diff --git a/tests/lpc18xx_43xx/test/test_osal_none.c b/tests/lpc18xx_43xx/test/test_osal_none.c
index 537e3217d..d4a97f485 100644
--- a/tests/lpc18xx_43xx/test/test_osal_none.c
+++ b/tests/lpc18xx_43xx/test/test_osal_none.c
@@ -386,7 +386,7 @@ tusb_error_t sample_flow_control_subtask2(void)
   statements[2]++;
 
   osal_semaphore_wait(sem_hdl, OSAL_TIMEOUT_NORMAL, &error);
-  SUBTASK_ASSERT_STATUS_WITH_HANDLER(error, flow_control_error_handler());
+  SUBTASK_ASSERT_STATUS_HDLR(error, flow_control_error_handler());
   statements[3]++;
 
   OSAL_SUBTASK_END
diff --git a/tinyusb/class/cdc/cdc_device.c b/tinyusb/class/cdc/cdc_device.c
index f39075885..ebb3e8ead 100644
--- a/tinyusb/class/cdc/cdc_device.c
+++ b/tinyusb/class/cdc/cdc_device.c
@@ -221,12 +221,12 @@ tusb_error_t cdcd_control_request_subtask(uint8_t port, tusb_control_request_t c
 
   if (CDC_REQUEST_GET_LINE_CODING == p_request->bRequest)
   {
-    OSAL_SUBTASK_INVOKED( usbd_control_xfer_substak(port, (tusb_dir_t) p_request->bmRequestType_bit.direction,
+    SUBTASK_INVOKE( usbd_control_xfer_substak(port, (tusb_dir_t) p_request->bmRequestType_bit.direction,
                                                     (uint8_t*) &cdcd_line_coding[port], min16_of(sizeof(cdc_line_coding_t), p_request->wLength)), err );
   }
   else if (CDC_REQUEST_SET_LINE_CODING == p_request->bRequest)
   {
-    OSAL_SUBTASK_INVOKED( usbd_control_xfer_substak(port, (tusb_dir_t) p_request->bmRequestType_bit.direction,
+    SUBTASK_INVOKE( usbd_control_xfer_substak(port, (tusb_dir_t) p_request->bmRequestType_bit.direction,
                                                     (uint8_t*) &cdcd_line_coding[port], min16_of(sizeof(cdc_line_coding_t), p_request->wLength)), err );
     // TODO notify application on xfer complete
   }
diff --git a/tinyusb/class/cdc/cdc_rndis_host.c b/tinyusb/class/cdc/cdc_rndis_host.c
index bcf40c242..7910e63a3 100644
--- a/tinyusb/class/cdc/cdc_rndis_host.c
+++ b/tinyusb/class/cdc/cdc_rndis_host.c
@@ -173,7 +173,7 @@ tusb_error_t rndish_open_subtask(uint8_t dev_addr, cdch_data_t *p_cdc)
 
   //------------- Message Initialize -------------//
   memcpy(msg_payload, &msg_init, sizeof(rndis_msg_initialize_t));
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
       send_message_get_response_subtask( dev_addr, p_cdc,
                                          msg_payload, sizeof(rndis_msg_initialize_t),
                                          msg_payload),
@@ -191,7 +191,7 @@ tusb_error_t rndish_open_subtask(uint8_t dev_addr, cdch_data_t *p_cdc)
   memcpy(msg_payload, &msg_query_permanent_addr, sizeof(rndis_msg_query_t));
   memclr_(msg_payload + sizeof(rndis_msg_query_t), 6); // 6 bytes for MAC address
 
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
       send_message_get_response_subtask( dev_addr, p_cdc,
                                          msg_payload, sizeof(rndis_msg_query_t) + 6,
                                          msg_payload),
@@ -208,7 +208,7 @@ tusb_error_t rndish_open_subtask(uint8_t dev_addr, cdch_data_t *p_cdc)
   memclr_(msg_payload + sizeof(rndis_msg_set_t), 4); // 4 bytes for filter flags
   ((rndis_msg_set_t*) msg_payload)->oid_buffer[0] = (RNDIS_PACKET_TYPE_DIRECTED | RNDIS_PACKET_TYPE_MULTICAST | RNDIS_PACKET_TYPE_BROADCAST);
 
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
       send_message_get_response_subtask( dev_addr, p_cdc,
                                          msg_payload, sizeof(rndis_msg_set_t) + 4,
                                          msg_payload),
@@ -244,7 +244,7 @@ static tusb_error_t send_message_get_response_subtask( uint8_t dev_addr, cdch_da
   OSAL_SUBTASK_BEGIN
 
