diff --git a/include/darwin_sch.h b/include/darwin_sch.h
new file mode 100644
index 0000000000000000000000000000000000000000..21ce2fe1eb96001d08885159bb470b35522dfbeb
--- /dev/null
+++ b/include/darwin_sch.h
@@ -0,0 +1,10 @@
+#ifndef _DARWIN_SCH_H
+#define _DARWIN_SCH_H
+
+#include "stm32f1xx.h"
+#include "scheduler.h"
+
+TScheduler *darwin_sch_init(void);
+
+#endif
+
diff --git a/include/scheduler.h b/include/scheduler.h
deleted file mode 100644
index 2970a430412faae59d7b903aa320ac604d960600..0000000000000000000000000000000000000000
--- a/include/scheduler.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#ifndef _SCHEDULER_H
-#define _SCHEDULER_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "stm32f1xx.h"
-
-typedef enum {SCH_CH1=0,SCH_CH2=1,SCH_CH3=2,SCH_CH4=3} sch_ch_t;
-
-void scheduler_init(void);
-void scheduler_set_period(sch_ch_t channel_id, uint16_t period_ms);
-void scheduler_set_one_shot(sch_ch_t channel_id, uint16_t time_ms);
-void scheduler_set_function(sch_ch_t channel_id, void (*function)(void));
-void scheduler_start(sch_ch_t channel_id);
-void scheduler_stop(sch_ch_t channel_id);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/src/darwin_sch.c b/src/darwin_sch.c
new file mode 100644
index 0000000000000000000000000000000000000000..f27bee62d274c22231afdaa561f2795f422ed73b
--- /dev/null
+++ b/src/darwin_sch.c
@@ -0,0 +1,128 @@
+#include "darwin_sch.h"
+
+/* private variables */
+TIM_HandleTypeDef darwin_sch_timer_handle;
+TScheduler darwin_scheduler;
+
+/* interrupt handlers */
+void TIM1_CC_IRQHandler(void)
+{
+ /* Capture compare 1 event */
+ if(__HAL_TIM_GET_FLAG(&darwin_sch_timer_handle, TIM_FLAG_CC1) != RESET)
+ {
+ if(__HAL_TIM_GET_IT_SOURCE(&darwin_sch_timer_handle, TIM_IT_CC1) !=RESET)
+ {
+ __HAL_TIM_CLEAR_IT(&darwin_sch_timer_handle, TIM_IT_CC1);
+ scheduler_interrupt(&darwin_scheduler,SCHED_CH1);
+ }
+ }
+ /* Capture compare 2 event */
+ if(__HAL_TIM_GET_FLAG(&darwin_sch_timer_handle, TIM_FLAG_CC2) != RESET)
+ {
+ if(__HAL_TIM_GET_IT_SOURCE(&darwin_sch_timer_handle, TIM_IT_CC2) !=RESET)
+ {
+ __HAL_TIM_CLEAR_IT(&darwin_sch_timer_handle, TIM_IT_CC2);
+ scheduler_interrupt(&darwin_scheduler,SCHED_CH2);
+ }
+ }
+ /* Capture compare 3 event */
+ if(__HAL_TIM_GET_FLAG(&darwin_sch_timer_handle, TIM_FLAG_CC3) != RESET)
+ {
+ if(__HAL_TIM_GET_IT_SOURCE(&darwin_sch_timer_handle, TIM_IT_CC3) !=RESET)
+ {
+ __HAL_TIM_CLEAR_IT(&darwin_sch_timer_handle, TIM_IT_CC3);
+ scheduler_interrupt(&darwin_scheduler,SCHED_CH3);
+ }
+ }
+ /* Capture compare 4 event */
+ if(__HAL_TIM_GET_FLAG(&darwin_sch_timer_handle, TIM_FLAG_CC4) != RESET)
+ {
+ if(__HAL_TIM_GET_IT_SOURCE(&darwin_sch_timer_handle, TIM_IT_CC4) !=RESET)
+ {
+ __HAL_TIM_CLEAR_IT(&darwin_sch_timer_handle, TIM_IT_CC4);
+ scheduler_interrupt(&darwin_scheduler,SCHED_CH4);
+ }
+ }
+}
+
+/* private functions */
+void darwin_sch_start(unsigned short int channel_id)
+{
+ HAL_TIM_OC_Start_IT(&darwin_sch_timer_handle,channel_id);
+}
+
+void darwin_sch_stop(unsigned short int channel_id)
+{
+ HAL_TIM_OC_Stop_IT(&darwin_sch_timer_handle,channel_id);
+}
+
+void darwin_sch_set_pulse(unsigned short int channel_id,unsigned short int pulse, unsigned char running)
+{
+ TIM_OC_InitTypeDef out_comp_config;
+ unsigned short int capture;
+
+ if(running==0x00)
+ {
+ if(darwin_scheduler.channels[channel_id].enabled==0x00)
+ {
+ out_comp_config.OCMode = TIM_OCMODE_TIMING;
+ capture = HAL_TIM_ReadCapturedValue(&darwin_sch_timer_handle,channel_id);
