From 826ab301c6531679d1a8ef06f5519ed8ff7ebc94 Mon Sep 17 00:00:00 2001
From: Christopher <78698227+cjchanx@users.noreply.github.com>
Date: Sat, 1 Jun 2024 19:24:19 -0600
Subject: [PATCH 1/4] Altimeter task WIP

---
 .mxproject                                    | 98 +++++++++----------
 CM7/.cproject                                 | 10 +-
 CM7/.settings/stm32cubeide.project.prefs      |  2 +-
 CM7/Components/FlightControl/FlightTask.cpp   |  2 +-
 .../FlightControl/Inc/FlightTask.hpp          |  2 +-
 CM7/Components/Sensors/AltimeterTask.cpp      | 77 +++++++++++++++
 CM7/Components/Sensors/Inc/AltimeterTask.hpp  | 49 ++++++++++
 CM7/Components/SystemDefines.hpp              |  5 +-
 8 files changed, 190 insertions(+), 55 deletions(-)
 create mode 100644 CM7/Components/Sensors/AltimeterTask.cpp
 create mode 100644 CM7/Components/Sensors/Inc/AltimeterTask.hpp

diff --git a/.mxproject b/.mxproject
index 57024a0..00de50c 100644
--- a/.mxproject
+++ b/.mxproject
@@ -1,91 +1,91 @@
 [CortexM7:PreviousLibFiles]
-LibFiles=Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_cortex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_crc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_crc_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_crc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_bus.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_rcc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_crs.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_system.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_utils.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_gpio.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_hsem.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_dma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_dmamux.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_pwr.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_exti.h;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_exti.c;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_i2c.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_qspi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_spi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_usart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_lpuart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_cortex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_crc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_crc_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_gpio.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_hsem.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_mdma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_exti.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_rcc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_utils.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_qspi.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_usart.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_gpio.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_exti.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_dma.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_cortex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_crc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_crc_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_crc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_bus.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_rcc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_crs.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_system.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_utils.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_gpio.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_hsem.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_dma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_dmamux.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_pwr.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_exti.h;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_exti.c;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_i2c.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_qspi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_spi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_usart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_lpuart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h747xx.h;Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h;Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h;Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\I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
 [CortexM7:PreviousUsedCubeIDEFiles]
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-HeaderPath=Drivers\STM32H7xx_HAL_Driver\Inc;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32H7xx\Include;Drivers\CMSIS\Include;CM7\Core\Inc;Drivers\STM32H7xx_HAL_Driver\Inc;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32H7xx\Include;Drivers\CMSIS\Include;
+SourceFiles=CM7/Core/Src/main.c;CM7/Core/Src/freertos.c;CM7/Core/Src/stm32h7xx_it.c;CM7/Core/Src/stm32h7xx_hal_msp.c;CM7/Core/Src/stm32h7xx_hal_timebase_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_utils.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_dma.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;
+HeaderPath=Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;CM7/Core/Inc;Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;
 CDefines=CORE_CM7;USE_HAL_DRIVER;STM32H747xx;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;
 
