Working on DAQ mini

.gitignore

@@ -1,6 +1,8 @@
 # Ignore .pre-commit-config.yaml
 .pre-commit-config.yaml
 
+#Ignore Makefile
+Makefile
 # Ignore other Branch specific dirs
 PeripheralDriversSubmodule/NAU7802/*
 PeripheralDriversSubmodule/MX66L1G45GMI/*

Components/IMUTask.cpp

@@ -63,9 +63,13 @@ void IMUTask::Run(void * pvParams){
 	imu.Init(hspi_, LSM6DSO32_CS_PORT, LSM6DSO32_CS_PIN);
 
     while (1) {
-        /* Process commands in blocking mode */
+		imu.ReadSensors(data);
+		imu_data = imu.ConvertRawMeasurementToStruct(data);
+		imu_data.id = 1;
+		DataBroker::Publish<IMUData>(&imu_data);
+
         Command cm;
-        bool res = qEvtQueue->ReceiveWait(cm);
+        bool res = qEvtQueue->Receive(cm, 333);
         if(res){
 
         	HandleCommand(cm);

Components/LSM6DO32Driver.cpp

@@ -7,6 +7,7 @@
 
 #include "LSM6DO32Driver.h"
 
+#include <cstring>
 
 /* @brief Initialize the driver. Must be called before any other functions can be used.
  * @param hspi_ Pointer to the SPI handle
@@ -77,7 +78,9 @@ void LSM6DO32_Driver::GetMultipleRegisters(LSM6DSO32_REGISTER_t startreg, int nu
 	transmit[0] = (uint8_t)(0b10000000 | startreg);
 
 	CSLow();
-	HAL_SPI_TransmitReceive(hspi, transmit, out, numBytes+1, 1000);
+	uint8_t temp[numBytes+1];
+	HAL_SPI_TransmitReceive(hspi, transmit, temp, numBytes+1, 1000);
+	memcpy(out, &temp[1], numBytes);
 	CSHigh();
 }
 
@@ -122,13 +125,13 @@ const IMUData LSM6DO32_Driver::ConvertRawMeasurementToStruct(const uint8_t *buf,
 	}
 	out.temp = 25.0f + out.temp / 256.0f;
 
-	out.accel.x *= 0.732;
-	out.accel.y *= 0.732;
-	out.accel.z *= 0.732;
+	out.accel.x *= 0.488 / 1000.0f; //g/LSB
+	out.accel.y *= 0.488 / 1000.0f;
+	out.accel.z *= 0.488 / 1000.0f;
 
-	out.gyro.x *= 8.75;
-	out.gyro.y *= 8.75;
-	out.gyro.z *= 8.75;
+	out.gyro.x *= 8.75f / 1000.0f; //dps/LSB
+	out.gyro.y *= 8.75f / 1000.0f;
+	out.gyro.z *= 8.75f / 1000.0f;
 
 
 	return out;

DMA/.gitignore

@@ -0,0 +1,2 @@
+# Ignore txt files containing notes about DMA
+DMA-NOTES.txt

LSM6DSODriver/LSM6DSOTask.cpp

@@ -62,9 +62,13 @@ void LSM6DSOTask::Run(void * pvParams){
 	imu.Init(hspi_, LSM6DSO_CS_PIN, LSM6DSO_CS_PORT);
 
     while (1) {
-        /* Process commands in blocking mode */
+		imu.readSensors(data);
+		imu_data = imu.bytesToStruct(data, true, true, true);
+		imu_data.id = 0;
+		DataBroker::Publish<IMUData>(&imu_data);
+
         Command cm;
-        bool res = qEvtQueue->ReceiveWait(cm);
+        bool res = qEvtQueue->Receive(cm, 333);
         if(res){
 
         	HandleCommand(cm);
@@ -97,9 +101,7 @@ void LSM6DSOTask::HandleRequestCommand(uint16_t taskCommand){
 	switch(taskCommand){
 	case LSM6DSOTask::IMU_SAMPLE_AND_LOG:
 
-		imu.readSensors(data);
-		imu_data = imu.bytesToStruct(data, true, true, true);
-		imu_data.id = 0;
+
 		LogData();
 
 	default:
@@ -111,8 +113,6 @@ void LSM6DSOTask::HandleRequestCommand(uint16_t taskCommand){
 
 void LSM6DSOTask::LogData(){
 
-
-	DataBroker::Publish<IMUData>(&imu_data);
 	osDelay(10);
 	Command logCommand(DATA_BROKER_COMMAND, static_cast<uint16_t>(DataBrokerMessageTypes::IMU_DATA)); //change if separate publisher
 	LoggingTask::Inst().GetEventQueue()->Send(logCommand);

LSM6DSODriver/lsm6dso.cpp

@@ -116,13 +116,13 @@ IMUData LSM6DSO_Driver::bytesToStruct(const uint8_t *raw_bytes, bool accel, bool
 		out.accel.z = (int16_t)(raw_bytes[i+ 5] << 8 | raw_bytes[i+ 4]);
 	}
 
