diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7167aad2..c39afb9d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,12 +8,13 @@ include(PIPMacros.cmake)
 
 
 # Options
-option(ICU "Unicode support" 1)
-option(STD_IOSTREAM "Building with std iostream operators support" 0)
-option(INTROSPECTION_CONTAINERS "Build with containers introspection" 0)
-option(INTROSPECTION_THREADS "Build with threads introspection" 0)
-option(LIB "System install" 1)
-option(DEBUG "Build with -g3" 0)
+option(ICU "Unicode support" ON)
+option(STD_IOSTREAM "Building with std iostream operators support" OFF)
+option(INTROSPECTION_CONTAINERS "Build with containers introspection" OFF)
+option(INTROSPECTION_THREADS "Build with threads introspection" OFF)
+option(LIB "System install" ON)
+option(STATIC_LIB OFF)
+option(DEBUG "Build with -g3" OFF)
 
 
 # Basic
@@ -42,6 +43,18 @@ set(PIP_LIBS_TARGETS pip)
 set(LIBS_MAIN)
 set(LIBS_STATUS)
 
+if (DEFINED ENV{QNX_HOST} OR PIP_FREERTOS)
+	set(STATIC_LIB ON)
+endif()
+
+if(STATIC_LIB)
+	set(PIP_LIB_TYPE STATIC)
+	message(STATUS "Building PIP static library")
+else()
+	set(PIP_LIB_TYPE SHARED)
+	message(STATUS "Building PIP shared library")
+endif()
+
 #if(LIB)
 	if(WIN32)
 		if(MINGW)
@@ -106,6 +119,12 @@ endif()
 
 # Main lib
 set(PIP_FOLDERS "." "core" "containers" "thread" "system" "io_devices" "io_utils" "console" "math" "code" "geo" "resources" "opencl" "crypt")
+if(PIP_FREERTOS)
+	list(REMOVE_ITEM PIP_FOLDERS "io_devices")
+	include_directories("${PIP_SRC_MAIN}/io_devices")
+	list(REMOVE_ITEM PIP_FOLDERS "console")
+	include_directories("${PIP_SRC_MAIN}/console")
+endif()
 include_directories("${PIP_SRC_MAIN}")
 set(PIP_MAIN_FOLDERS)
 foreach(F ${PIP_FOLDERS})
@@ -133,6 +152,12 @@ gather_src("${PIP_SRC_OPENCL}" CPP_LIB_OPENCL HDRS PHDRS)
 gather_src("${PIP_SRC_IO_UTILS}" CPP_LIB_IO_UTILS HDRS PHDRS)
 
 
+if(PIP_FREERTOS)
+	add_definitions(-DPIP_FREERTOS)
+	set(ICU OFF)
+	set(LIB OFF)
+endif()
+
 # Check Bessel functions
 set(CMAKE_REQUIRED_INCLUDES math.h)
 set(CMAKE_REQUIRED_LIBRARIES m)
@@ -178,68 +203,69 @@ CHECK_FUNCTION_EXISTS(timer_delete PIP_TIMER_RT_2)
 if(DEBUG)
 	add_definitions(-DPIP_DEBUG)
 	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3")
-	message(STATUS "Building debug version")
+	message(STATUS "Building PIP debug version")
 else()
 	set(CMAKE_BUILD_TYPE "Release")
-	message(STATUS "Building release version")
+	message(STATUS "Building PIP release version")
 endif()
 
 
 # Check if std::iostream operators support
 if(STD_IOSTREAM)
 	add_definitions(-DPIP_STD_IOSTREAM)
-	message(STATUS "Building with std iostream operators support")
+	message(STATUS "Building PIP with std iostream operators support")
 else()
-	message(STATUS "Building without std iostream operators support")
+	message(STATUS "Building PIP without std iostream operators support")
 endif()
 
 
 # Check if STL containers is on (to enable use "-DSTL=" argument of cmake)
 if(STL)
-	message(STATUS "Building with STL containers")
+	message(STATUS "Building PIP with STL containers")
 	add_definitions(-DPIP_CONTAINERS_STL)
 else()
-	message(STATUS "Building with PIP containers")
+	message(STATUS "Building PIP with PIP containers")
 endif()
 
 
 # Check if ICU used for PIString and PIChar
 if(ICU)
-	message(STATUS "Building with ICU")
+	message(STATUS "Building PIP with ICU")
 	add_definitions(-DPIP_ICU)
 	list(APPEND LIBS_MAIN icuuc)
 else()
-	message(STATUS "Building without ICU, attention!")
+	message(STATUS "Building PIP without ICU, attention!")
 endif()
 
 
 # Check if PIP should be built with containers introspection
 if(INTROSPECTION_CONTAINERS)
-	message(STATUS "Building with containers introspection")
+	message(STATUS "Building PIP with containers introspection")
 	add_definitions(-DPIP_INTROSPECTION_CONTAINERS)
 else()
-	message(STATUS "Building without containers introspection")
+	message(STATUS "Building PIP without containers introspection")
 endif()
 
 
 # Check if PIP should be built with threads introspection
 if(INTROSPECTION_THREADS)
-	message(STATUS "Building with threads introspection")
+	message(STATUS "Building PIP with threads introspection")
 	add_definitions(-DPIP_INTROSPECTION_THREADS)
 else()
-	message(STATUS "Building without threads introspection")
+	message(STATUS "Building PIP without threads introspection")
 endif()
 
