Compare revisions

Niccolò Betto · Niccolò Betto · Lorenzo Cucchi · Nicolò Caruso · Emilio Corigliano · Emilio Corigliano
--- a/.clang-format
+++ b/.clang-format
-{
-    BasedOnStyle: Google,
-    AccessModifierOffset: -4,
-    AlignConsecutiveAssignments: true,
-    AllowShortIfStatementsOnASingleLine: false,
-    AllowShortLoopsOnASingleLine: false,
-    BreakBeforeBraces: Allman,
-    ColumnLimit: 80,
-    ConstructorInitializerAllOnOneLineOrOnePerLine: false,
-    IndentCaseLabels: true,
-    IndentWidth: 4,
-    KeepEmptyLinesAtTheStartOfBlocks: true,
-}
+BasedOnStyle: Google
+
+ColumnLimit: 80
+IndentWidth: 4
+AccessModifierOffset: -4
+
+BreakBeforeBraces: Allman
+# Allow braceless single line if/else/for/while statements
+RemoveBracesLLVM: true
+
+AlignConsecutiveAssignments: Consecutive
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+PackConstructorInitializers: BinPack
+IndentCaseLabels: true
+
+# Empty lines behavior
+InsertNewlineAtEOF: true
+KeepEmptyLinesAtEOF: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+
+# Align pointers/references to the type, not the variable
+DerivePointerAlignment: false
+PointerAlignment: Left
--- a/.gitignore
+++ b/.gitignore
@@ -21,6 +21,7 @@ STM32F429zi_Discovery.xml
 ._*
 .DS_Store
 build
+build-host
 cmake-build-*
 *.sublime-workspace
 *.sublime-project

--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -23,7 +23,7 @@ variables:
  GIT_SUBMODULE_STRATEGY: recursive

 default:
-  image: registry.skywarder.eu/avn/swd/docker/miosix:latest
+  image: registry.skywarder.eu/avn/swd/docker/miosix:v2

 stages:
  - lint
@@ -66,7 +66,7 @@ build-debug:
    - cmake --version
    - ccache --version
    - ninja --version
-    - ./sbs --debug
+    - ./sbs build --debug

 build-release:
  stage: build
@@ -74,7 +74,7 @@ build-release:
    - cmake --version
    - ccache --version
    - ninja --version
-    - ./sbs
+    - ./sbs build

 logdecoder:
  stage: build
@@ -88,7 +88,7 @@ logdecoder:
 test:
  stage: test
  script:
-    - ./sbs --test catch-tests-boardcore
+    - ./sbs test

