diff --git a/libraries/ms-common/inc/log.h b/libraries/ms-common/inc/log.h
index b5dbef4..6ca72e7 100644
--- a/libraries/ms-common/inc/log.h
+++ b/libraries/ms-common/inc/log.h
@@ -4,7 +4,7 @@
  * log.h
  *
  * Header file for the logging library used to debug all modules
- * 
+ *
  * Created: 2024-10-27
  * Midnight Sun Team #24 - MSXVI
  ************************************************************************************************/
diff --git a/libraries/ms-common/inc/misc.h b/libraries/ms-common/inc/misc.h
index 770d47d..ded3b0f 100644
--- a/libraries/ms-common/inc/misc.h
+++ b/libraries/ms-common/inc/misc.h
@@ -4,7 +4,7 @@
  * misc.h
  *
  * Common helper functions
- * 
+ *
  * Created: 2024-10-27
  * Midnight Sun Team #24 - MSXVI
  ************************************************************************************************/
diff --git a/libraries/ms-common/inc/status.h b/libraries/ms-common/inc/status.h
index 9ceac82..b816a7a 100644
--- a/libraries/ms-common/inc/status.h
+++ b/libraries/ms-common/inc/status.h
@@ -4,7 +4,7 @@
  * status.h
  *
  * Status Library for more verbose error handling
- * 
+ *
  * Created: 2024-10-27
  * Midnight Sun Team #24 - MSXVI
  ************************************************************************************************/
@@ -34,7 +34,7 @@ typedef enum {
   NUM_STATUS_CODES,
 } StatusCode;
 
-/** 
+/**
  * @brief Use to forward failures or continue on success.
  */
 #define status_ok_or_return(code)          \
diff --git a/libraries/ms-common/inc/tasks.h b/libraries/ms-common/inc/tasks.h
index de2a64c..88ce1d8 100644
--- a/libraries/ms-common/inc/tasks.h
+++ b/libraries/ms-common/inc/tasks.h
@@ -26,7 +26,8 @@
  * @details The generated function has the following signature:
  *          void _prv_your_task_function(void *context)
  *          where context is the context pointer passed to tasks_init_task.
- * @param   task_name is the name of your task, which should match any previous DECLARE_TASK declarations.
+ * @param   task_name is the name of your task, which should match any previous DECLARE_TASK
+ * declarations.
  * @param   task_stack_size is the depth of your task's stack - use your judgement to choose.
  */
 #define TASK(task_name, task_stack_size)                           \
@@ -99,7 +100,7 @@ void tasks_start(void);
  */
 StatusCode tasks_init(void);
 
-/** 
+/**
  * @brief   Waits for num_tasks of RTOS tasks to finish
  * @param   num_tasks Number of task completions to wait for
  * @details Takes num_tasks from end task semaphore, tracking the number of tasks completed
@@ -108,7 +109,7 @@ StatusCode tasks_init(void);
  */
 StatusCode wait_tasks(uint16_t num_tasks);
 
