Compare revisions

ae96279b · ee4b9a4a · df7ed41f · 97844362 · fccc5465 · 06feb689
--- 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
@@ -21,13 +21,13 @@ STM32F429zi_Discovery.xml
 ._*
 .DS_Store
 build
+build-host
 cmake-build-*
 *.sublime-workspace
 *.sublime-project

 store.json
 **/generated/
-core

 __pycache__
 /scripts/generators/generated

--- 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
@@ -22,75 +22,74 @@
 variables:
  GIT_SUBMODULE_STRATEGY: recursive

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

-# Stage build
-
-release:
-  stage: build
-  tags:
-    - miosix
-  script:
-    - ./sbs
-
-debug:
-  stage: build
-  tags:
-    - miosix
-  script:
-    - ./sbs --debug
-
-logdecoder:
-  stage: build
-  tags:
-    - miosix
-  script:
-    - cd scripts/logdecoder
-    - make
-
-# Stage test
-
-test:
-  stage: test
-  tags:
-    - miosix
-  script:
-    - ./sbs --test catch-tests-boardcore
-
 # Stage lint

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

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

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

 find:
  stage: lint
-  tags:
-    - miosix
  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

 pages:
@@ -98,6 +97,7 @@ pages:
  only:
    - main
  script:
+    - doxygen --version
    - doxygen doc/Doxyfile
    - mv doc/output/html public
  artifacts:

--- 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/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,51 +19,54 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.

-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.25)
 enable_testing()
-include(cmake/sbs.cmake)

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

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

 #-----------------------------------------------------------------------------#
 #                                 Entrypoints                                 #
 #-----------------------------------------------------------------------------#

 add_executable(bmx160-calibration-v2 src/entrypoints/bmx160-calibration-entry.cpp)
-sbs_target(bmx160-calibration-v2 stm32f429zi_skyward_death_stack_x)
+sbs_target(bmx160-calibration-v2 stm32f429zi_death_stack_v2)

 add_executable(bmx160-calibration-v3 src/entrypoints/bmx160-calibration-entry.cpp)
-sbs_target(bmx160-calibration-v3 stm32f429zi_skyward_death_stack_v3)
+sbs_target(bmx160-calibration-v3 stm32f429zi_death_stack_v3)

 add_executable(config-dsgamma src/entrypoints/config-dsgamma.cpp)
 sbs_target(config-dsgamma stm32f429zi_stm32f4discovery)

 add_executable(imu-calibration src/entrypoints/imu-calibration.cpp)
-sbs_target(imu-calibration stm32f429zi_skyward_parafoil)
+sbs_target(imu-calibration stm32f429zi_parafoil)

 add_executable(mxgui-helloworld src/entrypoints/examples/mxgui-helloworld.cpp)
 sbs_target(mxgui-helloworld stm32f429zi_stm32f4discovery)

-add_executable(kernel-testsuite src/entrypoints/kernel-testsuite.cpp)
-sbs_target(kernel-testsuite stm32f767zi_compute_unit)
+add_executable(compute-unit-v2-testsuite src/entrypoints/compute-unit-v2-testsuite.cpp)
+sbs_target(compute-unit-v2-testsuite stm32f767zi_compute_unit_v2_no_xram)
+
+# add_executable(kernel-testsuite src/entrypoints/kernel-testsuite.cpp)
+# sbs_target(kernel-testsuite stm32f767zi_compute_unit)

 add_executable(runcam-settings src/entrypoints/runcam-settings.cpp)
 sbs_target(runcam-settings stm32f407vg_stm32f4discovery)

 add_executable(sdcard-benchmark src/entrypoints/sdcard-benchmark.cpp)
-sbs_target(sdcard-benchmark stm32f429zi_skyward_death_stack_x)
+sbs_target(sdcard-benchmark stm32f429zi_death_stack_v2)

 add_executable(sx1278fsk-ra01-serial src/entrypoints/sx1278-serial.cpp)
 target_compile_definitions(sx1278fsk-ra01-serial PRIVATE SX1278_IS_FSK)
-sbs_target(sx1278fsk-ra01-serial stm32f429zi_skyward_groundstation_v2)
+sbs_target(sx1278fsk-ra01-serial stm32f429zi_nokia)

 add_executable(sx1278lora-ra01-serial src/entrypoints/sx1278-serial.cpp)
 target_compile_definitions(sx1278lora-ra01-serial PRIVATE SX1278_IS_LORA)
-sbs_target(sx1278lora-ra01-serial stm32f429zi_skyward_groundstation_v2)
+sbs_target(sx1278lora-ra01-serial stm32f429zi_nokia)

 add_executable(sx1278fsk-skyward433-serial src/entrypoints/sx1278-serial.cpp)
 target_compile_definitions(sx1278fsk-skyward433-serial PRIVATE SX1278_IS_FSK SX1278_IS_SKYWARD433)
@@ -71,11 +74,11 @@ sbs_target(sx1278fsk-skyward433-serial stm32f767zi_gemini_gs)

 add_executable(sx1278lora-skyward433-serial src/entrypoints/sx1278-serial.cpp)
 target_compile_definitions(sx1278lora-skyward433-serial PRIVATE SX1278_IS_LORA SX1278_IS_SKYWARD433)
-sbs_target(sx1278lora-skyward433-serial stm32f429zi_skyward_groundstation_v2)
+sbs_target(sx1278lora-skyward433-serial stm32f429zi_nokia)

 add_executable(sx1278fsk-ebyterig-serial src/entrypoints/sx1278-serial.cpp)
 target_compile_definitions(sx1278fsk-ebyterig-serial PRIVATE SX1278_IS_FSK)
-sbs_target(sx1278fsk-ebyterig-serial stm32f429zi_skyward_rig)
+sbs_target(sx1278fsk-ebyterig-serial stm32f429zi_rig)

