From 1c544d235172053de78e568798df1cd40ba06688 Mon Sep 17 00:00:00 2001
From: Tharo <17233964+Thar0@users.noreply.github.com>
Date: Sat, 7 Aug 2021 17:43:11 +0100
Subject: [PATCH] sched.c OK (#248)

* sched

* Minor fixes

* Format headers in the ultra64 folder, bitshifts in defines

* Fix PI_STATUS_ERROR

* Update variables
---
 include/PR/hardware.h             |  88 -----
 include/PR/sched.h                |  49 ---
 include/functions.h               |  46 ++-
 include/os.h                      | 102 +----
 include/osint.h                   |   1 -
 include/sptask.h                  |  35 --
 include/ultra64.h                 |   6 +
 include/ultra64/hardware.h        | 106 ++++++
 include/ultra64/message.h         |  53 +++
 include/ultra64/rsp.h             |  47 +++
 include/ultra64/sptask.h          | 112 ++++++
 include/ultra64/thread.h          |  69 ++++
 include/variables.h               |  30 +-
 include/z64.h                     |  72 +++-
 spec                              |   1 -
 src/boot_O2_g3/fault.c            |   5 +-
 src/code/audioMgr.c               |   2 +-
 src/code/sched.c                  | 601 ++++++++++++++++++++++++++++--
 src/libultra/io/epirawwrite.c     |   1 -
 src/libultra/os/createmesgqueue.c |   4 +-
 src/libultra/os/jammesg.c         |   6 +-
 src/libultra/os/recvmesg.c        |   6 +-
 src/libultra/os/sendmesg.c        |   6 +-
 tools/disasm/functions.txt        |  42 +--
 tools/disasm/variables.txt        |  26 +-
 tools/sizes/code_functions.csv    |  42 +--
 26 files changed, 1129 insertions(+), 429 deletions(-)
 delete mode 100644 include/PR/hardware.h
 delete mode 100644 include/PR/sched.h
 delete mode 100644 include/sptask.h
 create mode 100644 include/ultra64/hardware.h
 create mode 100644 include/ultra64/message.h
 create mode 100644 include/ultra64/rsp.h
 create mode 100644 include/ultra64/sptask.h
 create mode 100644 include/ultra64/thread.h

diff --git a/include/PR/hardware.h b/include/PR/hardware.h
deleted file mode 100644
index 1f4fe9dd8a..0000000000
--- a/include/PR/hardware.h
+++ /dev/null
@@ -1,88 +0,0 @@
-#ifndef _ULTRA64_HARDWARE_H_
-#define _ULTRA64_HARDWARE_H_
-
-#define AI_DRAM_ADDR_REG 0x04500000
-#define AI_LEN_REG 0x04500004
-#define AI_CONTROL_REG 0x04500008
-#define AI_STATUS_REG 0x0450000C
-#define AI_STATUS_AI_FULL (1 << 31)
-#define AI_STATUS_AI_BUSY (1 << 30)
-#define AI_DACRATE_REG 0x04500010
-#define AI_BITRATE_REG 0x04500014
-
-#define VI_STATUS_REG 0x04400000
-#define VI_CONTROL_REG 0x04400000
-#define VI_ORIGIN_REG 0x04400004
-#define VI_DRAM_ADDR_REG 0x04400004
-#define VI_WIDTH_REG 0x04400008
-#define VI_H_WIDTH_REG 0x04400008
-#define VI_INTR_REG 0x0440000C
-#define VI_V_INTER_REG 0x0440000C
-#define VI_CURRENT_REG 0x04400010
-#define VI_V_CURRENT_LINE_REG 0x04400010
-#define VI_BURST_REG 0x04400014
-#define VI_TIMING_REG 0x04400014
-#define VI_V_SYNC_REG 0x04400018 //VI vertical sync
-#define VI_H_SYNC_REG 0x0440001C //VI horizontal sync
-#define VI_LEAP_REG 0x04400020   //VI horizontal sync leap
-#define VI_H_SYNC_LEAP_REG 0x04400020
-#define VI_H_START_REG 0x04400024 //VI horizontal video
-#define VI_H_VIDEO_REG 0x04400024
-#define VI_V_START_REG 0x04400028 //VI vertical video
-#define VI_V_VIDEO_REG 0x04400028
-#define VI_V_BURST_REG 0x0440002C //VI vertical burst
-#define VI_X_SCALE_REG 0x04400030 //VI x-scale
-#define VI_Y_SCALE_REG 0x04400034 //VI y-scale
-
-#define SP_IMEM_START 0x04001000
-#define SP_DMEM_START 0x04000000
-
-#define SP_MEM_ADDR_REG 0x04040000
-#define SP_DRAM_ADDR_REG 0x04040004
-#define SP_RD_LEN_REG 0x04040008
-#define SP_WR_LEN_REG 0x0404000C
-#define SP_STATUS_REG 0x04040010
-#define SP_PC_REG 0x04080000
-
-#define PI_DRAM_ADDR_REG 0x04600000    //PI DRAM address
-#define PI_CART_ADDR_REG 0x04600004    //PI pbus (cartridge) address
-#define PI_RD_LEN_REG 0x04600008       //PI read length
-#define PI_WR_LEN_REG 0x0460000C       //PI write length
-#define PI_STATUS_REG 0x04600010       //PI status
-#define PI_BSD_DOM1_LAT_REG 0x04600014 //PI dom1 latency
-#define PI_DOMAIN1_REG 0x04600014
-#define PI_BSD_DOM1_PWD_REG 0x04600018 //PI dom1 pulse width
-#define PI_BSD_DOM1_PGS_REG 0x0460001C //PI dom1 page size
-#define PI_BSD_DOM1_RLS_REG 0x04600020 //PI dom1 release
-#define PI_BSD_DOM2_LAT_REG 0x04600024 //PI dom2 latency
-#define PI_DOMAIN2_REG 0x04600024
-#define PI_BSD_DOM2_PWD_REG 0x04600028 //PI dom2 pulse width
-#define PI_BSD_DOM2_PGS_REG 0x0460002C //PI dom2 page size
-#define PI_BSD_DOM2_RLS_REG 0x04600030 //PI dom2 release
-
-#define PI_STATUS_BUSY 0x1
-#define PI_STATUS_IOBUSY 0x2
-#define PI_STATUS_ERROR 0x3
-
-#define PI_STATUS_RESET_CONTROLLER 0x1
-#define PI_STATUS_CLEAR_INTR 0x2
-
-#define SI_DRAM_ADDR_REG 0x04800000
-#define SI_PIF_ADDR_RD64B_REG 0x04800004
-#define SI_PIF_ADDR_WR64B_REG 0x04800010
-#define SI_STATUS_REG 0x04800018
-
-#define SI_STATUS_DMA_BUSY 0x1
-#define SI_STATUS_IO_READ_BUSY 0x2
-#define SI_STATUS_DMA_ERROR 0x8
-#define SI_STATUS_INTERRUPT (1 << 12)
-
-#define PIF_RAM_START 0x1FC007C0
-
-#define MI_INIT_MODE_REG 0x04300000
-#define MI_MODE_REG MI_INIT_MODE_REG
-#define MI_VERSION_REG 0x04300004
-#define MI_INTR_REG 0x04300008
-#define MI_INTR_MASK_REG 0x0430000C
-
-#endif
diff --git a/include/PR/sched.h b/include/PR/sched.h
deleted file mode 100644
index 6d1de10942..0000000000
--- a/include/PR/sched.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#ifndef _SCHED_H_
-#define _SCHED_H_
-
-#include "os.h"
-#include "sptask.h"
-
-typedef struct {
-    /* 0x0 */ short type;
-    /* 0x2 */ unsigned char misc[30];
-} OSScMsg;
-
-
-typedef struct OSScTask_s {
-    /* 0x0 */ struct OSScTask_s* next;
-    /* 0x4 */ u32 state;
-    /* 0x8 */ u32 flags;
-    /* 0xC */ void* framebuffer;
-    /* 0x10 */ OSTask list;
-    /* 0x50 */ OSMesgQueue* msgQ;
-    /* 0x54 */ OSMesg msg;
-} OSScTask;
-
-
-typedef struct OSScClient_s {
-    /* 0x0 */ struct OSScClient_s* next;
-    /* 0x4 */ OSMesgQueue* msgQ;
-} OSScClient;
-
-
-typedef struct {
-    /* 0x0 */ OSScMsg retraceMsg;
-    /* 0x20 */ OSScMsg prenmiMsg;
-    /* 0x40 */ OSMesgQueue interruptQ;
-    /* 0x58 */ OSMesg intBuf[8];
-    /* 0x78 */ OSMesgQueue cmdQ;
-    /* 0x90 */ OSMesg cmdMsgBuf[8];
-    /* 0xB0 */ OSThread thread;
-    /* 0x260 */ OSScClient* clientList;
-    /* 0x264 */ OSScTask* audioListHead;
-    /* 0x268 */ OSScTask* gfxListHead;
-    /* 0x26C */ OSScTask* audioListTail;
-    /* 0x270 */ OSScTask* gfxListTail;
-    /* 0x274 */ OSScTask* curRSPTask;
-    /* 0x278 */ OSScTask* curRDPTask;
-    /* 0x27C */ u32 frameCount;
-    /* 0x280 */ s32 doAudio;
-} OSSched;
-
-#endif
diff --git a/include/functions.h b/include/functions.h
index acb600d7fd..58d3abde2d 100644
--- a/include/functions.h
+++ b/include/functions.h
@@ -482,7 +482,7 @@ float __ull_to_f(unsigned long long l);
 // void osVoiceCheckWord(void);
 // void osVoiceControlGain(void);
 // void osVoiceStartReadData(void);
-// void osViGetCurrentFramebuffer(void);
+void* osViGetCurrentFramebuffer(void);
 s32 __osSpSetPc(u32 data);
 // void __osVoiceContWrite4(void);
 void __osGetHWIntrRoutine(s32 idx, OSMesgQueue** outQueue, OSMesg* outMsg);
@@ -3220,30 +3220,28 @@ void Padmgr_GetInput(Input* input, s32 param_2);
 void Padmgr_GetInput2(Input* input, s32 param_2);
 void Padmgr_ThreadEntry(PadMgr* padmgr);
 void Padmgr_Start(OSMesgQueue* siEventCallbackQueue, IrqMgr* irqmgr, OSId threadId, OSPri threadPri, void* stack);
-// void func_80176280(void);
-// void func_80176314(void);
-void Sched_Nop80176364(SchedContext* sched);
-void func_80176370(SchedContext* sched);
-void func_80176394(SchedContext* sched);
-void func_801764F0(SchedContext* sched);
-void func_8017668C(SchedContext* sched, UNK_PTR puParm2);
-// void func_801766F0(void);
-// void func_80176748(void);
-// void func_801767B8(void);
-// void func_801768E0(void);
-// void func_8017691C(void);
-// void func_80176988(void);
-void func_80176B34(SchedContext* sched);
-void func_80176C24(SchedContext* sched);
-void func_80176CF4(SchedContext* sched);
-void func_80176F2C(SchedContext* sched);
+void Sched_SwapFramebuffer(CfbInfo* cfbInfo);
+void Sched_RetraceUpdateFramebuffer(SchedContext* sched, CfbInfo* cfbInfo);
+void Sched_HandleReset(SchedContext* sched);
+void Sched_HandleStop(SchedContext* sched);
+void Sched_HandleAudioCancel(SchedContext* sched);
+void Sched_HandleGfxCancel(SchedContext* sched);
+void Sched_QueueTask(SchedContext* sched, OSScTask* task);
+void Sched_Yield(SchedContext* sched);
+s32 Sched_Schedule(SchedContext* sched, OSScTask** spTask, OSScTask** dpTask, s32 state);
+void Sched_TaskUpdateFramebuffer(SchedContext* sched, OSScTask* task);
+void Sched_NotifyDone(SchedContext* sched, OSScTask* task);
+void Sched_RunTask(SchedContext* sched, OSScTask* spTask, OSScTask* dpTask);
+void Sched_HandleEntry(SchedContext* sched);
+void Sched_HandleRetrace(SchedContext* sched);
+void Sched_HandleRSPDone(SchedContext* sched);
+void Sched_HandleRDPDone(SchedContext* sched);
 void Sched_SendEntryMsg(SchedContext* sched);
-void func_8017703C(SchedContext* sched);
-void func_80177060(SchedContext* sched);
-void func_80177084(SchedContext* sched);
-void Sched_ThreadEntry(SchedContext* sched);
-// void func_80177280(UNK_TYPE1 param_1, UNK_TYPE1 param_2, UNK_TYPE1 param_3, UNK_TYPE1 param_4, UNK_TYPE1 param_5, UNK_TYPE1 param_6, UNK_TYPE4 param_7, UNK_TYPE4 param_8, UNK_TYPE4 param_9, UNK_TYPE4 param_10, UNK_TYPE4 param_11, UNK_TYPE4 param_12);
-// void Sched_Start(SchedContext* sched, void* stack, OSPri pri, UNK_TYPE4 param_4, UNK_TYPE4 param_5, IrqMgr* irqmgrStruct);
+void Sched_SendAudioCancelMsg(SchedContext* sched);
+void Sched_SendGfxCancelMsg(SchedContext* sched);
+void Sched_FaultClient(void* param1, void* param2);
+void Sched_ThreadEntry(void* arg);
+void Sched_Init(SchedContext* sched, void* stack, OSPri pri, UNK_TYPE arg3, UNK_TYPE arg4, IrqMgr* irqMgr);
 // void func_80177390(void);
 void func_801773A0(void* arg0);
 void func_801773C4(void* arg0);
diff --git a/include/os.h b/include/os.h
index 6033545e06..3ae69bcdfa 100644
--- a/include/os.h
+++ b/include/os.h
@@ -1,114 +1,16 @@
 #ifndef _OS_H_
 #define _OS_H_
 
