FreeRTOS introduced

# Conflicts:
#	.cproject
#	.mxproject
#	F407_test.ioc

Src/main.c

@@ -19,6 +19,7 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+#include "cmsis_os.h"
 #include "crc.h"
 #include "dma.h"
 #include "spi.h"
@@ -28,7 +29,6 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include <application.h>
 
 /* USER CODE END Includes */
 
@@ -55,6 +55,7 @@
 
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
+void MX_FREERTOS_Init(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -98,9 +99,15 @@ int main(void)
   MX_CRC_Init();
   MX_SPI2_Init();
   /* USER CODE BEGIN 2 */
-  MainLoop();
   /* USER CODE END 2 */
 
+  /* Init scheduler */
+  osKernelInitialize();  /* Call init function for freertos objects (in freertos.c) */
+  MX_FREERTOS_Init();
+  /* Start scheduler */
+  osKernelStart();
+
+  /* We should never get here as control is now taken by the scheduler */
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1)
@@ -159,6 +166,27 @@ void SystemClock_Config(void)
 
 /* USER CODE END 4 */
 
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM6 interrupt took place, inside
+  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+  * a global variable "uwTick" used as application time base.
+  * @param  htim : TIM handle
+  * @retval None
+  */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  /* USER CODE BEGIN Callback 0 */
+
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM6) {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
+
+  /* USER CODE END Callback 1 */
+}
+
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None