We fast as fuck with osThreadFlagsSet/Wait

STM32/CM4/mx-generated.cmake

@@ -30,8 +30,6 @@ set(MX_Application_Src
 set(STM32_Drivers_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../Common/Src/system_stm32h7xx_dualcore_boot_cm4_cm7.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c
@@ -47,6 +45,8 @@ set(STM32_Drivers_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c
 )
 
 # Drivers Midllewares

STM32/CM7/Core/Inc/stm32h7xx_it.h

@@ -51,9 +51,7 @@ void HardFault_Handler(void);
 void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
-void SVC_Handler(void);
 void DebugMon_Handler(void);
-void PendSV_Handler(void);
 void SysTick_Handler(void);
 void TIM2_IRQHandler(void);
 /* USER CODE BEGIN EFP */

STM32/CM7/Core/Src/main.c

@@ -5,6 +5,8 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+#include "FreeRTOS.h"
+#include "cmsis_os2.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -13,10 +15,12 @@
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_gpio.h"
 #include "stm32h7xx_hal_tim.h"
+#include "task.h"
 #include <stdint.h>
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
+typedef StaticTask_t osStaticThreadDef_t;
 /* USER CODE BEGIN PTD */
 
 /* USER CODE END PTD */
@@ -47,6 +51,25 @@
 
 TIM_HandleTypeDef htim2;
 
+/* Definitions for defaultTask */
+osThreadId_t defaultTaskHandle;
+const osThreadAttr_t defaultTask_attributes = {
+  .name = "defaultTask",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityNormal,
+};
+/* Definitions for TimeCH */
+osThreadId_t TimeCHHandle;
+uint32_t TimeCHBuffer[ 128 ];
+osStaticThreadDef_t TimeCHControlBlock;
+const osThreadAttr_t TimeCH_attributes = {
+  .name = "TimeCH",
+  .cb_mem = &TimeCHControlBlock,
+  .cb_size = sizeof(TimeCHControlBlock),
+  .stack_mem = &TimeCHBuffer[0],
+  .stack_size = sizeof(TimeCHBuffer),
+  .priority = (osPriority_t) osPriorityRealtime7,
+};
 /* USER CODE BEGIN PV */
 volatile uint8_t trig_flag = 0;
 volatile uint32_t trig_value = 0;
@@ -57,6 +80,9 @@ void SystemClock_Config(void);
 static void MPU_Config(void);
 static void MX_GPIO_Init(void);
 static void MX_TIM2_Init(void);
+void StartDefaultTask(void *argument);
+void TellTime(void *argument);
+
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -66,7 +92,11 @@ static void MX_TIM2_Init(void);
 void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
   if (htim->Instance == TIM2 && htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
     trig_value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
-    trig_flag = 1;
+    //trig_flag = 1;
+    //xTaskNotifyFromISR(TimeCHHandle,trig_value,eSetValueWithOverwrite,NULL);
+    TimeCHBuffer[0]=trig_value;
+    osThreadFlagsSet(TimeCHHandle,0x01);
+
   }
 }
 
@@ -76,7 +106,8 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
   * @brief  The application entry point.
   * @retval int
   */
-int main(void) {
+int main(void)
+{
 
   /* USER CODE BEGIN 1 */
 
@@ -85,7 +116,7 @@ int main(void) {
 #if defined(DUAL_CORE_BOOT_SYNC_SEQUENCE)
   int32_t timeout;
 #endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */
-       /* USER CODE END Boot_Mode_Sequence_0 */
+/* USER CODE END Boot_Mode_Sequence_0 */
 
   /* MPU Configuration--------------------------------------------------------*/
   MPU_Config();
@@ -100,11 +131,10 @@ int main(void) {
     Error_Handler();
   }
 #endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */
-       /* USER CODE END Boot_Mode_Sequence_1 */
+/* USER CODE END Boot_Mode_Sequence_1 */
   /* MCU Configuration--------------------------------------------------------*/
 
-  /* Reset of all peripherals, Initializes the Flash interface and the Systick.
-   */
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
   HAL_Init();
 