-#include "PR/ultratypes.h"
-
-typedef s32 OSPri;
-
-typedef s32 OSId;
+#include "ultra64/thread.h"
+#include "ultra64/message.h"
 
 #define OS_READ     0
 #define OS_WRITE    1
 
-typedef union {
-    /* 0x0 */ struct {
-        /* 0x0 */ f32 f_odd;
-        /* 0x4 */ f32 f_even;
-    } f;
-    /* 0x0 */ f64 d;
-} __OSfp;
-
-
-typedef struct {
-    /* 0x0 */ u64 at;
-    /* 0x8 */ u64 v0;
-    /* 0x10 */ u64 v1;
-    /* 0x18 */ u64 a0;
-    /* 0x20 */ u64 a1;
-    /* 0x28 */ u64 a2;
-    /* 0x30 */ u64 a3;
-    /* 0x38 */ u64 t0;
-    /* 0x40 */ u64 t1;
-    /* 0x48 */ u64 t2;
-    /* 0x50 */ u64 t3;
-    /* 0x58 */ u64 t4;
-    /* 0x60 */ u64 t5;
-    /* 0x68 */ u64 t6;
-    /* 0x70 */ u64 t7;
-    /* 0x78 */ u64 s0;
-    /* 0x80 */ u64 s1;
-    /* 0x88 */ u64 s2;
-    /* 0x90 */ u64 s3;
-    /* 0x98 */ u64 s4;
-    /* 0xA0 */ u64 s5;
-    /* 0xA8 */ u64 s6;
-    /* 0xB0 */ u64 s7;
-    /* 0xB8 */ u64 t8;
-    /* 0xC0 */ u64 t9;
-    /* 0xC8 */ u64 gp;
-    /* 0xD0 */ u64 sp;
-    /* 0xD8 */ u64 s8;
-    /* 0xE0 */ u64 ra;
-    /* 0xE8 */ u64 lo;
-    /* 0xF0 */ u64 hi;
-    /* 0xF8 */ u32 sr;
-    /* 0xFC */ u32 pc;
-    /* 0x100 */ u32 cause;
-    /* 0x104 */ u32 badvaddr;
-    /* 0x108 */ u32 rcp;
-    /* 0x10C */ u32 fpcsr;
-    /* 0x110 */ __OSfp fp0;
-    /* 0x118 */ __OSfp fp2;
-    /* 0x120 */ __OSfp fp4;
-    /* 0x128 */ __OSfp fp6;
-    /* 0x130 */ __OSfp fp8;
-    /* 0x138 */ __OSfp fp10;
-    /* 0x140 */ __OSfp fp12;
-    /* 0x148 */ __OSfp fp14;
-    /* 0x150 */ __OSfp fp16;
-    /* 0x158 */ __OSfp fp18;
-    /* 0x160 */ __OSfp fp20;
-    /* 0x168 */ __OSfp fp22;
-    /* 0x170 */ __OSfp fp24;
-    /* 0x178 */ __OSfp fp26;
-    /* 0x180 */ __OSfp fp28;
-    /* 0x188 */ __OSfp fp30;
-} __OSThreadContext;
-
-
-typedef struct OSThread_s {
-    /* 0x0 */ struct OSThread_s* next;
-    /* 0x4 */ OSPri priority;
-    /* 0x8 */ struct OSThread_s** queue;
-    /* 0xC */ struct OSThread_s* tlnext;
-    /* 0x10 */ u16 state;
-    /* 0x12 */ u16 flags;
-    /* 0x14 */ OSId id;
-    /* 0x18 */ int fp;
-    /* 0x20 */ __OSThreadContext context;
-} OSThread;
-
-typedef u32 OSEvent;
-
 typedef u32 OSIntMask;
 
 typedef u32 OSPageMask;
 
-#define OS_MESG_NOBLOCK         0
-#define OS_MESG_BLOCK           1
-
-typedef void* OSMesg;
-
-typedef struct {
-    /* 0x00 */ OSThread* mtqueue;
-    /* 0x04 */ OSThread* fullqueue;
-    /* 0x08 */ s32 validCount;
-    /* 0x0C */ s32 first;
-    /* 0x10 */ s32 msgCount;
-    /* 0x14 */ OSMesg* msg;
-} OSMesgQueue; // size = 0x20
-
-
 typedef struct {
     /* 0x00 */ u32 errStatus;
     /* 0x04 */ void* dramAddr;
diff --git a/include/osint.h b/include/osint.h
index a5ef688727..f4da044c60 100644
--- a/include/osint.h
+++ b/include/osint.h
@@ -8,7 +8,6 @@
 #include "os_internal.h"
 #include "ultraerror.h"
 #include "ultralog.h"
-#include "sptask.h"
 
 typedef struct {
     /* 0x0 */ OSMesgQueue* messageQueue;
diff --git a/include/sptask.h b/include/sptask.h
deleted file mode 100644
index e88eb34215..0000000000
--- a/include/sptask.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef _SPTASK_H_
-#define _SPTASK_H_
-
-#include "PR/ultratypes.h"
-
-#define OS_YIELD_DATA_SIZE 0xC00
-
-typedef struct {
-    /* 0x0 */ u32 type;
-    /* 0x4 */ u32 flags;
-    /* 0x8 */ u64* ucode_boot;
-    /* 0xC */ u32 ucode_boot_size;
-    /* 0x10 */ u64* ucode;
-    /* 0x14 */ u32 ucode_size;
-    /* 0x18 */ u64* ucode_data;
-    /* 0x1C */ u32 ucode_data_size;
-    /* 0x20 */ u64* dram_stack;
-    /* 0x24 */ u32 dram_stack_size;
-    /* 0x28 */ u64* output_buff;
-    /* 0x2C */ u64* output_buff_size;
-    /* 0x30 */ u64* data_ptr;
-    /* 0x34 */ u32 data_size;
-    /* 0x38 */ u64* yield_data_ptr;
-    /* 0x3C */ u32 yield_data_size;
-} OSTask_t;
-
-
-typedef union {
-    /* 0x0 */ OSTask_t t;
-    /* 0x0 */ long long force_structure_alignment;
-} OSTask;
-
-typedef u32 OSYieldResult;
-
-#endif
diff --git a/include/ultra64.h b/include/ultra64.h
index f19dc61fe7..be8a7db12b 100644
--- a/include/ultra64.h
+++ b/include/ultra64.h
@@ -6,4 +6,10 @@
 
 #include "unk.h"
 
