Drive F Prime rate groups with the standard cFS sch_lab scheduler app

.gitmodules

@@ -34,3 +34,6 @@
 [submodule "libs/fprime_cfs"]
 	path = libs/fprime_cfs
 	url = https://github.com/fprime-community/fprime_cfs.git
+[submodule "apps/sch_lab"]
+	path = apps/sch_lab
+	url = https://github.com/nasa/sch_lab.git

README.md

@@ -5,11 +5,15 @@ This repository contains a minimal cFS system that demonstrates the use of cFS a
 1. `fprime_app`: A simple demonstration app showing how to construct cFS applications using F Prime
 2. `fprime_gds`: An application that bridges the F Prime GDS to the cFS messaging bus
 
+The system also includes the standard cFS `sch_lab` scheduler app, which publishes the 1 Hz tick
+that drives the F Prime application's rate groups.
+
 
 ```mermaid
 flowchart LR
     fprime_app(("fprime_app")) --- Bus[cFS Messaging Bus]
     fprime_gds(("fprime_gds")) --- Bus
+    sch_lab(("sch_lab")) --- Bus
     gds["F Prime GDS"] --- fprime_gds
 ```
 
@@ -51,6 +55,11 @@ make install
 
 ## Running the Reference
 
+> [!NOTE]
+> The F Prime application's rate groups are driven by a 1 Hz tick message (command MID `0x1890`,
+> APID `0x090`) published by the `sch_lab` scheduler app included in this system. The schedule is
+> configured in `fprime_cfs_reference_defs/tables/cpu1_sch_lab_table.c`.
+
 The build is installed in `build-artifacts/exe/cpu1/`. You can run the reference system using the following command:
 
 ```bash

fprime_cfs_reference_defs/cpu1_cfe_es_startup.scr

@@ -1,4 +1,5 @@
 CFE_LIB, cfe_assert,  CFE_Assert_LibInit, ASSERT_LIB,    0,   0,     0x0, 0;
+CFE_APP, sch_lab,     SCH_LAB_AppMain,    SCH_LAB,  30,   16384, 0x0, 0;
 CFE_APP, fprime_gds,  FPRIME_GDS_Main,    FPRIME_GDS,   25,   16384, 0x0, 0;
 CFE_APP, fprime_app,  FPRIME_APP_Main,    FPRIME_APP,   25,   65536, 0x0, 0;
 !

fprime_cfs_reference_defs/tables/cpu1_sch_lab_table.c

@@ -0,0 +1,27 @@
+/*
+** Mission override of the sch_lab schedule table.
+**
+** Publishes the F Prime tick message: a cFS command with MID 0x1890
+** (command type bit + secondary header flag + APID 0x090, function code 0)
+** once per second. The fprime_app CfsBridge subscribes to this message and
+** routes it to the SchAppDriver, which cycles the F Prime rate groups.
+*/
+
+#include "cfe_tbl_filedef.h" /* Required to obtain the CFE_TBL_FILEDEF macro definition */
+#include "sch_lab_tbl.h"
+#include "cfe_sb_api_typedefs.h" /* Required to use the CFE_SB_MSGID_WRAP_VALUE macro */
+
+#include "cfe_msgids.h"
+
+/* F Prime tick: command MID for APID 0x090 (see fprime_app) */
+#define FPRIME_TICK_MID 0x1890
+
+SCH_LAB_ScheduleTable_t Schedule = {
+    .TickRate = 100, /* 100 timer ticks per second */
+    .Config   = {
+        /* Send the F Prime tick once per second (every 100 ticks) */
+        {CFE_SB_MSGID_WRAP_VALUE(FPRIME_TICK_MID), 100, 0},
+    }
+};
+
+CFE_TBL_FILEDEF(Schedule, SCH_LAB.Schedule, Schedule Lab MsgID Table, sch_lab_table.tbl)

fprime_cfs_reference_defs/targets.cmake

@@ -86,7 +86,7 @@ SET(SPACECRAFT_ID 0x42)
 # and must be loaded explicitly via startup script or command.
 # This list is effectively appended to every TGTx_APPLIST in targets.cmake.
 # Example:
-list(APPEND MISSION_GLOBAL_APPLIST fprime fprime_cfs fprime_app fprime_gds)
+list(APPEND MISSION_GLOBAL_APPLIST fprime fprime_cfs fprime_app fprime_gds sch_lab)
 
 # The "MISSION_GLOBAL_STATIC_APPLIST" is similar to MISSION_GLOBAL_APPLIST
 # but the apps are statically linked.