   /* USER CODE BEGIN Init */
@@ -131,7 +161,7 @@ int main(void) {
     Error_Handler();
   }
 #endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */
-       /* USER CODE END Boot_Mode_Sequence_2 */
+/* USER CODE END Boot_Mode_Sequence_2 */
 
   /* USER CODE BEGIN SysInit */
 
@@ -146,6 +176,45 @@ int main(void) {
                             SEGGER_RTT_MODE_BLOCK_IF_FIFO_FULL);
   /* USER CODE END 2 */
 
+  /* Init scheduler */
+  osKernelInitialize();
+
+  /* USER CODE BEGIN RTOS_MUTEX */
+  /* add mutexes, ... */
+  /* USER CODE END RTOS_MUTEX */
+
+  /* USER CODE BEGIN RTOS_SEMAPHORES */
+  /* add semaphores, ... */
+  /* USER CODE END RTOS_SEMAPHORES */
+
+  /* USER CODE BEGIN RTOS_TIMERS */
+  /* start timers, add new ones, ... */
+  /* USER CODE END RTOS_TIMERS */
+
+  /* USER CODE BEGIN RTOS_QUEUES */
+  /* add queues, ... */
+  /* USER CODE END RTOS_QUEUES */
+
+  /* Create the thread(s) */
+  /* creation of defaultTask */
+  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+
+  /* creation of TimeCH */
+  TimeCHHandle = osThreadNew(TellTime, NULL, &TimeCH_attributes);
+
+  /* USER CODE BEGIN RTOS_THREADS */
+  /* add threads, ... */
+  /* USER CODE END RTOS_THREADS */
+
+  /* USER CODE BEGIN RTOS_EVENTS */
+  /* add events, ... */
+  /* USER CODE END RTOS_EVENTS */
+
+  /* Start scheduler */
+  osKernelStart();
+
+  /* We should never get here as control is now taken by the scheduler */
+
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1) {
@@ -168,7 +237,8 @@ int main(void) {
   * @brief System Clock Configuration
   * @retval None
   */
-void SystemClock_Config(void) {
+void SystemClock_Config(void)
+{
   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 
@@ -180,8 +250,7 @@ void SystemClock_Config(void) {
   */
   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
 
-  while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {
-  }
+  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
 
   /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
@@ -198,15 +267,16 @@ void SystemClock_Config(void) {
   RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
   RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
   RCC_OscInitStruct.PLL.PLLFRACN = 0;
-  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
     Error_Handler();
   }
 
   /** Initializes the CPU, AHB and APB buses clocks
   */
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
-                                RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2 |
-                                RCC_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1;
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
+                              |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
   RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
   RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
@@ -215,7 +285,8 @@ void SystemClock_Config(void) {
   RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
   RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
 
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
     Error_Handler();
   }
 }
@@ -225,7 +296,8 @@ void SystemClock_Config(void) {
   * @param None
   * @retval None
   */
-static void MX_TIM2_Init(void) {
+static void MX_TIM2_Init(void)
+{
 
   /* USER CODE BEGIN TIM2_Init 0 */
 
@@ -244,31 +316,37 @@ static void MX_TIM2_Init(void) {
   htim2.Init.Period = 4294967295;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4;
   htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim2) != HAL_OK) {
+  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+  {
     Error_Handler();
   }
   sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK) {
+  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+  {
     Error_Handler();
   }
-  if (HAL_TIM_IC_Init(&htim2) != HAL_OK) {
+  if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
+  {
     Error_Handler();
   }
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) {
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
     Error_Handler();
   }
   sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
   sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
   sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
   sConfigIC.ICFilter = 0;
-  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK) {
+  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
+  {
     Error_Handler();
   }
   /* USER CODE BEGIN TIM2_Init 2 */
   HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);
   /* USER CODE END TIM2_Init 2 */
+
 }
 