+#include "ultra64/hardware.h"
+#include "ultra64/message.h"
+#include "ultra64/sptask.h"
+#include "ultra64/thread.h"
+#include "ultra64/rsp.h"
+
 #endif
diff --git a/include/ultra64/hardware.h b/include/ultra64/hardware.h
new file mode 100644
index 0000000000..30e2b898b0
--- /dev/null
+++ b/include/ultra64/hardware.h
@@ -0,0 +1,106 @@
+#ifndef _ULTRA64_HARDWARE_H_
+#define _ULTRA64_HARDWARE_H_
+
+#define HW_REG(reg, type) *(volatile type*)((reg) | 0xa0000000)
+
+#define AI_DRAM_ADDR_REG   0x04500000
+#define AI_LEN_REG         0x04500004
+#define AI_CONTROL_REG     0x04500008
+#define AI_STATUS_REG      0x0450000C
+#define AI_DACRATE_REG     0x04500010
+#define AI_BITRATE_REG     0x04500014
+
+#define AI_STATUS_AI_BUSY  (1 << 30)
+#define AI_STATUS_AI_FULL  (1 << 31)
+
+#define VI_STATUS_REG          0x04400000
+#define VI_CONTROL_REG         0x04400000
+#define VI_ORIGIN_REG          0x04400004
+#define VI_DRAM_ADDR_REG       0x04400004
+#define VI_WIDTH_REG           0x04400008
+#define VI_H_WIDTH_REG         0x04400008
+#define VI_INTR_REG            0x0440000C
+#define VI_V_INTER_REG         0x0440000C
+#define VI_CURRENT_REG         0x04400010
+#define VI_V_CURRENT_LINE_REG  0x04400010
+#define VI_BURST_REG           0x04400014
+#define VI_TIMING_REG          0x04400014
+#define VI_V_SYNC_REG          0x04400018 //VI vertical sync
+#define VI_H_SYNC_REG          0x0440001C //VI horizontal sync
+#define VI_LEAP_REG            0x04400020 //VI horizontal sync leap
+#define VI_H_SYNC_LEAP_REG     0x04400020
+#define VI_H_START_REG         0x04400024 //VI horizontal video
+#define VI_H_VIDEO_REG         0x04400024
+#define VI_V_START_REG         0x04400028 //VI vertical video
+#define VI_V_VIDEO_REG         0x04400028
+#define VI_V_BURST_REG         0x0440002C //VI vertical burst
+#define VI_X_SCALE_REG         0x04400030 //VI x-scale
+#define VI_Y_SCALE_REG         0x04400034 //VI y-scale
+
+#define SP_IMEM_START  0x04001000
+#define SP_IMEM_SIZE   0x1000
+
+#define SP_DMEM_START  0x04000000
+#define SP_DMEM_SIZE   0x1000
+
+#define SP_MEM_ADDR_REG   0x04040000
+#define SP_DRAM_ADDR_REG  0x04040004
+#define SP_RD_LEN_REG     0x04040008
+#define SP_WR_LEN_REG     0x0404000C
+#define SP_STATUS_REG     0x04040010
+#define SP_DMA_FULL_REG   0x04040014
+#define SP_DMA_BUSY_REG   0x04040018
+#define SP_PC_REG         0x04080000
+
+#define PI_DRAM_ADDR_REG     0x04600000 //PI DRAM address
+#define PI_CART_ADDR_REG     0x04600004 //PI pbus (cartridge) address
+#define PI_RD_LEN_REG        0x04600008 //PI read length
+#define PI_WR_LEN_REG        0x0460000C //PI write length
+#define PI_STATUS_REG        0x04600010 //PI status
+#define PI_BSD_DOM1_LAT_REG  0x04600014 //PI dom1 latency
+#define PI_DOMAIN1_REG       0x04600014
+#define PI_BSD_DOM1_PWD_REG  0x04600018 //PI dom1 pulse width
+#define PI_BSD_DOM1_PGS_REG  0x0460001C //PI dom1 page size
+#define PI_BSD_DOM1_RLS_REG  0x04600020 //PI dom1 release
+#define PI_BSD_DOM2_LAT_REG  0x04600024 //PI dom2 latency
+#define PI_DOMAIN2_REG       0x04600024
+#define PI_BSD_DOM2_PWD_REG  0x04600028 //PI dom2 pulse width
+#define PI_BSD_DOM2_PGS_REG  0x0460002C //PI dom2 page size
+#define PI_BSD_DOM2_RLS_REG  0x04600030 //PI dom2 release
+
+#define PI_STATUS_BUSY    (1 << 0)
+#define PI_STATUS_IOBUSY  (1 << 1)
+#define PI_STATUS_ERROR   (PI_STATUS_BUSY | PI_STATUS_IOBUSY)
+
+#define PI_STATUS_RESET_CONTROLLER  (1 << 0)
+#define PI_STATUS_CLEAR_INTR        (1 << 1)
+
+#define SI_DRAM_ADDR_REG       0x04800000
+#define SI_PIF_ADDR_RD64B_REG  0x04800004
+#define SI_PIF_ADDR_WR64B_REG  0x04800010
+#define SI_STATUS_REG          0x04800018
+
+#define SI_STATUS_DMA_BUSY      (1 << 0)
+#define SI_STATUS_IO_READ_BUSY  (1 << 1)
+#define SI_STATUS_DMA_ERROR     (1 << 3)
+#define SI_STATUS_INTERRUPT     (1 << 12)
+
+#define PIF_RAM_START  0x1FC007C0
+
+#define MI_INIT_MODE_REG  0x04300000
+#define MI_MODE_REG       MI_INIT_MODE_REG
+#define MI_VERSION_REG    0x04300004
+#define MI_INTR_REG       0x04300008
+#define MI_INTR_MASK_REG  0x0430000C
+
+/* Interrupt pending bits */
+#define	CAUSE_IP8  0x00008000  /* External level 8 pending - COMPARE */
+#define	CAUSE_IP7  0x00004000  /* External level 7 pending - INT4 */
+#define	CAUSE_IP6  0x00002000  /* External level 6 pending - INT3 */
+#define	CAUSE_IP5  0x00001000  /* External level 5 pending - INT2 */
+#define	CAUSE_IP4  0x00000800  /* External level 4 pending - INT1 */
+#define	CAUSE_IP3  0x00000400  /* External level 3 pending - INT0 */
+#define	CAUSE_SW2  0x00000200  /* Software level 2 pending */
+#define	CAUSE_SW1  0x00000100  /* Software level 1 pending */
+
+#endif
diff --git a/include/ultra64/message.h b/include/ultra64/message.h
new file mode 100644
index 0000000000..a049ae3632
--- /dev/null
+++ b/include/ultra64/message.h
@@ -0,0 +1,53 @@
+#ifndef _ULTRA64_MESSAGE_H_
+#define _ULTRA64_MESSAGE_H_
+
+#include "ultra64/thread.h"
+
+#define OS_NUM_EVENTS               15
+
+#define OS_EVENT_SW1                0     /* CPU SW1 interrupt */
+#define OS_EVENT_SW2                1     /* CPU SW2 interrupt */
+#define OS_EVENT_CART               2     /* Cartridge interrupt: used by rmon */
+#define OS_EVENT_COUNTER            3     /* Counter int: used by VI/Timer Mgr */
+#define OS_EVENT_SP                 4     /* SP task done interrupt */
+#define OS_EVENT_SI                 5     /* SI (controller) interrupt */
+#define OS_EVENT_AI                 6     /* AI interrupt */
+#define OS_EVENT_VI                 7     /* VI interrupt: used by VI/Timer Mgr */
+#define OS_EVENT_PI                 8     /* PI interrupt: used by PI Manager */
+#define OS_EVENT_DP                 9     /* DP full sync interrupt */
+#define OS_EVENT_CPU_BREAK          10    /* CPU breakpoint: used by rmon */
+#define OS_EVENT_SP_BREAK           11    /* SP breakpoint:  used by rmon */
+#define OS_EVENT_FAULT              12    /* CPU fault event: used by rmon */
+#define OS_EVENT_THREADSTATUS       13    /* CPU thread status: used by rmon */
+#define OS_EVENT_PRENMI             14    /* Pre NMI interrupt */
+
+#define OS_EVENT_RDB_READ_DONE      15    /* RDB read ok event: used by rmon */
+#define OS_EVENT_RDB_LOG_DONE       16    /* read of log data complete */
+#define OS_EVENT_RDB_DATA_DONE      17    /* read of host io data complete */
+#define OS_EVENT_RDB_REQ_RAMROM     18    /* host needs ramrom access */
+#define OS_EVENT_RDB_FREE_RAMROM    19    /* host is done with ramrom access */
+#define OS_EVENT_RDB_DBG_DONE       20
+#define OS_EVENT_RDB_FLUSH_PROF     21
+#define OS_EVENT_RDB_ACK_PROF       22
+
+typedef void* OSMesg;
+typedef u32 OSEvent;
+
+#define OS_MESG_NOBLOCK  0
+#define OS_MESG_BLOCK    1
+
+typedef struct OSMesgQueue {
+    /* 0x00 */ OSThread* mtQueue;
+    /* 0x04 */ OSThread* fullQueue;
+    /* 0x08 */ s32 validCount;
+    /* 0x0C */ s32 first;
+    /* 0x10 */ s32 msgCount;
+    /* 0x14 */ OSMesg* msg;
+} OSMesgQueue; // size = 0x18
+
+#define MQ_COUNT(mq)    ((mq)->validCount)
+
+#define MQ_IS_EMPTY(mq) (MQ_COUNT(mq) == 0)
+#define MQ_IS_FULL(mq)  (MQ_COUNT(mq) >= (mq)->msgCount)
+
+#endif
diff --git a/include/ultra64/rsp.h b/include/ultra64/rsp.h
new file mode 100644
index 0000000000..f8ec4ef517
--- /dev/null
+++ b/include/ultra64/rsp.h
@@ -0,0 +1,47 @@
+#ifndef _ULTRA64_RSP_H_
+#define _ULTRA64_RSP_H_
+
+/* SP Status Flags */
+#define SP_STATUS_HALT        (1 <<  0)
+#define SP_STATUS_BROKE       (1 <<  1)
+#define SP_STATUS_DMA_BUSY    (1 <<  2)
+#define SP_STATUS_DMA_FULL    (1 <<  3)
+#define SP_STATUS_IO_FULL     (1 <<  4)
+#define SP_STATUS_SSTEP       (1 <<  5)
+#define SP_STATUS_INTR_BREAK  (1 <<  6)
+#define SP_STATUS_YIELD       (1 <<  7) // SIG0
+#define SP_STATUS_YIELDED     (1 <<  8) // SIG1
+#define SP_STATUS_TASKDONE    (1 <<  9) // SIG2
+#define SP_STATUS_SIG3        (1 << 10)
+#define SP_STATUS_SIG4        (1 << 11)
+#define SP_STATUS_SIG5        (1 << 12)
+#define SP_STATUS_SIG6        (1 << 13)
+#define SP_STATUS_SIG7        (1 << 14)
+
+#define SP_CLR_HALT        (1 <<  0)
+#define SP_SET_HALT        (1 <<  1)
+#define SP_CLR_BROKE       (1 <<  2)
+#define SP_CLR_INTR        (1 <<  3)
+#define SP_SET_INTR        (1 <<  4)
+#define SP_CLR_SSTEP       (1 <<  5)
+#define SP_SET_SSTEP       (1 <<  6)
+#define SP_CLR_INTR_BREAK  (1 <<  7)
+#define SP_SET_INTR_BREAK  (1 <<  8)
+#define SP_CLR_SIG0        (1 <<  9)
+#define SP_SET_SIG0        (1 << 10)
+#define SP_CLR_SIG1        (1 << 11)
+#define SP_SET_SIG1        (1 << 12)
+#define SP_CLR_SIG2        (1 << 13)
+#define SP_SET_SIG2        (1 << 14)
+#define SP_CLR_SIG3        (1 << 15)
+#define SP_SET_SIG3        (1 << 16)
+#define SP_CLR_SIG4        (1 << 17)
+#define SP_SET_SIG4        (1 << 18)
+#define SP_CLR_SIG5        (1 << 19)
+#define SP_SET_SIG5        (1 << 20)
+#define SP_CLR_SIG6        (1 << 21)
+#define SP_SET_SIG6        (1 << 22)
+#define SP_CLR_SIG7        (1 << 23)
+#define SP_SET_SIG7        (1 << 24)
+
+#endif
diff --git a/include/ultra64/sptask.h b/include/ultra64/sptask.h
new file mode 100644
index 0000000000..c6e314f822
--- /dev/null
+++ b/include/ultra64/sptask.h
@@ -0,0 +1,112 @@
+#ifndef _SPTASK_H_
+#define _SPTASK_H_
+
+#include "PR/ultratypes.h"
+
+/* Task Types */
+#define M_NULTASK   0
+#define M_GFXTASK   1
+#define M_AUDTASK   2
+#define M_VIDTASK   3
+#define M_NJPEGTASK 4
+#define M_HVQTASK   6
+#define M_HVQMTASK  7
+
+/* Task Flags  */
+#define M_TASK_FLAG0 (1 << 0)
+#define M_TASK_FLAG1 (1 << 1)
+
+/* Task Flag Fields */
+#define OS_TASK_YIELDED  (1 << 0)
+#define OS_TASK_DP_WAIT  (1 << 1)
+#define OS_TASK_LOADABLE (1 << 2)
+#define OS_TASK_SP_ONLY  (1 << 3)
+#define OS_TASK_USR0     (1 << 4)
+#define OS_TASK_USR1     (1 << 5)
+#define OS_TASK_USR2     (1 << 6)
+#define OS_TASK_USR3     (1 << 7)
+
+#define OS_YIELD_DATA_SIZE  0xC00
+#define OS_YIELD_AUDIO_SIZE 0x400
+
+/* SpStatus */
+
+/* Write */
+#define SPSTATUS_CLEAR_HALT          (1 <<  0)
+#define SPSTATUS_SET_HALT            (1 <<  1)
+#define SPSTATUS_CLEAR_BROKE         (1 <<  2)
+#define SPSTATUS_CLEAR_INTR          (1 <<  3)
+#define SPSTATUS_SET_INTR            (1 <<  4)
+#define SPSTATUS_CLEAR_SSTEP         (1 <<  5)
+#define SPSTATUS_SET_SSTEP           (1 <<  6)
+#define SPSTATUS_CLEAR_INTR_ON_BREAK (1 <<  7)
+#define SPSTATUS_SET_INTR_ON_BREAK   (1 <<  8)
+#define SPSTATUS_CLEAR_SIGNAL0       (1 <<  9)
+#define SPSTATUS_SET_SIGNAL0         (1 << 10)
+#define SPSTATUS_CLEAR_SIGNAL1       (1 << 11)
+#define SPSTATUS_SET_SIGNAL1         (1 << 12)
+#define SPSTATUS_CLEAR_SIGNAL2       (1 << 13)
+#define SPSTATUS_SET_SIGNAL2         (1 << 14)
+#define SPSTATUS_CLEAR_SIGNAL3       (1 << 15)
+#define SPSTATUS_SET_SIGNAL3         (1 << 16)
+#define SPSTATUS_CLEAR_SIGNAL4       (1 << 17)
+#define SPSTATUS_SET_SIGNAL4         (1 << 18)
+#define SPSTATUS_CLEAR_SIGNAL5       (1 << 19)
+#define SPSTATUS_SET_SIGNAL5         (1 << 20)
+#define SPSTATUS_CLEAR_SIGNAL6       (1 << 21)
+#define SPSTATUS_SET_SIGNAL6         (1 << 23)
+#define SPSTATUS_CLEAR_SIGNAL7       (1 << 24)
+#define SPSTATUS_SET_SIGNAL7         (1 << 25)
+
+/* Read */
+#define SPSTATUS_HALT               (1 <<  0)
+#define SPSTATUS_BROKE              (1 <<  1)
+#define SPSTATUS_DMA_BUSY           (1 <<  2)
+#define SPSTATUS_DMA_FULL           (1 <<  3)
+#define SPSTATUS_IO_FULL            (1 <<  4)
+#define SPSTATUS_SINGLE_STEP        (1 <<  5)
+#define SPSTATUS_INTERRUPT_ON_BREAK (1 <<  6)
+#define SPSTATUS_SIGNAL0_SET        (1 <<  7)
+#define SPSTATUS_SIGNAL1_SET        (1 <<  8)
+#define SPSTATUS_SIGNAL2_SET        (1 <<  9)
+#define SPSTATUS_SIGNAL3_SET        (1 << 10)
+#define SPSTATUS_SIGNAL4_SET        (1 << 11)
+#define SPSTATUS_SIGNAL5_SET        (1 << 12)
+#define SPSTATUS_SIGNAL6_SET        (1 << 13)
+#define SPSTATUS_SIGNAL7_SET        (1 << 14)
+
+typedef struct {
+    /* 0x00 */ u32 type;
+    /* 0x04 */ u32 flags;
+
+    /* 0x08 */ u64* ucode_boot;
+    /* 0x0C */ u32 ucode_boot_size;
+
+    /* 0x10 */ u64* ucode;
+    /* 0x14 */ u32 ucode_size;
+
+    /* 0x18 */ u64* ucode_data;
+    /* 0x1C */ u32 ucode_data_size;
+
+    /* 0x20 */ u64* dram_stack;
+    /* 0x24 */ u32 dram_stack_size;
+
+    /* 0x28 */ u64* output_buff;
+    /* 0x2C */ u64* output_buff_size;
+
+    /* 0x30 */ u64* data_ptr;
+    /* 0x34 */ u32 data_size;
+
+    /* 0x38 */ u64* yield_data_ptr;
+    /* 0x3C */ u32 yield_data_size;
+} OSTask_t; // size = 0x40
+
+typedef union
+{
+    OSTask_t t;
+    long long int force_structure_alignment;
+} OSTask;
+
+typedef u32 OSYieldResult;
+
+#endif
diff --git a/include/ultra64/thread.h b/include/ultra64/thread.h
new file mode 100644
index 0000000000..f3cd688907
--- /dev/null
+++ b/include/ultra64/thread.h
@@ -0,0 +1,69 @@
+#ifndef _ULTRA64_THREAD_H_
+#define _ULTRA64_THREAD_H_
+
+#include "PR/ultratypes.h"
+
+#define OS_PRIORITY_IDLE         10
+#define OS_PRIORITY_MAIN         10
+#define OS_PRIORITY_GRAPH        11
+#define OS_PRIORITY_AUDIOMGR     12
+#define OS_PRIORITY_PADMGR       14
+#define OS_PRIORITY_SCHED        15
+#define OS_PRIORITY_DMAMGR       16
+#define OS_PRIORITY_IRQMGR       17
+#define OS_PRIORITY_PIMGR        150
+#define OS_PRIORITY_FAULTCLIENT  126
+#define OS_PRIORITY_FAULT        127
+#define OS_PRIORITY_APPMAX       127
+#define OS_PRIORITY_RMONSPIN     200
+#define OS_PRIORITY_RMON         250
+#define OS_PRIORITY_VIMGR        254
+#define OS_PRIORITY_MAX          255
+
+#define OS_STATE_STOPPED    (1 << 0)
+#define OS_STATE_RUNNABLE   (1 << 1)
+#define OS_STATE_RUNNING    (1 << 2)
+#define OS_STATE_WAITING    (1 << 3)
+
+typedef s32 OSPri;
+typedef s32 OSId;
+
+typedef union {
+    struct {
+        /* 0x00 */ f32 f_odd;
+        /* 0x04 */ f32 f_even;
+    } f;
+} __OSfp; // size = 0x08
+
+typedef struct {
+    /* 0x000 */ u64 at, v0, v1, a0, a1, a2, a3;
+    /* 0x038 */ u64 t0, t1, t2, t3, t4, t5, t6, t7;
+    /* 0x078 */ u64 s0, s1, s2, s3, s4, s5, s6, s7;
+    /* 0x0B8 */ u64 t8, t9, gp, sp, s8, ra;
+    /* 0x0E8 */ u64 lo, hi;
+    /* 0x0F8 */ u32 sr, pc, cause, badvaddr, rcp;
+    /* 0x10C */ u32 fpcsr;
+    /* 0x110 */ __OSfp  fp0,  fp2,  fp4,  fp6,  fp8, fp10, fp12, fp14;
+    /* 0x150 */ __OSfp fp16, fp18, fp20, fp22, fp24, fp26, fp28, fp30;
+} __OSThreadContext; // size = 0x190
+
+typedef struct {
+    /* 0x00 */ u32 flag;
+    /* 0x04 */ u32 count;
+    /* 0x08 */ u64 time;
+} __OSThreadprofile; // size = 0x10
+
+typedef struct OSThread {
+    /*0x00*/ struct OSThread* next;
+    /*0x04*/ OSPri priority;
+    /*0x08*/ struct OSThread** queue;
+    /*0x0C*/ struct OSThread* tlnext;
+    /*0x10*/ u16 state;
+    /*0x12*/ u16 flags;
+    /*0x14*/ OSId id;
+    /*0x18*/ s32 fp;
+    /*0x1C*/ __OSThreadprofile* thprof;
+    /*0x20*/ __OSThreadContext context;
+} OSThread; // size = 0x1B0
+
+#endif
diff --git a/include/variables.h b/include/variables.h
index 4ff93950f9..5724e2259c 100644
--- a/include/variables.h
+++ b/include/variables.h
@@ -3455,28 +3455,22 @@ extern StackEntry audioStackEntry;
 extern StackEntry padmgrStackEntry;
 extern AudioMgr audioContext;
 extern PadMgr D_801FB620;
-// extern UNK_TYPE1 D_801FBAA0;
-// extern UNK_TYPE1 D_801FBAB0;
-// extern UNK_TYPE1 D_801FBAB4;
-// extern UNK_TYPE1 D_801FBAB8;
-// extern UNK_TYPE1 D_801FBABC;
-// extern UNK_TYPE1 D_801FBAC0;
-// extern UNK_TYPE1 D_801FBAC4;
-// extern UNK_TYPE1 D_801FBAC8;
-// extern UNK_TYPE1 D_801FBACC;
-// extern UNK_TYPE1 D_801FBAD0;
-// extern UNK_TYPE1 D_801FBAD4;
+extern FaultClient sSchedFaultClient;
+extern OSTime sRSPGFXStartTime;
+extern OSTime sRSPAudioStartTime;
+extern OSTime sRSPOtherStartTime;
+extern OSTime sRDPStartTime;
+extern u64* gAudioSPDataPtr;
+extern u32 gAudioSPDataSize;
 // extern UNK_TYPE1 D_801FBAE0;
 // extern UNK_TYPE1 D_801FBAE8;
 extern volatile OSTime D_801FBAF0;
 extern volatile OSTime lastRenderFrameDuration;
-// extern UNK_TYPE1 D_801FBB00;
-// extern UNK_TYPE1 D_801FBB04;
-// extern UNK_TYPE1 D_801FBB08;
-// extern UNK_TYPE1 D_801FBB0C;
-// extern UNK_TYPE1 D_801FBB10;
-// extern UNK_TYPE1 D_801FBB14;
-// extern UNK_TYPE1 D_801FBB20;
+extern volatile OSTime gRSPAudioTotalTime;
+extern volatile OSTime sRSPGFXTotalTime;
+extern volatile OSTime sRSPOtherTotalTime;
+// extern UNK_TYPE1 D_801FBB18;
+extern volatile OSTime gRDPTotalTime;
 // extern UNK_TYPE1 D_801FBB28;
 extern OSViMode D_801FBB30;
 extern u32* gFramebuffers[2];
diff --git a/include/z64.h b/include/z64.h
index 6f80cfdb8c..1074350118 100644
--- a/include/z64.h
+++ b/include/z64.h
@@ -7,7 +7,6 @@
 
