Compare revisions

70f03cfc · 728ac130 · b954b2b4 · 9ee005c1 · 63c927ba · d8ed8771
--- 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
@@ -21,14 +21,17 @@ STM32F429zi_Discovery.xml
 ._*
 .DS_Store
 build
+build-host
 cmake-build-*
 *.sublime-workspace
 *.sublime-project

 store.json
 **/generated/
-core

 __pycache__
 /scripts/generators/generated
 /scripts/generators/scxmls
+
+scripts/logdecoder/logdecoder
+doc/output
\ No newline at end of file
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
-# Copyright (c) 2021 Skyward Experimental Rocketry
-# Authors: Luca Erbetta, Luca Conterio, Alberto Nidasio, Damiano Amatruda
+# Copyright (c) 2024 Skyward Experimental Rocketry
+# Authors: Luca Erbetta, Luca Conterio, Alberto Nidasio, Damiano Amatruda, Giacomo Caironi
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal
@@ -22,72 +22,84 @@
 variables:
  GIT_SUBMODULE_STRATEGY: recursive

+default:
+  image: registry.skywarder.eu/avn/swd/docker/miosix:v2
+
 stages:
-  - build-release
-  - build-debug
-  - test
  - lint
+  - build
+  - test
  - documentation

-# Stage build-release
-
-build-release:
-  stage: build-release
-  tags:
-    - miosix
-  script:
-    - ./sbs --jobs 2
-
-# Stage build-debug
-
-build-debug:
-  stage: build-debug
-  tags:
-    - miosix
-  script:
-    - ./sbs --jobs 2 --debug
-
-# Stage test
-
-test:
-  stage: test
-  script:
-    - ./sbs --jobs 2 --test catch-tests-entry
-
 # Stage lint

 cppcheck:
  stage: lint
  script:
+    - cppcheck --version
    - ./scripts/linter.py --cppcheck src

 format:
  stage: lint
  script:
+    - clang-tidy --version
+    - clang-format --version
    - ./scripts/linter.py --format src

 copyright:
  stage: lint
  script:
+    - /usr/bin/python3 --version
    - ./scripts/linter.py --copyright src

 find:
  stage: lint
  script:
+    - /usr/bin/python3 --version
    - ./scripts/linter.py --find src

+# Stage build
+
+build-debug:
+  stage: build
+  script:
+    - cmake --version
+    - ccache --version
+    - ninja --version
+    - ./sbs build --debug
+
+build-release:
+  stage: build
+  script:
+    - cmake --version
+    - ccache --version
+    - ninja --version
+    - ./sbs build
+
+logdecoder:
+  stage: build
+  script:
+    - g++ --version
+    - cd scripts/logdecoder
+    - make
+
+# Stage test
+
+test:
+  stage: test
+  script:
+    - ./sbs test
+
 # Stage documentation