 
 # Check if RT timers exists
 if(PIP_TIMER_RT_0 AND PIP_TIMER_RT_1 AND PIP_TIMER_RT_2)
 	add_definitions(-DPIP_TIMER_RT)
-	message(STATUS "Building with timers: Thread, ThreadRT, Pool")
+	message(STATUS "Building PIP with timers: Thread, ThreadRT, Pool")
 else()
-	message(STATUS "Building with timers: Thread, Pool")
+	message(STATUS "Building PIP with timers: Thread, Pool")
 endif()
 
 
+
 # Add main library
 if(APPLE)
 	add_definitions(-D_FILE_OFFSET_BITS=64 -D_LARGEFILE64_SOURCE)
@@ -266,18 +292,22 @@ else()
 	endif()
 endif()
 set(PIP_LIBS)
-foreach(LIB_ ${LIBS_MAIN})
-	find_library(${LIB_}_FOUND ${LIB_})
-	if(${LIB_}_FOUND)
-		list(APPEND CMAKE_REQUIRED_LIBRARIES ${${LIB_}_FOUND})
-		list(APPEND PIP_LIBS ${${LIB_}_FOUND})
-	endif()
-endforeach()
+if(PIP_FREERTOS)
+	set(PIP_LIBS ${LIBS_MAIN})
+else()
+	foreach(LIB_ ${LIBS_MAIN})
+		find_library(${LIB_}_FOUND ${LIB_})
+		if(${LIB_}_FOUND)
+			list(APPEND CMAKE_REQUIRED_LIBRARIES ${${LIB_}_FOUND})
+			list(APPEND PIP_LIBS ${${LIB_}_FOUND})
+		endif()
+	endforeach()
+endif()
 list(APPEND LIBS_STATUS ${LIBS_MAIN})
 if(WIN32)
 	list(APPEND CPP_LIB_MAIN "pip_resource_win.rc")
 	add_definitions(-DPSAPI_VERSION=1)
-	add_library(pip SHARED ${CPP_LIB_MAIN} ${HDRS} ${PHDRS})
+	add_library(pip ${PIP_LIB_TYPE} ${CPP_LIB_MAIN} ${HDRS} ${PHDRS})
 	if(${C_COMPILER} STREQUAL "cl.exe")
 		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /O2 /Ob2 /Ot /W0")
 	else()
@@ -287,13 +317,11 @@ if(WIN32)
 else()
 	set(${CMAKE_CXX_FLAGS} "${CMAKE_CXX_FLAGS} -O3 -fPIC")
 	#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
-	if(DEFINED ENV{QNX_HOST})
+	if(DEFINED ENV{QNX_HOST} OR PIP_FREERTOS)
 		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-depth-32")
-		add_library(pip STATIC ${CPP_LIB_MAIN})
 	else()
-		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
-		add_library(pip SHARED ${CPP_LIB_MAIN})
 	endif()
+	add_library(pip ${PIP_LIB_TYPE} ${CPP_LIB_MAIN})
 endif()
 set(CMAKE_C_FLAGS "${CMAKE_CXX_FLAGS}")
 include(GenerateExportHeader)
@@ -301,137 +329,137 @@ generate_export_header(pip)
 list(APPEND HDRS "${CMAKE_CURRENT_BINARY_DIR}/pip_export.h")
 target_link_libraries(pip ${PIP_LIBS})
 