 #include "PR/ultratypes.h"
 #include "PR/gbi.h"
-#include "PR/sched.h"
 #include "io/controller.h"
 #include "osint.h"
 #include "viint.h"
@@ -46,6 +45,7 @@
 #define Z_THREAD_ID_IDLE     1
 #define Z_THREAD_ID_SLOWLY   2
 #define Z_THREAD_ID_MAIN     3
+#define Z_THREAD_ID_SCHED    5
 #define Z_THREAD_ID_DMAMGR  18
 #define Z_THREAD_ID_IRQMGR  19
 
@@ -267,6 +267,19 @@ typedef struct {
     /* 0x20308 */ u16 tailMagic; // 5678
 } GfxPool; // size = 0x20310
 
+typedef struct {
+    /* 0x00 */ u16*     fb1;
+    /* 0x04 */ u16*     swapBuffer;
+    /* 0x08 */ OSViMode* viMode;
+    /* 0x0C */ u32      features;
+    /* 0x10 */ u8       unk_10;
+    /* 0x11 */ s8       updateRate;
+    /* 0x12 */ s8       updateRate2;
+    /* 0x13 */ u8       unk_13;
+    /* 0x14 */ f32      xScale;
+    /* 0x18 */ f32      yScale;
+} CfbInfo; // size = 0x1C
+
 typedef struct GraphicsContext {
     /* 0x000 */ Gfx* polyOpaBuffer;
     /* 0x004 */ Gfx* polyXluBuffer;
@@ -1234,6 +1247,11 @@ typedef struct IrqMgrClient_t {
     /* 0x4 */ OSMesgQueue* queue;
 } IrqMgrClient; // size = 0x8
 
+typedef struct {
+    /* 0x0 */ s16 type;
+    /* 0x2 */ u8 misc[30];
+} OSScMsg;
+
 typedef struct {
     /* 0x000 */ OSScMsg verticalRetraceMesg;
     /* 0x020 */ OSScMsg prenmiMsg;
@@ -1281,25 +1299,41 @@ typedef struct {
 #define OS_SC_RCP_MASK          0x0003
 #define OS_SC_TYPE_MASK         0x0007
 