-documentation:
+pages:
  stage: documentation
  only:
-    - master
-  tags:
-    - copyright
+    - main
  script:
-    - echo "Generate documentation to https://documentation.skywarder.eu/${CI_PROJECT_NAME}/${CI_COMMIT_REF_NAME}"
-    - rm -rf doc/output
+    - doxygen --version
    - doxygen doc/Doxyfile
-    - rm -rf /srv/code_documentation/${CI_PROJECT_NAME}/${CI_COMMIT_REF_NAME}
-    - mkdir -p /srv/code_documentation/${CI_PROJECT_NAME}/
-    - mv doc/output/html /srv/code_documentation/${CI_PROJECT_NAME}/${CI_COMMIT_REF_NAME}
+    - mv doc/output/html public
+  artifacts:
+    paths:
+      - public
--- a/.gitmodules
+++ b/.gitmodules
-[submodule "libs/miosix-kernel"]
-	path = libs/miosix-kernel
-	url = ../miosix-kernel.git
-[submodule "libs/tscpp"]
-	path = libs/tscpp
-	url = ../third-party/tscpp.git
-[submodule "libs/mavlink_skyward_lib"]
-	path = libs/mavlink_skyward_lib
-	url = ../mavlink_gs/mavlink_skyward_lib.git
-[submodule "libs/eigen"]
+[submodule "Catch2"]
+	path = libs/Catch2
+	url = https://git.skywarder.eu/avn/swd/third-party/Catch2.git
+[submodule "Eigen"]
 	path = libs/eigen
-	url = ../third-party/eigen.git
-[submodule "libs/mxgui"]
-	path = libs/mxgui
-	url = ../third-party/mxgui.git
-[submodule "libs/fmt"]
+	url = https://git.skywarder.eu/avn/swd/third-party/eigen.git
+[submodule "Modern formatting library"]
 	path = libs/fmt
-	url = ../third-party/fmt.git
-[submodule "libs/Catch2"]
-	path = libs/Catch2
-	url = ../third-party/Catch2.git
-[submodule "libs/miosix-host"]
+	url = https://git.skywarder.eu/avn/swd/third-party/fmt.git
+[submodule "MAVLink Skyward library"]
+	path = libs/mavlink-skyward-lib
+	url = https://git.skywarder.eu/avn/swd/mavlink/mavlink-skyward-lib
+[submodule "Miosix Host"]
 	path = libs/miosix-host
-	url = ../miosix-host.git
+	url = https://git.skywarder.eu/avn/swd/miosix-host.git
+[submodule "Miosix Kernel"]
+	path = libs/miosix-kernel
+	url = https://git.skywarder.eu/avn/swd/miosix-kernel.git
+[submodule "Miosix GUI library"]
+	path = libs/mxgui
+	url = https://git.skywarder.eu/avn/swd/third-party/mxgui.git
+[submodule "Trivial serialization for C++"]
+	path = libs/tscpp
+	url = https://git.skywarder.eu/avn/swd/third-party/tscpp.git
--- 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$/libs/tscpp" vcs="Git" />
-  </component>
-</project>
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -3,7 +3,7 @@
    "configurations": [
        {
            "cwd": "${workspaceRoot}",
-            "executable": "${workspaceFolder}/bin/${fileBasenameNoExtension}/${fileBasenameNoExtension}.elf",
+            "executable": "${workspaceFolder}/build/${fileBasenameNoExtension}",
            "name": "ST-LINK V2 (current entrypoint)",
            "request": "attach",
            "type": "cortex-debug",
@@ -17,7 +17,22 @@
        },
        {
            "cwd": "${workspaceRoot}",
-            "executable": "${workspaceFolder}/bin/${fileBasenameNoExtension}/${fileBasenameNoExtension}.elf",
+            "executable": "${workspaceFolder}/build/${fileBasenameNoExtension}",
+            "name": "F756",
+            "request": "attach",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "device": "STM32F756ZG",
+            "svdFile": "${workspaceFolder}/data/gdb/stm32f750.svd",
+            "armToolchainPath": "/opt/arm-miosix-eabi/bin",
+            "toolchainPrefix": "arm-miosix-eabi",
+            "configFiles": [
+                "${workspaceFolder}/data/gdb/stm32f7-stlinv2.cfg"
+            ]
+        },
+        {
+            "cwd": "${workspaceRoot}",
+            "executable": "${workspaceFolder}/build/${fileBasenameNoExtension}",
            "name": "ST-LINK V1 (current entrypoint)",
            "request": "attach",
            "type": "cortex-debug",