-
-# Check if USB is supported
-find_library(usb_FOUND usb SHARED)
-if(usb_FOUND)
-	message(STATUS "Building with USB support")
-	add_definitions(-DPIP_USB)
-	add_library(pip_usb SHARED ${CPP_LIB_USB})
-	target_link_libraries(pip_usb pip ${usb_FOUND})
-	list(APPEND LIBS_STATUS usb)
-	list(APPEND PIP_LIBS_TARGETS pip_usb)
-else()
-	message(STATUS "Building without USB support")
-endif()
-
-
-# Check if PIP support cryptographic encryption/decryption using sodium library
-find_library(sodium_FOUND sodium)
-if(sodium_FOUND)
-	message(STATUS "Building with crypt support")
-	add_definitions(-DPIP_CRYPT)
-	add_library(pip_crypt SHARED ${CPP_LIB_CRYPT})
-	target_link_libraries(pip_crypt pip ${sodium_FOUND})
-	list(APPEND LIBS_STATUS sodium)
-	list(APPEND PIP_LIBS_TARGETS pip_crypt)
-else()
-	message(STATUS "Building without crypt support")
-endif()
-
-
-# Check if PIP support compress/decompress using zlib library
-find_library(zlib_FOUND NAMES z zlib)
-if(zlib_FOUND)
-	message(STATUS "Building with zlib compress support")
-	add_definitions(-DPIP_COMPRESS)
-	add_library(pip_compress SHARED ${CPP_LIB_COMPRESS})
-	target_link_libraries(pip_compress pip ${zlib_FOUND})
-	list(APPEND LIBS_STATUS zlib)
-	list(APPEND PIP_LIBS_TARGETS pip_compress)
-else()
-	message(STATUS "Building without compress support")
-endif()
-
-
-# Check if PIP support fftw3 for PIFFT using in math module
-set(FFTW_LIB_NAME fftw3)
-set(FFTW_LIB_SUFFIXES "" "f" "l" "q")
-set(FFTW_LIB_SUFFIXES2 "" "-3")
-set(FFTW_LIBS)
-set(PIP_FFTW_FOUND)
-set(CMAKE_REQUIRED_INCLUDES fftw3.h)
-foreach(FFTW_S_ IN LISTS FFTW_LIB_SUFFIXES)
-	set(FFTW_BREAK false)
-	foreach(FFTW_S2_ IN LISTS FFTW_LIB_SUFFIXES2)
-		if(NOT FFTW_BREAK)
-			set(FFTW_CLN  "${FFTW_LIB_NAME}${FFTW_S_}${FFTW_S2_}")
-			set(FFTW_CLNT "${FFTW_LIB_NAME}${FFTW_S_}_threads${FFTW_S2_}")
-			find_library(${FFTW_CLN}_FOUND ${FFTW_CLN})
-			find_library(${FFTW_CLNT}_FOUND ${FFTW_CLNT})
-			if(${FFTW_CLN}_FOUND)
-				list(APPEND FFTW_LIBS "${FFTW_CLN}")
-				#message(STATUS "PIFFTW found ${FFTW_CLN} = ${${FFTW_CLN}_FOUND}")
-				set(${FFTW_CLN}_CTS "${FFTW_CLN}")
-				if(${FFTW_CLNT}_FOUND)
-					list(APPEND FFTW_LIBS "${FFTW_CLNT}")
-					list(APPEND ${FFTW_CLN}_CTS "${FFTW_CLNT}")
-				endif()
-				set(CMAKE_REQUIRED_LIBRARIES ${${FFTW_CLN}_CTS})
-				CHECK_FUNCTION_EXISTS(fftw${FFTW_S_}_make_planner_thread_safe ${FFTW_CLN}_TSFE)
-				add_definitions(-DPIP_FFTW${FFTW_S_})
-				set(PIP_FFTW_FOUND true)
-				if(${FFTW_CLN}_TSFE)
-					add_definitions(-DPIP_FFTW${FFTW_S_}_THREADSAFE)
-				else()
-					message(STATUS "Warning: PIFFTW${FFTW_S_}::preparePlan was not threadsafe")
-				endif()
-				#message(STATUS "${FFTW_CLN} -> ${${FFTW_CLN}_TSFE}")
-			endif()
-		endif()
-	endforeach()
-endforeach()
-if(FFTW_LIBS)
-	message(STATUS "Building with fftw3 support: ${FFTW_LIBS}")
-	add_library(pip_fftw SHARED ${CPP_LIB_FFTW})
-	target_link_libraries(pip_fftw pip ${FFTW_LIBS})
-	list(APPEND LIBS_STATUS ${FFTW_LIBS})
-	list(APPEND PIP_LIBS_TARGETS pip_fftw)
-else()
-	message(STATUS "Building without fftw3 support")
-endif()
-
-
-# Check if PIP support OpenCL
-find_package(OpenCL QUIET)
-if(OpenCL_FOUND)
-	message(STATUS "Building with OpenCL support")
-	if(APPLE)
-		include_directories(${OpenCL_INCLUDE_DIRS}/Headers)
+if (NOT PIP_FREERTOS)
+	# Check if USB is supported
+	find_library(usb_FOUND usb SHARED)
+	if(usb_FOUND)
+		message(STATUS "Building PIP with USB support")
+		add_definitions(-DPIP_USB)
+		add_library(pip_usb ${PIP_LIB_TYPE} ${CPP_LIB_USB})
+		target_link_libraries(pip_usb pip ${usb_FOUND})
+		list(APPEND LIBS_STATUS usb)
+		list(APPEND PIP_LIBS_TARGETS pip_usb)
 	else()
-		include_directories(${OpenCL_INCLUDE_DIRS})
+		message(STATUS "Building PIP without USB support")
 	endif()
-	add_definitions(-DPIP_OPENCL)
-	pip_resources(CL_RES "src_opencl/resources.conf")
-	add_library(pip_opencl SHARED ${CPP_LIB_OPENCL} ${CL_RES})
-	add_dependencies(pip_opencl pip_rc)
-	target_link_libraries(pip_opencl pip OpenCL::OpenCL)
-	list(APPEND LIBS_STATUS OpenCL)
-	list(APPEND PIP_LIBS_TARGETS pip_opencl)
-	set(OpenCL_FOUND ${OpenCL_LIBRARIES})
-else()
-	message(STATUS "Building without OpenCL support")
-endif()
 
 
-# Check if PIP IO Utils library supports crypt
-set(IO_UTILS_LIBS pip)
-add_library(pip_io_utils SHARED ${CPP_LIB_IO_UTILS})
-if(sodium_FOUND)
-	message(STATUS "Building IO Utils library with crypt support")
-	list(APPEND IO_UTILS_LIBS pip_crypt)
-else()
-	message(STATUS "Building IO Utils library without crypt support, attention!")
-endif()
-target_link_libraries(pip_io_utils ${IO_UTILS_LIBS})
-list(APPEND PIP_LIBS_TARGETS pip_io_utils)
+	# Check if PIP support cryptographic encryption/decryption using sodium library
+	find_library(sodium_FOUND sodium)
+	if(sodium_FOUND)
+		message(STATUS "Building PIP with crypt support")
+		add_definitions(-DPIP_CRYPT)
+		add_library(pip_crypt ${PIP_LIB_TYPE} ${CPP_LIB_CRYPT})
+		target_link_libraries(pip_crypt pip ${sodium_FOUND})
+		list(APPEND LIBS_STATUS sodium)
+		list(APPEND PIP_LIBS_TARGETS pip_crypt)
+	else()
+		message(STATUS "Building PIP without crypt support")
+	endif()
 
