #define configPRIO_BITS         __NVIC_PRIO_BITS
+#else
+ #define configPRIO_BITS         4
+#endif
+
+/* The lowest interrupt priority that can be used in a call to a "set priority"
+function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY   15
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+/* Normal assert() semantics without relying on the provision of an assert.h
+header file. */
+/* USER CODE BEGIN 1 */
+#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
+/* USER CODE END 1 */
+
+/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
+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 */
+
+#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
+
+/* USER CODE BEGIN Defines */
+/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
+/* USER CODE END Defines */
+
+#endif /* FREERTOS_CONFIG_H */
--- a/Inc/main.h
+++ b/Inc/main.h
@@ -57,6 +57,8 @@ void Error_Handler(void);
 /* USER CODE END EFP */

 /* Private defines -----------------------------------------------------------*/
+#define CH395_INT_Pin GPIO_PIN_5
+#define CH395_INT_GPIO_Port GPIOE
 #define LED1_Pin GPIO_PIN_4
 #define LED1_GPIO_Port GPIOC
 #define LED2_Pin GPIO_PIN_5
--- a/Inc/stm32f4xx_hal_conf.h
+++ b/Inc/stm32f4xx_hal_conf.h
@@ -63,7 +63,7 @@
 /* #define HAL_SD_MODULE_ENABLED */
 /* #define HAL_MMC_MODULE_ENABLED */
 #define HAL_SPI_MODULE_ENABLED
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED */
 /* #define HAL_IRDA_MODULE_ENABLED */
--- a/Inc/stm32f4xx_it.h
+++ b/Inc/stm32f4xx_it.h
@@ -51,17 +51,21 @@ void HardFault_Handler(void);
 void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
-void SVC_Handler(void);
 void DebugMon_Handler(void);
-void PendSV_Handler(void);
-void SysTick_Handler(void);
+void DMA1_Stream3_IRQHandler(void);
+void DMA1_Stream4_IRQHandler(void);
 void EXTI9_5_IRQHandler(void);
+void SPI1_IRQHandler(void);
+void SPI2_IRQHandler(void);
 void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
 void USART3_IRQHandler(void);
 void UART4_IRQHandler(void);
 void UART5_IRQHandler(void);
+void TIM7_IRQHandler(void);
+void DMA2_Stream0_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
+void DMA2_Stream3_IRQHandler(void);
 void DMA2_Stream7_IRQHandler(void);
 /* USER CODE BEGIN EFP */

--- a/Lib/FatFs/diskio.h
+++ b/Lib/FatFs/diskio.h
@@ -0,0 +1,43 @@
+#ifndef _DISKIO_DEFINED
+#define _DISKIO_DEFINED
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef BYTE    DSTATUS;
+
+typedef enum {
+    RES_OK = 0,
+    RES_ERROR,
+    RES_WRPRT,
+    RES_NOTRDY,
+    RES_PARERR
+} DRESULT;
+
+DSTATUS disk_initialize(BYTE pdrv);
+DSTATUS disk_status(BYTE pdrv);
+DRESULT disk_read(BYTE pdrv, BYTE* buff, LBA_t sector, UINT count);
+DRESULT disk_write(BYTE pdrv, const BYTE* buff, LBA_t sector, UINT count);
+DRESULT disk_ioctl(BYTE pdrv, BYTE cmd, void* buff);
+
+#define STA_NOINIT      0x01
+#define STA_NODISK      0x02
+#define STA_PROTECT     0x04
+
+#define CTRL_SYNC           0
+#define GET_SECTOR_COUNT    1
+#define GET_SECTOR_SIZE     2
+#define GET_BLOCK_SIZE      3
+#define CTRL_TRIM           4
+
+#define CTRL_POWER          5
+#define CTRL_LOCK           6
+#define CTRL_EJECT          7
+#define CTRL_FORMAT         8
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
--- a/Lib/FatFs/ff.c
+++ b/Lib/FatFs/ff.c
--- a/Lib/FatFs/ff.h
+++ b/Lib/FatFs/ff.h
@@ -0,0 +1,429 @@
+/*----------------------------------------------------------------------------/
+/  FatFs - Generic FAT Filesystem module  R0.15                               /
+/-----------------------------------------------------------------------------/
+/
+/ Copyright (C) 2022, ChaN, all right reserved.
+/
+/ FatFs module is an open source software. Redistribution and use of FatFs in
+/ source and binary forms, with or without modification, are permitted provided
+/ that the following condition is met:
+/
+/ 1. Redistributions of source code must retain the above copyright notice,
+/    this condition and the following disclaimer.
+/
+/ This software is provided by the copyright holder and contributors "AS IS"
+/ and any warranties related to this software are DISCLAIMED.
+/ The copyright owner or contributors be NOT LIABLE for any damages caused
+/ by use of this software.
+/
+/----------------------------------------------------------------------------*/
+
+
+#ifndef FF_DEFINED
+#define FF_DEFINED	80286	/* Revision ID */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "ffconf.h"		/* FatFs configuration options */
+
+#if FF_DEFINED != FFCONF_DEF
+#error Wrong configuration file (ffconf.h).
+#endif
+
+
+/* Integer types used for FatFs API */
+
+#if defined(_WIN32)		/* Windows VC++ (for development only) */
+#define FF_INTDEF 2
+#include <windows.h>
+typedef unsigned __int64 QWORD;
+#include <float.h>
+#define isnan(v) _isnan(v)
+#define isinf(v) (!_finite(v))
+
+#elif (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__cplusplus)	/* C99 or later */
+#define FF_INTDEF 2
+#include <stdint.h>
+typedef unsigned int	UINT;	/* int must be 16-bit or 32-bit */
+typedef unsigned char	BYTE;	/* char must be 8-bit */
+typedef uint16_t		WORD;	/* 16-bit unsigned integer */
+typedef uint32_t		DWORD;	/* 32-bit unsigned integer */
+typedef uint64_t		QWORD;	/* 64-bit unsigned integer */
+typedef WORD			WCHAR;	/* UTF-16 character type */
+
+#else  	/* Earlier than C99 */
+#define FF_INTDEF 1
+typedef unsigned int	UINT;	/* int must be 16-bit or 32-bit */
+typedef unsigned char	BYTE;	/* char must be 8-bit */
+typedef unsigned short	WORD;	/* 16-bit unsigned integer */
+typedef unsigned long	DWORD;	/* 32-bit unsigned integer */
+typedef WORD			WCHAR;	/* UTF-16 character type */
+#endif
+
+
+/* Type of file size and LBA variables */
+
+#if FF_FS_EXFAT
+#if FF_INTDEF != 2
+#error exFAT feature wants C99 or later
+#endif
+typedef QWORD FSIZE_t;
+#if FF_LBA64
+typedef QWORD LBA_t;
+#else
+typedef DWORD LBA_t;
+#endif
+#else
+#if FF_LBA64
+#error exFAT needs to be enabled when enable 64-bit LBA
+#endif
+typedef DWORD FSIZE_t;
+typedef DWORD LBA_t;
+#endif
+
+
+
+/* Type of path name strings on FatFs API (TCHAR) */
+
+#if FF_USE_LFN && FF_LFN_UNICODE == 1 	/* Unicode in UTF-16 encoding */
+typedef WCHAR TCHAR;
+#define _T(x) L ## x
+#define _TEXT(x) L ## x
+#elif FF_USE_LFN && FF_LFN_UNICODE == 2	/* Unicode in UTF-8 encoding */
+typedef char TCHAR;
+#define _T(x) u8 ## x
+#define _TEXT(x) u8 ## x
+#elif FF_USE_LFN && FF_LFN_UNICODE == 3	/* Unicode in UTF-32 encoding */
+typedef DWORD TCHAR;
+#define _T(x) U ## x
+#define _TEXT(x) U ## x
+#elif FF_USE_LFN && (FF_LFN_UNICODE < 0 || FF_LFN_UNICODE > 3)
+#error Wrong FF_LFN_UNICODE setting
+#else									/* ANSI/OEM code in SBCS/DBCS */
+typedef char TCHAR;
+#define _T(x) x
+#define _TEXT(x) x
+#endif
+
+
+
+/* Definitions of volume management */
+
+#if FF_MULTI_PARTITION		/* Multiple partition configuration */
+typedef struct {
+	BYTE pd;	/* Physical drive number */
+	BYTE pt;	/* Partition: 0:Auto detect, 1-4:Forced partition) */
+} PARTITION;
+extern PARTITION VolToPart[];	/* Volume - Partition mapping table */
+#endif
+
+#if FF_STR_VOLUME_ID
+#ifndef FF_VOLUME_STRS
+extern const char* VolumeStr[FF_VOLUMES];	/* User defied volume ID */
+#endif
+#endif
+
+
+
+/* Filesystem object structure (FATFS) */
+
+typedef struct {
+	BYTE	fs_type;		/* Filesystem type (0:not mounted) */
+	BYTE	pdrv;			/* Volume hosting physical drive */
+	BYTE	ldrv;			/* Logical drive number (used only when FF_FS_REENTRANT) */
+	BYTE	n_fats;			/* Number of FATs (1 or 2) */
+	BYTE	wflag;			/* win[] status (b0:dirty) */
+	BYTE	fsi_flag;		/* FSINFO status (b7:disabled, b0:dirty) */
+	WORD	id;				/* Volume mount ID */
+	WORD	n_rootdir;		/* Number of root directory entries (FAT12/16) */
+	WORD	csize;			/* Cluster size [sectors] */
+#if FF_MAX_SS != FF_MIN_SS
+	WORD	ssize;			/* Sector size (512, 1024, 2048 or 4096) */
+#endif
+#if FF_USE_LFN
+	WCHAR*	lfnbuf;			/* LFN working buffer */
+#endif
+#if FF_FS_EXFAT
+	BYTE*	dirbuf;			/* Directory entry block scratchpad buffer for exFAT */
+#endif
+#if !FF_FS_READONLY
+	DWORD	last_clst;		/* Last allocated cluster */
+	DWORD	free_clst;		/* Number of free clusters */
+#endif
+#if FF_FS_RPATH
+	DWORD	cdir;			/* Current directory start cluster (0:root) */
+#if FF_FS_EXFAT
+	DWORD	cdc_scl;		/* Containing directory start cluster (invalid when cdir is 0) */
+	DWORD	cdc_size;		/* b31-b8:Size of containing directory, b7-b0: Chain status */
+	DWORD	cdc_ofs;		/* Offset in the containing directory (invalid when cdir is 0) */
+#endif
+#endif
+	DWORD	n_fatent;		/* Number of FAT entries (number of clusters + 2) */
+	DWORD	fsize;			/* Number of sectors per FAT */
+	LBA_t	volbase;		/* Volume base sector */
+	LBA_t	fatbase;		/* FAT base sector */
+	LBA_t	dirbase;		/* Root directory base sector (FAT12/16) or cluster (FAT32/exFAT) */
+	LBA_t	database;		/* Data base sector */
+#if FF_FS_EXFAT
+	LBA_t	bitbase;		/* Allocation bitmap base sector */
+#endif
+	LBA_t	winsect;		/* Current sector appearing in the win[] */
+	BYTE	win[FF_MAX_SS];	/* Disk access window for Directory, FAT (and file data at tiny cfg) */
+} FATFS;
+
+
+
+/* Object ID and allocation information (FFOBJID) */
+
+typedef struct {
+	FATFS*	fs;				/* Pointer to the hosting volume of this object */
+	WORD	id;				/* Hosting volume's mount ID */
+	BYTE	attr;			/* Object attribute */
+	BYTE	stat;			/* Object chain status (b1-0: =0:not contiguous, =2:contiguous, =3:fragmented in this session, b2:sub-directory stretched) */
+	DWORD	sclust;			/* Object data start cluster (0:no cluster or root directory) */
+	FSIZE_t	objsize;		/* Object size (valid when sclust != 0) */
+#if FF_FS_EXFAT
+	DWORD	n_cont;			/* Size of first fragment - 1 (valid when stat == 3) */
+	DWORD	n_frag;			/* Size of last fragment needs to be written to FAT (valid when not zero) */
+	DWORD	c_scl;			/* Containing directory start cluster (valid when sclust != 0) */
+	DWORD	c_size;			/* b31-b8:Size of containing directory, b7-b0: Chain status (valid when c_scl != 0) */
+	DWORD	c_ofs;			/* Offset in the containing directory (valid when file object and sclust != 0) */
+#endif
+#if FF_FS_LOCK
+	UINT	lockid;			/* File lock ID origin from 1 (index of file semaphore table Files[]) */
+#endif
+} FFOBJID;
+
+
+
+/* File object structure (FIL) */
+
+typedef struct {
+	FFOBJID	obj;			/* Object identifier (must be the 1st member to detect invalid object pointer) */
+	BYTE	flag;			/* File status flags */
+	BYTE	err;			/* Abort flag (error code) */
+	FSIZE_t	fptr;			/* File read/write pointer (Zeroed on file open) */
+	DWORD	clust;			/* Current cluster of fpter (invalid when fptr is 0) */
+	LBA_t	sect;			/* Sector number appearing in buf[] (0:invalid) */
+#if !FF_FS_READONLY
+	LBA_t	dir_sect;		/* Sector number containing the directory entry (not used at exFAT) */
+	BYTE*	dir_ptr;		/* Pointer to the directory entry in the win[] (not used at exFAT) */
+#endif
+#if FF_USE_FASTSEEK
+	DWORD*	cltbl;			/* Pointer to the cluster link map table (nulled on open, set by application) */
+#endif
+#if !FF_FS_TINY
+	BYTE	buf[FF_MAX_SS];	/* File private data read/write window */
+#endif
+} FIL;
+
+
+
+/* Directory object structure (DIR) */
+
+typedef struct {
+	FFOBJID	obj;			/* Object identifier */
+	DWORD	dptr;			/* Current read/write offset */
+	DWORD	clust;			/* Current cluster */
+	LBA_t	sect;			/* Current sector (0:Read operation has terminated) */
+	BYTE*	dir;			/* Pointer to the directory item in the win[] */
+	BYTE	fn[12];			/* SFN (in/out) {body[8],ext[3],status[1]} */
+#if FF_USE_LFN
+	DWORD	blk_ofs;		/* Offset of current entry block being processed (0xFFFFFFFF:Invalid) */
+#endif
+#if FF_USE_FIND
+	const TCHAR* pat;		/* Pointer to the name matching pattern */
+#endif
+} DIR;
+
+
+
+/* File information structure (FILINFO) */
+
+typedef struct {
+	FSIZE_t	fsize;			/* File size */
+	WORD	fdate;			/* Modified date */
+	WORD	ftime;			/* Modified time */
+	BYTE	fattrib;		/* File attribute */
+#if FF_USE_LFN
+	TCHAR	altname[FF_SFN_BUF + 1];/* Alternative file name */
+	TCHAR	fname[FF_LFN_BUF + 1];	/* Primary file name */
+#else
+	TCHAR	fname[12 + 1];	/* File name */
+#endif
+} FILINFO;
+
+
+
+/* Format parameter structure (MKFS_PARM) */
+
+typedef struct {
+	BYTE fmt;			/* Format option (FM_FAT, FM_FAT32, FM_EXFAT and FM_SFD) */
+	BYTE n_fat;			/* Number of FATs */
+	UINT align;			/* Data area alignment (sector) */
+	UINT n_root;		/* Number of root directory entries */
+	DWORD au_size;		/* Cluster size (byte) */
+} MKFS_PARM;
+
+
+
+/* File function return code (FRESULT) */
+
+typedef enum {
+	FR_OK = 0,				/* (0) Succeeded */
+	FR_DISK_ERR,			/* (1) A hard error occurred in the low level disk I/O layer */
+	FR_INT_ERR,				/* (2) Assertion failed */
+	FR_NOT_READY,			/* (3) The physical drive cannot work */
+	FR_NO_FILE,				/* (4) Could not find the file */
+	FR_NO_PATH,				/* (5) Could not find the path */
+	FR_INVALID_NAME,		/* (6) The path name format is invalid */
+	FR_DENIED,				/* (7) Access denied due to prohibited access or directory full */
+	FR_EXIST,				/* (8) Access denied due to prohibited access */
+	FR_INVALID_OBJECT,		/* (9) The file/directory object is invalid */
+	FR_WRITE_PROTECTED,		/* (10) The physical drive is write protected */
+	FR_INVALID_DRIVE,		/* (11) The logical drive number is invalid */
+	FR_NOT_ENABLED,			/* (12) The volume has no work area */
+	FR_NO_FILESYSTEM,		/* (13) There is no valid FAT volume */
+	FR_MKFS_ABORTED,		/* (14) The f_mkfs() aborted due to any problem */
+	FR_TIMEOUT,				/* (15) Could not get a grant to access the volume within defined period */
+	FR_LOCKED,				/* (16) The operation is rejected according to the file sharing policy */
+	FR_NOT_ENOUGH_CORE,		/* (17) LFN working buffer could not be allocated */
+	FR_TOO_MANY_OPEN_FILES,	/* (18) Number of open files > FF_FS_LOCK */
+	FR_INVALID_PARAMETER	/* (19) Given parameter is invalid */
+} FRESULT;
+
+
+
+
+/*--------------------------------------------------------------*/
+/* FatFs Module Application Interface                           */
+/*--------------------------------------------------------------*/
+
+FRESULT f_open (FIL* fp, const TCHAR* path, BYTE mode);				/* Open or create a file */
+FRESULT f_close (FIL* fp);											/* Close an open file object */
+FRESULT f_read (FIL* fp, void* buff, UINT btr, UINT* br);			/* Read data from the file */
+FRESULT f_write (FIL* fp, const void* buff, UINT btw, UINT* bw);	/* Write data to the file */
+FRESULT f_lseek (FIL* fp, FSIZE_t ofs);								/* Move file pointer of the file object */
+FRESULT f_truncate (FIL* fp);										/* Truncate the file */
+FRESULT f_sync (FIL* fp);											/* Flush cached data of the writing file */
+FRESULT f_opendir (DIR* dp, const TCHAR* path);						/* Open a directory */
+FRESULT f_closedir (DIR* dp);										/* Close an open directory */
+FRESULT f_readdir (DIR* dp, FILINFO* fno);							/* Read a directory item */
+FRESULT f_findfirst (DIR* dp, FILINFO* fno, const TCHAR* path, const TCHAR* pattern);	/* Find first file */
+FRESULT f_findnext (DIR* dp, FILINFO* fno);							/* Find next file */
+FRESULT f_mkdir (const TCHAR* path);								/* Create a sub directory */
+FRESULT f_unlink (const TCHAR* path);								/* Delete an existing file or directory */
+FRESULT f_rename (const TCHAR* path_old, const TCHAR* path_new);	/* Rename/Move a file or directory */
+FRESULT f_stat (const TCHAR* path, FILINFO* fno);					/* Get file status */
+FRESULT f_chmod (const TCHAR* path, BYTE attr, BYTE mask);			/* Change attribute of a file/dir */
+FRESULT f_utime (const TCHAR* path, const FILINFO* fno);			/* Change timestamp of a file/dir */
+FRESULT f_chdir (const TCHAR* path);								/* Change current directory */
+FRESULT f_chdrive (const TCHAR* path);								/* Change current drive */
+FRESULT f_getcwd (TCHAR* buff, UINT len);							/* Get current directory */
+FRESULT f_getfree (const TCHAR* path, DWORD* nclst, FATFS** fatfs);	/* Get number of free clusters on the drive */
+FRESULT f_getlabel (const TCHAR* path, TCHAR* label, DWORD* vsn);	/* Get volume label */
+FRESULT f_setlabel (const TCHAR* label);							/* Set volume label */
+FRESULT f_forward (FIL* fp, UINT(*func)(const BYTE*,UINT), UINT btf, UINT* bf);	/* Forward data to the stream */
+FRESULT f_expand (FIL* fp, FSIZE_t fsz, BYTE opt);					/* Allocate a contiguous block to the file */
+FRESULT f_mount (FATFS* fs, const TCHAR* path, BYTE opt);			/* Mount/Unmount a logical drive */
+FRESULT f_mkfs (const TCHAR* path, const MKFS_PARM* opt, void* work, UINT len);	/* Create a FAT volume */
+FRESULT f_fdisk (BYTE pdrv, const LBA_t ptbl[], void* work);		/* Divide a physical drive into some partitions */
+FRESULT f_setcp (WORD cp);											/* Set current code page */
+int f_putc (TCHAR c, FIL* fp);										/* Put a character to the file */
+int f_puts (const TCHAR* str, FIL* cp);								/* Put a string to the file */
+int f_printf (FIL* fp, const TCHAR* str, ...);						/* Put a formatted string to the file */
+TCHAR* f_gets (TCHAR* buff, int len, FIL* fp);						/* Get a string from the file */
+
+/* Some API fucntions are implemented as macro */
+
+#define f_eof(fp) ((int)((fp)->fptr == (fp)->obj.objsize))
+#define f_error(fp) ((fp)->err)
+#define f_tell(fp) ((fp)->fptr)
+#define f_size(fp) ((fp)->obj.objsize)
+#define f_rewind(fp) f_lseek((fp), 0)
+#define f_rewinddir(dp) f_readdir((dp), 0)
+#define f_rmdir(path) f_unlink(path)
+#define f_unmount(path) f_mount(0, path, 0)
+
+
+
+
+/*--------------------------------------------------------------*/
+/* Additional Functions                                         */
+/*--------------------------------------------------------------*/
+
+/* RTC function (provided by user) */
+#if !FF_FS_READONLY && !FF_FS_NORTC
+DWORD get_fattime (void);	/* Get current time */
+#endif
+
+
+/* LFN support functions (defined in ffunicode.c) */
+
+#if FF_USE_LFN >= 1
+WCHAR ff_oem2uni (WCHAR oem, WORD cp);	/* OEM code to Unicode conversion */
+WCHAR ff_uni2oem (DWORD uni, WORD cp);	/* Unicode to OEM code conversion */
+DWORD ff_wtoupper (DWORD uni);			/* Unicode upper-case conversion */
+#endif
+
+
+/* O/S dependent functions (samples available in ffsystem.c) */
+
+#if FF_USE_LFN == 3		/* Dynamic memory allocation */
+void* ff_memalloc (UINT msize);		/* Allocate memory block */
+void ff_memfree (void* mblock);		/* Free memory block */
+#endif
+#if FF_FS_REENTRANT	/* Sync functions */
+int ff_mutex_create (int vol);		/* Create a sync object */
+void ff_mutex_delete (int vol);		/* Delete a sync object */
+int ff_mutex_take (int vol);		/* Lock sync object */
+void ff_mutex_give (int vol);		/* Unlock sync object */
+#endif
+
+
+
+
+/*--------------------------------------------------------------*/
+/* Flags and Offset Address                                     */
+/*--------------------------------------------------------------*/
+
+/* File access mode and open method flags (3rd argument of f_open) */
+#define	FA_READ				0x01
+#define	FA_WRITE			0x02
+#define	FA_OPEN_EXISTING	0x00
+#define	FA_CREATE_NEW		0x04
+#define	FA_CREATE_ALWAYS	0x08
+#define	FA_OPEN_ALWAYS		0x10
+#define	FA_OPEN_APPEND		0x30
+
+/* Fast seek controls (2nd argument of f_lseek) */
+#define CREATE_LINKMAP	((FSIZE_t)0 - 1)
+
+/* Format options (2nd argument of f_mkfs) */
+#define FM_FAT		0x01
+#define FM_FAT32	0x02
+#define FM_EXFAT	0x04
+#define FM_ANY		0x07
+#define FM_SFD		0x08
+
+/* Filesystem type (FATFS.fs_type) */
+#define FS_FAT12	1
+#define FS_FAT16	2
+#define FS_FAT32	3
+#define FS_EXFAT	4
+
+/* File attribute bits for directory entry (FILINFO.fattrib) */
+#define	AM_RDO	0x01	/* Read only */
+#define	AM_HID	0x02	/* Hidden */
+#define	AM_SYS	0x04	/* System */
+#define AM_DIR	0x10	/* Directory */
+#define AM_ARC	0x20	/* Archive */
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FF_DEFINED */
--- a/Lib/FatFs/ffconf.h
+++ b/Lib/FatFs/ffconf.h
@@ -0,0 +1,41 @@
+#define FFCONF_DEF 80286
+
+#define FF_FS_READONLY    0
+#define FF_FS_MINIMIZE    0
+#define FF_USE_FIND       0
+#define FF_USE_MKFS       1
+#define FF_USE_FASTSEEK   0
+#define FF_USE_EXPAND     0
+#define FF_USE_CHMOD      0
+#define FF_USE_LABEL      0
+#define FF_USE_FORWARD    0
+#define FF_USE_STRFUNC    0
+#define FF_PRINT_LLI      1
+#define FF_PRINT_FLOAT    1
+#define FF_STRF_ENCODE    3
+#define FF_CODE_PAGE      437
+#define FF_USE_LFN        0
+#define FF_MAX_LFN        255
+#define FF_LFN_UNICODE    0
+#define FF_LFN_BUF        255
+#define FF_SFN_BUF        12
+#define FF_FS_RPATH       0
+#define FF_VOLUMES        1
+#define FF_STR_VOLUME_ID  0
+#define FF_VOLUME_STRS    "RAM","NAND","CF","SD","SD2","USB","USB2","USB3"
+#define FF_MULTI_PARTITION 0
+#define FF_MIN_SS         512
+#define FF_MAX_SS         512
+#define FF_LBA64          0
+#define FF_MIN_GPT        0x10000000
+#define FF_USE_TRIM       0
+#define FF_FS_TINY        0
+#define FF_FS_EXFAT       0
+#define FF_FS_NORTC       1
+#define FF_NORTC_MON      1
+#define FF_NORTC_MDAY     1
+#define FF_NORTC_YEAR     2026
+#define FF_FS_NOFSINFO    0
+#define FF_FS_LOCK        0
+#define FF_FS_REENTRANT   0
+#define FF_FS_TIMEOUT     1000
--- a/Lib/FlashDB
+++ b/Lib/FlashDB
--- a/Lib/dhara/bytes.h
+++ b/Lib/dhara/bytes.h
@@ -0,0 +1,50 @@
+/* Dhara - NAND flash management layer
+ * Copyright (C) 2013 Daniel Beer <dlbeer@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#ifndef DHARA_BYTES_H_
+#define DHARA_BYTES_H_
+
+#include <stdint.h>
+
+static inline uint16_t dhara_r16(const uint8_t *data)
+{
+    return ((uint16_t)data[0]) |
+           (((uint16_t)data[1]) << 8);
+}
+
+static inline void dhara_w16(uint8_t *data, uint16_t v)
+{
+    data[0] = v;
+    data[1] = v >> 8;
+}
+
+static inline uint32_t dhara_r32(const uint8_t *data)
+{
+    return ((uint32_t)data[0]) |
+           (((uint32_t)data[1]) << 8) |
+           (((uint32_t)data[2]) << 16) |
+           (((uint32_t)data[3]) << 24);
+}
+
+static inline void dhara_w32(uint8_t *data, uint32_t v)
+{
+    data[0] = v;
+    data[1] = v >> 8;
+    data[2] = v >> 16;
+    data[3] = v >> 24;
+}
+
+#endif
--- a/Lib/dhara/error.h
+++ b/Lib/dhara/error.h
@@ -0,0 +1,45 @@
+/* Dhara - NAND flash management layer
+ * Copyright (C) 2013 Daniel Beer <dlbeer@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#ifndef DHARA_ERROR_H_
+#define DHARA_ERROR_H_
+
+typedef enum {
+	DHARA_E_NONE = 0,
+	DHARA_E_BAD_BLOCK,
+	DHARA_E_ECC,
+	DHARA_E_TOO_BAD,
+	DHARA_E_RECOVER,
+	DHARA_E_JOURNAL_FULL,
+	DHARA_E_NOT_FOUND,
+	DHARA_E_MAP_FULL,
+	DHARA_E_CORRUPT_MAP,
+	DHARA_E_MAX
+} dhara_error_t;
+
+/* Produce a human-readable error message. This function is kept in a
+ * separate compilation unit and can be omitted to reduce binary size.
+ */
+const char *dhara_strerror(dhara_error_t err);
+
+/* Save an error */
+static inline void dhara_set_error(dhara_error_t *err, dhara_error_t v)
+{
+	if (err)
+		*err = v;
+}
+
+#endif
--- a/Lib/dhara/journal.c
+++ b/Lib/dhara/journal.c
@@ -0,0 +1,884 @@
+/* Dhara - NAND flash management layer
+ * Copyright (C) 2013 Daniel Beer <dlbeer@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <string.h>
+#include "journal.h"
+#include "bytes.h"
+
+/************************************************************************
+ * Metapage binary format
+ */
+
+/* Does the page buffer contain a valid checkpoint page? */
+static inline int hdr_has_magic(const uint8_t *buf)
+{
+	return (buf[0] == 'D') &&
+	       (buf[1] == 'h') &&
+	       (buf[2] == 'a');
+}
+
+static inline void hdr_put_magic(uint8_t *buf)
+{
+	buf[0] = 'D';
+	buf[1] = 'h';
+	buf[2] = 'a';
+}
+
+/* What epoch is this page? */
+static inline uint8_t hdr_get_epoch(const uint8_t *buf)
+{
+	return buf[3];
+}
+
+static inline void hdr_set_epoch(uint8_t *buf, uint8_t e)
+{
+	buf[3] = e;
+}
+
+static inline dhara_page_t hdr_get_tail(const uint8_t *buf)
+{
+	return dhara_r32(buf + 4);
+}
+
+static inline void hdr_set_tail(uint8_t *buf, dhara_page_t tail)
+{
+	dhara_w32(buf + 4, tail);
+}
+
+static inline dhara_page_t hdr_get_bb_current(const uint8_t *buf)
+{
+	return dhara_r32(buf + 8);
+}
+
+static inline void hdr_set_bb_current(uint8_t *buf, dhara_page_t count)
+{
+	dhara_w32(buf + 8, count);
+}
+
+static inline dhara_page_t hdr_get_bb_last(const uint8_t *buf)
+{
+	return dhara_r32(buf + 12);
+}
+
+static inline void hdr_set_bb_last(uint8_t *buf, dhara_page_t count)
+{
+	dhara_w32(buf + 12, count);
+}
+
+/* Clear user metadata */
+static inline void hdr_clear_user(uint8_t *buf, uint8_t log2_page_size)
+{
+	memset(buf + DHARA_HEADER_SIZE + DHARA_COOKIE_SIZE, 0xff,
+	       (1 << log2_page_size) - DHARA_HEADER_SIZE - DHARA_COOKIE_SIZE);
+}
+
+/* Obtain pointers to user data */
+static inline size_t hdr_user_offset(uint8_t which)
+{
+	return DHARA_HEADER_SIZE + DHARA_COOKIE_SIZE +
+		which * DHARA_META_SIZE;
+}
+
+/************************************************************************
+ * Page geometry helpers
+ */
+
+/* Is this page index aligned to N bits? */
+static inline int is_aligned(dhara_page_t p, int n)
+{
+	return !(p & ((1 << n) - 1));
+}
+
+/* Are these two pages from the same alignment group? */
+static inline int align_eq(dhara_page_t a, dhara_page_t b,
+			   int n)
+{
+	return !((a ^ b) >> n);
+}
+
+/* What is the successor of this block? */
+static dhara_block_t next_block(const struct dhara_nand *n, dhara_block_t blk)
+{
+	blk++;
+	if (blk >= n->num_blocks)
+		blk = 0;
+
+	return blk;
+}
+
+static dhara_page_t next_upage(const struct dhara_journal *j,
+			       dhara_page_t p)
+{
+	p++;
+	if (is_aligned(p + 1, j->log2_ppc))
+		p++;
+
+	if (p >= (j->nand->num_blocks << j->nand->log2_ppb))
+		p = 0;
+
+	return p;
+}
+
+/* Calculate a checkpoint period: the largest value of ppc such that
+ * (2**ppc - 1) metadata blocks can fit on a page with one journal
+ * header.
