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You have probably noticed there is more power in the STM32 processors than simple tasks can use. In this case you probably want to run some more “tasks”.
FreeRTOS has just the stuff you need – tasks, mutexes/semaphores, queues.
Unfortunately I ran into trouble with newlib and FreeRTOS not playing nicely as they should. Memory allocation (malloc) didn’t work as expected and caused the CPU to Bus-Fault. Then I realized there is another allocator in the FreeRTOS, and why does one need 2 allocators on embeded system ?
Some time ago, I have added support to OpenOCD to be able to use Buspirate as JTAG interface.
This how-to will show you, how to setup all the things necessary.