 # Stage documentation


--- a/.idea/.gitignore
+++ b/.idea/.gitignore
-# Default ignored files
-/shelf/
-/workspace.xml
-# Datasource local storage ignored files
-/dataSources/
-/dataSources.local.xml
-# Editor-based HTTP Client requests
-/httpRequests/
--- a/.idea/.name
+++ b/.idea/.name
-SkywardBoardcore
--- a/.idea/cmake.xml
+++ b/.idea/cmake.xml
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CMakeSharedSettings">
-    <configurations>
-      <configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_TOOLCHAIN_FILE=$CMakeProjectDir$/libs/miosix-kernel/miosix/_tools/toolchain.cmake -GNinja" />
-      <configuration PROFILE_NAME="Release" ENABLED="true" CONFIG_NAME="Release" GENERATION_OPTIONS="-DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_TOOLCHAIN_FILE=$CMakeProjectDir$/libs/miosix-kernel/miosix/_tools/toolchain.cmake -GNinja" />
-    </configurations>
-  </component>
-</project>
--- a/.idea/codeStyles/Project.xml
+++ b/.idea/codeStyles/Project.xml
-<component name="ProjectCodeStyleConfiguration">
-  <code_scheme name="Project" version="173">
-    <clangFormatSettings>
-      <option name="ENABLED" value="true" />
-    </clangFormatSettings>
-  </code_scheme>
-</component>
--- a/.idea/codeStyles/codeStyleConfig.xml
+++ b/.idea/codeStyles/codeStyleConfig.xml
-<component name="ProjectCodeStyleConfiguration">
-  <state>
-    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
-  </state>
-</component>
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
-  <component name="CidrRootsConfiguration">
-    <sourceRoots>
-      <file path="$PROJECT_DIR$/src" />
-    </sourceRoots>
-    <excludeRoots>
-      <file path="$PROJECT_DIR$/build" />
-      <file path="$PROJECT_DIR$/libs" />
-    </excludeRoots>
-  </component>
-</project>
--- a/.idea/modules.xml
+++ b/.idea/modules.xml
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/skyward-boardcore.iml" filepath="$PROJECT_DIR$/.idea/skyward-boardcore.iml" />
-    </modules>
-  </component>
-</project>
--- a/.idea/skyward-boardcore.iml
+++ b/.idea/skyward-boardcore.iml
-<?xml version="1.0" encoding="UTF-8"?>
-<module classpath="CMake" type="CPP_MODULE" version="4" />
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/libs/Catch2" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/libs/eigen" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/libs/fmt" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/libs/mavlink_skyward_lib" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/libs/miosix-kernel" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/libs/miosix-kernel/miosix/_examples/datalogger/tscpp" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/libs/mxgui" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/libs/tscpp" vcs="Git" />
-  </component>
-</project>
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -16,16 +16,17 @@
            "${workspaceFolder}/libs/mxgui",
            "${workspaceFolder}/libs/tscpp",
            "${workspaceFolder}/src/shared",
-            "${workspaceFolder}/src/tests"
+            "${workspaceFolder}/src/tests",
+            "${workspaceFolder}/version"
        ]
    },
    "configurations": [
-        // Skyward boards
        {
            "name": "stm32f205rc_ciuti",
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f205rc_ciuti",
@@ -48,6 +49,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f429zi_death_stack_v1",
@@ -72,6 +74,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f429zi_death_stack_v2",
@@ -95,6 +98,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f429zi_death_stack_v3",
@@ -118,6 +122,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f429zi_nokia",
@@ -141,6 +146,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f429zi_parafoil",
@@ -164,6 +170,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f429zi_pyxis_auxiliary",
@@ -186,6 +193,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f429zi_rig",
@@ -209,6 +217,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f429zi_con_rig",
@@ -227,11 +236,35 @@
                "${workspaceFolder}/src/bsps/stm32f429zi_con_rig"
            ]
        },
+        {
+            "name": "stm32f767zi_conrig_v2",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "defines": [
+                "${defaultDefines}",
+                "_MIOSIX_BOARDNAME=stm32f767zi_conrig_v2",
+                "_BOARD_STM32F767ZI_CONRIG_V2",
+                "_ARCH_CORTEXM7_STM32F7",
+                "HSE_VALUE=25000000",
+                "SYSCLK_FREQ_216MHz=216000000",
+                "__ENABLE_XRAM",
+                "V_DDA_VOLTAGE=3.3f"
+            ],
+            "includePath": [
+                "${defaultIncludePaths}",
+                "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
+                "${workspaceFolder}/src/bsps/stm32f767zi_conrig_v2/config",
+                "${workspaceFolder}/src/bsps/stm32f767zi_conrig_v2"
+            ]
+        },
        {
            "name": "stm32f756zg_nucleo",
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f756zg_nucleo",
@@ -255,6 +288,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f767zi_automated_antennas",
@@ -278,6 +312,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f767zi_compute_unit",