 [CortexM4:PreviousLibFiles]
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H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_exti.h;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_exti.c;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_qspi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h;Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h747xx.h;Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h;Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h;Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_armclang_ltm.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv81mml.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm35p.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h;
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
 [CortexM4:PreviousUsedCubeIDEFiles]
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-HeaderPath=Drivers\STM32H7xx_HAL_Driver\Inc;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy;Drivers\CMSIS\Device\ST\STM32H7xx\Include;Drivers\CMSIS\Include;CM4\Core\Inc;Drivers\STM32H7xx_HAL_Driver\Inc;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy;Drivers\CMSIS\Device\ST\STM32H7xx\Include;Drivers\CMSIS\Include;
+SourceFiles=CM4/Core/Src/main.c;CM4/Core/Src/stm32h7xx_it.c;CM4/Core/Src/stm32h7xx_hal_msp.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_utils.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;
+HeaderPath=Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;CM4/Core/Inc;Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;
 CDefines=CORE_CM4;USE_HAL_DRIVER;STM32H747xx;USE_HAL_DRIVER;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
 [PreviousLibFiles]
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
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MSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;Common/Src/system_stm32h7xx_dualcore_boot_cm4_cm7.c;Common/Src/system_stm32h7xx_dualcore_boot_cm4_cm7.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;
+HeaderPath=Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;CM7/Core/Inc;CM4/Core/Inc;
 CDefines=USE_FULL_LL_DRIVER;CORE_CM4;USE_FULL_LL_DRIVER;CORE_CM7;CORE_CM7;USE_HAL_DRIVER;STM32H747xx;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;CORE_CM4;CORE_CM4;USE_HAL_DRIVER;STM32H747xx;USE_HAL_DRIVER;USE_HAL_DRIVER;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
 [CortexM7:PreviousGenFiles]
 AdvancedFolderStructure=true
 HeaderFileListSize=5
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-HeaderFiles#1=..\CM7\Core\Inc\stm32h7xx_it.h
-HeaderFiles#2=..\CM7\Core\Inc\stm32_assert.h
-HeaderFiles#3=..\CM7\Core\Inc\stm32h7xx_hal_conf.h
-HeaderFiles#4=..\CM7\Core\Inc\main.h
+HeaderFiles#0=../CM7/Core/Inc/FreeRTOSConfig.h
+HeaderFiles#1=../CM7/Core/Inc/stm32h7xx_it.h
+HeaderFiles#2=../CM7/Core/Inc/stm32_assert.h
+HeaderFiles#3=../CM7/Core/Inc/stm32h7xx_hal_conf.h
+HeaderFiles#4=../CM7/Core/Inc/main.h
 HeaderFolderListSize=1
-HeaderPath#0=..\CM7\Core\Inc
+HeaderPath#0=../CM7/Core/Inc
 HeaderFiles=;
 SourceFileListSize=5
-SourceFiles#0=..\CM7\Core\Src\freertos.c
-SourceFiles#1=..\CM7\Core\Src\stm32h7xx_it.c
-SourceFiles#2=..\CM7\Core\Src\stm32h7xx_hal_msp.c
-SourceFiles#3=..\CM7\Core\Src\stm32h7xx_hal_timebase_tim.c
-SourceFiles#4=..\CM7\Core\Src\main.c
+SourceFiles#0=../CM7/Core/Src/freertos.c
+SourceFiles#1=../CM7/Core/Src/stm32h7xx_it.c
+SourceFiles#2=../CM7/Core/Src/stm32h7xx_hal_msp.c
+SourceFiles#3=../CM7/Core/Src/stm32h7xx_hal_timebase_tim.c
+SourceFiles#4=../CM7/Core/Src/main.c
 SourceFolderListSize=1
-SourcePath#0=..\CM7\Core\Src
+SourcePath#0=../CM7/Core/Src
 SourceFiles=;
 
 [CortexM4:PreviousGenFiles]
 AdvancedFolderStructure=true
 HeaderFileListSize=3
-HeaderFiles#0=..\CM4\Core\Inc\stm32h7xx_it.h
-HeaderFiles#1=..\CM4\Core\Inc\stm32h7xx_hal_conf.h
-HeaderFiles#2=..\CM4\Core\Inc\main.h
+HeaderFiles#0=../CM4/Core/Inc/stm32h7xx_it.h
+HeaderFiles#1=../CM4/Core/Inc/stm32h7xx_hal_conf.h
+HeaderFiles#2=../CM4/Core/Inc/main.h
 HeaderFolderListSize=1
-HeaderPath#0=..\CM4\Core\Inc
+HeaderPath#0=../CM4/Core/Inc
 HeaderFiles=;
 SourceFileListSize=3
-SourceFiles#0=..\CM4\Core\Src\stm32h7xx_it.c
-SourceFiles#1=..\CM4\Core\Src\stm32h7xx_hal_msp.c
-SourceFiles#2=..\CM4\Core\Src\main.c
+SourceFiles#0=../CM4/Core/Src/stm32h7xx_it.c
+SourceFiles#1=../CM4/Core/Src/stm32h7xx_hal_msp.c
+SourceFiles#2=../CM4/Core/Src/main.c
 SourceFolderListSize=1
-SourcePath#0=..\CM4\Core\Src
+SourcePath#0=../CM4/Core/Src
 SourceFiles=;
 
