diff --git a/.mxproject b/.mxproject
index 4925fef..26e39bc 100644
--- a/.mxproject
+++ b/.mxproject
@@ -2,7 +2,7 @@
LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h;
[PreviousUsedCubeIDEFiles]
-SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\can.c;Core\Src\usart.c;Core\Src\stm32f4xx_it.c;Core\Src\stm32f4xx_hal_msp.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;
+SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\can.c;Core\Src\usart.c;Core\Src\stm32f4xx_it.c;Core\Src\stm32f4xx_hal_msp.c;Core\Src\stm32f4xx_hal_timebase_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;
HeaderPath=Drivers\STM32F4xx_HAL_Driver\Inc;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Core\Inc;
CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
@@ -19,14 +19,15 @@ HeaderFiles#6=..\Core\Inc\main.h
HeaderFolderListSize=1
HeaderPath#0=..\Core\Inc
HeaderFiles=;
-SourceFileListSize=7
+SourceFileListSize=8
SourceFiles#0=..\Core\Src\gpio.c
SourceFiles#1=..\Core\Src\freertos.c
SourceFiles#2=..\Core\Src\can.c
SourceFiles#3=..\Core\Src\usart.c
SourceFiles#4=..\Core\Src\stm32f4xx_it.c
SourceFiles#5=..\Core\Src\stm32f4xx_hal_msp.c
-SourceFiles#6=..\Core\Src\main.c
+SourceFiles#6=..\Core\Src\stm32f4xx_hal_timebase_tim.c
+SourceFiles#7=..\Core\Src\main.c
SourceFolderListSize=1
SourcePath#0=..\Core\Src
SourceFiles=;
diff --git a/CAN-Demo Debug.launch b/CAN-Demo Debug.launch
index 9dae82a..957bae9 100644
--- a/CAN-Demo Debug.launch
+++ b/CAN-Demo Debug.launch
@@ -30,7 +30,7 @@
-
+
diff --git a/CAN-Demo.ioc b/CAN-Demo.ioc
index 7d425d1..c052be7 100644
--- a/CAN-Demo.ioc
+++ b/CAN-Demo.ioc
@@ -41,7 +41,7 @@ Mcu.Pin14=PC11
Mcu.Pin15=PC12
Mcu.Pin16=PB3
Mcu.Pin17=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin18=VP_SYS_VS_Systick
+Mcu.Pin18=VP_SYS_VS_tim1
Mcu.Pin2=PB12
Mcu.Pin3=PB13
Mcu.Pin4=PD8
@@ -70,7 +70,10 @@ NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
-NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:false\:true\:false
+NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
+NVIC.TIM1_UP_TIM10_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
+NVIC.TimeBase=TIM1_UP_TIM10_IRQn
+NVIC.TimeBaseIP=TIM1
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
PA10.Mode=Asynchronous
PA10.Signal=USART1_RX
@@ -162,7 +165,8 @@ RCC.HCLKFreq_Value=16000000
RCC.HSE_VALUE=8000000
RCC.HSI_VALUE=16000000
RCC.I2SClocksFreq_Value=192000000
-RCC.IPParameters=48MHZClocksFreq_Value,AHBCLKDivider,AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
+RCC.IPParameters=48MHZClocksFreq_Value,AHBCLKDivider,AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
+RCC.LSE_VALUE=32768
RCC.LSI_VALUE=32000
RCC.MCO2PinFreq_Value=64000000
RCC.PLLCLKFreq_Value=64000000
@@ -183,8 +187,8 @@ USART1.IPParameters=VirtualMode,BaudRate
USART1.VirtualMode=VM_ASYNC
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
-VP_SYS_VS_Systick.Mode=SysTick
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_SYS_VS_tim1.Mode=TIM1
+VP_SYS_VS_tim1.Signal=SYS_VS_tim1
board=custom
rtos.0.ip=FREERTOS
isbadioc=false
diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index 3a0535d..adf0f92 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -51,7 +51,6 @@
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include
extern uint32_t SystemCoreClock;
- void xPortSysTickHandler(void);
#endif