--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -98,11 +98,242 @@
                "valarray": "cpp",
                "ranges": "cpp",
                "compare": "cpp",
-        "concepts": "cpp"
+                "concepts": "cpp",
+                "core": "cpp",
+                "iterativelinearsolvers": "cpp",
+                "pastixsupport": "cpp",
+                "superlusupport": "cpp",
+                "adolcforward": "cpp",
+                "alignedvector3": "cpp",
+                "bvh": "cpp",
+                "fft": "cpp",
+                "iterativesolvers": "cpp",
+                "mprealsupport": "cpp",
+                "matrixfunctions": "cpp",
+                "nonlinearoptimization": "cpp",
+                "openglsupport": "cpp",
+                "polynomials": "cpp",
+                "autodiff": "cpp",
+                "sparseextra": "cpp",
+                "specialfunctions": "cpp"
        },
        "cSpell.words": [
+                "abom",
+                "ADCPRE",
+                "addfilter",
+                "ADON",
+                "aelf",
+                "airbrakes",
+                "Airbrakes",
+                "Alain",
+                "Alessandro",
+                "ALST",
+                "AMSL",
+                "apbclk",
+                "atthr",
+                "AVDD",
+                "awum",
+                "Baro",
+                "bittiming",
+                "boardcore",
+                "Boardcorev",
+                "boudrate",
+                "Canbus",
+                "canprotocol",
+                "Carlucci",
+                "CCMDATAR",
+                "CCMDATARAMEN",
+                "compid",
+                "Corigliano",
+                "CORTEXM",
+                "CPHA",
+                "cpitch",
+                "cppcheck",
+                "croll",
+                "cwise",
+                "cyaw",
+                "DATABUS",
+                "datasheet",
+                "Davide",
+                "deleteme",
+                "DMEIE",
+                "Doxyfile",
+                "doxygen",
+                "DRDY",
+                "Duca",
+                "Ecompass",
+                "Eigen",
+                "elfs",
+                "Erbetta",
+                "Fatt",
+                "Fatttr",
+                "fedetft's",
+                "fiprintf",
+                "FMCEN",
+                "FMPIE",
+                "FOVR",
+                "FRLVL",
+                "FRXTH",
+                "Gatttr",
+                "getdetahstate",
+                "Ghirardini",
+                "Giulia",
+                "GNSS",
                "Gpio",
+                "GPIOA",
                "GPIOB",
-        "miosix"
-    ]
+                "GPIOC",
+                "GPIOD",
+                "GPIOE",
+                "GPIOF",
+                "GPIOG",
+                "GPIOH",
+                "GPIOI",
+                "GPIOJ",
+                "GPIOK",
+                "GPIOS",
+                "gpstr",
+                "Hatt",
+                "HCLK",
+                "HIFCR",
+                "HISR",
+                "hppw",
+                "HSCMAND",
+                "HSCMRNN",
+                "HWMAPPING",
+                "IDLEIE",
+                "Impli",
+                "Implii",
+                "INAK",
+                "INRQ",
+                "irqn",
+                "irqv",
+                "JEOC",
+                "JOFR",
+                "JSQR",
+                "JSWSTART",
+                "Kalman",
+                "Katt",
+                "kbps",
+                "LBKM",
+                "ldrex",
+                "leds",
+                "LIFCR",
+                "LISR",
+                "logdecoder",
+                "LSBFIRST",
+                "Luca",
+                "Mandelli",
+                "Matteo",
+                "Mavlink",
+                "mavlinkdriver",
+                "MEKF",
+                "microcontrollers",
+                "Microstep",
+                "Microsteps",
+                "MINC",
+                "miosix",
+                "mkdir",
+                "MODER",
+                "mosfet",
+                "mosi",
+                "MPXHZ",
+                "Musso",
+                "nart",
+                "NATT",
+                "NBAR",
+                "NDTR",
+                "NGPS",
+                "Nidasio",
+                "NJRST",
+                "NMAG",
+                "NMEA",
+                "NMEKF",
+                "nord",
+                "NVIC",
+                "OUTX",
+                "OUTY",
+                "OUTZ",
+                "peripehral",
+                "Piazzolla",
+                "PINC",
+                "Pitot",
+                "Plin",
+                "prescaler",
+                "PUPDR",
+                "Qgbw",
+                "Qget",
+                "Qhandle",
+                "Qput",
+                "Qwait",
+                "Qwakeup",
+                "RDHR",
+                "RDLR",
+                "RDTR",
+                "rflm",
+                "RFOM",
+                "Riccardo",
+                "RQCP",
+                "RXCRCR",
+                "Rssi",
+                "RXIRQ",
+                "RXNE",
+                "RXNEIE",
+                "sats",
+                "Satt",
+                "SDCLK",
+                "SDCR",
+                "sdio",
+                "SDRAM",
+                "smpr",
+                "SMPR",
+                "spitch",
+                "sqdip",
+                "sqtrp",
+                "sroll",
+                "SSCDANN",
+                "SSCDRRN",
+                "stof",
+                "SWSTART",
+                "syaw",
+                "taskscheduler",
+                "TCIE",
+                "TCIF",
+                "TDHR",
+                "TDLR",
+                "TDTR",
+                "TEIE",
+                "Terraneo",
+                "testsuite",
+                "THID",
+                "TMEIE",
+                "tparam",
+                "TSCPP",
+                "TSVREFE",
+                "Tweakable",
+                "TXCRCR",
+                "txfp",
+                "TXIRQ",
+                "TXOK",
+                "TXRQ",
+                "Ublox",
+                "UBXACK",
+                "UBXGPS",
+                "UBXNAV",
+                "Unsync",
+                "upcounter",
+                "USART",
+                "vbat",
+                "VBATE",
+                "velnord",
+                "vout",
+                "vsense",
+                "WSPI",
+                "Xbee",
+                "xnord",
+                "yned",
+                "Zyxda"
+        ],
+        "cSpell.language": "en",
+        "cSpell.enabled": true
 }
\ No newline at end of file
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
--- a/README.md
+++ b/README.md
-![alt text](https://avatars2.githubusercontent.com/u/8077370?s=200&v=4)
+<div align="center">
+	<img src="https://avatars2.githubusercontent.com/u/8077370?s=200&v=4" alt="Skyward Experimental Rocketry" width="200"></a>
+<h1>Skyward Boardcore</h1>
+<a href="https://git.skywarder.eu/avn/swd/skyward-boardcore/-/pipelines"><img src="https://git.skywarder.eu/avn/swd/skyward-boardcore/badges/main/pipeline.svg"></a>
+</div>