+ out_comp_config.Pulse = capture+pulse;
+ out_comp_config.OCPolarity = TIM_OCPOLARITY_HIGH;
+ out_comp_config.OCFastMode = TIM_OCFAST_DISABLE;
+ HAL_TIM_OC_ConfigChannel(&darwin_sch_timer_handle, &out_comp_config, channel_id);
+ }
+ }
+ else
+ {
+ capture = HAL_TIM_ReadCapturedValue(&darwin_sch_timer_handle, channel_id);
+ __HAL_TIM_SetCompare(&darwin_sch_timer_handle,channel_id, capture+pulse);
+ }
+}
+
+/* public functions */
+TScheduler *darwin_sch_init(void)
+{
+ TIM_ClockConfigTypeDef sClockSourceConfig;
+ TIM_MasterConfigTypeDef sMasterConfig;
+ TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
+
+ __HAL_RCC_TIM1_CLK_ENABLE();
+
+ darwin_sch_timer_handle.Instance = TIM1;
+ darwin_sch_timer_handle.Init.Prescaler = 168;
+ darwin_sch_timer_handle.Init.CounterMode = TIM_COUNTERMODE_UP;
+ darwin_sch_timer_handle.Init.Period = 0xFFFF;
+ darwin_sch_timer_handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ darwin_sch_timer_handle.Init.RepetitionCounter = 0;
+ HAL_TIM_Base_Init(&darwin_sch_timer_handle);
+
+ sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+ HAL_TIM_ConfigClockSource(&darwin_sch_timer_handle, &sClockSourceConfig);
+
+ HAL_TIM_OC_Init(&darwin_sch_timer_handle);
+
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ HAL_TIMEx_MasterConfigSynchronization(&darwin_sch_timer_handle, &sMasterConfig);
+
+ sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+ sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+ sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+ sBreakDeadTimeConfig.DeadTime = 0;
+ sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+ sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+ sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+ HAL_TIMEx_ConfigBreakDeadTime(&darwin_sch_timer_handle, &sBreakDeadTimeConfig);
+
+ /* Peripheral interrupt init */
+ HAL_NVIC_SetPriority(TIM1_CC_IRQn, 2, 0);
+ HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
+
+ scheduler_init(&darwin_scheduler,4,168);
+ darwin_scheduler.start=darwin_sch_start;
+ darwin_scheduler.stop=darwin_sch_stop;
+ darwin_scheduler.set_pulse=darwin_sch_set_pulse;
+
+ return &darwin_scheduler;
+}
diff --git a/src/scheduler.c b/src/scheduler.c
deleted file mode 100644
index b8e0d999b713a1120c8a22453d93bec19e06bc0d..0000000000000000000000000000000000000000
--- a/src/scheduler.c
+++ /dev/null
@@ -1,58 +0,0 @@
-#include "scheduler.h"
-
-#define SCHEDULER_TIMER TIM1
-#define SCHEDULER_TIMER_IRQn TIM1_IRQn
-#define SCHEDULER_TIMER_IRQHandler TIM1_IRQHandler
-#define SCHEDULER_TIMER_CLK __HAL_RCC_TIM1_CLK_ENABLE()
-
-typedef void (*scheduler_function)(void);
-
-scheduler_function sch_ch1_fnct;
-scheduler_function sch_ch2_fnct;
-scheduler_function sch_ch3_fnct;
-scheduler_function sch_ch4_fnct;
-uint16_t sch_ch1_period;
-uint16_t sch_ch2_period;
-uint16_t sch_ch3_period;
-uint16_t sch_ch4_period;
-
-void scheduler_init(void)
-{
- /* initialize internal variables */
- sch_ch1_fnct=0;
- sch_ch2_fnct=0;
- sch_ch3_fnct=0;
- sch_ch4_fnct=0;
- sch_ch1_period=0;
- sch_ch2_period=0;
- sch_ch3_period=0;
- sch_ch4_period=0;
- /* initialize timer 1 */
-
-}
-
-void scheduler_set_period(sch_ch_t channel_id, uint16_t period_ms)
-{
-
-}
-
-void scheduler_set_one_shot(sch_ch_t channel_id, uint16_t time_ms)
-{
-
-}
-
-void scheduler_set_function(sch_ch_t channel_id, void (*function)(void))
-{
-
-}
-
-void scheduler_start(sch_ch_t channel_id)
-{
-
-}
-
-void scheduler_stop(sch_ch_t channel_id)
-{
-
-}
-