   //------------- Send RNDIS Control Message -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
       usbh_control_xfer_subtask( dev_addr, bm_request_type(TUSB_DIR_OUT, TUSB_REQ_TYPE_CLASS, TUSB_REQ_RCPT_INTERFACE),
                                  CDC_REQUEST_SEND_ENCAPSULATED_COMMAND, 0, p_cdc->interface_number,
                                  mess_length, p_mess),
@@ -259,7 +259,7 @@ static tusb_error_t send_message_get_response_subtask( uint8_t dev_addr, cdch_da
   SUBTASK_ASSERT(msg_notification[dev_addr-1][0] == 1);
 
   //------------- Get RNDIS Message Initialize Complete -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
     usbh_control_xfer_subtask( dev_addr, bm_request_type(TUSB_DIR_IN, TUSB_REQ_TYPE_CLASS, TUSB_REQ_RCPT_INTERFACE),
                                CDC_REQUEST_GET_ENCAPSULATED_RESPONSE, 0, p_cdc->interface_number,
                                RNDIS_MSG_PAYLOAD_MAX, p_response),
diff --git a/tinyusb/class/hid/hid_host.c b/tinyusb/class/hid/hid_host.c
index e3bdc6137..710a00424 100644
--- a/tinyusb/class/hid/hid_host.c
+++ b/tinyusb/class/hid/hid_host.c
@@ -198,7 +198,7 @@ tusb_error_t hidh_open_subtask(uint8_t dev_addr, tusb_descriptor_interface_t con
   OSAL_SUBTASK_BEGIN
 
   //------------- SET IDLE (0) request -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
     usbh_control_xfer_subtask( dev_addr, bm_request_type(TUSB_DIR_OUT, TUSB_REQ_TYPE_CLASS, TUSB_REQ_RCPT_INTERFACE),
                                HID_REQUEST_CONTROL_SET_IDLE, 0, p_interface_desc->bInterfaceNumber,
                                0, NULL ),
@@ -210,7 +210,7 @@ tusb_error_t hidh_open_subtask(uint8_t dev_addr, tusb_descriptor_interface_t con
   //------------- Get Report Descriptor TODO HID parser -------------//
   if ( p_desc_hid->bNumDescriptors )
   {
-    OSAL_SUBTASK_INVOKED(
+    SUBTASK_INVOKE(
         usbh_control_xfer_subtask( dev_addr, bm_request_type(TUSB_DIR_IN, TUSB_REQ_TYPE_STANDARD, TUSB_REQ_RCPT_INTERFACE),
                                    TUSB_REQ_GET_DESCRIPTOR, (p_desc_hid->bReportType << 8), 0,
                                    p_desc_hid->wReportLength, report_descriptor ),
diff --git a/tinyusb/class/msc/msc_device.c b/tinyusb/class/msc/msc_device.c
index e16129204..3244e3c86 100644
--- a/tinyusb/class/msc/msc_device.c
+++ b/tinyusb/class/msc/msc_device.c
@@ -139,7 +139,7 @@ tusb_error_t mscd_control_request_subtask(uint8_t port, tusb_control_request_t c
   {
     // Note: lpc11/13u need xfer data's address to be aligned 64 -> make use of scsi_data instead of using max_lun directly
     p_msc->scsi_data[0] = p_msc->max_lun;
-    OSAL_SUBTASK_INVOKED( usbd_control_xfer_substak(port, TUSB_DIR_IN, p_msc->scsi_data, 1), err);
+    SUBTASK_INVOKE( usbd_control_xfer_substak(port, TUSB_DIR_IN, p_msc->scsi_data, 1), err);
   }else
   {
     SUBTASK_RETURN(TUSB_ERROR_DCD_CONTROL_REQUEST_NOT_SUPPORT);
diff --git a/tinyusb/class/msc/msc_host.c b/tinyusb/class/msc/msc_host.c
index 61cd8796d..6e8562307 100644
--- a/tinyusb/class/msc/msc_host.c
+++ b/tinyusb/class/msc/msc_host.c
@@ -327,7 +327,7 @@ tusb_error_t msch_open_subtask(uint8_t dev_addr, tusb_descriptor_interface_t con
 
 
   //------------- Get Max Lun -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
     usbh_control_xfer_subtask( dev_addr, bm_request_type(TUSB_DIR_IN, TUSB_REQ_TYPE_CLASS, TUSB_REQ_RCPT_INTERFACE),
                                MSC_REQUEST_GET_MAX_LUN, 0, msch_data[dev_addr-1].interface_number,
                                1, msch_buffer ),
@@ -339,7 +339,7 @@ tusb_error_t msch_open_subtask(uint8_t dev_addr, tusb_descriptor_interface_t con
 