-Skyward Boardcore
-[![pipeline status](https://git.skywarder.eu/scs/skyward-boardcore/badges/master/pipeline.svg)](https://git.skywarder.eu/scs/skyward-boardcore/commits/master)
-------------
+Boardcore is a C++14 rocket software framework targeting custom embedded boards designed by Skyward Experimental Rocketry.

-Boardcore is a framework for developing and building missile software for custom boards with Miosix.
+Boardcore runs on top of [Miosix](https://miosix.org/), a lightweight operating system for microcontrollers. It implements a POSIX-like API, the C standard library and the C++ standard library. It also provides a pre-emptive scheduler (among others) and a custom concurrency API with support for Threads and synchronization primitives.
+A FAT32 filesystem, a serial port driver, platform timers and General Purpose I/O functionalities (GPIO) are also exposed through a custom API.

-[Miosix](https://miosix.org/) is a lightweight OS for embedded developing which provides support for basic things such as Threads, GPIO, Time and many other. You can find our fork of the kernel here: [skyward/miosix-kernel](https://git.skywarder.eu/scs/miosix-kernel)
+We maintain a fork of the Miosix OS to fit our needs: [skyward/miosix-kernel](https://git.skywarder.eu/avn/swd/miosix-kernel)

-Building is made with [SBS](https://git.skywarder.eu/scs/skyward-boardcore/wikis/Skyward-Build-System-(SBS)), which was created to easily compile and reuse code for different boards.
+The project is built with the CMake build system. We also have our own script that is built on top of CMake, to automate compilation and deployment to different hardware targets, [SBS](https://git.skywarder.eu/avn/swd/skyward-boardcore/wikis/Skyward-Build-System-(SBS)).

-### Content
+## Content

-| **src/**     | sources!                                                |
-| ------------ | ------------------------------------------------------- |
-| shared/      | objects, drivers and other stuff written by us          |
-| entrypoints/ | each file here is a 'main'                              |
-| tests/       | contains the 'main' of every test                       |
-| **build/**   | compiled binaries that can be flashed on a target board |
-| **data/**    | configuration (barely used now)                         |
-| **libs/**    | external libs (Miosix kernel as a git submodule)        |
-| **scripts/** | some tools (e.g. script for flashing on the boards)     |
+| Path             | Description                                                 |
+| ---------------- | ----------------------------------------------------------- |
+| src/bsps/		   | Board Support Packages (BSP)                                |
+| src/shared/      | Device drivers and general-purpose classes/utilities        |
+| src/entrypoints/ | Entry points for general tasks (e.g. calibration)           |
+| src/tests/       | Entry points for on-device unit testing                     |
+| build/           | Build output directory                                      |
+| libs/            | External libraries (git submodules)                         |
+| scripts/         | Various tools and utilities (e.g. linting, log decoder)     |

-In the main folder you will find **CMakeLists.txt** which is used to configure the build system.
+## Getting Started

-### Getting Started
+### Dependencies

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

-* CMake
-* Git
-* Miosix Toolchain
+You will also need the following tools for linting and formatting:
+* `Python3`
+* `Cppcheck 2.7`
+* `ClangFormat 18`

-Also, Ccache, Ninja, OpenOCD, Cppcheck, clang-format and pre-commit are recommended for a better experience.
+We also recommend to install `Ccache`, `Ninja`, `OpenOCD`, and `pre-commit` for a smoother development experience.