 [PreviousGenFiles]
 AdvancedFolderStructure=true
 HeaderFileListSize=8
-HeaderFiles#0=..\CM7\Core\Inc\FreeRTOSConfig.h
-HeaderFiles#1=..\CM7\Core\Inc\stm32h7xx_it.h
-HeaderFiles#2=..\CM7\Core\Inc\stm32_assert.h
-HeaderFiles#3=..\CM7\Core\Inc\stm32h7xx_hal_conf.h
-HeaderFiles#4=..\CM7\Core\Inc\main.h
-HeaderFiles#5=..\CM4\Core\Inc\stm32h7xx_it.h
-HeaderFiles#6=..\CM4\Core\Inc\stm32h7xx_hal_conf.h
-HeaderFiles#7=..\CM4\Core\Inc\main.h
+HeaderFiles#0=../CM7/Core/Inc/FreeRTOSConfig.h
+HeaderFiles#1=../CM7/Core/Inc/stm32h7xx_it.h
+HeaderFiles#2=../CM7/Core/Inc/stm32_assert.h
+HeaderFiles#3=../CM7/Core/Inc/stm32h7xx_hal_conf.h
+HeaderFiles#4=../CM7/Core/Inc/main.h
+HeaderFiles#5=../CM4/Core/Inc/stm32h7xx_it.h
+HeaderFiles#6=../CM4/Core/Inc/stm32h7xx_hal_conf.h
+HeaderFiles#7=../CM4/Core/Inc/main.h
 HeaderFolderListSize=2
-HeaderPath#0=..\CM7\Core\Inc
-HeaderPath#1=..\CM4\Core\Inc
+HeaderPath#0=../CM7/Core/Inc
+HeaderPath#1=../CM4/Core/Inc
 HeaderFiles=;
 SourceFileListSize=8
-SourceFiles#0=..\CM7\Core\Src\freertos.c
-SourceFiles#1=..\CM7\Core\Src\stm32h7xx_it.c
-SourceFiles#2=..\CM7\Core\Src\stm32h7xx_hal_msp.c
-SourceFiles#3=..\CM7\Core\Src\stm32h7xx_hal_timebase_tim.c
-SourceFiles#4=..\CM7\Core\Src\main.c
-SourceFiles#5=..\CM4\Core\Src\stm32h7xx_it.c
-SourceFiles#6=..\CM4\Core\Src\stm32h7xx_hal_msp.c
-SourceFiles#7=..\CM4\Core\Src\main.c
+SourceFiles#0=../CM7/Core/Src/freertos.c
+SourceFiles#1=../CM7/Core/Src/stm32h7xx_it.c
+SourceFiles#2=../CM7/Core/Src/stm32h7xx_hal_msp.c
+SourceFiles#3=../CM7/Core/Src/stm32h7xx_hal_timebase_tim.c
+SourceFiles#4=../CM7/Core/Src/main.c
+SourceFiles#5=../CM4/Core/Src/stm32h7xx_it.c
+SourceFiles#6=../CM4/Core/Src/stm32h7xx_hal_msp.c
+SourceFiles#7=../CM4/Core/Src/main.c
 SourceFolderListSize=2
-SourcePath#0=..\CM7\Core\Src
-SourcePath#1=..\CM4\Core\Src
+SourcePath#0=../CM7/Core/Src
+SourcePath#1=../CM4/Core/Src
 SourceFiles=;
 
