/**
  * @brief  EXTI line detection callbacks.
  * @param  GPIO_Pin: Specifies the pins connected EXTI line
  * @retval None
  */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{  
  __IO JOYState_TypeDef JoyState = JOY_NONE;
  
  if(GPIO_Pin == MFX_IRQOUT_PIN)
  {
    /* The different functionalities of MFX (TS, Joystick, SD detection, etc. )  
    can be configured in exti mode to generate an IRQ on given events.
    The MFX IRQ_OUT pin is unique and common to all functionalities, so if several 
    functionalities are configured in exit mode, the MCU has to enquire MFX about  
    the IRQ source (see BSP_IO_ITGetStatus). Communication with Mfx is done by I2C. 
    Often the sw requires ISRs (irq service routines) to be quick while communication 
    with I2C can be considered relatively long (hundreds of usec depending on I2C clk). 
    In order to avoid to use "blocking I2C communication" on interrupt service routines 
    it's suggested (as alternative to this implementation) to use dedicated semaphore*/

    /* Get the Joystick State */
    JoyState = BSP_JOY_GetState();
    
    HID_DEMO_ProbeKey(JoyState); 
    
    switch(JoyState)
    {
    case JOY_LEFT:
      LCD_LOG_ScrollBack();
      break;
           
    case JOY_RIGHT:
      LCD_LOG_ScrollForward();
      break;          
      
    default:
      break;           
    }
    /* Clear joystick interrupt pending bits */
    BSP_IO_ITClear();
    osSemaphoreRelease(MenuEvent);
  }
}

/**
  * @brief  Demo state machine.
  * @param  None
  * @retval None
  */
void Menu_Init(void)
{
  /* Create Menu Semaphore */
  osSemaphoreDef(osSem);

  MenuEvent = osSemaphoreCreate(osSemaphore(osSem), 1);

  /* Force menu to show Item 0 by default */
  osSemaphoreRelease(MenuEvent);

  /* Menu task */
#if defined(__GNUC__)
  osThreadDef(Menu_Thread, MSC_MenuThread, osPriorityHigh, 0, 8 * configMINIMAL_STACK_SIZE);
#else
  osThreadDef(Menu_Thread, MSC_MenuThread, osPriorityHigh, 0, 4 * configMINIMAL_STACK_SIZE);
#endif
  osThreadCreate(osThread(Menu_Thread), NULL);

  BSP_LCD_SetTextColor(LCD_COLOR_GREEN);
  BSP_LCD_DisplayStringAtLine(15, (uint8_t *)"Use [Joystick Left/Right] to scroll up/down");
  BSP_LCD_DisplayStringAtLine(16, (uint8_t *)"Use [Joystick Up/Down] to scroll MSC menu");
}

void Thread_Semaphore (void const *argument) {
  int32_t val;

  while (1) {
    ; // Insert thread code here...

    val = osSemaphoreWait (sid_Thread_Semaphore, 10);           // wait 10 mSec
    switch (val) {
      case osOK:
        ; // Use protected code here...
        osSemaphoreRelease (sid_Thread_Semaphore);              // Return a token back to a semaphore
        break;
      case osErrorResource:
        break;
      case osErrorParameter:
        break;
      default:
        break;
    }

    osThreadYield ();                                           // suspend thread
  }
}

void threadBaseCode  (void const *argument) 			
{
uint32_t LED_data;
	
	LED_data = (uint32_t) argument;
	while(1)					
	{
		
//---------------------------------------------------------------------------------							

		osSemaphoreWait(Mutex,0xffff);			 				//Allow one task at a time to access the first turnstile
		count = count+1;					 									// Increment count
		if( count == 5) 					 									//When last section of code reaches this point run his code
		{
			osSemaphoreWait (Turnstile2,0xffff);	 		//Lock the second turnstile
			osSemaphoreRelease(Turnstile);				 		//Unlock the first turnstile
		}			
		osSemaphoreRelease(Mutex);									//Allow other tasks to access the turnstile
		osSemaphoreWait(Turnstile,0xFFFF);					//Turnstile Gate			
		osSemaphoreRelease(Turnstile);