 #-----------------------------------------------------------------------------#
 #                                    Tests                                    #
@@ -103,10 +106,10 @@ add_executable(test-rtc src/tests/test-rtc.cpp)
 sbs_target(test-rtc stm32f767zi_compute_unit)

 add_executable(test-sensormanager src/tests/test-sensormanager.cpp)
-sbs_target(test-sensormanager stm32f429zi_skyward_death_stack_x)
+sbs_target(test-sensormanager stm32f429zi_death_stack_v2)

 add_executable(test-serial src/tests/test-serial.cpp)
-sbs_target(test-serial stm32f756zg_nucleo)
+sbs_target(test-serial stm32f767zi_lyra_biscotto)

 add_executable(test-taskscheduler src/tests/scheduler/test-taskscheduler.cpp)
 sbs_target(test-taskscheduler stm32f407vg_stm32f4discovery)
@@ -114,26 +117,38 @@ sbs_target(test-taskscheduler stm32f407vg_stm32f4discovery)
 add_executable(test-trace-logger src/tests/test-trace-logger.cpp)
 sbs_target(test-trace-logger stm32f429zi_stm32f4discovery)

+add_executable(test-hil 
+    src/tests/hil/test-hil.cpp 
+    src/tests/hil/Sensors/Sensors.cpp 
+)
+sbs_target(test-hil stm32f767zi_death_stack_v4)
+
 #-----------------------------------------------------------------------------#
 #                                Tests - Catch                                #
 #-----------------------------------------------------------------------------#

 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
    src/tests/catch/test-circularbuffer.cpp
    src/tests/catch/test-eventbroker.cpp
-    src/tests/catch/test-timestamptimer.cpp
+    src/tests/catch/test-gptimer.cpp
    src/tests/catch/test-kalman.cpp
+    src/tests/catch/test-numeric.cpp
    src/tests/catch/test-packetqueue.cpp
    src/tests/catch/test-sensormanager-catch.cpp
    src/tests/catch/xbee/test-xbee-parser.cpp
    src/tests/catch/test-modulemanager.cpp
+    src/tests/catch/test-dependencymanager.cpp
    src/tests/catch/test-MEA.cpp
    src/tests/catch/test-airbrakesInterp.cpp
    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)
@@ -149,8 +164,8 @@ sbs_target(test-hbridge stm32f429zi_stm32f4discovery)
 add_executable(test-servo src/tests/actuators/test-servo.cpp)
 sbs_target(test-servo stm32f429zi_stm32f4discovery)

-add_executable(test-buzzer src/tests/actuators/test-buzzer.cpp)
-sbs_target(test-buzzer stm32f429zi_hre_test_stand)
+# add_executable(test-buzzer src/tests/actuators/test-buzzer.cpp)
+# sbs_target(test-buzzer stm32f429zi_hre_test_stand)

 add_executable(test-stepper src/tests/actuators/test-stepper.cpp)
 sbs_target(test-stepper stm32f767zi_nucleo)
@@ -166,28 +181,28 @@ add_executable(test-kalman-benchmark src/tests/algorithms/Kalman/test-kalman-ben
 sbs_target(test-kalman-benchmark stm32f429zi_stm32f4discovery)

 add_executable(test-attitude-parafoil src/tests/algorithms/NAS/test-attitude-parafoil.cpp)
-sbs_target(test-attitude-parafoil stm32f429zi_skyward_parafoil)
+sbs_target(test-attitude-parafoil stm32f429zi_parafoil)

 add_executable(test-attitude-stack src/tests/algorithms/NAS/test-attitude-stack.cpp)
-sbs_target(test-attitude-stack stm32f429zi_skyward_death_stack_x)
+sbs_target(test-attitude-stack stm32f429zi_death_stack_v2)

 add_executable(test-nas-parafoil src/tests/algorithms/NAS/test-nas-parafoil.cpp)
-sbs_target(test-nas-parafoil stm32f429zi_skyward_parafoil)
+sbs_target(test-nas-parafoil stm32f429zi_parafoil)

 add_executable(test-nas src/tests/algorithms/NAS/test-nas.cpp)
-sbs_target(test-nas stm32f429zi_skyward_death_stack_v3)
+sbs_target(test-nas stm32f429zi_death_stack_v3)