 /**
@@ -276,7 +354,8 @@ static void MX_TIM2_Init(void) {
   * @param None
   * @retval None
   */
-static void MX_GPIO_Init(void) {
+static void MX_GPIO_Init(void)
+{
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   /* USER CODE BEGIN MX_GPIO_Init_1 */
 
@@ -305,9 +384,52 @@ static void MX_GPIO_Init(void) {
 
 /* USER CODE END 4 */
 
-/* MPU Configuration */
+/* USER CODE BEGIN Header_StartDefaultTask */
+/**
+  * @brief  Function implementing the defaultTask thread.
+  * @param  argument: Not used
+  * @retval None
+  */
+/* USER CODE END Header_StartDefaultTask */
+void StartDefaultTask(void *argument)
+{
+  /* USER CODE BEGIN 5 */
+  /* Infinite loop */
+  uint32_t t = 0;
+  for(;;)
+  {
+    //SEGGER_RTT_printf(0, "%lu\n\r",__HAL_TIM_GET_COUNTER(&htim2)-t);
+    //t=__HAL_TIM_GET_COUNTER(&htim2);
+    //osDelay(1000);
+  }
+  /* USER CODE END 5 */
+}
 
-void MPU_Config(void) {
+/* USER CODE BEGIN Header_TellTime */
+/**
+* @brief Function implementing the TimeCH thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_TellTime */
+void TellTime(void *argument)
+{
+  /* USER CODE BEGIN TellTime */
+  /* Infinite loop */
+  uint32_t ulvalue;
+  for(;;)
+  {
+    //xTaskNotifyWait(0,0,&ulvalue,portMAX_DELAY);
+    osThreadFlagsWait(0x01,osFlagsWaitAny,osWaitForever);  
+    SEGGER_RTT_printf(0, "%lu, %lu\n\r",TimeCHBuffer[0],__HAL_TIM_GET_COUNTER(&htim2));
+  }
+  /* USER CODE END TellTime */
+}
+
+ /* MPU Configuration */
+
+void MPU_Config(void)
+{
   MPU_Region_InitTypeDef MPU_InitStruct = {0};
 
   /* Disables the MPU */
@@ -330,13 +452,15 @@ void MPU_Config(void) {
   HAL_MPU_ConfigRegion(&MPU_InitStruct);
   /* Enables the MPU */
   HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
+
 }
 
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None
   */
-void Error_Handler(void) {
+void Error_Handler(void)
+{
   /* USER CODE BEGIN Error_Handler_Debug */
   /* User can add his own implementation to report the HAL error return state */
   __disable_irq();
@@ -352,7 +476,8 @@ void Error_Handler(void) {
   * @param  line: assert_param error line source number
   * @retval None
   */
-void assert_failed(uint8_t *file, uint32_t line) {
+void assert_failed(uint8_t *file, uint32_t line)
+{
   /* USER CODE BEGIN 6 */
   /* User can add his own implementation to report the file name and line
      number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,

STM32/CM7/Core/Src/stm32h7xx_hal_msp.c

@@ -69,6 +69,8 @@ void HAL_MspInit(void)
   __HAL_RCC_SYSCFG_CLK_ENABLE();
 
   /* System interrupt init*/
+  /* PendSV_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
 
   /* USER CODE BEGIN MspInit 1 */
 
@@ -104,7 +106,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
     /* TIM2 interrupt Init */
-    HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(TIM2_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(TIM2_IRQn);
     /* USER CODE BEGIN TIM2_MspInit 1 */
 

STM32/CM7/Core/Src/stm32h7xx_it.c

@@ -20,6 +20,8 @@
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 #include "stm32h7xx_it.h"
+#include "FreeRTOS.h"
+#include "task.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 /* USER CODE END Includes */
@@ -138,19 +140,6 @@ void UsageFault_Handler(void)
   }
 }
 
-/**
-  * @brief This function handles System service call via SWI instruction.
-  */
-void SVC_Handler(void)
-{
-  /* USER CODE BEGIN SVCall_IRQn 0 */
-
-  /* USER CODE END SVCall_IRQn 0 */
-  /* USER CODE BEGIN SVCall_IRQn 1 */
-
-  /* USER CODE END SVCall_IRQn 1 */
-}
-
 /**
   * @brief This function handles Debug monitor.
   */
@@ -164,19 +153,6 @@ void DebugMon_Handler(void)
   /* USER CODE END DebugMonitor_IRQn 1 */
 }
 