//----------------------------------- GATE -----------------------------------

		LED_On(LED_data);
		osDelay(100);				   							//Critical instructions 
		LED_Off(LED_data);
		osDelay((LED_data*100));	
//---------------------------------- GATE ------------------------------------

		osSemaphoreWait(Mutex,0xffff);			 				//Allow one task at a time to access the turnstile
		count = count - 1;
		if(count ==0)						 										//When last section of code reaches this point run his code
		{
			osSemaphoreWait(Turnstile,0xffff);		 		//Lock the second turnstile
			osSemaphoreRelease(Turnstile2);			 			//Unlock the first turnstile
		}
		osSemaphoreRelease(Mutex);					 				//Allow other tasks to access the turnstile
		osSemaphoreWait(Turnstile2,0xffff);		 			//Turnstile Gate
		osSemaphoreRelease(Turnstile2);

//------------------------------------------------------------------------------		

	}
}		

/**
  * @brief  Semaphore Thread 1 function
  * @param  argument: shared semaphore
  * @retval None
  */
static void SemaphoreThread1(void const *argument)
{
  uint32_t count = 0;
  osSemaphoreId semaphore = (osSemaphoreId) argument;

  for (;;)
  {

    if (semaphore != NULL)
    {
      /* Try to obtain the semaphore */
      if (osSemaphoreWait(semaphore , 100) == osOK)
      {
        count = osKernelSysTick() + 5000;

        /* Toggle LED2 every 200 ms for 5 seconds */
        while (count >= osKernelSysTick())
        {
          /* Toggle LED3 */
          BSP_LED_Toggle(LED3);

          /* Delay 200 ms */
          osDelay(200);
        }

        /* Turn off LED3*/
        BSP_LED_Off(LED3);
        /* Release the semaphore */
        osSemaphoreRelease(semaphore);

        /* Suspend ourseleves to execute thread 2 (lower priority)  */
        osThreadSuspend(NULL);
      }
    }
  }
}

/**
  * @brief  Demo state machine.
  * @param  None
  * @retval None
  */
void Menu_Init(void)
{
  /* Create Menu Semaphore */
  osSemaphoreDef(osSem);

  MenuEvent = osSemaphoreCreate(osSemaphore(osSem), 1); 
  
  /* Force menu to show Item 0 by default */
  osSemaphoreRelease(MenuEvent);

  /* Menu task */
  osThreadDef(Menu_Thread, MSC_MenuThread, osPriorityHigh, 0, 8 * configMINIMAL_STACK_SIZE);
  osThreadCreate(osThread(Menu_Thread), NULL);
  
  /* Define used semaphore fot Joystick*/
  osSemaphoreDef(JOY_SEM);
  
  /* Create the semaphore used by the two threads. */
  osJoySemaphore = osSemaphoreCreate(osSemaphore(JOY_SEM) , 1);
  
  BSP_LCD_SetTextColor(LCD_COLOR_GREEN);
  BSP_LCD_DisplayStringAtLine(15, (uint8_t *)"Use [Joystick Left/Right] to scroll up/down");
  BSP_LCD_DisplayStringAtLine(16, (uint8_t *)"Use [Joystick Up/Down] to scroll MSC menu");  
}

/**
  * @brief  User task
  * @param  pvParameters not used
  * @retval None
  */
void HID_MenuThread(void const *argument)
{
  for(;;)
  {
    if(osSemaphoreWait(MenuEvent , osWaitForever) == osOK)
    {
      switch(hid_demo.state)
      {
      case HID_DEMO_IDLE:
        HID_SelectItem(DEMO_HID_menu, 0); 
        hid_demo.state = HID_DEMO_WAIT;
        hid_demo.select = 0;
        osSemaphoreRelease(MenuEvent);
        break;        
        
      case HID_DEMO_WAIT:
        if(hid_demo.select != prev_select)
        {
          prev_select = hid_demo.select;        
          