+ */
+static int choose_ppc(int log2_page_size, int max)
+{
+	const int max_meta = (1 << log2_page_size) -
+		DHARA_HEADER_SIZE - DHARA_COOKIE_SIZE;
+	int total_meta = DHARA_META_SIZE;
+	int ppc = 1;
+
+	while (ppc < max) {
+		total_meta <<= 1;
+		total_meta += DHARA_META_SIZE;
+
+		if (total_meta > max_meta)
+			break;
+
+		ppc++;
+	}
+
+	return ppc;
+}
+
+/************************************************************************
+ * Journal setup/resume
+ */
+
+/* Clear recovery status */
+static void clear_recovery(struct dhara_journal *j)
+{
+	j->recover_next = DHARA_PAGE_NONE;
+	j->recover_root = DHARA_PAGE_NONE;
+	j->recover_meta = DHARA_PAGE_NONE;
+	j->flags &= ~(DHARA_JOURNAL_F_BAD_META |
+		      DHARA_JOURNAL_F_RECOVERY |
+		      DHARA_JOURNAL_F_ENUM_DONE);
+}
+
+/* Set up an empty journal */
+static void reset_journal(struct dhara_journal *j)
+{
+	/* We don't yet have a bad block estimate, so make a
+	 * conservative guess.
+	 */
+	j->epoch = 0;
+	j->bb_last = j->nand->num_blocks >> 6;
+	j->bb_current = 0;
+
+	j->flags = 0;
+
+	/* Empty journal */
+	j->head = 0;
+	j->tail = 0;
+	j->tail_sync = 0;
+	j->root = DHARA_PAGE_NONE;
+
+	/* No recovery required */
+	clear_recovery(j);
+
+	/* Empty metadata buffer */
+	memset(j->page_buf, 0xff, 1 << j->nand->log2_page_size);
+}
+
+static void roll_stats(struct dhara_journal *j)
+{
+	j->bb_last = j->bb_current;
+	j->bb_current = 0;
+	j->epoch++;
+}
+
+void dhara_journal_init(struct dhara_journal *j,
+			const struct dhara_nand *n,
+			uint8_t *page_buf)
+{
+	/* Set fixed parameters */
+	j->nand = n;
+	j->page_buf = page_buf;
+	j->log2_ppc = choose_ppc(n->log2_page_size, n->log2_ppb);
+
+	reset_journal(j);
+}
+
+/* Find the first checkpoint-containing block. If a block contains any
+ * checkpoints at all, then it must contain one in the first checkpoint
+ * location -- otherwise, we would have considered the block eraseable.
+ */
+static int find_checkblock(struct dhara_journal *j,
+			   dhara_block_t blk, dhara_block_t *where,
+			   dhara_error_t *err)
+{
+	int i;
+
+	for (i = 0; (blk < j->nand->num_blocks) &&
+		    (i < DHARA_MAX_RETRIES); i++) {
+		const dhara_page_t p =
+			(blk << j->nand->log2_ppb) |
+			((1 << j->log2_ppc) - 1);
+
+		if (!(dhara_nand_is_bad(j->nand, blk) ||
+		      dhara_nand_read(j->nand, p,
+				      0, 1 << j->nand->log2_page_size,
+				      j->page_buf, err)) &&
+		    hdr_has_magic(j->page_buf)) {
+			*where = blk;
+			return 0;
+		}
+
+		blk++;
+	}
+
+	dhara_set_error(err, DHARA_E_TOO_BAD);
+	return -1;
+}
+
+static dhara_block_t find_last_checkblock(struct dhara_journal *j,
+					  dhara_block_t first)
+{
+	dhara_block_t low = first;
+	dhara_block_t high = j->nand->num_blocks - 1;
+
+	while (low <= high) {
+		const dhara_block_t mid = (low + high) >> 1;
+		dhara_block_t found;
+
+		if ((find_checkblock(j, mid, &found, NULL) < 0) ||
+		    (hdr_get_epoch(j->page_buf) != j->epoch)) {
+			if (!mid)
+				return first;
+
+			high = mid - 1;
+		} else {
+			dhara_block_t nf;
+
+			if (((found + 1) >= j->nand->num_blocks) ||
+			    (find_checkblock(j, found + 1,
+					     &nf, NULL) < 0) ||
+			    (hdr_get_epoch(j->page_buf) != j->epoch))
+				return found;
+
+			low = nf;
+		}
+	}
+
+	return first;
+}
+
+/* Test whether a checkpoint group is in a state fit for reprogramming,
+ * but allow for the fact that is_free() might not have any way of
+ * distinguishing between an unprogrammed page, and a page programmed
+ * with all-0xff bytes (but if so, it must be ok to reprogram such a
+ * page).
+ *
+ * We used to test for an unprogrammed checkpoint group by checking to
+ * see if the first user-page had been programmed since last erase (by
+ * testing only the first page with is_free). This works if is_free is
+ * precise, because the pages are written in order.
+ *
+ * If is_free is imprecise, we need to check all pages in the group.
+ * That also works, because the final page in a checkpoint group is
+ * guaranteed to contain non-0xff bytes. Therefore, we return 1 only if
+ * the group is truly unprogrammed, or if it was partially programmed
+ * with some all-0xff user pages (which changes nothing for us).
+ */
+static int cp_free(struct dhara_journal *j, dhara_page_t first_user)
+{
+	const int count = 1 << j->log2_ppc;
+	int i;
+
+	for (i = 0; i < count; i++)
+		if (!dhara_nand_is_free(j->nand, first_user + i))
+			return 0;
+
+	return 1;
+}
+
+static dhara_page_t find_last_group(struct dhara_journal *j,
+				    dhara_block_t blk)
+{
+	const int num_groups = 1 << (j->nand->log2_ppb - j->log2_ppc);
+	int low = 0;
+	int high = num_groups - 1;
+
+	/* If a checkpoint group is completely unprogrammed, everything
+	 * following it will be completely unprogrammed also.
+	 *
+	 * Therefore, binary search checkpoint groups until we find the
+	 * last programmed one.
+	 */
+	while (low <= high) {
+		int mid = (low + high) >> 1;
+		const dhara_page_t p = (mid << j->log2_ppc) |
+				 (blk << j->nand->log2_ppb);
+
+		if (cp_free(j, p)) {
+			high = mid - 1;
+		} else if (((mid + 1) >= num_groups) ||
+			   cp_free(j, p + (1 << j->log2_ppc))) {
+			return p;
+		} else {
+			low = mid + 1;
+		}
+	}
+
+	return blk << j->nand->log2_ppb;
+}
+
+static int find_root(struct dhara_journal *j, dhara_page_t start,
+		     dhara_error_t *err)
+{
+	const dhara_block_t blk = start >> j->nand->log2_ppb;
+	int i = (start & ((1 << j->nand->log2_ppb) - 1)) >> j->log2_ppc;
+
+	while (i >= 0) {
+		const dhara_page_t p = (blk << j->nand->log2_ppb) +
+			((i + 1) << j->log2_ppc) - 1;
+
+		if (!dhara_nand_read(j->nand, p,
+				     0, 1 << j->nand->log2_page_size,
+				     j->page_buf, err) &&
+		    (hdr_has_magic(j->page_buf)) &&
+		    (hdr_get_epoch(j->page_buf) == j->epoch)) {
+			j->root = p - 1;
+			return 0;
+		}
+
+		i--;
+	}
+
+	dhara_set_error(err, DHARA_E_TOO_BAD);
+	return -1;
+}
+
+static int find_head(struct dhara_journal *j, dhara_page_t start,
+		     dhara_error_t *err)
+{
+	j->head = next_upage(j, start);
+	if (!j->head)
+		roll_stats(j);
+
+	/* Starting from the last good checkpoint, find either:
+	 *
+	 *   (a) the next free user-page in the same block
+	 *   (b) or, the first page of the next block
+	 *
+	 * The block we end up on might be bad, but that's ok -- we'll
+	 * skip it when we go to prepare the next write.
+	 */
+	for (;;) {
+		/* How many free pages trail this checkpoint group? */
+		const unsigned int ppc = 1 << j->log2_ppc;
+		unsigned int n = 0;
+		dhara_page_t first = j->head & ~(dhara_page_t)(ppc - 1);
+
+		while (n < ppc &&
+			dhara_nand_is_free(j->nand, first + ppc - n - 1))
+			n++;
+
+		/* If we have some, then we've found our next free
+		 * userpage.
+		 */
+		if (n > 1) {
+			j->head = first + ppc - n;
+			break;
+		}
+
+		/* Skip to the next checkpoint group */
+		j->head = first + ppc;
+		if (j->head >= (j->nand->num_blocks << j->nand->log2_ppb)) {
+			j->head = 0;
+			roll_stats(j);
+		}
+
+		/* If we hit the end of the block, we're done */
+		if (is_aligned(j->head, j->nand->log2_ppb)) {
+			/* Make sure we don't chase over the tail */
+			if (align_eq(j->head, j->tail, j->nand->log2_ppb))
+				j->tail = next_block(j->nand,
+					j->tail >> j->nand->log2_ppb) <<
+						j->nand->log2_ppb;
+			break;
+		}
+	}
+
+	return 0;
+}
+
+int dhara_journal_resume(struct dhara_journal *j, dhara_error_t *err)
+{
+	dhara_block_t first, last;
+	dhara_page_t last_group;
+
+	/* Find the first checkpoint-containing block */
+	if (find_checkblock(j, 0, &first, err) < 0) {
+		reset_journal(j);
+		return -1;
+	}
+
+	/* Find the last checkpoint-containing block in this epoch */
+	j->epoch = hdr_get_epoch(j->page_buf);
+	last = find_last_checkblock(j, first);
+
+	/* Find the last programmed checkpoint group in the block */
+	last_group = find_last_group(j, last);
+
+	/* Perform a linear scan to find the last good checkpoint (and
+	 * therefore the root).
+	 */
+	if (find_root(j, last_group, err) < 0) {
+		reset_journal(j);
+		return -1;
+	}
+
+	/* Restore settings from checkpoint */
+	j->tail = hdr_get_tail(j->page_buf);
+	j->bb_current = hdr_get_bb_current(j->page_buf);
+	j->bb_last = hdr_get_bb_last(j->page_buf);
+	hdr_clear_user(j->page_buf, j->nand->log2_page_size);
+
+	/* Perform another linear scan to find the next free user page */
+	if (find_head(j, last_group, err) < 0) {
+		reset_journal(j);
+		return -1;
+	}
+
+	j->flags = 0;
+	j->tail_sync = j->tail;
+
+	clear_recovery(j);
+	return 0;
+}
+
+/**************************************************************************
+ * Public interface
+ */
+
+dhara_page_t dhara_journal_capacity(const struct dhara_journal *j)
+{
+	const dhara_block_t max_bad = j->bb_last > j->bb_current ?
+		j->bb_last : j->bb_current;
+	const dhara_block_t good_blocks = j->nand->num_blocks - max_bad - 1;
+	const int log2_cpb = j->nand->log2_ppb - j->log2_ppc;
+	const dhara_page_t good_cps = good_blocks << log2_cpb;
+
+	/* Good checkpoints * (checkpoint period - 1) */
+	return (good_cps << j->log2_ppc) - good_cps;
+}
+
+dhara_page_t dhara_journal_size(const struct dhara_journal *j)
+{
+	/* Find the number of raw pages, and the number of checkpoints
+	 * between the head and the tail. The difference between the two
+	 * is the number of user pages (upper limit).
+	 */
+	dhara_page_t num_pages = j->head;
+	dhara_page_t num_cps = j->head >> j->log2_ppc;
+
+	if (j->head < j->tail_sync) {
+		const dhara_page_t total_pages =
+			j->nand->num_blocks << j->nand->log2_ppb;
+
+		num_pages += total_pages;
+		num_cps += total_pages >> j->log2_ppc;
+	}
+
+	num_pages -= j->tail_sync;
+	num_cps -= j->tail_sync >> j->log2_ppc;
+
+	return num_pages - num_cps;
+}
+
+int dhara_journal_read_meta(struct dhara_journal *j, dhara_page_t p,
+			    uint8_t *buf, dhara_error_t *err)
+{
+	/* Offset of metadata within the metadata page */
+	const dhara_page_t ppc_mask = (1 << j->log2_ppc) - 1;
+	const size_t offset = hdr_user_offset(p & ppc_mask);
+
+	/* Special case: buffered metadata */
+	if (align_eq(p, j->head, j->log2_ppc)) {
+		memcpy(buf, j->page_buf + offset, DHARA_META_SIZE);
+		return 0;
+	}
+
+	/* Special case: incomplete metadata dumped at start of
+	 * recovery.
+	 */
+	if ((j->recover_meta != DHARA_PAGE_NONE) &&
+	    align_eq(p, j->recover_root, j->log2_ppc))
+		return dhara_nand_read(j->nand, j->recover_meta,
+				       offset, DHARA_META_SIZE,
+				       buf, err);
+
+	/* General case: fetch from metadata page for checkpoint group */
+	return dhara_nand_read(j->nand, p | ppc_mask,
+			       offset, DHARA_META_SIZE,
+			       buf, err);
+}
+
+dhara_page_t dhara_journal_peek(struct dhara_journal *j)
+{
+	if (j->head == j->tail)
+		return DHARA_PAGE_NONE;
+
+	if (is_aligned(j->tail, j->nand->log2_ppb)) {
+		dhara_block_t blk = j->tail >> j->nand->log2_ppb;
+		int i;
+
+		for (i = 0; i < DHARA_MAX_RETRIES; i++) {
+			if ((blk == (j->head >> j->nand->log2_ppb)) ||
+			    !dhara_nand_is_bad(j->nand, blk)) {
+				j->tail = blk << j->nand->log2_ppb;
+
+				if (j->tail == j->head)
+					j->root = DHARA_PAGE_NONE;
+
+				return j->tail;
+			}
+
+			blk = next_block(j->nand, blk);
+		}
+	}
+
+	return j->tail;
+}
+
+static dhara_page_t wrap(dhara_page_t a, dhara_page_t b)
+{
+	return a >= b ? (a - b) : a;
+}
+
+void dhara_journal_dequeue(struct dhara_journal *j)
+{
+	if (j->head == j->tail)
+		return;
+
+	j->tail = next_upage(j, j->tail);
+
+	/* If the journal is clean at the time of dequeue, then this
+	 * data was always obsolete, and can be reused immediately.
+	 */
+	if (!(j->flags & (DHARA_JOURNAL_F_DIRTY | DHARA_JOURNAL_F_RECOVERY)))
+		j->tail_sync = j->tail;
+
+	const dhara_page_t chip_size = j->nand->num_blocks << j->nand->log2_ppb;
+	const dhara_page_t raw_size = wrap(j->head + chip_size - j->tail,
+		chip_size);
+	const dhara_page_t root_offset = wrap(j->head + chip_size - j->root,
+		chip_size);
+
+	if (root_offset > raw_size)
+		j->root = DHARA_PAGE_NONE;
+}
+
+void dhara_journal_clear(struct dhara_journal *j)
+{
+	j->tail = j->head;
+	j->root = DHARA_PAGE_NONE;
+	j->flags |= DHARA_JOURNAL_F_DIRTY;
+
+	hdr_clear_user(j->page_buf, j->nand->log2_page_size);
+}
+
+static int skip_block(struct dhara_journal *j, dhara_error_t *err)
+{
+	const dhara_block_t next = next_block(j->nand,
+		j->head >> j->nand->log2_ppb);
+
+	/* We can't roll onto the same block as the tail */
+	if ((j->tail_sync >> j->nand->log2_ppb) == next) {
+		dhara_set_error(err, DHARA_E_JOURNAL_FULL);
+		return -1;
+	}
+
+	j->head = next << j->nand->log2_ppb;
+	if (!j->head)
+		roll_stats(j);
+
+	return 0;
+}
+
+/* Make sure the head pointer is on a ready-to-program page. */
+static int prepare_head(struct dhara_journal *j, dhara_error_t *err)
+{
+	const dhara_page_t next = next_upage(j, j->head);
+	int i;
+
+	/* We can't write if doing so would cause the head pointer to
+	 * roll onto the same block as the last-synced tail.
+	 */
+	if (align_eq(next, j->tail_sync, j->nand->log2_ppb) &&
+	    !align_eq(next, j->head, j->nand->log2_ppb)) {
+		dhara_set_error(err, DHARA_E_JOURNAL_FULL);
+		return -1;
+	}
+
+	j->flags |= DHARA_JOURNAL_F_DIRTY;
+	if (!is_aligned(j->head, j->nand->log2_ppb))
+		return 0;
+
+	for (i = 0; i < DHARA_MAX_RETRIES; i++) {
+		const dhara_block_t blk = j->head >> j->nand->log2_ppb;
+
+		if (!dhara_nand_is_bad(j->nand, blk))
+			return dhara_nand_erase(j->nand, blk, err);
+
+		j->bb_current++;
+		if (skip_block(j, err) < 0)
+			return -1;
+	}
+
+	dhara_set_error(err, DHARA_E_TOO_BAD);
+	return -1;
+}
+
+static void restart_recovery(struct dhara_journal *j, dhara_page_t old_head)
+{
+	/* Mark the current head bad immediately, unless we're also
+	 * using it to hold our dumped metadata (it will then be marked
+	 * bad at the end of recovery).
+	 */
+	if ((j->recover_meta == DHARA_PAGE_NONE) ||
+	    !align_eq(j->recover_meta, old_head, j->nand->log2_ppb))
+		dhara_nand_mark_bad(j->nand, old_head >> j->nand->log2_ppb);
+	else
+		j->flags |= DHARA_JOURNAL_F_BAD_META;
+
+	/* Start recovery again. Reset the source enumeration to
+	 * the start of the original bad block, and reset the
+	 * destination enumeration to the newly found good
+	 * block.
+	 */
+	j->flags &= ~DHARA_JOURNAL_F_ENUM_DONE;
+	j->recover_next =
+		j->recover_root & ~((1 << j->nand->log2_ppb) - 1);
+
+	j->root = j->recover_root;
+}
+
+static int dump_meta(struct dhara_journal *j, dhara_error_t *err)
+{
+	int i;
+
+	/* We've just begun recovery on a new erasable block, but we
+	 * have buffered metadata from the failed block.
+	 */
+	for (i = 0; i < DHARA_MAX_RETRIES; i++) {
+		dhara_error_t my_err;
+
+		/* Try to dump metadata on this page */
+		if (!(prepare_head(j, &my_err) ||
+		      dhara_nand_prog(j->nand, j->head,
+				      j->page_buf, &my_err))) {
+			j->recover_meta = j->head;
+			j->head = next_upage(j, j->head);
+			if (!j->head)
+				roll_stats(j);
+			hdr_clear_user(j->page_buf, j->nand->log2_page_size);
+			return 0;
+		}
+
+		/* Report fatal errors */
+		if (my_err != DHARA_E_BAD_BLOCK) {
+			dhara_set_error(err, my_err);
+			return -1;
+		}
+
+		j->bb_current++;
+		dhara_nand_mark_bad(j->nand, j->head >> j->nand->log2_ppb);
+
+		if (skip_block(j, err) < 0)
+			return -1;
+	}
+
+	dhara_set_error(err, DHARA_E_TOO_BAD);
+	return -1;
+}
+
+static int recover_from(struct dhara_journal *j,
+			dhara_error_t write_err,
+			dhara_error_t *err)
+{
+	const dhara_page_t old_head = j->head;
+
+	if (write_err != DHARA_E_BAD_BLOCK) {
+		dhara_set_error(err, write_err);
+		return -1;
+	}
+
+	/* Advance to the next free page */
+	j->bb_current++;
+	if (skip_block(j, err) < 0)
+		return -1;
+
+	/* Are we already in the middle of a recovery? */
+	if (dhara_journal_in_recovery(j)) {
+		restart_recovery(j, old_head);
+		dhara_set_error(err, DHARA_E_RECOVER);
+		return -1;
+	}
+
+	/* Were we block aligned? No recovery required! */
+	if (is_aligned(old_head, j->nand->log2_ppb)) {
+		dhara_nand_mark_bad(j->nand, old_head >> j->nand->log2_ppb);
+		return 0;
+	}
+
+	j->recover_root = j->root;
+	j->recover_next =
+		j->recover_root & ~((1 << j->nand->log2_ppb) - 1);
+
+	/* Are we holding buffered metadata? Dump it first. */
+	if (!is_aligned(old_head, j->log2_ppc) &&
+	    dump_meta(j, err) < 0)
+		return -1;
+
+	j->flags |= DHARA_JOURNAL_F_RECOVERY;
+	dhara_set_error(err, DHARA_E_RECOVER);
+	return -1;
+}
+
+static void finish_recovery(struct dhara_journal *j)
+{
+	/* We just recovered the last page. Mark the recovered
+	 * block as bad.
+	 */
+	dhara_nand_mark_bad(j->nand,
+		j->recover_root >> j->nand->log2_ppb);
+
+	/* If we had to dump metadata, and the page on which we
+	 * did this also went bad, mark it bad too.
+	 */
+	if (j->flags & DHARA_JOURNAL_F_BAD_META)
+		dhara_nand_mark_bad(j->nand,
+			j->recover_meta >> j->nand->log2_ppb);
+
+	/* Was the tail on this page? Skip it forward */
+	clear_recovery(j);
+}
+
+static int push_meta(struct dhara_journal *j, const uint8_t *meta,
+		     dhara_error_t *err)
+{
+	const dhara_page_t old_head = j->head;
+	dhara_error_t my_err;
+	const size_t offset =
+		hdr_user_offset(j->head & ((1 << j->log2_ppc) - 1));
+
+	/* We've just written a user page. Add the metadata to the
+	 * buffer.
+	 */
+	if (meta)
+		memcpy(j->page_buf + offset, meta, DHARA_META_SIZE);
+	else
+		memset(j->page_buf + offset, 0xff, DHARA_META_SIZE);
+
+	/* Unless we've filled the buffer, don't do any IO */
+	if (!is_aligned(j->head + 2, j->log2_ppc)) {
+		j->root = j->head;
+		j->head++;
+		return 0;
+	}
+
+	/* We don't need to check for immediate recover, because that'll
+	 * never happen -- we're not block-aligned.
+	 */
+	hdr_put_magic(j->page_buf);
+	hdr_set_epoch(j->page_buf, j->epoch);
+	hdr_set_tail(j->page_buf, j->tail);
+	hdr_set_bb_current(j->page_buf, j->bb_current);
+	hdr_set_bb_last(j->page_buf, j->bb_last);
+
+	if (dhara_nand_prog(j->nand, j->head + 1, j->page_buf, &my_err) < 0)
+		return recover_from(j, my_err, err);
+
+	j->flags &= ~DHARA_JOURNAL_F_DIRTY;
+
+	j->root = old_head;
+	j->head = next_upage(j, j->head);
+
+	if (!j->head)
+		roll_stats(j);
+
+	if (j->flags & DHARA_JOURNAL_F_ENUM_DONE)
+		finish_recovery(j);
+
+	if (!(j->flags & DHARA_JOURNAL_F_RECOVERY))
+		j->tail_sync = j->tail;
+
+	return 0;
+}
+
+int dhara_journal_enqueue(struct dhara_journal *j,
+			  const uint8_t *data, const uint8_t *meta,
+			  dhara_error_t *err)
+{
+	dhara_error_t my_err;
+	int i;
+
+	for (i = 0; i < DHARA_MAX_RETRIES; i++) {
+		if (!(prepare_head(j, &my_err) ||
+		      (data && dhara_nand_prog(j->nand, j->head, data,
+					       &my_err))))
+			return push_meta(j, meta, err);
+
+		if (recover_from(j, my_err, err) < 0)
+			return -1;
+	}
+
+	dhara_set_error(err, DHARA_E_TOO_BAD);
+	return -1;
+}
+
+int dhara_journal_copy(struct dhara_journal *j,
+		       dhara_page_t p, const uint8_t *meta,
+		       dhara_error_t *err)
+{
+	dhara_error_t my_err;
+	int i;
+
+	for (i = 0; i < DHARA_MAX_RETRIES; i++) {
+		if (!(prepare_head(j, &my_err) ||
+		      dhara_nand_copy(j->nand, p, j->head, &my_err)))
+			return push_meta(j, meta, err);
+
+		if (recover_from(j, my_err, err) < 0)
+			return -1;
+	}
+
+	dhara_set_error(err, DHARA_E_TOO_BAD);
+	return -1;
+}
+
+dhara_page_t dhara_journal_next_recoverable(struct dhara_journal *j)
+{
+	const dhara_page_t n = j->recover_next;
+
+	if (!dhara_journal_in_recovery(j))
+		return DHARA_PAGE_NONE;
+
+	if (j->flags & DHARA_JOURNAL_F_ENUM_DONE)
+		return DHARA_PAGE_NONE;
+
+	if (j->recover_next == j->recover_root)
+		j->flags |= DHARA_JOURNAL_F_ENUM_DONE;
+	else
+		j->recover_next = next_upage(j, j->recover_next);
+
+	return n;
+}
--- a/Lib/dhara/journal.h
+++ b/Lib/dhara/journal.h
@@ -0,0 +1,256 @@
+/* Dhara - NAND flash management layer
+ * Copyright (C) 2013 Daniel Beer <dlbeer@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#ifndef DHARA_JOURNAL_H_
+#define DHARA_JOURNAL_H_
+
+#include <stdint.h>
+#include "nand.h"
+
+/* Number of bytes used by the journal checkpoint header. */
+#define DHARA_HEADER_SIZE		16
+
+/* Global metadata available for a higher layer. This metadata is
+ * persistent once the journal reaches a checkpoint, and is restored on
+ * startup.
+ */
+#define DHARA_COOKIE_SIZE		4
+
+/* This is the size of the metadata slice which accompanies each written
+ * page. This is independent of the underlying page/OOB size.
+ */
+#define DHARA_META_SIZE			132
+
+/* When a block fails, or garbage is encountered, we try again on the
+ * next block/checkpoint. We can do this up to the given number of
+ * times.
+ */
+#define DHARA_MAX_RETRIES		8
+
+/* This is a page number which can be used to represent "no such page".
+ * It's guaranteed to never be a valid user page.
+ */
+#define DHARA_PAGE_NONE			((dhara_page_t)0xffffffff)
+
+/* State flags */
+#define DHARA_JOURNAL_F_DIRTY		0x01
+#define DHARA_JOURNAL_F_BAD_META	0x02
+#define DHARA_JOURNAL_F_RECOVERY	0x04
+#define DHARA_JOURNAL_F_ENUM_DONE	0x08
+
+/* The journal layer presents the NAND pages as a double-ended queue.
+ * Pages, with associated metadata may be pushed onto the end of the
+ * queue, and pages may be popped from the end.
+ *
+ * Block erase, metadata storage are handled automatically. Bad blocks
+ * are handled by relocating data to the next available non-bad page in
+ * the sequence.
+ *
+ * It's up to the user to ensure that the queue doesn't grow beyond the
+ * capacity of the NAND chip, but helper functions are provided to
+ * assist with this. If the head meets the tail, the journal will refuse
+ * to enqueue more pages.
+ */
+struct dhara_journal {
+	const struct dhara_nand		*nand;
+	uint8_t				*page_buf;
+
+	/* In the journal, user data is grouped into checkpoints of
+	 * 2**log2_ppc contiguous aligned pages.
+	 *
+	 * The last page of each checkpoint contains the journal header
+	 * and the metadata for the other pages in the period (the user
+	 * pages).
+	 */
+	uint8_t				log2_ppc;
+
+	/* Epoch counter. This is incremented whenever the journal head
+	 * passes the end of the chip and wraps around.
+	 */
+	uint8_t				epoch;
+
+	/* General purpose flags field */
+	uint8_t				flags;
+
+	/* Bad-block counters. bb_last is our best estimate of the
+	 * number of bad blocks in the chip as a whole. bb_current is
+	 * the number of bad blocks in all blocks before the current
+	 * head.
+	 */
+	dhara_block_t			bb_current;
+	dhara_block_t			bb_last;
+
+	/* Log head and tail. The tail pointer points to the last user
+	 * page in the log, and the head pointer points to the next free
+	 * raw page. The root points to the last written user page.
+	 */
+	dhara_page_t			tail_sync;
+	dhara_page_t			tail;
+	dhara_page_t			head;
+
+	/* This points to the last written user page in the journal */
+	dhara_page_t			root;
+
+	/* Recovery mode: recover_root points to the last valid user
+	 * page in the block requiring recovery. recover_next points to
+	 * the next user page needing recovery.
+	 *
+	 * If we had buffered metadata before recovery started, it will
+	 * have been dumped to a free page, indicated by recover_meta.
+	 * If this block later goes bad, we will have to defer bad-block
+	 * marking until recovery is complete (F_BAD_META).
+	 */
+	dhara_page_t			recover_next;
+	dhara_page_t			recover_root;
+	dhara_page_t			recover_meta;
+};
+
+/* Initialize a journal. You must supply a pointer to a NAND chip
+ * driver, and a single page buffer. This page buffer will be used
+ * exclusively by the journal, but you are responsible for allocating
+ * it, and freeing it (if necessary) at the end.
+ *
+ * No NAND operations are performed at this point.
+ */
+void dhara_journal_init(struct dhara_journal *j,
+			const struct dhara_nand *n,
+			uint8_t *page_buf);
+
+/* Start up the journal -- search the NAND for the journal head, or
+ * initialize a blank journal if one isn't found. Returns 0 on success
+ * or -1 if a (fatal) error occurs.
+ *
+ * This operation is O(log N), where N is the number of pages in the
+ * NAND chip. All other operations are O(1).
+ *
+ * If this operation fails, the journal will be reset to an empty state.
+ */
+int dhara_journal_resume(struct dhara_journal *j, dhara_error_t *err);
+
+/* Obtain an upper bound on the number of user pages storable in the
+ * journal.
+ */
+dhara_page_t dhara_journal_capacity(const struct dhara_journal *j);
+
+/* Obtain an upper bound on the number of user pages consumed by the
+ * journal.
+ */
+dhara_page_t dhara_journal_size(const struct dhara_journal *j);
+
+/* Obtain a pointer to the cookie data */
+static inline uint8_t *dhara_journal_cookie(const struct dhara_journal *j)
+{
+	return j->page_buf + DHARA_HEADER_SIZE;
+}
+
+/* Obtain the locations of the first and last pages in the journal.
+ */
+static inline dhara_page_t dhara_journal_root(const struct dhara_journal *j)
+{
+	return j->root;
+}
+
+/* Read metadata associated with a page. This assumes that the page
+ * provided is a valid data page. The actual page data is read via the
+ * normal NAND interface.
+ */
+int dhara_journal_read_meta(struct dhara_journal *j, dhara_page_t p,
+			    uint8_t *buf, dhara_error_t *err);
+
+/* Advance the tail to the next non-bad block and return the page that's
+ * ready to read. If no page is ready, return DHARA_PAGE_NONE.
+ */
+dhara_page_t dhara_journal_peek(struct dhara_journal *j);
+
+/* Remove the last page from the journal. This doesn't take permanent
+ * effect until the next checkpoint.
+ */
+void dhara_journal_dequeue(struct dhara_journal *j);
+
+/* Remove all pages form the journal. This doesn't take permanent effect
+ * until the next checkpoint.
+ */
+void dhara_journal_clear(struct dhara_journal *j);
+
+/* Append a page to the journal. Both raw page data and metadata must be
+ * specified. The push operation is not persistent until a checkpoint is
+ * reached.
+ *
+ * This operation may fail with the error code E_RECOVER. If this
+ * occurs, the upper layer must complete the assisted recovery procedure
+ * and then try again.
+ *
+ * This operation may be used as part of a recovery. If further errors
+ * occur during recovery, E_RECOVER is returned, and the procedure must
+ * be restarted.
+ */
+int dhara_journal_enqueue(struct dhara_journal *j,
+			  const uint8_t *data, const uint8_t *meta,
+			  dhara_error_t *err);
+
+/* Copy an existing page to the front of the journal. New metadata must
+ * be specified. This operation is not persistent until a checkpoint is
+ * reached.