 
+	# Check if PIP support compress/decompress using zlib library
+	find_library(zlib_FOUND NAMES z zlib)
+	if(zlib_FOUND)
+		message(STATUS "Building PIP with zlib compress support")
+		add_definitions(-DPIP_COMPRESS)
+		add_library(pip_compress ${PIP_LIB_TYPE} ${CPP_LIB_COMPRESS})
+		target_link_libraries(pip_compress pip ${zlib_FOUND})
+		list(APPEND LIBS_STATUS zlib)
+		list(APPEND PIP_LIBS_TARGETS pip_compress)
+	else()
+		message(STATUS "Building PIP without compress support")
+	endif()
 
-# Test program
-add_executable(pip_test "main.cpp")
-target_link_libraries(pip_test pip)
 
+	# Check if PIP support fftw3 for PIFFT using in math module
+	set(FFTW_LIB_NAME fftw3)
+	set(FFTW_LIB_SUFFIXES "" "f" "l" "q")
+	set(FFTW_LIB_SUFFIXES2 "" "-3")
+	set(FFTW_LIBS)
+	set(PIP_FFTW_FOUND)
+	set(CMAKE_REQUIRED_INCLUDES fftw3.h)
+	foreach(FFTW_S_ IN LISTS FFTW_LIB_SUFFIXES)
+		set(FFTW_BREAK false)
+		foreach(FFTW_S2_ IN LISTS FFTW_LIB_SUFFIXES2)
+			if(NOT FFTW_BREAK)
+				set(FFTW_CLN  "${FFTW_LIB_NAME}${FFTW_S_}${FFTW_S2_}")
+				set(FFTW_CLNT "${FFTW_LIB_NAME}${FFTW_S_}_threads${FFTW_S2_}")
+				find_library(${FFTW_CLN}_FOUND ${FFTW_CLN})
+				find_library(${FFTW_CLNT}_FOUND ${FFTW_CLNT})
+				if(${FFTW_CLN}_FOUND)
+					list(APPEND FFTW_LIBS "${FFTW_CLN}")
+					#message(STATUS "PIFFTW found ${FFTW_CLN} = ${${FFTW_CLN}_FOUND}")
+					set(${FFTW_CLN}_CTS "${FFTW_CLN}")
+					if(${FFTW_CLNT}_FOUND)
+						list(APPEND FFTW_LIBS "${FFTW_CLNT}")
+						list(APPEND ${FFTW_CLN}_CTS "${FFTW_CLNT}")
+					endif()
+					set(CMAKE_REQUIRED_LIBRARIES ${${FFTW_CLN}_CTS})
+					CHECK_FUNCTION_EXISTS(fftw${FFTW_S_}_make_planner_thread_safe ${FFTW_CLN}_TSFE)
+					add_definitions(-DPIP_FFTW${FFTW_S_})
+					set(PIP_FFTW_FOUND true)
+					if(${FFTW_CLN}_TSFE)
+						add_definitions(-DPIP_FFTW${FFTW_S_}_THREADSAFE)
+					else()
+						message(STATUS "Warning: PIFFTW${FFTW_S_}::preparePlan was not threadsafe")
+					endif()
+					#message(STATUS "${FFTW_CLN} -> ${${FFTW_CLN}_TSFE}")
+				endif()
+			endif()
+		endforeach()
+	endforeach()
+	if(FFTW_LIBS)
+		message(STATUS "Building PIP with fftw3 support: ${FFTW_LIBS}")
+		add_library(pip_fftw ${PIP_LIB_TYPE} ${CPP_LIB_FFTW})
+		target_link_libraries(pip_fftw pip ${FFTW_LIBS})
+		list(APPEND LIBS_STATUS ${FFTW_LIBS})
+		list(APPEND PIP_LIBS_TARGETS pip_fftw)
+	else()
+		message(STATUS "Building PIP without fftw3 support")
+	endif()
+
+
+	# Check if PIP support OpenCL
+	find_package(OpenCL QUIET)
+	if(OpenCL_FOUND)
+		message(STATUS "Building PIP with OpenCL support")
+		if(APPLE)
+			include_directories(${OpenCL_INCLUDE_DIRS}/Headers)
+		else()
+			include_directories(${OpenCL_INCLUDE_DIRS})
+		endif()
+		add_definitions(-DPIP_OPENCL)
+		pip_resources(CL_RES "src_opencl/resources.conf")
+		add_library(pip_opencl ${PIP_LIB_TYPE} ${CPP_LIB_OPENCL} ${CL_RES})
+		add_dependencies(pip_opencl pip_rc)
+		target_link_libraries(pip_opencl pip OpenCL::OpenCL)
+		list(APPEND LIBS_STATUS OpenCL)
+		list(APPEND PIP_LIBS_TARGETS pip_opencl)
+		set(OpenCL_FOUND ${OpenCL_LIBRARIES})
+	else()
+		message(STATUS "Building PIP without OpenCL support")
+	endif()
+
+
+	# Check if PIP IO Utils library supports crypt
+	set(IO_UTILS_LIBS pip)
+	add_library(pip_io_utils ${PIP_LIB_TYPE} ${CPP_LIB_IO_UTILS})
+	if(sodium_FOUND)
+		message(STATUS "Building PIP IO Utils library with crypt support")
+		list(APPEND IO_UTILS_LIBS pip_crypt)
+	else()
+		message(STATUS "Building PIP IO Utils library without crypt support, attention!")
+	endif()
+	target_link_libraries(pip_io_utils ${IO_UTILS_LIBS})
+	list(APPEND PIP_LIBS_TARGETS pip_io_utils)
+
+
+	# Test program
+	add_executable(pip_test "main.cpp")
+	target_link_libraries(pip_test pip)
+	
+endif(NOT PIP_FREERTOS)
 