@@ -301,6 +336,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f767zi_compute_unit_v2",
@@ -324,6 +360,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f767zi_rig_v2",
@@ -347,12 +384,13 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f767zi_lyra_biscotto",
-                "_BOARD_STM32F767ZI_BIKESHED",
+                "_BOARD_STM32F767ZI_LYRA_BISCOTTO",
                "_ARCH_CORTEXM7_STM32F7",
-                "STM32F769xx",
+                "STM32F767xx",
                "HSE_VALUE=25000000",
                "SYSCLK_FREQ_216MHz=216000000",
                "__ENABLE_XRAM",
@@ -370,6 +408,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f767zi_lyra_motor",
@@ -393,6 +432,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f767zi_death_stack_v4",
@@ -416,6 +456,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f767zi_gemini_gs",
@@ -439,6 +480,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f767zi_gemini_motor",
@@ -457,12 +499,84 @@
                "${workspaceFolder}/src/bsps/stm32f767zi_gemini_motor"
            ]
        },
-        // Miosix boards
+        {
+            "name": "stm32f767zi_lyra_gs",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "defines": [
+                "${defaultDefines}",
+                "_MIOSIX_BOARDNAME=stm32f767zi_lyra_gs",
+                "_BOARD_STM32F767ZI_LYRA_GS",
+                "_ARCH_CORTEXM7_STM32F7",
+                "STM32F767xx",
+                "HSE_VALUE=25000000",
+                "SYSCLK_FREQ_216MHz=216000000",
+                "__ENABLE_XRAM",
+                "V_DDA_VOLTAGE=3.3f"
+            ],
+            "includePath": [
+                "${defaultIncludePaths}",
+                "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
+                "${workspaceFolder}/src/bsps/stm32f767zi_lyra_gs/config",
+                "${workspaceFolder}/src/bsps/stm32f767zi_lyra_gs"
+            ]
+        },
+        {
+            "name": "stm32f767zi_orion_biscotto",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "defines": [
+                "${defaultDefines}",
+                "_MIOSIX_BOARDNAME=stm32f767zi_orion_biscotto",
+                "_BOARD_STM32F767ZI_ORION_BISCOTTO",
+                "_ARCH_CORTEXM7_STM32F7",
+                "STM32F767xx",
+                "HSE_VALUE=25000000",
+                "SYSCLK_FREQ_216MHz=216000000",
+                "__ENABLE_XRAM",
+                "V_DDA_VOLTAGE=3.3f"
+            ],
+            "includePath": [
+                "${defaultIncludePaths}",
+                "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
+                "${workspaceFolder}/src/bsps/stm32f767zi_orion_biscotto/config",
+                "${workspaceFolder}/src/bsps/stm32f767zi_orion_biscotto"
+            ]
+        },
+        {
+            "name": "stm32f767zi_orion_engine",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "defines": [
+                "${defaultDefines}",
+                "_MIOSIX_BOARDNAME=stm32f767zi_orion_engine",
+                "_BOARD_STM32F767ZI_ORION_ENGINE",
+                "_ARCH_CORTEXM7_STM32F7",
+                "STM32F767xx",
+                "HSE_VALUE=25000000",
+                "SYSCLK_FREQ_216MHz=216000000",
+                "__ENABLE_XRAM",
+                "V_DDA_VOLTAGE=3.3f"
+            ],
+            "includePath": [
+                "${defaultIncludePaths}",
+                "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
+                "${workspaceFolder}/src/bsps/stm32f767zi_orion_engine/config",
+                "${workspaceFolder}/src/bsps/stm32f767zi_orion_engine"
+            ]
+        },
        {
            "name": "stm32f407vg_stm32f4discovery",
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f407vg_stm32f4discovery",
@@ -485,6 +599,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f429zi_stm32f4discovery",
@@ -508,6 +623,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f767zi_nucleo",
@@ -531,6 +647,7 @@
            "cStandard": "c11",
            "cppStandard": "c++14",
            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "defines": [
                "${defaultDefines}",
                "_MIOSIX_BOARDNAME=stm32f769ni_discovery",
@@ -548,6 +665,30 @@
                "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f769ni_discovery",
                "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f769ni_discovery"
            ]
+        },
+        {
+            "name": "stm32f429zi_lyra_cubesat",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "defines": [
+                "${defaultDefines}",
+                "_MIOSIX_BOARDNAME=stm32f429zi_lyra_cubesat",
+                "_BOARD_STM32F429ZI_LYRA_CUBESAT",
+                "_ARCH_CORTEXM4_STM32F4",
+                "STM32F429xx",
+                "HSE_VALUE=8000000",
+                "SYSCLK_FREQ_168MHz=168000000",
+                "__ENABLE_XRAM",
+                "V_DDA_VOLTAGE=3.3f"
+            ],
+            "includePath": [
+                "${defaultIncludePaths}",
+                "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+                "${workspaceFolder}/src/bsps/stm32f429zi_lyra_cubesat/config",
+                "${workspaceFolder}/src/bsps/stm32f429zi_lyra_cubesat"
+            ]
        }
    ],
    "version": 4