          HID_SelectItem(DEMO_HID_menu, hid_demo.select & 0x7F); 
          /* Handle select item */
          if(hid_demo.select & 0x80)
          {
            switch(hid_demo.select & 0x7F)
            {
            case 0:
              hid_demo.state = HID_DEMO_START; 
              osSemaphoreRelease(MenuEvent);
              break;
              
            case 1:
              hid_demo.state = HID_DEMO_REENUMERATE;
              osSemaphoreRelease(MenuEvent);
              break;
              
            default:
              break;
            }
          }
        }
        break; 
        
      case HID_DEMO_START:
        if(Appli_state == APPLICATION_READY)
        {
          if(USBH_HID_GetDeviceType(&hUSBHost) == HID_KEYBOARD)
          {
            hid_demo.keyboard_state = HID_KEYBOARD_IDLE; 
            hid_demo.state = HID_DEMO_KEYBOARD;
          }
          else if(USBH_HID_GetDeviceType(&hUSBHost) == HID_MOUSE)
          {
            hid_demo.mouse_state = HID_MOUSE_IDLE;  
            hid_demo.state = HID_DEMO_MOUSE;        
          }
        }
        else
        {
          LCD_ErrLog("No supported HID device!\n");
          hid_demo.state = HID_DEMO_WAIT;
        }
        osSemaphoreRelease(MenuEvent);
        break;
        
      case HID_DEMO_REENUMERATE:
        /* Force MSC Device to re-enumerate */
        USBH_ReEnumerate(&hUSBHost); 
        hid_demo.state = HID_DEMO_WAIT;
        osSemaphoreRelease(MenuEvent);
        break;
        
      case HID_DEMO_MOUSE:
        if(Appli_state == APPLICATION_READY)
        {
          HID_MouseMenuProcess();
          USBH_MouseDemo(&hUSBHost);
        }
        break; 
        
      case HID_DEMO_KEYBOARD:
        if(Appli_state == APPLICATION_READY)  
        {    
          HID_KeyboardMenuProcess();
          USBH_KeybdDemo(&hUSBHost);
        }   
        break;
        
      default:
        break;
      }
      
      if(Appli_state == APPLICATION_DISCONNECT)
      {
        Appli_state = APPLICATION_IDLE; 
//.........这里部分代码省略.........

void EventHandlerCAN0()
{
/*
	  if(CAN001_GetMOFlagStatus(&CAN001_Handle0,1,TRANSMIT_PENDING) == CAN_SET)
	  {
	    CAN001_ClearMOFlagStatus(&CAN001_Handle0,1,TRANSMIT_PENDING);
	  }
	  if(CAN001_GetMOFlagStatus(&CAN001_Handle0,2,TRANSMIT_PENDING) == CAN_SET)
	  {
	    CAN001_ClearMOFlagStatus(&CAN001_Handle0,2,TRANSMIT_PENDING);
	  }
	  if(CAN001_GetMOFlagStatus(&CAN001_Handle0,3,TRANSMIT_PENDING) == CAN_SET)
	  {
	    CAN001_ClearMOFlagStatus(&CAN001_Handle0,3,TRANSMIT_PENDING);
	  }
	  if(CAN001_GetMOFlagStatus(&CAN001_Handle0,4,TRANSMIT_PENDING) == CAN_SET)
	  {
	    CAN001_ClearMOFlagStatus(&CAN001_Handle0,4,TRANSMIT_PENDING);
	  }
*/


	  if(CAN001_GetMOFlagStatus(&CAN001_Handle0,5,RECEIVE_PENDING) == CAN_SET)
	  {
	    CAN001_ClearMOFlagStatus(&CAN001_Handle0,5,RECEIVE_PENDING);
	    CAN001_ReadMsgObj(&CAN001_Handle0,&can0rx.buf[can0rx.WritePos],5);
	    can0rx.WritePos++;
	    can0rx.WritePos&=(MAXLINE-1);
	    osSemaphoreRelease(can0rx_semaphore_id);
	  }
	  if(CAN001_GetMOFlagStatus(&CAN001_Handle0,6,RECEIVE_PENDING) == CAN_SET)
	  {
	    CAN001_ClearMOFlagStatus(&CAN001_Handle0,6,RECEIVE_PENDING);
	    CAN001_ReadMsgObj(&CAN001_Handle0,&can0rx.buf[can0rx.WritePos],6);
	    can0rx.WritePos++;
	    can0rx.WritePos&=(MAXLINE-1);
	    osSemaphoreRelease(can0rx_semaphore_id);
	  }
	  if(CAN001_GetMOFlagStatus(&CAN001_Handle0,7,RECEIVE_PENDING) == CAN_SET)
	  {
	    CAN001_ClearMOFlagStatus(&CAN001_Handle0,7,RECEIVE_PENDING);
	    CAN001_ReadMsgObj(&CAN001_Handle0,&can0rx.buf[can0rx.WritePos],7);
	    can0rx.WritePos++;
	    can0rx.WritePos&=(MAXLINE-1);
	    osSemaphoreRelease(can0rx_semaphore_id);
	  }
	  if(CAN001_GetMOFlagStatus(&CAN001_Handle0,8,RECEIVE_PENDING) == CAN_SET)
	  {
	    CAN001_ClearMOFlagStatus(&CAN001_Handle0,8,RECEIVE_PENDING);
	    CAN001_ReadMsgObj(&CAN001_Handle0,&can0rx.buf[can0rx.WritePos],8);
	    can0rx.WritePos++;
	    can0rx.WritePos&=(MAXLINE-1);
	    osSemaphoreRelease(can0rx_semaphore_id);
	  }