 #if 0
   //------------- Reset -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
     usbh_control_xfer_subtask( dev_addr, bm_request_type(TUSB_DIR_OUT, TUSB_REQ_TYPE_CLASS, TUSB_REQ_RCPT_INTERFACE),
                                MSC_REQUEST_RESET, 0, msch_data[dev_addr-1].interface_number,
                                0, NULL ),
@@ -365,7 +365,7 @@ tusb_error_t msch_open_subtask(uint8_t dev_addr, tusb_descriptor_interface_t con
   // Read Capacity --> Stalled --> Clear Stall --> Request Sense --> Read Capacity (2) to work
   if ( hcd_pipe_is_stalled(msch_data[dev_addr-1].bulk_in) )
   { // clear stall TODO abstract clear stall function
-    OSAL_SUBTASK_INVOKED(
+    SUBTASK_INVOKE(
       usbh_control_xfer_subtask( dev_addr, bm_request_type(TUSB_DIR_OUT, TUSB_REQ_TYPE_STANDARD, TUSB_REQ_RCPT_ENDPOINT),
                                  TUSB_REQ_CLEAR_FEATURE, 0, hcd_pipe_get_endpoint_addr(msch_data[dev_addr-1].bulk_in),
                                  0, NULL ),
diff --git a/tinyusb/device/usbd.c b/tinyusb/device/usbd.c
index a4eac4b91..6f61b7bdc 100644
--- a/tinyusb/device/usbd.c
+++ b/tinyusb/device/usbd.c
@@ -254,7 +254,7 @@ static tusb_error_t usbd_body_subtask(void)
 
   if ( USBD_EVENTID_SETUP_RECEIVED == event.event_id )
   {
-    OSAL_SUBTASK_INVOKED( usbd_control_request_subtask(event.port, &event.setup_received), error );
+    SUBTASK_INVOKE( usbd_control_request_subtask(event.port, &event.setup_received), error );
   }else if (USBD_EVENTID_XFER_DONE == event.event_id)
   {
     // Call class handling function, Class that endpoint not belong to should check and return
@@ -329,7 +329,7 @@ tusb_error_t usbd_control_request_subtask(uint8_t port, tusb_control_request_t c
 
       if ( TUSB_ERROR_NONE == error )
       {
-        OSAL_SUBTASK_INVOKED ( usbd_control_xfer_substak(port, (tusb_dir_t) p_request->bmRequestType_bit.direction, (uint8_t*) p_buffer, length ), error );
+        SUBTASK_INVOKE ( usbd_control_xfer_substak(port, (tusb_dir_t) p_request->bmRequestType_bit.direction, (uint8_t*) p_buffer, length ), error );
       }
     }
     else if ( TUSB_REQ_SET_ADDRESS == p_request->bRequest )
@@ -361,7 +361,7 @@ tusb_error_t usbd_control_request_subtask(uint8_t port, tusb_control_request_t c
     if ( (class_code > 0) && (class_code < USBD_CLASS_DRIVER_COUNT) &&
          usbd_class_drivers[class_code].control_request_subtask )
     {
-      OSAL_SUBTASK_INVOKED( usbd_class_drivers[class_code].control_request_subtask(port, p_request), error );
+      SUBTASK_INVOKE( usbd_class_drivers[class_code].control_request_subtask(port, p_request), error );
     }else
     {
       error = TUSB_ERROR_DCD_CONTROL_REQUEST_NOT_SUPPORT;
diff --git a/tinyusb/host/hub.c b/tinyusb/host/hub.c
index 96e076df2..3bac09d3e 100644
--- a/tinyusb/host/hub.c
+++ b/tinyusb/host/hub.c
@@ -77,7 +77,7 @@ tusb_error_t hub_port_clear_feature_subtask(uint8_t hub_addr, uint8_t hub_port,
                  feature <= HUB_FEATURE_PORT_RESET_CHANGE);
 
   //------------- Clear Port Feature request -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
       usbh_control_xfer_subtask( hub_addr, bm_request_type(TUSB_DIR_OUT, TUSB_REQ_TYPE_CLASS, TUSB_REQ_RCPT_OTHER),
                                  HUB_REQUEST_CLEAR_FEATURE, feature, hub_port,
                                  0, NULL ),
@@ -86,7 +86,7 @@ tusb_error_t hub_port_clear_feature_subtask(uint8_t hub_addr, uint8_t hub_port,
   SUBTASK_ASSERT_STATUS( error );
 