--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,13 +21,13 @@

 cmake_minimum_required(VERSION 3.25)
 enable_testing()
-include(cmake/sbs.cmake)

 #-----------------------------------------------------------------------------#
 #                                   Project                                   #
 #-----------------------------------------------------------------------------#

 project(Boardcore)
+include(cmake/sbs.cmake)

 #-----------------------------------------------------------------------------#
 #                                 Entrypoints                                 #
@@ -129,6 +129,7 @@ sbs_target(test-hil stm32f767zi_death_stack_v4)

 add_executable(catch-tests-boardcore
    src/tests/catch/catch-tests-entry.cpp
+    src/tests/catch/skyQuaternion/test-skyquaternion.cpp
    src/tests/catch/examples/example-test-factorial.cpp
    src/tests/catch/test-aero.cpp
    # src/tests/catch/test-buttonhandler.cpp
@@ -147,6 +148,7 @@ add_executable(catch-tests-boardcore
    src/tests/catch/test-pitot.cpp
    src/tests/catch/test-units.cpp
    src/tests/catch/test-registry-frontend.cpp
+    src/tests/catch/propagator/test-propagator.cpp
 )
 target_compile_definitions(catch-tests-boardcore PRIVATE USE_MOCK_PERIPHERALS)
 sbs_target(catch-tests-boardcore stm32f429zi_stm32f4discovery)
@@ -300,6 +302,9 @@ sbs_target(test-wiz5500 stm32f767zi_gemini_gs)
 add_executable(test-bsram src/tests/drivers/test-bsram.cpp)
 sbs_target(test-bsram stm32f767zi_lyra_biscotto)

+add_executable(test-dipswitch src/tests/drivers/test-dipswitch.cpp)
+sbs_target(test-dipswitch stm32f767zi_lyra_gs)
+
 #-----------------------------------------------------------------------------#
 #                               Tests - Events                                #
 #-----------------------------------------------------------------------------#
@@ -463,6 +468,10 @@ sbs_target(test-vn100-serial stm32f407vg_stm32f4discovery)
 add_executable(test-vn100-spi src/tests/sensors/test-vn100-spi.cpp)
 sbs_target(test-vn100-spi stm32f407vg_stm32f4discovery)

+add_executable(test-vn300 src/tests/sensors/test-vn300.cpp)
+sbs_target(test-vn300 stm32f767zi_compute_unit)
+
+
 add_executable(test-lis2mdl src/tests/sensors/test-lis2mdl.cpp)
 sbs_target(test-lis2mdl stm32f429zi_stm32f4discovery)

@@ -478,6 +487,9 @@ sbs_target(test-lps22df stm32f767zi_nucleo)
 add_executable(test-lsm6dsrx src/tests/sensors/test-lsm6dsrx.cpp)
 sbs_target(test-lsm6dsrx stm32f407vg_stm32f4discovery)

+add_executable(test-nd015x src/tests/sensors/test-nd015x.cpp)
+sbs_target(test-nd015x stm32f767zi_lyra_biscotto)
+
 #-----------------------------------------------------------------------------#
 #                                Tests - Utils                                #
 #-----------------------------------------------------------------------------#

--- a/README.md
+++ b/README.md
@@ -29,11 +29,17 @@ The project is built with the CMake build system. We also have our own script th

 ### Dependencies

+The following are required to build the project:
 * `CMake` 3.25
 * `Git`
 * `Miosix` Toolchain

-We also recommend to install `Ccache`, `Ninja`, `OpenOCD`, `Cppcheck`,`ClangFormat` and `pre-commit` for a smoother development experience.
+You will also need the following tools for linting and formatting:
+* `Python3`
+* `Cppcheck 2.7`
+* `ClangFormat 18`
+
+We also recommend to install `Ccache`, `Ninja`, `OpenOCD`, and `pre-commit` for a smoother development experience.

 ### Cloning the repo


--- a/cmake/boardcore-host.cmake
+++ b/cmake/boardcore-host.cmake
@@ -36,6 +36,7 @@ set(BOARDCORE_HOST_SRC
    ${SBS_BASE}/src/shared/algorithms/MEA/MEA.cpp
    ${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakesPI.cpp
    ${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
+    ${SBS_BASE}/src/shared/algorithms/Propagator/Propagator.cpp

    # Logger
    ${SBS_BASE}/src/shared/logger/Logger.cpp

--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -19,8 +19,10 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.

-# Load in BOARDCORE_PATH the project path
-cmake_path(GET CMAKE_CURRENT_LIST_DIR PARENT_PATH BOARDCORE_PATH)
+# Load in BOARDCORE_PATH the project path if not already defined
+if (NOT DEFINED BOARDCORE_PATH)
+    cmake_path(GET CMAKE_CURRENT_LIST_DIR PARENT_PATH BOARDCORE_PATH)
+endif()

