void TIM10_IRQHandler(void)
{
    static portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
    
    if(TIM_GetFlagStatus(TIM10, TIM_FLAG_Update) != RESET)
    {
        TIM_ClearFlag(TIM10, TIM_FLAG_Update);
        if(ctim10ms) ctim10ms--;
        else
        {
//disableInterruptTIM10();
            xSemaphoreGiveFromISR(xSemNx, &xHigherPriorityTaskWoken);
            portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
        }
    }
}

#define enableInterruptTIM10() NVIC->ISER[TIM10_IRQn >> 0x05] = (uint32_t)0x01 << (TIM10_IRQn & (uint8_t)0x1F)
#define disableInterruptTIM10() NVIC->ICER[TIM10_IRQn >> 0x05] = (uint32_t)0x01 << (TIM10_IRQn & (uint8_t)0x1F)

xSemaphoreHandle xSemNx; //управление задачей
volatile uint32_t ctim10ms; //счетчик отсчетов по 10 мксек

void Tx_Init(void);
void Tx_DeInit (void);

void Task_temp(void *pParams);

int main(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
NVIC_InitTypeDef NVIC_InitStruct;

RCC_HSICmd(ENABLE);
while (RCC_GetFlagStatus(RCC_FLAG_HSIRDY) == RESET);
RCC_SYSCLKConfig(RCC_SYSCLKSource_HSI);

RCC_HSEConfig(RCC_HSE_OFF);
while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) != RESET);

SystemCoreClockUpdate();
SysTick_Config(SystemCoreClock/1000);//TO=1мс

NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
NVIC_InitStruct.NVIC_IRQChannel = TIM10_IRQn;
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
//NVIC_InitStruct.NVIC_IRQChannelCmd = DISABLE;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 11;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStruct);

RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_Init(GPIOB, &GPIO_InitStruct);


xTaskCreate(Task_temp, "Temp-handler", configMINIMAL_STACK_SIZE, NULL, 2, NULL);

vTaskStartScheduler();

}

void Task_temp(void *pParams)
{
uint32_t c = 0;
vSemaphoreCreateBinary(xSemNx);

while(1){
xSemaphoreTake(xSemNx, 0);
ctim10ms = 100;
Tx_Init();

while(1)
{
//enableInterruptTIM10();
if(xSemaphoreTake(xSemNx, 10) != pdTRUE) break;
c++;
ctim10ms = 100;
GPIO_ToggleBits(GPIOB, GPIO_Pin_5);//пин контроля работы программы
if(c > 200) break;
}
//disableInterruptTIM10();
TIM_DeInit(TIM10);

}
}

void Tx_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM10, ENABLE);

TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStruct.TIM_Period = 160-1;
TIM_TimeBaseInitStruct.TIM_Prescaler = 0;
TIM_TimeBaseInit(TIM10, &TIM_TimeBaseInitStruct);
TIM_ITConfig(TIM10, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM10, ENABLE);
}

void TIM10_IRQHandler(void)
{
static portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

if(TIM_GetFlagStatus(TIM10, TIM_FLAG_Update) != RESET)
{
TIM_ClearFlag(TIM10, TIM_FLAG_Update);
if(ctim10ms) ctim10ms--;
else
{
xSemaphoreGiveFromISR(xSemNx, &xHigherPriorityTaskWoken);
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
}
}
}

void Task_temp(void *pParams)
{
vSemaphoreCreateBinary(xSemNx);

xSemaphoreTake(xSemNx, 0);
ctim10ms = 10;
Tx_Init();

while(1)
{
xSemaphoreTake(xSemNx, 10);
ctim10ms = 10;
GPIO_ToggleBits(GPIOB, GPIO_Pin_5);//пин контроля работы программы
}

}

void TIM10_IRQHandler(void)
{
static portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

if(TIM_GetFlagStatus(TIM10, TIM_FLAG_Update) != RESET)
{
TIM_ClearFlag(TIM10, TIM_FLAG_Update);
if(ctim10ms) ctim10ms--;
else
{
disableInterruptTIM10();
xSemaphoreGiveFromISR(xSemNx, &xHigherPriorityTaskWoken);
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
}
}
}

void Task_temp(void *pParams)
{
vSemaphoreCreateBinary(xSemNx);

xSemaphoreTake(xSemNx, 0);
ctim10ms = 10;
Tx_Init();

while(1)
{
enableInterruptTIM10();
xSemaphoreTake(xSemNx, 10);
ctim10ms = 10;
GPIO_ToggleBits(GPIOB, GPIO_Pin_5);//пин контроля работы программы
}

}

void TIM10_IRQHandler(void)
{
static portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

if(TIM_GetFlagStatus(TIM10, TIM_FLAG_Update) != RESET)
{
TIM_ClearFlag(TIM10, TIM_FLAG_Update);
xSemaphoreGiveFromISR(xSemNx, &xHigherPriorityTaskWoken);
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);

}
}

void Task_temp(void *pParams)
{
vSemaphoreCreateBinary(xSemNx);

xSemaphoreTake(xSemNx, 0);
Tx_Init();

while(1)
{
xSemaphoreTake(xSemNx, 10);
GPIO_ToggleBits(GPIOB, GPIO_Pin_5);//пин контроля работы программы
}

}

static u8 volatile ctim10ms = 0;
void ISR()
{
...
int i = ctim10ms;
if (--i < 0) return;
ctim10ms = i;
if (i) return;
xSemaphoreGiveFromISR(...);
portEND_SWITCHING_ISR(...);
}