+#define OS_SC_DP                0x0001
+#define OS_SC_SP                0x0002
+#define OS_SC_YIELD             0x0010
+#define OS_SC_YIELDED           0x0020
+
+typedef struct OSScTask {
+    /* 0x00 */ struct OSScTask* next;
+    /* 0x04 */ u32      state;
+    /* 0x08 */ u32      flags;
+    /* 0x0C */ CfbInfo* framebuffer;
+    /* 0x10 */ OSTask   list;
+    /* 0x50 */ OSMesgQueue* msgQ;
+    /* 0x54 */ OSMesg   msg;
+} OSScTask; // size = 0x58
+
 typedef struct {
-    /* 0x000 */ OSMesgQueue interruptQ;
-    /* 0x018 */ OSMesg intMsgBuf[64];
-    /* 0x118 */ OSMesgQueue cmdQ;
-    /* 0x130 */ OSMesg cmdMsgBuf[8];
-    /* 0x150 */ OSThread thread;
-    /* 0x300 */ UNK_TYPE4 unk300;
-    /* 0x304 */ UNK_TYPE4 unk304;
-    /* 0x308 */ UNK_TYPE4 unk308;
-    /* 0x30C */ UNK_TYPE4 unk30C;
-    /* 0x310 */ UNK_TYPE4 unk310;
-    /* 0x314 */ UNK_TYPE4 unk314;
-    /* 0x318 */ s32 unk318;
-    /* 0x31C */ UNK_TYPE1 pad31C[0x4];
-    /* 0x320 */ UNK_TYPE4 unk320;
-    /* 0x324 */ UNK_TYPE4 unk324;
-    /* 0x328 */ UNK_TYPE1 pad328[0x7];
-    /* 0x32F */ s8 unk32F;
-    /* 0x330 */ IrqMgrClient irqClient;
+    /* 0x0000 */ OSMesgQueue interruptQ;
+    /* 0x0018 */ OSMesg      intBuf[64];
+    /* 0x0118 */ OSMesgQueue cmdQ;
+    /* 0x0130 */ OSMesg      cmdMsgBuf[8];
+    /* 0x0150 */ OSThread    thread;
+    /* 0x0300 */ OSScTask*   audioListHead;
+    /* 0x0304 */ OSScTask*   gfxListHead;
+    /* 0x0308 */ OSScTask*   audioListTail;
+    /* 0x030C */ OSScTask*   gfxListTail;
+    /* 0x0310 */ OSScTask*   curRSPTask;
+    /* 0x0314 */ OSScTask*   curRDPTask;
+    /* 0x0318 */ s32         retraceCount;
+    /* 0x0318 */ s32         doAudio;
+    /* 0x0320 */ CfbInfo*    curBuf;
+    /* 0x0324 */ CfbInfo*    pendingSwapBuf1;
+    /* 0x0328 */ CfbInfo*    pendingSwapBuf2;
+    /* 0x032C */ char unk_32C[0x3];
+    /* 0x032F */ u8 shouldUpdateVi;
+    /* 0x0330 */ IrqMgrClient irqClient;
 } SchedContext; // size = 0x338
 
 typedef struct StackEntry_t {
diff --git a/spec b/spec
index 3dbf784541..11dedd0471 100644
--- a/spec
+++ b/spec
@@ -634,7 +634,6 @@ beginseg
     include "build/src/code/padmgr.o"
     include "build/data/code/padmgr.data.o"
     include "build/src/code/sched.o"
-    include "build/data/code/sched.bss.o"
     include "build/src/code/speed_meter.o"
     include "build/data/code/speed_meter.data.o"
     include "build/data/code/speed_meter.bss.o"
diff --git a/src/boot_O2_g3/fault.c b/src/boot_O2_g3/fault.c
index ed8ee6e3aa..3cc3deb35e 100644
--- a/src/boot_O2_g3/fault.c
+++ b/src/boot_O2_g3/fault.c
@@ -712,7 +712,10 @@ void Fault_ProcessClients(void) {
         if (iter->callback) {
             Fault_FillScreenBlack();
             FaultDrawer_SetCharPad(-2, 0);
-            FaultDrawer_Printf("8CallBack (%d) %08x %08x %08x\n7", idx++, iter, iter->param0, iter->param1);
+            FaultDrawer_Printf("\x1A\x38"
+                               "CallBack (%d) %08x %08x %08x\n"
+                               "\x1A\x37",
+                               idx++, iter, iter->param0, iter->param1);
             FaultDrawer_SetCharPad(0, 0);
             iter->callback(iter->param0, iter->param1);
             Fault_WaitForInput();
diff --git a/src/code/audioMgr.c b/src/code/audioMgr.c
index f50af2fc8a..dcf5404830 100644
--- a/src/code/audioMgr.c
+++ b/src/code/audioMgr.c
@@ -51,7 +51,7 @@ void AudioMgr_HandleRetrace(AudioMgr* audioMgr) {
                 osSyncPrintf("AUDIO SP TIMEOUT %08x %08x\n", audioMgr->rspTask, audioMgr->rspTask->task);
                 if (retryCount >= 0) {
                     retryCount--;
-                    func_8017703C(audioMgr->sched);
+                    Sched_SendAudioCancelMsg(audioMgr->sched);
                 } else {
                     osSyncPrintf("audioMgr.c:もうダメ！死ぬ！\n");
                     osDestroyThread(NULL);
diff --git a/src/code/sched.c b/src/code/sched.c
index 5c10c50f19..a5a3a8558c 100644
--- a/src/code/sched.c
+++ b/src/code/sched.c
@@ -1,47 +1,602 @@
 #include "global.h"
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_80176280.s")
+#define RSP_DONE_MSG 667
+#define RDP_DONE_MSG 668
+#define ENTRY_MSG 670
+#define RDP_AUDIO_CANCEL_MSG 671
+#define RSP_GFX_CANCEL_MSG 672
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_80176314.s")
+FaultClient sSchedFaultClient;
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/Sched_Nop80176364.s")
+OSTime sRSPGFXStartTime;
+OSTime sRSPAudioStartTime;
+OSTime sRSPOtherStartTime;
+OSTime sRDPStartTime;
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_80176370.s")
+u64* gAudioSPDataPtr;
+u32 gAudioSPDataSize;
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_80176394.s")
+void Sched_SwapFramebuffer(CfbInfo* cfbInfo) {
+    s32 one = 1;
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_801764F0.s")
+    if (cfbInfo->swapBuffer != NULL) {
+        osViSwapBuffer(cfbInfo->swapBuffer);
+        cfbInfo->updateRate2 = cfbInfo->updateRate;
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_8017668C.s")
+        if (SREG(62) == 0 && cfbInfo->viMode != NULL) {
+            D_80096B20 = one;
+            osViSetMode(cfbInfo->viMode);
+            osViSetSpecialFeatures(cfbInfo->features);
+            osViSetXScale(cfbInfo->xScale);
+            osViSetYScale(cfbInfo->yScale);
+            cfbInfo->viMode = NULL;
+        }
+    }
+    cfbInfo->unk_10 = 0;
+}
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_801766F0.s")
+void Sched_RetraceUpdateFramebuffer(SchedContext* sched, CfbInfo* cfbInfo) {
+    if (sched->shouldUpdateVi) {
+        sched->shouldUpdateVi = false;
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_80176748.s")
+        if (gIrqMgrResetStatus == 0) {
+            ViConfig_UpdateVi(0);
+        }
+    }
+    Sched_SwapFramebuffer(cfbInfo);
+}
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_801767B8.s")
+void Sched_HandleReset(SchedContext* sched) {
+}
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_801768E0.s")
+void Sched_HandleStop(SchedContext* sched) {
+    ViConfig_UpdateVi(1);
+}
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_8017691C.s")
+/**
+ * Attempt to stop the RSP, if it is not already halted, by setting the halt bit in the
+ * SP status register and waiting. Regardless of the result, the scheduler will send an
+ * RSP_DONE_MSG back to itself.
+ * If there was no currently running audio task, it will dequeue the currently waiting
+ * audio task and notify the sender if the task is associated with a message queue.
+ */
+void Sched_HandleAudioCancel(SchedContext* sched) {
+    s32 i;
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_80176988.s")
+    // AUDIO SP Cancel
+    osSyncPrintf("AUDIO SP キャンセルします\n");
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_80176B34.s")
+    if (sched->curRSPTask != NULL && sched->curRSPTask->list.t.type == M_AUDTASK) {
+        if (!(HW_REG(SP_STATUS_REG, u32) & SP_STATUS_HALT)) {
+            // Attempts to stop AUDIO SP
+            osSyncPrintf("AUDIO SP止めようとします\n");
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_80176C24.s")
+            HW_REG(SP_STATUS_REG, u32) = SP_SET_HALT;
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_80176CF4.s")
+            i = 0;
+            while (!(HW_REG(SP_STATUS_REG, u32) & SP_STATUS_HALT)) {
+                if (i++ > 100) {
+                    // AUDIO SP did not stop (10ms timeout)
+                    osSyncPrintf("AUDIO SP止まりませんでした(10msタイムアウト)\n");
+                    goto send_mesg;
+                }
+                Sleep_Usec(100);
+            }
+            // AUDIO SP stopped (% d * 100us)
+            osSyncPrintf("AUDIO SP止まりました(%d * 100us)\n", i);
+        } else {
+            // AUDIO SP seems to be stopped
+            osSyncPrintf("AUDIO SP止まっているようです\n");
+        }
+    send_mesg:
+        osSendMesg(&sched->interruptQ, RSP_DONE_MSG, OS_MESG_NOBLOCK);
+        return;
+    }
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_80176F2C.s")
+    if (sched->audioListHead != NULL) {
+        OSScTask* cur = sched->audioListHead;
+        OSScTask* next = cur->next;
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/Sched_SendEntryMsg.s")
+        sched->audioListHead = next;
+        if (next == NULL) {
+            sched->audioListTail = NULL;
+        }
+        if (cur->msgQ != NULL) {
+            osSendMesg(cur->msgQ, cur->msg, OS_MESG_BLOCK);
+        }
+        // Removed AUDIO SP task from pending list
+        osSyncPrintf("AUDIO SP タスクを実行待ちリストから削除しました\n");
+        return;
+    }
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_8017703C.s")
+    // There are no AUDIO SP tasks to cancel
+    osSyncPrintf("キャンセルすべき AUDIO SP タスクがありません\n");
+}
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_80177060.s")
+/**
+ * Attempt to stop the RSP, if it is not already halted, by setting the halt bit in the
+ * SP status register and waiting. Regardless of the result, the scheduler will send an
+ * RSP_DONE_MSG back to itself and attempt to stop the RDP.
+ * If there was no currently running gfx task, it will dequeue the currently waiting gfx
+ * task and notify the sender if the task is associated with a message queue.
+ * If there is an RDP task, the output buffer will be cleared and the scheduler will send
+ * an RDP_DONE_MSG back to itself.
+ */
+void Sched_HandleGfxCancel(SchedContext* sched) {
+    s32 i;
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/func_80177084.s")
+    // GRAPH SP Cancel
+    osSyncPrintf("GRAPH SP キャンセルします\n");
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/Sched_ThreadEntry.s")
+    if (sched->curRSPTask != NULL && sched->curRSPTask->list.t.type == M_GFXTASK) {
+        if (!(HW_REG(SP_STATUS_REG, u32) & SP_STATUS_HALT)) {
+            // GRAPH SP tries to stop
+            osSyncPrintf("GRAPH SP止めようとします\n");
 