 # Include dependencies and board list
 include(${BOARDCORE_PATH}/cmake/dependencies.cmake)
@@ -42,6 +44,8 @@ set(BOARDCORE_SRC
    ${BOARDCORE_PATH}/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
    ${BOARDCORE_PATH}/src/shared/algorithms/NAS/NAS.cpp
    ${BOARDCORE_PATH}/src/shared/algorithms/NAS/StateInitializer.cpp
+    ${SBS_BASE}/src/shared/algorithms/Propagator/Propagator.cpp
+    ${SBS_BASE}/src/shared/algorithms/Follower/Follower.cpp

    # Debug
    ${BOARDCORE_PATH}/src/shared/utils/Debug.cpp
@@ -64,6 +68,7 @@ set(BOARDCORE_SRC
    ${BOARDCORE_PATH}/src/shared/drivers/i2c/I2CDriver-f7.cpp
    ${BOARDCORE_PATH}/src/shared/drivers/i2c/I2C.cpp
    ${BOARDCORE_PATH}/src/shared/drivers/WIZ5500/WIZ5500.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/DipSwitch/DipSwitch.cpp

    # Events
    ${BOARDCORE_PATH}/src/shared/events/EventBroker.cpp
@@ -109,12 +114,16 @@ set(BOARDCORE_SRC
    ${BOARDCORE_PATH}/src/shared/sensors/SensorSampler.cpp
    ${BOARDCORE_PATH}/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
    ${BOARDCORE_PATH}/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
-    ${BOARDCORE_PATH}/src/shared/sensors/VN100/VN100Serial.cpp
-    ${BOARDCORE_PATH}/src/shared/sensors/VN100/VN100Spi.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/Vectornav/VNCommonSerial.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/Vectornav/VN100/VN100Serial.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/Vectornav/VN100/VN100Spi.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/Vectornav/VN300/VN300.cpp
    ${BOARDCORE_PATH}/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
    ${BOARDCORE_PATH}/src/shared/sensors/LPS28DFW/LPS28DFW.cpp
    ${BOARDCORE_PATH}/src/shared/sensors/LPS22DF/LPS22DF.cpp
    ${BOARDCORE_PATH}/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/ND015X/ND015D.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/ND015X/ND015A.cpp

    # Calibration
    ${BOARDCORE_PATH}/src/shared/sensors/calibration/BiasCalibration/BiasCalibration.cpp

--- a/cmake/boards.cmake
+++ b/cmake/boards.cmake
@@ -38,6 +38,11 @@ set(BOARDCORE_BOARDS_OPTIONS_FILES
    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_gemini_motor/config/board_options.cmake
    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_death_stack_v4/config/board_options.cmake
    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_rig_v2/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_conrig_v2/config/board_options.cmake
    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_lyra_biscotto/config/board_options.cmake
    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_lyra_motor/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_lyra_gs/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f429zi_lyra_cubesat/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_orion_biscotto/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_orion_engine/config/board_options.cmake
 )
--- a/cmake/sbs.cmake
+++ b/cmake/sbs.cmake
@@ -21,36 +21,52 @@

 enable_language(C CXX ASM)

+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
 # Load in SBS_BASE the project path
 cmake_path(GET CMAKE_CURRENT_LIST_DIR PARENT_PATH SBS_BASE)
+# Load in BOARDCORE_PATH the boardcore path
+cmake_path(GET CMAKE_CURRENT_LIST_DIR PARENT_PATH BOARDCORE_PATH)
+
+# Add the version information header to the global include path, so that all 
+# targets defined after this point will have access to it (Boardcore, Kernel)
+include_directories(${BOARDCORE_PATH}/version)

 # Include the Boardcore libraries
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR})
 include(boardcore)

-# Command to print all the available boards used by the sbs script
-string(REPLACE ";" "\\n" BOARDS_STR "${MIOSIX_BOARDS};${BOARDCORE_BOARDS}")
-add_custom_target(
-    help-boards
-    COMMAND printf ${BOARDS_STR}
-    COMMENT "All boards available:"
-    VERBATIM
-)
-
 # Function to link the Boardcore library to the target
 function(sbs_target TARGET OPT_BOARD)
    if(NOT OPT_BOARD)
        message(FATAL_ERROR "No board selected")
    endif()

-    # The only include directory of Boardcore is shared!
    target_include_directories(${TARGET} PRIVATE src/shared)