 add_executable(test-nas-with-triad src/tests/algorithms/NAS/test-nas-with-triad.cpp)
-sbs_target(test-nas-with-triad stm32f429zi_skyward_death_stack_x)
+sbs_target(test-nas-with-triad stm32f429zi_death_stack_v2)

 add_executable(test-triad src/tests/algorithms/NAS/test-triad.cpp)
-sbs_target(test-triad stm32f429zi_skyward_death_stack_v3)
+sbs_target(test-triad stm32f429zi_death_stack_v3)

 add_executable(test-triad-parafoil src/tests/algorithms/NAS/test-triad-parafoil.cpp)
-sbs_target(test-triad-parafoil stm32f429zi_skyward_parafoil)
+sbs_target(test-triad-parafoil stm32f429zi_parafoil)

 add_executable(test-ada src/tests/algorithms/ADA/test-ada.cpp)
-sbs_target(test-ada stm32f429zi_skyward_death_stack_v3)
+sbs_target(test-ada stm32f429zi_death_stack_v3)

 #-----------------------------------------------------------------------------#
 #                               Tests - Boards                                #
@@ -204,19 +219,19 @@ sbs_target(test-qspi-flash stm32f767zi_compute_unit)
 #-----------------------------------------------------------------------------#

 add_executable(test-ad5204 src/tests/drivers/test-ad5204.cpp)
-sbs_target(test-ad5204 stm32f205rc_skyward_ciuti)
+sbs_target(test-ad5204 stm32f205rc_ciuti)

 add_executable(test-can-2way src/tests/drivers/canbus/CanDriver/test-can-2way.cpp)
-sbs_target(test-can-2way stm32f429zi_skyward_pyxis_auxiliary)
+sbs_target(test-can-2way stm32f429zi_pyxis_auxiliary)

 add_executable(test-can-filters src/tests/drivers/canbus/CanDriver/test-can-filters.cpp)
-sbs_target(test-can-filters stm32f429zi_skyward_pyxis_auxiliary)
+sbs_target(test-can-filters stm32f429zi_pyxis_auxiliary)

 add_executable(test-can-loopback src/tests/drivers/canbus/CanDriver/test-can-loopback.cpp)
-sbs_target(test-can-loopback stm32f429zi_skyward_death_stack_x)
+sbs_target(test-can-loopback stm32f429zi_death_stack_v2)

 add_executable(test-can-protocol src/tests/drivers/canbus/CanProtocol/test-can-protocol.cpp)
-sbs_target(test-can-protocol stm32f429zi_skyward_death_stack_x)
+sbs_target(test-can-protocol stm32f429zi_death_stack_v2)

 add_executable(test-dsgamma src/tests/drivers/test-dsgamma.cpp)
 sbs_target(test-dsgamma stm32f429zi_stm32f4discovery)
@@ -249,7 +264,7 @@ add_executable(test-timestamptimer src/tests/drivers/timer/test-timestamptimer.c
 sbs_target(test-timestamptimer stm32f429zi_stm32f4discovery)

 add_executable(test-xbee-bidir src/tests/drivers/xbee/test-xbee-bidir.cpp)
-sbs_target(test-xbee-bidir stm32f429zi_skyward_death_stack_x)
+sbs_target(test-xbee-bidir stm32f429zi_death_stack_v2)

 add_executable(test-xbee-gui
    src/tests/drivers/xbee/test-xbee-gui.cpp
@@ -284,6 +299,12 @@ sbs_target(test-i2c-f7 stm32f767zi_nucleo)
 add_executable(test-wiz5500 src/tests/drivers/test-wiz5500.cpp)
 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                                #
 #-----------------------------------------------------------------------------#
@@ -296,59 +317,59 @@ sbs_target(test-fsm stm32f429zi_stm32f4discovery)
 #-----------------------------------------------------------------------------#

 add_executable(test-sx1278fsk-bidir src/tests/radio/sx1278/fsk/test-sx1278-bidir.cpp)
-sbs_target(test-sx1278fsk-bidir stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278fsk-bidir stm32f429zi_nokia)

 add_executable(test-sx1278fsk-tx src/tests/radio/sx1278/test-sx1278-bench-serial.cpp)
 target_compile_definitions(test-sx1278fsk-tx PRIVATE DISABLE_RX)
-sbs_target(test-sx1278fsk-tx stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278fsk-tx stm32f429zi_nokia)

 add_executable(test-sx1278fsk-rx src/tests/radio/sx1278/test-sx1278-bench-serial.cpp)
 target_compile_definitions(test-sx1278fsk-rx PRIVATE DISABLE_TX)
-sbs_target(test-sx1278fsk-rx stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278fsk-rx stm32f429zi_nokia)

 add_executable(test-sx1278fsk-gui-tx src/tests/radio/sx1278/test-sx1278-bench-gui.cpp)
 target_compile_definitions(test-sx1278fsk-gui-tx PRIVATE DISABLE_RX)
-sbs_target(test-sx1278fsk-gui-tx stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278fsk-gui-tx stm32f429zi_nokia)

 add_executable(test-sx1278fsk-gui-rx src/tests/radio/sx1278/test-sx1278-bench-gui.cpp)
 target_compile_definitions(test-sx1278fsk-gui-rx PRIVATE DISABLE_TX)
-sbs_target(test-sx1278fsk-gui-rx stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278fsk-gui-rx stm32f429zi_nokia)

 add_executable(test-sx1278fsk-mavlink src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp)
-sbs_target(test-sx1278fsk-mavlink stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278fsk-mavlink stm32f429zi_nokia)