+ *
+ * This operation may fail with the error code E_RECOVER. If this
+ * occurs, the upper layer must complete the assisted recovery procedure
+ * and then try again.
+ *
+ * This operation may be used as part of a recovery. If further errors
+ * occur during recovery, E_RECOVER is returned, and the procedure must
+ * be restarted.
+ */
+int dhara_journal_copy(struct dhara_journal *j,
+		       dhara_page_t p, const uint8_t *meta,
+		       dhara_error_t *err);
+
+/* Mark the journal dirty. */
+static inline void dhara_journal_mark_dirty(struct dhara_journal *j)
+{
+	j->flags |= DHARA_JOURNAL_F_DIRTY;
+}
+
+/* Is the journal checkpointed? If true, then all pages enqueued are now
+ * persistent.
+ */
+static inline int dhara_journal_is_clean(const struct dhara_journal *j)
+{
+	return !(j->flags & DHARA_JOURNAL_F_DIRTY);
+}
+
+/* If an operation returns E_RECOVER, you must begin the recovery
+ * procedure. You must then:
+ *
+ *    - call dhara_journal_next_recoverable() to obtain the next block
+ *      to be recovered (if any). If there are no blocks remaining to be
+ *      recovered, DHARA_JOURNAL_PAGE_NONE is returned.
+ *
+ *    - proceed to the next checkpoint. Once the journal is clean,
+ *      recovery will finish automatically.
+ *
+ * If any operation during recovery fails due to a bad block, E_RECOVER
+ * is returned again, and recovery restarts. Do not add new data to the
+ * journal (rewrites of recovered data are fine) until recovery is
+ * complete.
+ */
+static inline int dhara_journal_in_recovery(const struct dhara_journal *j)
+{
+	return j->flags & DHARA_JOURNAL_F_RECOVERY;
+}
+
+dhara_page_t dhara_journal_next_recoverable(struct dhara_journal *j);
+
+#endif
--- a/Lib/dhara/map.c
+++ b/Lib/dhara/map.c
@@ -0,0 +1,530 @@
+/* Dhara - NAND flash management layer
+ * Copyright (C) 2013 Daniel Beer <dlbeer@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <string.h>
+#include "bytes.h"
+#include "map.h"
+
+#define DHARA_RADIX_DEPTH	(sizeof(dhara_sector_t) << 3)
+
+static inline dhara_sector_t d_bit(int depth)
+{
+	return ((dhara_sector_t)1) << (DHARA_RADIX_DEPTH - depth - 1);
+}
+
+/************************************************************************
+ * Metadata/cookie layout
+ */
+
+static inline void ck_set_count(uint8_t *cookie, dhara_sector_t count)
+{
+	dhara_w32(cookie, count);
+}
+
+static inline dhara_sector_t ck_get_count(const uint8_t *cookie)
+{
+	return dhara_r32(cookie);
+}
+
+static inline void meta_clear(uint8_t *meta)
+{
+	memset(meta, 0xff, DHARA_META_SIZE);
+}
+
+static inline dhara_sector_t meta_get_id(const uint8_t *meta)
+{
+	return dhara_r32(meta);
+}
+
+static inline void meta_set_id(uint8_t *meta, dhara_sector_t id)
+{
+	dhara_w32(meta, id);
+}
+
+static inline dhara_page_t meta_get_alt(const uint8_t *meta, int level)
+{
+	return dhara_r32(meta + 4 + (level << 2));
+}
+
+static inline void meta_set_alt(uint8_t *meta, int level, dhara_page_t alt)
+{
+	dhara_w32(meta + 4 + (level << 2), alt);
+}
+
+/************************************************************************
+ * Public interface
+ */
+
+void dhara_map_init(struct dhara_map *m, const struct dhara_nand *n,
+		    uint8_t *page_buf, uint8_t gc_ratio)
+{
+	if (!gc_ratio)
+		gc_ratio = 1;
+
+	dhara_journal_init(&m->journal, n, page_buf);
+	m->gc_ratio = gc_ratio;
+}
+
+int dhara_map_resume(struct dhara_map *m, dhara_error_t *err)
+{
+	if (dhara_journal_resume(&m->journal, err) < 0) {
+		m->count = 0;
+		return -1;
+	}
+
+	m->count = ck_get_count(dhara_journal_cookie(&m->journal));
+	return 0;
+}
+
+void dhara_map_clear(struct dhara_map *m)
+{
+	if (m->count) {
+		m->count = 0;
+		dhara_journal_clear(&m->journal);
+	}
+}
+
+dhara_sector_t dhara_map_capacity(const struct dhara_map *m)
+{
+	const dhara_sector_t cap = dhara_journal_capacity(&m->journal);
+	const dhara_sector_t reserve = cap / (m->gc_ratio + 1);
+	const dhara_sector_t safety_margin =
+		DHARA_MAX_RETRIES << m->journal.nand->log2_ppb;
+
+	if (reserve + safety_margin >= cap)
+		return 0;
+
+	return cap - reserve - safety_margin;
+}
+
+/* Trace the path from the root to the given sector, emitting
+ * alt-pointers and alt-full bits in the given metadata buffer. This
+ * also returns the physical page containing the given sector, if it
+ * exists.
+ *
+ * If the page can't be found, a suitable path will be constructed
+ * (containing PAGE_NONE alt-pointers), and DHARA_E_NOT_FOUND will be
+ * returned.
+ */
+static int trace_path(struct dhara_map *m, dhara_sector_t target,
+		      dhara_page_t *loc, uint8_t *new_meta,
+		      dhara_error_t *err)
+{
+	uint8_t meta[DHARA_META_SIZE];
+	int depth = 0;
+	dhara_page_t p = dhara_journal_root(&m->journal);
+
+	if (new_meta)
+		meta_set_id(new_meta, target);
+
+	if (p == DHARA_PAGE_NONE)
+		goto not_found;
+
+	if (dhara_journal_read_meta(&m->journal, p, meta, err) < 0)
+		return -1;
+
+	while (depth < DHARA_RADIX_DEPTH) {
+		const dhara_sector_t id = meta_get_id(meta);
+
+		if (id == DHARA_SECTOR_NONE)
+			goto not_found;
+
+		if ((target ^ id) & d_bit(depth)) {
+			if (new_meta)
+				meta_set_alt(new_meta, depth, p);
+
+			p = meta_get_alt(meta, depth);
+			if (p == DHARA_PAGE_NONE) {
+				depth++;
+				goto not_found;
+			}
+
+			if (dhara_journal_read_meta(&m->journal, p,
+						    meta, err) < 0)
+				return -1;
+		} else {
+			if (new_meta)
+				meta_set_alt(new_meta, depth,
+					meta_get_alt(meta, depth));
+		}
+
+		depth++;
+	}
+
+	if (loc)
+		*loc = p;
+
+	return 0;
+
+not_found:
+	if (new_meta) {
+		while (depth < DHARA_RADIX_DEPTH)
+			meta_set_alt(new_meta, depth++, DHARA_SECTOR_NONE);
+	}
+
+	dhara_set_error(err, DHARA_E_NOT_FOUND);
+	return -1;
+}
+
+int dhara_map_find(struct dhara_map *m, dhara_sector_t target,
+		   dhara_page_t *loc, dhara_error_t *err)
+{
+	return trace_path(m, target, loc, NULL, err);
+}
+
+int dhara_map_read(struct dhara_map *m, dhara_sector_t s,
+		   uint8_t *data, dhara_error_t *err)
+{
+	const struct dhara_nand *n = m->journal.nand;
+	dhara_error_t my_err;
+	dhara_page_t p;
+
+	if (dhara_map_find(m, s, &p, &my_err) < 0) {
+		if (my_err == DHARA_E_NOT_FOUND) {
+			memset(data, 0xff, 1 << n->log2_page_size);
+			return 0;
+		}
+
+		dhara_set_error(err, my_err);
+		return -1;
+	}
+
+	return dhara_nand_read(n, p, 0, 1 << n->log2_page_size, data, err);
+}
+
+/* Check the given page. If it's garbage, do nothing. Otherwise, rewrite
+ * it at the front of the map. Return raw errors from the journal (do
+ * not perform recovery).
+ */
+static int raw_gc(struct dhara_map *m, dhara_page_t src,
+		  dhara_error_t *err)
+{
+	dhara_sector_t target;
+	dhara_page_t current;
+	dhara_error_t my_err;
+	uint8_t meta[DHARA_META_SIZE];
+
+	if (dhara_journal_read_meta(&m->journal, src, meta, err) < 0)
+		return -1;
+
+	/* Is the page just filler/garbage? */
+	target = meta_get_id(meta);
+	if (target == DHARA_SECTOR_NONE)
+		return 0;
+
+	/* Find out where the sector once represented by this page
+	 * currently resides (if anywhere).
+	 */
+	if (trace_path(m, target, &current, meta, &my_err) < 0) {
+		if (my_err == DHARA_E_NOT_FOUND)
+			return 0;
+
+		dhara_set_error(err, my_err);
+		return -1;
+	}
+
+	/* Is this page still the most current representative? If not,
+	 * do nothing.
+	 */
+	if (current != src)
+		return 0;
+
+	/* Rewrite it at the front of the journal with updated metadata */
+	ck_set_count(dhara_journal_cookie(&m->journal), m->count);
+	if (dhara_journal_copy(&m->journal, src, meta, err) < 0)
+		return -1;
+
+	return 0;
+}
+
+static int pad_queue(struct dhara_map *m, dhara_error_t *err)
+{
+	dhara_page_t p = dhara_journal_root(&m->journal);
+	uint8_t root_meta[DHARA_META_SIZE];
+
+	ck_set_count(dhara_journal_cookie(&m->journal), m->count);
+
+	if (p == DHARA_PAGE_NONE)
+		return dhara_journal_enqueue(&m->journal, NULL, NULL, err);
+
+	if (dhara_journal_read_meta(&m->journal, p, root_meta, err) < 0)
+		return -1;
+
+	return dhara_journal_copy(&m->journal, p, root_meta, err);
+}
+
+/* Attempt to recover the journal */
+static int try_recover(struct dhara_map *m, dhara_error_t cause,
+		       dhara_error_t *err)
+{
+	int restart_count = 0;
+
+	if (cause != DHARA_E_RECOVER) {
+		dhara_set_error(err, cause);
+		return -1;
+	}
+
+	while (dhara_journal_in_recovery(&m->journal)) {
+		dhara_page_t p = dhara_journal_next_recoverable(&m->journal);
+		dhara_error_t my_err;
+		int ret;
+
+		if (p == DHARA_PAGE_NONE)
+			ret = pad_queue(m, &my_err);
+		else
+			ret = raw_gc(m, p, &my_err);
+
+		if (ret < 0) {
+			if (my_err != DHARA_E_RECOVER) {
+				dhara_set_error(err, my_err);
+				return -1;
+			}
+
+			if (restart_count >= DHARA_MAX_RETRIES) {
+				dhara_set_error(err, DHARA_E_TOO_BAD);
+				return -1;
+			}
+
+			restart_count++;
+		}
+	}
+
+	return 0;
+}
+
+static int auto_gc(struct dhara_map *m, dhara_error_t *err)
+{
+	int i;
+
+	if (dhara_journal_size(&m->journal) < dhara_map_capacity(m))
+		return 0;
+
+	for (i = 0; i <= m->gc_ratio; i++)
+		if (dhara_map_gc(m, err) < 0)
+			return -1;
+
+	return 0;
+}
+
+static int prepare_write(struct dhara_map *m, dhara_sector_t dst,
+			 uint8_t *meta, dhara_error_t *err)
+{
+	dhara_error_t my_err;
+
+	if (auto_gc(m, err) < 0)
+		return -1;
+
+	if (trace_path(m, dst, NULL, meta, &my_err) < 0) {
+		if (my_err != DHARA_E_NOT_FOUND) {
+			dhara_set_error(err, my_err);
+			return -1;
+		}
+
+		if (m->count >= dhara_map_capacity(m)) {
+			dhara_set_error(err, DHARA_E_MAP_FULL);
+			return -1;
+		}
+
+		m->count++;
+	}
+
+	ck_set_count(dhara_journal_cookie(&m->journal), m->count);
+	return 0;
+}
+
+int dhara_map_write(struct dhara_map *m, dhara_sector_t dst,
+		    const uint8_t *data, dhara_error_t *err)
+{
+	for (;;) {
+		uint8_t meta[DHARA_META_SIZE];
+		dhara_error_t my_err;
+		const dhara_sector_t old_count = m->count;
+
+		if (prepare_write(m, dst, meta, err) < 0)
+			return -1;
+
+		if (!dhara_journal_enqueue(&m->journal, data, meta, &my_err))
+			break;
+
+		m->count = old_count;
+
+		if (try_recover(m, my_err, err) < 0)
+			return -1;
+	}
+
+	return 0;
+}
+
+int dhara_map_copy_page(struct dhara_map *m, dhara_page_t src,
+			dhara_sector_t dst, dhara_error_t *err)
+{
+	for (;;) {
+		uint8_t meta[DHARA_META_SIZE];
+		dhara_error_t my_err;
+		const dhara_sector_t old_count = m->count;
+
+		if (prepare_write(m, dst, meta, err) < 0)
+			return -1;
+
+		if (!dhara_journal_copy(&m->journal, src, meta, &my_err))
+			break;
+
+		m->count = old_count;
+
+		if (try_recover(m, my_err, err) < 0)
+			return -1;
+	}
+
+	return 0;
+}
+
+int dhara_map_copy_sector(struct dhara_map *m, dhara_sector_t src,
+			  dhara_sector_t dst, dhara_error_t *err)
+{
+	dhara_error_t my_err;
+	dhara_page_t p;
+
+	if (dhara_map_find(m, src, &p, &my_err) < 0) {
+		if (my_err == DHARA_E_NOT_FOUND)
+			return dhara_map_trim(m, dst, err);
+
+		dhara_set_error(err, my_err);
+		return -1;
+	}
+
+	return dhara_map_copy_page(m, p, dst, err);
+}
+
+static int try_delete(struct dhara_map *m, dhara_sector_t s,
+		      dhara_error_t *err)
+{
+	dhara_error_t my_err;
+	uint8_t meta[DHARA_META_SIZE];
+	dhara_page_t alt_page;
+	uint8_t alt_meta[DHARA_META_SIZE];
+	int level = DHARA_RADIX_DEPTH - 1;
+	int i;
+
+	if (trace_path(m, s, NULL, meta, &my_err) < 0) {
+		if (my_err == DHARA_E_NOT_FOUND)
+			return 0;
+
+		dhara_set_error(err, my_err);
+		return -1;
+	}
+
+	/* Select any of the closest cousins of this node which are
+	 * subtrees of at least the requested order.
+	 */
+	while (level >= 0) {
+		alt_page = meta_get_alt(meta, level);
+		if (alt_page != DHARA_PAGE_NONE)
+			break;
+		level--;
+	}
+
+	/* Special case: deletion of last sector */
+	if (level < 0) {
+		m->count = 0;
+		dhara_journal_clear(&m->journal);
+		return 0;
+	}
+
+	/* Rewrite the cousin with an up-to-date path which doesn't
+	 * point to the original node.
+	 */
+	if (dhara_journal_read_meta(&m->journal, alt_page, alt_meta, err) < 0)
+		return -1;
+
+	meta_set_id(meta, meta_get_id(alt_meta));
+
+	meta_set_alt(meta, level, DHARA_PAGE_NONE);
+	for (i = level + 1; i < DHARA_RADIX_DEPTH; i++)
+		meta_set_alt(meta, i, meta_get_alt(alt_meta, i));
+
+	meta_set_alt(meta, level, DHARA_PAGE_NONE);
+
+	ck_set_count(dhara_journal_cookie(&m->journal), m->count - 1);
+	if (dhara_journal_copy(&m->journal, alt_page, meta, err) < 0)
+		return -1;
+
+	m->count--;
+	return 0;
+}
+
+int dhara_map_trim(struct dhara_map *m, dhara_sector_t s, dhara_error_t *err)
+{
+	for (;;) {
+		dhara_error_t my_err;
+
+		if (auto_gc(m, err) < 0)
+			return -1;
+
+		if (!try_delete(m, s, &my_err))
+			break;
+
+		if (try_recover(m, my_err, err) < 0)
+			return -1;
+	}
+
+	return 0;
+}
+
+int dhara_map_sync(struct dhara_map *m, dhara_error_t *err)
+{
+	while (!dhara_journal_is_clean(&m->journal)) {
+		dhara_page_t p = dhara_journal_peek(&m->journal);
+		dhara_error_t my_err;
+		int ret;
+
+		if (p == DHARA_PAGE_NONE) {
+			ret = pad_queue(m, &my_err);
+		} else {
+			ret = raw_gc(m, p, &my_err);
+			if (!ret)
+				dhara_journal_dequeue(&m->journal);
+		}
+
+		if ((ret < 0) && (try_recover(m, my_err, err) < 0))
+			return -1;
+	}
+
+	return 0;
+}
+
+int dhara_map_gc(struct dhara_map *m, dhara_error_t *err)
+{
+	if (!m->count)
+		return 0;
+
+	for (;;) {
+		dhara_page_t tail = dhara_journal_peek(&m->journal);
+		dhara_error_t my_err;
+
+		if (tail == DHARA_PAGE_NONE)
+			break;
+
+		if (!raw_gc(m, tail, &my_err)) {
+			dhara_journal_dequeue(&m->journal);
+			break;
+		}
+
+		if (try_recover(m, my_err, err) < 0)
+			return -1;
+	}
+
+	return 0;
+}
--- a/Lib/dhara/map.h
+++ b/Lib/dhara/map.h
@@ -0,0 +1,114 @@
+/* Dhara - NAND flash management layer
+ * Copyright (C) 2013 Daniel Beer <dlbeer@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#ifndef DHARA_MAP_H_
+#define DHARA_MAP_H_
+
+#include "journal.h"
+
+/* The map is a journal indexing format. It maps virtual sectors to
+ * pages of data in flash memory.
+ */
+typedef uint32_t dhara_sector_t;
+
+/* This sector value is reserved */
+#define DHARA_SECTOR_NONE	0xffffffff
+
+struct dhara_map {
+	struct dhara_journal	journal;
+
+	uint8_t			gc_ratio;
+	dhara_sector_t		count;
+};
+
+/* Initialize a map. You need to supply a buffer for page metadata, and
+ * a garbage collection ratio. This is the ratio of garbage collection
+ * operations to real writes when automatic collection is active.
+ *
+ * Smaller values lead to faster and more predictable IO, at the
+ * expense of capacity. You should always initialize the same chip with
+ * the same garbage collection ratio.
+ */
+void dhara_map_init(struct dhara_map *m, const struct dhara_nand *n,
+		    uint8_t *page_buf, uint8_t gc_ratio);
+
+/* Recover stored state, if possible. If there is no valid stored state
+ * on the chip, -1 is returned, and an empty map is initialized.
+ */
+int dhara_map_resume(struct dhara_map *m, dhara_error_t *err);
+
+/* Clear the map (delete all sectors). */
+void dhara_map_clear(struct dhara_map *m);
+
+/* Obtain the maximum capacity of the map. */
+dhara_sector_t dhara_map_capacity(const struct dhara_map *m);
+
+/* Obtain the current number of allocated sectors. */
+static inline dhara_sector_t dhara_map_size(const struct dhara_map *m)
+{
+	return m->count;
+}
+
+/* Find the physical page which holds the current data for this sector.
+ * Returns 0 on success or -1 if an error occurs. If the sector doesn't
+ * exist, the error is E_NOT_FOUND.
+ */
+int dhara_map_find(struct dhara_map *m, dhara_sector_t s,
+		   dhara_page_t *loc, dhara_error_t *err);
+
+/* Read from the given logical sector. If the sector is unmapped, a
+ * blank page (0xff) will be returned.
+ */
+int dhara_map_read(struct dhara_map *m, dhara_sector_t s,
+		   uint8_t *data, dhara_error_t *err);
+
+/* Write data to a logical sector. */
+int dhara_map_write(struct dhara_map *m, dhara_sector_t s,
+		    const uint8_t *data, dhara_error_t *err);
+
+/* Copy any flash page to a logical sector. */
+int dhara_map_copy_page(struct dhara_map *m, dhara_page_t src,
+			dhara_sector_t dst, dhara_error_t *err);
+
+/* Copy one sector to another. If the source sector is unmapped, the
+ * destination sector will be trimmed.
+ */
+int dhara_map_copy_sector(struct dhara_map *m, dhara_sector_t src,
+			  dhara_sector_t dst, dhara_error_t *err);
+
+/* Delete a logical sector. You don't necessarily need to do this, but
+ * it's a useful hint if you no longer require the sector's data to be
+ * kept.
+ *
+ * If order is non-zero, it specifies that all sectors in the
+ * (2**order)-aligned group of s are to be deleted.
+ */
+int dhara_map_trim(struct dhara_map *m, dhara_sector_t s,
+		   dhara_error_t *err);
+
+/* Synchronize the map. Once this returns successfully, all changes to
+ * date are persistent and durable. Conversely, there is no guarantee
+ * that unsynchronized changes will be persistent.
+ */
+int dhara_map_sync(struct dhara_map *m, dhara_error_t *err);
+
+/* Perform one garbage collection step. You can do this whenever you
+ * like, but it's not necessary -- garbage collection happens
+ * automatically and is interleaved with other operations.
+ */
+int dhara_map_gc(struct dhara_map *m, dhara_error_t *err);
+
+#endif
--- a/Lib/dhara/nand.h
+++ b/Lib/dhara/nand.h
@@ -0,0 +1,105 @@
+/* Dhara - NAND flash management layer
+ * Copyright (C) 2013 Daniel Beer <dlbeer@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#ifndef DHARA_NAND_H_
+#define DHARA_NAND_H_
+
+#include <stdint.h>
+#include <stddef.h>
+#include "error.h"
+
+/* Each page in a NAND device is indexed, starting at 0. It's required
+ * that there be a power-of-two number of pages in a eraseblock, so you can
+ * view a page number is being a concatenation (in binary) of a block
+ * number and the number of a page within a block.
+ */
+typedef uint32_t dhara_page_t;
+
+/* Blocks are also indexed, starting at 0. */
+typedef uint32_t dhara_block_t;
+
+/* Each NAND chip must be represented by one of these structures. It's
+ * intended that this structure be embedded in a larger structure for
+ * context.
+ *
+ * The functions declared below are not implemented -- they must be
+ * provided and satisfy the documented conditions.
+ */
+struct dhara_nand {
+	/* Base-2 logarithm of the page size. If your device supports
+	 * partial programming, you may want to subdivide the actual
+	 * pages into separate ECC-correctable regions and present those
+	 * as pages.
+	 */
+	uint8_t		log2_page_size;
+
+	/* Base-2 logarithm of the number of pages within an eraseblock */
+	uint8_t		log2_ppb;
+
+	/* Total number of eraseblocks */
+	unsigned int	num_blocks;
+};
+
+/* Is the given block bad? */
+int dhara_nand_is_bad(const struct dhara_nand *n, dhara_block_t b);
+
+/* Mark bad the given block (or attempt to). No return value is
+ * required, because there's nothing that can be done in response.
+ */
+void dhara_nand_mark_bad(const struct dhara_nand *n, dhara_block_t b);
+
+/* Erase the given block. This function should return 0 on success or -1
+ * on failure.
+ *
+ * The status reported by the chip should be checked. If an erase
+ * operation fails, return -1 and set err to E_BAD_BLOCK.
+ */
+int dhara_nand_erase(const struct dhara_nand *n, dhara_block_t b,
+		     dhara_error_t *err);
+
+/* Program the given page. The data pointer is a pointer to an entire
+ * page ((1 << log2_page_size) bytes). The operation status should be
+ * checked. If the operation fails, return -1 and set err to
+ * E_BAD_BLOCK.
+ *
+ * Pages will be programmed sequentially within a block, and will not be
+ * reprogrammed.
+ */
+int dhara_nand_prog(const struct dhara_nand *n, dhara_page_t p,
+		    const uint8_t *data,
+		    dhara_error_t *err);
+
+/* Check that the given page is erased */
+int dhara_nand_is_free(const struct dhara_nand *n, dhara_page_t p);
+
+/* Read a portion of a page. ECC must be handled by the NAND
+ * implementation. Returns 0 on sucess or -1 if an error occurs. If an
+ * uncorrectable ECC error occurs, return -1 and set err to E_ECC.
+ */
+int dhara_nand_read(const struct dhara_nand *n, dhara_page_t p,
+		    size_t offset, size_t length,
+		    uint8_t *data,
+		    dhara_error_t *err);
+
+/* Read a page from one location and reprogram it in another location.
+ * This might be done using the chip's internal buffers, but it must use
+ * ECC.
+ */
+int dhara_nand_copy(const struct dhara_nand *n,
+		    dhara_page_t src, dhara_page_t dst,
+		    dhara_error_t *err);
+
+#endif
--- a/MDK-ARM/STM32F407-Demo.uvprojx
+++ b/MDK-ARM/STM32F407-Demo.uvprojx
--- a/MDK-ARM/_build.cmd
+++ b/MDK-ARM/_build.cmd
@@ -0,0 +1 @@
+@echo off && cd /d "%~dp0" && C:\Keil_v5\UV4\UV4.exe -r "STM32F407-Demo.uvprojx" -t STM32F407-Demo -j0
--- a/MDK-ARM/build.bat
+++ b/MDK-ARM/build.bat
@@ -0,0 +1,19 @@
+@echo off
+setlocal
+
+set UV4=C:\Keil_v5\UV4\UV4.exe
+set PROJ=%~dp0STM32F407-Demo.uvprojx
+set LOG=%~dp0build_log.txt
+set TARGET=STM32F407-Demo
+
+"%UV4%" -r "%PROJ%" -t%TARGET% -j0 -o "%LOG%"
+set RET=%ERRORLEVEL%
+
+if %RET% equ 0 (
+    echo BUILD_OK: 0 Error(s), 0 Warning(s)
+) else (
+    echo BUILD_FAIL: exit code %RET%
+    if exist "%LOG%" type "%LOG%"
+)
+
+exit /b %RET%
--- a/MDK-ARM/build_log.txt
+++ b/MDK-ARM/build_log.txt
@@ -0,0 +1,76 @@
+*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
+Rebuild target 'STM32F407-Demo'
+assembling startup_stm32f407xx.s...
+compiling crc.c...
+compiling ringbuf.c...
+compiling stm32f4xx_it.c...
+compiling app_main.c...
+compiling dma.c...
+compiling stm32f4xx_hal_flash_ramfunc.c...
+compiling i2c.c...
+compiling sys_clock.c...
+compiling stm32f4xx_hal_timebase_tim.c...
+compiling stm32f4xx_hal_gpio.c...
+compiling stm32f4xx_hal_dma_ex.c...
+compiling stm32f4xx_hal_dma.c...
+compiling stm32f4xx_hal_flash_ex.c...
+compiling stm32f4xx_hal_pwr.c...
+compiling spi.c...
+compiling stm32f4xx_hal_msp.c...
+compiling stm32f4xx_hal_rcc.c...
+compiling stm32f4xx_hal_flash.c...
+compiling gpio.c...
+compiling usart.c...
+compiling stm32f4xx_hal_tim_ex.c...
+compiling net_task.c...
+compiling freertos.c...
+compiling stm32f4xx_hal_rcc_ex.c...
+compiling rs485_task.c...
+compiling main.c...
+compiling adc_task.c...
+compiling time_sync.c...
+compiling lftpd_string.c...
+compiling croutine.c...
+compiling stm32f4xx_hal_tim.c...
+compiling list.c...
+compiling event_groups.c...
+compiling queue.c...
+compiling stream_buffer.c...
+compiling timers.c...
+compiling tasks.c...
+compiling heap_4.c...
+compiling port.c...
+compiling stm32f4xx_hal_pwr_ex.c...
+compiling journal.c...
+compiling map.c...
+compiling ff.c...
+compiling stm32f4xx_hal.c...
+compiling system_stm32f4xx.c...
+compiling lftpd_io.c...
+compiling stm32f4xx_hal_cortex.c...
+compiling stm32f4xx_hal_i2c_ex.c...
+compiling stm32f4xx_hal_exti.c...
+compiling rs485.c...
+compiling tpafe5160.c...
+compiling sd2506.c...
+compiling ch395f.c...
+compiling nand_ftl.c...
+compiling stm32f4xx_hal_spi.c...
+compiling lftpd_inet.c...
+compiling gd5f2gq5ue.c...
+compiling net_select.c...
+compiling stm32f4xx_hal_uart.c...
+compiling lftpd.c...
+compiling net_socket.c...
+compiling stm32f4xx_hal_i2c.c...
+compiling cmsis_os2.c...
+compiling ch395f_test_task.c...
+compiling net_test_task.c...
+compiling gd5f_test_task.c...
+compiling storage_test_task.c...
+compiling sd2506_test_task.c...
+linking...
+Program Size: Code=64436 RO-data=3936 RW-data=420 ZI-data=51868  
+FromELF: creating hex file...
+".\STM32F407-Demo\STM32F407-Demo.axf" - 0 Error(s), 0 Warning(s).
+Build Time Elapsed:  00:00:14
--- a/MDK-ARM/err.txt
+++ b/MDK-ARM/err.txt
--- a/MDK-ARM/out.txt
+++ b/MDK-ARM/out.txt
--- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h
@@ -0,0 +1,846 @@
+/*
+ * 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_
--- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
+++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
--- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
@@ -0,0 +1,734 @@
+/* --------------------------------------------------------------------------
+ * 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_
--- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h
@@ -0,0 +1,63 @@
+/* --------------------------------------------------------------------------
+ * 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_ */
--- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h
@@ -0,0 +1,310 @@
+/* --------------------------------------------------------------------------
+ * 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_ */
--- a/Middlewares/Third_Party/FreeRTOS/Source/LICENSE
+++ b/Middlewares/Third_Party/FreeRTOS/Source/LICENSE
@@ -0,0 +1,18 @@
+Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
--- a/Middlewares/Third_Party/FreeRTOS/Source/croutine.c
+++ b/Middlewares/Third_Party/FreeRTOS/Source/croutine.c
@@ -0,0 +1,353 @@
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "croutine.h"
+
+/* Remove the whole file is co-routines are not being used. */
+#if( configUSE_CO_ROUTINES != 0 )
+
+/*
+ * Some kernel aware debuggers require data to be viewed to be global, rather
+ * than file scope.
+ */
+#ifdef portREMOVE_STATIC_QUALIFIER
+	#define static
+#endif
+
+
+/* Lists for ready and blocked co-routines. --------------------*/
+static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ];	/*< Prioritised ready co-routines. */
+static List_t xDelayedCoRoutineList1;									/*< Delayed co-routines. */
+static List_t xDelayedCoRoutineList2;									/*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
+static List_t * pxDelayedCoRoutineList;									/*< Points to the delayed co-routine list currently being used. */
+static List_t * pxOverflowDelayedCoRoutineList;							/*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
+static List_t xPendingReadyCoRoutineList;								/*< Holds co-routines that have been readied by an external event.  They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
+
+/* Other file private variables. --------------------------------*/
+CRCB_t * pxCurrentCoRoutine = NULL;
+static UBaseType_t uxTopCoRoutineReadyPriority = 0;
+static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0;
+
+/* The initial state of the co-routine when it is created. */
+#define corINITIAL_STATE	( 0 )
+
+/*
+ * Place the co-routine represented by pxCRCB into the appropriate ready queue
+ * for the priority.  It is inserted at the end of the list.
+ *
+ * This macro accesses the co-routine ready lists and therefore must not be
+ * used from within an ISR.
+ */
+#define prvAddCoRoutineToReadyQueue( pxCRCB )																		\
+{																													\
+	if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority )															\
+	{																												\
+		uxTopCoRoutineReadyPriority = pxCRCB->uxPriority;															\
+	}																												\
+	vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) );	\
+}
+
+/*
+ * Utility to ready all the lists used by the scheduler.  This is called
+ * automatically upon the creation of the first co-routine.