-#### Cloning the repo
+### Cloning the repo

-Clone this repo with the `--recursive` option.
+Clone the repository with the `--recursive` option:
 ```sh
-git clone --recursive https://git.skywarder.eu/scs/skyward-boardcore.git
+git clone --recursive https://git.skywarder.eu/avn/swd/skyward-boardcore.git
 cd skyward-boardcore
 ```

-### Building
+## Building

-You can build everything using CMake:
+Using the SBS script is the recommended way to build the project. When called with no arguments, it will build all targets:
+```sh
+./sbs
+```
+
+This may take a while depending on how many targets there are. If `ccache` is installed, it will be used to cache intermediate compilation artifacts to speed-up incremental builds.
+
+Alternatively, you can build with CMake commands:
 ```sh
 mkdir build
 cd build
@@ -52,14 +66,11 @@ cmake -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -D
 cmake --build .
 ```

-Or using the SBS wrapper script:
-```sh
-./sbs
-```
+## Documentation

-The build system will start building all the targets (entrypoints and tests). Depending on how many targets there are, this operation may take several minutes.
+The code is documented with Doxygen, check it out [here](http://avn.pages.skywarder.eu/swd/skyward-boardcore).

-### Contributing
+## Contributing

 You can install a pre-commit hook to ensure changes to the code will pass CI:

@@ -67,10 +78,10 @@ You can install a pre-commit hook to ensure changes to the code will pass CI:
 pre-commit install
 ```

-### What's next?
+## What's next?

-In the [Wiki](https://git.skywarder.eu/scs/skyward-boardcore/wikis/home) you will find some first-steps **guides** (configuring the IDE, building a firmware, etc.) as well as the **coding guidelines** and some **best practices** we adopt.
+You can find first-step **guides** in the [Wiki](https://git.skywarder.eu/avn/swd/skyward-boardcore/wikis/home) (configuring the IDE, building examples, etc.) as well our **code guidelines** and **best practices** that we follow.

-If you want to contribute to this repository, please read [Git Workflow](https://git.skywarder.eu/scs/skyward-boardcore/wikis/Git-Workflow).
+If you want to contribute to this repository, please read our [Git Workflow](https://git.skywarder.eu/avn/swd/skyward-boardcore/wikis/Git-Workflow).

-If you just want to start messing around, try [this](https://git.skywarder.eu/scs/skyward-boardcore/wikis/Boardcore-Quick-Start).
+If you want to start messing around with the code, check out the [LED blink guide](https://git.skywarder.eu/avn/swd/skyward-boardcore/-/wikis/LED-Blink).
--- a/cmake/boardcore-host.cmake
+++ b/cmake/boardcore-host.cmake
@@ -19,25 +19,30 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.

-add_library(boardcore-host STATIC EXCLUDE_FROM_ALL
+# Boardcore source files used when compiling for host
+set(BOARDCORE_HOST_SRC
    # Debug
    ${SBS_BASE}/src/shared/utils/Debug.cpp
-    ${SBS_BASE}/src/shared/diagnostic/CpuMeter.cpp
+    ${SBS_BASE}/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
    ${SBS_BASE}/src/shared/diagnostic/PrintLogger.cpp

-    # Radio
-    ${SBS_BASE}/src/shared/radio/Xbee/APIFrameParser.cpp
+    # Actuators
+    ${SBS_BASE}/src/shared/actuators/Servo/Servo.cpp

    # Events
    ${SBS_BASE}/src/shared/events/EventBroker.cpp

+    # Algorithms
+    ${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

-    # Math
-    ${SBS_BASE}/src/shared/math/Matrix.cpp
-    ${SBS_BASE}/src/shared/math/SkyQuaternion.cpp
-    ${SBS_BASE}/src/shared/math/Stats.cpp
+    # Radio
+    ${SBS_BASE}/src/shared/radio/Xbee/APIFrameParser.cpp

    # Scheduler
    ${SBS_BASE}/src/shared/scheduler/TaskScheduler.cpp
@@ -46,22 +51,31 @@ add_library(boardcore-host STATIC EXCLUDE_FROM_ALL
    ${SBS_BASE}/src/shared/sensors/SensorManager.cpp
    ${SBS_BASE}/src/shared/sensors/SensorSampler.cpp

-    # Timer
-    ${SBS_BASE}/src/shared/drivers/timer/TimestampTimer.cpp
+    # Utils
+    ${SBS_BASE}/src/shared/utils/AeroUtils/AeroUtils.cpp
+    ${SBS_BASE}/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
+    ${SBS_BASE}/src/shared/utils/Stats/Stats.cpp
+    ${SBS_BASE}/src/shared/utils/TestUtils/TestHelper.cpp
+    ${SBS_BASE}/src/shared/utils/Registry/RegistryFrontend.cpp
+    ${SBS_BASE}/src/shared/utils/Registry/RegistrySerializer.cpp
+    ${SBS_BASE}/src/shared/utils/DependencyManager/DependencyManager.cpp
+)

-    # AeroUtils
-    ${SBS_BASE}/src/shared/utils/aero/AeroUtils.cpp
+# Create a library specific for host builds
+add_library(boardcore-host STATIC EXCLUDE_FROM_ALL ${BOARDCORE_HOST_SRC})

-    # TestUtils
-    ${SBS_BASE}/src/shared/utils/testutils/TestHelper.cpp
-)
-add_library(SkywardBoardcore::Boardcore-host ALIAS boardcore-host)
-target_include_directories(boardcore-host PUBLIC ${SBS_BASE}/src/shared)
+# Only one include directory for Boardcore!
+target_include_directories(boardcore-host PUBLIC ${BOARDCORE_PATH}/src/shared)
+
+# Link libraries
 target_link_libraries(boardcore-host PUBLIC
-    Miosix::Miosix-host
+    Miosix::Miosix::host
    TSCPP::TSCPP
    Eigen3::Eigen
    fmt::fmt-header-only
    Catch2::Catch2
    Mavlink::Mavlink
 )
+
+# Create a nice alias for the library
+add_library(Skyward::Boardcore::host ALIAS boardcore-host)
\ No newline at end of file
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -19,84 +19,182 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.

-include(dependencies)
+# 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(boardcore-host)
+# Include dependencies and board list
+include(${BOARDCORE_PATH}/cmake/dependencies.cmake)
+include(${BOARDCORE_PATH}/cmake/boardcore-host.cmake)
+include(${BOARDCORE_PATH}/cmake/boards.cmake)
+
+# Boardcore source files
+set(BOARDCORE_SRC
+    # Actuators
+    ${BOARDCORE_PATH}/src/shared/actuators/HBridge/HBridge.cpp
+    ${BOARDCORE_PATH}/src/shared/actuators/Servo/Servo.cpp
+    ${BOARDCORE_PATH}/src/shared/actuators/stepper/Stepper.cpp
+    ${BOARDCORE_PATH}/src/shared/actuators/stepper/StepperPWM.cpp
+
+    # Algorithms
+    ${BOARDCORE_PATH}/src/shared/algorithms/ADA/ADA.cpp
+    ${BOARDCORE_PATH}/src/shared/algorithms/MEA/MEA.cpp