	  if(CAN001_GetNodeFlagStatus(&CAN001_Handle0,CAN001_ALERT_STATUS) == CAN_SET)
	  {
	    CAN001_ClearNodeFlagStatus(&CAN001_Handle0,CAN001_ALERT_STATUS);
	  }

}

/**
  * @brief  EXTI line detection callbacks
  * @param  GPIO_Pin: Specifies the pins connected EXTI line
  * @retval None
  */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
  osSemaphoreRelease(osSemaphore);
}

/*! 
    \brief Thread definition for thread 2.
    \param argument A pointer to the list of arguments.
*/
void thread2 (void const *argument) 
{
  if (addTraceProtected("thread2 start run") != TRACE_OK)
	{
		stop_cpu;
	}
	
  while (1) 
	{		
		if (addTraceProtected("thread2 take sem0 attempt") != TRACE_OK)
		{
			stop_cpu;
		}		
    if ( osSemaphoreWait (sid_Semaphore0, osWaitForever) != -1 ) // wait forever
		{					 
			if (addTraceProtected("thread2 take sem0 success") != TRACE_OK)
			{
				stop_cpu;
			}	
			
			task2(); // thread code
			count1Sec();
			task2();
			
			if (addTraceProtected("thread2 release sem0 attempt") != TRACE_OK)
			{
				stop_cpu;
			}				
			if (osSemaphoreRelease (sid_Semaphore0) != osOK)
			{
				if (addTraceProtected("thread2 release sem0 fail") != TRACE_OK)
				{
					stop_cpu;
				}						
			}
		}
		else
		{
			if (addTraceProtected("thread2 take sem0 fail") != TRACE_OK)
			{
				stop_cpu;
			}				
		}

		if (addTraceProtected("thread2 set priority to osPriorityBelowNormal") != TRACE_OK)
		{
			stop_cpu;
		}		
		osThreadSetPriority(osThreadGetId(), osPriorityBelowNormal);
		
		if (addTraceProtected("thread2 yields") != TRACE_OK)
		{
			stop_cpu;
		}		
    osThreadYield();                                            // suspend thread
		
		if (addTraceProtected("thread2 back from yield") != TRACE_OK)
		{
			stop_cpu;
		}
		
		// This should terminate the current thread2 thread		
		if (Terminate_thread2() != 0)
		{
			stop_cpu;		
		}
		
  }
}

osStatus Semaphore::release(void)
{
    return osSemaphoreRelease(_id);
}

/**
  * @brief  User task
  * @param  pvParameters not used
  * @retval None
  */
void HID_MenuThread(void const *argument)
{
  for(;;)
  {
    if(osSemaphoreWait(MenuEvent , osWaitForever) == osOK)
    {
      switch(hid_demo.state)
      {
      case HID_DEMO_IDLE:
          hid_demo.state = HID_DEMO_START;
          osSemaphoreRelease(MenuEvent);
        break;  
        
      case HID_DEMO_START:
        if(Appli_state == APPLICATION_READY)
        {
          /* Wait for User Input */
          if(ButtonPressed == 1)
          {
            ButtonPressed = 0;
            if(USBH_HID_GetDeviceType(&hUSBHost) == HID_KEYBOARD)
            {
              hid_demo.keyboard_state = HID_KEYBOARD_START;
              hid_demo.state = HID_DEMO_KEYBOARD;
              HID_KeyboardMenuProcess();
            }
            else if(USBH_HID_GetDeviceType(&hUSBHost) == HID_MOUSE)
            {
              hid_demo.mouse_state = HID_MOUSE_START;
              hid_demo.state = HID_DEMO_MOUSE;
              HID_MouseMenuProcess();
            }
            else
            {
              LCD_ErrLog("No supported HID device!\n");
              hid_demo.state = HID_DEMO_IDLE;
            }
          }
          osSemaphoreRelease(MenuEvent);          
        }
        break;
        
