Runs TMS in RTOS

[BlakeFreer]

TMS on RTOS

closes #60

Changes

• Enables FreeRTOS

  • Edits board_config.ioc to enable FreeRTOS
  • Adds os.cc and the necessary CMakeLists targets / sources
  • Wraps the Update() function in a task that runs every 100 ms.

    I believe this means a 100 ms delay between calls, not 100 ms from start to start. If needed, we can investigate a better timing method or shorten the delay to ensure we meet the BMS requirements. I updated to use tick_until to ensure a 100ms period

• Update debug indicators to use nucleo pins (these can be changed or removed later)

• Adds a power_to_pwm_ mapper to the fan controller to represent the inverted duty-cycle behaviour.

Testing

• Builds successfully
• The task is running at 100 ms, as indicated by toggling the blue led on every task cycle
• Prior to enabling RTOS, the temp sensor and Fan PWM logic worked on windows (cannot test anymore on windows, but this shouldn't have changed)

Still TODO

not intended to be addressed by this PR

• Add CAN messages
• RTOS implementation / mock for the windows platform (windows will not build right now)