 # add_executable(test-mavlinkdriver src/tests/radio/test-mavlinkdriver.cpp)
 # sbs_target(test-mavlinkdriver stm32f407vg_stm32f4discovery)

 add_executable(test-sx1278lora-bidir src/tests/radio/sx1278/lora/test-sx1278-bidir.cpp)
-sbs_target(test-sx1278lora-bidir stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278lora-bidir stm32f429zi_nokia)

 add_executable(test-sx1278lora-mavlink src/tests/radio/sx1278/lora/test-sx1278-mavlink.cpp)
-sbs_target(test-sx1278lora-mavlink stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278lora-mavlink stm32f429zi_nokia)

 add_executable(test-sx1278lora-simple-rx src/tests/radio/sx1278/lora/test-sx1278-simple.cpp)
 target_compile_definitions(test-sx1278lora-simple-rx PRIVATE ENABLE_RX)
-sbs_target(test-sx1278lora-simple-rx stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278lora-simple-rx stm32f429zi_nokia)

 add_executable(test-sx1278lora-simple-tx src/tests/radio/sx1278/lora/test-sx1278-simple.cpp)
 target_compile_definitions(test-sx1278lora-simple-tx PRIVATE ENABLE_TX)
-sbs_target(test-sx1278lora-simple-tx stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278lora-simple-tx stm32f429zi_nokia)

 add_executable(test-sx1278lora-tx src/tests/radio/sx1278/test-sx1278-bench-serial.cpp)
 target_compile_definitions(test-sx1278lora-tx PRIVATE DISABLE_RX SX1278_IS_LORA)
-sbs_target(test-sx1278lora-tx stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278lora-tx stm32f429zi_nokia)

 add_executable(test-sx1278lora-rx src/tests/radio/sx1278/test-sx1278-bench-serial.cpp)
 target_compile_definitions(test-sx1278lora-rx PRIVATE DISABLE_TX SX1278_IS_LORA)
-sbs_target(test-sx1278lora-rx stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278lora-rx stm32f429zi_nokia)

 add_executable(test-sx1278lora-gui-rx src/tests/radio/sx1278/test-sx1278-bench-gui.cpp)
 target_compile_definitions(test-sx1278lora-gui-rx PRIVATE DISABLE_TX SX1278_IS_LORA)
-sbs_target(test-sx1278lora-gui-rx stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278lora-gui-rx stm32f429zi_nokia)

 add_executable(test-sx1278lora-gui-tx src/tests/radio/sx1278/test-sx1278-bench-gui.cpp)
 target_compile_definitions(test-sx1278lora-gui-tx PRIVATE DISABLE_RX SX1278_IS_LORA)
-sbs_target(test-sx1278lora-gui-tx stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278lora-gui-tx stm32f429zi_nokia)

 #-----------------------------------------------------------------------------#
 #                               Tests - Sensors                               #
@@ -358,7 +379,7 @@ add_executable(test-ads1118 src/tests/sensors/test-ads1118.cpp)
 sbs_target(test-ads1118 stm32f407vg_stm32f4discovery)

 add_executable(test-ads131m04 src/tests/sensors/test-ads131m04.cpp)
-sbs_target(test-ads131m04 stm32f429zi_skyward_death_stack_v3)
+sbs_target(test-ads131m04 stm32f429zi_death_stack_v3)

 add_executable(test-ads131m08 src/tests/sensors/test-ads131m08.cpp)
 sbs_target(test-ads131m08 stm32f767zi_compute_unit)
@@ -391,10 +412,10 @@ add_executable(test-bmp280-i2c src/tests/sensors/test-bmp280-i2c.cpp)
 sbs_target(test-bmp280-i2c stm32f429zi_stm32f4discovery)

 add_executable(test-bmx160 src/tests/sensors/test-bmx160.cpp)
-sbs_target(test-bmx160 stm32f429zi_skyward_death_stack_x)
+sbs_target(test-bmx160 stm32f429zi_death_stack_v2)

 add_executable(test-bmx160-with-correction src/tests/sensors/test-bmx160-with-correction.cpp)
-sbs_target(test-bmx160-with-correction stm32f429zi_skyward_death_stack_x)
+sbs_target(test-bmx160-with-correction stm32f429zi_death_stack_v2)

 add_executable(test-hx711 src/tests/sensors/test-hx711.cpp)
 sbs_target(test-hx711 stm32f429zi_stm32f4discovery)
@@ -409,10 +430,10 @@ add_executable(test-lis3dsh src/tests/sensors/test-lis3dsh.cpp)
 sbs_target(test-lis3dsh stm32f407vg_stm32f4discovery)

 add_executable(test-lis3mdl src/tests/sensors/test-lis3mdl.cpp)
-sbs_target(test-lis3mdl stm32f429zi_skyward_death_stack_x)
+sbs_target(test-lis3mdl stm32f429zi_death_stack_v2)