      case HID_DEMO_MOUSE:
        if(Appli_state == APPLICATION_READY)
        {
          USBH_MouseDemo(&hUSBHost);
        }
        break;
        
      case HID_DEMO_KEYBOARD:
        if(Appli_state == APPLICATION_READY)  
        {
          USBH_KeybdDemo(&hUSBHost);
        }   
        break;
        
      default:
        break;
      }
      
      if(Appli_state == APPLICATION_DISCONNECT)
      {
        Appli_state = APPLICATION_IDLE; 
        LCD_LOG_ClearTextZone();
        BSP_LCD_ClearStringLine(19);
        LCD_ErrLog("HID device disconnected!\n");
        hid_demo.state = HID_DEMO_IDLE;
      }
    }
  }
}

void	vMBM_EventPut_Post( void )
{	//	设置发送完成标志
	osSemaphoreRelease( semaphore_TX );
}

/**
  * @brief  The function is a callback about HID Data events
  * @param  phost: Selected device
  * @retval None
  */
void USBH_HID_EventCallback(USBH_HandleTypeDef *phost)
{
  osSemaphoreRelease(MenuEvent);
}

void osSetEvent(OsEvent *event)
{
   //Set the specified event to the signaled state
   osSemaphoreRelease(event->id);
}

void ff_rel_grant (
    _SYNC_t sobj    /* Sync object to be signaled */
)
{
  osSemaphoreRelease(sobj);
}

osStatus release_mySemaphore(struct mySemaphore *sem) {
	return osSemaphoreRelease(sem->_osSemaphoreId);
}

/*-----------------------------------------------------------------------------
  Routine to Move the Objects
 *----------------------------------------------------------------------------*/
void S_MoveObjects (void){
	int8_t i = 0;
	uint32_t 	randNum;
	
	osMutexWait(objectVar_mutex_id, osWaitForever);
	
		srand(randSeed);
		randSeed++;
		randNum = rand();
	
	if (objectNumb < maxNumberObjects){				

		if (randNum % 17 == 0) {
				objectArray[objectNumb][0] = 100;
				objectArray[objectNumb][1] = 80;
		} else if (randNum % 11 == 0) {
				objectArray[objectNumb][0] = 40;
				objectArray[objectNumb][1] = 90;
		} else if (randNum % 7 == 0) {
				objectArray[objectNumb][0] = 200;
				objectArray[objectNumb][1] = 220;
		} else if (randNum % 5 == 0) {
				objectArray[objectNumb][0] = 60;
				objectArray[objectNumb][1] = 180;
		} else if (randNum % 3 == 0) {
				objectArray[objectNumb][0] = 150;
				objectArray[objectNumb][1] = 120;
		} else if (randNum % 2 == 0) {
				objectArray[objectNumb][0] = 80;
				objectArray[objectNumb][1] = 130;
		} else {
				objectArray[objectNumb][0] = 90;
				objectArray[objectNumb][1] = 80;
		}

		objSenseArray[objectNumb][0] = -10;
		objSenseArray[objectNumb][1] = 10;
		
		objectNumb++;
	}

	osMutexRelease(objectVar_mutex_id);
	

	for (i = 0; i < objectNumb; i++){
		// Delete the object at its last position
		osSemaphoreWait (glcd_semaph_id, osWaitForever);
			GLCD_SetForegroundColor (GLCD_COLOR_BLACK);
			S_DrawStar (objectArray[i][0], objectArray[i][1]);
		osSemaphoreRelease(glcd_semaph_id);

		osMutexWait(objectVar_mutex_id, osWaitForever);
		
		if(!i)
		{
			if (randNum % 5 == 0)
			{
				objSenseArray[i][0] = 20;
				objSenseArray[i][1] = 20;
			}
			else
			{
				objSenseArray[i][0] = 3;
				objSenseArray[i][1] = 3;
			}
				