+    ${BOARDCORE_PATH}/src/shared/algorithms/AirBrakes/AirBrakesPI.cpp
+    ${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

-foreach(OPT_BOARD ${BOARDS})
-    set(BOARDCORE_LIBRARY boardcore-${OPT_BOARD})
-    add_library(${BOARDCORE_LIBRARY} STATIC EXCLUDE_FROM_ALL
    # Debug
-        ${SBS_BASE}/src/shared/utils/Debug.cpp
-        ${SBS_BASE}/src/shared/diagnostic/CpuMeter.cpp
-        ${SBS_BASE}/src/shared/diagnostic/PrintLogger.cpp
+    ${BOARDCORE_PATH}/src/shared/utils/Debug.cpp
+    ${BOARDCORE_PATH}/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
+    ${BOARDCORE_PATH}/src/shared/diagnostic/PrintLogger.cpp

    # Drivers
-        ${SBS_BASE}/src/shared/drivers/adc/InternalADC.cpp
-        ${SBS_BASE}/src/shared/drivers/canbus/Canbus.cpp
-        ${SBS_BASE}/src/shared/drivers/canbus/CanInterrupt.cpp
-        ${SBS_BASE}/src/shared/drivers/hbridge/HBridge.cpp
-        ${SBS_BASE}/src/shared/drivers/i2c/stm32f2_f4_i2c.cpp
-        ${SBS_BASE}/src/shared/drivers/interrupt/external_interrupts.cpp
-        ${SBS_BASE}/src/shared/drivers/timer/PWM.cpp
-        ${SBS_BASE}/src/shared/drivers/timer/TimestampTimer.cpp
-        ${SBS_BASE}/src/shared/drivers/runcam/Runcam.cpp
-        ${SBS_BASE}/src/shared/drivers/servo/Servo.cpp
-        ${SBS_BASE}/src/shared/drivers/spi/SPITransaction.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/AD5204/AD5204.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/adc/InternalADC.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/canbus/CanDriver/CanInterrupt.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/dma/DMA.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/dma/DMADefs.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/interrupt/external_interrupts.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/timer/PWM.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/timer/CountedPWM.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/runcam/Runcam.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/spi/SPITransaction.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/usart/USART.cpp
+    ${BOARDCORE_PATH}/src/shared/drivers/i2c/I2CDriver-f4.cpp
+    ${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
-        ${SBS_BASE}/src/shared/events/EventBroker.cpp
+    ${BOARDCORE_PATH}/src/shared/events/EventBroker.cpp

    # Logger
-        ${SBS_BASE}/src/shared/logger/Logger.cpp
-
-        # Math
-        ${SBS_BASE}/src/shared/math/Matrix.cpp
-        ${SBS_BASE}/src/shared/math/SkyQuaternion.cpp
-        ${SBS_BASE}/src/shared/math/Stats.cpp
+    ${BOARDCORE_PATH}/src/shared/logger/Logger.cpp

    # Radio
-        ${SBS_BASE}/src/shared/radio/gamma868/Gamma868.cpp
-        ${SBS_BASE}/src/shared/radio/Xbee/APIFrameParser.cpp
-        ${SBS_BASE}/src/shared/radio/Xbee/Xbee.cpp
-        ${SBS_BASE}/src/shared/radio/SX1278/SX1278.cpp
+    ${BOARDCORE_PATH}/src/shared/radio/gamma868/Gamma868.cpp
+    ${BOARDCORE_PATH}/src/shared/radio/Xbee/APIFrameParser.cpp
+    ${BOARDCORE_PATH}/src/shared/radio/Xbee/Xbee.cpp
+    ${BOARDCORE_PATH}/src/shared/radio/SX1278/SX1278Fsk.cpp
+    ${BOARDCORE_PATH}/src/shared/radio/SX1278/SX1278Lora.cpp
+    ${BOARDCORE_PATH}/src/shared/radio/SX1278/SX1278Common.cpp

    # Scheduler
-        ${SBS_BASE}/src/shared/scheduler/TaskScheduler.cpp
+    ${BOARDCORE_PATH}/src/shared/scheduler/TaskScheduler.cpp

    # Sensors
-        ${SBS_BASE}/src/shared/sensors/ADS1118/ADS1118.cpp
-        ${SBS_BASE}/src/shared/sensors/ADS131M04/ADS131M04.cpp
-        ${SBS_BASE}/src/shared/sensors/ADS131M04/ADS131M04HighFreq.cpp
-        ${SBS_BASE}/src/shared/sensors/BME280/BME280.cpp
-        ${SBS_BASE}/src/shared/sensors/BMP280/BMP280.cpp
-        ${SBS_BASE}/src/shared/sensors/BMX160/BMX160.cpp
-        ${SBS_BASE}/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
-        ${SBS_BASE}/src/shared/sensors/calibration/SensorDataExtra.cpp
-        ${SBS_BASE}/src/shared/sensors/MAX6675/MAX6675.cpp
-        ${SBS_BASE}/src/shared/sensors/MBLoadCell/MBLoadCell.cpp
-        ${SBS_BASE}/src/shared/sensors/MPU9250/MPU9250.cpp
-        ${SBS_BASE}/src/shared/sensors/MS5803/MS5803.cpp
-        ${SBS_BASE}/src/shared/sensors/SensorManager.cpp
-        ${SBS_BASE}/src/shared/sensors/SensorSampler.cpp
-        ${SBS_BASE}/src/shared/sensors/UbloxGPS/UbloxGPS.cpp
-        ${SBS_BASE}/src/shared/sensors/VN100/VN100.cpp
-
-        # AeroUtils
-        ${SBS_BASE}/src/shared/utils/aero/AeroUtils.cpp
-
-        # TestUtils