   //------------- Get Port Status to check if feature is cleared -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
       usbh_control_xfer_subtask( hub_addr, bm_request_type(TUSB_DIR_IN, TUSB_REQ_TYPE_CLASS, TUSB_REQ_RCPT_OTHER),
                                  HUB_REQUEST_GET_STATUS, 0, hub_port,
                                  4, hub_enum_buffer ),
@@ -111,7 +111,7 @@ tusb_error_t hub_port_reset_subtask(uint8_t hub_addr, uint8_t hub_port)
   OSAL_SUBTASK_BEGIN
 
   //------------- Set Port Reset -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
       usbh_control_xfer_subtask( hub_addr, bm_request_type(TUSB_DIR_OUT, TUSB_REQ_TYPE_CLASS, TUSB_REQ_RCPT_OTHER),
                                  HUB_REQUEST_SET_FEATURE, HUB_FEATURE_PORT_RESET, hub_port,
                                  0, NULL ),
@@ -122,7 +122,7 @@ tusb_error_t hub_port_reset_subtask(uint8_t hub_addr, uint8_t hub_port)
   osal_task_delay(RESET_DELAY); // TODO Hub wait for Status Endpoint on Reset Change
 
   //------------- Get Port Status to check if port is enabled, powered and reset_change -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
       usbh_control_xfer_subtask( hub_addr, bm_request_type(TUSB_DIR_IN, TUSB_REQ_TYPE_CLASS, TUSB_REQ_RCPT_OTHER),
                                  HUB_REQUEST_GET_STATUS, 0, hub_port,
                                  4, hub_enum_buffer ),
@@ -179,7 +179,7 @@ tusb_error_t hub_open_subtask(uint8_t dev_addr, tusb_descriptor_interface_t cons
   (*p_length) = sizeof(tusb_descriptor_interface_t) + sizeof(tusb_descriptor_endpoint_t);
 
   //------------- Get Hub Descriptor -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
     usbh_control_xfer_subtask( dev_addr, bm_request_type(TUSB_DIR_IN, TUSB_REQ_TYPE_CLASS, TUSB_REQ_RCPT_DEVICE),
                                HUB_REQUEST_GET_DESCRIPTOR, 0, 0,
                                sizeof(descriptor_hub_desc_t), hub_enum_buffer ),
@@ -194,7 +194,7 @@ tusb_error_t hub_open_subtask(uint8_t dev_addr, tusb_descriptor_interface_t cons
   static uint8_t i;
   for(i=1; i <= hub_data[dev_addr-1].port_number; i++)
   {
-    OSAL_SUBTASK_INVOKED(
+    SUBTASK_INVOKE(
       usbh_control_xfer_subtask( dev_addr, bm_request_type(TUSB_DIR_OUT, TUSB_REQ_TYPE_CLASS, TUSB_REQ_RCPT_OTHER),
                                  HUB_REQUEST_SET_FEATURE, HUB_FEATURE_PORT_POWER, i,
                                  0, NULL ),
diff --git a/tinyusb/host/usbh.c b/tinyusb/host/usbh.c
index 713002a50..196c54131 100644
--- a/tinyusb/host/usbh.c
+++ b/tinyusb/host/usbh.c
@@ -186,7 +186,7 @@ tusb_error_t usbh_control_xfer_subtask(uint8_t dev_addr, uint8_t bmRequestType,
   OSAL_SUBTASK_BEGIN
 
   osal_mutex_wait(usbh_devices[dev_addr].control.mutex_hdl, OSAL_TIMEOUT_NORMAL, &error);
-  SUBTASK_ASSERT_STATUS_WITH_HANDLER(error, osal_mutex_release(usbh_devices[dev_addr].control.mutex_hdl));
+  SUBTASK_ASSERT_STATUS_HDLR(error, osal_mutex_release(usbh_devices[dev_addr].control.mutex_hdl));
 
   usbh_devices[dev_addr].control.request = (tusb_control_request_t) {
                                                   {.bmRequestType = bmRequestType},
@@ -210,7 +210,7 @@ tusb_error_t usbh_control_xfer_subtask(uint8_t dev_addr, uint8_t bmRequestType,
   if (TUSB_EVENT_XFER_STALLED == usbh_devices[dev_addr].control.pipe_status) SUBTASK_RETURN(TUSB_ERROR_USBH_XFER_STALLED);
   if (TUSB_EVENT_XFER_ERROR   == usbh_devices[dev_addr].control.pipe_status) SUBTASK_RETURN(TUSB_ERROR_USBH_XFER_FAILED);
 
-//  SUBTASK_ASSERT_WITH_HANDLER(TUSB_ERROR_NONE == error &&
+//  SUBTASK_ASSERT_HDLR(TUSB_ERROR_NONE == error &&
 //                              TUSB_EVENT_XFER_COMPLETE == usbh_devices[dev_addr].control.pipe_status,
 //                              tuh_device_mount_failed_cb(TUSB_ERROR_USBH_MOUNT_DEVICE_NOT_RESPOND, NULL) );
 