 # Install
 # Check if system or local install will be used (to system install use "-DLIB=" argument of cmake)
@@ -473,39 +501,46 @@ if(LIB)
 	file(GLOB CMAKES "*.cmake")
 	install(FILES ${CMAKES} DESTINATION ${CMAKE_ROOT}/Modules)
 else()
-	install(TARGETS ${PIP_LIBS_TARGETS} DESTINATION bin)
-	install(FILES ${HDRS} DESTINATION include)
-	message(STATUS "Install ${PROJECT_NAME} to local \"bin\"")
+	if(NOT PIP_FREERTOS)
+		install(TARGETS ${PIP_LIBS_TARGETS} DESTINATION bin)
+		install(FILES ${HDRS} DESTINATION include)
+		message(STATUS "Install ${PROJECT_NAME} to local \"bin\"")
+	endif()
 endif()
 
+if(NOT PIP_FREERTOS)
 
 # Auxiliary
-add_subdirectory("${PIP_SRC_MAIN}/auxiliary/piterminal")
+	add_subdirectory("${PIP_SRC_MAIN}/auxiliary/piterminal")
 
 
 # Utils
-add_subdirectory("utils/system_test")
-add_subdirectory("utils/remote_console")
-add_subdirectory("utils/code_model_generator")
-add_subdirectory("utils/resources_compiler")
-add_subdirectory("utils/udp_file_transfer")
-if(sodium_FOUND)
-	add_subdirectory("utils/system_daemon")
-	add_subdirectory("utils/crypt_tool")
+	add_subdirectory("utils/system_test")
+	add_subdirectory("utils/remote_console")
+	add_subdirectory("utils/code_model_generator")
+	add_subdirectory("utils/resources_compiler")
+	add_subdirectory("utils/udp_file_transfer")
+	if(sodium_FOUND)
+		add_subdirectory("utils/system_daemon")
+		add_subdirectory("utils/crypt_tool")
+	endif()
+	
 endif()
 
 
 # Libraries messages
-message(STATUS "Building modules: ${PIP_LIBS_TARGETS}")
+message(STATUS "Building PIP modules: ${PIP_LIBS_TARGETS}")
 if(DEFINED LIBPROJECT)
 	set(PIP_LIBS_TARGETS ${PIP_LIBS_TARGETS} PARENT_SCOPE)
 endif()
-foreach(LIB_ ${LIBS_STATUS})
-	message(STATUS "Library ${LIB_} -> " ${${LIB_}_FOUND})
-	if(NOT ${LIB_}_FOUND)
-		message(WARNING "Library ${LIB_} not found, please install it")
-	endif()
-endforeach()
+if(NOT PIP_FREERTOS)
+	foreach(LIB_ ${LIBS_STATUS})
+		message(STATUS "Library ${LIB_} -> " ${${LIB_}_FOUND})
+		if(NOT ${LIB_}_FOUND)
+			message(WARNING "Library ${LIB_} not found, please install it")
+		endif()
+	endforeach()
+endif()
 
 
 #
@@ -514,7 +549,7 @@ endforeach()
 
 # find_package(Doxygen QUIET)
 # if(Doxygen_FOUND)
-	# message(STATUS "Building with documentation via Doxygen")
+	# message(STATUS "Building PIP with documentation via Doxygen")
 
 	# #set(DOXYFILE_IN ${CMAKE_CURRENT_SOURCE_DIR}/doc/Doxyfile.in)
 	# set(DOXYFILE ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile)
@@ -532,28 +567,29 @@ endforeach()
 		# )
 	# install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/html DESTINATION share/doc)
 # endif()
-
-include(PIPDocumentation.cmake)
-find_package(Doxygen)
-if(DOXYGEN_FOUND)
-	set(DOXY_PROJECT_NUMBER "${_PIP_FULL_VERSION}")
-	set(DOXY_QHP_CUST_FILTER_ATTRS "\"PIP ${_PIP_FULL_VERSION}\"")
-	set(DOXY_QHP_SECT_FILTER_ATTRS "\"PIP ${_PIP_FULL_VERSION}\"")
-	set(DOXY_EXAMPLE_PATH "\"${PROJECT_SOURCE_DIR}/doc/examples\"")
-	set(DOXY_IMAGE_PATH   "\"${PROJECT_SOURCE_DIR}/doc/images\"")
-    if(DOXYGEN_DOT_EXECUTABLE)
-		string(REPLACE "\\" "" _DOT_PATH "${DOXYGEN_DOT_PATH}")
-		set(DOXY_DOT_PATH    "\"${_DOT_PATH}\"")
-		set(DOXY_MSCGEN_PATH "\"${_DOT_PATH}\"")
-		set(DOXY_DIA_PATH    "\"${_DOT_PATH}\"")
+if (NOT PIP_FREERTOS)
+	include(PIPDocumentation.cmake)
+	find_package(Doxygen)
+	if(DOXYGEN_FOUND)
+		set(DOXY_PROJECT_NUMBER "${_PIP_FULL_VERSION}")
+		set(DOXY_QHP_CUST_FILTER_ATTRS "\"PIP ${_PIP_FULL_VERSION}\"")
+		set(DOXY_QHP_SECT_FILTER_ATTRS "\"PIP ${_PIP_FULL_VERSION}\"")
+		set(DOXY_EXAMPLE_PATH "\"${PROJECT_SOURCE_DIR}/doc/examples\"")
+		set(DOXY_IMAGE_PATH   "\"${PROJECT_SOURCE_DIR}/doc/images\"")
+		if(DOXYGEN_DOT_EXECUTABLE)
+			string(REPLACE "\\" "" _DOT_PATH "${DOXYGEN_DOT_PATH}")
+			set(DOXY_DOT_PATH    "\"${_DOT_PATH}\"")
+			set(DOXY_MSCGEN_PATH "\"${_DOT_PATH}\"")
+			set(DOXY_DIA_PATH    "\"${_DOT_PATH}\"")
+		endif()
+		set(DOXY_INPUT)
+		foreach(F ${PIP_SRC_DIRS})
+			list(APPEND DOXY_INPUT "\"${PROJECT_SOURCE_DIR}/${F}\"")
+		endforeach(F)
+		string(REPLACE ";" " " DOXY_INPUT "${DOXY_INPUT}")
+		string(REPLACE ";" " " DOXY_INCLUDE_PATH "${PIP_MAIN_FOLDERS}")
+		add_documentation(doc Doxyfile.in)
+		install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc/html DESTINATION ../share/doc/pip COMPONENT doc EXCLUDE_FROM_ALL OPTIONAL)
 	endif()
-	set(DOXY_INPUT)
-	foreach(F ${PIP_SRC_DIRS})
-		list(APPEND DOXY_INPUT "\"${PROJECT_SOURCE_DIR}/${F}\"")
-	endforeach(F)
-	string(REPLACE ";" " " DOXY_INPUT "${DOXY_INPUT}")
-	string(REPLACE ";" " " DOXY_INCLUDE_PATH "${PIP_MAIN_FOLDERS}")
-	add_documentation(doc Doxyfile.in)
-	install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc/html DESTINATION ../share/doc/pip COMPONENT doc EXCLUDE_FROM_ALL OPTIONAL)
 endif()
 
