Unified Timing Primitives & Same-Tick Repeat

 - `vTaskYieldNextTick()` now forwards to `vTaskDelayUntil(0)` — removing redundant logic and ensuring unified behavior.  
  - `vTaskRepeatThisTick()` now builds on the same delay primitive for consistency and clarity.  
- Support for *same-tick task repeats* (via `vTaskRepeatThisTick()`), enabling staged cooperative operations.

Author: CastilloDelSol

src/TaskScheduler.h

@@ -194,15 +194,6 @@ class TaskScheduler : public IScheduler {
         overrideNext = tickNow + ms;
     }
 
-    /**
-     * @brief Yield current task until next tick (cheap throttle).
-     */
-    inline void vTaskYieldNextTick() {
-        if (!hasCurrentTask()) return;
-        overrideSet  = true;
-        overrideNext = tickNow; // same-tick re-run prevented by ranMask
-    }
-
     /**
      * @brief Period-locked delay: schedule next wake at the first
      *        future multiple of @p period from this run's release time.
@@ -233,6 +224,22 @@ class TaskScheduler : public IScheduler {
         overrideNext = anchor + k * period;
     }
 
+    /**
+     * @brief Yield current task until next tick (cheap throttle).
+     */
+    inline void vTaskYieldNextTick() {
+        vTaskDelayUntil(0);
+    }
+
+    /**
+     * @brief Request to run the current task again within this same scheduler tick.
+     */
+    inline void vTaskRepeatThisTick() {
+        vTaskDelayUntil(0);
+        cascadePending = true;    // ensure another cascade pass happens
+        ranMask.clear(currentId); // allow re-run in same tick
+    }
+
     /**
      * @brief Change a task's priority.
      */
@@ -331,4 +338,5 @@ class TaskScheduler : public IScheduler {
     }
 };
 
-#endif // TASK_SCHEDULER_H
+
+#endif // TASK_SCHEDULER_H