-/** 
+/**
  * @brief   A wrapper to give to the semaphore, to be called by tasks when they complete
  * @return  STATUS_CODE_OK if succesfully release sempahore
  */
diff --git a/libraries/ms-common/inc/test_helpers.h b/libraries/ms-common/inc/test_helpers.h
index 6994faa..fc79916 100644
--- a/libraries/ms-common/inc/test_helpers.h
+++ b/libraries/ms-common/inc/test_helpers.h
@@ -4,7 +4,7 @@
  * test_helpers.h
  *
  * Unity test framework helper library
- * 
+ *
  * Created: 2024-10-27
  * Midnight Sun Team #24 - MSXVI
  ************************************************************************************************/
diff --git a/libraries/ms-common/src/semaphore.c b/libraries/ms-common/src/semaphore.c
new file mode 100644
index 0000000..08682d2
--- /dev/null
+++ b/libraries/ms-common/src/semaphore.c
@@ -0,0 +1,96 @@
+/************************************************************************************************
+ * tasks.c
+ *
+ * Source code for the RTOS tasks wrapper
+ *
+ * Created: 2024-10-30
+ * Midnight Sun Team #24 - MSXVI
+ ************************************************************************************************/
+
+/* Standard library headers */
+#include <stdio.h>
+
+/* Inter-component Headers */
+
+/* Intra-component Headers */
+#include "semaphore.h"
+
+StatusCode mutex_init(Mutex *mutex) {
+  mutex->handle = xSemaphoreCreateMutexStatic(&mutex->buffer);
+  if (mutex->handle == NULL) {
+    return STATUS_CODE_UNINITIALIZED;
+  } else {
+    return STATUS_CODE_OK;
+  }
+}
+
+StatusCode mutex_lock(Mutex *mutex, uint16_t ms_to_wait) {
+  TickType_t ticks_to_wait;
+
+  /* Handle invalid args */
+  if (mutex == NULL || mutex->handle == NULL) {
+    return STATUS_CODE_INVALID_ARGS;
+  }
+  if (ms_to_wait == BLOCK_INDEFINITELY) {
+    ticks_to_wait = portMAX_DELAY;
+  } else {
+    ticks_to_wait = pdMS_TO_TICKS(ms_to_wait);
+  }
+
+  if (xSemaphoreTake(mutex->handle, ticks_to_wait) == pdFALSE) {
+    return STATUS_CODE_TIMEOUT;
+  }
+  return STATUS_CODE_OK;
+}
+
+StatusCode mutex_unlock(Mutex *mutex) {
+  /* Handle invalid args */
+  if (mutex == NULL || mutex->handle == NULL) {
+    return STATUS_CODE_INVALID_ARGS;
+  }
+
+  if (xSemaphoreGive(mutex->handle) == pdFALSE) {
+    return STATUS_CODE_INTERNAL_ERROR;
+  }
+  return STATUS_CODE_OK;
+}
+
+StatusCode sem_init(Semaphore *sem, uint32_t max_count, uint32_t initial_count) {
+  if (sem == NULL) {
+    return STATUS_CODE_INVALID_ARGS;
+  }
+  sem->handle = xSemaphoreCreateCountingStatic(max_count, initial_count, &sem->buffer);
+  if (sem->handle == NULL) {
+    return STATUS_CODE_UNINITIALIZED;
+  } else {
+    return STATUS_CODE_OK;
+  }
+}
+
+StatusCode sem_wait(Semaphore *sem, uint32_t timeout_ms) {
+  if (sem == NULL) {
+    return STATUS_CODE_INVALID_ARGS;
+  }
+  if (xSemaphoreTake(sem->handle, timeout_ms) == pdFALSE) {
+    return STATUS_CODE_TIMEOUT;
+  }
+  return STATUS_CODE_OK;
+}
+
+StatusCode sem_post(Semaphore *sem) {
+  if (sem == NULL) {
+    return STATUS_CODE_INVALID_ARGS;
+  }
+  if (xSemaphoreGive(sem->handle) == pdFALSE) {
+    return STATUS_CODE_INTERNAL_ERROR;
+  }
+  return STATUS_CODE_OK;
+}
+
+uint32_t sem_num_items(Semaphore *sem) {
+  if (sem == NULL) {
+    return STATUS_CODE_INVALID_ARGS;
+  }
+  UBaseType_t count = uxSemaphoreGetCount(sem->handle);
+  return count;
+}
\ No newline at end of file
diff --git a/libraries/ms-common/src/tasks.c b/libraries/ms-common/src/tasks.c
new file mode 100644
index 0000000..f214118
--- /dev/null
+++ b/libraries/ms-common/src/tasks.c
@@ -0,0 +1,115 @@
+/************************************************************************************************
+ * tasks.c
+ *
+ * Source code for the RTOS tasks wrapper
+ *
+ * Created: 2024-10-30
+ * Midnight Sun Team #24 - MSXVI
+ ************************************************************************************************/
+
+/* Standard library headers */
+#include <stdbool.h>
+
+/* Inter-component Headers */
+#include "FreeRTOS.h"
+
+/* Intra-component Headers */
+#include "log.h"
+#include "status.h"
+#include "tasks.h"
+
+static StaticSemaphore_t s_end_task_sem;
+static SemaphoreHandle_t s_end_task_handle = NULL;
+
+// Add any setup or teardown that needs to be done for every task here.
+static void prv_task(void *params) {
+  Task *task = params;
+  if (task == NULL) {  // guard just in case, error should have been caught previously
+    LOG_CRITICAL("CRITICAL: Tried to start null task!\n");
+    return;
+  }
+
+  LOG_DEBUG("Task %s starting.\n", task->name);
+
+  // Call the task function. This shouldn't exit.
+  task->task_func(task->context);
+
+  // If the task somehow exits, warn and clean up properly.
+  LOG_WARN("WARNING: Task %s exited.\n", task->name);
+  vTaskDelete(NULL);
+}
+
+StatusCode tasks_init_task(Task *task, TaskPriority priority, void *context) {
+  // Defensively guard against invalid initialization - it's bad to get this wrong.
+  if (task == NULL || task->task_func == NULL) {
+    LOG_CRITICAL("CRITICAL: Tried to create null task!\n");
+    return STATUS_CODE_INVALID_ARGS;
+  }
+
+  // Priorities range from 0 to configMAX_PRIORITIES-1 with a higher number meaning higher priority.
+  if (priority >= configMAX_PRIORITIES) {
+    LOG_CRITICAL("CRITICAL: task '%s' priority is too high, not creating! Was %d, max is %d\n",
+                 task->name, (int)priority, configMAX_PRIORITIES - 1);
+    return STATUS_CODE_INVALID_ARGS;
+  }
+
+  if (task->stack_size < TASK_MIN_STACK_SIZE) {
+    LOG_WARN("Task '%s' had too small stack size, defaulting to minimum %d\n", task->name,
+             TASK_MIN_STACK_SIZE);
+    task->stack_size = TASK_MIN_STACK_SIZE;
+  }
+
+  // Task already created
+  if (task->handle != NULL) {
+    return STATUS_CODE_OK;
+  }
+
+  task->context = context;
+  task->handle = xTaskCreateStatic(prv_task, task->name, task->stack_size, task, priority,
+                                   task->stack, &task->tcb);
+  if (task->handle == NULL) {
+    LOG_CRITICAL("Failed to create Task %s", task->name);
+  } else {
+    LOG_DEBUG("Create Task %s", task->name);
+  }
+  return STATUS_CODE_OK;
+}
+
+void tasks_start(void) {
+  if (s_end_task_handle == NULL) {
+    LOG_CRITICAL("s_end_task_sem not initialized! Call tasks_init() first\n");
+    return;
+  }
+
+  vTaskStartScheduler();
+}
+
+StatusCode tasks_init(void) {
+  // Initialize the end task semaphore.
+  s_end_task_handle = xSemaphoreCreateCountingStatic(MAX_NUM_TASKS, 0, &s_end_task_sem);
+
+  if (s_end_task_handle == NULL) {
+    return STATUS_CODE_UNINITIALIZED;
+  } else {
+    return STATUS_CODE_OK;
+  }
+}
+
+StatusCode wait_tasks(uint16_t num_tasks) {
+  for (uint16_t i = 0; i < num_tasks; ++i) {
+    if (xSemaphoreTake(s_end_task_handle, pdMS_TO_TICKS(WAIT_TASK_TIMEOUT_MS)) != pdTRUE) {
+      // Task took longer than 1 second for its execution cycle, return timeout
+      return STATUS_CODE_TIMEOUT;
+    }
+  }
+  return STATUS_CODE_OK;
+}
+
+StatusCode send_task_end() {
+  if (xSemaphoreGive(s_end_task_handle) != pdTRUE) {
+    // if giving to semaphore failed, we ran out of space in the buffer
+    LOG_CRITICAL("CRITICAL: Out of buffer space in semaphore.\n");
+    return STATUS_CODE_RESOURCE_EXHAUSTED;
+  }
+  return STATUS_CODE_OK;
+}
diff --git a/libraries/ms-freertos/inc/FreeRTOSConfig.h b/libraries/ms-freertos/inc/FreeRTOSConfig.h
index dedf553..2a36278 100644
--- a/libraries/ms-freertos/inc/FreeRTOSConfig.h
+++ b/libraries/ms-freertos/inc/FreeRTOSConfig.h
@@ -37,7 +37,6 @@ extern uint32_t SystemCoreClock;
 #define configAPPLICATION_ALLOCATED_HEAP 0
 #define configSYSTEM_CALL_STACK_SIZE 128
 
