以下在CMSIS V2代码下实现，不区分是否中断安全。

1、信号量 semaphores

/* Definitions for adcFinishedBinSem */
osSemaphoreId_t adcFinishedBinSemHandle;
const osSemaphoreAttr_t adcFinishedBinSem_attributes = {.name = "adcFinishedBinSem"
};/* Create the semaphores(s) */
/* creation of adcFinishedBinSem */
adcFinishedBinSemHandle = osSemaphoreNew(1, 1, &adcFinishedBinSem_attributes);/* How to use */
osSemaphoreRelease(adcFinishedBinSemHandle);
osSemaphoreAcquire(adcFinishedBinSemHandle,osWaitForever);

2、事件标志 EventFlag

/* Definitions for pcADCCmdEvent */
osEventFlagsId_t pcADCCmdEventHandle;
const osEventFlagsAttr_t pcADCCmdEvent_attributes = {.name = "pcADCCmdEvent"
};/* creation of pcADCCmdEvent */
pcADCCmdEventHandle = osEventFlagsNew(&pcADCCmdEvent_attributes);/* how to use: osFlagsNoClear,osFlagsWaitAny,osFlagsWaitAll*/
#define ADC_CTRL    ( 1 << 0 )osEventFlagsSet(pcADCReadEventHandle, ADC_CTRL);osEventFlagsClear(pcADCReadEventHandle, ADC_CTRL);pcADCReadEvenFlag = osEventFlagsWait(pcADCReadEventHandle, ADC_CTRL, osFlagsNoClear, osWaitForever); 
if((pcADCReadEvenFlag&0x01) == 0x01){}

3、互斥 Mutex

/* Definitions for algorithmResutMutex */
osMutexId_t algorithmResutMutexHandle;
const osMutexAttr_t algorithmResutMutex_attributes = {.name = "algorithmResutMutex"
};/* creation of algorithmResutMutex */
algorithmResutMutexHandle = osMutexNew(&algorithmResutMutex_attributes);/* how to use */
osMutexWait(algorithmResutMutexHandle,osWaitForever);
osMutexRelease(algorithmResutMutexHandle);

3、消息队列 Queue

/* Definitions for usartRxMsgQueue */
osMessageQueueId_t usartRxMsgQueueHandle;
const osMessageQueueAttr_t usartRxMsgQueue_attributes = {.name = "usartRxMsgQueue"
};/* Create the queue(s) */
/* creation of usartRxMsgQueue */
usartRxMsgQueueHandle = osMessageQueueNew(2, sizeof(USART_RECEIVETYPE), &usartRxMsgQueue_attributes);/* how to use */
osMessageQueuePut(usartRxMsgQueueHandle,&Uart1Rx,1,0);
osMessageQueueGet(usartRxMsgQueueHandle,(void*)&pUARTRx,NULL,osWaitForever);