diff --git a/CMSIS/RTOS2/FreeRTOS/CMakeLists.txt b/CMSIS/RTOS2/FreeRTOS/CMakeLists.txt
index 9b16fea5..d63a8b9d 100644
--- a/CMSIS/RTOS2/FreeRTOS/CMakeLists.txt
+++ b/CMSIS/RTOS2/FreeRTOS/CMakeLists.txt
@@ -3,10 +3,10 @@
 add_library(FW3_CMSIS_TARGET)
 target_sources(
   FW3_CMSIS_TARGET
-  PRIVATE ${FW3_CMSIS_DIR}/Source/cmsis_os2.c
-          ${FW3_CMSIS_DIR}/Source/freertos_evr.c
-          ${FW3_CMSIS_DIR}/Source/os_systick.c
-          ${FW3_CMSIS_DIR}/Source/ARM/clib_arm.c)
+  PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/Source/cmsis_os2.c
+          ${CMAKE_CURRENT_SOURCE_DIR}/Source/freertos_evr.c
+          ${CMAKE_CURRENT_SOURCE_DIR}/Source/os_systick.c
+          ${CMAKE_CURRENT_SOURCE_DIR}/Source/ARM/clib_arm.c)
 
 set_source_files_properties(${FW3_CMSIS_DIR}/Source/cmsis_os1.c
                             PROPERTIES COMPILE_OPTIONS -Wno-switch-enum)
diff --git a/CMSIS/RTOS2/FreeRTOS/Include/cmsis_os2_control_blocks.h b/CMSIS/RTOS2/FreeRTOS/Include/cmsis_os2_control_blocks.h
new file mode 100644
index 00000000..ce02e881
--- /dev/null
+++ b/CMSIS/RTOS2/FreeRTOS/Include/cmsis_os2_control_blocks.h
@@ -0,0 +1,33 @@
+/*
+ * freertos_os2_control_blocks.h
+ *
+ * Copyright 2022 Span.IO Inc.
+ *
+ *  Created on: Oct 25, 2022
+ *      Author: sgc
+ */
+
+#pragma once
+
+#include "FreeRTOS.h"
+#include "cmsis_os2.h"
+#include "freertos_mpool.h"
+#include "semphr.h"
+
+#define osTickRateHz (configTICK_RATE_HZ)
+#define osMaxDelayTicks (portMAX_DELAY)
+
+typedef StaticTask_t osThreadControlBlock;
+typedef MemPool_t osMemoryPoolControlBlock;
+typedef StaticQueue_t osMessageQueueControlBlock;
+
+struct osTimerControlBlock {
+  StaticTimer_t m_static;
+
+  // These are TimerCallback_t, defined inside cmsis_os2.c
+  osTimerFunc_t m_timer_callback;
+  void* m_arg;
+};
+
+typedef StaticSemaphore_t osMutexControlBlock;
+typedef StaticSemaphore_t osSemaphoreControlBlock;
diff --git a/CMSIS/RTOS2/FreeRTOS/Source/cmsis_os2.c b/CMSIS/RTOS2/FreeRTOS/Source/cmsis_os2.c
index 2fd7dd93..194195d9 100644
--- a/CMSIS/RTOS2/FreeRTOS/Source/cmsis_os2.c
+++ b/CMSIS/RTOS2/FreeRTOS/Source/cmsis_os2.c
@@ -906,7 +906,7 @@ uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items) {
   } else {
     vTaskSuspendAll();
 
-    /* Allocate memory on heap to temporarily store TaskStatus_t information */
+    /* Allocate memory on heap or stack to temporarily store TaskStatus_t information */
     count = uxTaskGetNumberOfTasks();
 
 #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
diff --git a/CMSIS/RTOS2/FreeRTOS/include.cmake b/CMSIS/RTOS2/FreeRTOS/include.cmake
index d2575c02..4efa0bed 100644
--- a/CMSIS/RTOS2/FreeRTOS/include.cmake
+++ b/CMSIS/RTOS2/FreeRTOS/include.cmake
@@ -1 +1 @@
-include_directories(${FW3_CMSIS_DIR}/Include ${FW3_CMSIS_DIR}/Include1)
+include_directories(${FW3_CMSIS_DIR}/Include)
diff --git a/Source/include.cmake b/Source/include.cmake
index 0e6ed305..228b31b7 100644
--- a/Source/include.cmake
+++ b/Source/include.cmake
@@ -1,3 +1,8 @@
-set(FREERTOS_CONFIG_FILE_DIRECTORY ${FW3_APPLICATION_DIR}/Include CACHE STRING "")
+include_directories(${FW3_RTOS_DIR}/include)
 
-set(FREERTOS_HEAP ${FW3_COMPONENTS_DIR}/Source/no_heap.c CACHE STRING "")
+set(FREERTOS_CONFIG_FILE_DIRECTORY
+    ${FW3_APPLICATION_DIR}/Include
+    CACHE STRING "")
+set(FREERTOS_HEAP
+    ${FW3_COMPONENTS_DIR}/Source/no_heap.c
+    CACHE STRING "")