@@ -406,17 +406,17 @@ tusb_error_t enumeration_body_subtask(void)
   else
   {
     //------------- Get Port Status -------------//
-    OSAL_SUBTASK_INVOKED(
+    SUBTASK_INVOKE(
         usbh_control_xfer_subtask( usbh_devices[0].hub_addr, bm_request_type(TUSB_DIR_IN, TUSB_REQ_TYPE_CLASS, TUSB_REQ_RCPT_OTHER),
                                    HUB_REQUEST_GET_STATUS, 0, usbh_devices[0].hub_port,
                                    4, enum_data_buffer ),
         error
     );
 //    SUBTASK_ASSERT_STATUS( error );
-    SUBTASK_ASSERT_STATUS_WITH_HANDLER(error, hub_status_pipe_queue( usbh_devices[0].hub_addr) ); // TODO hub refractor
+    SUBTASK_ASSERT_STATUS_HDLR(error, hub_status_pipe_queue( usbh_devices[0].hub_addr) ); // TODO hub refractor
 
     // Acknowledge Port Connection Change
-    OSAL_SUBTASK_INVOKED( hub_port_clear_feature_subtask(usbh_devices[0].hub_addr, usbh_devices[0].hub_port, HUB_FEATURE_PORT_CONNECTION_CHANGE), error );
+    SUBTASK_INVOKE( hub_port_clear_feature_subtask(usbh_devices[0].hub_addr, usbh_devices[0].hub_port, HUB_FEATURE_PORT_CONNECTION_CHANGE), error );
 
     hub_port_status_response_t * p_port_status;
     p_port_status = ((hub_port_status_response_t *) enum_data_buffer);
@@ -432,14 +432,14 @@ tusb_error_t enumeration_body_subtask(void)
     }
     else
     { // Connection Event
-      OSAL_SUBTASK_INVOKED ( hub_port_reset_subtask(usbh_devices[0].hub_addr, usbh_devices[0].hub_port), error );
+      SUBTASK_INVOKE ( hub_port_reset_subtask(usbh_devices[0].hub_addr, usbh_devices[0].hub_port), error );
 //      SUBTASK_ASSERT_STATUS( error );
-      SUBTASK_ASSERT_STATUS_WITH_HANDLER(error, hub_status_pipe_queue( usbh_devices[0].hub_addr) ); // TODO hub refractor
+      SUBTASK_ASSERT_STATUS_HDLR(error, hub_status_pipe_queue( usbh_devices[0].hub_addr) ); // TODO hub refractor
 
       usbh_devices[0].speed = hub_port_get_speed();
 
       // Acknowledge Port Reset Change
-      OSAL_SUBTASK_INVOKED( hub_port_clear_feature_subtask(usbh_devices[0].hub_addr, usbh_devices[0].hub_port, HUB_FEATURE_PORT_RESET_CHANGE), error );
+      SUBTASK_INVOKE( hub_port_clear_feature_subtask(usbh_devices[0].hub_addr, usbh_devices[0].hub_port, HUB_FEATURE_PORT_RESET_CHANGE), error );
     }
   }
   #endif
@@ -448,7 +448,7 @@ tusb_error_t enumeration_body_subtask(void)
   usbh_devices[0].state = TUSB_DEVICE_STATE_ADDRESSED;
 
   //------------- Get first 8 bytes of device descriptor to get Control Endpoint Size -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
       usbh_control_xfer_subtask( 0, bm_request_type(TUSB_DIR_IN, TUSB_REQ_TYPE_STANDARD, TUSB_REQ_RCPT_DEVICE),
                                  TUSB_REQ_GET_DESCRIPTOR, (TUSB_DESC_DEVICE << 8), 0,
                                  8, enum_data_buffer ),
@@ -465,12 +465,12 @@ tusb_error_t enumeration_body_subtask(void)
   #if TUSB_CFG_HOST_HUB
   else
   { // connected via a hub
-    SUBTASK_ASSERT_STATUS_WITH_HANDLER(error, hub_status_pipe_queue( usbh_devices[0].hub_addr) ); // TODO hub refractor
-    OSAL_SUBTASK_INVOKED ( hub_port_reset_subtask(usbh_devices[0].hub_addr, usbh_devices[0].hub_port), error );
+    SUBTASK_ASSERT_STATUS_HDLR(error, hub_status_pipe_queue( usbh_devices[0].hub_addr) ); // TODO hub refractor
+    SUBTASK_INVOKE ( hub_port_reset_subtask(usbh_devices[0].hub_addr, usbh_devices[0].hub_port), error );
 
     if ( TUSB_ERROR_NONE == error )
     { // Acknowledge Port Reset Change if Reset Successful
-      OSAL_SUBTASK_INVOKED( hub_port_clear_feature_subtask(usbh_devices[0].hub_addr, usbh_devices[0].hub_port, HUB_FEATURE_PORT_RESET_CHANGE), error );
+      SUBTASK_INVOKE( hub_port_clear_feature_subtask(usbh_devices[0].hub_addr, usbh_devices[0].hub_port, HUB_FEATURE_PORT_RESET_CHANGE), error );
     }
 