-        ${SBS_BASE}/src/shared/utils/testutils/TestHelper.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/ADS1118/ADS1118.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/ADS131M04/ADS131M04.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/ADS131M08/ADS131M08.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/BME280/BME280.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/BME280/BME280I2C.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/BMP280/BMP280.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/BMP280/BMP280I2C.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/BMX160/BMX160.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/H3LIS331DL/H3LIS331DL.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/HX711/HX711.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/LIS331HH/LIS331HH.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/LPS331AP/LPS331AP.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/MAX6675/MAX6675.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/MAX31855/MAX31855.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/MAX31856/MAX31856.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/MBLoadCell/MBLoadCell.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/MPU9250/MPU9250.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/MS5803/MS5803.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/MS5803/MS5803I2C.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/RotatedIMU/RotatedIMU.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/SensorManager.cpp
+    ${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/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
+    ${BOARDCORE_PATH}/src/shared/sensors/calibration/SensorDataExtra/SensorDataExtra.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/calibration/SixParameterCalibration/SixParameterCalibration.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.cpp
+
+    # Correction
+    ${BOARDCORE_PATH}/src/shared/sensors/correction/BiasCorrector/BiasCorrector.cpp
+    ${BOARDCORE_PATH}/src/shared/sensors/correction/SixParametersCorrector/SixParametersCorrector.cpp
+
+    # Utils
+    ${BOARDCORE_PATH}/src/shared/utils/AeroUtils/AeroUtils.cpp
+    ${BOARDCORE_PATH}/src/shared/utils/ButtonHandler/ButtonHandler.cpp
+    ${BOARDCORE_PATH}/src/shared/utils/PinObserver/PinObserver.cpp
+    ${BOARDCORE_PATH}/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
+    ${BOARDCORE_PATH}/src/shared/utils/Stats/Stats.cpp
+    ${BOARDCORE_PATH}/src/shared/utils/TestUtils/TestHelper.cpp
+    ${BOARDCORE_PATH}/src/shared/utils/Registry/RegistryFrontend.cpp
+    ${BOARDCORE_PATH}/src/shared/utils/Registry/RegistrySerializer.cpp
+    ${BOARDCORE_PATH}/src/shared/utils/Registry/Backend/FileBackend.cpp
+    ${BOARDCORE_PATH}/src/shared/utils/DependencyManager/DependencyManager.cpp
 )
-    add_library(SkywardBoardcore::Boardcore-${OPT_BOARD} ALIAS ${BOARDCORE_LIBRARY})
-    target_include_directories(${BOARDCORE_LIBRARY} PUBLIC ${SBS_BASE}/src/shared)
-    target_link_libraries(${BOARDCORE_LIBRARY} PUBLIC
-        Miosix::Miosix-${OPT_BOARD}
-        Mxgui::Mxgui-${OPT_BOARD}
+
+# Creates the Skyward::Boardcore::${BOARD_NAME} library
+function(add_boardcore_library BOARD_OPTIONS_FILE)
+    # Get board options
+    include(${BOARD_OPTIONS_FILE})
+
+    # Create a library for the board
+    set(BOARDCORE_LIB boardcore-${BOARD_NAME})
+    add_library(${BOARDCORE_LIB} STATIC EXCLUDE_FROM_ALL ${BOARDCORE_SRC})
+
+    # Only one include directory for Boardcore!
+    target_include_directories(${BOARDCORE_LIB} PUBLIC ${BOARDCORE_PATH}/src/shared)
+
+    # Define DEBUG when in Debug mode
+    target_compile_definitions(${BOARDCORE_LIB} PUBLIC $<$<CONFIG:Debug>:DEBUG>)
+    # Define NDEBUG when not in Debug mode
+    target_compile_definitions(${BOARDCORE_LIB} PUBLIC $<$<NOT:$<CONFIG:Debug>>:NDEBUG>)
+
+    # Link libraries
+    target_link_libraries(${BOARDCORE_LIB} PUBLIC
+        $<TARGET_OBJECTS:Miosix::Boot::${BOARD_NAME}>
+        $<LINK_GROUP:RESCAN,Miosix::Kernel::${BOARD_NAME},stdc++,c,m,gcc,atomic>
        TSCPP::TSCPP
        Eigen3::Eigen
        fmt::fmt-header-only
        Catch2::Catch2
        Mavlink::Mavlink
    )
+
+    # Link MxGui if supported by the target
+    if(DEFINED MXGUI_BASE_BOARD_NAME)
+        target_link_libraries(${BOARDCORE_LIB} PUBLIC MxGui::${MXGUI_BASE_BOARD_NAME})
+    elseif(TARGET MxGui::${BOARD_NAME})
+        target_link_libraries(${BOARDCORE_LIB} PUBLIC MxGui::${BOARD_NAME})
+    endif()
+
+    # Create a nice alias for the library
+    add_library(Skyward::Boardcore::${BOARD_NAME} ALIAS ${BOARDCORE_LIB})
+endfunction()
+
+# Create the Miosix libraries for Boardcore custom boards
+foreach(BOARD_OPTIONS_FILE ${BOARDCORE_BOARDS_OPTIONS_FILES})
+    add_miosix_libraries(${BOARD_OPTIONS_FILE})
+endforeach()
+
+# Create Boardcore library for each board
+foreach(BOARD_OPTIONS_FILE ${MIOSIX_BOARDS_OPTIONS_FILES} ${BOARDCORE_BOARDS_OPTIONS_FILES})
+    add_boardcore_library(${BOARD_OPTIONS_FILE})
 endforeach()
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