+    # Define the version information generation command
+    add_custom_target(${TARGET}-version-info
+        BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/generated/${TARGET}/version.cpp
+        COMMAND "${CMAKE_COMMAND}"
+        "-D" "TARGET_NAME=${TARGET}"
+        "-D" "CMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}"
+        "-D" "BOARDCORE_PATH=${BOARDCORE_PATH}"
+        "-D" "OUT_DIR=${CMAKE_CURRENT_BINARY_DIR}/generated/${TARGET}"
+        "-P" "${BOARDCORE_PATH}/cmake/version.cmake"
+        COMMENT "Generating version information file for ${TARGET}"
+        VERBATIM
+    )
+    # Build the generated version information file as part of the target
+    target_sources(${TARGET} PRIVATE
+        ${CMAKE_CURRENT_BINARY_DIR}/generated/${TARGET}/version.cpp
+    )
+
    if(CMAKE_CROSSCOMPILING)
        # Link the embedded Boardcore library
        target_link_libraries(${TARGET} PRIVATE Skyward::Boardcore::${OPT_BOARD})

-        # Linker script and linking options are eredited from the kernel library
+        # Linker script and linking options are inherited from the kernel library

        # Add a post build command to create the hex file to flash on the board
        add_custom_command(

--- a/cmake/version.cmake
+++ b/cmake/version.cmake
+# Copyright (c) 2025 Skyward Experimental Rocketry
+# Author: Niccolò Betto
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+# --- Version Information File Generation ---
+
+# Find Git executable
+find_package(Git REQUIRED QUIET)
+
+set(GIT_WORKING_DIR ${CMAKE_SOURCE_DIR})
+
+# Determine dirty status
+execute_process(
+    COMMAND ${GIT_EXECUTABLE} describe --dirty --always --broken
+    WORKING_DIRECTORY ${GIT_WORKING_DIR}
+    OUTPUT_VARIABLE GIT_DESCRIBE_OUTPUT # We don't use the output directly, just for the dirty check
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+    RESULT_VARIABLE GIT_DESCRIBE_RESULT
+    ERROR_QUIET # Ignore errors
+)
+set(GIT_DIRTY_SUFFIX "")
+# Check if the command succeeded AND if its output ends with "-dirty"
+if(GIT_DESCRIBE_RESULT EQUAL 0 AND GIT_DESCRIBE_OUTPUT MATCHES "-dirty$")
+    set(GIT_DIRTY_SUFFIX "-dirty")
+endif()
+
+# Get *annotated* tag name
+execute_process(
+    COMMAND ${GIT_EXECUTABLE} describe --exact-match HEAD
+    WORKING_DIRECTORY ${GIT_WORKING_DIR}
+    OUTPUT_VARIABLE GIT_TAG # Captures the annotated tag name if successful
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+    RESULT_VARIABLE GIT_EXACT_TAG_RESULT # Will be 0 on success, non-zero on failure
+    ERROR_QUIET # Ignore errors, we expect this to fail when not on an annotated tag
+)
+
+# Get branch name
+execute_process(
+    COMMAND ${GIT_EXECUTABLE} rev-parse --abbrev-ref HEAD
+    WORKING_DIRECTORY ${GIT_WORKING_DIR}
+    OUTPUT_VARIABLE GIT_BRANCH
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+    # No ERROR_QUIET/RESULT_VARIABLE -> CMake halts on git command failure
+)
+
+# Get short commit hash
+execute_process(
+    COMMAND ${GIT_EXECUTABLE} rev-parse --short HEAD
+    WORKING_DIRECTORY ${GIT_WORKING_DIR}
+    OUTPUT_VARIABLE GIT_REV
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+    # No ERROR_QUIET/RESULT_VARIABLE -> CMake halts on git command failure
+)
+
+# Determine the version info based on tag match result
+set(GIT_VERSION_INFO "")
+if(GIT_EXACT_TAG_RESULT EQUAL 0)
+    # Use the tag name when exactly on an annotated tag
+    set(GIT_VERSION_INFO "${GIT_TAG}")
+else()
+    # Use branch-rev when not on a tag
+    set(GIT_VERSION_INFO "${GIT_BRANCH}-${GIT_REV}")
+endif()
+
+# Construct the final version string
+# Format: <annotated_tag>[-dirty] OR <branch>-<hash>[-dirty]
+set(GIT_VERSION_STRING "${GIT_VERSION_INFO}${GIT_DIRTY_SUFFIX}")
+
+# Additional variables set by the called of this script via command line args:
+# - TARGET_NAME
+# - CMAKE_BUILD_TYPE
+
+configure_file(
+  "${BOARDCORE_PATH}/version/version.cpp.in"
+  "${OUT_DIR}/version.cpp"
+)
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