-/**
-  * @brief This function handles Pendable request for system service.
-  */
-void PendSV_Handler(void)
-{
-  /* USER CODE BEGIN PendSV_IRQn 0 */
-
-  /* USER CODE END PendSV_IRQn 0 */
-  /* USER CODE BEGIN PendSV_IRQn 1 */
-
-  /* USER CODE END PendSV_IRQn 1 */
-}
-
 /**
   * @brief This function handles System tick timer.
   */
@@ -186,6 +162,14 @@ void SysTick_Handler(void)
 
   /* USER CODE END SysTick_IRQn 0 */
   HAL_IncTick();
+#if (INCLUDE_xTaskGetSchedulerState == 1 )
+  if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
+  {
+#endif /* INCLUDE_xTaskGetSchedulerState */
+  xPortSysTickHandler();
+#if (INCLUDE_xTaskGetSchedulerState == 1 )
+  }
+#endif /* INCLUDE_xTaskGetSchedulerState */
   /* USER CODE BEGIN SysTick_IRQn 1 */
 
   /* USER CODE END SysTick_IRQn 1 */

STM32/CM7/mx-generated.cmake

@@ -13,12 +13,17 @@ set(MX_Include_Dirs
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Inc
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Inc
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/CMSIS/RTOS2/Include
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/CMSIS/Device/ST/STM32H7xx/Include
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/CMSIS/Include
 )
 # STM32CubeMX generated application sources
 set(MX_Application_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/main.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/freertos.c
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/stm32h7xx_it.c
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/stm32h7xx_hal_msp.c
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/sysmem.c
@@ -30,8 +35,6 @@ set(MX_Application_Src
 set(STM32_Drivers_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../Common/Src/system_stm32h7xx_dualcore_boot_cm4_cm7.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c
@@ -47,10 +50,25 @@ set(STM32_Drivers_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c
 )
 
 # Drivers Midllewares
 
+set(FreeRTOS_Src
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/portable/Common/mpu_wrappers_v2.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/list.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/queue.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/tasks.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/timers.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
+)
 # Link directories setup
 set(MX_LINK_DIRS
 
@@ -59,7 +77,7 @@ set(MX_LINK_DIRS
 set (MX_LINK_LIBS 
     STM32_Drivers
     ${TOOLCHAIN_LINK_LIBRARIES}
-    
+    FreeRTOS
 	
     
 )
@@ -72,6 +90,11 @@ add_library(STM32_Drivers OBJECT)
 add_library(STM32_Drivers OBJECT)
 target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src})
 target_link_libraries(STM32_Drivers PUBLIC stm32cubemx)
+
+# Create FreeRTOS static library
+add_library(FreeRTOS OBJECT)
+target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src})
+target_link_libraries(FreeRTOS PUBLIC stm32cubemx)
 