diff --git a/src_main/code/picodeinfo.h b/src_main/code/picodeinfo.h
index e195ffbd..22a52c35 100755
--- a/src_main/code/picodeinfo.h
+++ b/src_main/code/picodeinfo.h
@@ -45,7 +45,7 @@ typedef PIByteArray(*AccessFunction)(const void *, const char *);
 
 struct PIP_EXPORT TypeInfo {
 	TypeInfo(const PIString & n = PIString(), const PIString & t = PIString(), PICodeInfo::TypeFlags f = 0, int b = -1) {name = n; type = t; flags = f; bits = b;}
-	const bool isBitfield() const {return bits > 0;}
+	bool isBitfield() const {return bits > 0;}
 	MetaMap meta;
 	PIString name;
 	PIString type;
diff --git a/src_main/core/piincludes_p.h b/src_main/core/piincludes_p.h
index fde610a0..3440661f 100644
--- a/src_main/core/piincludes_p.h
+++ b/src_main/core/piincludes_p.h
@@ -41,4 +41,5 @@ typedef LONG(NTAPI*PINtSetTimerResolution)(ULONG, BOOLEAN, PULONG);
 #include <iostream>
 
 
+
 #endif // PIINCLUDES_P_H
diff --git a/src_main/core/piinit.cpp b/src_main/core/piinit.cpp
index bfff83c1..51c4223d 100644
--- a/src_main/core/piinit.cpp
+++ b/src_main/core/piinit.cpp
@@ -23,9 +23,11 @@
 #include "pisignals.h"
 #include "piobject.h"
 #include "pisysteminfo.h"
-#include "pidir.h"
-#include "piprocess.h"
 #include "piresourcesstorage.h"
+#ifndef FREERTOS
+#  include "pidir.h"
+#  include "piprocess.h"
+#endif
 #ifdef WINDOWS
 #  include <winsock2.h>
 	extern FILETIME __pi_ftjan1970;
@@ -44,7 +46,9 @@
 	}
 #else
 #  include <pwd.h>
-#  include <sys/utsname.h>
+#  ifndef FREERTOS
+#    include <sys/utsname.h>
+#  endif
 #  include <pthread.h>
 #  ifdef BLACKBERRY
 #    include <signal.h>
@@ -88,6 +92,7 @@ PRIVATE_DEFINITION_START(PIInit)
 #endif
 PRIVATE_DEFINITION_END(PIInit)
 
+#ifndef FREERTOS
 void __sighandler__(PISignals::Signal s) {
 	//piCout << Hex << int(s);
 	if (s == PISignals::StopTTYInput || s == PISignals::StopTTYOutput)
@@ -95,6 +100,7 @@ void __sighandler__(PISignals::Signal s) {
 	if (s == PISignals::UserDefined1)
 		dumpApplicationToFile(PIDir::home().path() + PIDir::separator + PIStringAscii("_PIP_DUMP_") + PIString::fromNumber(PIProcess::currentPID()));
 }
+#endif
 