     (void) hub_status_pipe_queue( usbh_devices[0].hub_addr ); // done with hub, waiting for next data on status pipe
@@ -481,7 +481,7 @@ tusb_error_t enumeration_body_subtask(void)
   new_addr = get_new_address();
   SUBTASK_ASSERT(new_addr <= TUSB_CFG_HOST_DEVICE_MAX); // TODO notify application we reach max devices
 
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
     usbh_control_xfer_subtask( 0, bm_request_type(TUSB_DIR_OUT, TUSB_REQ_TYPE_STANDARD, TUSB_REQ_RCPT_DEVICE),
                                TUSB_REQ_SET_ADDRESS, new_addr, 0,
                                0, NULL ),
@@ -503,7 +503,7 @@ tusb_error_t enumeration_body_subtask(void)
   SUBTASK_ASSERT_STATUS ( usbh_pipe_control_open(new_addr, ((tusb_descriptor_device_t*) enum_data_buffer)->bMaxPacketSize0 ) );
 
   //------------- Get full device descriptor -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
       usbh_control_xfer_subtask( new_addr, bm_request_type(TUSB_DIR_IN, TUSB_REQ_TYPE_STANDARD, TUSB_REQ_RCPT_DEVICE),
                                  TUSB_REQ_GET_DESCRIPTOR, (TUSB_DESC_DEVICE << 8), 0,
                                  18, enum_data_buffer ),
@@ -520,18 +520,18 @@ tusb_error_t enumeration_body_subtask(void)
   SUBTASK_ASSERT(configure_selected <= usbh_devices[new_addr].configure_count); // TODO notify application when invalid configuration
 
   //------------- Get 9 bytes of configuration descriptor -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
       usbh_control_xfer_subtask( new_addr, bm_request_type(TUSB_DIR_IN, TUSB_REQ_TYPE_STANDARD, TUSB_REQ_RCPT_DEVICE),
                                  TUSB_REQ_GET_DESCRIPTOR, (TUSB_DESC_CONFIGURATION << 8) | (configure_selected - 1), 0,
                                  9, enum_data_buffer ),
       error
   );
   SUBTASK_ASSERT_STATUS(error);
-  SUBTASK_ASSERT_WITH_HANDLER( TUSB_CFG_HOST_ENUM_BUFFER_SIZE >= ((tusb_descriptor_configuration_t*)enum_data_buffer)->wTotalLength,
+  SUBTASK_ASSERT_HDLR( TUSB_CFG_HOST_ENUM_BUFFER_SIZE >= ((tusb_descriptor_configuration_t*)enum_data_buffer)->wTotalLength,
                             tuh_device_mount_failed_cb(TUSB_ERROR_USBH_MOUNT_CONFIG_DESC_TOO_LONG, NULL) );
 
   //------------- Get full configuration descriptor -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
       usbh_control_xfer_subtask( new_addr, bm_request_type(TUSB_DIR_IN, TUSB_REQ_TYPE_STANDARD, TUSB_REQ_RCPT_DEVICE),
                                  TUSB_REQ_GET_DESCRIPTOR, (TUSB_DESC_CONFIGURATION << 8) | (configure_selected - 1), 0,
                                  TUSB_CFG_HOST_ENUM_BUFFER_SIZE, enum_data_buffer ),
@@ -543,7 +543,7 @@ tusb_error_t enumeration_body_subtask(void)
   usbh_devices[new_addr].interface_count = ((tusb_descriptor_configuration_t*) enum_data_buffer)->bNumInterfaces;
 
   //------------- Set Configure -------------//
-  OSAL_SUBTASK_INVOKED(
+  SUBTASK_INVOKE(
     usbh_control_xfer_subtask( new_addr, bm_request_type(TUSB_DIR_OUT, TUSB_REQ_TYPE_STANDARD, TUSB_REQ_RCPT_DEVICE),
                                TUSB_REQ_SET_CONFIGURATION, configure_selected, 0,
                                0, NULL ),
@@ -578,7 +578,7 @@ tusb_error_t enumeration_body_subtask(void)
         static uint16_t length;
         length = 0;
 