 
 # Add STM32CubeMX generated application sources to the project

STM32/STM32.ioc

@@ -7,6 +7,10 @@ CORTEX_M7.default_mode_Activation=1
 CortexM4.IPs=CORTEX_M4\:I,FATFS_M4\:I,FREERTOS_M4\:I,IWDG2\:I,OPENAMP_M4\:I,PDM2PCM_M4\:I,PWR,RCC,RESMGR_UTILITY,SYS_M4\:I,USB_DEVICE_M4\:I,USB_HOST_M4\:I,VREFBUF,WWDG2\:I,GPIO,DMA,BDMA,MDMA,NVIC2\:I
 CortexM7.IPs=CORTEX_M7\:I,FATFS_M7\:I,FREERTOS_M7\:I,IWDG1\:I,OPENAMP_M7\:I,PDM2PCM_M7\:I,PWR\:I,RCC\:I,RESMGR_UTILITY\:I,SYS\:I,USB_DEVICE_M7\:I,USB_HOST_M7\:I,VREFBUF\:I,WWDG1\:I,GPIO\:I,DMA\:I,BDMA\:I,MDMA\:I,NVIC1\:I,DEBUG\:I,TIM2\:I
 CortexM7.Pins=PI12
+FREERTOS_M7.FootprintOK=true
+FREERTOS_M7.IPParameters=Tasks01,configENABLE_FPU,FootprintOK
+FREERTOS_M7.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;TimeCH,55,128,TellTime,Default,NULL,Static,TimeCHBuffer,TimeCHControlBlock
+FREERTOS_M7.configENABLE_FPU=1
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
@@ -17,44 +21,49 @@ Mcu.ContextNb=2
 Mcu.Family=STM32H7
 Mcu.IP0=CORTEX_M4
 Mcu.IP1=CORTEX_M7
-Mcu.IP2=NVIC1
-Mcu.IP3=NVIC2
-Mcu.IP4=RCC
-Mcu.IP5=SYS_M4
-Mcu.IP6=SYS
-Mcu.IP7=TIM2
-Mcu.IPNb=8
+Mcu.IP2=FREERTOS_M7
+Mcu.IP3=NVIC1
+Mcu.IP4=NVIC2
+Mcu.IP5=RCC
+Mcu.IP6=SYS_M4
+Mcu.IP7=SYS
+Mcu.IP8=TIM2
+Mcu.IPNb=9
 Mcu.Name=STM32H747XIHx
 Mcu.Package=TFBGA240
 Mcu.Pin0=PA14 (JTCK/SWCLK)
 Mcu.Pin1=PC15-OSC32_OUT (OSC32_OUT)
-Mcu.Pin10=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin10=VP_SYS_M4_VS_Systick
+Mcu.Pin11=VP_TIM2_VS_ClockSourceINT
 Mcu.Pin2=PC14-OSC32_IN (OSC32_IN)
 Mcu.Pin3=PA13 (JTMS/SWDIO)
 Mcu.Pin4=PI12
 Mcu.Pin5=PH1-OSC_OUT (PH1)
 Mcu.Pin6=PH0-OSC_IN (PH0)
 Mcu.Pin7=PA0
-Mcu.Pin8=VP_SYS_VS_Systick
-Mcu.Pin9=VP_SYS_M4_VS_Systick
-Mcu.PinsNb=11
+Mcu.Pin8=VP_FREERTOS_M7_VS_CMSIS_V2
+Mcu.Pin9=VP_SYS_VS_Systick
+Mcu.PinsNb=12
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32H747XIHx
 MxCube.Version=6.17.0
 MxDb.Version=DB.6.0.170
-NVIC1.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC1.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC1.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC1.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC1.ForceEnableDMAVector=true
-NVIC1.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC1.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC1.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC1.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC1.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC1.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC1.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC1.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
 NVIC1.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC1.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC1.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
-NVIC1.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC1.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC1.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
+NVIC1.SavedPendsvIrqHandlerGenerated=true
+NVIC1.SavedSvcallIrqHandlerGenerated=true
+NVIC1.SavedSystickIrqHandlerGenerated=true
+NVIC1.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:false\:true\:false
+NVIC1.TIM2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC1.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC2.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC2.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC2.ForceEnableDMAVector=true
@@ -232,6 +241,8 @@ TIM2.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
 TIM2.ClockDivision=TIM_CLOCKDIVISION_DIV4
 TIM2.IPParameters=ClockDivision,Prescaler,Channel-Input_Capture1_from_TI1
 TIM2.Prescaler=0
+VP_FREERTOS_M7_VS_CMSIS_V2.Mode=CMSIS_V2
+VP_FREERTOS_M7_VS_CMSIS_V2.Signal=FREERTOS_M7_VS_CMSIS_V2
 VP_SYS_M4_VS_Systick.Mode=SysTick
 VP_SYS_M4_VS_Systick.Signal=SYS_M4_VS_Systick
 VP_SYS_VS_Systick.Mode=SysTick