This is a minimal example of how to do task swithing on a Cortex-M3 or Cortex-M4. Tested on Nucleo-F446RE evaluation board. Step 0 for a (real time) operating system.

On linux, you'll need some kind of driver to upload to the evaluation board. In case of Nucleo-F446RE, you'll need to install STM32CubeIDE and STM32Cube Programmer which include the necessary drivers. You'll also need a cross-compiler e.g. gcc-arm-none-eabi. Once this is done, enter this on the command line:

1. Make a directory for the object files mkdir obj
2. Compile it with make

3. Upload obj/minimal.elf with STM32Cube Programmer to the MCU