SCHEDULER: Move scheduler code to a separate directory

Makefile

@@ -223,8 +223,8 @@ COMMON_SRC = build_config.c \
 		   common/typeconversion.c \
 		   common/encoding.c \
 		   common/filter.c \
-		   scheduler.c \
-           scheduler_tasks.c \
+		   scheduler/scheduler.c \
+		   scheduler/scheduler_tasks.c \
 		   main.c \
 		   mw.c \
 		   flight/failsafe.c \

src/main/io/serial_cli.c

@@ -24,9 +24,10 @@
 #include <ctype.h>
 
 #include "platform.h"
-#include "scheduler.h"
 #include "version.h"
 
+#include "scheduler/scheduler.h"
+
 #include "build_config.h"
 
 #include "common/axis.h"

src/main/io/serial_msp.c

@@ -24,7 +24,8 @@
 #include "build_config.h"
 #include "debug.h"
 #include "platform.h"
-#include "scheduler.h"
+
+#include "scheduler/scheduler.h"
 
 #include "common/axis.h"
 #include "common/color.h"

src/main/main.c

@@ -21,7 +21,8 @@
 #include <string.h>
 
 #include "platform.h"
-#include "scheduler.h"
+
+#include "scheduler/scheduler.h"
 
 #include "common/axis.h"
 #include "common/color.h"

src/main/mw.c

@@ -21,9 +21,10 @@
 #include <math.h>
 
 #include "platform.h"
-#include "scheduler.h"
 #include "debug.h"
 
+#include "scheduler/scheduler.h"
+
 #include "common/maths.h"
 #include "common/axis.h"
 #include "common/color.h"

src/main/scheduler/scheduler.c

@@ -162,7 +162,7 @@ void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros)
 {
     if (taskId == TASK_SELF || taskId < TASK_COUNT) {
         cfTask_t *task = taskId == TASK_SELF ? currentTask : &cfTasks[taskId];
-        task->desiredPeriod = MAX(100, newPeriodMicros);  // Limit delay to 100us (10 kHz) to prevent scheduler clogging
+        task->desiredPeriod = MAX((uint32_t)100, newPeriodMicros);  // Limit delay to 100us (10 kHz) to prevent scheduler clogging
     }
 }
 

src/main/sensors/barometer.c

@@ -20,7 +20,8 @@
 #include <math.h>
 
 #include "platform.h"
-#include "scheduler.h"
+
+#include "scheduler/scheduler.h"
 
 #include "common/maths.h"