+ */
+static void prvInitialiseCoRoutineLists( void );
+
+/*
+ * Co-routines that are readied by an interrupt cannot be placed directly into
+ * the ready lists (there is no mutual exclusion).  Instead they are placed in
+ * in the pending ready list in order that they can later be moved to the ready
+ * list by the co-routine scheduler.
+ */
+static void prvCheckPendingReadyList( void );
+
+/*
+ * Macro that looks at the list of co-routines that are currently delayed to
+ * see if any require waking.
+ *
+ * Co-routines are stored in the queue in the order of their wake time -
+ * meaning once one co-routine has been found whose timer has not expired
+ * we need not look any further down the list.
+ */
+static void prvCheckDelayedList( void );
+
+/*-----------------------------------------------------------*/
+
+BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex )
+{
+BaseType_t xReturn;
+CRCB_t *pxCoRoutine;
+
+	/* Allocate the memory that will store the co-routine control block. */
+	pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) );
+	if( pxCoRoutine )
+	{
+		/* If pxCurrentCoRoutine is NULL then this is the first co-routine to
+		be created and the co-routine data structures need initialising. */
+		if( pxCurrentCoRoutine == NULL )
+		{
+			pxCurrentCoRoutine = pxCoRoutine;
+			prvInitialiseCoRoutineLists();
+		}
+
+		/* Check the priority is within limits. */
+		if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )
+		{
+			uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1;
+		}
+
+		/* Fill out the co-routine control block from the function parameters. */
+		pxCoRoutine->uxState = corINITIAL_STATE;
+		pxCoRoutine->uxPriority = uxPriority;
+		pxCoRoutine->uxIndex = uxIndex;
+		pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode;
+
+		/* Initialise all the other co-routine control block parameters. */
+		vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );
+		vListInitialiseItem( &( pxCoRoutine->xEventListItem ) );
+
+		/* Set the co-routine control block as a link back from the ListItem_t.
+		This is so we can get back to the containing CRCB from a generic item
+		in a list. */
+		listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
+		listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );
+
+		/* Event lists are always in priority order. */
+		listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) );
+
+		/* Now the co-routine has been initialised it can be added to the ready
+		list at the correct priority. */
+		prvAddCoRoutineToReadyQueue( pxCoRoutine );
+
+		xReturn = pdPASS;
+	}
+	else
+	{
+		xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList )
+{
+TickType_t xTimeToWake;
+
+	/* Calculate the time to wake - this may overflow but this is
+	not a problem. */
+	xTimeToWake = xCoRoutineTickCount + xTicksToDelay;
+
+	/* We must remove ourselves from the ready list before adding
+	ourselves to the blocked list as the same list item is used for
+	both lists. */
+	( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
+
+	/* The list item will be inserted in wake time order. */
+	listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );
+
+	if( xTimeToWake < xCoRoutineTickCount )
+	{
+		/* Wake time has overflowed.  Place this item in the
+		overflow list. */
+		vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
+	}
+	else
+	{
+		/* The wake time has not overflowed, so we can use the
+		current block list. */
+		vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
+	}
+
+	if( pxEventList )
+	{
+		/* Also add the co-routine to an event list.  If this is done then the
+		function must be called with interrupts disabled. */
+		vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );
+	}
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckPendingReadyList( void )
+{
+	/* Are there any co-routines waiting to get moved to the ready list?  These
+	are co-routines that have been readied by an ISR.  The ISR cannot access
+	the	ready lists itself. */
+	while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE )
+	{
+		CRCB_t *pxUnblockedCRCB;
+
+		/* The pending ready list can be accessed by an ISR. */
+		portDISABLE_INTERRUPTS();
+		{
+			pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) );
+			( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
+		}
+		portENABLE_INTERRUPTS();
+
+		( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
+		prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );
+	}
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckDelayedList( void )
+{
+CRCB_t *pxCRCB;
+
+	xPassedTicks = xTaskGetTickCount() - xLastTickCount;
+	while( xPassedTicks )
+	{
+		xCoRoutineTickCount++;
+		xPassedTicks--;
+
+		/* If the tick count has overflowed we need to swap the ready lists. */
+		if( xCoRoutineTickCount == 0 )
+		{
+			List_t * pxTemp;
+
+			/* Tick count has overflowed so we need to swap the delay lists.  If there are
+			any items in pxDelayedCoRoutineList here then there is an error! */
+			pxTemp = pxDelayedCoRoutineList;
+			pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;
+			pxOverflowDelayedCoRoutineList = pxTemp;
+		}
+
+		/* See if this tick has made a timeout expire. */
+		while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE )
+		{
+			pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList );
+
+			if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )
+			{
+				/* Timeout not yet expired. */
+				break;
+			}
+
+			portDISABLE_INTERRUPTS();
+			{
+				/* The event could have occurred just before this critical
+				section.  If this is the case then the generic list item will
+				have been moved to the pending ready list and the following
+				line is still valid.  Also the pvContainer parameter will have
+				been set to NULL so the following lines are also valid. */
+				( void ) uxListRemove( &( pxCRCB->xGenericListItem ) );
+
+				/* Is the co-routine waiting on an event also? */
+				if( pxCRCB->xEventListItem.pxContainer )
+				{
+					( void ) uxListRemove( &( pxCRCB->xEventListItem ) );
+				}
+			}
+			portENABLE_INTERRUPTS();
+
+			prvAddCoRoutineToReadyQueue( pxCRCB );
+		}
+	}
+
+	xLastTickCount = xCoRoutineTickCount;
+}
+/*-----------------------------------------------------------*/
+
+void vCoRoutineSchedule( void )
+{
+	/* See if any co-routines readied by events need moving to the ready lists. */
+	prvCheckPendingReadyList();
+
+	/* See if any delayed co-routines have timed out. */
+	prvCheckDelayedList();
+
+	/* Find the highest priority queue that contains ready co-routines. */
+	while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )
+	{
+		if( uxTopCoRoutineReadyPriority == 0 )
+		{
+			/* No more co-routines to check. */
+			return;
+		}
+		--uxTopCoRoutineReadyPriority;
+	}
+
+	/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
+	 of the	same priority get an equal share of the processor time. */
+	listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );
+
+	/* Call the co-routine. */
+	( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );
+
+	return;
+}
+/*-----------------------------------------------------------*/
+
+static void prvInitialiseCoRoutineLists( void )
+{
+UBaseType_t uxPriority;
+
+	for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
+	{
+		vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
+	}
+
+	vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 );
+	vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 );
+	vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList );
+
+	/* Start with pxDelayedCoRoutineList using list1 and the
+	pxOverflowDelayedCoRoutineList using list2. */
+	pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
+	pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList )
+{
+CRCB_t *pxUnblockedCRCB;
+BaseType_t xReturn;
+
+	/* This function is called from within an interrupt.  It can only access
+	event lists and the pending ready list.  This function assumes that a
+	check has already been made to ensure pxEventList is not empty. */
+	pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
+	( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
+	vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
+
+	if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
+	{
+		xReturn = pdTRUE;
+	}
+	else
+	{
+		xReturn = pdFALSE;
+	}
+
+	return xReturn;
+}
+
+#endif /* configUSE_CO_ROUTINES == 0 */
+
--- a/Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
+++ b/Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
@@ -0,0 +1,753 @@
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers.  That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* FreeRTOS includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "timers.h"
+#include "event_groups.h"
+
+/* Lint e961, e750 and e9021 are suppressed as a MISRA exception justified
+because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
+for the header files above, but not in this file, in order to generate the
+correct privileged Vs unprivileged linkage and placement. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021 See comment above. */
+
+/* The following bit fields convey control information in a task's event list
+item value.  It is important they don't clash with the
+taskEVENT_LIST_ITEM_VALUE_IN_USE definition. */
+#if configUSE_16_BIT_TICKS == 1
+	#define eventCLEAR_EVENTS_ON_EXIT_BIT	0x0100U
+	#define eventUNBLOCKED_DUE_TO_BIT_SET	0x0200U
+	#define eventWAIT_FOR_ALL_BITS			0x0400U
+	#define eventEVENT_BITS_CONTROL_BYTES	0xff00U
+#else
+	#define eventCLEAR_EVENTS_ON_EXIT_BIT	0x01000000UL
+	#define eventUNBLOCKED_DUE_TO_BIT_SET	0x02000000UL
+	#define eventWAIT_FOR_ALL_BITS			0x04000000UL
+	#define eventEVENT_BITS_CONTROL_BYTES	0xff000000UL
+#endif
+
+typedef struct EventGroupDef_t
+{
+	EventBits_t uxEventBits;
+	List_t xTasksWaitingForBits;		/*< List of tasks waiting for a bit to be set. */
+
+	#if( configUSE_TRACE_FACILITY == 1 )
+		UBaseType_t uxEventGroupNumber;
+	#endif
+
+	#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+		uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the event group is statically allocated to ensure no attempt is made to free the memory. */
+	#endif
+} EventGroup_t;
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Test the bits set in uxCurrentEventBits to see if the wait condition is met.
+ * The wait condition is defined by xWaitForAllBits.  If xWaitForAllBits is
+ * pdTRUE then the wait condition is met if all the bits set in uxBitsToWaitFor
+ * are also set in uxCurrentEventBits.  If xWaitForAllBits is pdFALSE then the
+ * wait condition is met if any of the bits set in uxBitsToWait for are also set
+ * in uxCurrentEventBits.
+ */
+static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, const EventBits_t uxBitsToWaitFor, const BaseType_t xWaitForAllBits ) PRIVILEGED_FUNCTION;
+
+/*-----------------------------------------------------------*/
+
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+	EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer )
+	{
+	EventGroup_t *pxEventBits;
+
+		/* A StaticEventGroup_t object must be provided. */
+		configASSERT( pxEventGroupBuffer );
+
+		#if( configASSERT_DEFINED == 1 )
+		{
+			/* Sanity check that the size of the structure used to declare a
+			variable of type StaticEventGroup_t equals the size of the real
+			event group structure. */
+			volatile size_t xSize = sizeof( StaticEventGroup_t );
+			configASSERT( xSize == sizeof( EventGroup_t ) );
+		} /*lint !e529 xSize is referenced if configASSERT() is defined. */
+		#endif /* configASSERT_DEFINED */
+
+		/* The user has provided a statically allocated event group - use it. */
+		pxEventBits = ( EventGroup_t * ) pxEventGroupBuffer; /*lint !e740 !e9087 EventGroup_t and StaticEventGroup_t are deliberately aliased for data hiding purposes and guaranteed to have the same size and alignment requirement - checked by configASSERT(). */
+
+		if( pxEventBits != NULL )
+		{
+			pxEventBits->uxEventBits = 0;
+			vListInitialise( &( pxEventBits->xTasksWaitingForBits ) );
+
+			#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+			{
+				/* Both static and dynamic allocation can be used, so note that
+				this event group was created statically in case the event group
+				is later deleted. */
+				pxEventBits->ucStaticallyAllocated = pdTRUE;
+			}
+			#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+
+			traceEVENT_GROUP_CREATE( pxEventBits );
+		}
+		else
+		{
+			/* xEventGroupCreateStatic should only ever be called with
+			pxEventGroupBuffer pointing to a pre-allocated (compile time
+			allocated) StaticEventGroup_t variable. */
+			traceEVENT_GROUP_CREATE_FAILED();
+		}
+
+		return pxEventBits;
+	}
+
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+/*-----------------------------------------------------------*/
+
+#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+
+	EventGroupHandle_t xEventGroupCreate( void )
+	{
+	EventGroup_t *pxEventBits;
+
+		/* Allocate the event group.  Justification for MISRA deviation as
+		follows:  pvPortMalloc() always ensures returned memory blocks are
+		aligned per the requirements of the MCU stack.  In this case
+		pvPortMalloc() must return a pointer that is guaranteed to meet the
+		alignment requirements of the EventGroup_t structure - which (if you
+		follow it through) is the alignment requirements of the TickType_t type
+		(EventBits_t being of TickType_t itself).  Therefore, whenever the
+		stack alignment requirements are greater than or equal to the
+		TickType_t alignment requirements the cast is safe.  In other cases,
+		where the natural word size of the architecture is less than
+		sizeof( TickType_t ), the TickType_t variables will be accessed in two
+		or more reads operations, and the alignment requirements is only that
+		of each individual read. */
+		pxEventBits = ( EventGroup_t * ) pvPortMalloc( sizeof( EventGroup_t ) ); /*lint !e9087 !e9079 see comment above. */
+
+		if( pxEventBits != NULL )
+		{
+			pxEventBits->uxEventBits = 0;
+			vListInitialise( &( pxEventBits->xTasksWaitingForBits ) );
+
+			#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+			{
+				/* Both static and dynamic allocation can be used, so note this
+				event group was allocated statically in case the event group is
+				later deleted. */
+				pxEventBits->ucStaticallyAllocated = pdFALSE;
+			}
+			#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+			traceEVENT_GROUP_CREATE( pxEventBits );
+		}
+		else
+		{
+			traceEVENT_GROUP_CREATE_FAILED(); /*lint !e9063 Else branch only exists to allow tracing and does not generate code if trace macros are not defined. */
+		}
+
+		return pxEventBits;
+	}
+
+#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+/*-----------------------------------------------------------*/
+
+EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait )
+{
+EventBits_t uxOriginalBitValue, uxReturn;
+EventGroup_t *pxEventBits = xEventGroup;
+BaseType_t xAlreadyYielded;
+BaseType_t xTimeoutOccurred = pdFALSE;
+
+	configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
+	configASSERT( uxBitsToWaitFor != 0 );
+	#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+	{
+		configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
+	}
+	#endif
+
+	vTaskSuspendAll();
+	{
+		uxOriginalBitValue = pxEventBits->uxEventBits;
+
+		( void ) xEventGroupSetBits( xEventGroup, uxBitsToSet );
+
+		if( ( ( uxOriginalBitValue | uxBitsToSet ) & uxBitsToWaitFor ) == uxBitsToWaitFor )
+		{
+			/* All the rendezvous bits are now set - no need to block. */
+			uxReturn = ( uxOriginalBitValue | uxBitsToSet );
+
+			/* Rendezvous always clear the bits.  They will have been cleared
+			already unless this is the only task in the rendezvous. */
+			pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
+
+			xTicksToWait = 0;
+		}
+		else
+		{
+			if( xTicksToWait != ( TickType_t ) 0 )
+			{
+				traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor );
+
+				/* Store the bits that the calling task is waiting for in the
+				task's event list item so the kernel knows when a match is
+				found.  Then enter the blocked state. */
+				vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | eventCLEAR_EVENTS_ON_EXIT_BIT | eventWAIT_FOR_ALL_BITS ), xTicksToWait );
+
+				/* This assignment is obsolete as uxReturn will get set after
+				the task unblocks, but some compilers mistakenly generate a
+				warning about uxReturn being returned without being set if the
+				assignment is omitted. */
+				uxReturn = 0;
+			}
+			else
+			{
+				/* The rendezvous bits were not set, but no block time was
+				specified - just return the current event bit value. */
+				uxReturn = pxEventBits->uxEventBits;
+				xTimeoutOccurred = pdTRUE;
+			}
+		}
+	}
+	xAlreadyYielded = xTaskResumeAll();
+
+	if( xTicksToWait != ( TickType_t ) 0 )
+	{
+		if( xAlreadyYielded == pdFALSE )
+		{
+			portYIELD_WITHIN_API();
+		}
+		else
+		{
+			mtCOVERAGE_TEST_MARKER();
+		}
+
+		/* The task blocked to wait for its required bits to be set - at this
+		point either the required bits were set or the block time expired.  If
+		the required bits were set they will have been stored in the task's
+		event list item, and they should now be retrieved then cleared. */
+		uxReturn = uxTaskResetEventItemValue();
+
+		if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 )
+		{
+			/* The task timed out, just return the current event bit value. */
+			taskENTER_CRITICAL();
+			{
+				uxReturn = pxEventBits->uxEventBits;
+
+				/* Although the task got here because it timed out before the
+				bits it was waiting for were set, it is possible that since it
+				unblocked another task has set the bits.  If this is the case
+				then it needs to clear the bits before exiting. */
+				if( ( uxReturn & uxBitsToWaitFor ) == uxBitsToWaitFor )
+				{
+					pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
+				}
+				else
+				{
+					mtCOVERAGE_TEST_MARKER();
+				}
+			}
+			taskEXIT_CRITICAL();
+
+			xTimeoutOccurred = pdTRUE;
+		}
+		else
+		{
+			/* The task unblocked because the bits were set. */
+		}
+
+		/* Control bits might be set as the task had blocked should not be
+		returned. */
+		uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES;
+	}
+
+	traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred );
+
+	/* Prevent compiler warnings when trace macros are not used. */
+	( void ) xTimeoutOccurred;
+
+	return uxReturn;
+}
+/*-----------------------------------------------------------*/
+
+EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait )
+{
+EventGroup_t *pxEventBits = xEventGroup;
+EventBits_t uxReturn, uxControlBits = 0;
+BaseType_t xWaitConditionMet, xAlreadyYielded;
+BaseType_t xTimeoutOccurred = pdFALSE;
+
+	/* Check the user is not attempting to wait on the bits used by the kernel
+	itself, and that at least one bit is being requested. */
+	configASSERT( xEventGroup );
+	configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
+	configASSERT( uxBitsToWaitFor != 0 );
+	#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+	{
+		configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
+	}
+	#endif
+
+	vTaskSuspendAll();
+	{
+		const EventBits_t uxCurrentEventBits = pxEventBits->uxEventBits;
+
+		/* Check to see if the wait condition is already met or not. */
+		xWaitConditionMet = prvTestWaitCondition( uxCurrentEventBits, uxBitsToWaitFor, xWaitForAllBits );
+
+		if( xWaitConditionMet != pdFALSE )
+		{
+			/* The wait condition has already been met so there is no need to
+			block. */
+			uxReturn = uxCurrentEventBits;
+			xTicksToWait = ( TickType_t ) 0;
+
+			/* Clear the wait bits if requested to do so. */
+			if( xClearOnExit != pdFALSE )
+			{
+				pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
+			}
+			else
+			{
+				mtCOVERAGE_TEST_MARKER();
+			}
+		}
+		else if( xTicksToWait == ( TickType_t ) 0 )
+		{
+			/* The wait condition has not been met, but no block time was
+			specified, so just return the current value. */
+			uxReturn = uxCurrentEventBits;
+			xTimeoutOccurred = pdTRUE;
+		}
+		else
+		{
+			/* The task is going to block to wait for its required bits to be
+			set.  uxControlBits are used to remember the specified behaviour of
+			this call to xEventGroupWaitBits() - for use when the event bits
+			unblock the task. */
+			if( xClearOnExit != pdFALSE )
+			{
+				uxControlBits |= eventCLEAR_EVENTS_ON_EXIT_BIT;
+			}
+			else
+			{
+				mtCOVERAGE_TEST_MARKER();
+			}
+
+			if( xWaitForAllBits != pdFALSE )
+			{
+				uxControlBits |= eventWAIT_FOR_ALL_BITS;
+			}
+			else
+			{
+				mtCOVERAGE_TEST_MARKER();
+			}
+
+			/* Store the bits that the calling task is waiting for in the
+			task's event list item so the kernel knows when a match is
+			found.  Then enter the blocked state. */
+			vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | uxControlBits ), xTicksToWait );
+
+			/* This is obsolete as it will get set after the task unblocks, but
+			some compilers mistakenly generate a warning about the variable
+			being returned without being set if it is not done. */
+			uxReturn = 0;
+
+			traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor );
+		}
+	}
+	xAlreadyYielded = xTaskResumeAll();
+
+	if( xTicksToWait != ( TickType_t ) 0 )
+	{
+		if( xAlreadyYielded == pdFALSE )
+		{
+			portYIELD_WITHIN_API();
+		}
+		else
+		{
+			mtCOVERAGE_TEST_MARKER();
+		}
+
+		/* The task blocked to wait for its required bits to be set - at this
+		point either the required bits were set or the block time expired.  If
+		the required bits were set they will have been stored in the task's
+		event list item, and they should now be retrieved then cleared. */
+		uxReturn = uxTaskResetEventItemValue();
+
+		if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 )
+		{
+			taskENTER_CRITICAL();
+			{
+				/* The task timed out, just return the current event bit value. */
+				uxReturn = pxEventBits->uxEventBits;
+
+				/* It is possible that the event bits were updated between this
+				task leaving the Blocked state and running again. */
+				if( prvTestWaitCondition( uxReturn, uxBitsToWaitFor, xWaitForAllBits ) != pdFALSE )
+				{
+					if( xClearOnExit != pdFALSE )
+					{
+						pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
+					}
+					else
+					{
+						mtCOVERAGE_TEST_MARKER();
+					}
+				}
+				else
+				{
+					mtCOVERAGE_TEST_MARKER();
+				}
+				xTimeoutOccurred = pdTRUE;
+			}
+			taskEXIT_CRITICAL();
+		}
+		else
+		{
+			/* The task unblocked because the bits were set. */
+		}
+
+		/* The task blocked so control bits may have been set. */
+		uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES;
+	}
+	traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred );
+
+	/* Prevent compiler warnings when trace macros are not used. */
+	( void ) xTimeoutOccurred;
+
+	return uxReturn;
+}
+/*-----------------------------------------------------------*/
+
+EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )
+{
+EventGroup_t *pxEventBits = xEventGroup;
+EventBits_t uxReturn;
+
+	/* Check the user is not attempting to clear the bits used by the kernel
+	itself. */
+	configASSERT( xEventGroup );
+	configASSERT( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
+
+	taskENTER_CRITICAL();
+	{
+		traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear );
+
+		/* The value returned is the event group value prior to the bits being
+		cleared. */
+		uxReturn = pxEventBits->uxEventBits;
+
+		/* Clear the bits. */
+		pxEventBits->uxEventBits &= ~uxBitsToClear;
+	}
+	taskEXIT_CRITICAL();
+
+	return uxReturn;
+}
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )
+
+	BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )
+	{
+		BaseType_t xReturn;
+
+		traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear );
+		xReturn = xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL ); /*lint !e9087 Can't avoid cast to void* as a generic callback function not specific to this use case. Callback casts back to original type so safe. */
+
+		return xReturn;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup )
+{
+UBaseType_t uxSavedInterruptStatus;
+EventGroup_t const * const pxEventBits = xEventGroup;
+EventBits_t uxReturn;
+
+	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+	{
+		uxReturn = pxEventBits->uxEventBits;
+	}
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+
+	return uxReturn;
+} /*lint !e818 EventGroupHandle_t is a typedef used in other functions to so can't be pointer to const. */
+/*-----------------------------------------------------------*/
+
+EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet )
+{
+ListItem_t *pxListItem, *pxNext;
+ListItem_t const *pxListEnd;
+List_t const * pxList;
+EventBits_t uxBitsToClear = 0, uxBitsWaitedFor, uxControlBits;
+EventGroup_t *pxEventBits = xEventGroup;
+BaseType_t xMatchFound = pdFALSE;
+
+	/* Check the user is not attempting to set the bits used by the kernel
+	itself. */
+	configASSERT( xEventGroup );
+	configASSERT( ( uxBitsToSet & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
+
+	pxList = &( pxEventBits->xTasksWaitingForBits );
+	pxListEnd = listGET_END_MARKER( pxList ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
+	vTaskSuspendAll();
+	{
+		traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet );
+
+		pxListItem = listGET_HEAD_ENTRY( pxList );
+
+		/* Set the bits. */
+		pxEventBits->uxEventBits |= uxBitsToSet;
+
+		/* See if the new bit value should unblock any tasks. */
+		while( pxListItem != pxListEnd )
+		{
+			pxNext = listGET_NEXT( pxListItem );
+			uxBitsWaitedFor = listGET_LIST_ITEM_VALUE( pxListItem );
+			xMatchFound = pdFALSE;
+
+			/* Split the bits waited for from the control bits. */
+			uxControlBits = uxBitsWaitedFor & eventEVENT_BITS_CONTROL_BYTES;
+			uxBitsWaitedFor &= ~eventEVENT_BITS_CONTROL_BYTES;
+
+			if( ( uxControlBits & eventWAIT_FOR_ALL_BITS ) == ( EventBits_t ) 0 )
+			{
+				/* Just looking for single bit being set. */
+				if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) != ( EventBits_t ) 0 )
+				{
+					xMatchFound = pdTRUE;
+				}
+				else
+				{
+					mtCOVERAGE_TEST_MARKER();
+				}
+			}
+			else if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) == uxBitsWaitedFor )
+			{
+				/* All bits are set. */
+				xMatchFound = pdTRUE;
+			}
+			else
+			{
+				/* Need all bits to be set, but not all the bits were set. */
+			}
+
+			if( xMatchFound != pdFALSE )
+			{
+				/* The bits match.  Should the bits be cleared on exit? */
+				if( ( uxControlBits & eventCLEAR_EVENTS_ON_EXIT_BIT ) != ( EventBits_t ) 0 )
+				{
+					uxBitsToClear |= uxBitsWaitedFor;
+				}
+				else
+				{
+					mtCOVERAGE_TEST_MARKER();
+				}
+
+				/* Store the actual event flag value in the task's event list
+				item before removing the task from the event list.  The
+				eventUNBLOCKED_DUE_TO_BIT_SET bit is set so the task knows
+				that is was unblocked due to its required bits matching, rather
+				than because it timed out. */
+				vTaskRemoveFromUnorderedEventList( pxListItem, pxEventBits->uxEventBits | eventUNBLOCKED_DUE_TO_BIT_SET );
+			}
+
+			/* Move onto the next list item.  Note pxListItem->pxNext is not
+			used here as the list item may have been removed from the event list
+			and inserted into the ready/pending reading list. */
+			pxListItem = pxNext;
+		}
+
+		/* Clear any bits that matched when the eventCLEAR_EVENTS_ON_EXIT_BIT
+		bit was set in the control word. */
+		pxEventBits->uxEventBits &= ~uxBitsToClear;
+	}
+	( void ) xTaskResumeAll();
+
+	return pxEventBits->uxEventBits;
+}
+/*-----------------------------------------------------------*/
+
+void vEventGroupDelete( EventGroupHandle_t xEventGroup )
+{
+EventGroup_t *pxEventBits = xEventGroup;
+const List_t *pxTasksWaitingForBits = &( pxEventBits->xTasksWaitingForBits );
+
+	vTaskSuspendAll();
+	{
+		traceEVENT_GROUP_DELETE( xEventGroup );
+
+		while( listCURRENT_LIST_LENGTH( pxTasksWaitingForBits ) > ( UBaseType_t ) 0 )
+		{
+			/* Unblock the task, returning 0 as the event list is being deleted
+			and cannot therefore have any bits set. */
+			configASSERT( pxTasksWaitingForBits->xListEnd.pxNext != ( const ListItem_t * ) &( pxTasksWaitingForBits->xListEnd ) );
+			vTaskRemoveFromUnorderedEventList( pxTasksWaitingForBits->xListEnd.pxNext, eventUNBLOCKED_DUE_TO_BIT_SET );
+		}
+
+		#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
+		{
+			/* The event group can only have been allocated dynamically - free
+			it again. */
+			vPortFree( pxEventBits );
+		}
+		#elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+		{
+			/* The event group could have been allocated statically or
+			dynamically, so check before attempting to free the memory. */
+			if( pxEventBits->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
+			{
+				vPortFree( pxEventBits );
+			}
+			else
+			{
+				mtCOVERAGE_TEST_MARKER();
+			}
+		}
+		#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+	}
+	( void ) xTaskResumeAll();
+}
+/*-----------------------------------------------------------*/
+
+/* For internal use only - execute a 'set bits' command that was pended from
+an interrupt. */
+void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet )
+{
+	( void ) xEventGroupSetBits( pvEventGroup, ( EventBits_t ) ulBitsToSet ); /*lint !e9079 Can't avoid cast to void* as a generic timer callback prototype. Callback casts back to original type so safe. */
+}
+/*-----------------------------------------------------------*/
+
+/* For internal use only - execute a 'clear bits' command that was pended from
+an interrupt. */
+void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear )
+{
+	( void ) xEventGroupClearBits( pvEventGroup, ( EventBits_t ) ulBitsToClear ); /*lint !e9079 Can't avoid cast to void* as a generic timer callback prototype. Callback casts back to original type so safe. */
+}
+/*-----------------------------------------------------------*/
+
+static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, const EventBits_t uxBitsToWaitFor, const BaseType_t xWaitForAllBits )
+{
+BaseType_t xWaitConditionMet = pdFALSE;
+
+	if( xWaitForAllBits == pdFALSE )
+	{
+		/* Task only has to wait for one bit within uxBitsToWaitFor to be
+		set.  Is one already set? */
+		if( ( uxCurrentEventBits & uxBitsToWaitFor ) != ( EventBits_t ) 0 )
+		{
+			xWaitConditionMet = pdTRUE;
+		}
+		else
+		{
+			mtCOVERAGE_TEST_MARKER();
+		}
+	}
+	else
+	{
+		/* Task has to wait for all the bits in uxBitsToWaitFor to be set.
+		Are they set already? */
+		if( ( uxCurrentEventBits & uxBitsToWaitFor ) == uxBitsToWaitFor )
+		{
+			xWaitConditionMet = pdTRUE;
+		}
+		else
+		{
+			mtCOVERAGE_TEST_MARKER();
+		}
+	}
+
+	return xWaitConditionMet;
+}
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )
+
+	BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken )
+	{
+	BaseType_t xReturn;
+
+		traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet );
+		xReturn = xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken ); /*lint !e9087 Can't avoid cast to void* as a generic callback function not specific to this use case. Callback casts back to original type so safe. */
+
+		return xReturn;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if (configUSE_TRACE_FACILITY == 1)
+
+	UBaseType_t uxEventGroupGetNumber( void* xEventGroup )
+	{
+	UBaseType_t xReturn;
+	EventGroup_t const *pxEventBits = ( EventGroup_t * ) xEventGroup; /*lint !e9087 !e9079 EventGroupHandle_t is a pointer to an EventGroup_t, but EventGroupHandle_t is kept opaque outside of this file for data hiding purposes. */
+
+		if( xEventGroup == NULL )
+		{
+			xReturn = 0;
+		}
+		else
+		{
+			xReturn = pxEventBits->uxEventGroupNumber;
+		}
+
+		return xReturn;
+	}
+
+#endif /* configUSE_TRACE_FACILITY */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+	void vEventGroupSetNumber( void * xEventGroup, UBaseType_t uxEventGroupNumber )
+	{
+		( ( EventGroup_t * ) xEventGroup )->uxEventGroupNumber = uxEventGroupNumber; /*lint !e9087 !e9079 EventGroupHandle_t is a pointer to an EventGroup_t, but EventGroupHandle_t is kept opaque outside of this file for data hiding purposes. */
+	}
+
+#endif /* configUSE_TRACE_FACILITY */
+/*-----------------------------------------------------------*/
+
+
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h
@@ -0,0 +1,133 @@
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef STACK_MACROS_H
+#define STACK_MACROS_H
+
+#ifndef _MSC_VER /* Visual Studio doesn't support #warning. */
+	#warning The name of this file has changed to stack_macros.h.  Please update your code accordingly.  This source file (which has the original name) will be removed in future released.
+#endif
+
+/*
+ * Call the stack overflow hook function if the stack of the task being swapped
+ * out is currently overflowed, or looks like it might have overflowed in the
+ * past.
+ *
+ * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
+ * the current stack state only - comparing the current top of stack value to
+ * the stack limit.  Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
+ * will also cause the last few stack bytes to be checked to ensure the value
+ * to which the bytes were set when the task was created have not been
+ * overwritten.  Note this second test does not guarantee that an overflowed
+ * stack will always be recognised.