diff --git a/CM7/.cproject b/CM7/.cproject
index 1f428bd..eb311a9 100644
--- a/CM7/.cproject
+++ b/CM7/.cproject
@@ -23,7 +23,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.740999494" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv5-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1527849778" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.734508297" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1700170333" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H747IGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F ||  ||  || CORE_CM7 | USE_HAL_DRIVER | STM32H747xx | USE_FULL_LL_DRIVER ||  || Core/Src | Drivers | Core/Startup | Middlewares | Common ||  ||  || ${workspace_loc:/${ProjName}/STM32H747IGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1700170333" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H747IGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F ||  ||  || CORE_CM7 | USE_HAL_DRIVER | STM32H747xx | USE_FULL_LL_DRIVER ||  || Drivers | Core/Src | Core/Startup | Middlewares | Common ||  ||  || ${workspace_loc:/${ProjName}/STM32H747IGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.582115419" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="64" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1294608709" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/Payload_CM7}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.657126726" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
@@ -48,6 +48,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.80200489" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
@@ -83,6 +84,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1823486062" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -120,6 +122,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
 								</option>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.1832425275" name="Language standard" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.value.gnupp20" valueType="enumerated"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.157447866" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
@@ -176,7 +179,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.650976861" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv5-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1312654294" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.152263522" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1683053512" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H747IGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F ||  ||  || CORE_CM7 | USE_HAL_DRIVER | STM32H747xx | USE_FULL_LL_DRIVER ||  || Core/Src | Drivers | Core/Startup | Middlewares | Common ||  ||  || ${workspace_loc:/${ProjName}/STM32H747IGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1683053512" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H747IGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F ||  ||  || CORE_CM7 | USE_HAL_DRIVER | STM32H747xx | USE_FULL_LL_DRIVER ||  || Drivers | Core/Src | Core/Startup | Middlewares | Common ||  ||  || ${workspace_loc:/${ProjName}/STM32H747IGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.238067989" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="64" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1961943739" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/Payload_CM7}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.498458674" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
@@ -198,6 +201,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.1762545555" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
@@ -234,6 +238,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1789179262" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -270,6 +275,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.1488462777" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
 							</tool>
diff --git a/CM7/.settings/stm32cubeide.project.prefs b/CM7/.settings/stm32cubeide.project.prefs
index 316c569..e1507d1 100644
--- a/CM7/.settings/stm32cubeide.project.prefs
+++ b/CM7/.settings/stm32cubeide.project.prefs
@@ -1,4 +1,4 @@
 635E684B79701B039C64EA45C3F84D30=EB92BDC8CA3A439D88C6F56E4DDF7E32
 8DF89ED150041C4CBC7CB9A9CAA90856=E805E3BE0E38C82E0E591B5E374240D4
-DC22A860405A8BF2F2C095E5B6529F12=31D4B83A11F9313509F3357E4EAAF47F
+DC22A860405A8BF2F2C095E5B6529F12=E805E3BE0E38C82E0E591B5E374240D4
 eclipse.preferences.version=1
diff --git a/CM7/Components/FlightControl/FlightTask.cpp b/CM7/Components/FlightControl/FlightTask.cpp
index 196a7a6..c9045ae 100644
--- a/CM7/Components/FlightControl/FlightTask.cpp
+++ b/CM7/Components/FlightControl/FlightTask.cpp
@@ -4,7 +4,7 @@
  * Description        : Primary flight task, default task for the system.
  ******************************************************************************
 */
-#include <OsirisSM.hpp>
+#include "OsirisSM.hpp"
 #include "FlightTask.hpp"
 #include "GPIO.hpp"
 #include "SystemDefines.hpp"
diff --git a/CM7/Components/FlightControl/Inc/FlightTask.hpp b/CM7/Components/FlightControl/Inc/FlightTask.hpp
index 52e15fb..9c1f9c4 100644
--- a/CM7/Components/FlightControl/Inc/FlightTask.hpp
+++ b/CM7/Components/FlightControl/Inc/FlightTask.hpp
@@ -6,7 +6,7 @@
 */
 #ifndef SOAR_FLIGHTTASK_HPP_
 #define SOAR_FLIGHTTASK_HPP_
-#include <OsirisSM.hpp>
+#include "OsirisSM.hpp"
 #include "Task.hpp"
 #include "SystemDefines.hpp"
 