-#pragma GLOBAL_ASM("asm/non_matchings/code/sched/Sched_Start.s")
+            HW_REG(SP_STATUS_REG, u32) = SP_SET_HALT;
+
+            i = 0;
+            while (!(HW_REG(SP_STATUS_REG, u32) & SP_STATUS_HALT)) {
+                if (i++ > 100) {
+                    // GRAPH SP did not stop (10ms timeout)
+                    osSyncPrintf("GRAPH SP止まりませんでした(10msタイムアウト)\n");
+                    goto send_mesg;
+                }
+                Sleep_Usec(100);
+            }
+            // GRAPH SP stopped (%d * 100us)
+            osSyncPrintf("GRAPH SP止まりました(%d * 100us)\n", i);
+        } else {
+            // GRAPH SP seems to be stopped
+            osSyncPrintf("GRAPH SP止まっているようです\n");
+        }
+    send_mesg:
+        osSendMesg(&sched->interruptQ, RSP_DONE_MSG, OS_MESG_NOBLOCK);
+        goto halt_rdp;
+    }
+
+    if (sched->gfxListHead != NULL) {
+        OSScTask* cur = sched->gfxListHead;
+        OSScTask* next = cur->next;
+
+        sched->gfxListHead = next;
+        if (next == NULL) {
+            sched->gfxListTail = NULL;
+        }
+        if (cur->msgQ != NULL) {
+            osSendMesg(cur->msgQ, cur->msg, OS_MESG_BLOCK);
+        }
+        goto halt_rdp;
+    }
+
+    // There are no GRAPH SP tasks to cancel
+    osSyncPrintf("キャンセルすべき GRAPH SP タスクがありません\n");
+
+halt_rdp:
+    if (sched->curRDPTask != NULL) {
+        OSTask_t* dpTask = &sched->curRDPTask->list.t;
+
+        if (dpTask->type == M_GFXTASK) {
+            // Try to stop DP
+            osSyncPrintf("DP止めようとします\n");
+            bzero(dpTask->output_buff, (u32)dpTask->output_buff_size - (u32)dpTask->output_buff);
+            osSendMesg(&sched->interruptQ, RDP_DONE_MSG, OS_MESG_NOBLOCK);
+        }
+    }
+}
+
+/**
+ * Adds a scheduler task to the appropriate linked list.
+ */
+void Sched_QueueTask(SchedContext* sched, OSScTask* task) {
+    s32 type = task->list.t.type;
+
+    if (type == M_AUDTASK) {
+        if (sched->audioListTail != NULL) {
+            sched->audioListTail->next = task;
+        } else {
+            sched->audioListHead = task;
+        }
+        sched->audioListTail = task;
+    } else {
+        if (sched->gfxListTail != NULL) {
+            sched->gfxListTail->next = task;
+        } else {
+            sched->gfxListHead = task;
+        }
+        sched->gfxListTail = task;
+    }
+    task->next = NULL;
+    task->state = task->flags & OS_SC_RCP_MASK;
+}
+
+void Sched_Yield(SchedContext* sched) {
+    // Don't yield audio tasks
+    if (sched->curRSPTask->list.t.type == M_AUDTASK) {
+        // A new audio task has been entered even though the previous audio task has not been completed yet
+        osSyncPrintf("まだ前回のオーディオタスクが完了していないのに新たなオーディオタスクがエントリされた\n");
+    } else if (!(sched->curRSPTask->state & OS_SC_YIELD)) {
+        sched->curRSPTask->state |= OS_SC_YIELD;
+        osSpTaskYield();
+    }
+}
+
+s32 Sched_TaskCheckFramebuffers(SchedContext* sched, OSScTask* task) {
+    void* nextFB = osViGetNextFramebuffer();
+    void* curFB = osViGetCurrentFramebuffer();
+
+    if (task == NULL || sched->pendingSwapBuf1 != NULL || (curFB == task->framebuffer->fb1 && curFB != nextFB)) {
+        return 0;
+    }
+    return 1;
+}
+
+/**
+ * Pops the next task from the appropriate linked list and returns it through spTask and dpTask.
+ */
+s32 Sched_Schedule(SchedContext* sched, OSScTask** spTask, OSScTask** dpTask, s32 state) {
+    s32 ret = state;
+    OSScTask* gfxTask = sched->gfxListHead;
+    OSScTask* audioTask = sched->audioListHead;
+
+    if ((ret & OS_SC_SP) && sched->audioListHead != NULL) {
+        *spTask = audioTask;
+        ret &= ~OS_SC_SP;
+        sched->audioListHead = sched->audioListHead->next;
+        if (sched->audioListHead == NULL) {
+            sched->audioListTail = NULL;
+        }
+    } else if (gfxTask != NULL) {
+        if (gfxTask->state & OS_SC_YIELDED || !(gfxTask->flags & OS_SC_NEEDS_RDP)) {
+            if (ret & OS_SC_SP) {
+                *spTask = gfxTask;
+                ret &= ~OS_SC_SP;
+                sched->gfxListHead = sched->gfxListHead->next;
+                if (sched->gfxListHead == NULL) {
+                    sched->gfxListTail = NULL;
+                }
+            }
+        } else if (ret == (OS_SC_SP | OS_SC_DP)) {
+            if (gfxTask->framebuffer == NULL || Sched_TaskCheckFramebuffers(sched, gfxTask)) {
+                *spTask = *dpTask = gfxTask;
+                ret &= ~(OS_SC_SP | OS_SC_DP);
+                sched->gfxListHead = sched->gfxListHead->next;
+                if (sched->gfxListHead == NULL) {
+                    sched->gfxListTail = NULL;
+                }
+            }
+        }
+    }
+    return ret;
+}
+
+void Sched_TaskUpdateFramebuffer(SchedContext* sched, OSScTask* task) {
+    sched->pendingSwapBuf1 = task->framebuffer;
+
+    if (sched->curBuf != NULL && sched->curBuf->updateRate2 > 0) {
+        return;
+    }
+    Sched_RetraceUpdateFramebuffer(sched, sched->pendingSwapBuf1);
+}
+
+/**
+ * If the task has been marked as completed, notify the sender through the task's
+ * associated message queue (if it has one) that the task has been completed. If the task
+ * flags dictate it should swap the framebuffer, do so.
+ */
+void Sched_NotifyDone(SchedContext* sched, OSScTask* task) {
+    if (!(task->state & (OS_SC_DP | OS_SC_SP))) {
+        if (task->msgQ != NULL) {
+            osSendMesg(task->msgQ, task->msg, OS_MESG_BLOCK);
+        }
+        if (task->flags & OS_SC_SWAPBUFFER) {
+            Sched_TaskUpdateFramebuffer(sched, task);
+        }
+    }
+}
+
+void Sched_RunTask(SchedContext* sched, OSScTask* spTask, OSScTask* dpTask) {
+    u64 time;
+
+    if (spTask != NULL) {
+        if (spTask->list.t.type == M_NULTASK) {
+            if (spTask->flags & OS_SC_NEEDS_RSP) {
+                spTask->state &= ~OS_SC_SP;
+                sched->curRSPTask = NULL;
+            }
+            if (spTask->flags & OS_SC_NEEDS_RDP) {
+                spTask->state &= ~OS_SC_DP;
+                sched->curRDPTask = NULL;
+            }
+            Sched_NotifyDone(sched, spTask);
+            return;
+        }
+        // Write back the data cache to ensure imminent SP DMA does not miss anything
+        if (spTask->list.t.type != M_AUDTASK && !(spTask->state & OS_SC_YIELDED)) {
+            osWritebackDCacheAll();
+        }
+        spTask->state &= ~(OS_SC_YIELD | OS_SC_YIELDED);
+        // Have the RSP download the task and prepare the RSP program counter
+        osSpTaskLoad(&spTask->list);
+
+        // Log the start time based on the type of task
+        time = osGetTime();
+        switch (spTask->list.t.type) {
+            case M_AUDTASK:
+                sRSPAudioStartTime = time;
+                break;
+            case M_GFXTASK:
+                sRSPGFXStartTime = time;
+                break;
+            default:
+                if (1) {}
+                sRSPOtherStartTime = time;
+                break;
+        }
+
+        if (spTask->list.t.type == M_AUDTASK) {
+            // Set global pointers to audio task data for use in audio processing
+            gAudioSPDataPtr = spTask->list.t.data_ptr;
+            gAudioSPDataSize = spTask->list.t.data_size;
+        }
+
+        // Begin task execution
+        osSpTaskStartGo(&spTask->list);
+        sched->curRSPTask = spTask;
+        if (spTask == dpTask && sched->curRDPTask == NULL) {
+            sched->curRDPTask = dpTask;
+            sRDPStartTime = sRSPGFXStartTime;
+        }
+    }
+}
+
+/**
+ * Enqueues any tasks that have been sent to the scheduler down the command queue.
+ */
+void Sched_HandleEntry(SchedContext* sched) {
+    OSScTask* spTask = NULL;
+    OSScTask* dpTask = NULL;
+    OSMesg msg = NULL;
+    s32 state;
+
+    // Fetch and enqueue waiting tasks
+    while (osRecvMesg(&sched->cmdQ, &msg, OS_MESG_NOBLOCK) != -1) {
+        Sched_QueueTask(sched, msg);
+    }
+    // If there is an audio task pending and an RSP task is running, yield the current task.
+    if (sched->audioListHead != NULL && sched->curRSPTask != NULL) {
+        Sched_Yield(sched);
+        return;
+    }
+    // Schedule and run the next task
+    state = ((sched->curRSPTask == NULL) << 1) | (sched->curRDPTask == NULL);
+    if (Sched_Schedule(sched, &spTask, &dpTask, state) != state) {
+        Sched_RunTask(sched, spTask, dpTask);
+    }
+}
+
+void Sched_HandleRetrace(SchedContext* sched) {
+    ViConfig_UpdateBlack();
+    sched->retraceCount++;
+
+    if (osViGetCurrentFramebuffer() ==
+        (void*)((sched->pendingSwapBuf1 != NULL) ? sched->pendingSwapBuf1->swapBuffer : NULL)) {
+        if (sched->curBuf != NULL) {
+            sched->curBuf->unk_10 = 0;
+        }
+        if (sched->pendingSwapBuf1 != NULL) {
+            sched->pendingSwapBuf1->unk_10 = 0;
+        }
+        sched->curBuf = sched->pendingSwapBuf1;
+        sched->pendingSwapBuf1 = NULL;
+    }
+    if (sched->curBuf != NULL) {
+        if (sched->curBuf->updateRate2 > 0) {
+            sched->curBuf->updateRate2--;
+        }
+        if (sched->curBuf->updateRate2 <= 0 && sched->pendingSwapBuf1 != NULL) {
+            Sched_RetraceUpdateFramebuffer(sched, sched->pendingSwapBuf1);
+        }
+    }
+    Sched_HandleEntry(sched);
+}
+
+void Sched_HandleRSPDone(SchedContext* sched) {
+    OSScTask* curRSP;
+    OSScTask* nextRSP = NULL;
+    OSScTask* nextRDP = NULL;
+    s32 state;
+    u64 time;
+
+    if (sched->curRSPTask == NULL) {
+        osSyncPrintf("__scHandleRSP:sc->curRSPTask == NULL\n");
+        return;
+    }
+
+    // Log the time based on the type of task
+    time = osGetTime();
+    switch (sched->curRSPTask->list.t.type) {
+        case M_AUDTASK:
+            gRSPAudioTotalTime += time - sRSPAudioStartTime;
+            break;
+        case M_GFXTASK:
+            sRSPGFXTotalTime += time - sRSPGFXStartTime;
+            break;
+        default:
+            if (1) {}
+            sRSPOtherTotalTime += time - sRSPOtherStartTime;
+            break;
+    }
+
+    curRSP = sched->curRSPTask;
+    sched->curRSPTask = NULL;
+
+    if (curRSP->list.t.type == M_AUDTASK) {
+        // Reset the global audio task data pointers
+        gAudioSPDataPtr = NULL;
+        gAudioSPDataSize = 0;
+    }
+
+    if ((curRSP->state & OS_SC_YIELD) && osSpTaskYielded(&curRSP->list)) {
+        // If the task was yielded, re-queue the task
+        curRSP->state |= OS_SC_YIELDED;
+        curRSP->next = sched->gfxListHead;
+        sched->gfxListHead = curRSP;
+        if (sched->gfxListTail == NULL) {
+            sched->gfxListTail = curRSP;
+        }
+    } else {
+        // Mark task completed
+        curRSP->state &= ~OS_SC_SP;
+        Sched_NotifyDone(sched, curRSP);
+    }
+
+    // Schedule and run next task
+    state = ((sched->curRSPTask == NULL) << 1) | (sched->curRDPTask == NULL);
+    if (Sched_Schedule(sched, &nextRSP, &nextRDP, state) != state) {
+        Sched_RunTask(sched, nextRSP, nextRDP);
+    }
+}
+
+void Sched_HandleRDPDone(SchedContext* sched) {
+    OSScTask* curRDP;
+    OSScTask* nextRSP = NULL;
+    OSScTask* nextRDP = NULL;
+    s32 state;
+
+    if (sched->curRDPTask == NULL) {
+        osSyncPrintf("__scHandleRDP:sc->curRDPTask == NULL\n");
+        return;
+    }
+
+    // Log run time
+    gRDPTotalTime = osGetTime() - sRDPStartTime;
+
+    // Mark task done
+    curRDP = sched->curRDPTask;
+    sched->curRDPTask = NULL;
+    curRDP->state &= ~OS_SC_DP;
+
+    Sched_NotifyDone(sched, curRDP);
+
+    // Schedule and run next task
+    state = ((sched->curRSPTask == NULL) << 1) | (sched->curRDPTask == NULL);
+    if (Sched_Schedule(sched, &nextRSP, &nextRDP, state) != state) {
+        Sched_RunTask(sched, nextRSP, nextRDP);
+    }
+}
+
+/**
+ * Sends a message to the scheduler to inform it that a new task has
+ * been sent down the command queue.
+ */
+void Sched_SendEntryMsg(SchedContext* sched) {
+    osSendMesg(&sched->interruptQ, ENTRY_MSG, OS_MESG_BLOCK);
+}
+
+/**
+ * Sends a message to the scheduler to inform it that it should attempt
+ * to stop the last dispatched audio task.
+ */
+void Sched_SendAudioCancelMsg(SchedContext* sched) {
+    osSendMesg(&sched->interruptQ, RDP_AUDIO_CANCEL_MSG, OS_MESG_BLOCK);
+}
+
+/**
+ * Sends a message to the scheduler to inform it that it should attempt
+ * to stop the last dispatched gfx task.
+ */
+void Sched_SendGfxCancelMsg(SchedContext* sched) {
+    osSendMesg(&sched->interruptQ, RSP_GFX_CANCEL_MSG, OS_MESG_BLOCK);
+}
+
+/**
+ * Fault Client for the scheduler. Reports information about the state of the scheduler
+ * and any current tasks in the crash debugger.
+ */
+void Sched_FaultClient(void* param1, void* param2) {
+    SchedContext* sched = (SchedContext*)param1;
+    OSScTask* spTask;
+    OSScTask* dpTask;
+
+    FaultDrawer_Printf("sched info\n", sched->gfxListHead, sched->gfxListTail, sched->audioListHead,
+                       sched->audioListTail);
+    FaultDrawer_Printf("GRAPH %08x %08x\n", sched->gfxListHead, sched->gfxListTail);
+    FaultDrawer_Printf("AUDIO %08x %08x\n\n", sched->audioListHead, sched->audioListTail);
+
+    spTask = sched->curRSPTask;
+    if (spTask != NULL) {
+        FaultDrawer_Printf("RSPTask %08x %08x %02x %02x\n%01x %08x %08x\n", spTask, spTask->next, spTask->state,
+                           spTask->flags, spTask->list.t.type, spTask->list.t.data_ptr, spTask->list.t.data_size);
+    }
+
+    dpTask = sched->curRDPTask;
+    if (dpTask != NULL) {
+        FaultDrawer_Printf("RDPTask %08x %08x %02x %02x\n", dpTask, dpTask->next, dpTask->state, dpTask->flags);
+    }
+}
+
+/**
+ * The main loop of the scheduler thread. Processes interrupt messages from
+ * the IrqMgr received through its IrqClient and messages sent to it from other
+ * threads or the OS.
+ */
+void Sched_ThreadEntry(void* arg) {
+    OSMesg msg = NULL;
+    SchedContext* sched = (SchedContext*)arg;
+
+    while (true) {
+        osRecvMesg(&sched->interruptQ, &msg, OS_MESG_BLOCK);
+
+        // Check if it's a message from another thread or the OS
+        switch ((s32)msg) {
+            case RDP_AUDIO_CANCEL_MSG:
+                Sched_HandleAudioCancel(sched);
+                continue;
+            case RSP_GFX_CANCEL_MSG:
+                Sched_HandleGfxCancel(sched);
+                continue;
+            case ENTRY_MSG:
+                Sched_HandleEntry(sched);
+                continue;
+            case RSP_DONE_MSG:
+                Sched_HandleRSPDone(sched);
+                continue;
+            case RDP_DONE_MSG:
+                Sched_HandleRDPDone(sched);
+                continue;
+        }
+        // Check if it's a message from the IrqMgr
+        switch (((OSScMsg*)msg)->type) {
+            case OS_SC_RETRACE_MSG:
+                Sched_HandleRetrace(sched);
+                continue;
+            case OS_SC_PRE_NMI_MSG:
+                Sched_HandleReset(sched);
+                continue;
+            case OS_SC_NMI_MSG:
+                Sched_HandleStop(sched);
+                continue;
+        }
+    }
+}
+
+/**
+ * Initializes the SchedContext and scheduler thread.
+ * Registers an IrqClient for the thread and fault client for the SchedContext.
+ * Directs the OS to send SP and DP OS messages to interruptQ when the RSP or RDP signal task completion.
+ */
+void Sched_Init(SchedContext* sched, void* stack, OSPri pri, UNK_TYPE arg3, UNK_TYPE arg4, IrqMgr* irqMgr) {
+    bzero(sched, sizeof(SchedContext));
+
+    sched->shouldUpdateVi = true;
+
+    osCreateMesgQueue(&sched->interruptQ, sched->intBuf, ARRAY_COUNT(sched->intBuf));
+    osCreateMesgQueue(&sched->cmdQ, sched->cmdMsgBuf, ARRAY_COUNT(sched->cmdMsgBuf));
+    osSetEventMesg(OS_EVENT_SP, &sched->interruptQ, RSP_DONE_MSG);
+    osSetEventMesg(OS_EVENT_DP, &sched->interruptQ, RDP_DONE_MSG);
+    IrqMgr_AddClient(irqMgr, &sched->irqClient, &sched->interruptQ);
+    Fault_AddClient(&sSchedFaultClient, Sched_FaultClient, sched, NULL);
+    osCreateThread(&sched->thread, Z_THREAD_ID_SCHED, Sched_ThreadEntry, sched, stack, pri);
+    osStartThread(&sched->thread);
+}
diff --git a/src/libultra/io/epirawwrite.c b/src/libultra/io/epirawwrite.c
index d9b1bcb8f2..7c5701e0d1 100644
--- a/src/libultra/io/epirawwrite.c
+++ b/src/libultra/io/epirawwrite.c
@@ -1,5 +1,4 @@
 #include "global.h"
-#include "PR/hardware.h"
 