 
 #ifdef ANDROID
@@ -109,6 +115,7 @@ PIInit::PIInit() {
 	PISystemInfo * sinfo = PISystemInfo::instance();
 	sinfo->execDateTime = PIDateTime::current();
 	setFileCharset("UTF-8");
+#ifndef FREERTOS
 #ifndef ANDROID
 	PISignals::setSlot(__sighandler__);
 	PISignals::grabSignals(PISignals::UserDefined1);
@@ -211,11 +218,14 @@ PIInit::PIInit() {
 #endif
 #ifdef MAC_OS
 	host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &__pi_mac_clock);
+#endif
 #endif
 	char cbuff[1024];
 	memset(cbuff, 0, 1024);
+#ifndef FREERTOS
 	if (gethostname(cbuff, 1023) == 0)
 		sinfo->hostname = cbuff;
+#endif
 #ifdef WINDOWS
 	SYSTEM_INFO sysinfo;
 	GetSystemInfo(&sysinfo);
@@ -248,11 +258,13 @@ PIInit::PIInit() {
 		if (l)
 			sinfo->user = l;
 	}
+#  ifndef FREERTOS
 	struct utsname uns;
 	if (uname(&uns) == 0) {
 		sinfo->OS_version = uns.release;
 		sinfo->architecture = uns.machine;
 	}
+#  endif
 #endif
 	sinfo->OS_name =
 #ifdef WINDOWS
@@ -270,7 +282,11 @@ PIInit::PIInit() {
 #        ifdef FREE_BSD
 		PIStringAscii("FreeBSD");
 #        else
+#          ifdef FREERTOS
+		PIStringAscii("FreeRTOS");
+#          else
 		uns.sysname;
+#          endif
 #        endif
 #      endif
 #    endif
diff --git a/src_main/core/piobject.cpp b/src_main/core/piobject.cpp
index c1210bfa..91e38dcb 100755
--- a/src_main/core/piobject.cpp
+++ b/src_main/core/piobject.cpp
@@ -18,9 +18,10 @@
 */
 
 #include "piobject.h"
-#include "pifile.h"
 #include "pisysteminfo.h"
-
+#ifndef FREERTOS
+#  include "pifile.h"
+#endif
 
 /** \class PIObject
  * \brief This is base class for any classes which use events -> handlers mechanism.
@@ -585,7 +586,7 @@ void dumpApplication() {
 	//printf("dump application done\n");
 }
 
-
+#ifndef FREERTOS
 bool dumpApplicationToFile(const PIString & path) {
 	PIFile f(path + "_tmp");
 	f.setName("__S__DumpFile");
@@ -600,3 +601,4 @@ bool dumpApplicationToFile(const PIString & path) {
 	PIFile::rename(path + "_tmp", path);
 	return true;
 }
+#endif
diff --git a/src_main/core/pitime.h b/src_main/core/pitime.h
index e239e2c5..1c9bfaea 100755
--- a/src_main/core/pitime.h
+++ b/src_main/core/pitime.h
@@ -25,11 +25,14 @@
 
 
 #include "pistring.h"
-#include <ctime>
-#ifdef QNX
-#  include <time.h>
+#ifdef FREERTOS
+#  include "time.h"
+#else
+#  include <ctime>
+#  ifdef QNX
+#    include <time.h>
+#  endif
 #endif
-
 //! \brief Sleep for "msecs" milliseconds
 PIP_EXPORT void msleep(int msecs);
 
diff --git a/src_main/io_devices/pican.cpp b/src_main/io_devices/pican.cpp
index 84eb5d12..4375e16d 100644
--- a/src_main/io_devices/pican.cpp
+++ b/src_main/io_devices/pican.cpp
@@ -1,7 +1,7 @@
 #include "pican.h"
 #include "pipropertystorage.h"
 #include "piincludes_p.h"
-#if !defined(WINDOWS) && !defined(MAC_OS)
+#if !defined(WINDOWS) && !defined(MAC_OS) && !defined(FREERTOS)
 #  define PIP_CAN
 #endif
 #ifdef PIP_CAN
diff --git a/src_main/piplatform.h b/src_main/piplatform.h
index d75690b2..bf230b2c 100644
--- a/src_main/piplatform.h
+++ b/src_main/piplatform.h
@@ -45,13 +45,18 @@
 #    define ANDROID
 #  endif
 #endif
+#ifdef PIP_FREERTOS
+#  define FREERTOS
+#endif
 #ifndef WINDOWS
 #  ifndef QNX
 #    ifndef FREE_BSD
 #      ifndef MAC_OS
 #        ifndef ANDROID
 #          ifndef BLACKBERRY
-#            define LINUX
+#            ifndef FREERTOS
+#              define LINUX
+#            endif
 #          endif
 #        endif
 #      endif
diff --git a/src_main/system/picodec.cpp b/src_main/system/picodec.cpp
index d6c63394..7d17fbc5 100755
--- a/src_main/system/picodec.cpp
+++ b/src_main/system/picodec.cpp
@@ -17,6 +17,8 @@
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 
+#ifndef PIP_FREERTOS
+
 #include "picodec.h"
 
 
@@ -39,3 +41,5 @@ PIByteArray PICodec::exec_iconv(const PIString & from, const PIString & to, cons
 	waitForFinish();
 	return readOutput();
 }
+
+#endif // PIP_FREERTOS
diff --git a/src_main/system/picodec.h b/src_main/system/picodec.h
index d34f8e4c..f774439a 100755
--- a/src_main/system/picodec.h
+++ b/src_main/system/picodec.h
@@ -20,6 +20,8 @@
 #ifndef PICODEC_H
 #define PICODEC_H
 
+#ifndef PIP_FREERTOS
+
 #include "piprocess.h"
 
 class PIP_EXPORT PICodec: protected PIProcess
@@ -48,4 +50,5 @@ private:
 
 };
 
+#endif // PIP_FREERTOS
 #endif // PICODEC_H
diff --git a/src_main/system/pilibrary.cpp b/src_main/system/pilibrary.cpp
index 985aee64..dad0d4d8 100644
--- a/src_main/system/pilibrary.cpp
+++ b/src_main/system/pilibrary.cpp
@@ -17,6 +17,8 @@
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 
+#ifndef PIP_FREERTOS
+
 #include "pilibrary.h"
 #include "piincludes_p.h"
 #ifndef WINDOWS
@@ -107,3 +109,5 @@ void PILibrary::getLastError() {
 	else liberror.clear();
 #endif
 }
+
+#endif // PIP_FREERTOS
diff --git a/src_main/system/pilibrary.h b/src_main/system/pilibrary.h
index bd43abaf..bf01d1ee 100644
--- a/src_main/system/pilibrary.h
+++ b/src_main/system/pilibrary.h
@@ -16,10 +16,12 @@
     You should have received a copy of the GNU General Public License
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
-
+#
 #ifndef PILIBRARY_H
 #define PILIBRARY_H
 