diff --git a/CM7/Components/Sensors/AltimeterTask.cpp b/CM7/Components/Sensors/AltimeterTask.cpp
new file mode 100644
index 0000000..1c2a6c8
--- /dev/null
+++ b/CM7/Components/Sensors/AltimeterTask.cpp
@@ -0,0 +1,77 @@
+/**
+ ******************************************************************************
+ * File Name          : AltimeterTask.cpp
+ * Description        : Primary Altimeter task, default task for the system.
+ ******************************************************************************
+*/
+#include "AltimeterTask.hpp"
+#include "GPIO.hpp"
+#include "SystemDefines.hpp"
+
+/**
+ * @brief Constructor for AltimeterTask
+ */
+AltimeterTask::AltimeterTask() : Task(ALTIMETER_TASK_QUEUE_DEPTH_OBJS)
+{
+}
+
+/**
+ * @brief Initialize the AltimeterTask
+ */
+void AltimeterTask::InitTask()
+{
+    // Make sure the task is not already initialized
+    SOAR_ASSERT(rtTaskHandle == nullptr, "Cannot initialize Altimeter task twice");
+
+    BaseType_t rtValue =
+        xTaskCreate((TaskFunction_t)AltimeterTask::RunTask,
+            (const char*)"AltimeterTask",
+            (uint16_t)ALTIMETER_TASK_STACK_DEPTH_WORDS,
+            (void*)this,
+            (UBaseType_t)ALTIMETER_TASK_RTOS_PRIORITY,
+            (TaskHandle_t*)&rtTaskHandle);
+
+    SOAR_ASSERT(rtValue == pdPASS, "AltimeterTask::InitTask() - xTaskCreate() failed");
+}
+
+/**
+ * @brief Instance Run loop for the Altimeter Task, runs on scheduler start as long as the task is initialized.
+ * @param pvParams RTOS Passed void parameters, contains a pointer to the object instance, should not be used
+ */
+void AltimeterTask::Run(void * pvParams)
+{
+    
+    while (1) {
+
+        //Process commands in blocking mode
+        Command cm;
+        bool res = qEvtQueue->ReceiveWait(cm);
+        if(res) {
+            HandleCommand(cm);
+        }
+    }
+}
+
+/**
+ * @brief Handle a command from the Command Queue
+ * @param cm Command to handle
+ */
+void AltimeterTask::HandleCommand(Command& cm)
+{
+    switch(cm.GetCommand()) {
+        case REQUEST_COMMAND:
+            // Poll the altimeter
+            switch(cm.GetTaskCommand()) {
+                case ALTIMETER_REQUEST_POLL:
+                    // Poll the altimeter
+                    break;
+                default:
+                    break;
+            }
+            break;
+        default:
+            break;
+    }
+	// Make sure the command is reset
+    cm.Reset();
+}
diff --git a/CM7/Components/Sensors/Inc/AltimeterTask.hpp b/CM7/Components/Sensors/Inc/AltimeterTask.hpp
new file mode 100644
index 0000000..1b2dcd4
--- /dev/null
+++ b/CM7/Components/Sensors/Inc/AltimeterTask.hpp
@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ * File Name          : AltimeterTask.hpp
+ * Description        : Primary flight task, default task for the system.
+ ******************************************************************************
+*/
+#ifndef SOAR_ALTIMETERTASK_HPP_
+#define SOAR_ALTIMETERTASK_HPP_
+#include "Task.hpp"
+#include "SystemDefines.hpp"
+
+/* Macros/Enums ------------------------------------------------------------*/
+
+/* Macros/Enums ------------------------------------------------------------*/
+enum AltimeterTaskRequests
+{
+	ALTIMETER_REQUEST_NONE = 0,
+	ALTIMETER_REQUEST_POLL,  // Poll Request
+    ALTIMETER_REQUEST_DEBUG, // Debug Poll + Print
+};
+
+class AltimeterTask : public Task
+{
+public:
+    static AltimeterTask& Inst() {
+        static AltimeterTask inst;
+        return inst;
+    }
+
+    void InitTask();
+
+protected:
+    static void RunTask(void* pvParams) { AltimeterTask::Inst().Run(pvParams); } // Static Task Interface, passes control to the instance Run();
+
+    void Run(void * pvParams); // Main run code
+
+    void HandleCommand(Command& cm);
+
+private:
+    // Private Functions
+    AltimeterTask();        // Private constructor
+    AltimeterTask(const AltimeterTask&);                        // Prevent copy-construction
+    AltimeterTask& operator=(const AltimeterTask&);            // Prevent assignment
+
+    // Private Variables
+    
+};
+
+#endif    // SOAR_ALTIMETERTASK_HPP
\ No newline at end of file
diff --git a/CM7/Components/SystemDefines.hpp b/CM7/Components/SystemDefines.hpp
index d5b705d..0e72b73 100644
--- a/CM7/Components/SystemDefines.hpp
+++ b/CM7/Components/SystemDefines.hpp
@@ -55,6 +55,9 @@ constexpr uint8_t FLIGHT_TASK_RTOS_PRIORITY = 2;            // Priority of the d
 constexpr uint8_t FLIGHT_TASK_QUEUE_DEPTH_OBJS = 10;        // Size of the debug task queue
 constexpr uint16_t FLIGHT_TASK_STACK_DEPTH_WORDS = 512;        // Size of the debug task stack
 
