Colony

/**

 * @file scheduler.h

 * @brief Contains scheduler declarations and functions

 *

 * Contains functions and definitions to implement a timer-based

 * scheduler and register tasks with the scheduler.

 *

 * @author Colony Project, CMU Robotics Club

 *

 **/

#ifndef _SCHEDULER_H_

#define _SCHEDULER_H_

#define STACKSIZE 128

#define MAXTASKS 4

#include <stdint.h>

void scheduler_init(void);

void yield(void);

int register_task(void (*exec)(void), uint16_t period);

unsigned int time_now(void);

#endif