#ifndef CMSIS_device_header
#define CMSIS_device_header "stm32f4xx.h"
@@ -166,7 +165,7 @@ standard names. */
/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */
-#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 1
+#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
diff --git a/Core/Inc/stm32f4xx_hal_conf.h b/Core/Inc/stm32f4xx_hal_conf.h
index c026ca8..e891e65 100644
--- a/Core/Inc/stm32f4xx_hal_conf.h
+++ b/Core/Inc/stm32f4xx_hal_conf.h
@@ -63,7 +63,7 @@
/* #define HAL_SD_MODULE_ENABLED */
/* #define HAL_MMC_MODULE_ENABLED */
/* #define HAL_SPI_MODULE_ENABLED */
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED
/* #define HAL_USART_MODULE_ENABLED */
/* #define HAL_IRDA_MODULE_ENABLED */
diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
index f877f08..32c2455 100644
--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@@ -52,9 +52,9 @@ void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void DebugMon_Handler(void);
-void SysTick_Handler(void);
void CAN1_RX0_IRQHandler(void);
void CAN1_RX1_IRQHandler(void);
+void TIM1_UP_TIM10_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
diff --git a/Core/Src/main.c b/Core/Src/main.c
index cd8842f..27c1ac6 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -233,6 +233,27 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan1)
/* USER CODE END 4 */
+/**
+ * @brief Period elapsed callback in non blocking mode
+ * @note This function is called when TIM1 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 == TIM1) {
+ HAL_IncTick();
+ }
+ /* USER CODE BEGIN Callback 1 */
+
+ /* USER CODE END Callback 1 */
+}
+
/**
* @brief This function is executed in case of error occurrence.
* @retval None
diff --git a/Core/Src/stm32f4xx_hal_timebase_tim.c b/Core/Src/stm32f4xx_hal_timebase_tim.c
new file mode 100644
index 0000000..aa6ba4f
--- /dev/null
+++ b/Core/Src/stm32f4xx_hal_timebase_tim.c
@@ -0,0 +1,128 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file stm32f4xx_hal_timebase_tim.c
+ * @brief HAL time base based on the hardware TIM.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal.h"
+#include "stm32f4xx_hal_tim.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef htim1;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+ * @brief This function configures the TIM1 as a time base source.
+ * The time source is configured to have 1ms time base with a dedicated
+ * Tick interrupt priority.
+ * @note This function is called automatically at the beginning of program after
+ * reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
+ * @param TickPriority: Tick interrupt priority.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
+{
+ RCC_ClkInitTypeDef clkconfig;
+ uint32_t uwTimclock = 0U;
+
+ uint32_t uwPrescalerValue = 0U;
+ uint32_t pFLatency;
+ HAL_StatusTypeDef status;
+
+ /* Enable TIM1 clock */
+ __HAL_RCC_TIM1_CLK_ENABLE();
+
+ /* Get clock configuration */
+ HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+
+ /* Compute TIM1 clock */
+ uwTimclock = HAL_RCC_GetPCLK2Freq();
+
+ /* Compute the prescaler value to have TIM1 counter clock equal to 1MHz */
+ uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
+
+ /* Initialize TIM1 */
+ htim1.Instance = TIM1;
+
+ /* Initialize TIMx peripheral as follow:
+
+ + Period = [(TIM1CLK/1000) - 1]. to have a (1/1000) s time base.
+ + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+ + ClockDivision = 0
+ + Counter direction = Up
+ */
+ htim1.Init.Period = (1000000U / 1000U) - 1U;
+ htim1.Init.Prescaler = uwPrescalerValue;
+ htim1.Init.ClockDivision = 0;
+ htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+
+ status = HAL_TIM_Base_Init(&htim1);
+ if (status == HAL_OK)
+ {
+ /* Start the TIM time Base generation in interrupt mode */
+ status = HAL_TIM_Base_Start_IT(&htim1);
+ if (status == HAL_OK)
+ {
+ /* Enable the TIM1 global Interrupt */
+ HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
+ /* Configure the SysTick IRQ priority */
+ if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+ {
+ /* Configure the TIM IRQ priority */
+ HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, TickPriority, 0U);
+ uwTickPrio = TickPriority;
+ }
+ else
+ {
+ status = HAL_ERROR;
+ }
+ }
+ }
+
+ /* Return function status */
+ return status;
+}
+
+/**
+ * @brief Suspend Tick increment.
+ * @note Disable the tick increment by disabling TIM1 update interrupt.
+ * @param None
+ * @retval None
+ */
+void HAL_SuspendTick(void)
+{
+ /* Disable TIM1 update Interrupt */
+ __HAL_TIM_DISABLE_IT(&htim1, TIM_IT_UPDATE);
+}
+
+/**
+ * @brief Resume Tick increment.
+ * @note Enable the tick increment by Enabling TIM1 update interrupt.
+ * @param None
+ * @retval None
+ */
+void HAL_ResumeTick(void)
+{
+ /* Enable TIM1 Update interrupt */
+ __HAL_TIM_ENABLE_IT(&htim1, TIM_IT_UPDATE);
+}
+
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index d6230e6..255de0e 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -20,8 +20,6 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_it.h"
-#include "FreeRTOS.h"
-#include "task.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
@@ -58,6 +56,8 @@
/* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan1;
+extern TIM_HandleTypeDef htim1;
+
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@@ -153,28 +153,6 @@ void DebugMon_Handler(void)
/* USER CODE END DebugMonitor_IRQn 1 */
}
-/**
- * @brief This function handles System tick timer.
- */
-void SysTick_Handler(void)
-{
- /* USER CODE BEGIN SysTick_IRQn 0 */
-
- /* 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 */
-}
-
/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
@@ -210,6 +188,20 @@ void CAN1_RX1_IRQHandler(void)
/* USER CODE END CAN1_RX1_IRQn 1 */
}
+/**
+ * @brief This function handles TIM1 update interrupt and TIM10 global interrupt.
+ */
+void TIM1_UP_TIM10_IRQHandler(void)
+{
+ /* USER CODE BEGIN TIM1_UP_TIM10_IRQn 0 */
+
+ /* USER CODE END TIM1_UP_TIM10_IRQn 0 */
+ HAL_TIM_IRQHandler(&htim1);
+ /* USER CODE BEGIN TIM1_UP_TIM10_IRQn 1 */
+
+ /* USER CODE END TIM1_UP_TIM10_IRQn 1 */
+}
+
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
diff --git a/Libs/TACOS b/Libs/TACOS
index 93a4112..d7d7d9a 160000
--- a/Libs/TACOS
+++ b/Libs/TACOS
@@ -1 +1 @@
-Subproject commit 93a4112f595ca9e13bead8c2920a1bf302dc189c
+Subproject commit d7d7d9aab113102ff1eb8dd74f662d194dcd72e2
diff --git a/Libs/rtos2-utils b/Libs/rtos2-utils
index 9433b59..3dc8efb 160000
--- a/Libs/rtos2-utils
+++ b/Libs/rtos2-utils
@@ -1 +1 @@
-Subproject commit 9433b5990d155862454d5d7f99cf86e89a369ef0
+Subproject commit 3dc8efb8eb9e88a661ee5f3fd374612ebea92e59
diff --git a/Libs/sta-core b/Libs/sta-core
index 62e275f..ca25363 160000
--- a/Libs/sta-core
+++ b/Libs/sta-core
@@ -1 +1 @@
-Subproject commit 62e275f667092645c5ad487a36ad7d00bd43cf52
+Subproject commit ca25363c8db109df3661cb892dca587eaad35045