diff --git a/osal/usb_osal_freertos.c b/osal/usb_osal_freertos.c
index 933833b6..4c190bef 100644
--- a/osal/usb_osal_freertos.c
+++ b/osal/usb_osal_freertos.c
@@ -21,6 +21,7 @@
  *
  */
 #include "usb_osal.h"
+#include "usb_errno.h"
 #include <FreeRTOS.h>
 #include "semphr.h"
 #include "timers.h"
@@ -56,7 +57,7 @@ void usb_osal_sem_delete(usb_osal_sem_t sem)
 
 int usb_osal_sem_take(usb_osal_sem_t sem, uint32_t timeout)
 {
-    return (xSemaphoreTake((SemaphoreHandle_t)sem, pdMS_TO_TICKS(timeout)) == pdPASS) ? 0 : -1;
+    return (xSemaphoreTake((SemaphoreHandle_t)sem, pdMS_TO_TICKS(timeout)) == pdPASS) ? 0 : -ETIMEDOUT;
 }
 
 int usb_osal_sem_give(usb_osal_sem_t sem)
@@ -80,7 +81,7 @@ int usb_osal_sem_give(usb_osal_sem_t sem)
         }
     }
 
-    return (ret == pdPASS) ? 0 : -1;
+    return (ret == pdPASS) ? 0 : -EINVAL;
 }
 
 usb_osal_mutex_t usb_osal_mutex_create(void)
@@ -95,12 +96,12 @@ void usb_osal_mutex_delete(usb_osal_mutex_t mutex)
 
 int usb_osal_mutex_take(usb_osal_mutex_t mutex)
 {
-    return (xSemaphoreTake((SemaphoreHandle_t)mutex, portMAX_DELAY) == pdPASS) ? 0 : -1;
+    return (xSemaphoreTake((SemaphoreHandle_t)mutex, portMAX_DELAY) == pdPASS) ? 0 : -ETIMEDOUT;
 }
 
 int usb_osal_mutex_give(usb_osal_mutex_t mutex)
 {
-    return (xSemaphoreGive((SemaphoreHandle_t)mutex) == pdPASS) ? 0 : -1;
+    return (xSemaphoreGive((SemaphoreHandle_t)mutex) == pdPASS) ? 0 : -EINVAL;
 }
 
 usb_osal_event_t usb_osal_event_create(void)
@@ -128,7 +129,7 @@ int usb_osal_event_send(usb_osal_event_t event, uint32_t set)
     if (ret == pdPASS) {
         portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
     }
-    return (ret == pdPASS) ? 0 : -1;
+    return (ret == pdPASS) ? 0 : -EINVAL;
 }
 
 size_t usb_osal_enter_critical_section(void)
diff --git a/osal/usb_osal_rtthread.c b/osal/usb_osal_rtthread.c
index 5212f349..43155e65 100644
--- a/osal/usb_osal_rtthread.c
+++ b/osal/usb_osal_rtthread.c
@@ -21,7 +21,9 @@
  *
  */
 #include "usb_osal.h"
+#include "usb_errno.h"
 #include <rtthread.h>
+#include <rthw.h>
 
 usb_osal_thread_t usb_osal_thread_create(const char *name, uint32_t stack_size, uint32_t prio, usb_thread_entry_t entry, void *args)
 {
@@ -53,7 +55,19 @@ void usb_osal_sem_delete(usb_osal_sem_t sem)
 
 int usb_osal_sem_take(usb_osal_sem_t sem, uint32_t timeout)
 {
-    return (int)rt_sem_take((rt_sem_t)sem, rt_tick_from_millisecond(timeout));
+    int ret = 0;
+    rt_err_t result = RT_EOK;
+
+    result = rt_sem_take((rt_sem_t)sem, rt_tick_from_millisecond(timeout));
+    if (result == RT_ETIMEOUT) {
+        ret = -ETIMEDOUT;
+    } else if (result == RT_ERROR) {
+        ret = -EINVAL;
+    } else {
+        ret = 0;
+    }
+
+    return (int)ret;
 }
 
 int usb_osal_sem_give(usb_osal_sem_t sem)
@@ -96,9 +110,13 @@ int usb_osal_event_recv(usb_osal_event_t event, uint32_t set, uint32_t *recved)
     int ret = 0;
     rt_err_t result = RT_EOK;
 
-    result = rt_event_recv((rt_event_t)event, set, RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR, RT_WAITING_FOREVER, recved);
-    if (result != RT_EOK) {
-        ret = -1;
+    result = rt_event_recv((rt_event_t)event, set, RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR, RT_WAITING_FOREVER, (rt_uint32_t *)recved);
+    if (result == RT_ETIMEOUT) {
+        ret = -ETIMEDOUT;
+    } else if (result == RT_ERROR) {
+        ret = -EINVAL;
+    } else {
+        ret = 0;
     }
 
     return ret;
@@ -111,7 +129,7 @@ int usb_osal_event_send(usb_osal_event_t event, uint32_t set)
 
     result = rt_event_send((rt_event_t)event, set);
     if (result != RT_EOK) {
-        ret = -1;
+        ret = -EINVAL;
     }
 
     return ret;