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Add task scheduler #302

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a55e550
scheduler contract and timer
NArmistead Jul 2, 2026
b242890
Simplify scheduler contract
NArmistead Jul 3, 2026
d7a1f9a
Simplify scheduler contract to a size macro
NArmistead Jul 5, 2026
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5 changes: 5 additions & 0 deletions app/rev2/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,7 @@ INIT_DIR = ../../init/rev2
COV_C_SOURCES = \
main.c \
error_contract.c \
scheduler_contract.c \

@ETSells ETSells Jul 9, 2026

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you removed this source file, so this will cause build errors

fin_calib.c \
flash_appa.c \
fsm_appa.c \
Expand All @@ -83,6 +84,8 @@ $(DRIVER_DIR)/buzzer/buzzer.c \
$(MOD_DIR)/commands/commands.c \
$(MOD_DIR)/error_sdr/error_sdr.c \
$(MOD_DIR)/math_sdr/math_sdr.c \
$(MOD_DIR)/scheduler/scheduler.c \
$(MOD_DIR)/pool_allocator/pool_allocator.c \
$(DRIVER_DIR)/flash/flash.c \
$(DRIVER_DIR)/ignition/ignition.c \
$(DRIVER_DIR)/imu/imu.c \
Expand Down Expand Up @@ -214,6 +217,8 @@ C_INCLUDES = \
-I$(MOD_DIR)/debug_sdr \
-I$(MOD_DIR)/error_sdr \
-I$(MOD_DIR)/math_sdr \
-I$(MOD_DIR)/scheduler \
-I$(MOD_DIR)/pool_allocator \
-I$(MOD_DIR)/telemetry \
-I$(DRIVER_DIR)/flash \
-I$(DRIVER_DIR)/ignition \
Expand Down
6 changes: 6 additions & 0 deletions app/rev2/main.c
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Expand Up @@ -60,6 +60,7 @@
#include "servo.h"
#include "usb.h"
#include "gps.h"
#include "scheduler.h"

/* debug/emulator includes */
#ifdef EMULATOR
Expand All @@ -79,6 +80,7 @@ UART_HandleTypeDef huart4; /* GPS */
TIM_HandleTypeDef htim3; /* 123 PWM Timer */
TIM_HandleTypeDef htim2; /* 4 PWN Timer */
TIM_HandleTypeDef htim5; /* Microsecond Timer */
TIM_HandleTypeDef htim6; /* Scheduler Timer */
SPI_HandleTypeDef hspi4; /* LORA SPI */

/* GPS Data */
Expand Down Expand Up @@ -226,6 +228,7 @@ IMU_GPS_I2C_Init (); /* IMU and GPS */
FLASH_SPI_Init (); /* External flash chip */
BUZZER_TIM_Init (); /* Buzzer */
MICRO_TIM_Init (); /* Microsecond timer */
Scheduler_TIM_Init (); /* Task scheduler timer */

PWM4_TIM_Init (); /* PWM Timer for Servo 4 */
PWM123_TIM_Init (); /* PWM Timer for Servo 1,2,3 */
Expand All @@ -235,6 +238,9 @@ LORA_SPI_Init (); /* LoRa SPI */
/* Initialize the debug interface */
(void)debug_init( debug_writer, NULL );

/* Initialize the task scheduler */
scheduler_init();

/*------------------------------------------------------------------------------
External Hardware Initializations
------------------------------------------------------------------------------*/
Expand Down
3 changes: 3 additions & 0 deletions app/rev2/main.h
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Expand Up @@ -83,6 +83,9 @@ extern "C" {
#define COAST_DETECT_SAMPLES 3 /* does not need to be tuned per vehicle, our system should work for all */
#define COAST_DETECT_THRESHOLD 1.25

/* Schedueler pool size as amount of tasks */
#define SCHEDULER_POOL_MAX_TASKS ( 32U )

/*------------------------------------------------------------------------------
Typedefs
------------------------------------------------------------------------------*/
Expand Down
76 changes: 38 additions & 38 deletions auto/rev2/.mxproject
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142 changes: 71 additions & 71 deletions auto/rev2/Core/Inc/main.h
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Original file line number Diff line number Diff line change
@@ -1,71 +1,71 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.h
* @brief : Header for main.c file.
* This file contains the common defines of the application.
******************************************************************************
* @attention
*
* Copyright (c) 2022 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 */

/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include "stm32h7xx_hal.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */

/* USER CODE END ET */

/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */

/* USER CODE END EC */

/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */

/* USER CODE END EM */

void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);

/* USER CODE BEGIN EFP */

/* USER CODE END EFP */

/* Private defines -----------------------------------------------------------*/

/* USER CODE BEGIN Private defines */

/* USER CODE END Private defines */

#ifdef __cplusplus
}
#endif

#endif /* __MAIN_H */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.h
* @brief : Header for main.c file.
* This file contains the common defines of the application.
******************************************************************************
* @attention
*
* Copyright (c) 2022 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32h7xx_hal.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
#ifdef __cplusplus
}
#endif
#endif /* __MAIN_H */
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