 add_executable(test-lis331hh src/tests/sensors/test-lis331hh.cpp)
-sbs_target(test-lis331hh stm32f205rc_skyward_ciuti)
+sbs_target(test-lis331hh stm32f205rc_ciuti)

 add_executable(test-lps331ap src/tests/sensors/test-lps331ap.cpp)
 sbs_target(test-lps331ap stm32f429zi_stm32f4discovery)
@@ -427,22 +448,29 @@ add_executable(test-max31856 src/tests/sensors/test-max31856.cpp)
 sbs_target(test-max31856 stm32f767zi_compute_unit)

 add_executable(test-mpu9250 src/tests/sensors/test-mpu9250.cpp)
-sbs_target(test-mpu9250 stm32f429zi_skyward_parafoil)
+sbs_target(test-mpu9250 stm32f429zi_parafoil)

 add_executable(test-ms5803-spi src/tests/sensors/test-ms5803-spi.cpp)
-sbs_target(test-ms5803-spi stm32f429zi_skyward_death_stack_x)
+sbs_target(test-ms5803-spi stm32f429zi_death_stack_v2)

 add_executable(test-ms5803-i2c src/tests/sensors/test-ms5803-i2c.cpp)
 sbs_target(test-ms5803-i2c stm32f429zi_stm32f4discovery)

 add_executable(test-ubxgps-serial src/tests/sensors/test-ubxgps-serial.cpp)
-sbs_target(test-ubxgps-serial stm32f429zi_skyward_death_stack_x)
+sbs_target(test-ubxgps-serial stm32f429zi_death_stack_v2)

 add_executable(test-ubxgps-spi src/tests/sensors/test-ubxgps-spi.cpp)
-sbs_target(test-ubxgps-spi stm32f429zi_skyward_death_stack_x)
+sbs_target(test-ubxgps-spi stm32f429zi_death_stack_v2)
+
+add_executable(test-vn100-serial src/tests/sensors/test-vn100-serial.cpp)
+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-vn100 src/tests/sensors/test-vn100.cpp)
-sbs_target(test-vn100 stm32f407vg_stm32f4discovery)

 add_executable(test-lis2mdl src/tests/sensors/test-lis2mdl.cpp)
 sbs_target(test-lis2mdl stm32f429zi_stm32f4discovery)
@@ -459,6 +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
 <div align="center">
-	<img src="https://avatars2.githubusercontent.com/u/8077370?s=200&v=4" alt="Skyward" width="200"></a>
-<h2>Skyward Boardcore</h2>
+	<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>

-Boardcore is a framework for developing and building rockets software for custom boards with Miosix.
+Boardcore is a C++14 rocket software framework targeting custom embedded boards designed by Skyward Experimental Rocketry.

-[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/avn/swd/miosix-kernel)
+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.

-Building is made with [SBS](https://git.skywarder.eu/avn/swd/skyward-boardcore/wikis/Skyward-Build-System-(SBS)), which was created to easily compile and reuse code for different boards.
+We maintain a fork of the Miosix OS to fit our needs: [skyward/miosix-kernel](https://git.skywarder.eu/avn/swd/miosix-kernel)
+
+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

 | Path             | Description                                                 |
 | ---------------- | ----------------------------------------------------------- |
-| src/shared/      | Objects, drivers and other stuff written by us              |
-| src/entrypoints/ | Each file here is a 'main'                                  |
-| src/tests/       | Contains the 'main' of every test                           |
-| build/           | Compiled binaries that can be flashed on a target board     |
-| libs/            | External libs (Miosix kernel and others as a git submodule) |
-| scripts/         | Some tools (e.g. script for flashing on the boards)         |
-
-In the main folder you will find **CMakeLists.txt** which is used to configure the build system.
+| 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)     |

 ## Getting Started

 ### Dependencies

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

-Clone this repo with the `--recursive` option.
+Clone the repository with the `--recursive` option:
 ```sh
 git clone --recursive https://git.skywarder.eu/avn/swd/skyward-boardcore.git
 cd skyward-boardcore
@@ -43,14 +51,14 @@ cd skyward-boardcore

 ## Building

-You can build everything using the SBS script:
+Using the SBS script is the recommended way to build the project. When called with no arguments, it will build all targets:
 ```sh
 ./sbs
 ```

-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. If you installed ccache, subsequent runs will be much faster.
+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.

-Or you can use directly CMake:
+Alternatively, you can build with CMake commands:
 ```sh
 mkdir build
 cd build
@@ -60,7 +68,7 @@ cmake --build .

 ## Documentation

-The code is documented with Doxygen, check it [here](http://avn.pages.skywarder.eu/swd/skyward-boardcore).
+The code is documented with Doxygen, check it out [here](http://avn.pages.skywarder.eu/swd/skyward-boardcore).