-        OSAL_SUBTASK_INVOKED ( // parameters in task/sub_task must be static storage (static or global)
+        SUBTASK_INVOKE ( // parameters in task/sub_task must be static storage (static or global)
             usbh_class_drivers[class_index].open_subtask( new_addr, (tusb_descriptor_interface_t*) p_desc, &length ),
             error
         );
diff --git a/tinyusb/osal/osal.h b/tinyusb/osal/osal.h
index 55289e404..4faca3d5c 100644
--- a/tinyusb/osal/osal.h
+++ b/tinyusb/osal/osal.h
@@ -75,14 +75,14 @@
   #define OSAL_SUBTASK_END      return TUSB_ERROR_NONE;
 
   #define SUBTASK_RETURN(error)   return error;
-  #define OSAL_SUBTASK_INVOKED(subtask, status) status = subtask
+  #define SUBTASK_INVOKE(subtask, status) status = subtask
 
   //------------- Sub Task Assert -------------//
   #define SUBTASK_ASSERT_STATUS(sts) VERIFY_STATUS(sts)
   #define SUBTASK_ASSERT(condition)  VERIFY(condition, TUSB_ERROR_OSAL_TASK_FAILED)
 
-  #define SUBTASK_ASSERT_STATUS_WITH_HANDLER(sts, func_call)  VERIFY_STATUS_HDLR(sts, func_call)
-  #define SUBTASK_ASSERT_WITH_HANDLER(condition, func_call)   VERIFY_HDLR(condition, func_call)
+  #define SUBTASK_ASSERT_STATUS_HDLR(sts, func_call)  VERIFY_STATUS_HDLR(sts, func_call)
+  #define SUBTASK_ASSERT_HDLR(condition, func_call)   VERIFY_HDLR(condition, func_call)
 #endif
 
 #ifdef __cplusplus
diff --git a/tinyusb/osal/osal_none.h b/tinyusb/osal/osal_none.h
index a2491c344..f2f3dcefc 100644
--- a/tinyusb/osal/osal_none.h
+++ b/tinyusb/osal/osal_none.h
@@ -81,27 +81,25 @@ static inline osal_task_t osal_task_create(osal_func_t code, const char* name, u
 }
 
 #define TASK_RESTART \
-  state = 0
+  _state = 0
 
 #define OSAL_TASK_BEGIN \
-  ATTR_UNUSED static uint32_t timeout = 0;\
-  static uint16_t state = 0;\
-  (void) timeout; /* timemout can possible unsued */ \
-  switch(state) { \
-    case 0: { \
+  static uint16_t _state = 0;               \
+  ATTR_UNUSED static uint32_t _timeout = 0; \
+  (void) _timeout;                          \
+  switch(_state) {                          \
+    case 0: {
 
 #define OSAL_TASK_END \
-  default:\
-    TASK_RESTART;\
+  default:  TASK_RESTART; break; \
   }}\
   return;
 
-
 #define osal_task_delay(msec) \
   do {\
-    timeout = osal_tick_get();\
-    state = __LINE__; case __LINE__:\
-      if ( timeout + osal_tick_from_msec(msec) > osal_tick_get() ) \
+    _timeout = osal_tick_get();\
+    _state = __LINE__; case __LINE__:\
+      if ( _timeout + osal_tick_from_msec(msec) > osal_tick_get() ) \
         return TUSB_ERROR_OSAL_WAITING;\
   }while(0)
 
@@ -110,58 +108,28 @@ static inline osal_task_t osal_task_create(osal_func_t code, const char* name, u
 //--------------------------------------------------------------------+
 #define OSAL_SUBTASK_BEGIN  OSAL_TASK_BEGIN
 #define OSAL_SUBTASK_END \
-  default:\
-    TASK_RESTART;\
+  default: TASK_RESTART; break; \
   }}\
   return TUSB_ERROR_NONE;
 
-#define OSAL_SUBTASK_INVOKED(subtask, status) \
-    do {\
-      state = __LINE__; case __LINE__:\
-      {\
-        status = subtask; /* invoke sub task */\
-        if (TUSB_ERROR_OSAL_WAITING == status) /* sub task not finished -> continue waiting */\
-          return TUSB_ERROR_OSAL_WAITING;\
-      }\
-    }while(0)
+#define SUBTASK_INVOKE(_subtask, _status) \
+  do {\
+    _state = __LINE__; case __LINE__:\
+    {\
+      _status = _subtask; /* invoke sub task */\
+      if (TUSB_ERROR_OSAL_WAITING == _status) /* sub task not finished -> continue waiting */\
+        return TUSB_ERROR_OSAL_WAITING;\
+    }\
+  }while(0)
 