+#ifndef PIP_FREERTOS
+
 #include "pistring.h"
 
 class PIP_EXPORT PILibrary {
@@ -45,4 +47,5 @@ private:
 	
 };
 
+#endif // PIP_FREERTOS
 #endif // PILIBRARY_H
diff --git a/src_main/system/piprocess.cpp b/src_main/system/piprocess.cpp
index 4c496f1d..2231dff5 100755
--- a/src_main/system/piprocess.cpp
+++ b/src_main/system/piprocess.cpp
@@ -17,6 +17,8 @@
 	along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 
+#ifndef PIP_FREERTOS
+
 #include "piincludes_p.h"
 #include "piprocess.h"
 #ifndef WINDOWS
@@ -26,7 +28,6 @@
 #ifdef MAC_OS
 #  include <crt_externs.h>
 #endif
-
 PRIVATE_DEFINITION_START(PIProcess)
 #ifdef WINDOWS
 	STARTUPINFOA si;
@@ -38,7 +39,6 @@ PRIVATE_DEFINITION_START(PIProcess)
 PRIVATE_DEFINITION_END(PIProcess)
 
 
-
 PIProcess::PIProcess(): PIThread() {
 	exit_code = -1;
 #ifdef WINDOWS
@@ -307,3 +307,5 @@ PIString PIProcess::getEnvironmentVariable(const PIString & variable) {
 	return PIString();
 }
 
+#endif // PIP_FREERTOS
+
diff --git a/src_main/system/piprocess.h b/src_main/system/piprocess.h
index 82c22a08..bcf24f3b 100755
--- a/src_main/system/piprocess.h
+++ b/src_main/system/piprocess.h
@@ -23,6 +23,8 @@
 #ifndef PIPROCESS_H
 #define PIPROCESS_H
 
+#ifndef PIP_FREERTOS
+
 #include "pithread.h"
 #include "pifile.h"
 
@@ -102,4 +104,5 @@ private:
 
 };
 
+#endif // PIP_FREERTOS
 #endif // PIPROCESS_H
diff --git a/src_main/system/pisystemmonitor.cpp b/src_main/system/pisystemmonitor.cpp
index 8a1201ca..092d64f1 100755
--- a/src_main/system/pisystemmonitor.cpp
+++ b/src_main/system/pisystemmonitor.cpp
@@ -83,6 +83,7 @@ PISystemMonitor::ProcessStats::ProcessStats() {
 }
 
 
+#ifndef FREERTOS
 bool PISystemMonitor::startOnProcess(int pID, int interval_ms) {
 	stop();
 	self_ = false;
@@ -109,13 +110,12 @@ bool PISystemMonitor::startOnProcess(int pID, int interval_ms) {
 	return start(interval_ms);
 }
 
-
 bool PISystemMonitor::startOnSelf(int interval_ms) {
 	bool ret = startOnProcess(PIProcess::currentPID(), interval_ms);
 	self_ = true;
 	return ret;
 }
-
+#endif
 
 PIVector<PISystemMonitor::ThreadStats> PISystemMonitor::threadsStatistic() const {
 	mutex_.lock();
diff --git a/src_main/system/pisystemmonitor.h b/src_main/system/pisystemmonitor.h
index 9ea60ee5..54d4f35c 100755
--- a/src_main/system/pisystemmonitor.h
+++ b/src_main/system/pisystemmonitor.h
@@ -70,9 +70,10 @@ public:
 		ullong space_used;
 		ullong space_free;*/
 	};
-
+#ifndef FREERTOS
 	bool startOnProcess(int pID, int interval_ms = 1000);
 	bool startOnSelf(int interval_ms = 1000);
+#endif
 	void stop();
 	
 	const ProcessStats & statistic() const {return stat;}
diff --git a/src_main/thread/pithread.cpp b/src_main/thread/pithread.cpp
index 58b2703e..855784f6 100755
--- a/src_main/thread/pithread.cpp
+++ b/src_main/thread/pithread.cpp
@@ -31,7 +31,7 @@
 #  include <sys/syscall.h>
 #  define gettid() syscall(SYS_gettid)
 #endif
-#if defined(MAC_OS) || defined(BLACKBERRY)
+#if defined(MAC_OS) || defined(BLACKBERRY) || defined(FREERTOS)
 #  include <pthread.h>
 #endif
 __THREAD_FUNC_RET__ thread_function(void * t) {PIThread::__thread_func__(t); return 0;}
@@ -335,7 +335,8 @@ int PIThread::priority2System(PIThread::Priority p) {
 
 
 void PIThread::setPriority(PIThread::Priority prior) {
-	priority_ = prior;
+#ifndef FREERTOS  // FreeRTOS can't change priority runtime
+ 	priority_ = prior;
 #ifndef WINDOWS
 	if (!running_ || (PRIVATE->thread == 0)) return;
 	//piCout << "setPriority" << PRIVATE->thread;
@@ -354,6 +355,7 @@ void PIThread::setPriority(PIThread::Priority prior) {
 	if (!running_ || (PRIVATE->thread == 0)) return;
 	SetThreadPriority(PRIVATE->thread, priority2System(priority_));
 #endif
+#endif //FREERTOS
 }