+ */
+
+/*-----------------------------------------------------------*/
+
+#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
+
+	/* Only the current stack state is to be checked. */
+	#define taskCHECK_FOR_STACK_OVERFLOW()																\
+	{																									\
+		/* Is the currently saved stack pointer within the stack limit? */								\
+		if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack )										\
+		{																								\
+			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName );	\
+		}																								\
+	}
+
+#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
+/*-----------------------------------------------------------*/
+
+#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
+
+	/* Only the current stack state is to be checked. */
+	#define taskCHECK_FOR_STACK_OVERFLOW()																\
+	{																									\
+																										\
+		/* Is the currently saved stack pointer within the stack limit? */								\
+		if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack )									\
+		{																								\
+			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName );	\
+		}																								\
+	}
+
+#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
+/*-----------------------------------------------------------*/
+
+#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
+
+	#define taskCHECK_FOR_STACK_OVERFLOW()																\
+	{																									\
+		const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack;							\
+		const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5;											\
+																										\
+		if( ( pulStack[ 0 ] != ulCheckValue ) ||												\
+			( pulStack[ 1 ] != ulCheckValue ) ||												\
+			( pulStack[ 2 ] != ulCheckValue ) ||												\
+			( pulStack[ 3 ] != ulCheckValue ) )												\
+		{																								\
+			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName );	\
+		}																								\
+	}
+
+#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
+/*-----------------------------------------------------------*/
+
+#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
+
+	#define taskCHECK_FOR_STACK_OVERFLOW()																								\
+	{																																	\
+	int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack;																		\
+	static const uint8_t ucExpectedStackBytes[] = {	tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
+													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
+													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
+													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
+													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE };	\
+																																		\
+																																		\
+		pcEndOfStack -= sizeof( ucExpectedStackBytes );																					\
+																																		\
+		/* Has the extremity of the task stack ever been written over? */																\
+		if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 )					\
+		{																																\
+			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName );									\
+		}																																\
+	}
+
+#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
+/*-----------------------------------------------------------*/
+
+/* Remove stack overflow macro if not being used. */
+#ifndef taskCHECK_FOR_STACK_OVERFLOW
+	#define taskCHECK_FOR_STACK_OVERFLOW()
+#endif
+
+
+
+#endif /* STACK_MACROS_H */
+
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/atomic.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/atomic.h
@@ -0,0 +1,414 @@
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/**
+ * @file atomic.h
+ * @brief FreeRTOS atomic operation support.
+ *
+ * This file implements atomic functions by disabling interrupts globally.
+ * Implementations with architecture specific atomic instructions can be
+ * provided under each compiler directory.
+ */
+
+#ifndef ATOMIC_H
+#define ATOMIC_H
+
+#ifndef INC_FREERTOS_H
+	#error "include FreeRTOS.h must appear in source files before include atomic.h"
+#endif
+
+/* Standard includes. */
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Port specific definitions -- entering/exiting critical section.
+ * Refer template -- ./lib/FreeRTOS/portable/Compiler/Arch/portmacro.h
+ *
+ * Every call to ATOMIC_EXIT_CRITICAL() must be closely paired with
+ * ATOMIC_ENTER_CRITICAL().
+ *
+ */
+#if defined( portSET_INTERRUPT_MASK_FROM_ISR )
+
+	/* Nested interrupt scheme is supported in this port. */
+	#define ATOMIC_ENTER_CRITICAL()	 \
+		UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR()
+
+	#define ATOMIC_EXIT_CRITICAL()	  \
+		portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType )
+
+#else
+
+	/* Nested interrupt scheme is NOT supported in this port. */
+	#define ATOMIC_ENTER_CRITICAL()	 portENTER_CRITICAL()
+	#define ATOMIC_EXIT_CRITICAL()	  portEXIT_CRITICAL()
+
+#endif /* portSET_INTERRUPT_MASK_FROM_ISR() */
+
+/*
+ * Port specific definition -- "always inline".
+ * Inline is compiler specific, and may not always get inlined depending on your
+ * optimization level.  Also, inline is considered as performance optimization
+ * for atomic.  Thus, if portFORCE_INLINE is not provided by portmacro.h,
+ * instead of resulting error, simply define it away.
+ */
+#ifndef portFORCE_INLINE
+	#define portFORCE_INLINE
+#endif
+
+#define ATOMIC_COMPARE_AND_SWAP_SUCCESS	 0x1U		/**< Compare and swap succeeded, swapped. */
+#define ATOMIC_COMPARE_AND_SWAP_FAILURE	 0x0U		/**< Compare and swap failed, did not swap. */
+
+/*----------------------------- Swap && CAS ------------------------------*/
+
+/**
+ * Atomic compare-and-swap
+ *
+ * @brief Performs an atomic compare-and-swap operation on the specified values.
+ *
+ * @param[in, out] pulDestination  Pointer to memory location from where value is
+ *                               to be loaded and checked.
+ * @param[in] ulExchange         If condition meets, write this value to memory.
+ * @param[in] ulComparand        Swap condition.
+ *
+ * @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
+ *
+ * @note This function only swaps *pulDestination with ulExchange, if previous
+ *       *pulDestination value equals ulComparand.
+ */
+static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( uint32_t volatile * pulDestination,
+															uint32_t ulExchange,
+															uint32_t ulComparand )
+{
+uint32_t ulReturnValue;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		if( *pulDestination == ulComparand )
+		{
+			*pulDestination = ulExchange;
+			ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
+		}
+		else
+		{
+			ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
+		}
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulReturnValue;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic swap (pointers)
+ *
+ * @brief Atomically sets the address pointed to by *ppvDestination to the value
+ *        of *pvExchange.
+ *
+ * @param[in, out] ppvDestination  Pointer to memory location from where a pointer
+ *                                 value is to be loaded and written back to.
+ * @param[in] pvExchange           Pointer value to be written to *ppvDestination.
+ *
+ * @return The initial value of *ppvDestination.
+ */
+static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination,
+														void * pvExchange )
+{
+void * pReturnValue;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		pReturnValue = *ppvDestination;
+		*ppvDestination = pvExchange;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return pReturnValue;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic compare-and-swap (pointers)
+ *
+ * @brief Performs an atomic compare-and-swap operation on the specified pointer
+ *        values.
+ *
+ * @param[in, out] ppvDestination  Pointer to memory location from where a pointer
+ *                                 value is to be loaded and checked.
+ * @param[in] pvExchange           If condition meets, write this value to memory.
+ * @param[in] pvComparand          Swap condition.
+ *
+ * @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
+ *
+ * @note This function only swaps *ppvDestination with pvExchange, if previous
+ *       *ppvDestination value equals pvComparand.
+ */
+static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( void * volatile * ppvDestination,
+																	void * pvExchange,
+																	void * pvComparand )
+{
+uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		if( *ppvDestination == pvComparand )
+		{
+			*ppvDestination = pvExchange;
+			ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
+		}
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulReturnValue;
+}
+
+
+/*----------------------------- Arithmetic ------------------------------*/
+
+/**
+ * Atomic add
+ *
+ * @brief Atomically adds count to the value of the specified pointer points to.
+ *
+ * @param[in,out] pulAddend  Pointer to memory location from where value is to be
+ *                         loaded and written back to.
+ * @param[in] ulCount      Value to be added to *pulAddend.
+ *
+ * @return previous *pulAddend value.
+ */
+static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend,
+												 uint32_t ulCount )
+{
+	uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulAddend;
+		*pulAddend += ulCount;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic subtract
+ *
+ * @brief Atomically subtracts count from the value of the specified pointer
+ *        pointers to.
+ *
+ * @param[in,out] pulAddend  Pointer to memory location from where value is to be
+ *                         loaded and written back to.
+ * @param[in] ulCount      Value to be subtract from *pulAddend.
+ *
+ * @return previous *pulAddend value.
+ */
+static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend,
+													  uint32_t ulCount )
+{
+	uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulAddend;
+		*pulAddend -= ulCount;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic increment
+ *
+ * @brief Atomically increments the value of the specified pointer points to.
+ *
+ * @param[in,out] pulAddend  Pointer to memory location from where value is to be
+ *                         loaded and written back to.
+ *
+ * @return *pulAddend value before increment.
+ */
+static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend )
+{
+uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulAddend;
+		*pulAddend += 1;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic decrement
+ *
+ * @brief Atomically decrements the value of the specified pointer points to
+ *
+ * @param[in,out] pulAddend  Pointer to memory location from where value is to be
+ *                         loaded and written back to.
+ *
+ * @return *pulAddend value before decrement.
+ */
+static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend )
+{
+uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulAddend;
+		*pulAddend -= 1;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+
+/*----------------------------- Bitwise Logical ------------------------------*/
+
+/**
+ * Atomic OR
+ *
+ * @brief Performs an atomic OR operation on the specified values.
+ *
+ * @param [in, out] pulDestination  Pointer to memory location from where value is
+ *                                to be loaded and written back to.
+ * @param [in] ulValue            Value to be ORed with *pulDestination.
+ *
+ * @return The original value of *pulDestination.
+ */
+static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination,
+												uint32_t ulValue )
+{
+uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulDestination;
+		*pulDestination |= ulValue;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic AND
+ *
+ * @brief Performs an atomic AND operation on the specified values.
+ *
+ * @param [in, out] pulDestination  Pointer to memory location from where value is
+ *                                to be loaded and written back to.
+ * @param [in] ulValue            Value to be ANDed with *pulDestination.
+ *
+ * @return The original value of *pulDestination.
+ */
+static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination,
+												 uint32_t ulValue )
+{
+uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulDestination;
+		*pulDestination &= ulValue;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic NAND
+ *
+ * @brief Performs an atomic NAND operation on the specified values.
+ *
+ * @param [in, out] pulDestination  Pointer to memory location from where value is
+ *                                to be loaded and written back to.
+ * @param [in] ulValue            Value to be NANDed with *pulDestination.
+ *
+ * @return The original value of *pulDestination.
+ */
+static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination,
+												  uint32_t ulValue )
+{
+uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulDestination;
+		*pulDestination = ~( ulCurrent & ulValue );
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic XOR
+ *
+ * @brief Performs an atomic XOR operation on the specified values.
+ *
+ * @param [in, out] pulDestination  Pointer to memory location from where value is
+ *                                to be loaded and written back to.
+ * @param [in] ulValue            Value to be XORed with *pulDestination.
+ *
+ * @return The original value of *pulDestination.
+ */
+static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination,
+												 uint32_t ulValue )
+{
+uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulDestination;
+		*pulDestination ^= ulValue;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ATOMIC_H */
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h
@@ -0,0 +1,720 @@
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef CO_ROUTINE_H
+#define CO_ROUTINE_H
+
+#ifndef INC_FREERTOS_H
+	#error "include FreeRTOS.h must appear in source files before include croutine.h"
+#endif
+
+#include "list.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Used to hide the implementation of the co-routine control block.  The
+control block structure however has to be included in the header due to
+the macro implementation of the co-routine functionality. */
+typedef void * CoRoutineHandle_t;
+
+/* Defines the prototype to which co-routine functions must conform. */
+typedef void (*crCOROUTINE_CODE)( CoRoutineHandle_t, UBaseType_t );
+
+typedef struct corCoRoutineControlBlock
+{
+	crCOROUTINE_CODE 	pxCoRoutineFunction;
+	ListItem_t			xGenericListItem;	/*< List item used to place the CRCB in ready and blocked queues. */
+	ListItem_t			xEventListItem;		/*< List item used to place the CRCB in event lists. */
+	UBaseType_t 		uxPriority;			/*< The priority of the co-routine in relation to other co-routines. */
+	UBaseType_t 		uxIndex;			/*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
+	uint16_t 			uxState;			/*< Used internally by the co-routine implementation. */
+} CRCB_t; /* Co-routine control block.  Note must be identical in size down to uxPriority with TCB_t. */
+
+/**
+ * croutine. h
+ *<pre>
+ BaseType_t xCoRoutineCreate(
+                                 crCOROUTINE_CODE pxCoRoutineCode,
+                                 UBaseType_t uxPriority,
+                                 UBaseType_t uxIndex
+                               );</pre>
+ *
+ * Create a new co-routine and add it to the list of co-routines that are
+ * ready to run.
+ *
+ * @param pxCoRoutineCode Pointer to the co-routine function.  Co-routine
+ * functions require special syntax - see the co-routine section of the WEB
+ * documentation for more information.
+ *
+ * @param uxPriority The priority with respect to other co-routines at which
+ *  the co-routine will run.
+ *
+ * @param uxIndex Used to distinguish between different co-routines that
+ * execute the same function.  See the example below and the co-routine section
+ * of the WEB documentation for further information.
+ *
+ * @return pdPASS if the co-routine was successfully created and added to a ready
+ * list, otherwise an error code defined with ProjDefs.h.
+ *
+ * Example usage:
+   <pre>
+ // Co-routine to be created.
+ void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ // This may not be necessary for const variables.
+ static const char cLedToFlash[ 2 ] = { 5, 6 };
+ static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
+
+     // Must start every co-routine with a call to crSTART();
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+         // This co-routine just delays for a fixed period, then toggles
+         // an LED.  Two co-routines are created using this function, so
+         // the uxIndex parameter is used to tell the co-routine which
+         // LED to flash and how int32_t to delay.  This assumes xQueue has
+         // already been created.
+         vParTestToggleLED( cLedToFlash[ uxIndex ] );
+         crDELAY( xHandle, uxFlashRates[ uxIndex ] );
+     }
+
+     // Must end every co-routine with a call to crEND();
+     crEND();
+ }
+
+ // Function that creates two co-routines.
+ void vOtherFunction( void )
+ {
+ uint8_t ucParameterToPass;
+ TaskHandle_t xHandle;
+
+     // Create two co-routines at priority 0.  The first is given index 0
+     // so (from the code above) toggles LED 5 every 200 ticks.  The second
+     // is given index 1 so toggles LED 6 every 400 ticks.
+     for( uxIndex = 0; uxIndex < 2; uxIndex++ )
+     {
+         xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
+     }
+ }
+   </pre>
+ * \defgroup xCoRoutineCreate xCoRoutineCreate
+ * \ingroup Tasks
+ */
+BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex );
+
+
+/**
+ * croutine. h
+ *<pre>
+ void vCoRoutineSchedule( void );</pre>
+ *
+ * Run a co-routine.
+ *
+ * vCoRoutineSchedule() executes the highest priority co-routine that is able
+ * to run.  The co-routine will execute until it either blocks, yields or is
+ * preempted by a task.  Co-routines execute cooperatively so one
+ * co-routine cannot be preempted by another, but can be preempted by a task.
+ *
+ * If an application comprises of both tasks and co-routines then
+ * vCoRoutineSchedule should be called from the idle task (in an idle task
+ * hook).
+ *
+ * Example usage:
+   <pre>
+ // This idle task hook will schedule a co-routine each time it is called.
+ // The rest of the idle task will execute between co-routine calls.
+ void vApplicationIdleHook( void )
+ {
+	vCoRoutineSchedule();
+ }
+
+ // Alternatively, if you do not require any other part of the idle task to
+ // execute, the idle task hook can call vCoRoutineSchedule() within an
+ // infinite loop.
+ void vApplicationIdleHook( void )
+ {
+    for( ;; )
+    {
+        vCoRoutineSchedule();
+    }
+ }
+ </pre>
+ * \defgroup vCoRoutineSchedule vCoRoutineSchedule
+ * \ingroup Tasks
+ */
+void vCoRoutineSchedule( void );
+
+/**
+ * croutine. h
+ * <pre>
+ crSTART( CoRoutineHandle_t xHandle );</pre>
+ *
+ * This macro MUST always be called at the start of a co-routine function.
+ *
+ * Example usage:
+   <pre>
+ // Co-routine to be created.
+ void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ static int32_t ulAVariable;
+
+     // Must start every co-routine with a call to crSTART();
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+          // Co-routine functionality goes here.
+     }
+
+     // Must end every co-routine with a call to crEND();
+     crEND();
+ }</pre>
+ * \defgroup crSTART crSTART
+ * \ingroup Tasks
+ */
+#define crSTART( pxCRCB ) switch( ( ( CRCB_t * )( pxCRCB ) )->uxState ) { case 0:
+
+/**
+ * croutine. h
+ * <pre>
+ crEND();</pre>
+ *
+ * This macro MUST always be called at the end of a co-routine function.
+ *
+ * Example usage:
+   <pre>
+ // Co-routine to be created.
+ void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ static int32_t ulAVariable;
+
+     // Must start every co-routine with a call to crSTART();
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+          // Co-routine functionality goes here.
+     }
+
+     // Must end every co-routine with a call to crEND();
+     crEND();
+ }</pre>
+ * \defgroup crSTART crSTART
+ * \ingroup Tasks
+ */
+#define crEND() }
+
+/*
+ * These macros are intended for internal use by the co-routine implementation
+ * only.  The macros should not be used directly by application writers.
+ */
+#define crSET_STATE0( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = (__LINE__ * 2); return; case (__LINE__ * 2):
+#define crSET_STATE1( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1):
+
+/**
+ * croutine. h
+ *<pre>
+ crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );</pre>
+ *
+ * Delay a co-routine for a fixed period of time.
+ *
+ * crDELAY can only be called from the co-routine function itself - not
+ * from within a function called by the co-routine function.  This is because
+ * co-routines do not maintain their own stack.
+ *
+ * @param xHandle The handle of the co-routine to delay.  This is the xHandle
+ * parameter of the co-routine function.
+ *
+ * @param xTickToDelay The number of ticks that the co-routine should delay
+ * for.  The actual amount of time this equates to is defined by
+ * configTICK_RATE_HZ (set in FreeRTOSConfig.h).  The constant portTICK_PERIOD_MS
+ * can be used to convert ticks to milliseconds.
+ *
+ * Example usage:
+   <pre>
+ // Co-routine to be created.
+ void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ // This may not be necessary for const variables.
+ // We are to delay for 200ms.
+ static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
+
+     // Must start every co-routine with a call to crSTART();
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+        // Delay for 200ms.
+        crDELAY( xHandle, xDelayTime );
+
+        // Do something here.
+     }
+
+     // Must end every co-routine with a call to crEND();
+     crEND();
+ }</pre>
+ * \defgroup crDELAY crDELAY
+ * \ingroup Tasks
+ */
+#define crDELAY( xHandle, xTicksToDelay )												\
+	if( ( xTicksToDelay ) > 0 )															\
+	{																					\
+		vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL );							\
+	}																					\
+	crSET_STATE0( ( xHandle ) );
+
+/**
+ * <pre>
+ crQUEUE_SEND(
+                  CoRoutineHandle_t xHandle,
+                  QueueHandle_t pxQueue,
+                  void *pvItemToQueue,
+                  TickType_t xTicksToWait,
+                  BaseType_t *pxResult
+             )</pre>
+ *
+ * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
+ * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
+ *
+ * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
+ * xQueueSend() and xQueueReceive() can only be used from tasks.
+ *
+ * crQUEUE_SEND can only be called from the co-routine function itself - not
+ * from within a function called by the co-routine function.  This is because
+ * co-routines do not maintain their own stack.
+ *
+ * See the co-routine section of the WEB documentation for information on
+ * passing data between tasks and co-routines and between ISR's and
+ * co-routines.
+ *
+ * @param xHandle The handle of the calling co-routine.  This is the xHandle
+ * parameter of the co-routine function.
+ *
+ * @param pxQueue The handle of the queue on which the data will be posted.
+ * The handle is obtained as the return value when the queue is created using
+ * the xQueueCreate() API function.
+ *
+ * @param pvItemToQueue A pointer to the data being posted onto the queue.
+ * The number of bytes of each queued item is specified when the queue is
+ * created.  This number of bytes is copied from pvItemToQueue into the queue
+ * itself.
+ *
+ * @param xTickToDelay The number of ticks that the co-routine should block
+ * to wait for space to become available on the queue, should space not be
+ * available immediately. The actual amount of time this equates to is defined
+ * by configTICK_RATE_HZ (set in FreeRTOSConfig.h).  The constant
+ * portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see example
+ * below).
+ *
+ * @param pxResult The variable pointed to by pxResult will be set to pdPASS if
+ * data was successfully posted onto the queue, otherwise it will be set to an
+ * error defined within ProjDefs.h.
+ *
+ * Example usage:
+   <pre>
+ // Co-routine function that blocks for a fixed period then posts a number onto
+ // a queue.
+ static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ static BaseType_t xNumberToPost = 0;
+ static BaseType_t xResult;
+
+    // Co-routines must begin with a call to crSTART().
+    crSTART( xHandle );
+
+    for( ;; )
+    {
+        // This assumes the queue has already been created.
+        crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
+
+        if( xResult != pdPASS )
+        {
+            // The message was not posted!
+        }
+
+        // Increment the number to be posted onto the queue.
+        xNumberToPost++;
+
+        // Delay for 100 ticks.
+        crDELAY( xHandle, 100 );
+    }
+
+    // Co-routines must end with a call to crEND().
+    crEND();
+ }</pre>
+ * \defgroup crQUEUE_SEND crQUEUE_SEND
+ * \ingroup Tasks
+ */
+#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult )			\
+{																						\
+	*( pxResult ) = xQueueCRSend( ( pxQueue) , ( pvItemToQueue) , ( xTicksToWait ) );	\
+	if( *( pxResult ) == errQUEUE_BLOCKED )												\
+	{																					\
+		crSET_STATE0( ( xHandle ) );													\
+		*pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 );					\
+	}																					\
+	if( *pxResult == errQUEUE_YIELD )													\
+	{																					\
+		crSET_STATE1( ( xHandle ) );													\
+		*pxResult = pdPASS;																\
+	}																					\
+}
+
+/**
+ * croutine. h
+ * <pre>
+  crQUEUE_RECEIVE(
+                     CoRoutineHandle_t xHandle,
+                     QueueHandle_t pxQueue,
+                     void *pvBuffer,
+                     TickType_t xTicksToWait,
+                     BaseType_t *pxResult
+                 )</pre>
+ *
+ * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
+ * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
+ *
+ * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
+ * xQueueSend() and xQueueReceive() can only be used from tasks.
+ *
+ * crQUEUE_RECEIVE can only be called from the co-routine function itself - not
+ * from within a function called by the co-routine function.  This is because
+ * co-routines do not maintain their own stack.
+ *
+ * See the co-routine section of the WEB documentation for information on
+ * passing data between tasks and co-routines and between ISR's and
+ * co-routines.
+ *
+ * @param xHandle The handle of the calling co-routine.  This is the xHandle
+ * parameter of the co-routine function.
+ *
+ * @param pxQueue The handle of the queue from which the data will be received.
+ * The handle is obtained as the return value when the queue is created using
+ * the xQueueCreate() API function.
+ *
+ * @param pvBuffer The buffer into which the received item is to be copied.
+ * The number of bytes of each queued item is specified when the queue is
+ * created.  This number of bytes is copied into pvBuffer.
+ *
+ * @param xTickToDelay The number of ticks that the co-routine should block
+ * to wait for data to become available from the queue, should data not be
+ * available immediately. The actual amount of time this equates to is defined
+ * by configTICK_RATE_HZ (set in FreeRTOSConfig.h).  The constant
+ * portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see the
+ * crQUEUE_SEND example).
+ *
+ * @param pxResult The variable pointed to by pxResult will be set to pdPASS if
+ * data was successfully retrieved from the queue, otherwise it will be set to
+ * an error code as defined within ProjDefs.h.
+ *
+ * Example usage:
+ <pre>
+ // A co-routine receives the number of an LED to flash from a queue.  It
+ // blocks on the queue until the number is received.
+ static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ static BaseType_t xResult;
+ static UBaseType_t uxLEDToFlash;
+
+    // All co-routines must start with a call to crSTART().
+    crSTART( xHandle );
+
+    for( ;; )
+    {
+        // Wait for data to become available on the queue.
+        crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
+
+        if( xResult == pdPASS )
+        {
+            // We received the LED to flash - flash it!
+            vParTestToggleLED( uxLEDToFlash );
+        }
+    }
+
+    crEND();
+ }</pre>
+ * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
+ * \ingroup Tasks
+ */
+#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult )			\
+{																						\
+	*( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), ( xTicksToWait ) );		\
+	if( *( pxResult ) == errQUEUE_BLOCKED ) 											\
+	{																					\
+		crSET_STATE0( ( xHandle ) );													\
+		*( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), 0 );				\
+	}																					\
+	if( *( pxResult ) == errQUEUE_YIELD )												\
+	{																					\
+		crSET_STATE1( ( xHandle ) );													\
+		*( pxResult ) = pdPASS;															\
+	}																					\
+}
+
+/**
+ * croutine. h
+ * <pre>
+  crQUEUE_SEND_FROM_ISR(
+                            QueueHandle_t pxQueue,
+                            void *pvItemToQueue,
+                            BaseType_t xCoRoutinePreviouslyWoken
+                       )</pre>
+ *
+ * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
+ * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
+ * functions used by tasks.
+ *
+ * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
+ * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
+ * xQueueReceiveFromISR() can only be used to pass data between a task and and
+ * ISR.
+ *
+ * crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
+ * that is being used from within a co-routine.
+ *
+ * See the co-routine section of the WEB documentation for information on
+ * passing data between tasks and co-routines and between ISR's and
+ * co-routines.
+ *
+ * @param xQueue The handle to the queue on which the item is to be posted.
+ *
+ * @param pvItemToQueue A pointer to the item that is to be placed on the
+ * queue.  The size of the items the queue will hold was defined when the
+ * queue was created, so this many bytes will be copied from pvItemToQueue
+ * into the queue storage area.
+ *
+ * @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto
+ * the same queue multiple times from a single interrupt.  The first call
+ * should always pass in pdFALSE.  Subsequent calls should pass in
+ * the value returned from the previous call.
+ *
+ * @return pdTRUE if a co-routine was woken by posting onto the queue.  This is
+ * used by the ISR to determine if a context switch may be required following
+ * the ISR.
+ *
+ * Example usage:
+ <pre>
+ // A co-routine that blocks on a queue waiting for characters to be received.
+ static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ {
+ char cRxedChar;
+ BaseType_t xResult;
+
+     // All co-routines must start with a call to crSTART().
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+         // Wait for data to become available on the queue.  This assumes the
+         // queue xCommsRxQueue has already been created!
+         crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
+
+         // Was a character received?
+         if( xResult == pdPASS )
+         {
+             // Process the character here.
+         }
+     }
+
+     // All co-routines must end with a call to crEND().
+     crEND();
+ }
+
+ // An ISR that uses a queue to send characters received on a serial port to
+ // a co-routine.
+ void vUART_ISR( void )
+ {
+ char cRxedChar;
+ BaseType_t xCRWokenByPost = pdFALSE;
+
+     // We loop around reading characters until there are none left in the UART.
+     while( UART_RX_REG_NOT_EMPTY() )
+     {
+         // Obtain the character from the UART.
+         cRxedChar = UART_RX_REG;
+
+         // Post the character onto a queue.  xCRWokenByPost will be pdFALSE
+         // the first time around the loop.  If the post causes a co-routine
+         // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
+         // In this manner we can ensure that if more than one co-routine is
+         // blocked on the queue only one is woken by this ISR no matter how
+         // many characters are posted to the queue.
+         xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
+     }
+ }</pre>
+ * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
+ * \ingroup Tasks
+ */
+#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) )
+
+
+/**
+ * croutine. h
+ * <pre>
+  crQUEUE_SEND_FROM_ISR(
+                            QueueHandle_t pxQueue,
+                            void *pvBuffer,
+                            BaseType_t * pxCoRoutineWoken
+                       )</pre>
+ *
+ * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
+ * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
+ * functions used by tasks.
+ *
+ * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
+ * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
+ * xQueueReceiveFromISR() can only be used to pass data between a task and and
+ * ISR.
+ *
+ * crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
+ * from a queue that is being used from within a co-routine (a co-routine
+ * posted to the queue).
+ *
+ * See the co-routine section of the WEB documentation for information on
+ * passing data between tasks and co-routines and between ISR's and
+ * co-routines.
+ *
+ * @param xQueue The handle to the queue on which the item is to be posted.
+ *
+ * @param pvBuffer A pointer to a buffer into which the received item will be
+ * placed.  The size of the items the queue will hold was defined when the
+ * queue was created, so this many bytes will be copied from the queue into
+ * pvBuffer.
+ *
+ * @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
+ * available on the queue.  If crQUEUE_RECEIVE_FROM_ISR causes such a
+ * co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
+ * *pxCoRoutineWoken will remain unchanged.
+ *
+ * @return pdTRUE an item was successfully received from the queue, otherwise
+ * pdFALSE.
+ *
+ * Example usage:
+ <pre>
+ // A co-routine that posts a character to a queue then blocks for a fixed
+ // period.  The character is incremented each time.
+ static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
+ {
+ // cChar holds its value while this co-routine is blocked and must therefore
+ // be declared static.
+ static char cCharToTx = 'a';
+ BaseType_t xResult;
+
+     // All co-routines must start with a call to crSTART().
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+         // Send the next character to the queue.
+         crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
+
+         if( xResult == pdPASS )
+         {
+             // The character was successfully posted to the queue.
+         }
+		 else
+		 {
+			// Could not post the character to the queue.
+		 }
+
+         // Enable the UART Tx interrupt to cause an interrupt in this
+		 // hypothetical UART.  The interrupt will obtain the character
+		 // from the queue and send it.
+		 ENABLE_RX_INTERRUPT();
+
+		 // Increment to the next character then block for a fixed period.
+		 // cCharToTx will maintain its value across the delay as it is
+		 // declared static.
+		 cCharToTx++;
+		 if( cCharToTx > 'x' )
+		 {
+			cCharToTx = 'a';
+		 }
+		 crDELAY( 100 );
+     }
+
+     // All co-routines must end with a call to crEND().
+     crEND();
+ }
+
+ // An ISR that uses a queue to receive characters to send on a UART.
+ void vUART_ISR( void )
+ {
+ char cCharToTx;
+ BaseType_t xCRWokenByPost = pdFALSE;
+
+     while( UART_TX_REG_EMPTY() )
+     {
+         // Are there any characters in the queue waiting to be sent?
+		 // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
+		 // is woken by the post - ensuring that only a single co-routine is
+		 // woken no matter how many times we go around this loop.
+         if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
+		 {
+			 SEND_CHARACTER( cCharToTx );
+		 }
+     }
+ }</pre>
+ * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
+ * \ingroup Tasks
+ */
+#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) )
+
+/*
+ * This function is intended for internal use by the co-routine macros only.
+ * The macro nature of the co-routine implementation requires that the
+ * prototype appears here.  The function should not be used by application
+ * writers.
+ *
+ * Removes the current co-routine from its ready list and places it in the
+ * appropriate delayed list.
+ */
+void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList );
+
+/*
+ * This function is intended for internal use by the queue implementation only.
+ * The function should not be used by application writers.
+ *
+ * Removes the highest priority co-routine from the event list and places it in
+ * the pending ready list.