 s32 __osEPiRawWriteIo(OSPiHandle* handle, u32 devAddr, u32 data) {
     s32 status;
diff --git a/src/libultra/os/createmesgqueue.c b/src/libultra/os/createmesgqueue.c
index c52fda0b43..bcbaf1c547 100644
--- a/src/libultra/os/createmesgqueue.c
+++ b/src/libultra/os/createmesgqueue.c
@@ -1,8 +1,8 @@
 #include "global.h"
 
 void osCreateMesgQueue(OSMesgQueue* mq, OSMesg* msq, s32 count) {
-    mq->mtqueue = (OSThread*)&__osThreadTail;
-    mq->fullqueue = (OSThread*)&__osThreadTail;
+    mq->mtQueue = (OSThread*)&__osThreadTail;
+    mq->fullQueue = (OSThread*)&__osThreadTail;
     mq->validCount = 0;
     mq->first = 0;
     mq->msgCount = count;
diff --git a/src/libultra/os/jammesg.c b/src/libultra/os/jammesg.c
index 9f2dcca1a4..e91753e2c7 100644
--- a/src/libultra/os/jammesg.c
+++ b/src/libultra/os/jammesg.c
@@ -8,7 +8,7 @@ s32 osJamMesg(OSMesgQueue* mq, OSMesg msg, s32 flag) {
     while (mq->validCount >= mq->msgCount) {
         if (flag == 1) {
             __osRunningThread->state = 8;
-            __osEnqueueAndYield(&mq->fullqueue);
+            __osEnqueueAndYield(&mq->fullQueue);
         } else {
             __osRestoreInt(saveMask);
             return -1;
@@ -20,8 +20,8 @@ s32 osJamMesg(OSMesgQueue* mq, OSMesg msg, s32 flag) {
     mq->msg[mq->first] = msg;
     mq->validCount++;
 
-    if (mq->mtqueue->next != NULL) {
-        osStartThread(__osPopThread(&mq->mtqueue));
+    if (mq->mtQueue->next != NULL) {
+        osStartThread(__osPopThread(&mq->mtQueue));
     }
 
     __osRestoreInt(saveMask);
diff --git a/src/libultra/os/recvmesg.c b/src/libultra/os/recvmesg.c
index a16828710b..ec0b3f93b9 100644
--- a/src/libultra/os/recvmesg.c
+++ b/src/libultra/os/recvmesg.c
@@ -11,7 +11,7 @@ s32 osRecvMesg(OSMesgQueue* mq, OSMesg* msg, s32 flags) {
             return -1;
         }
         __osRunningThread->state = 8;
-        __osEnqueueAndYield(&mq->mtqueue);
+        __osEnqueueAndYield(&mq->mtQueue);
     }
 
     if (msg != NULL) {
@@ -21,8 +21,8 @@ s32 osRecvMesg(OSMesgQueue* mq, OSMesg* msg, s32 flags) {
     mq->first = (mq->first + 1) % mq->msgCount;
     mq->validCount--;
 
-    if (mq->fullqueue->next != NULL) {
-        osStartThread(__osPopThread(&mq->fullqueue));
+    if (mq->fullQueue->next != NULL) {
+        osStartThread(__osPopThread(&mq->fullQueue));
     }
 
     __osRestoreInt(saveMask);
diff --git a/src/libultra/os/sendmesg.c b/src/libultra/os/sendmesg.c
index d78077c0ce..6859c107b7 100644
--- a/src/libultra/os/sendmesg.c
+++ b/src/libultra/os/sendmesg.c
@@ -9,7 +9,7 @@ s32 osSendMesg(OSMesgQueue* mq, OSMesg msg, s32 flags) {
     while (mq->validCount >= mq->msgCount) {
         if (flags == 1) {
             __osRunningThread->state = 8;
-            __osEnqueueAndYield(&mq->fullqueue);
+            __osEnqueueAndYield(&mq->fullQueue);
         } else {
             __osRestoreInt(saveMask);
             return -1;
@@ -21,8 +21,8 @@ s32 osSendMesg(OSMesgQueue* mq, OSMesg msg, s32 flags) {
     mq->msg[last] = msg;
     mq->validCount++;
 
-    if (mq->mtqueue->next != NULL) {
-        osStartThread(__osPopThread(&mq->mtqueue));
+    if (mq->mtQueue->next != NULL) {
+        osStartThread(__osPopThread(&mq->mtQueue));
     }
 