-
 /* Hook function related definitions. */
 #define configUSE_IDLE_HOOK 0
 #define configUSE_TICK_HOOK 0
diff --git a/libraries/ms-freertos/src/static_alloc.c b/libraries/ms-freertos/src/static_alloc.c
index 180c4e6..5521ac0 100644
--- a/libraries/ms-freertos/src/static_alloc.c
+++ b/libraries/ms-freertos/src/static_alloc.c
@@ -2,7 +2,7 @@
  * static_alloc.c
  *
  * Static allocation helpers for FreeRTOS.
- * 
+ *
  * Created: 2024-10-27
  * Midnight Sun Team #24 - MSXVI
  ************************************************************************************************/
@@ -12,6 +12,7 @@
 
 /* Inter-component Headers */
 #include "FreeRTOS.h"
+#include "log.h"
 #include "task.h"
 
 /* Intra-component Headers */
@@ -20,21 +21,19 @@
 
 /**
  * This is needed handle stack overflows.
- * See https://www.freertos.org/Documentation/02-Kernel/02-Kernel-features/09-Memory-management/02-Stack-usage-and-stack-overflow-checking
+ * See
+ * https://www.freertos.org/Documentation/02-Kernel/02-Kernel-features/09-Memory-management/02-Stack-usage-and-stack-overflow-checking
  */
 void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName) {
-  (void)xTask;
-  (void)pcTaskName;
-  taskDISABLE_INTERRUPTS();
-  for (;;);
+  LOG_CRITICAL("CRITICAL: Task '%s' has overflowed its allocated stack space.\n", pcTaskName);
 }
 
 /**
  * This is needed to handle memory allocation failures during task memory allocation.
  */
 void vApplicationMallocFailedHook(void) {
-    taskDISABLE_INTERRUPTS();
-    for (;;);
+  taskDISABLE_INTERRUPTS();
+  for (;;);
 }
 
 #endif
diff --git a/smoke/rtos_sample/src/main.c b/smoke/rtos_sample/src/main.c
index c01fc9c..8234e76 100644
--- a/smoke/rtos_sample/src/main.c
+++ b/smoke/rtos_sample/src/main.c
@@ -2,7 +2,7 @@
  * main.c
  *
  * Main file for RTOS Sample.
- * 
+ *
  * Created: 2024-10-27
  * Midnight Sun Team #24 - MSXVI
  ************************************************************************************************/