+ */
+BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList );
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CO_ROUTINE_H */
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h
@@ -0,0 +1,279 @@
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef DEPRECATED_DEFINITIONS_H
+#define DEPRECATED_DEFINITIONS_H
+
+
+/* Each FreeRTOS port has a unique portmacro.h header file.  Originally a
+pre-processor definition was used to ensure the pre-processor found the correct
+portmacro.h file for the port being used.  That scheme was deprecated in favour
+of setting the compiler's include path such that it found the correct
+portmacro.h file - removing the need for the constant and allowing the
+portmacro.h file to be located anywhere in relation to the port being used.  The
+definitions below remain in the code for backward compatibility only.  New
+projects should not use them. */
+
+#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
+	#include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
+	typedef void ( __interrupt __far *pxISR )();
+#endif
+
+#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT
+	#include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
+	typedef void ( __interrupt __far *pxISR )();
+#endif
+
+#ifdef GCC_MEGA_AVR
+	#include "../portable/GCC/ATMega323/portmacro.h"
+#endif
+
+#ifdef IAR_MEGA_AVR
+	#include "../portable/IAR/ATMega323/portmacro.h"
+#endif
+
+#ifdef MPLAB_PIC24_PORT
+	#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
+#endif
+
+#ifdef MPLAB_DSPIC_PORT
+	#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
+#endif
+
+#ifdef MPLAB_PIC18F_PORT
+	#include "../../Source/portable/MPLAB/PIC18F/portmacro.h"
+#endif
+
+#ifdef MPLAB_PIC32MX_PORT
+	#include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
+#endif
+
+#ifdef _FEDPICC
+	#include "libFreeRTOS/Include/portmacro.h"
+#endif
+
+#ifdef SDCC_CYGNAL
+	#include "../../Source/portable/SDCC/Cygnal/portmacro.h"
+#endif
+
+#ifdef GCC_ARM7
+	#include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
+#endif
+
+#ifdef GCC_ARM7_ECLIPSE
+	#include "portmacro.h"
+#endif
+
+#ifdef ROWLEY_LPC23xx
+	#include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
+#endif
+
+#ifdef IAR_MSP430
+	#include "..\..\Source\portable\IAR\MSP430\portmacro.h"
+#endif
+
+#ifdef GCC_MSP430
+	#include "../../Source/portable/GCC/MSP430F449/portmacro.h"
+#endif
+
+#ifdef ROWLEY_MSP430
+	#include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
+#endif
+
+#ifdef ARM7_LPC21xx_KEIL_RVDS
+	#include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
+#endif
+
+#ifdef SAM7_GCC
+	#include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
+#endif
+
+#ifdef SAM7_IAR
+	#include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
+#endif
+
+#ifdef SAM9XE_IAR
+	#include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
+#endif
+
+#ifdef LPC2000_IAR
+	#include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
+#endif
+
+#ifdef STR71X_IAR
+	#include "..\..\Source\portable\IAR\STR71x\portmacro.h"
+#endif
+
+#ifdef STR75X_IAR
+	#include "..\..\Source\portable\IAR\STR75x\portmacro.h"
+#endif
+
+#ifdef STR75X_GCC
+	#include "..\..\Source\portable\GCC\STR75x\portmacro.h"
+#endif
+
+#ifdef STR91X_IAR
+	#include "..\..\Source\portable\IAR\STR91x\portmacro.h"
+#endif
+
+#ifdef GCC_H8S
+	#include "../../Source/portable/GCC/H8S2329/portmacro.h"
+#endif
+
+#ifdef GCC_AT91FR40008
+	#include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
+#endif
+
+#ifdef RVDS_ARMCM3_LM3S102
+	#include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
+#endif
+
+#ifdef GCC_ARMCM3_LM3S102
+	#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
+#endif
+
+#ifdef GCC_ARMCM3
+	#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
+#endif
+
+#ifdef IAR_ARM_CM3
+	#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
+#endif
+
+#ifdef IAR_ARMCM3_LM
+	#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
+#endif
+
+#ifdef HCS12_CODE_WARRIOR
+	#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
+#endif
+
+#ifdef MICROBLAZE_GCC
+	#include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
+#endif
+
+#ifdef TERN_EE
+	#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
+#endif
+
+#ifdef GCC_HCS12
+	#include "../../Source/portable/GCC/HCS12/portmacro.h"
+#endif
+
+#ifdef GCC_MCF5235
+    #include "../../Source/portable/GCC/MCF5235/portmacro.h"
+#endif
+
+#ifdef COLDFIRE_V2_GCC
+	#include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
+#endif
+
+#ifdef COLDFIRE_V2_CODEWARRIOR
+	#include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
+#endif
+
+#ifdef GCC_PPC405
+	#include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
+#endif
+
+#ifdef GCC_PPC440
+	#include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
+#endif
+
+#ifdef _16FX_SOFTUNE
+	#include "..\..\Source\portable\Softune\MB96340\portmacro.h"
+#endif
+
+#ifdef BCC_INDUSTRIAL_PC_PORT
+	/* A short file name has to be used in place of the normal
+	FreeRTOSConfig.h when using the Borland compiler. */
+	#include "frconfig.h"
+	#include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
+    typedef void ( __interrupt __far *pxISR )();
+#endif
+
+#ifdef BCC_FLASH_LITE_186_PORT
+	/* A short file name has to be used in place of the normal
+	FreeRTOSConfig.h when using the Borland compiler. */
+	#include "frconfig.h"
+	#include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
+    typedef void ( __interrupt __far *pxISR )();
+#endif
+
+#ifdef __GNUC__
+   #ifdef __AVR32_AVR32A__
+	   #include "portmacro.h"
+   #endif
+#endif
+
+#ifdef __ICCAVR32__
+   #ifdef __CORE__
+      #if __CORE__ == __AVR32A__
+	      #include "portmacro.h"
+      #endif
+   #endif
+#endif
+
+#ifdef __91467D
+	#include "portmacro.h"
+#endif
+
+#ifdef __96340
+	#include "portmacro.h"
+#endif
+
+
+#ifdef __IAR_V850ES_Fx3__
+	#include "../../Source/portable/IAR/V850ES/portmacro.h"
+#endif
+
+#ifdef __IAR_V850ES_Jx3__
+	#include "../../Source/portable/IAR/V850ES/portmacro.h"
+#endif
+
+#ifdef __IAR_V850ES_Jx3_L__
+	#include "../../Source/portable/IAR/V850ES/portmacro.h"
+#endif
+
+#ifdef __IAR_V850ES_Jx2__
+	#include "../../Source/portable/IAR/V850ES/portmacro.h"
+#endif
+
+#ifdef __IAR_V850ES_Hx2__
+	#include "../../Source/portable/IAR/V850ES/portmacro.h"
+#endif
+
+#ifdef __IAR_78K0R_Kx3__
+	#include "../../Source/portable/IAR/78K0R/portmacro.h"
+#endif
+
+#ifdef __IAR_78K0R_Kx3L__
+	#include "../../Source/portable/IAR/78K0R/portmacro.h"
+#endif
+
+#endif /* DEPRECATED_DEFINITIONS_H */
+
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h
@@ -0,0 +1,757 @@
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef EVENT_GROUPS_H
+#define EVENT_GROUPS_H
+
+#ifndef INC_FREERTOS_H
+	#error "include FreeRTOS.h" must appear in source files before "include event_groups.h"
+#endif
+
+/* FreeRTOS includes. */
+#include "timers.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * An event group is a collection of bits to which an application can assign a
+ * meaning.  For example, an application may create an event group to convey
+ * the status of various CAN bus related events in which bit 0 might mean "A CAN
+ * message has been received and is ready for processing", bit 1 might mean "The
+ * application has queued a message that is ready for sending onto the CAN
+ * network", and bit 2 might mean "It is time to send a SYNC message onto the
+ * CAN network" etc.  A task can then test the bit values to see which events
+ * are active, and optionally enter the Blocked state to wait for a specified
+ * bit or a group of specified bits to be active.  To continue the CAN bus
+ * example, a CAN controlling task can enter the Blocked state (and therefore
+ * not consume any processing time) until either bit 0, bit 1 or bit 2 are
+ * active, at which time the bit that was actually active would inform the task
+ * which action it had to take (process a received message, send a message, or
+ * send a SYNC).
+ *
+ * The event groups implementation contains intelligence to avoid race
+ * conditions that would otherwise occur were an application to use a simple
+ * variable for the same purpose.  This is particularly important with respect
+ * to when a bit within an event group is to be cleared, and when bits have to
+ * be set and then tested atomically - as is the case where event groups are
+ * used to create a synchronisation point between multiple tasks (a
+ * 'rendezvous').
+ *
+ * \defgroup EventGroup
+ */
+
+
+
+/**
+ * event_groups.h
+ *
+ * Type by which event groups are referenced.  For example, a call to
+ * xEventGroupCreate() returns an EventGroupHandle_t variable that can then
+ * be used as a parameter to other event group functions.
+ *
+ * \defgroup EventGroupHandle_t EventGroupHandle_t
+ * \ingroup EventGroup
+ */
+struct EventGroupDef_t;
+typedef struct EventGroupDef_t * EventGroupHandle_t;
+
+/*
+ * The type that holds event bits always matches TickType_t - therefore the
+ * number of bits it holds is set by configUSE_16_BIT_TICKS (16 bits if set to 1,
+ * 32 bits if set to 0.
+ *
+ * \defgroup EventBits_t EventBits_t
+ * \ingroup EventGroup
+ */
+typedef TickType_t EventBits_t;
+
+/**
+ * event_groups.h
+ *<pre>
+ EventGroupHandle_t xEventGroupCreate( void );
+ </pre>
+ *
+ * Create a new event group.
+ *
+ * Internally, within the FreeRTOS implementation, event groups use a [small]
+ * block of memory, in which the event group's structure is stored.  If an event
+ * groups is created using xEventGropuCreate() then the required memory is
+ * automatically dynamically allocated inside the xEventGroupCreate() function.
+ * (see http://www.freertos.org/a00111.html).  If an event group is created
+ * using xEventGropuCreateStatic() then the application writer must instead
+ * provide the memory that will get used by the event group.
+ * xEventGroupCreateStatic() therefore allows an event group to be created
+ * without using any dynamic memory allocation.
+ *
+ * Although event groups are not related to ticks, for internal implementation
+ * reasons the number of bits available for use in an event group is dependent
+ * on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h.  If
+ * configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit
+ * 0 to bit 7).  If configUSE_16_BIT_TICKS is set to 0 then each event group has
+ * 24 usable bits (bit 0 to bit 23).  The EventBits_t type is used to store
+ * event bits within an event group.
+ *
+ * @return If the event group was created then a handle to the event group is
+ * returned.  If there was insufficient FreeRTOS heap available to create the
+ * event group then NULL is returned.  See http://www.freertos.org/a00111.html
+ *
+ * Example usage:
+   <pre>
+	// Declare a variable to hold the created event group.
+	EventGroupHandle_t xCreatedEventGroup;
+
+	// Attempt to create the event group.
+	xCreatedEventGroup = xEventGroupCreate();
+
+	// Was the event group created successfully?
+	if( xCreatedEventGroup == NULL )
+	{
+		// The event group was not created because there was insufficient
+		// FreeRTOS heap available.
+	}
+	else
+	{
+		// The event group was created.
+	}
+   </pre>
+ * \defgroup xEventGroupCreate xEventGroupCreate
+ * \ingroup EventGroup
+ */
+#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+	EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION;
+#endif
+
+/**
+ * event_groups.h
+ *<pre>
+ EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer );
+ </pre>
+ *
+ * Create a new event group.
+ *
+ * Internally, within the FreeRTOS implementation, event groups use a [small]
+ * block of memory, in which the event group's structure is stored.  If an event
+ * groups is created using xEventGropuCreate() then the required memory is
+ * automatically dynamically allocated inside the xEventGroupCreate() function.
+ * (see http://www.freertos.org/a00111.html).  If an event group is created
+ * using xEventGropuCreateStatic() then the application writer must instead
+ * provide the memory that will get used by the event group.
+ * xEventGroupCreateStatic() therefore allows an event group to be created
+ * without using any dynamic memory allocation.
+ *
+ * Although event groups are not related to ticks, for internal implementation
+ * reasons the number of bits available for use in an event group is dependent
+ * on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h.  If
+ * configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit
+ * 0 to bit 7).  If configUSE_16_BIT_TICKS is set to 0 then each event group has
+ * 24 usable bits (bit 0 to bit 23).  The EventBits_t type is used to store
+ * event bits within an event group.
+ *
+ * @param pxEventGroupBuffer pxEventGroupBuffer must point to a variable of type
+ * StaticEventGroup_t, which will be then be used to hold the event group's data
+ * structures, removing the need for the memory to be allocated dynamically.
+ *
+ * @return If the event group was created then a handle to the event group is
+ * returned.  If pxEventGroupBuffer was NULL then NULL is returned.
+ *
+ * Example usage:
+   <pre>
+	// StaticEventGroup_t is a publicly accessible structure that has the same
+	// size and alignment requirements as the real event group structure.  It is
+	// provided as a mechanism for applications to know the size of the event
+	// group (which is dependent on the architecture and configuration file
+	// settings) without breaking the strict data hiding policy by exposing the
+	// real event group internals.  This StaticEventGroup_t variable is passed
+	// into the xSemaphoreCreateEventGroupStatic() function and is used to store
+	// the event group's data structures
+	StaticEventGroup_t xEventGroupBuffer;
+
+	// Create the event group without dynamically allocating any memory.
+	xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
+   </pre>
+ */
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+	EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer ) PRIVILEGED_FUNCTION;
+#endif
+
+/**
+ * event_groups.h
+ *<pre>
+	EventBits_t xEventGroupWaitBits( 	EventGroupHandle_t xEventGroup,
+										const EventBits_t uxBitsToWaitFor,
+										const BaseType_t xClearOnExit,
+										const BaseType_t xWaitForAllBits,
+										const TickType_t xTicksToWait );
+ </pre>
+ *
+ * [Potentially] block to wait for one or more bits to be set within a
+ * previously created event group.
+ *
+ * This function cannot be called from an interrupt.
+ *
+ * @param xEventGroup The event group in which the bits are being tested.  The
+ * event group must have previously been created using a call to
+ * xEventGroupCreate().
+ *
+ * @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test
+ * inside the event group.  For example, to wait for bit 0 and/or bit 2 set
+ * uxBitsToWaitFor to 0x05.  To wait for bits 0 and/or bit 1 and/or bit 2 set
+ * uxBitsToWaitFor to 0x07.  Etc.
+ *
+ * @param xClearOnExit If xClearOnExit is set to pdTRUE then any bits within
+ * uxBitsToWaitFor that are set within the event group will be cleared before
+ * xEventGroupWaitBits() returns if the wait condition was met (if the function
+ * returns for a reason other than a timeout).  If xClearOnExit is set to
+ * pdFALSE then the bits set in the event group are not altered when the call to
+ * xEventGroupWaitBits() returns.
+ *
+ * @param xWaitForAllBits If xWaitForAllBits is set to pdTRUE then
+ * xEventGroupWaitBits() will return when either all the bits in uxBitsToWaitFor
+ * are set or the specified block time expires.  If xWaitForAllBits is set to
+ * pdFALSE then xEventGroupWaitBits() will return when any one of the bits set
+ * in uxBitsToWaitFor is set or the specified block time expires.  The block
+ * time is specified by the xTicksToWait parameter.
+ *
+ * @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait
+ * for one/all (depending on the xWaitForAllBits value) of the bits specified by
+ * uxBitsToWaitFor to become set.
+ *
+ * @return The value of the event group at the time either the bits being waited
+ * for became set, or the block time expired.  Test the return value to know
+ * which bits were set.  If xEventGroupWaitBits() returned because its timeout
+ * expired then not all the bits being waited for will be set.  If
+ * xEventGroupWaitBits() returned because the bits it was waiting for were set
+ * then the returned value is the event group value before any bits were
+ * automatically cleared in the case that xClearOnExit parameter was set to
+ * pdTRUE.
+ *
+ * Example usage:
+   <pre>
+   #define BIT_0	( 1 << 0 )
+   #define BIT_4	( 1 << 4 )
+
+   void aFunction( EventGroupHandle_t xEventGroup )
+   {
+   EventBits_t uxBits;
+   const TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
+
+		// Wait a maximum of 100ms for either bit 0 or bit 4 to be set within
+		// the event group.  Clear the bits before exiting.
+		uxBits = xEventGroupWaitBits(
+					xEventGroup,	// The event group being tested.
+					BIT_0 | BIT_4,	// The bits within the event group to wait for.
+					pdTRUE,			// BIT_0 and BIT_4 should be cleared before returning.
+					pdFALSE,		// Don't wait for both bits, either bit will do.
+					xTicksToWait );	// Wait a maximum of 100ms for either bit to be set.
+
+		if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
+		{
+			// xEventGroupWaitBits() returned because both bits were set.
+		}
+		else if( ( uxBits & BIT_0 ) != 0 )
+		{
+			// xEventGroupWaitBits() returned because just BIT_0 was set.
+		}
+		else if( ( uxBits & BIT_4 ) != 0 )
+		{
+			// xEventGroupWaitBits() returned because just BIT_4 was set.
+		}
+		else
+		{
+			// xEventGroupWaitBits() returned because xTicksToWait ticks passed
+			// without either BIT_0 or BIT_4 becoming set.
+		}
+   }
+   </pre>
+ * \defgroup xEventGroupWaitBits xEventGroupWaitBits
+ * \ingroup EventGroup
+ */
+EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
+/**
+ * event_groups.h
+ *<pre>
+	EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
+ </pre>
+ *
+ * Clear bits within an event group.  This function cannot be called from an
+ * interrupt.
+ *
+ * @param xEventGroup The event group in which the bits are to be cleared.
+ *
+ * @param uxBitsToClear A bitwise value that indicates the bit or bits to clear
+ * in the event group.  For example, to clear bit 3 only, set uxBitsToClear to
+ * 0x08.  To clear bit 3 and bit 0 set uxBitsToClear to 0x09.
+ *
+ * @return The value of the event group before the specified bits were cleared.
+ *
+ * Example usage:
+   <pre>
+   #define BIT_0	( 1 << 0 )
+   #define BIT_4	( 1 << 4 )
+
+   void aFunction( EventGroupHandle_t xEventGroup )
+   {
+   EventBits_t uxBits;
+
+		// Clear bit 0 and bit 4 in xEventGroup.
+		uxBits = xEventGroupClearBits(
+								xEventGroup,	// The event group being updated.
+								BIT_0 | BIT_4 );// The bits being cleared.
+
+		if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
+		{
+			// Both bit 0 and bit 4 were set before xEventGroupClearBits() was
+			// called.  Both will now be clear (not set).
+		}
+		else if( ( uxBits & BIT_0 ) != 0 )
+		{
+			// Bit 0 was set before xEventGroupClearBits() was called.  It will
+			// now be clear.
+		}
+		else if( ( uxBits & BIT_4 ) != 0 )
+		{
+			// Bit 4 was set before xEventGroupClearBits() was called.  It will
+			// now be clear.
+		}
+		else
+		{
+			// Neither bit 0 nor bit 4 were set in the first place.
+		}
+   }
+   </pre>
+ * \defgroup xEventGroupClearBits xEventGroupClearBits
+ * \ingroup EventGroup
+ */
+EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
+
+/**
+ * event_groups.h
+ *<pre>
+	BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
+ </pre>
+ *
+ * A version of xEventGroupClearBits() that can be called from an interrupt.
+ *
+ * Setting bits in an event group is not a deterministic operation because there
+ * are an unknown number of tasks that may be waiting for the bit or bits being
+ * set.  FreeRTOS does not allow nondeterministic operations to be performed
+ * while interrupts are disabled, so protects event groups that are accessed
+ * from tasks by suspending the scheduler rather than disabling interrupts.  As
+ * a result event groups cannot be accessed directly from an interrupt service
+ * routine.  Therefore xEventGroupClearBitsFromISR() sends a message to the
+ * timer task to have the clear operation performed in the context of the timer
+ * task.
+ *
+ * @param xEventGroup The event group in which the bits are to be cleared.
+ *
+ * @param uxBitsToClear A bitwise value that indicates the bit or bits to clear.
+ * For example, to clear bit 3 only, set uxBitsToClear to 0x08.  To clear bit 3
+ * and bit 0 set uxBitsToClear to 0x09.
+ *
+ * @return If the request to execute the function was posted successfully then
+ * pdPASS is returned, otherwise pdFALSE is returned.  pdFALSE will be returned
+ * if the timer service queue was full.
+ *
+ * Example usage:
+   <pre>
+   #define BIT_0	( 1 << 0 )
+   #define BIT_4	( 1 << 4 )
+
+   // An event group which it is assumed has already been created by a call to
+   // xEventGroupCreate().
+   EventGroupHandle_t xEventGroup;
+
+   void anInterruptHandler( void )
+   {
+		// Clear bit 0 and bit 4 in xEventGroup.
+		xResult = xEventGroupClearBitsFromISR(
+							xEventGroup,	 // The event group being updated.
+							BIT_0 | BIT_4 ); // The bits being set.
+
+		if( xResult == pdPASS )
+		{
+			// The message was posted successfully.
+		}
+  }
+   </pre>
+ * \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR
+ * \ingroup EventGroup
+ */
+#if( configUSE_TRACE_FACILITY == 1 )
+	BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
+#else
+	#define xEventGroupClearBitsFromISR( xEventGroup, uxBitsToClear ) xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL )
+#endif
+
+/**
+ * event_groups.h
+ *<pre>
+	EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
+ </pre>
+ *
+ * Set bits within an event group.
+ * This function cannot be called from an interrupt.  xEventGroupSetBitsFromISR()
+ * is a version that can be called from an interrupt.
+ *
+ * Setting bits in an event group will automatically unblock tasks that are
+ * blocked waiting for the bits.
+ *
+ * @param xEventGroup The event group in which the bits are to be set.
+ *
+ * @param uxBitsToSet A bitwise value that indicates the bit or bits to set.
+ * For example, to set bit 3 only, set uxBitsToSet to 0x08.  To set bit 3
+ * and bit 0 set uxBitsToSet to 0x09.
+ *
+ * @return The value of the event group at the time the call to
+ * xEventGroupSetBits() returns.  There are two reasons why the returned value
+ * might have the bits specified by the uxBitsToSet parameter cleared.  First,
+ * if setting a bit results in a task that was waiting for the bit leaving the
+ * blocked state then it is possible the bit will be cleared automatically
+ * (see the xClearBitOnExit parameter of xEventGroupWaitBits()).  Second, any
+ * unblocked (or otherwise Ready state) task that has a priority above that of
+ * the task that called xEventGroupSetBits() will execute and may change the
+ * event group value before the call to xEventGroupSetBits() returns.
+ *
+ * Example usage:
+   <pre>
+   #define BIT_0	( 1 << 0 )
+   #define BIT_4	( 1 << 4 )
+
+   void aFunction( EventGroupHandle_t xEventGroup )
+   {
+   EventBits_t uxBits;
+
+		// Set bit 0 and bit 4 in xEventGroup.
+		uxBits = xEventGroupSetBits(
+							xEventGroup,	// The event group being updated.
+							BIT_0 | BIT_4 );// The bits being set.
+
+		if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
+		{
+			// Both bit 0 and bit 4 remained set when the function returned.
+		}
+		else if( ( uxBits & BIT_0 ) != 0 )
+		{
+			// Bit 0 remained set when the function returned, but bit 4 was
+			// cleared.  It might be that bit 4 was cleared automatically as a
+			// task that was waiting for bit 4 was removed from the Blocked
+			// state.
+		}
+		else if( ( uxBits & BIT_4 ) != 0 )
+		{
+			// Bit 4 remained set when the function returned, but bit 0 was
+			// cleared.  It might be that bit 0 was cleared automatically as a
+			// task that was waiting for bit 0 was removed from the Blocked
+			// state.
+		}
+		else
+		{
+			// Neither bit 0 nor bit 4 remained set.  It might be that a task
+			// was waiting for both of the bits to be set, and the bits were
+			// cleared as the task left the Blocked state.
+		}
+   }
+   </pre>
+ * \defgroup xEventGroupSetBits xEventGroupSetBits
+ * \ingroup EventGroup
+ */
+EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION;
+
+/**
+ * event_groups.h
+ *<pre>
+	BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken );
+ </pre>
+ *
+ * A version of xEventGroupSetBits() that can be called from an interrupt.
+ *
+ * Setting bits in an event group is not a deterministic operation because there
+ * are an unknown number of tasks that may be waiting for the bit or bits being
+ * set.  FreeRTOS does not allow nondeterministic operations to be performed in
+ * interrupts or from critical sections.  Therefore xEventGroupSetBitsFromISR()
+ * sends a message to the timer task to have the set operation performed in the
+ * context of the timer task - where a scheduler lock is used in place of a
+ * critical section.
+ *
+ * @param xEventGroup The event group in which the bits are to be set.
+ *
+ * @param uxBitsToSet A bitwise value that indicates the bit or bits to set.
+ * For example, to set bit 3 only, set uxBitsToSet to 0x08.  To set bit 3
+ * and bit 0 set uxBitsToSet to 0x09.
+ *
+ * @param pxHigherPriorityTaskWoken As mentioned above, calling this function
+ * will result in a message being sent to the timer daemon task.  If the
+ * priority of the timer daemon task is higher than the priority of the
+ * currently running task (the task the interrupt interrupted) then
+ * *pxHigherPriorityTaskWoken will be set to pdTRUE by
+ * xEventGroupSetBitsFromISR(), indicating that a context switch should be
+ * requested before the interrupt exits.  For that reason
+ * *pxHigherPriorityTaskWoken must be initialised to pdFALSE.  See the
+ * example code below.
+ *
+ * @return If the request to execute the function was posted successfully then
+ * pdPASS is returned, otherwise pdFALSE is returned.  pdFALSE will be returned
+ * if the timer service queue was full.
+ *
+ * Example usage:
+   <pre>
+   #define BIT_0	( 1 << 0 )
+   #define BIT_4	( 1 << 4 )
+
+   // An event group which it is assumed has already been created by a call to
+   // xEventGroupCreate().
+   EventGroupHandle_t xEventGroup;
+
+   void anInterruptHandler( void )
+   {
+   BaseType_t xHigherPriorityTaskWoken, xResult;
+
+		// xHigherPriorityTaskWoken must be initialised to pdFALSE.
+		xHigherPriorityTaskWoken = pdFALSE;
+
+		// Set bit 0 and bit 4 in xEventGroup.
+		xResult = xEventGroupSetBitsFromISR(
+							xEventGroup,	// The event group being updated.
+							BIT_0 | BIT_4   // The bits being set.
+							&xHigherPriorityTaskWoken );
+
+		// Was the message posted successfully?
+		if( xResult == pdPASS )
+		{
+			// If xHigherPriorityTaskWoken is now set to pdTRUE then a context
+			// switch should be requested.  The macro used is port specific and
+			// will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() -
+			// refer to the documentation page for the port being used.
+			portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+		}
+  }
+   </pre>
+ * \defgroup xEventGroupSetBitsFromISR xEventGroupSetBitsFromISR
+ * \ingroup EventGroup
+ */
+#if( configUSE_TRACE_FACILITY == 1 )
+	BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+#else
+	#define xEventGroupSetBitsFromISR( xEventGroup, uxBitsToSet, pxHigherPriorityTaskWoken ) xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken )
+#endif
+
+/**
+ * event_groups.h
+ *<pre>
+	EventBits_t xEventGroupSync(	EventGroupHandle_t xEventGroup,
+									const EventBits_t uxBitsToSet,
+									const EventBits_t uxBitsToWaitFor,
+									TickType_t xTicksToWait );
+ </pre>
+ *
+ * Atomically set bits within an event group, then wait for a combination of
+ * bits to be set within the same event group.  This functionality is typically
+ * used to synchronise multiple tasks, where each task has to wait for the other
+ * tasks to reach a synchronisation point before proceeding.
+ *
+ * This function cannot be used from an interrupt.
+ *
+ * The function will return before its block time expires if the bits specified
+ * by the uxBitsToWait parameter are set, or become set within that time.  In
+ * this case all the bits specified by uxBitsToWait will be automatically
+ * cleared before the function returns.
+ *
+ * @param xEventGroup The event group in which the bits are being tested.  The
+ * event group must have previously been created using a call to
+ * xEventGroupCreate().
+ *
+ * @param uxBitsToSet The bits to set in the event group before determining
+ * if, and possibly waiting for, all the bits specified by the uxBitsToWait
+ * parameter are set.
+ *
+ * @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test
+ * inside the event group.  For example, to wait for bit 0 and bit 2 set
+ * uxBitsToWaitFor to 0x05.  To wait for bits 0 and bit 1 and bit 2 set
+ * uxBitsToWaitFor to 0x07.  Etc.
+ *
+ * @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait
+ * for all of the bits specified by uxBitsToWaitFor to become set.
+ *
+ * @return The value of the event group at the time either the bits being waited
+ * for became set, or the block time expired.  Test the return value to know
+ * which bits were set.  If xEventGroupSync() returned because its timeout
+ * expired then not all the bits being waited for will be set.  If
+ * xEventGroupSync() returned because all the bits it was waiting for were
+ * set then the returned value is the event group value before any bits were
+ * automatically cleared.
+ *
+ * Example usage:
+ <pre>
+ // Bits used by the three tasks.
+ #define TASK_0_BIT		( 1 << 0 )
+ #define TASK_1_BIT		( 1 << 1 )
+ #define TASK_2_BIT		( 1 << 2 )
+
+ #define ALL_SYNC_BITS ( TASK_0_BIT | TASK_1_BIT | TASK_2_BIT )
+
+ // Use an event group to synchronise three tasks.  It is assumed this event
+ // group has already been created elsewhere.
+ EventGroupHandle_t xEventBits;
+
+ void vTask0( void *pvParameters )
+ {
+ EventBits_t uxReturn;
+ TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
+
+	 for( ;; )
+	 {
+		// Perform task functionality here.
+
+		// Set bit 0 in the event flag to note this task has reached the
+		// sync point.  The other two tasks will set the other two bits defined
+		// by ALL_SYNC_BITS.  All three tasks have reached the synchronisation
+		// point when all the ALL_SYNC_BITS are set.  Wait a maximum of 100ms
+		// for this to happen.
+		uxReturn = xEventGroupSync( xEventBits, TASK_0_BIT, ALL_SYNC_BITS, xTicksToWait );
+
+		if( ( uxReturn & ALL_SYNC_BITS ) == ALL_SYNC_BITS )
+		{
+			// All three tasks reached the synchronisation point before the call
+			// to xEventGroupSync() timed out.
+		}
+	}
+ }
+
+ void vTask1( void *pvParameters )
+ {
+	 for( ;; )
+	 {
+		// Perform task functionality here.
+
+		// Set bit 1 in the event flag to note this task has reached the
+		// synchronisation point.  The other two tasks will set the other two
+		// bits defined by ALL_SYNC_BITS.  All three tasks have reached the
+		// synchronisation point when all the ALL_SYNC_BITS are set.  Wait
+		// indefinitely for this to happen.
+		xEventGroupSync( xEventBits, TASK_1_BIT, ALL_SYNC_BITS, portMAX_DELAY );
+
+		// xEventGroupSync() was called with an indefinite block time, so
+		// this task will only reach here if the syncrhonisation was made by all
+		// three tasks, so there is no need to test the return value.
+	 }
+ }
+
+ void vTask2( void *pvParameters )
+ {
+	 for( ;; )
+	 {
+		// Perform task functionality here.
+
+		// Set bit 2 in the event flag to note this task has reached the
+		// synchronisation point.  The other two tasks will set the other two
+		// bits defined by ALL_SYNC_BITS.  All three tasks have reached the
+		// synchronisation point when all the ALL_SYNC_BITS are set.  Wait
+		// indefinitely for this to happen.
+		xEventGroupSync( xEventBits, TASK_2_BIT, ALL_SYNC_BITS, portMAX_DELAY );
+
+		// xEventGroupSync() was called with an indefinite block time, so
+		// this task will only reach here if the syncrhonisation was made by all
+		// three tasks, so there is no need to test the return value.
+	}
+ }
+
+ </pre>
+ * \defgroup xEventGroupSync xEventGroupSync
+ * \ingroup EventGroup
+ */
+EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
+
+/**
+ * event_groups.h
+ *<pre>
+	EventBits_t xEventGroupGetBits( EventGroupHandle_t xEventGroup );
+ </pre>
+ *
+ * Returns the current value of the bits in an event group.  This function
+ * cannot be used from an interrupt.
+ *
+ * @param xEventGroup The event group being queried.
+ *
+ * @return The event group bits at the time xEventGroupGetBits() was called.
