AuxUnit - RTOS Configuration

Configured Tasks

1. SPI Communication Task

• Function: Reads SPI messages containing requested PWM values from the Raspberry Pi.
• Priority: High
• Execution Frequency: 100 Hz

2. PWM Output Task

• Function: Writes PWM signals to the motor driver hardware based on the received SPI messages.
• Priority: Medium
• Execution Frequency: 50 Hz

Task Synchronization

The tasks are synchronized using FreeRTOS semaphores to ensure that PWM adjustments are made in real-time without data conflicts.