     __osRestoreInt(saveMask);
diff --git a/tools/disasm/functions.txt b/tools/disasm/functions.txt
index 3971bbeac4..b962a86a01 100644
--- a/tools/disasm/functions.txt
+++ b/tools/disasm/functions.txt
@@ -3192,29 +3192,29 @@
     0x80175FD4:("Padmgr_GetInput2",),
     0x80176010:("Padmgr_ThreadEntry",),
     0x80176194:("Padmgr_Start",),
-    0x80176280:("func_80176280",),
-    0x80176314:("func_80176314",),
-    0x80176364:("Sched_Nop80176364",),
-    0x80176370:("func_80176370",),
-    0x80176394:("func_80176394",),
-    0x801764F0:("func_801764F0",),
-    0x8017668C:("func_8017668C",),
-    0x801766F0:("func_801766F0",),
-    0x80176748:("func_80176748",),
-    0x801767B8:("func_801767B8",),
-    0x801768E0:("func_801768E0",),
-    0x8017691C:("func_8017691C",),
-    0x80176988:("func_80176988",),
-    0x80176B34:("func_80176B34",),
-    0x80176C24:("func_80176C24",),
-    0x80176CF4:("func_80176CF4",),
-    0x80176F2C:("func_80176F2C",),
+    0x80176280:("Sched_SwapFramebuffer",),
+    0x80176314:("Sched_RetraceUpdateFramebuffer",),
+    0x80176364:("Sched_HandleReset",),
+    0x80176370:("Sched_HandleStop",),
+    0x80176394:("Sched_HandleAudioCancel",),
+    0x801764F0:("Sched_HandleGfxCancel",),
+    0x8017668C:("Sched_QueueTask",),
+    0x801766F0:("Sched_Yield",),
+    0x80176748:("Sched_TaskCheckFramebuffers",),
+    0x801767B8:("Sched_Schedule",),
+    0x801768E0:("Sched_TaskUpdateFramebuffer",),
+    0x8017691C:("Sched_NotifyDone",),
+    0x80176988:("Sched_RunTask",),
+    0x80176B34:("Sched_HandleEntry",),
+    0x80176C24:("Sched_HandleRetrace",),
+    0x80176CF4:("Sched_HandleRSPDone",),
+    0x80176F2C:("Sched_HandleRDPDone",),
     0x80177018:("Sched_SendEntryMsg",),
-    0x8017703C:("func_8017703C",),
-    0x80177060:("func_80177060",),
-    0x80177084:("func_80177084",),
+    0x8017703C:("Sched_SendAudioCancelMsg",),
+    0x80177060:("Sched_SendGfxCancelMsg",),
+    0x80177084:("Sched_FaultClient",),
     0x8017715C:("Sched_ThreadEntry",),
-    0x801772A0:("Sched_Start",),
+    0x801772A0:("Sched_Init",),
     0x80177390:("func_80177390",),
     0x801773A0:("func_801773A0",),
     0x801773C4:("func_801773C4",),
diff --git a/tools/disasm/variables.txt b/tools/disasm/variables.txt
index 737cd92ac2..0ba0f9fd7a 100644
--- a/tools/disasm/variables.txt
+++ b/tools/disasm/variables.txt
@@ -4217,28 +4217,24 @@
     0x801FB318:("padmgrStackEntry","StackEntry","",0x1c),
     0x801FB338:("audioContext","AudioMgr","",0x2e0),
     0x801FB620:("D_801FB620","PadMgr","",0x480),
-    0x801FBAA0:("D_801FBAA0","UNK_TYPE1","",0x1),
-    0x801FBAB0:("D_801FBAB0","UNK_TYPE1","",0x1),
-    0x801FBAB4:("D_801FBAB4","UNK_TYPE1","",0x1),
-    0x801FBAB8:("D_801FBAB8","UNK_TYPE1","",0x1),
-    0x801FBABC:("D_801FBABC","UNK_TYPE1","",0x1),
-    0x801FBAC0:("D_801FBAC0","UNK_TYPE1","",0x1),
-    0x801FBAC4:("D_801FBAC4","UNK_TYPE1","",0x1),
-    0x801FBAC8:("D_801FBAC8","UNK_TYPE1","",0x1),
-    0x801FBACC:("D_801FBACC","UNK_TYPE1","",0x1),
-    0x801FBAD0:("D_801FBAD0","UNK_TYPE1","",0x1),
-    0x801FBAD4:("D_801FBAD4","UNK_TYPE1","",0x1),
+    0x801FBAA0:("sSchedFaultClient","UNK_TYPE1","",0x1),
+    0x801FBAB0:("sRSPGFXStartTime","OSTime","",0x8),
+    0x801FBAB8:("sRSPAudioStartTime","OSTime","",0x8),
+    0x801FBAC0:("sRSPOtherStartTime","OSTime","",0x8),
+    0x801FBAC8:("sRDPStartTime","OSTime","",0x8),
+    0x801FBAD0:("gAudioSPDataPtr","u64*","",0x4),
+    0x801FBAD4:("gAudioSPDataSize","u32","",0x4),
     0x801FBAE0:("D_801FBAE0","UNK_TYPE1","",0x1),
     0x801FBAE8:("D_801FBAE8","UNK_TYPE1","",0x1),
     0x801FBAF0:("D_801FBAF0","volatile OSTime","",0x8),
     0x801FBAF8:("lastRenderFrameDuration","volatile OSTime","",0x8),
-    0x801FBB00:("D_801FBB00","UNK_TYPE1","",0x1),
+    0x801FBB00:("gRSPAudioTotalTime","UNK_TYPE1","",0x1),
     0x801FBB04:("D_801FBB04","UNK_TYPE1","",0x1),
-    0x801FBB08:("D_801FBB08","UNK_TYPE1","",0x1),
+    0x801FBB08:("sRSPGFXTotalTime","UNK_TYPE1","",0x1),
     0x801FBB0C:("D_801FBB0C","UNK_TYPE1","",0x1),
-    0x801FBB10:("D_801FBB10","UNK_TYPE1","",0x1),
+    0x801FBB10:("sRSPOtherTotalTime","UNK_TYPE1","",0x1),
     0x801FBB14:("D_801FBB14","UNK_TYPE1","",0x1),
-    0x801FBB20:("D_801FBB20","UNK_TYPE1","",0x1),
+    0x801FBB20:("gRDPTotalTime","UNK_TYPE1","",0x1),
     0x801FBB28:("D_801FBB28","UNK_TYPE1","",0x1),
     0x801FBB30:("D_801FBB30","OSViMode","",0x50),
     0x801FBB80:("gFramebuffers","u32*","[2]",0x8),
diff --git a/tools/sizes/code_functions.csv b/tools/sizes/code_functions.csv
index efc78df76b..5c37aeb47b 100644
--- a/tools/sizes/code_functions.csv
+++ b/tools/sizes/code_functions.csv
@@ -2706,29 +2706,29 @@ asm/non_matchings/code/padmgr/Padmgr_GetInput.s,Padmgr_GetInput,0x80175F98,0xF
 asm/non_matchings/code/padmgr/Padmgr_GetInput2.s,Padmgr_GetInput2,0x80175FD4,0xF
 asm/non_matchings/code/padmgr/Padmgr_ThreadEntry.s,Padmgr_ThreadEntry,0x80176010,0x61
 asm/non_matchings/code/padmgr/Padmgr_Start.s,Padmgr_Start,0x80176194,0x3B
-asm/non_matchings/code/sched/func_80176280.s,func_80176280,0x80176280,0x25
-asm/non_matchings/code/sched/func_80176314.s,func_80176314,0x80176314,0x14
-asm/non_matchings/code/sched/Sched_Nop80176364.s,Sched_Nop80176364,0x80176364,0x3
-asm/non_matchings/code/sched/func_80176370.s,func_80176370,0x80176370,0x9
-asm/non_matchings/code/sched/func_80176394.s,func_80176394,0x80176394,0x57
-asm/non_matchings/code/sched/func_801764F0.s,func_801764F0,0x801764F0,0x67
-asm/non_matchings/code/sched/func_8017668C.s,func_8017668C,0x8017668C,0x19
-asm/non_matchings/code/sched/func_801766F0.s,func_801766F0,0x801766F0,0x16
-asm/non_matchings/code/sched/func_80176748.s,func_80176748,0x80176748,0x1C
-asm/non_matchings/code/sched/func_801767B8.s,func_801767B8,0x801767B8,0x4A
-asm/non_matchings/code/sched/func_801768E0.s,func_801768E0,0x801768E0,0xF
-asm/non_matchings/code/sched/func_8017691C.s,func_8017691C,0x8017691C,0x1B
-asm/non_matchings/code/sched/func_80176988.s,func_80176988,0x80176988,0x6B
-asm/non_matchings/code/sched/func_80176B34.s,func_80176B34,0x80176B34,0x3C
-asm/non_matchings/code/sched/func_80176C24.s,func_80176C24,0x80176C24,0x34
-asm/non_matchings/code/sched/func_80176CF4.s,func_80176CF4,0x80176CF4,0x8E
-asm/non_matchings/code/sched/func_80176F2C.s,func_80176F2C,0x80176F2C,0x3B
+asm/non_matchings/code/sched/Sched_SwapFramebuffer.s,Sched_SwapFramebuffer,0x80176280,0x25
+asm/non_matchings/code/sched/Sched_RetraceUpdateFramebuffer.s,Sched_RetraceUpdateFramebuffer,0x80176314,0x14
+asm/non_matchings/code/sched/Sched_HandleReset.s,Sched_HandleReset,0x80176364,0x3
+asm/non_matchings/code/sched/Sched_HandleStop.s,Sched_HandleStop,0x80176370,0x9
+asm/non_matchings/code/sched/Sched_HandleAudioCancel.s,Sched_HandleAudioCancel,0x80176394,0x57
+asm/non_matchings/code/sched/Sched_HandleGfxCancel.s,Sched_HandleGfxCancel,0x801764F0,0x67
+asm/non_matchings/code/sched/Sched_QueueTask.s,Sched_QueueTask,0x8017668C,0x19
+asm/non_matchings/code/sched/Sched_Yield.s,Sched_Yield,0x801766F0,0x16
+asm/non_matchings/code/sched/Sched_TaskCheckFramebuffers.s,Sched_TaskCheckFramebuffers,0x80176748,0x1C
+asm/non_matchings/code/sched/Sched_Schedule.s,Sched_Schedule,0x801767B8,0x4A
+asm/non_matchings/code/sched/Sched_TaskUpdateFramebuffer.s,Sched_TaskUpdateFramebuffer,0x801768E0,0xF
+asm/non_matchings/code/sched/Sched_NotifyDone.s,Sched_NotifyDone,0x8017691C,0x1B
+asm/non_matchings/code/sched/Sched_RunTask.s,Sched_RunTask,0x80176988,0x6B
+asm/non_matchings/code/sched/Sched_HandleEntry.s,Sched_HandleEntry,0x80176B34,0x3C
+asm/non_matchings/code/sched/Sched_HandleRetrace.s,Sched_HandleRetrace,0x80176C24,0x34
+asm/non_matchings/code/sched/Sched_HandleRSPDone.s,Sched_HandleRSPDone,0x80176CF4,0x8E
+asm/non_matchings/code/sched/Sched_HandleRDPDone.s,Sched_HandleRDPDone,0x80176F2C,0x3B
 asm/non_matchings/code/sched/Sched_SendEntryMsg.s,Sched_SendEntryMsg,0x80177018,0x9
-asm/non_matchings/code/sched/func_8017703C.s,func_8017703C,0x8017703C,0x9
-asm/non_matchings/code/sched/func_80177060.s,func_80177060,0x80177060,0x9
-asm/non_matchings/code/sched/func_80177084.s,func_80177084,0x80177084,0x36
+asm/non_matchings/code/sched/Sched_SendAudioCancelMsg.s,Sched_SendAudioCancelMsg,0x8017703C,0x9
+asm/non_matchings/code/sched/Sched_SendGfxCancelMsg.s,Sched_SendGfxCancelMsg,0x80177060,0x9
+asm/non_matchings/code/sched/Sched_FaultClient.s,Sched_FaultClient,0x80177084,0x36
 asm/non_matchings/code/sched/Sched_ThreadEntry.s,Sched_ThreadEntry,0x8017715C,0x51
-asm/non_matchings/code/sched/Sched_Start.s,Sched_Start,0x801772A0,0x3C
+asm/non_matchings/code/sched/Sched_Init.s,Sched_Init,0x801772A0,0x3C
 asm/non_matchings/code/speed_meter/func_80177390.s,func_80177390,0x80177390,0x4
 asm/non_matchings/code/speed_meter/func_801773A0.s,func_801773A0,0x801773A0,0x9
 asm/non_matchings/code/speed_meter/func_801773C4.s,func_801773C4,0x801773C4,0x3