+ *
+ * \defgroup xEventGroupGetBits xEventGroupGetBits
+ * \ingroup EventGroup
+ */
+#define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( xEventGroup, 0 )
+
+/**
+ * event_groups.h
+ *<pre>
+	EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup );
+ </pre>
+ *
+ * A version of xEventGroupGetBits() that can be called from an ISR.
+ *
+ * @param xEventGroup The event group being queried.
+ *
+ * @return The event group bits at the time xEventGroupGetBitsFromISR() was called.
+ *
+ * \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR
+ * \ingroup EventGroup
+ */
+EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
+
+/**
+ * event_groups.h
+ *<pre>
+	void xEventGroupDelete( EventGroupHandle_t xEventGroup );
+ </pre>
+ *
+ * Delete an event group that was previously created by a call to
+ * xEventGroupCreate().  Tasks that are blocked on the event group will be
+ * unblocked and obtain 0 as the event group's value.
+ *
+ * @param xEventGroup The event group being deleted.
+ */
+void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
+
+/* For internal use only. */
+void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION;
+void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
+
+
+#if (configUSE_TRACE_FACILITY == 1)
+	UBaseType_t uxEventGroupGetNumber( void* xEventGroup ) PRIVILEGED_FUNCTION;
+	void vEventGroupSetNumber( void* xEventGroup, UBaseType_t uxEventGroupNumber ) PRIVILEGED_FUNCTION;
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* EVENT_GROUPS_H */
+
+
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/list.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/list.h
@@ -0,0 +1,412 @@
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*
+ * This is the list implementation used by the scheduler.  While it is tailored
+ * heavily for the schedulers needs, it is also available for use by
+ * application code.
+ *
+ * list_ts can only store pointers to list_item_ts.  Each ListItem_t contains a
+ * numeric value (xItemValue).  Most of the time the lists are sorted in
+ * descending item value order.
+ *
+ * Lists are created already containing one list item.  The value of this
+ * item is the maximum possible that can be stored, it is therefore always at
+ * the end of the list and acts as a marker.  The list member pxHead always
+ * points to this marker - even though it is at the tail of the list.  This
+ * is because the tail contains a wrap back pointer to the true head of
+ * the list.
+ *
+ * In addition to it's value, each list item contains a pointer to the next
+ * item in the list (pxNext), a pointer to the list it is in (pxContainer)
+ * and a pointer to back to the object that contains it.  These later two
+ * pointers are included for efficiency of list manipulation.  There is
+ * effectively a two way link between the object containing the list item and
+ * the list item itself.
+ *
+ *
+ * \page ListIntroduction List Implementation
+ * \ingroup FreeRTOSIntro
+ */
+
+#ifndef INC_FREERTOS_H
+	#error FreeRTOS.h must be included before list.h
+#endif
+
+#ifndef LIST_H
+#define LIST_H
+
+/*
+ * The list structure members are modified from within interrupts, and therefore
+ * by rights should be declared volatile.  However, they are only modified in a
+ * functionally atomic way (within critical sections of with the scheduler
+ * suspended) and are either passed by reference into a function or indexed via
+ * a volatile variable.  Therefore, in all use cases tested so far, the volatile
+ * qualifier can be omitted in order to provide a moderate performance
+ * improvement without adversely affecting functional behaviour.  The assembly
+ * instructions generated by the IAR, ARM and GCC compilers when the respective
+ * compiler's options were set for maximum optimisation has been inspected and
+ * deemed to be as intended.  That said, as compiler technology advances, and
+ * especially if aggressive cross module optimisation is used (a use case that
+ * has not been exercised to any great extend) then it is feasible that the
+ * volatile qualifier will be needed for correct optimisation.  It is expected
+ * that a compiler removing essential code because, without the volatile
+ * qualifier on the list structure members and with aggressive cross module
+ * optimisation, the compiler deemed the code unnecessary will result in
+ * complete and obvious failure of the scheduler.  If this is ever experienced
+ * then the volatile qualifier can be inserted in the relevant places within the
+ * list structures by simply defining configLIST_VOLATILE to volatile in
+ * FreeRTOSConfig.h (as per the example at the bottom of this comment block).
+ * If configLIST_VOLATILE is not defined then the preprocessor directives below
+ * will simply #define configLIST_VOLATILE away completely.
+ *
+ * To use volatile list structure members then add the following line to
+ * FreeRTOSConfig.h (without the quotes):
+ * "#define configLIST_VOLATILE volatile"
+ */
+#ifndef configLIST_VOLATILE
+	#define configLIST_VOLATILE
+#endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Macros that can be used to place known values within the list structures,
+then check that the known values do not get corrupted during the execution of
+the application.   These may catch the list data structures being overwritten in
+memory.  They will not catch data errors caused by incorrect configuration or
+use of FreeRTOS.*/
+#if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 )
+	/* Define the macros to do nothing. */
+	#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE
+	#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE
+	#define listFIRST_LIST_INTEGRITY_CHECK_VALUE
+	#define listSECOND_LIST_INTEGRITY_CHECK_VALUE
+	#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
+	#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
+	#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList )
+	#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList )
+	#define listTEST_LIST_ITEM_INTEGRITY( pxItem )
+	#define listTEST_LIST_INTEGRITY( pxList )
+#else
+	/* Define macros that add new members into the list structures. */
+	#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE				TickType_t xListItemIntegrityValue1;
+	#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE				TickType_t xListItemIntegrityValue2;
+	#define listFIRST_LIST_INTEGRITY_CHECK_VALUE					TickType_t xListIntegrityValue1;
+	#define listSECOND_LIST_INTEGRITY_CHECK_VALUE					TickType_t xListIntegrityValue2;
+
+	/* Define macros that set the new structure members to known values. */
+	#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )		( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
+	#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )	( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
+	#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList )		( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
+	#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList )		( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
+
+	/* Define macros that will assert if one of the structure members does not
+	contain its expected value. */
+	#define listTEST_LIST_ITEM_INTEGRITY( pxItem )		configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
+	#define listTEST_LIST_INTEGRITY( pxList )			configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
+#endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */
+
+
+/*
+ * Definition of the only type of object that a list can contain.
+ */
+struct xLIST;
+struct xLIST_ITEM
+{
+	listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE			/*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+	configLIST_VOLATILE TickType_t xItemValue;			/*< The value being listed.  In most cases this is used to sort the list in descending order. */
+	struct xLIST_ITEM * configLIST_VOLATILE pxNext;		/*< Pointer to the next ListItem_t in the list. */
+	struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;	/*< Pointer to the previous ListItem_t in the list. */
+	void * pvOwner;										/*< Pointer to the object (normally a TCB) that contains the list item.  There is therefore a two way link between the object containing the list item and the list item itself. */
+	struct xLIST * configLIST_VOLATILE pxContainer;		/*< Pointer to the list in which this list item is placed (if any). */
+	listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE			/*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+};
+typedef struct xLIST_ITEM ListItem_t;					/* For some reason lint wants this as two separate definitions. */
+
+struct xMINI_LIST_ITEM
+{
+	listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE			/*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+	configLIST_VOLATILE TickType_t xItemValue;
+	struct xLIST_ITEM * configLIST_VOLATILE pxNext;
+	struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;
+};
+typedef struct xMINI_LIST_ITEM MiniListItem_t;
+
+/*
+ * Definition of the type of queue used by the scheduler.
+ */
+typedef struct xLIST
+{
+	listFIRST_LIST_INTEGRITY_CHECK_VALUE				/*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+	volatile UBaseType_t uxNumberOfItems;
+	ListItem_t * configLIST_VOLATILE pxIndex;			/*< Used to walk through the list.  Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */
+	MiniListItem_t xListEnd;							/*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */
+	listSECOND_LIST_INTEGRITY_CHECK_VALUE				/*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+} List_t;
+
+/*
+ * Access macro to set the owner of a list item.  The owner of a list item
+ * is the object (usually a TCB) that contains the list item.
+ *
+ * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
+ * \ingroup LinkedList
+ */
+#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner )		( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) )
+
+/*
+ * Access macro to get the owner of a list item.  The owner of a list item
+ * is the object (usually a TCB) that contains the list item.
+ *
+ * \page listGET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
+ * \ingroup LinkedList
+ */
+#define listGET_LIST_ITEM_OWNER( pxListItem )	( ( pxListItem )->pvOwner )
+
+/*
+ * Access macro to set the value of the list item.  In most cases the value is
+ * used to sort the list in descending order.
+ *
+ * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE
+ * \ingroup LinkedList
+ */
+#define listSET_LIST_ITEM_VALUE( pxListItem, xValue )	( ( pxListItem )->xItemValue = ( xValue ) )
+
+/*
+ * Access macro to retrieve the value of the list item.  The value can
+ * represent anything - for example the priority of a task, or the time at
+ * which a task should be unblocked.
+ *
+ * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
+ * \ingroup LinkedList
+ */
+#define listGET_LIST_ITEM_VALUE( pxListItem )	( ( pxListItem )->xItemValue )
+
+/*
+ * Access macro to retrieve the value of the list item at the head of a given
+ * list.
+ *
+ * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
+ * \ingroup LinkedList
+ */
+#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList )	( ( ( pxList )->xListEnd ).pxNext->xItemValue )
+
+/*
+ * Return the list item at the head of the list.
+ *
+ * \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY
+ * \ingroup LinkedList
+ */
+#define listGET_HEAD_ENTRY( pxList )	( ( ( pxList )->xListEnd ).pxNext )
+
+/*
+ * Return the next list item.
+ *
+ * \page listGET_NEXT listGET_NEXT
+ * \ingroup LinkedList
+ */
+#define listGET_NEXT( pxListItem )	( ( pxListItem )->pxNext )
+
+/*
+ * Return the list item that marks the end of the list
+ *
+ * \page listGET_END_MARKER listGET_END_MARKER
+ * \ingroup LinkedList
+ */
+#define listGET_END_MARKER( pxList )	( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) )
+
+/*
+ * Access macro to determine if a list contains any items.  The macro will
+ * only have the value true if the list is empty.
+ *
+ * \page listLIST_IS_EMPTY listLIST_IS_EMPTY
+ * \ingroup LinkedList
+ */
+#define listLIST_IS_EMPTY( pxList )	( ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) ? pdTRUE : pdFALSE )
+
+/*
+ * Access macro to return the number of items in the list.
+ */
+#define listCURRENT_LIST_LENGTH( pxList )	( ( pxList )->uxNumberOfItems )
+
+/*
+ * Access function to obtain the owner of the next entry in a list.
+ *
+ * The list member pxIndex is used to walk through a list.  Calling
+ * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list
+ * and returns that entry's pxOwner parameter.  Using multiple calls to this
+ * function it is therefore possible to move through every item contained in
+ * a list.
+ *
+ * The pxOwner parameter of a list item is a pointer to the object that owns
+ * the list item.  In the scheduler this is normally a task control block.
+ * The pxOwner parameter effectively creates a two way link between the list
+ * item and its owner.
+ *
+ * @param pxTCB pxTCB is set to the address of the owner of the next list item.
+ * @param pxList The list from which the next item owner is to be returned.
+ *
+ * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY
+ * \ingroup LinkedList
+ */
+#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList )										\
+{																							\
+List_t * const pxConstList = ( pxList );													\
+	/* Increment the index to the next item and return the item, ensuring */				\
+	/* we don't return the marker used at the end of the list.  */							\
+	( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext;							\
+	if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) )	\
+	{																						\
+		( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext;						\
+	}																						\
+	( pxTCB ) = ( pxConstList )->pxIndex->pvOwner;											\
+}
+
+
+/*
+ * Access function to obtain the owner of the first entry in a list.  Lists
+ * are normally sorted in ascending item value order.
+ *
+ * This function returns the pxOwner member of the first item in the list.
+ * The pxOwner parameter of a list item is a pointer to the object that owns
+ * the list item.  In the scheduler this is normally a task control block.
+ * The pxOwner parameter effectively creates a two way link between the list
+ * item and its owner.
+ *
+ * @param pxList The list from which the owner of the head item is to be
+ * returned.
+ *
+ * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY
+ * \ingroup LinkedList
+ */
+#define listGET_OWNER_OF_HEAD_ENTRY( pxList )  ( (&( ( pxList )->xListEnd ))->pxNext->pvOwner )
+
+/*
+ * Check to see if a list item is within a list.  The list item maintains a
+ * "container" pointer that points to the list it is in.  All this macro does
+ * is check to see if the container and the list match.
+ *
+ * @param pxList The list we want to know if the list item is within.
+ * @param pxListItem The list item we want to know if is in the list.
+ * @return pdTRUE if the list item is in the list, otherwise pdFALSE.
+ */
+#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( ( pxListItem )->pxContainer == ( pxList ) ) ? ( pdTRUE ) : ( pdFALSE ) )
+
+/*
+ * Return the list a list item is contained within (referenced from).
+ *
+ * @param pxListItem The list item being queried.
+ * @return A pointer to the List_t object that references the pxListItem
+ */
+#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pxContainer )
+
+/*
+ * This provides a crude means of knowing if a list has been initialised, as
+ * pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise()
+ * function.
+ */
+#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY )
+
+/*
+ * Must be called before a list is used!  This initialises all the members
+ * of the list structure and inserts the xListEnd item into the list as a
+ * marker to the back of the list.
+ *
+ * @param pxList Pointer to the list being initialised.
+ *
+ * \page vListInitialise vListInitialise
+ * \ingroup LinkedList
+ */
+void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION;
+
+/*
+ * Must be called before a list item is used.  This sets the list container to
+ * null so the item does not think that it is already contained in a list.
+ *
+ * @param pxItem Pointer to the list item being initialised.
+ *
+ * \page vListInitialiseItem vListInitialiseItem
+ * \ingroup LinkedList
+ */
+void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION;
+
+/*
+ * Insert a list item into a list.  The item will be inserted into the list in
+ * a position determined by its item value (descending item value order).
+ *
+ * @param pxList The list into which the item is to be inserted.
+ *
+ * @param pxNewListItem The item that is to be placed in the list.
+ *
+ * \page vListInsert vListInsert
+ * \ingroup LinkedList
+ */
+void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
+
+/*
+ * Insert a list item into a list.  The item will be inserted in a position
+ * such that it will be the last item within the list returned by multiple
+ * calls to listGET_OWNER_OF_NEXT_ENTRY.
+ *
+ * The list member pxIndex is used to walk through a list.  Calling
+ * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list.
+ * Placing an item in a list using vListInsertEnd effectively places the item
+ * in the list position pointed to by pxIndex.  This means that every other
+ * item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before
+ * the pxIndex parameter again points to the item being inserted.
+ *
+ * @param pxList The list into which the item is to be inserted.
+ *
+ * @param pxNewListItem The list item to be inserted into the list.
+ *
+ * \page vListInsertEnd vListInsertEnd
+ * \ingroup LinkedList
+ */
+void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
+
+/*
+ * Remove an item from a list.  The list item has a pointer to the list that
+ * it is in, so only the list item need be passed into the function.
+ *
+ * @param uxListRemove The item to be removed.  The item will remove itself from
+ * the list pointed to by it's pxContainer parameter.
+ *
+ * @return The number of items that remain in the list after the list item has
+ * been removed.
+ *
+ * \page uxListRemove uxListRemove
+ * \ingroup LinkedList
+ */
+UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h
@@ -0,0 +1,803 @@
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+/*
+ * Message buffers build functionality on top of FreeRTOS stream buffers.
+ * Whereas stream buffers are used to send a continuous stream of data from one
+ * task or interrupt to another, message buffers are used to send variable
+ * length discrete messages from one task or interrupt to another.  Their
+ * implementation is light weight, making them particularly suited for interrupt
+ * to task and core to core communication scenarios.
+ *
+ * ***NOTE***:  Uniquely among FreeRTOS objects, the stream buffer
+ * implementation (so also the message buffer implementation, as message buffers
+ * are built on top of stream buffers) assumes there is only one task or
+ * interrupt that will write to the buffer (the writer), and only one task or
+ * interrupt that will read from the buffer (the reader).  It is safe for the
+ * writer and reader to be different tasks or interrupts, but, unlike other
+ * FreeRTOS objects, it is not safe to have multiple different writers or
+ * multiple different readers.  If there are to be multiple different writers
+ * then the application writer must place each call to a writing API function
+ * (such as xMessageBufferSend()) inside a critical section and set the send
+ * block time to 0.  Likewise, if there are to be multiple different readers
+ * then the application writer must place each call to a reading API function
+ * (such as xMessageBufferRead()) inside a critical section and set the receive
+ * timeout to 0.
+ *
+ * Message buffers hold variable length messages.  To enable that, when a
+ * message is written to the message buffer an additional sizeof( size_t ) bytes
+ * are also written to store the message's length (that happens internally, with
+ * the API function).  sizeof( size_t ) is typically 4 bytes on a 32-bit
+ * architecture, so writing a 10 byte message to a message buffer on a 32-bit
+ * architecture will actually reduce the available space in the message buffer
+ * by 14 bytes (10 byte are used by the message, and 4 bytes to hold the length
+ * of the message).
+ */
+
+#ifndef FREERTOS_MESSAGE_BUFFER_H
+#define FREERTOS_MESSAGE_BUFFER_H
+
+#ifndef INC_FREERTOS_H
+	#error "include FreeRTOS.h must appear in source files before include message_buffer.h"
+#endif
+
+/* Message buffers are built onto of stream buffers. */
+#include "stream_buffer.h"
+
+#if defined( __cplusplus )
+extern "C" {
+#endif
+
+/**
+ * Type by which message buffers are referenced.  For example, a call to
+ * xMessageBufferCreate() returns an MessageBufferHandle_t variable that can
+ * then be used as a parameter to xMessageBufferSend(), xMessageBufferReceive(),
+ * etc.
+ */
+typedef void * MessageBufferHandle_t;
+
+/*-----------------------------------------------------------*/
+
+/**
+ * message_buffer.h
+ *
+<pre>
+MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes );
+</pre>
+ *
+ * Creates a new message buffer using dynamically allocated memory.  See
+ * xMessageBufferCreateStatic() for a version that uses statically allocated
+ * memory (memory that is allocated at compile time).
+ *
+ * configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 or left undefined in
+ * FreeRTOSConfig.h for xMessageBufferCreate() to be available.
+ *
+ * @param xBufferSizeBytes The total number of bytes (not messages) the message
+ * buffer will be able to hold at any one time.  When a message is written to
+ * the message buffer an additional sizeof( size_t ) bytes are also written to
+ * store the message's length.  sizeof( size_t ) is typically 4 bytes on a
+ * 32-bit architecture, so on most 32-bit architectures a 10 byte message will
+ * take up 14 bytes of message buffer space.
+ *
+ * @return If NULL is returned, then the message buffer cannot be created
+ * because there is insufficient heap memory available for FreeRTOS to allocate
+ * the message buffer data structures and storage area.  A non-NULL value being
+ * returned indicates that the message buffer has been created successfully -
+ * the returned value should be stored as the handle to the created message
+ * buffer.
+ *
+ * Example use:
+<pre>
+
+void vAFunction( void )
+{
+MessageBufferHandle_t xMessageBuffer;
+const size_t xMessageBufferSizeBytes = 100;
+
+    // Create a message buffer that can hold 100 bytes.  The memory used to hold
+    // both the message buffer structure and the messages themselves is allocated
+    // dynamically.  Each message added to the buffer consumes an additional 4
+    // bytes which are used to hold the lengh of the message.
+    xMessageBuffer = xMessageBufferCreate( xMessageBufferSizeBytes );
+
+    if( xMessageBuffer == NULL )
+    {
+        // There was not enough heap memory space available to create the
+        // message buffer.
+    }
+    else
+    {
+        // The message buffer was created successfully and can now be used.
+    }
+
+</pre>
+ * \defgroup xMessageBufferCreate xMessageBufferCreate
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferCreate( xBufferSizeBytes ) ( MessageBufferHandle_t ) xStreamBufferGenericCreate( xBufferSizeBytes, ( size_t ) 0, pdTRUE )
+
+/**
+ * message_buffer.h
+ *
+<pre>
+MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes,
+                                                  uint8_t *pucMessageBufferStorageArea,
+                                                  StaticMessageBuffer_t *pxStaticMessageBuffer );
+</pre>
+ * Creates a new message buffer using statically allocated memory.  See
+ * xMessageBufferCreate() for a version that uses dynamically allocated memory.
+ *
+ * @param xBufferSizeBytes The size, in bytes, of the buffer pointed to by the
+ * pucMessageBufferStorageArea parameter.  When a message is written to the
+ * message buffer an additional sizeof( size_t ) bytes are also written to store
+ * the message's length.  sizeof( size_t ) is typically 4 bytes on a 32-bit
+ * architecture, so on most 32-bit architecture a 10 byte message will take up
+ * 14 bytes of message buffer space.  The maximum number of bytes that can be
+ * stored in the message buffer is actually (xBufferSizeBytes - 1).
+ *
+ * @param pucMessageBufferStorageArea Must point to a uint8_t array that is at
+ * least xBufferSizeBytes + 1 big.  This is the array to which messages are
+ * copied when they are written to the message buffer.
+ *
+ * @param pxStaticMessageBuffer Must point to a variable of type
+ * StaticMessageBuffer_t, which will be used to hold the message buffer's data
+ * structure.
+ *
+ * @return If the message buffer is created successfully then a handle to the
+ * created message buffer is returned. If either pucMessageBufferStorageArea or
+ * pxStaticmessageBuffer are NULL then NULL is returned.
+ *
+ * Example use:
+<pre>
+
+// Used to dimension the array used to hold the messages.  The available space
+// will actually be one less than this, so 999.
+#define STORAGE_SIZE_BYTES 1000
+
+// Defines the memory that will actually hold the messages within the message
+// buffer.
+static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
+
+// The variable used to hold the message buffer structure.
+StaticMessageBuffer_t xMessageBufferStruct;
+
+void MyFunction( void )
+{
+MessageBufferHandle_t xMessageBuffer;
+
+    xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucBufferStorage ),
+                                                 ucBufferStorage,
+                                                 &xMessageBufferStruct );
+
+    // As neither the pucMessageBufferStorageArea or pxStaticMessageBuffer
+    // parameters were NULL, xMessageBuffer will not be NULL, and can be used to
+    // reference the created message buffer in other message buffer API calls.
+
+    // Other code that uses the message buffer can go here.
+}
+
+</pre>
+ * \defgroup xMessageBufferCreateStatic xMessageBufferCreateStatic
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) ( MessageBufferHandle_t ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, 0, pdTRUE, pucMessageBufferStorageArea, pxStaticMessageBuffer )
+
+/**
+ * message_buffer.h
+ *
+<pre>
+size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer,
+                           const void *pvTxData,
+                           size_t xDataLengthBytes,
+                           TickType_t xTicksToWait );
+<pre>
+ *
+ * Sends a discrete message to the message buffer.  The message can be any
+ * length that fits within the buffer's free space, and is copied into the
+ * buffer.
+ *
+ * ***NOTE***:  Uniquely among FreeRTOS objects, the stream buffer
+ * implementation (so also the message buffer implementation, as message buffers
+ * are built on top of stream buffers) assumes there is only one task or
+ * interrupt that will write to the buffer (the writer), and only one task or
+ * interrupt that will read from the buffer (the reader).  It is safe for the
+ * writer and reader to be different tasks or interrupts, but, unlike other
+ * FreeRTOS objects, it is not safe to have multiple different writers or
+ * multiple different readers.  If there are to be multiple different writers
+ * then the application writer must place each call to a writing API function
+ * (such as xMessageBufferSend()) inside a critical section and set the send
+ * block time to 0.  Likewise, if there are to be multiple different readers
+ * then the application writer must place each call to a reading API function
+ * (such as xMessageBufferRead()) inside a critical section and set the receive
+ * block time to 0.
+ *
+ * Use xMessageBufferSend() to write to a message buffer from a task.  Use
+ * xMessageBufferSendFromISR() to write to a message buffer from an interrupt
+ * service routine (ISR).
+ *
+ * @param xMessageBuffer The handle of the message buffer to which a message is
+ * being sent.
+ *
+ * @param pvTxData A pointer to the message that is to be copied into the
+ * message buffer.
+ *
+ * @param xDataLengthBytes The length of the message.  That is, the number of
+ * bytes to copy from pvTxData into the message buffer.  When a message is
+ * written to the message buffer an additional sizeof( size_t ) bytes are also
+ * written to store the message's length.  sizeof( size_t ) is typically 4 bytes
+ * on a 32-bit architecture, so on most 32-bit architecture setting
+ * xDataLengthBytes to 20 will reduce the free space in the message buffer by 24
+ * bytes (20 bytes of message data and 4 bytes to hold the message length).
+ *
+ * @param xTicksToWait The maximum amount of time the calling task should remain
+ * in the Blocked state to wait for enough space to become available in the
+ * message buffer, should the message buffer have insufficient space when
+ * xMessageBufferSend() is called.  The calling task will never block if
+ * xTicksToWait is zero.  The block time is specified in tick periods, so the
+ * absolute time it represents is dependent on the tick frequency.  The macro
+ * pdMS_TO_TICKS() can be used to convert a time specified in milliseconds into
+ * a time specified in ticks.  Setting xTicksToWait to portMAX_DELAY will cause
+ * the task to wait indefinitely (without timing out), provided
+ * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h.  Tasks do not use any
+ * CPU time when they are in the Blocked state.
+ *
+ * @return The number of bytes written to the message buffer.  If the call to
+ * xMessageBufferSend() times out before there was enough space to write the
+ * message into the message buffer then zero is returned.  If the call did not
+ * time out then xDataLengthBytes is returned.
+ *
+ * Example use:
+<pre>
+void vAFunction( MessageBufferHandle_t xMessageBuffer )
+{
+size_t xBytesSent;
+uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
+char *pcStringToSend = "String to send";
+const TickType_t x100ms = pdMS_TO_TICKS( 100 );
+
+    // Send an array to the message buffer, blocking for a maximum of 100ms to
+    // wait for enough space to be available in the message buffer.
+    xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
+
+    if( xBytesSent != sizeof( ucArrayToSend ) )
+    {
+        // The call to xMessageBufferSend() times out before there was enough
+        // space in the buffer for the data to be written.
+    }
+
+    // Send the string to the message buffer.  Return immediately if there is
+    // not enough space in the buffer.
+    xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
+
+    if( xBytesSent != strlen( pcStringToSend ) )
+    {
+        // The string could not be added to the message buffer because there was
+        // not enough free space in the buffer.
+    }
+}
+</pre>
+ * \defgroup xMessageBufferSend xMessageBufferSend
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferSend( xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) xStreamBufferSend( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait )
+
+/**
+ * message_buffer.h
+ *
+<pre>
+size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer,
+                                  const void *pvTxData,
+                                  size_t xDataLengthBytes,
+                                  BaseType_t *pxHigherPriorityTaskWoken );
+<pre>
+ *
+ * Interrupt safe version of the API function that sends a discrete message to
+ * the message buffer.  The message can be any length that fits within the
+ * buffer's free space, and is copied into the buffer.
+ *
+ * ***NOTE***:  Uniquely among FreeRTOS objects, the stream buffer
+ * implementation (so also the message buffer implementation, as message buffers
+ * are built on top of stream buffers) assumes there is only one task or
+ * interrupt that will write to the buffer (the writer), and only one task or
+ * interrupt that will read from the buffer (the reader).  It is safe for the
+ * writer and reader to be different tasks or interrupts, but, unlike other
+ * FreeRTOS objects, it is not safe to have multiple different writers or
+ * multiple different readers.  If there are to be multiple different writers
+ * then the application writer must place each call to a writing API function
+ * (such as xMessageBufferSend()) inside a critical section and set the send
+ * block time to 0.  Likewise, if there are to be multiple different readers
+ * then the application writer must place each call to a reading API function
+ * (such as xMessageBufferRead()) inside a critical section and set the receive
+ * block time to 0.
+ *
+ * Use xMessageBufferSend() to write to a message buffer from a task.  Use
+ * xMessageBufferSendFromISR() to write to a message buffer from an interrupt
+ * service routine (ISR).
+ *
+ * @param xMessageBuffer The handle of the message buffer to which a message is
+ * being sent.
+ *
+ * @param pvTxData A pointer to the message that is to be copied into the
+ * message buffer.
+ *
+ * @param xDataLengthBytes The length of the message.  That is, the number of
+ * bytes to copy from pvTxData into the message buffer.  When a message is
+ * written to the message buffer an additional sizeof( size_t ) bytes are also
+ * written to store the message's length.  sizeof( size_t ) is typically 4 bytes
+ * on a 32-bit architecture, so on most 32-bit architecture setting
+ * xDataLengthBytes to 20 will reduce the free space in the message buffer by 24
+ * bytes (20 bytes of message data and 4 bytes to hold the message length).
+ *
+ * @param pxHigherPriorityTaskWoken  It is possible that a message buffer will
+ * have a task blocked on it waiting for data.  Calling
+ * xMessageBufferSendFromISR() can make data available, and so cause a task that
+ * was waiting for data to leave the Blocked state.  If calling
+ * xMessageBufferSendFromISR() causes a task to leave the Blocked state, and the
+ * unblocked task has a priority higher than the currently executing task (the
+ * task that was interrupted), then, internally, xMessageBufferSendFromISR()
+ * will set *pxHigherPriorityTaskWoken to pdTRUE.  If
+ * xMessageBufferSendFromISR() sets this value to pdTRUE, then normally a
+ * context switch should be performed before the interrupt is exited.  This will
+ * ensure that the interrupt returns directly to the highest priority Ready
+ * state task.  *pxHigherPriorityTaskWoken should be set to pdFALSE before it
+ * is passed into the function.  See the code example below for an example.
+ *
+ * @return The number of bytes actually written to the message buffer.  If the
+ * message buffer didn't have enough free space for the message to be stored
+ * then 0 is returned, otherwise xDataLengthBytes is returned.
+ *
+ * Example use:
+<pre>
+// A message buffer that has already been created.
+MessageBufferHandle_t xMessageBuffer;
+
+void vAnInterruptServiceRoutine( void )
+{
+size_t xBytesSent;
+char *pcStringToSend = "String to send";
+BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
+
+    // Attempt to send the string to the message buffer.
+    xBytesSent = xMessageBufferSendFromISR( xMessageBuffer,
+                                            ( void * ) pcStringToSend,
+                                            strlen( pcStringToSend ),
+                                            &xHigherPriorityTaskWoken );
+
+    if( xBytesSent != strlen( pcStringToSend ) )
+    {
+        // The string could not be added to the message buffer because there was
+        // not enough free space in the buffer.
+    }
+
+    // If xHigherPriorityTaskWoken was set to pdTRUE inside
+    // xMessageBufferSendFromISR() then a task that has a priority above the
+    // priority of the currently executing task was unblocked and a context
+    // switch should be performed to ensure the ISR returns to the unblocked
+    // task.  In most FreeRTOS ports this is done by simply passing
+    // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
+    // variables value, and perform the context switch if necessary.  Check the
+    // documentation for the port in use for port specific instructions.
+    portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+}
+</pre>
+ * \defgroup xMessageBufferSendFromISR xMessageBufferSendFromISR
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferSendFromISR( xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) xStreamBufferSendFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken )
+
+/**
+ * message_buffer.h
+ *
+<pre>
+size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer,
+                              void *pvRxData,
+                              size_t xBufferLengthBytes,
+                              TickType_t xTicksToWait );
+</pre>
+ *
+ * Receives a discrete message from a message buffer.  Messages can be of
+ * variable length and are copied out of the buffer.
+ *
+ * ***NOTE***:  Uniquely among FreeRTOS objects, the stream buffer
+ * implementation (so also the message buffer implementation, as message buffers
+ * are built on top of stream buffers) assumes there is only one task or
+ * interrupt that will write to the buffer (the writer), and only one task or
+ * interrupt that will read from the buffer (the reader).  It is safe for the
+ * writer and reader to be different tasks or interrupts, but, unlike other
+ * FreeRTOS objects, it is not safe to have multiple different writers or
+ * multiple different readers.  If there are to be multiple different writers
+ * then the application writer must place each call to a writing API function
+ * (such as xMessageBufferSend()) inside a critical section and set the send
+ * block time to 0.  Likewise, if there are to be multiple different readers
+ * then the application writer must place each call to a reading API function
+ * (such as xMessageBufferRead()) inside a critical section and set the receive
+ * block time to 0.