-
+// ALTIMETER TASK
+constexpr uint8_t ALTIMETER_TASK_RTOS_PRIORITY = 2;            // Priority of the debug task
+constexpr uint8_t ALTIMETER_TASK_QUEUE_DEPTH_OBJS = 10;        // Size of the debug task queue
+constexpr uint16_t ALTIMETER_TASK_STACK_DEPTH_WORDS = 512;        // Size of the debug task stack
 
 #endif // CUBE_MAIN_SYSTEM_DEFINES_H

From 303f7f3e16ba7e7dfe529a89c958336fd1da0fbe Mon Sep 17 00:00:00 2001
From: shivamdesai04 <101665374+shivamdesai04@users.noreply.github.com>
Date: Mon, 10 Jun 2024 19:47:07 -0600
Subject: [PATCH 2/4] Added baro altimeter driver

---
 .gitmodules                         |  3 +++
 CM7/.cproject                       | 12 ++++++++++++
 CM7/.settings/language.settings.xml |  4 ++--
 CM7/Components/sensor-driverpack    |  1 +
 4 files changed, 18 insertions(+), 2 deletions(-)
 create mode 160000 CM7/Components/sensor-driverpack

diff --git a/.gitmodules b/.gitmodules
index 384e898..9cba8ca 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "CM7/Cube++"]
 	path = CM7/Cube++
 	url = https://github.com/cjchanx/CubePlusPlus.git
+[submodule "CM7/Components/sensor-driverpack"]
+	path = CM7/Components/sensor-driverpack
+	url = https://github.com/cjchanx/sensor-driverpack.git
diff --git a/CM7/.cproject b/CM7/.cproject
index eb311a9..dc738b3 100644
--- a/CM7/.cproject
+++ b/CM7/.cproject
@@ -49,6 +49,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack/MPL3115A2S}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.80200489" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
@@ -85,6 +87,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack/MPL3115A2S}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1823486062" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -123,6 +127,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack/MPL3115A2S}&quot;"/>
 								</option>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.1832425275" name="Language standard" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.value.gnupp20" valueType="enumerated"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.157447866" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
@@ -202,6 +208,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack/MPL3115A2S}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.1762545555" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
@@ -239,6 +247,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack/MPL3115A2S}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1789179262" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -276,6 +286,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack/MPL3115A2S}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.1488462777" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
 							</tool>
diff --git a/CM7/.settings/language.settings.xml b/CM7/.settings/language.settings.xml
index c9ad366..9b8dc58 100644
--- a/CM7/.settings/language.settings.xml
+++ b/CM7/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="927873912750334244" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-888376475142397995" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="927873205120854751" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-888377182771877488" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/CM7/Components/sensor-driverpack b/CM7/Components/sensor-driverpack
new file mode 160000
index 0000000..ce9fd9e
--- /dev/null
+++ b/CM7/Components/sensor-driverpack
@@ -0,0 +1 @@
+Subproject commit ce9fd9e3494081b4c5890a9e0dc8f3a94b16ffc1

