diff --git a/erpc_c/port/erpc_setup_extensions_freertos.cpp b/erpc_c/port/erpc_setup_extensions_freertos.cpp
index b93e4a29e..acdc7674c 100644
--- a/erpc_c/port/erpc_setup_extensions_freertos.cpp
+++ b/erpc_c/port/erpc_setup_extensions_freertos.cpp
@@ -28,7 +28,7 @@ void erpc::erpc_pre_cb_default(void)
     (void)s_erpc_call_in_progress->get(s_erpc_call_in_progress->kWaitForever);
     erpc_assert(s_erpc_call_timer_cb &&
            "If you want use default pre cb action, do not forget call erpc_init_call_progress_detection_default.");
-    xTimerStart(s_erpc_call_timer_cb, 0);
+    (void)xTimerStart(s_erpc_call_timer_cb, 0);
 }
 
 void erpc::erpc_post_cb_default(void)
diff --git a/erpc_c/port/erpc_threading.h b/erpc_c/port/erpc_threading.h
index 1ebe8a240..1f3d66ad3 100644
--- a/erpc_c/port/erpc_threading.h
+++ b/erpc_c/port/erpc_threading.h
@@ -140,7 +140,7 @@ class Thread
     /*!
      * @brief This function puts thread to sleep.
      *
-     * @param[in] usecs Time for sleeping.
+     * @param[in] usecs Time for sleeping in [us].
      */
     static void sleep(uint32_t usecs);
 
@@ -477,12 +477,12 @@ class Semaphore
     /*!
      * @brief This function get semaphore.
      *
-     * @param[in] timeout Time how long can wait for getting semaphore.
+     * @param[in] timeoutUsecs Time how long can wait for getting semaphore in [us].
      *
      * @retval true When semaphore got successfully.
      * @retval false When mutex didn't get.
      */
-    bool get(uint32_t timeout = kWaitForever);
+    bool get(uint32_t timeoutUsecs = kWaitForever);
 
     /*!
      * @brief This function returns semaphore count number.
diff --git a/erpc_c/port/erpc_threading_freertos.cpp b/erpc_c/port/erpc_threading_freertos.cpp
index 42affe272..c99c99779 100644
--- a/erpc_c/port/erpc_threading_freertos.cpp
+++ b/erpc_c/port/erpc_threading_freertos.cpp
@@ -264,23 +264,33 @@ void Semaphore::putFromISR(void)
     portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
 }
 
-bool Semaphore::get(uint32_t timeout)
+bool Semaphore::get(uint32_t timeoutUsecs)
 {
-#if configUSE_16_BIT_TICKS
-    if (timeout == kWaitForever)
+    if (timeoutUsecs != kWaitForever)
     {
-        timeout = portMAX_DELAY;
+        if (timeoutUsecs > 0U)
+        {
+            timeoutUsecs /= 1000U * portTICK_PERIOD_MS;
+            if (timeoutUsecs == 0U)
+            {
+                timeoutUsecs = 1U;
+            }
+#if configUSE_16_BIT_TICKS
+            else if (timeoutUsecs > (portMAX_DELAY - 1))
+            {
+                timeoutUsecs = portMAX_DELAY - 1;
+            }
+#endif
+        }
     }
+#if configUSE_16_BIT_TICKS
     else
     {
-        if (timeout > (portMAX_DELAY - 1))
-        {
-            timeout = portMAX_DELAY - 1;
-        }
+        timeoutUsecs = portMAX_DELAY;
     }
 #endif
 
-    return (pdTRUE == xSemaphoreTake(m_sem, timeout / 1000U / portTICK_PERIOD_MS));
+    return (pdTRUE == xSemaphoreTake(m_sem, (TickType_t)timeoutUsecs));
 }
 
 int Semaphore::getCount(void) const
diff --git a/erpc_c/port/erpc_threading_mbed.cpp b/erpc_c/port/erpc_threading_mbed.cpp
index c93832183..00441b361 100644
--- a/erpc_c/port/erpc_threading_mbed.cpp
+++ b/erpc_c/port/erpc_threading_mbed.cpp
@@ -218,9 +218,21 @@ void Semaphore::put(void)
     m_sem->release();
 }
 
-bool Semaphore::get(uint32_t timeout)
+bool Semaphore::get(uint32_t timeoutUsecs)
 {
-    m_count = m_sem->wait(timeout);
+    if (timeoutUsecs != kWaitForever)
+    {
+        if (timeoutUsecs > 0U)
+        {
+            timeoutUsecs /= 1000U;
+            if (timeoutUsecs == 0U)
+            {
+                timeoutUsecs = 1U;
+            }
+        }
+    }
+
+    m_count = m_sem->wait(timeoutUsecs);
     return (m_count < 0);
 }
 
diff --git a/erpc_c/port/erpc_threading_pthreads.cpp b/erpc_c/port/erpc_threading_pthreads.cpp
index 2c5611662..18ba49d38 100644
--- a/erpc_c/port/erpc_threading_pthreads.cpp
+++ b/erpc_c/port/erpc_threading_pthreads.cpp
@@ -185,7 +185,7 @@ void Semaphore::put(void)
     ++m_count;
 }
 