 ## Contributing

@@ -72,8 +80,8 @@ pre-commit install

 ## What's next?

-In the [Wiki](https://git.skywarder.eu/avn/swd/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/avn/swd/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/avn/swd/skyward-boardcore/-/wikis/LED-Blink).
+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
@@ -19,7 +19,8 @@
 # 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/CpuMeter.cpp
@@ -28,16 +29,14 @@ add_library(boardcore-host STATIC EXCLUDE_FROM_ALL
    # Actuators
    ${SBS_BASE}/src/shared/actuators/Servo/Servo.cpp

-    # Drivers
-    ${SBS_BASE}/src/shared/drivers/timer/TimestampTimer.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/AirBrakes/AirBrakes.cpp
+    ${SBS_BASE}/src/shared/algorithms/Propagator/Propagator.cpp

    # Logger
    ${SBS_BASE}/src/shared/logger/Logger.cpp
@@ -57,9 +56,18 @@ add_library(boardcore-host STATIC EXCLUDE_FROM_ALL
    ${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
 )
-add_library(SkywardBoardcore::Boardcore::host ALIAS boardcore-host)
-target_include_directories(boardcore-host PUBLIC ${SBS_BASE}/src/shared)
+
+# Create a library specific for host builds
+add_library(boardcore-host STATIC EXCLUDE_FROM_ALL ${BOARDCORE_HOST_SRC})
+
+# 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
    TSCPP::TSCPP
@@ -68,3 +76,6 @@ target_link_libraries(boardcore-host PUBLIC
    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
@@ -19,123 +19,156 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.

