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diff --git a/src/osal/osal_freertos.h b/src/osal/osal_freertos.h
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+++ b/src/osal/osal_freertos.h
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+/**************************************************************************/
+/*!
+    @file     osal_freeRTOS.h
+    @author   hathach (tinyusb.org)
+
+    @section LICENSE
+
+    Software License Agreement (BSD License)
+
+    Copyright (c) 2013, hathach (tinyusb.org)
+    All rights reserved.
+
+    Redistribution and use in source and binary forms, with or without
+    modification, are permitted provided that the following conditions are met:
+    1. Redistributions of source code must retain the above copyright
+    notice, this list of conditions and the following disclaimer.
+    2. Redistributions in binary form must reproduce the above copyright
+    notice, this list of conditions and the following disclaimer in the
+    documentation and/or other materials provided with the distribution.
+    3. Neither the name of the copyright holders nor the
+    names of its contributors may be used to endorse or promote products
+    derived from this software without specific prior written permission.
+
+    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+    DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+    INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION HOWEVER CAUSED AND
+    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+    INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS
+    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+    This file is part of the tinyusb stack.
+*/
+/**************************************************************************/
+
+/** \ingroup group_osal
+ * @{
+ *  \defgroup Group_FreeRTOS  FreeRTOS
+ *  @{ */
+
+#ifndef _TUSB_OSAL_FREERTOS_H_
+#define _TUSB_OSAL_FREERTOS_H_
+
+//------------- FreeRTOS Headers -------------//
+#include "FreeRTOS.h"
+#include "semphr.h"
+#include "queue.h"
+#include "task.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if 0
+// Helper to determine if we are in ISR to use ISR API (only cover ARM Cortex)
+static inline bool in_isr(void)
+{
+  return (SCB->ICSR & SCB_ICSR_VECTACTIVE_Msk);
+}
+#endif
+
+//--------------------------------------------------------------------+
+// TASK API
+//--------------------------------------------------------------------+
+#define OSAL_TASK_DEF(_name, _str, _func, _prio, _stack_sz) \
+  uint8_t _name##_##buf[_stack_sz*sizeof(StackType_t)]; \
+  osal_task_def_t _name = { .func = _func, .prio = _prio, .stack_sz = _stack_sz, .buf = _name##_##buf, .strname = _str };
+
+typedef struct
+{
+  osal_task_func_t func;
+
+  uint16_t prio;
+  uint16_t stack_sz;
+  void*    buf;
+  const char* strname;
+
+  StaticTask_t stask;
+}osal_task_def_t;
+
+typedef TaskHandle_t osal_task_t;
+
+static inline osal_task_t osal_task_create(osal_task_def_t* taskdef)
+{
+  return xTaskCreateStatic(taskdef->func, taskdef->strname, taskdef->stack_sz, NULL, taskdef->prio, (StackType_t*) taskdef->buf, &taskdef->stask);
+}
+
+static inline void osal_task_delay(uint32_t msec)
+{
+  vTaskDelay( pdMS_TO_TICKS(msec) );
+}
+
+//--------------------------------------------------------------------+
+// QUEUE API
+//--------------------------------------------------------------------+
+#define OSAL_QUEUE_DEF(_name, _depth, _type) \
+  uint8_t _name##_##buf[_depth*sizeof(_type)];\
+  osal_queue_def_t _name = { .depth = _depth, .item_sz = sizeof(_type), .buf = _name##_##buf };
+
+typedef struct
+{
+  uint16_t depth;
+  uint16_t item_sz;
+  void*    buf;
+
+  StaticQueue_t sq;
+}osal_queue_def_t;
+
+typedef QueueHandle_t osal_queue_t;
+
+static inline osal_queue_t osal_queue_create(osal_queue_def_t* qdef)
+{
+  return xQueueCreateStatic(qdef->depth, qdef->item_sz, (uint8_t*) qdef->buf, &qdef->sq);
+}
+
+static inline void osal_queue_receive (osal_queue_t const queue_hdl, void *p_data, uint32_t msec, tusb_error_t *p_error)
+{
+  uint32_t const ticks = (msec == OSAL_TIMEOUT_WAIT_FOREVER) ? portMAX_DELAY : pdMS_TO_TICKS(msec);
+  (*p_error) = ( xQueueReceive(queue_hdl, p_data, ticks) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_TIMEOUT);
+}
+
+static inline bool osal_queue_send_isr(osal_queue_t const queue_hdl, void const * data)
+{
+  return xQueueSendToBackFromISR(queue_hdl, data, NULL);
+}
+
+static inline bool osal_queue_send(osal_queue_t const queue_hdl, void const * data)
+{
+  return xQueueSendToBack(queue_hdl, data, OSAL_TIMEOUT_WAIT_FOREVER) == pdTRUE;
+}
+
+static inline void osal_queue_flush(osal_queue_t const queue_hdl)
+{
+  // TODO move to thread context
+//  xQueueReset(queue_hdl);
+}
+
+//--------------------------------------------------------------------+
+// Semaphore API
+//--------------------------------------------------------------------+
+typedef StaticSemaphore_t osal_semaphore_def_t;
+typedef SemaphoreHandle_t osal_semaphore_t;
+
+static inline osal_semaphore_t osal_semaphore_create(osal_semaphore_def_t* semdef)
+{
+  return xSemaphoreCreateBinaryStatic(semdef);
+}
+
+static inline bool osal_semaphore_post_isr(osal_semaphore_t sem_hdl)
+{
+  return xSemaphoreGiveFromISR(sem_hdl, NULL) == pdTRUE;
+}
+
+static inline bool osal_semaphore_post(osal_semaphore_t sem_hdl)
+{
+  return xSemaphoreGive(sem_hdl) == pdTRUE;
+}
+
+static inline void osal_semaphore_wait(osal_semaphore_t sem_hdl, uint32_t msec, tusb_error_t *p_error)
+{
+  uint32_t const ticks = (msec == OSAL_TIMEOUT_WAIT_FOREVER) ? portMAX_DELAY : pdMS_TO_TICKS(msec);
+  (*p_error) = (xSemaphoreTake(sem_hdl, ticks) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_TIMEOUT);
+}
+
+static inline void osal_semaphore_reset_isr(osal_semaphore_t const sem_hdl)
+{
+  xSemaphoreTakeFromISR(sem_hdl, NULL);
+}
+
+//--------------------------------------------------------------------+
+// MUTEX API (priority inheritance)
+//--------------------------------------------------------------------+
+typedef SemaphoreHandle_t osal_mutex_t;
+
+#define osal_mutex_create(x) xSemaphoreCreateMutex()
+
+static inline bool osal_mutex_release(osal_mutex_t mutex_hdl)
+{
+  return xSemaphoreGive(mutex_hdl);
+}
+
+static inline void osal_mutex_wait(osal_mutex_t mutex_hdl, uint32_t msec, tusb_error_t *p_error)
+{
+  uint32_t const ticks = (msec == OSAL_TIMEOUT_WAIT_FOREVER) ? portMAX_DELAY : pdMS_TO_TICKS(msec);
+  (*p_error) = (xSemaphoreTake(mutex_hdl, ticks) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_TIMEOUT);
+}
+
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* _TUSB_OSAL_FREERTOS_H_ */
+
+/** @} */
+/** @} */
+