-bool Semaphore::get(uint32_t timeout)
+bool Semaphore::get(uint32_t timeoutUsecs)
 {
     Mutex::Guard guard(m_mutex);
     bool retVal = true;
@@ -193,7 +193,7 @@ bool Semaphore::get(uint32_t timeout)
 
     while (m_count == 0)
     {
-        if (timeout == kWaitForever)
+        if (timeoutUsecs == kWaitForever)
         {
             err = pthread_cond_wait(&m_cond, m_mutex.getPtr());
             if (err != 0)
@@ -204,14 +204,14 @@ bool Semaphore::get(uint32_t timeout)
         }
         else
         {
-            if (timeout > 0U)
+            if (timeoutUsecs > 0U)
             {
                 // Create an absolute timeout time.
                 struct timeval tv;
                 gettimeofday(&tv, NULL);
                 struct timespec wait;
-                wait.tv_sec = tv.tv_sec + (timeout / sToUs);
-                wait.tv_nsec = (timeout % sToUs) * 1000U;
+                wait.tv_sec = tv.tv_sec + (timeoutUsecs / sToUs);
+                wait.tv_nsec = (timeoutUsecs % sToUs) * 1000U;
                 err = pthread_cond_timedwait(&m_cond, m_mutex.getPtr(), &wait);
                 if (err != 0)
                 {
diff --git a/erpc_c/port/erpc_threading_threadx.cpp b/erpc_c/port/erpc_threading_threadx.cpp
index d36c0ac93..4599800af 100644
--- a/erpc_c/port/erpc_threading_threadx.cpp
+++ b/erpc_c/port/erpc_threading_threadx.cpp
@@ -256,9 +256,21 @@ void Semaphore::put(void)
     tx_semaphore_put(&m_sem);
 }
 
-bool Semaphore::get(uint32_t timeout)
+bool Semaphore::get(uint32_t timeoutUsecs)
 {
-    UINT status = tx_semaphore_get(&m_sem, timeout);
+    if (timeoutUsecs != kWaitForever)
+    {
+        if (timeoutUsecs > 0U)
+        {
+            timeoutUsecs /= 1000U;
+            if (timeoutUsecs == 0U)
+            {
+                timeoutUsecs = 1U;
+            }
+        }
+    }
+
+    UINT status = tx_semaphore_get(&m_sem, timeoutUsecs);
     return (status == TX_SUCCESS);
 }
 
diff --git a/erpc_c/port/erpc_threading_win32.cpp b/erpc_c/port/erpc_threading_win32.cpp
index a8665c6cc..459c5b0aa 100644
--- a/erpc_c/port/erpc_threading_win32.cpp
+++ b/erpc_c/port/erpc_threading_win32.cpp
@@ -194,9 +194,21 @@ void Semaphore::put(void)
     m_mutex.unlock();
 }
 
-bool Semaphore::get(uint32_t timeout)
+bool Semaphore::get(uint32_t timeoutUsecs)
 {
-    DWORD ret = WaitForSingleObject(m_sem, timeout);
+    if (timeoutUsecs != kWaitForever)
+    {
+        if (timeoutUsecs > 0U)
+        {
+            timeoutUsecs /= 1000U;
+            if (timeoutUsecs == 0U)
+            {
+                timeoutUsecs = 1U;
+            }
+        }
+    }
+
+    DWORD ret = WaitForSingleObject(m_sem, timeoutUsecs);
     m_mutex.lock();
     --m_count;
     m_mutex.unlock();
diff --git a/erpc_c/port/erpc_threading_zephyr.cpp b/erpc_c/port/erpc_threading_zephyr.cpp
index 4c475165a..b18c65bf3 100644
--- a/erpc_c/port/erpc_threading_zephyr.cpp
+++ b/erpc_c/port/erpc_threading_zephyr.cpp
@@ -130,9 +130,21 @@ void Semaphore::put(void)
     k_sem_give(&m_sem);
 }
 
-bool Semaphore::get(uint32_t timeout)
+bool Semaphore::get(uint32_t timeoutUsecs)
 {
-    return (k_sem_take(&m_sem, timeout / 1000) == 0);
+    if (timeoutUsecs != kWaitForever)
+    {
+        if (timeoutUsecs > 0U)
+        {
+            timeoutUsecs /= 1000U;
+            if (timeoutUsecs == 0U)
+            {
+                timeoutUsecs = 1U;
+            }
+        }
+    }
+
+    return (k_sem_take(&m_sem, timeoutUsecs) == 0);
 }
 
 int Semaphore::getCount(void) const