-include(dependencies)
-
-include(boardcore-host)
-
-foreach(OPT_BOARD ${BOARDS})
-    set(BOARDCORE_LIBRARY boardcore-${OPT_BOARD})
-    add_library(${BOARDCORE_LIBRARY} STATIC EXCLUDE_FROM_ALL
-
-        # Actuators
-        ${SBS_BASE}/src/shared/actuators/HBridge/HBridge.cpp
-        ${SBS_BASE}/src/shared/actuators/Servo/Servo.cpp
-        ${SBS_BASE}/src/shared/actuators/stepper/Stepper.cpp
-        ${SBS_BASE}/src/shared/actuators/stepper/StepperPWM.cpp
-
-        # Algorithms
-        ${SBS_BASE}/src/shared/algorithms/ADA/ADA.cpp
-        ${SBS_BASE}/src/shared/algorithms/MEA/MEA.cpp
-        ${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakes.cpp
-        ${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakesPI.cpp
-        ${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
-        ${SBS_BASE}/src/shared/algorithms/NAS/NAS.cpp
-        ${SBS_BASE}/src/shared/algorithms/NAS/StateInitializer.cpp
-
-        # Debug
-        ${SBS_BASE}/src/shared/utils/Debug.cpp
-        ${SBS_BASE}/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
-        ${SBS_BASE}/src/shared/diagnostic/PrintLogger.cpp
-
-        # Drivers
-        ${SBS_BASE}/src/shared/drivers/AD5204/AD5204.cpp
-        ${SBS_BASE}/src/shared/drivers/adc/InternalADC.cpp
-        ${SBS_BASE}/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
-        ${SBS_BASE}/src/shared/drivers/canbus/CanDriver/CanInterrupt.cpp
-        ${SBS_BASE}/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
-        ${SBS_BASE}/src/shared/drivers/interrupt/external_interrupts.cpp
-        ${SBS_BASE}/src/shared/drivers/timer/PWM.cpp
-        ${SBS_BASE}/src/shared/drivers/timer/CountedPWM.cpp
-        ${SBS_BASE}/src/shared/drivers/timer/TimestampTimer.cpp
-        ${SBS_BASE}/src/shared/drivers/runcam/Runcam.cpp
-        ${SBS_BASE}/src/shared/drivers/spi/SPITransaction.cpp
-        ${SBS_BASE}/src/shared/drivers/usart/USART.cpp
-        ${SBS_BASE}/src/shared/drivers/i2c/I2CDriver-f4.cpp
-        ${SBS_BASE}/src/shared/drivers/i2c/I2CDriver-f7.cpp
-        ${SBS_BASE}/src/shared/drivers/i2c/I2C.cpp
-        ${SBS_BASE}/src/shared/drivers/WIZ5500/WIZ5500.cpp
-
-        # Events
-        ${SBS_BASE}/src/shared/events/EventBroker.cpp
-
-        # Logger
-        ${SBS_BASE}/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/SX1278Fsk.cpp
-        ${SBS_BASE}/src/shared/radio/SX1278/SX1278Lora.cpp
-        ${SBS_BASE}/src/shared/radio/SX1278/SX1278Common.cpp
-
-        # Scheduler
-        ${SBS_BASE}/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/ADS131M08/ADS131M08.cpp
-        ${SBS_BASE}/src/shared/sensors/BME280/BME280.cpp
-        ${SBS_BASE}/src/shared/sensors/BME280/BME280I2C.cpp
-        ${SBS_BASE}/src/shared/sensors/BMP280/BMP280.cpp
-        ${SBS_BASE}/src/shared/sensors/BMP280/BMP280I2C.cpp
-        ${SBS_BASE}/src/shared/sensors/BMX160/BMX160.cpp
-        ${SBS_BASE}/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
-        ${SBS_BASE}/src/shared/sensors/H3LIS331DL/H3LIS331DL.cpp
-        ${SBS_BASE}/src/shared/sensors/HX711/HX711.cpp
-        ${SBS_BASE}/src/shared/sensors/LIS3MDL/LIS3MDL.cpp
-        ${SBS_BASE}/src/shared/sensors/LIS331HH/LIS331HH.cpp
-        ${SBS_BASE}/src/shared/sensors/LPS331AP/LPS331AP.cpp
-        ${SBS_BASE}/src/shared/sensors/MAX6675/MAX6675.cpp
-        ${SBS_BASE}/src/shared/sensors/MAX31855/MAX31855.cpp
-        ${SBS_BASE}/src/shared/sensors/MAX31856/MAX31856.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/MS5803/MS5803I2C.cpp
-        ${SBS_BASE}/src/shared/sensors/SensorManager.cpp
-        ${SBS_BASE}/src/shared/sensors/SensorSampler.cpp
-        ${SBS_BASE}/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
-        ${SBS_BASE}/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
-        ${SBS_BASE}/src/shared/sensors/VN100/VN100.cpp
-        ${SBS_BASE}/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
-        ${SBS_BASE}/src/shared/sensors/LPS28DFW/LPS28DFW.cpp
-        ${SBS_BASE}/src/shared/sensors/LPS22DF/LPS22DF.cpp
-        ${SBS_BASE}/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp
-
-        # Calibration
-        ${SBS_BASE}/src/shared/sensors/calibration/BiasCalibration/BiasCalibration.cpp
-        ${SBS_BASE}/src/shared/sensors/calibration/SensorDataExtra/SensorDataExtra.cpp
-        ${SBS_BASE}/src/shared/sensors/calibration/SixParameterCalibration/SixParameterCalibration.cpp
-        ${SBS_BASE}/src/shared/sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.cpp
-
-        # Correction
-        ${SBS_BASE}/src/shared/sensors/correction/BiasCorrector/BiasCorrector.cpp
-        ${SBS_BASE}/src/shared/sensors/correction/SixParametersCorrector/SixParametersCorrector.cpp
-
-        # Utils
-        ${SBS_BASE}/src/shared/utils/AeroUtils/AeroUtils.cpp
-        ${SBS_BASE}/src/shared/utils/ButtonHandler/ButtonHandler.cpp
-        ${SBS_BASE}/src/shared/utils/PinObserver/PinObserver.cpp
-        ${SBS_BASE}/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
-        ${SBS_BASE}/src/shared/utils/Stats/Stats.cpp
-        ${SBS_BASE}/src/shared/utils/TestUtils/TestHelper.cpp
-    )
-    add_library(SkywardBoardcore::Boardcore::${OPT_BOARD} ALIAS ${BOARDCORE_LIBRARY})
-    target_include_directories(${BOARDCORE_LIBRARY} PUBLIC ${SBS_BASE}/src/shared)
-    target_link_libraries(${BOARDCORE_LIBRARY} PUBLIC
-        Miosix::Miosix::${OPT_BOARD}
+# Load in BOARDCORE_PATH the project path if not already defined
+if (NOT DEFINED BOARDCORE_PATH)
+    cmake_path(GET CMAKE_CURRENT_LIST_DIR PARENT_PATH BOARDCORE_PATH)
+endif()
+
+# Include dependencies and board list
+include(${BOARDCORE_PATH}/cmake/dependencies.cmake)
+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
+
+    # Debug
+    ${BOARDCORE_PATH}/src/shared/utils/Debug.cpp
+    ${BOARDCORE_PATH}/src/shared/diagnostic/CpuMeter/CpuMeter.cpp
+    ${BOARDCORE_PATH}/src/shared/diagnostic/PrintLogger.cpp
+
+    # Drivers
+    ${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/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
+    ${BOARDCORE_PATH}/src/shared/events/EventBroker.cpp
+
+    # Logger
+    ${BOARDCORE_PATH}/src/shared/logger/Logger.cpp
+
+    # Radio
+    ${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
+    ${BOARDCORE_PATH}/src/shared/scheduler/TaskScheduler.cpp
+
+    # Sensors
+    ${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
+    ${BOARDCORE_PATH}/src/shared/utils/DependencyManager/DependencyManager.cpp
+)
+
+# Creates the Skyward::Boardcore::${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
@@ -143,8 +176,23 @@ foreach(OPT_BOARD ${BOARDS})
        Mavlink::Mavlink
    )