From 2ad08caaa0ad747ecd41e343552d5d338e5f18d7 Mon Sep 17 00:00:00 2001
From: Jesse Gerbrandt <jgerbrandt@live.com>
Date: Wed, 12 Jun 2024 16:00:13 -0600
Subject: [PATCH 3/4] Altimeter task implemented

---
 CM7/Components/Sensors/AltimeterTask.cpp     | 31 +++++++++++++--
 CM7/Components/Sensors/Inc/AltimeterTask.hpp |  8 +++-
 CM7/Components/data.hpp                      | 41 ++++++++++++++++++++
 3 files changed, 76 insertions(+), 4 deletions(-)
 create mode 100644 CM7/Components/data.hpp

diff --git a/CM7/Components/Sensors/AltimeterTask.cpp b/CM7/Components/Sensors/AltimeterTask.cpp
index 1c2a6c8..eca1def 100644
--- a/CM7/Components/Sensors/AltimeterTask.cpp
+++ b/CM7/Components/Sensors/AltimeterTask.cpp
@@ -7,12 +7,15 @@
 #include "AltimeterTask.hpp"
 #include "GPIO.hpp"
 #include "SystemDefines.hpp"
-
+#include "MPL3115A2S_Driver.h"
+#include "Data.hpp"
+#include "CubeDefines.hpp"
 /**
  * @brief Constructor for AltimeterTask
  */
 AltimeterTask::AltimeterTask() : Task(ALTIMETER_TASK_QUEUE_DEPTH_OBJS)
 {
+    data = (AltimeterData*)cube_malloc(sizeof(AltimeterData));
 }
 
 /**
@@ -60,10 +63,10 @@ void AltimeterTask::HandleCommand(Command& cm)
 {
     switch(cm.GetCommand()) {
         case REQUEST_COMMAND:
-            // Poll the altimeter
+            SampleAltimeter();
             switch(cm.GetTaskCommand()) {
                 case ALTIMETER_REQUEST_POLL:
-                    // Poll the altimeter
+                    SampleAltimeter();
                     break;
                 default:
                     break;
@@ -75,3 +78,25 @@ void AltimeterTask::HandleCommand(Command& cm)
 	// Make sure the command is reset
     cm.Reset();
 }
+
+/**
+ * @brief This function reads and updates altitude readings from the barometer
+ */
+void AltimeterTask::SampleAltimeter()
+{
+    MPL3115A2S_Config cfg {0};
+    MPL3115A2S_Data_Config dcfg {0};
+    MPL3115A2S_Int_Config icfg {0};
+
+    cfg.altimeter_mode = 1;
+    cfg.os_ratio = MPL3115A2S_CTRL_OS32;
+    dcfg.enable_all_flags = 1;
+
+    MPL3115A2S_Init(&cfg, &dcfg, &icfg);
+
+    float alt, temp;
+    MPL3115A2S_ReadDataPolling(&alt, &temp);
+
+    data->altitude = (int32_t) alt;
+    data->timestamp = HAL_GetTick();
+}
diff --git a/CM7/Components/Sensors/Inc/AltimeterTask.hpp b/CM7/Components/Sensors/Inc/AltimeterTask.hpp
index 1b2dcd4..28fba8f 100644
--- a/CM7/Components/Sensors/Inc/AltimeterTask.hpp
+++ b/CM7/Components/Sensors/Inc/AltimeterTask.hpp
@@ -8,6 +8,7 @@
 #define SOAR_ALTIMETERTASK_HPP_
 #include "Task.hpp"
 #include "SystemDefines.hpp"
+#include "Data.hpp"
 
 /* Macros/Enums ------------------------------------------------------------*/
 
@@ -36,6 +37,11 @@ class AltimeterTask : public Task
 
     void HandleCommand(Command& cm);
 
+    void SampleAltimeter();
+
+    AltimeterData* data;
+    uint32_t timestampPT;
+
 private:
     // Private Functions
     AltimeterTask();        // Private constructor
@@ -46,4 +52,4 @@ class AltimeterTask : public Task
     
 };
 