			//Homing behaviour for ball 0
			if( objectArray[i][0] < plane_x ){
				objSenseArray[i][0] = abs(objSenseArray[i][0]);
			}
			else
			{
				objSenseArray[i][0] = -abs(objSenseArray[i][0]);
			}
		
			if( objectArray[i][1] < plane_y ){
				objSenseArray[i][1] = abs(objSenseArray[i][1]);
			}
			else
			{
				objSenseArray[i][1] = -abs(objSenseArray[i][1]);
			}
		}		
			
		// Reverse X sense if the object reach the limits
			if( objectArray[i][0] < 1 | objectArray[i][0] > GLCD_WIDTH - 11){
				objSenseArray[i][0] = -objSenseArray[i][0];
			}
		// Reverse Y sense if the object reach the limits
			if( objectArray[i][1] < 29 | objectArray[i][1] > GLCD_HEIGHT - 11){
				objSenseArray[i][1] = -objSenseArray[i][1];
			}
		// Move position of object
			objectArray[i][0]+=objSenseArray[i][0];
			objectArray[i][1]+=objSenseArray[i][1];

		// Draw the object at its new position
//.........这里部分代码省略.........

/*! \fn void thread0 (void const *argument)
    \brief Thread definition for thread 0.
    \param argument A pointer to the list of arguments.
*/
void thread0 (void const *argument) 
{
	
	if (addTraceProtected("thread0 start run") != TRACE_OK)
	{
		stop_cpu;
	}
	
  while (1) 
	{	
		
		if (addTraceProtected("thread0 take sem0 attempt") != TRACE_OK)
		{
			stop_cpu;
		}			
    if ( osSemaphoreWait (sid_Semaphore0, 0) != -1 ) // no wait
		{      
			if (addTraceProtected("thread0 take sem0 success") != TRACE_OK)
			{
				stop_cpu;
			}	
			
			task0(); // thread code 
			count1Sec();
			task0();
			
			if (addTraceProtected("thread0 set priority to osPriorityLow") != TRACE_OK)
			{
				stop_cpu;
			}			
			osThreadSetPriority(osThreadGetId(), osPriorityLow);
							
			
			if (addTraceProtected("thread0 yields") != TRACE_OK)
			{
				stop_cpu;
			}	
			osThreadYield();  // suspend thread			
				
			if (addTraceProtected("thread0 release sem0 attempt") != TRACE_OK)
			{
				stop_cpu;
			}				
			if (osSemaphoreRelease (sid_Semaphore0) != osOK)
			{
				if (addTraceProtected("thread0 release sem0 fail") != TRACE_OK)
				{
					stop_cpu;
				}						
			}
			else
			{
				if (addTraceProtected("thread0 release sem0 success") != TRACE_OK)
				{
					stop_cpu;
				}					
			}
			
		}
		else
		{
			if (addTraceProtected("thread0 take sem0 fail") != TRACE_OK)
			{
				stop_cpu;
			}				
		}
		
		if (addTraceProtected("thread0 set priority to osPriorityLow") != TRACE_OK)
		{
			stop_cpu;
		}			
		osThreadSetPriority(osThreadGetId(), osPriorityLow);
		    
		
		if (addTraceProtected("thread0 yields") != TRACE_OK)
		{
			stop_cpu;
		}	
    osThreadYield();  // suspend thread
		
		if (addTraceProtected("thread0 back from yield") != TRACE_OK)
		{
			stop_cpu;
		}		
		
		if (addTraceProtected("thread0 delete sem0") != TRACE_OK)
		{
			stop_cpu;
		}				
		if (Delete_Semaphore0() != 0)
		{
			stop_cpu;
		}			
				
    // This should terminate the current thread0 thread		
		if (Terminate_thread0() != 0)
//.........这里部分代码省略.........

/*---------------------------------------------------------------------------*
 * Routine:  sys_sem_signal
 *---------------------------------------------------------------------------*
 * Description:
 *      Signals (releases) a semaphore
 * Inputs:
 *      sys_sem_t sem           -- Semaphore to signal
 *---------------------------------------------------------------------------*/
void sys_sem_signal(sys_sem_t *data) {
    if (osSemaphoreRelease(data->id) != osOK)
        mbed_die(); /* Can be called by ISR do not use printf */
}