-    # Link MxGui only if supported by the target
-    if(${OPT_BOARD} IN_LIST MXGUI_BOARDS)
-        target_link_libraries(${BOARDCORE_LIBRARY} PUBLIC Mxgui::Mxgui::${OPT_BOARD})
+    # Link MxGui if supported by the target
+    if(DEFINED MXGUI_BASE_BOARD_NAME)
+        target_link_libraries(${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()
--- a/cmake/boards.cmake
+++ b/cmake/boards.cmake
+# Copyright (c) 2023 Skyward Experimental Rocketry
+# Authors: Alberto Nidasio
+#
+# 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.
+
+set(BOARDCORE_BOARDS_OPTIONS_FILES
+    ${BOARDCORE_PATH}/src/bsps/stm32f205rc_ciuti/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f429zi_nokia/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f429zi_parafoil/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f429zi_death_stack_v1/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f429zi_death_stack_v2/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f429zi_death_stack_v3/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f429zi_pyxis_auxiliary/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f429zi_rig/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f429zi_con_rig/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f756zg_nucleo/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_automated_antennas/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_compute_unit/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_compute_unit_v2/config/board_options.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_compute_unit_v2/config/board_options_no_xram.cmake
+    ${BOARDCORE_PATH}/src/bsps/stm32f767zi_gemini_gs/config/board_options.cmake
+    ${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/dependencies.cmake
+++ b/cmake/dependencies.cmake
@@ -19,33 +19,34 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.

-file(GLOB KPATH ${SBS_BASE}/libs/miosix-kernel/miosix)
-if(NOT KPATH)
-    message(FATAL_ERROR "Kernel directory not found")
-endif()
-add_subdirectory(${KPATH} EXCLUDE_FROM_ALL)
-include(${KPATH}/config/boards.cmake)
+# Miosix Kernel
+include(${SBS_BASE}/libs/miosix-kernel/miosix/cmake/miosix.cmake EXCLUDE_FROM_ALL)

+# Miosix Host
 add_subdirectory(${SBS_BASE}/libs/miosix-host EXCLUDE_FROM_ALL)

-set(KPATH ${KPATH} CACHE PATH "Path to kernel directory")
-add_subdirectory(${SBS_BASE}/libs/mxgui EXCLUDE_FROM_ALL)
-include(${SBS_BASE}/libs/mxgui/cmake/boards.cmake)
+# MxGui graphical library
+include(${SBS_BASE}/libs/mxgui/cmake/mxgui.cmake)

+# Serialization library
 add_subdirectory(${SBS_BASE}/libs/tscpp EXCLUDE_FROM_ALL)

+# Eigen library
 set(CMAKE_BUILD_WITH_INSTALL_RPATH ON)
 set(EIGEN_TEST_NOQT ON CACHE BOOL "Disable Qt support in unit tests")
 set(CMAKE_Fortran_COMPILER NOTFOUND)
 add_subdirectory(${SBS_BASE}/libs/eigen EXCLUDE_FROM_ALL)
 target_compile_definitions(eigen INTERFACE EIGEN_MAX_ALIGN_BYTES=0)

+# Format library
 add_subdirectory(${SBS_BASE}/libs/fmt EXCLUDE_FROM_ALL)
 target_compile_definitions(fmt-header-only INTERFACE _GLIBCXX_USE_WCHAR_T FMT_UNICODE=0 FMT_STATIC_THOUSANDS_SEPARATOR=0)
 target_compile_options(fmt-header-only INTERFACE -fno-math-errno)

+# Catch2 library
 add_subdirectory(${SBS_BASE}/libs/Catch2 EXCLUDE_FROM_ALL)
 list(APPEND CMAKE_MODULE_PATH ${SBS_BASE}/libs/Catch2/contrib)
 include(Catch)

+# MavLink library
 add_subdirectory(${SBS_BASE}/libs/mavlink-skyward-lib EXCLUDE_FROM_ALL)
--- a/cmake/sbs.cmake
+++ b/cmake/sbs.cmake
@@ -21,33 +21,54 @@

 enable_language(C CXX ASM)

-list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR})
-get_filename_component(SBS_BASE ${CMAKE_CURRENT_LIST_DIR} DIRECTORY)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)

-if(NOT CMAKE_CURRENT_SOURCE_DIR STREQUAL SBS_BASE)
-    add_subdirectory(${SBS_BASE} EXCLUDE_FROM_ALL)
-    list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
-    include(${CMAKE_SOURCE_DIR}/cmake/dependencies.cmake OPTIONAL)
-    return()
-endif()
+# 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)

-include(boardcore)
+# 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)

-string(REPLACE ";" "\\n" BOARDS_STR "${BOARDS}")
-add_custom_target(
-    help-boards
-    COMMAND printf ${BOARDS_STR}
-    COMMENT "All boards available:"
-    VERBATIM
-)
+# Include the Boardcore libraries
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR})
+include(boardcore)

+# 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()
+
    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)
-        target_link_libraries(${TARGET} PRIVATE SkywardBoardcore::Boardcore::${OPT_BOARD})
+        # Link the embedded Boardcore library
+        target_link_libraries(${TARGET} PRIVATE Skyward::Boardcore::${OPT_BOARD})
+
+        # 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(
            TARGET ${TARGET} POST_BUILD
            COMMAND ${CMAKE_OBJCOPY} -O ihex ${TARGET} ${TARGET}.hex
@@ -56,7 +77,7 @@ function(sbs_target TARGET OPT_BOARD)
            VERBATIM
        )
    else()
-        target_link_libraries(${TARGET} PRIVATE SkywardBoardcore::Boardcore::host)
+        target_link_libraries(${TARGET} PRIVATE Skyward::Boardcore::host)
    endif()
 endfunction()
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