-#endif    // SOAR_ALTIMETERTASK_HPP
\ No newline at end of file
+#endif    // SOAR_ALTIMETERTASK_HPP
diff --git a/CM7/Components/data.hpp b/CM7/Components/data.hpp
new file mode 100644
index 0000000..7bb4d94
--- /dev/null
+++ b/CM7/Components/data.hpp
@@ -0,0 +1,41 @@
+/*
+ * Data.hpp
+ */
+
+#ifndef DATA_HPP_
+#define DATA_HPP_
+
+#include "SystemDefines.hpp"
+
+/*
+ *  mario  = Experiment Board LPS22HH U3
+ *  luigi  = Experiment Board LPS22HH U4
+ *  bowser = Main Board MS5611 U4
+ */
+typedef struct BarometerData {
+    float marioPressure;
+    float marioTemperature;
+    float luigiPressure;
+    float luigiTemperature;
+    // float bowserPressure;
+    // float bowserTemperature;
+} BarometerData;
+
+typedef struct AltimeterData {
+    int32_t altitude;
+    int32_t timestamp;
+} AltimeterData;
+
+/*
+ * Data Containers
+ * Acts as a pointer to the other data structs alongside a timestamp for logging to flash.
+ */
+typedef struct AllData {
+    // IMUData*              imuData;
+    // AltimeterData*        altimeterData;
+    BarometerData*       barometerData;
+    AltimeterData*       altimeterData;
+    uint32_t             time;
+} AllData;
+
+#endif /* DATA_HPP_ */

From 7b326914bb4223ecb31217f5ebb5aabece8b17d2 Mon Sep 17 00:00:00 2001
From: Jesse Gerbrandt <jgerbrandt@live.com>
Date: Wed, 12 Jun 2024 17:15:30 -0600
Subject: [PATCH 4/4] moving altimeter init

---
 CM7/Components/Sensors/AltimeterTask.cpp | 20 ++++++++++----------
 CM7/Components/data.hpp                  |  1 -
 2 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/CM7/Components/Sensors/AltimeterTask.cpp b/CM7/Components/Sensors/AltimeterTask.cpp
index eca1def..b977b60 100644
--- a/CM7/Components/Sensors/AltimeterTask.cpp
+++ b/CM7/Components/Sensors/AltimeterTask.cpp
@@ -44,6 +44,16 @@ void AltimeterTask::InitTask()
 void AltimeterTask::Run(void * pvParams)
 {
     
+    MPL3115A2S_Config cfg {0};
+    MPL3115A2S_Data_Config dcfg {0};
+    MPL3115A2S_Int_Config icfg {0};
+
+    cfg.altimeter_mode = 1;
+    cfg.os_ratio = MPL3115A2S_CTRL_OS32;
+    dcfg.enable_all_flags = 1;
+
+    MPL3115A2S_Init(&cfg, &dcfg, &icfg);
+
     while (1) {
 
         //Process commands in blocking mode
@@ -84,16 +94,6 @@ void AltimeterTask::HandleCommand(Command& cm)
  */
 void AltimeterTask::SampleAltimeter()
 {
-    MPL3115A2S_Config cfg {0};
-    MPL3115A2S_Data_Config dcfg {0};
-    MPL3115A2S_Int_Config icfg {0};
-
-    cfg.altimeter_mode = 1;
-    cfg.os_ratio = MPL3115A2S_CTRL_OS32;
-    dcfg.enable_all_flags = 1;
-
-    MPL3115A2S_Init(&cfg, &dcfg, &icfg);
-
     float alt, temp;
     MPL3115A2S_ReadDataPolling(&alt, &temp);
 
diff --git a/CM7/Components/data.hpp b/CM7/Components/data.hpp
index 7bb4d94..069badb 100644
--- a/CM7/Components/data.hpp
+++ b/CM7/Components/data.hpp
@@ -32,7 +32,6 @@ typedef struct AltimeterData {
  */
 typedef struct AllData {
     // IMUData*              imuData;
-    // AltimeterData*        altimeterData;
     BarometerData*       barometerData;
     AltimeterData*       altimeterData;
     uint32_t             time;