Index: ctrl/firmware/Main/CubeMX/Middlewares/ST/threadx/common/src/tx_thread_sleep.c
===================================================================
--- ctrl/firmware/Main/CubeMX/Middlewares/ST/threadx/common/src/tx_thread_sleep.c	(revision 55)
+++ ctrl/firmware/Main/CubeMX/Middlewares/ST/threadx/common/src/tx_thread_sleep.c	(revision 55)
@@ -0,0 +1,200 @@
+/**************************************************************************/
+/*                                                                        */
+/*       Copyright (c) Microsoft Corporation. All rights reserved.        */
+/*                                                                        */
+/*       This software is licensed under the Microsoft Software License   */
+/*       Terms for Microsoft Azure RTOS. Full text of the license can be  */
+/*       found in the LICENSE file at https://aka.ms/AzureRTOS_EULA       */
+/*       and in the root directory of this software.                      */
+/*                                                                        */
+/**************************************************************************/
+
+
+/**************************************************************************/
+/**************************************************************************/
+/**                                                                       */
+/** ThreadX Component                                                     */
+/**                                                                       */
+/**   Thread                                                              */
+/**                                                                       */
+/**************************************************************************/
+/**************************************************************************/
+
+#define TX_SOURCE_CODE
+
+
+/* Include necessary system files.  */
+
+#include "tx_api.h"
+#include "tx_trace.h"
+#include "tx_thread.h"
+#include "tx_timer.h"
+
+/**************************************************************************/
+/*                                                                        */
+/*  FUNCTION                                               RELEASE        */
+/*                                                                        */
+/*    _tx_thread_sleep                                    PORTABLE C      */
+/*                                                           6.1          */
+/*  AUTHOR                                                                */
+/*                                                                        */
+/*    William E. Lamie, Microsoft Corporation                             */
+/*                                                                        */
+/*  DESCRIPTION                                                           */
+/*                                                                        */
+/*    This function handles application thread sleep requests.  If the    */
+/*    sleep request was called from a non-thread, an error is returned.   */
+/*                                                                        */
+/*  INPUT                                                                 */
+/*                                                                        */
+/*    timer_ticks                           Number of timer ticks to sleep*/
+/*                                                                        */
+/*  OUTPUT                                                                */
+/*                                                                        */
+/*    status                                Return completion status      */
+/*                                                                        */
+/*  CALLS                                                                 */
+/*                                                                        */
+/*    _tx_thread_system_suspend         Actual thread suspension          */
+/*    _tx_thread_system_ni_suspend      Non-interruptable suspend thread  */
+/*                                                                        */
+/*  CALLED BY                                                             */
+/*                                                                        */
+/*    Application code                                                    */
+/*                                                                        */
+/*  RELEASE HISTORY                                                       */
+/*                                                                        */
+/*    DATE              NAME                      DESCRIPTION             */
+/*                                                                        */
+/*  05-19-2020     William E. Lamie         Initial Version 6.0           */
+/*  09-30-2020     Yuxin Zhou               Modified comment(s),          */
+/*                                            resulting in version 6.1    */
+/*                                                                        */
+/**************************************************************************/
+UINT  _tx_thread_sleep(ULONG timer_ticks)
+{
+
+TX_INTERRUPT_SAVE_AREA
+
+UINT            status;
+TX_THREAD       *thread_ptr;
+
+
+    /* Lockout interrupts while the thread is being resumed.  */
+    TX_DISABLE
+
+    /* Pickup thread pointer.  */
+    TX_THREAD_GET_CURRENT(thread_ptr)
+
+    /* Determine if this is a legal request.  */
+
+    /* Is there a current thread?  */
+    if (thread_ptr == TX_NULL)
+    {
+
+        /* Restore interrupts.  */
+        TX_RESTORE
+
+        /* Illegal caller of this service.  */
+        status =  TX_CALLER_ERROR;
+    }
+
+    /* Is the caller an ISR or Initialization?  */
+    else if (TX_THREAD_GET_SYSTEM_STATE() != ((ULONG) 0))
+    {
+
+        /* Restore interrupts.  */
+        TX_RESTORE
+
+        /* Illegal caller of this service.  */
+        status =  TX_CALLER_ERROR;
+    }
+
+#ifndef TX_TIMER_PROCESS_IN_ISR
+
+    /* Is the caller the system timer thread?  */
+    else if (thread_ptr == &_tx_timer_thread)
+    {
+
+        /* Restore interrupts.  */
+        TX_RESTORE
+
+        /* Illegal caller of this service.  */
+        status =  TX_CALLER_ERROR;
+    }
+#endif
+
+    /* Determine if the requested number of ticks is zero.  */
+    else if (timer_ticks == ((ULONG) 0))
+    {
+
+        /* Restore interrupts.  */
+        TX_RESTORE
+
+        /* Just return with a successful status.  */
+        status =  TX_SUCCESS;
+    }
+    else
+    {
+
+        /* Determine if the preempt disable flag is non-zero.  */
+        if (_tx_thread_preempt_disable != ((UINT) 0))
+        {
+
+            /* Restore interrupts.  */
+            TX_RESTORE
+
+            /* Suspension is not allowed if the preempt disable flag is non-zero at this point - return error completion.  */
+            status =  TX_CALLER_ERROR;
+        }
+        else
+        {
+
+            /* If trace is enabled, insert this event into the trace buffer.  */
+            TX_TRACE_IN_LINE_INSERT(TX_TRACE_THREAD_SLEEP, TX_ULONG_TO_POINTER_CONVERT(timer_ticks), thread_ptr -> tx_thread_state, TX_POINTER_TO_ULONG_CONVERT(&status), 0, TX_TRACE_THREAD_EVENTS)
+
+            /* Log this kernel call.  */
+            TX_EL_THREAD_SLEEP_INSERT
+
+            /* Suspend the current thread.  */
+
+            /* Set the state to suspended.  */
+            thread_ptr -> tx_thread_state =    TX_SLEEP;
+
+#ifdef TX_NOT_INTERRUPTABLE
+
+            /* Call actual non-interruptable thread suspension routine.  */
+            _tx_thread_system_ni_suspend(thread_ptr, timer_ticks);
+
+            /* Restore interrupts.  */
+            TX_RESTORE
+#else
+
+            /* Set the suspending flag. */
+            thread_ptr -> tx_thread_suspending =  TX_TRUE;
+
+            /* Initialize the status to successful.  */
+            thread_ptr -> tx_thread_suspend_status =  TX_SUCCESS;
+
+            /* Setup the timeout period.  */
+            thread_ptr -> tx_thread_timer.tx_timer_internal_remaining_ticks =  timer_ticks;
+
+            /* Temporarily disable preemption.  */
+            _tx_thread_preempt_disable++;
+
+            /* Restore interrupts.  */
+            TX_RESTORE
+
+            /* Call actual thread suspension routine.  */
+            _tx_thread_system_suspend(thread_ptr);
+#endif
+
+            /* Return status to the caller.  */
+            status =  thread_ptr -> tx_thread_suspend_status;
+        }
+    }
+
+    /* Return completion status.  */
+    return(status);
+}
+