Scheduler implementation

[victor-Lopez25]

example main.cpp:

#include "main.h"
#include "ST-LIB.hpp"

DigitalOutput *led_on_1_ptr;
DigitalOutput *led_on_2_ptr;
DigitalOutput *led_on_3_ptr;

#define def_led_toggle_task(num) \
    void led_##num##_toggle_task(void) { \
        led_on_##num##_ptr->toggle(); \
    }

def_led_toggle_task(1)
def_led_toggle_task(2)
def_led_toggle_task(3)

int main(void) {
#ifdef SIM_ON
    SharedMemory::start();
#endif

    DigitalOutput led_1_on(PB0);
    DigitalOutput led_2_on(PE1);
    DigitalOutput led_3_on(PB14);
    led_on_1_ptr = &led_1_on;
    led_on_2_ptr = &led_2_on;
    led_on_3_ptr = &led_3_on;
    STLIB::start();

    // STLIB::start() enables this, I only want it to be enabled in Scheduler::start() for testing purposes
    RCC->APB1LENR &= ~RCC_APB1LENR_TIM2EN;

#define PARTY_MODE 0
#if PARTY_MODE
    Scheduler::register_task(200*1000, led_1_toggle_task);
    Scheduler::register_task(300*1000, led_2_toggle_task);
    Scheduler::register_task(500*1000, led_3_toggle_task);
    
    Scheduler::register_task(700*1000, led_1_toggle_task);
    Scheduler::register_task(1100*1000, led_2_toggle_task);
    Scheduler::register_task(1300*1000, led_3_toggle_task);
#else
    Scheduler::register_task(200*1000, led_1_toggle_task);
#endif
    Scheduler::start();

    while (1) {
        STLIB::update();
        Scheduler::update();
    }
}

void Error_Handler(void) {
    ErrorHandler("HAL error handler triggered");
    while (1) {
    }
}

[StefanCostea]

Overall looks very good

[g0nz4I0]

You have removed the side effects fomr CNT and added them into this function, why have you chosen this approach?

[victor-Lopez25]

Because I wanted something separate that would only increment CNT when specified, when I used the previous approach, clearing CNT from the scheduler in schedule_next_interval() would cause simulate_ticks() to be called sometimes

[g0nz4I0]

this should be moved into a variable, MockedSources or something like that