+ *
+ * Use xMessageBufferReceive() to read from a message buffer from a task.  Use
+ * xMessageBufferReceiveFromISR() to read from a message buffer from an
+ * interrupt service routine (ISR).
+ *
+ * @param xMessageBuffer The handle of the message buffer from which a message
+ * is being received.
+ *
+ * @param pvRxData A pointer to the buffer into which the received message is
+ * to be copied.
+ *
+ * @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData
+ * parameter.  This sets the maximum length of the message that can be received.
+ * If xBufferLengthBytes is too small to hold the next message then the message
+ * will be left in the message buffer and 0 will be returned.
+ *
+ * @param xTicksToWait The maximum amount of time the task should remain in the
+ * Blocked state to wait for a message, should the message buffer be empty.
+ * xMessageBufferReceive() will return immediately if xTicksToWait is zero and
+ * the message buffer is empty.  The block time is specified in tick periods, so
+ * the absolute time it represents is dependent on the tick frequency.  The
+ * macro pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
+ * into a time specified in ticks.  Setting xTicksToWait to portMAX_DELAY will
+ * cause the task to wait indefinitely (without timing out), provided
+ * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h.  Tasks do not use any
+ * CPU time when they are in the Blocked state.
+ *
+ * @return The length, in bytes, of the message read from the message buffer, if
+ * any.  If xMessageBufferReceive() times out before a message became available
+ * then zero is returned.  If the length of the message is greater than
+ * xBufferLengthBytes then the message will be left in the message buffer and
+ * zero is returned.
+ *
+ * Example use:
+<pre>
+void vAFunction( MessageBuffer_t xMessageBuffer )
+{
+uint8_t ucRxData[ 20 ];
+size_t xReceivedBytes;
+const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
+
+    // Receive the next message from the message buffer.  Wait in the Blocked
+    // state (so not using any CPU processing time) for a maximum of 100ms for
+    // a message to become available.
+    xReceivedBytes = xMessageBufferReceive( xMessageBuffer,
+                                            ( void * ) ucRxData,
+                                            sizeof( ucRxData ),
+                                            xBlockTime );
+
+    if( xReceivedBytes > 0 )
+    {
+        // A ucRxData contains a message that is xReceivedBytes long.  Process
+        // the message here....
+    }
+}
+</pre>
+ * \defgroup xMessageBufferReceive xMessageBufferReceive
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferReceive( xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) xStreamBufferReceive( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait )
+
+
+/**
+ * message_buffer.h
+ *
+<pre>
+size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer,
+                                     void *pvRxData,
+                                     size_t xBufferLengthBytes,
+                                     BaseType_t *pxHigherPriorityTaskWoken );
+</pre>
+ *
+ * An interrupt safe version of the API function that receives a discrete
+ * message from a message buffer.  Messages can be of variable length and are
+ * copied out of the buffer.
+ *
+ * ***NOTE***:  Uniquely among FreeRTOS objects, the stream buffer
+ * implementation (so also the message buffer implementation, as message buffers
+ * are built on top of stream buffers) assumes there is only one task or
+ * interrupt that will write to the buffer (the writer), and only one task or
+ * interrupt that will read from the buffer (the reader).  It is safe for the
+ * writer and reader to be different tasks or interrupts, but, unlike other
+ * FreeRTOS objects, it is not safe to have multiple different writers or
+ * multiple different readers.  If there are to be multiple different writers
+ * then the application writer must place each call to a writing API function
+ * (such as xMessageBufferSend()) inside a critical section and set the send
+ * block time to 0.  Likewise, if there are to be multiple different readers
+ * then the application writer must place each call to a reading API function
+ * (such as xMessageBufferRead()) inside a critical section and set the receive
+ * block time to 0.
+ *
+ * Use xMessageBufferReceive() to read from a message buffer from a task.  Use
+ * xMessageBufferReceiveFromISR() to read from a message buffer from an
+ * interrupt service routine (ISR).
+ *
+ * @param xMessageBuffer The handle of the message buffer from which a message
+ * is being received.
+ *
+ * @param pvRxData A pointer to the buffer into which the received message is
+ * to be copied.
+ *
+ * @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData
+ * parameter.  This sets the maximum length of the message that can be received.
+ * If xBufferLengthBytes is too small to hold the next message then the message
+ * will be left in the message buffer and 0 will be returned.
+ *
+ * @param pxHigherPriorityTaskWoken  It is possible that a message buffer will
+ * have a task blocked on it waiting for space to become available.  Calling
+ * xMessageBufferReceiveFromISR() can make space available, and so cause a task
+ * that is waiting for space to leave the Blocked state.  If calling
+ * xMessageBufferReceiveFromISR() causes a task to leave the Blocked state, and
+ * the unblocked task has a priority higher than the currently executing task
+ * (the task that was interrupted), then, internally,
+ * xMessageBufferReceiveFromISR() will set *pxHigherPriorityTaskWoken to pdTRUE.
+ * If xMessageBufferReceiveFromISR() sets this value to pdTRUE, then normally a
+ * context switch should be performed before the interrupt is exited.  That will
+ * ensure the interrupt returns directly to the highest priority Ready state
+ * task.  *pxHigherPriorityTaskWoken should be set to pdFALSE before it is
+ * passed into the function.  See the code example below for an example.
+ *
+ * @return The length, in bytes, of the message read from the message buffer, if
+ * any.
+ *
+ * Example use:
+<pre>
+// A message buffer that has already been created.
+MessageBuffer_t xMessageBuffer;
+
+void vAnInterruptServiceRoutine( void )
+{
+uint8_t ucRxData[ 20 ];
+size_t xReceivedBytes;
+BaseType_t xHigherPriorityTaskWoken = pdFALSE;  // Initialised to pdFALSE.
+
+    // Receive the next message from the message buffer.
+    xReceivedBytes = xMessageBufferReceiveFromISR( xMessageBuffer,
+                                                  ( void * ) ucRxData,
+                                                  sizeof( ucRxData ),
+                                                  &xHigherPriorityTaskWoken );
+
+    if( xReceivedBytes > 0 )
+    {
+        // A ucRxData contains a message that is xReceivedBytes long.  Process
+        // the message here....
+    }
+
+    // If xHigherPriorityTaskWoken was set to pdTRUE inside
+    // xMessageBufferReceiveFromISR() then a task that has a priority above the
+    // priority of the currently executing task was unblocked and a context
+    // switch should be performed to ensure the ISR returns to the unblocked
+    // task.  In most FreeRTOS ports this is done by simply passing
+    // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
+    // variables value, and perform the context switch if necessary.  Check the
+    // documentation for the port in use for port specific instructions.
+    portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+}
+</pre>
+ * \defgroup xMessageBufferReceiveFromISR xMessageBufferReceiveFromISR
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferReceiveFromISR( xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) xStreamBufferReceiveFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken )
+
+/**
+ * message_buffer.h
+ *
+<pre>
+void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer );
+</pre>
+ *
+ * Deletes a message buffer that was previously created using a call to
+ * xMessageBufferCreate() or xMessageBufferCreateStatic().  If the message
+ * buffer was created using dynamic memory (that is, by xMessageBufferCreate()),
+ * then the allocated memory is freed.
+ *
+ * A message buffer handle must not be used after the message buffer has been
+ * deleted.
+ *
+ * @param xMessageBuffer The handle of the message buffer to be deleted.
+ *
+ */
+#define vMessageBufferDelete( xMessageBuffer ) vStreamBufferDelete( ( StreamBufferHandle_t ) xMessageBuffer )
+
+/**
+ * message_buffer.h
+<pre>
+BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer ) );
+</pre>
+ *
+ * Tests to see if a message buffer is full.  A message buffer is full if it
+ * cannot accept any more messages, of any size, until space is made available
+ * by a message being removed from the message buffer.
+ *
+ * @param xMessageBuffer The handle of the message buffer being queried.
+ *
+ * @return If the message buffer referenced by xMessageBuffer is full then
+ * pdTRUE is returned.  Otherwise pdFALSE is returned.
+ */
+#define xMessageBufferIsFull( xMessageBuffer ) xStreamBufferIsFull( ( StreamBufferHandle_t ) xMessageBuffer )
+
+/**
+ * message_buffer.h
+<pre>
+BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer ) );
+</pre>
+ *
+ * Tests to see if a message buffer is empty (does not contain any messages).
+ *
+ * @param xMessageBuffer The handle of the message buffer being queried.
+ *
+ * @return If the message buffer referenced by xMessageBuffer is empty then
+ * pdTRUE is returned.  Otherwise pdFALSE is returned.
+ *
+ */
+#define xMessageBufferIsEmpty( xMessageBuffer ) xStreamBufferIsEmpty( ( StreamBufferHandle_t ) xMessageBuffer )
+
+/**
+ * message_buffer.h
+<pre>
+BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
+</pre>
+ *
+ * Resets a message buffer to its initial empty state, discarding any message it
+ * contained.
+ *
+ * A message buffer can only be reset if there are no tasks blocked on it.
+ *
+ * @param xMessageBuffer The handle of the message buffer being reset.
+ *
+ * @return If the message buffer was reset then pdPASS is returned.  If the
+ * message buffer could not be reset because either there was a task blocked on
+ * the message queue to wait for space to become available, or to wait for a
+ * a message to be available, then pdFAIL is returned.
+ *
+ * \defgroup xMessageBufferReset xMessageBufferReset
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferReset( xMessageBuffer ) xStreamBufferReset( ( StreamBufferHandle_t ) xMessageBuffer )
+
+
+/**
+ * message_buffer.h
+<pre>
+size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer ) );
+</pre>
+ * Returns the number of bytes of free space in the message buffer.
+ *
+ * @param xMessageBuffer The handle of the message buffer being queried.
+ *
+ * @return The number of bytes that can be written to the message buffer before
+ * the message buffer would be full.  When a message is written to the message
+ * buffer an additional sizeof( size_t ) bytes are also written to store the
+ * message's length.  sizeof( size_t ) is typically 4 bytes on a 32-bit
+ * architecture, so if xMessageBufferSpacesAvailable() returns 10, then the size
+ * of the largest message that can be written to the message buffer is 6 bytes.
+ *
+ * \defgroup xMessageBufferSpaceAvailable xMessageBufferSpaceAvailable
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferSpaceAvailable( xMessageBuffer ) xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer )
+#define xMessageBufferSpacesAvailable( xMessageBuffer ) xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) /* Corrects typo in original macro name. */
+
+/**
+ * message_buffer.h
+ <pre>
+ size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer ) );
+ </pre>
+ * Returns the length (in bytes) of the next message in a message buffer.
+ * Useful if xMessageBufferReceive() returned 0 because the size of the buffer
+ * passed into xMessageBufferReceive() was too small to hold the next message.
+ *
+ * @param xMessageBuffer The handle of the message buffer being queried.
+ *
+ * @return The length (in bytes) of the next message in the message buffer, or 0
+ * if the message buffer is empty.
+ *
+ * \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferNextLengthBytes( xMessageBuffer ) xStreamBufferNextMessageLengthBytes( ( StreamBufferHandle_t ) xMessageBuffer ) PRIVILEGED_FUNCTION;
+
+/**
+ * message_buffer.h
+ *
+<pre>
+BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+</pre>
+ *
+ * For advanced users only.
+ *
+ * The sbSEND_COMPLETED() macro is called from within the FreeRTOS APIs when
+ * data is sent to a message buffer or stream buffer.  If there was a task that
+ * was blocked on the message or stream buffer waiting for data to arrive then
+ * the sbSEND_COMPLETED() macro sends a notification to the task to remove it
+ * from the Blocked state.  xMessageBufferSendCompletedFromISR() does the same
+ * thing.  It is provided to enable application writers to implement their own
+ * version of sbSEND_COMPLETED(), and MUST NOT BE USED AT ANY OTHER TIME.
+ *
+ * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
+ * additional information.
+ *
+ * @param xStreamBuffer The handle of the stream buffer to which data was
+ * written.
+ *
+ * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
+ * initialised to pdFALSE before it is passed into
+ * xMessageBufferSendCompletedFromISR().  If calling
+ * xMessageBufferSendCompletedFromISR() removes a task from the Blocked state,
+ * and the task has a priority above the priority of the currently running task,
+ * then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
+ * context switch should be performed before exiting the ISR.
+ *
+ * @return If a task was removed from the Blocked state then pdTRUE is returned.
+ * Otherwise pdFALSE is returned.
+ *
+ * \defgroup xMessageBufferSendCompletedFromISR xMessageBufferSendCompletedFromISR
+ * \ingroup StreamBufferManagement
+ */
+#define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferSendCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken )
+
+/**
+ * message_buffer.h
+ *
+<pre>
+BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+</pre>
+ *
+ * For advanced users only.
+ *
+ * The sbRECEIVE_COMPLETED() macro is called from within the FreeRTOS APIs when
+ * data is read out of a message buffer or stream buffer.  If there was a task
+ * that was blocked on the message or stream buffer waiting for data to arrive
+ * then the sbRECEIVE_COMPLETED() macro sends a notification to the task to
+ * remove it from the Blocked state.  xMessageBufferReceiveCompletedFromISR()
+ * does the same thing.  It is provided to enable application writers to
+ * implement their own version of sbRECEIVE_COMPLETED(), and MUST NOT BE USED AT
+ * ANY OTHER TIME.
+ *
+ * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
+ * additional information.
+ *
+ * @param xStreamBuffer The handle of the stream buffer from which data was
+ * read.
+ *
+ * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
+ * initialised to pdFALSE before it is passed into
+ * xMessageBufferReceiveCompletedFromISR().  If calling
+ * xMessageBufferReceiveCompletedFromISR() removes a task from the Blocked state,
+ * and the task has a priority above the priority of the currently running task,
+ * then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
+ * context switch should be performed before exiting the ISR.
+ *
+ * @return If a task was removed from the Blocked state then pdTRUE is returned.
+ * Otherwise pdFALSE is returned.
+ *
+ * \defgroup xMessageBufferReceiveCompletedFromISR xMessageBufferReceiveCompletedFromISR
+ * \ingroup StreamBufferManagement
+ */
+#define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferReceiveCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken )
+
+#if defined( __cplusplus )
+} /* extern "C" */
+#endif
+
+#endif	/* !defined( FREERTOS_MESSAGE_BUFFER_H ) */
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h
@@ -0,0 +1,160 @@
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/*
+ * When the MPU is used the standard (non MPU) API functions are mapped to
+ * equivalents that start "MPU_", the prototypes for which are defined in this
+ * header files.  This will cause the application code to call the MPU_ version
+ * which wraps the non-MPU version with privilege promoting then demoting code,
+ * so the kernel code always runs will full privileges.
+ */
+
+
+#ifndef MPU_PROTOTYPES_H
+#define MPU_PROTOTYPES_H
+
+/* MPU versions of tasks.h API functions. */
+BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask ) FREERTOS_SYSTEM_CALL;
+TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskDelay( const TickType_t xTicksToDelay ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+eTaskState MPU_eTaskGetState( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskSuspend( TaskHandle_t xTaskToSuspend ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskResume( TaskHandle_t xTaskToResume ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskStartScheduler( void ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskSuspendAll( void ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskResumeAll( void ) FREERTOS_SYSTEM_CALL;
+TickType_t MPU_xTaskGetTickCount( void ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxTaskGetNumberOfTasks( void ) FREERTOS_SYSTEM_CALL;
+char * MPU_pcTaskGetName( TaskHandle_t xTaskToQuery ) FREERTOS_SYSTEM_CALL;
+TaskHandle_t MPU_xTaskGetHandle( const char *pcNameToQuery ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+configSTACK_DEPTH_TYPE MPU_uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction ) FREERTOS_SYSTEM_CALL;
+TaskHookFunction_t MPU_xTaskGetApplicationTaskTag( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) FREERTOS_SYSTEM_CALL;
+void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) FREERTOS_SYSTEM_CALL;
+TaskHandle_t MPU_xTaskGetIdleTaskHandle( void ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) FREERTOS_SYSTEM_CALL;
+uint32_t MPU_ulTaskGetIdleRunTimeCounter( void ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskList( char * pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskGetRunTimeStats( char *pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+uint32_t MPU_ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskNotifyStateClear( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+uint32_t MPU_ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskIncrementTick( void ) FREERTOS_SYSTEM_CALL;
+TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskMissedYield( void ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskGetSchedulerState( void ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) FREERTOS_SYSTEM_CALL;
+
+/* MPU versions of queue.h API functions. */
+BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxQueueMessagesWaiting( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxQueueSpacesAvailable( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+void MPU_vQueueDelete( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
+QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue ) FREERTOS_SYSTEM_CALL;
+QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount ) FREERTOS_SYSTEM_CALL;
+QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue ) FREERTOS_SYSTEM_CALL;
+TaskHandle_t MPU_xQueueGetMutexHolder( QueueHandle_t xSemaphore ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueGiveMutexRecursive( QueueHandle_t pxMutex ) FREERTOS_SYSTEM_CALL;
+void MPU_vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcName ) FREERTOS_SYSTEM_CALL;
+void MPU_vQueueUnregisterQueue( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+const char * MPU_pcQueueGetName( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
+QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
+QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
+QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue ) FREERTOS_SYSTEM_CALL;
+void MPU_vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxQueueGetQueueNumber( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+
+/* MPU versions of timers.h API functions. */
+TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction ) FREERTOS_SYSTEM_CALL;
+TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, StaticTimer_t *pxTimerBuffer ) FREERTOS_SYSTEM_CALL;
+void * MPU_pvTimerGetTimerID( const TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
+void MPU_vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTimerIsTimerActive( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
+TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+const char * MPU_pcTimerGetName( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
+void MPU_vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
+TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
+TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTimerCreateTimerTask( void ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+
+/* MPU versions of event_group.h API functions. */
+EventGroupHandle_t MPU_xEventGroupCreate( void ) FREERTOS_SYSTEM_CALL;
+EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer ) FREERTOS_SYSTEM_CALL;
+EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) FREERTOS_SYSTEM_CALL;
+EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) FREERTOS_SYSTEM_CALL;
+EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxEventGroupGetNumber( void* xEventGroup ) FREERTOS_SYSTEM_CALL;
+
+/* MPU versions of message/stream_buffer.h API functions. */
+size_t MPU_xStreamBufferSend( StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t xDataLengthBytes, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+size_t MPU_xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t xBufferLengthBytes, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+size_t MPU_xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+size_t MPU_xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+size_t MPU_xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel ) FREERTOS_SYSTEM_CALL;
+StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes, BaseType_t xIsMessageBuffer ) FREERTOS_SYSTEM_CALL;
+StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes, size_t xTriggerLevelBytes, BaseType_t xIsMessageBuffer, uint8_t * const pucStreamBufferStorageArea, StaticStreamBuffer_t * const pxStaticStreamBuffer ) FREERTOS_SYSTEM_CALL;
+
+
+
+#endif /* MPU_PROTOTYPES_H */
+
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
@@ -0,0 +1,189 @@
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef MPU_WRAPPERS_H
+#define MPU_WRAPPERS_H
+
+/* This file redefines API functions to be called through a wrapper macro, but
+only for ports that are using the MPU. */
+#ifdef portUSING_MPU_WRAPPERS
+
+	/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
+	included from queue.c or task.c to prevent it from having an effect within
+	those files. */
+	#ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+		/*
+		 * Map standard (non MPU) API functions to equivalents that start
+		 * "MPU_".  This will cause the application code to call the MPU_
+		 * version, which wraps the non-MPU version with privilege promoting
+		 * then demoting code, so the kernel code always runs will full
+		 * privileges.
+		 */
+
+		/* Map standard tasks.h API functions to the MPU equivalents. */
+		#define xTaskCreate								MPU_xTaskCreate
+		#define xTaskCreateStatic						MPU_xTaskCreateStatic
+		#define xTaskCreateRestricted					MPU_xTaskCreateRestricted
+		#define vTaskAllocateMPURegions					MPU_vTaskAllocateMPURegions
+		#define vTaskDelete								MPU_vTaskDelete
+		#define vTaskDelay								MPU_vTaskDelay
+		#define vTaskDelayUntil							MPU_vTaskDelayUntil
+		#define xTaskAbortDelay							MPU_xTaskAbortDelay
+		#define uxTaskPriorityGet						MPU_uxTaskPriorityGet
+		#define eTaskGetState							MPU_eTaskGetState
+		#define vTaskGetInfo							MPU_vTaskGetInfo
+		#define vTaskPrioritySet						MPU_vTaskPrioritySet
+		#define vTaskSuspend							MPU_vTaskSuspend
+		#define vTaskResume								MPU_vTaskResume
+		#define vTaskSuspendAll							MPU_vTaskSuspendAll
+		#define xTaskResumeAll							MPU_xTaskResumeAll
+		#define xTaskGetTickCount						MPU_xTaskGetTickCount
+		#define uxTaskGetNumberOfTasks					MPU_uxTaskGetNumberOfTasks
+		#define pcTaskGetName							MPU_pcTaskGetName
+		#define xTaskGetHandle							MPU_xTaskGetHandle
+		#define uxTaskGetStackHighWaterMark				MPU_uxTaskGetStackHighWaterMark
+		#define uxTaskGetStackHighWaterMark2			MPU_uxTaskGetStackHighWaterMark2
+		#define vTaskSetApplicationTaskTag				MPU_vTaskSetApplicationTaskTag
+		#define xTaskGetApplicationTaskTag				MPU_xTaskGetApplicationTaskTag
+		#define vTaskSetThreadLocalStoragePointer		MPU_vTaskSetThreadLocalStoragePointer
+		#define pvTaskGetThreadLocalStoragePointer		MPU_pvTaskGetThreadLocalStoragePointer
+		#define xTaskCallApplicationTaskHook			MPU_xTaskCallApplicationTaskHook
+		#define xTaskGetIdleTaskHandle					MPU_xTaskGetIdleTaskHandle
+		#define uxTaskGetSystemState					MPU_uxTaskGetSystemState
+		#define vTaskList								MPU_vTaskList
+		#define vTaskGetRunTimeStats					MPU_vTaskGetRunTimeStats
+		#define ulTaskGetIdleRunTimeCounter				MPU_ulTaskGetIdleRunTimeCounter
+		#define xTaskGenericNotify						MPU_xTaskGenericNotify
+		#define xTaskNotifyWait							MPU_xTaskNotifyWait
+		#define ulTaskNotifyTake						MPU_ulTaskNotifyTake
+		#define xTaskNotifyStateClear					MPU_xTaskNotifyStateClear
+		#define ulTaskNotifyValueClear					MPU_ulTaskNotifyValueClear
+		#define xTaskCatchUpTicks						MPU_xTaskCatchUpTicks
+
+		#define xTaskGetCurrentTaskHandle				MPU_xTaskGetCurrentTaskHandle
+		#define vTaskSetTimeOutState					MPU_vTaskSetTimeOutState
+		#define xTaskCheckForTimeOut					MPU_xTaskCheckForTimeOut
+		#define xTaskGetSchedulerState					MPU_xTaskGetSchedulerState
+
+		/* Map standard queue.h API functions to the MPU equivalents. */
+		#define xQueueGenericSend						MPU_xQueueGenericSend
+		#define xQueueReceive							MPU_xQueueReceive
+		#define xQueuePeek								MPU_xQueuePeek
+		#define xQueueSemaphoreTake						MPU_xQueueSemaphoreTake
+		#define uxQueueMessagesWaiting					MPU_uxQueueMessagesWaiting
+		#define uxQueueSpacesAvailable					MPU_uxQueueSpacesAvailable
+		#define vQueueDelete							MPU_vQueueDelete
+		#define xQueueCreateMutex						MPU_xQueueCreateMutex
+		#define xQueueCreateMutexStatic					MPU_xQueueCreateMutexStatic
+		#define xQueueCreateCountingSemaphore			MPU_xQueueCreateCountingSemaphore
+		#define xQueueCreateCountingSemaphoreStatic		MPU_xQueueCreateCountingSemaphoreStatic
+		#define xQueueGetMutexHolder					MPU_xQueueGetMutexHolder
+		#define xQueueTakeMutexRecursive				MPU_xQueueTakeMutexRecursive
+		#define xQueueGiveMutexRecursive				MPU_xQueueGiveMutexRecursive
+		#define xQueueGenericCreate						MPU_xQueueGenericCreate
+		#define xQueueGenericCreateStatic				MPU_xQueueGenericCreateStatic
+		#define xQueueCreateSet							MPU_xQueueCreateSet
+		#define xQueueAddToSet							MPU_xQueueAddToSet
+		#define xQueueRemoveFromSet						MPU_xQueueRemoveFromSet
+		#define xQueueSelectFromSet						MPU_xQueueSelectFromSet
+		#define xQueueGenericReset						MPU_xQueueGenericReset
+
+		#if( configQUEUE_REGISTRY_SIZE > 0 )
+			#define vQueueAddToRegistry						MPU_vQueueAddToRegistry
+			#define vQueueUnregisterQueue					MPU_vQueueUnregisterQueue
+			#define pcQueueGetName							MPU_pcQueueGetName
+		#endif
+
+		/* Map standard timer.h API functions to the MPU equivalents. */
+		#define xTimerCreate							MPU_xTimerCreate
+		#define xTimerCreateStatic						MPU_xTimerCreateStatic
+		#define pvTimerGetTimerID						MPU_pvTimerGetTimerID
+		#define vTimerSetTimerID						MPU_vTimerSetTimerID
+		#define xTimerIsTimerActive						MPU_xTimerIsTimerActive
+		#define xTimerGetTimerDaemonTaskHandle			MPU_xTimerGetTimerDaemonTaskHandle
+		#define xTimerPendFunctionCall					MPU_xTimerPendFunctionCall
+		#define pcTimerGetName							MPU_pcTimerGetName
+		#define vTimerSetReloadMode						MPU_vTimerSetReloadMode
+		#define uxTimerGetReloadMode					MPU_uxTimerGetReloadMode
+		#define xTimerGetPeriod							MPU_xTimerGetPeriod
+		#define xTimerGetExpiryTime						MPU_xTimerGetExpiryTime
+		#define xTimerGenericCommand					MPU_xTimerGenericCommand
+
+		/* Map standard event_group.h API functions to the MPU equivalents. */
+		#define xEventGroupCreate						MPU_xEventGroupCreate
+		#define xEventGroupCreateStatic					MPU_xEventGroupCreateStatic
+		#define xEventGroupWaitBits						MPU_xEventGroupWaitBits
+		#define xEventGroupClearBits					MPU_xEventGroupClearBits
+		#define xEventGroupSetBits						MPU_xEventGroupSetBits
+		#define xEventGroupSync							MPU_xEventGroupSync
+		#define vEventGroupDelete						MPU_vEventGroupDelete
+
+		/* Map standard message/stream_buffer.h API functions to the MPU
+		equivalents. */
+		#define xStreamBufferSend						MPU_xStreamBufferSend
+		#define xStreamBufferReceive					MPU_xStreamBufferReceive
+		#define xStreamBufferNextMessageLengthBytes		MPU_xStreamBufferNextMessageLengthBytes
+		#define vStreamBufferDelete						MPU_vStreamBufferDelete
+		#define xStreamBufferIsFull						MPU_xStreamBufferIsFull
+		#define xStreamBufferIsEmpty					MPU_xStreamBufferIsEmpty
+		#define xStreamBufferReset						MPU_xStreamBufferReset
+		#define xStreamBufferSpacesAvailable			MPU_xStreamBufferSpacesAvailable
+		#define xStreamBufferBytesAvailable				MPU_xStreamBufferBytesAvailable
+		#define xStreamBufferSetTriggerLevel			MPU_xStreamBufferSetTriggerLevel
+		#define xStreamBufferGenericCreate				MPU_xStreamBufferGenericCreate
+		#define xStreamBufferGenericCreateStatic		MPU_xStreamBufferGenericCreateStatic
+
+
+		/* Remove the privileged function macro, but keep the PRIVILEGED_DATA
+		macro so applications can place data in privileged access sections
+		(useful when using statically allocated objects). */
+		#define PRIVILEGED_FUNCTION
+		#define PRIVILEGED_DATA __attribute__((section("privileged_data")))
+		#define FREERTOS_SYSTEM_CALL
+
+	#else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
+
+		/* Ensure API functions go in the privileged execution section. */
+		#define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions")))
+		#define PRIVILEGED_DATA __attribute__((section("privileged_data")))
+		#define FREERTOS_SYSTEM_CALL __attribute__((section( "freertos_system_calls")))
+
+	#endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
+
+#else /* portUSING_MPU_WRAPPERS */
+
+	#define PRIVILEGED_FUNCTION
+	#define PRIVILEGED_DATA
+	#define FREERTOS_SYSTEM_CALL
+	#define portUSING_MPU_WRAPPERS 0
+
+#endif /* portUSING_MPU_WRAPPERS */
+
+
+#endif /* MPU_WRAPPERS_H */
+
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
wandering1	78eff31de7	文档结构调整	2026-08-28 22:02:24 +08:00
wandering1	565f23ea18	时钟测试完毕	2026-08-28 21:59:04 +08:00
wandering1	02a05a7a63	时间终于同步，存储成功	2026-08-28 21:10:51 +08:00
wandering1	4e9ac0d9c3	时间同步已经完成	2026-08-28 16:42:44 +08:00
wandering1	615a9b13e9	FTP 测试通过	2026-08-28 12:22:10 +08:00
wandering1	cf33171c8f	存储测试通过	2026-08-27 18:22:44 +08:00
wandering1	88160a5134	网络主要内容测试完成	2026-08-26 13:54:52 +08:00
wandering1	0a707034cc	删除多连接内容，只支持单连接	2026-08-25 12:41:33 +08:00
wandering1	d6bc3f6253	修改一些注释	2026-08-25 11:49:31 +08:00
wandering1	4375873083	CH395F 硬件测试完毕	2026-08-24 16:16:18 +08:00
wandering1	fc88bc8752	构建测试	2026-08-22 19:53:24 +08:00
wandering1	a7f367f6a3	修改测试	2026-07-22 11:14:22 +08:00
wandering1	c646df5c2a	FTP可以上传文件	2026-07-22 01:46:29 +08:00
wandering1	038a2542af	测试程序可以使用	2026-07-21 23:05:20 +08:00
wandering1	46a74f24f3	FTP可以连接成功	2026-07-21 22:42:39 +08:00
wandering1	75cf4c9fbf	成功启动	2026-07-21 22:24:47 +08:00
wandering1	6d404d136e	初始创建FTP服务器	2026-07-21 22:08:11 +08:00
wandering1	d48be81478	删除FlashDB	2026-07-21 21:48:23 +08:00
wandering1	66a1e8fd6a	解决一个擦除的bug	2026-07-21 20:18:28 +08:00
wandering1	f50b9c9e66	修改网络的初始化，异步支持问题	2026-07-21 01:22:09 +08:00
wandering1	fbe0726991	增加文件系统	2026-07-21 00:30:59 +08:00
wandering1	e06d849007	修复多连接的问题	2026-07-19 15:27:49 +08:00
wandering1	9ed4c22022	freeRTOS支持	2026-07-19 13:09:06 +08:00
wandering1	4eb728583b	通过测试排除了一些问题	2026-07-19 04:32:18 +08:00
wandering1	1669cd216d	增加调试打印输出	2026-07-19 01:18:33 +08:00
wandering1	f72d08328f	TCP可以正常使用	2026-07-19 00:59:56 +08:00
				`@@ -0,0 +1 @@`
				`@echo off && cd /d "%~dp0" && C:\Keil_v5\UV4\UV4.exe -r "STM32F407-Demo.uvprojx" -t STM32F407-Demo -j0`