 //------------- Sub Task Assert -------------//
 #define SUBTASK_RETURN(error)     do { TASK_RESTART; return error; } while(0)
 
+#define SUBTASK_ASSERT_STATUS(sts)                  VERIFY_STATUS_HDLR(sts, TASK_RESTART)
+#define SUBTASK_ASSERT_STATUS_HDLR(sts, func_call)  VERIFY_STATUS_HDLR(sts, func_call; TASK_RESTART )
 
-
-
-#define SUBTASK_ASSERT_STATUS(sts)                          VERIFY_STATUS_HDLR(sts, TASK_RESTART)
-#define SUBTASK_ASSERT_STATUS_WITH_HANDLER(sts, func_call)  VERIFY_STATUS_HDLR(sts, func_call; TASK_RESTART )
-
-#define SUBTASK_ASSERT(condition)                           VERIFY_HDLR(condition, TASK_RESTART)
-// TODO remove assert with handler by catching error in enum main task
-#define SUBTASK_ASSERT_WITH_HANDLER(condition, func_call)  VERIFY_HDLR(condition, func_call; TASK_RESTART)
-
-/*
-#define _SUBTASK_ASSERT_ERROR_HANDLER(error, func_call) \
-    do { func_call; TASK_RESTART; return error; } while(0)
-
-#define SUBTASK_ASSERT_STATUS(sts) \
-    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, , tusb_error_t status = (tusb_error_t)(sts),\
-                               TUSB_ERROR_NONE == status, status, "%s", TUSB_ErrorStr[status])
-
-#define SUBTASK_ASSERT_STATUS_WITH_HANDLER(sts, func_call) \
-    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, func_call, tusb_error_t status = (tusb_error_t)(sts),\
-                               TUSB_ERROR_NONE == status, status, "%s", TUSB_ErrorStr[status])
-
-// TODO allow to specify error return
-#define SUBTASK_ASSERT(condition)  \
-    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, , , \
-                               (condition), TUSB_ERROR_OSAL_TASK_FAILED, "%s", "evaluated to false")
-// TODO remove assert with handler by catching error in enum main task
-#define SUBTASK_ASSERT_WITH_HANDLER(condition, func_call) \
-    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, func_call, ,\
-                               condition, TUSB_ERROR_OSAL_TASK_FAILED, "%s", "evaluated to false")
-
-*/
-
-
+#define SUBTASK_ASSERT(condition)                   VERIFY_HDLR(condition, TASK_RESTART)
+#define SUBTASK_ASSERT_HDLR(condition, func_call)   VERIFY_HDLR(condition, func_call; TASK_RESTART)
 
 //--------------------------------------------------------------------+
 // QUEUE API
@@ -196,10 +164,10 @@ static inline void osal_queue_flush(osal_queue_t const queue_hdl)
 
 #define osal_queue_receive(queue_hdl, p_data, msec, p_error) \
   do {\
-    timeout = osal_tick_get();\
-    state = __LINE__; case __LINE__:\
+    _timeout = osal_tick_get();\
+    _state = __LINE__; case __LINE__:\
     if( queue_hdl->count == 0 ) {\
-      if ( (msec != OSAL_TIMEOUT_WAIT_FOREVER) && ( timeout + osal_tick_from_msec(msec) <= osal_tick_get() )) /* time out */ \
+      if ( (msec != OSAL_TIMEOUT_WAIT_FOREVER) && ( _timeout + osal_tick_from_msec(msec) <= osal_tick_get() )) /* time out */ \
         *(p_error) = TUSB_ERROR_OSAL_TIMEOUT;\
       else\
         return TUSB_ERROR_OSAL_WAITING;\
@@ -250,10 +218,10 @@ static inline void osal_semaphore_reset(osal_semaphore_t sem_hdl)
 
 #define osal_semaphore_wait(sem_hdl, msec, p_error) \
   do {\
-    timeout = osal_tick_get();\
-    state = __LINE__; case __LINE__:\
+    _timeout = osal_tick_get();\
+    _state = __LINE__; case __LINE__:\
     if( sem_hdl->count == 0 ) {\
-      if ( ( ((uint32_t) (msec)) != OSAL_TIMEOUT_WAIT_FOREVER) && (timeout + osal_tick_from_msec(msec) <= osal_tick_get()) ) /* time out */ \
+      if ( ( ((uint32_t) (msec)) != OSAL_TIMEOUT_WAIT_FOREVER) && (_timeout + osal_tick_from_msec(msec) <= osal_tick_get()) ) /* time out */ \
         *(p_error) = TUSB_ERROR_OSAL_TIMEOUT;\
       else\
         return TUSB_ERROR_OSAL_WAITING;\