-	out.accel.x *= 0.732; // mg/LSB
-	out.accel.y *= 0.732;
-	out.accel.z *= 0.732;
+	out.accel.x *= 0.488 / 1000.0f; // mg/LSB
+	out.accel.y *= 0.488 / 1000.0f;
+	out.accel.z *= 0.488 / 1000.0f;
 
-	out.gyro.x *= 8.75; //mdps/LSB
-	out.gyro.y *= 8.75;
-	out.gyro.z *= 8.75;
+	out.gyro.x *= 8.75f / 1000.0f; //dps/LSB
+	out.gyro.y *= 8.75f / 1000.0f;
+	out.gyro.z *= 8.75f / 1000.0f;
 
 	out.temp = 25.0f + (out.temp / 256.0f);
 

MMC5983MA_SPI/mmc5983Task.cpp

@@ -75,9 +75,13 @@ void MMC5983MATask::InitTask() // RTOS Task Init
 void MMC5983MATask::Run(void * pvParams)  // Instance Run loop for task
 {
         // Handle incoming commands (optional)
-        // receive with 0 timeout to poll
+		magnetometer.triggerMeasurement();
+		vTaskDelay(pdMS_TO_TICKS(10));
+		magnetometer.readData(magData);
+		DataBroker::Publish<MagData>(&magData);
+
         Command cm;
-        if (qEvtQueue->Receive(cm, 0)) {
+        if (qEvtQueue->Receive(cm, 333)) {
             HandleCommand(cm);
         }
 

MS5607Driver/BaroTask07.cpp

@@ -73,9 +73,14 @@ void BaroTask07::Run(void * pvParams){
 
 
     while (1) {
-        /* Process commands in blocking mode */
+
+		data = barometer.getSample();
+		data.id = 0;
+		LogData();
+		DataBroker::Publish<BaroData>(&data);
+
         Command cm;
-        bool res = qEvtQueue->ReceiveWait(cm);
+        bool res = qEvtQueue->Receive(cm, 333);
         if(res){
 
         	HandleCommand(cm);

MS5611Driver/BaroTask11.cpp

@@ -67,9 +67,13 @@ void BaroTask11::Run(void * pvParams){
 
 
     while (1) {
-        /* Process commands in blocking mode */
+		data = barometer.getSample();
+		data.id = 1;
+
+		DataBroker::Publish<BaroData>(&data);
+
         Command cm;
-        bool res = qEvtQueue->ReceiveWait(cm);
+        bool res = qEvtQueue->Receive(cm, 333);
         if(res){
 
         	HandleCommand(cm);

MX66L1G45GMI/Inc/MX66L1G45GMI.hpp

@@ -3,7 +3,7 @@
  * @file    MX66L1G45GMI.hpp
  * @author  shiva
  * @date    Mar 26, 2025
- * @brief
+ * @brief   Header for MX66L1G45GMI Flash Memory Driver.
  ********************************************************************************
  */
 
@@ -28,6 +28,19 @@
  * TYPEDEFS
  ************************************/
 
+// ---< Config Struct >---
+typedef void (*MX66_WriteFunc)(const uint8_t* data, uint16_t len); // Write function pointer
+typedef void (*MX66_ReadFunc)(uint8_t* data, uint16_t len); // Read function pointer
+typedef void (*MX66_CSFunc)(bool state); // Chip Select function pointer
+typedef void (*MX66_DelayFunc)(uint32_t ms); // Delay function pointer
+
+struct MX66_Config {
+    MX66_WriteFunc Write;
+    MX66_ReadFunc  Read;
+    MX66_CSFunc    SetCS;
+    MX66_DelayFunc Delay;
+};
+
 /************************************
  * CLASS DEFINITIONS
  ************************************/
@@ -36,10 +49,12 @@
  * FUNCTION DECLARATIONS
  ************************************/
 
-uint32_t MX66_ReadID(void);
+uint32_t MX66_ReadID(void); // Read Manufacturer and Device ID
 
 uint8_t MX66_ReadStatus(int reg); // Read status reg1,2,3
 
+void MX66_Init(MX66_Config* config);
+
 void MX66_WriteStatus(int reg, uint8_t newstatus);
 
 void MX66_ReadSFDP(uint8_t *rData);

MX66L1G45GMI/MX66L1G45GMI.cpp

@@ -42,29 +42,65 @@ extern SPI_HandleTypeDef hspi1;
 //-------------------------------------------------------------------------------------------------
 // STM32 SPI Driver
 //-------------------------------------------------------------------------------------------------
-void MX66_Delay(uint32_t time)
-{
-	HAL_Delay(time);
+
+// Create a static instance of the config
+static MX66_Config io_driver = {nullptr, nullptr, nullptr, nullptr};
+
+// Init function
+void MX66_Init(MX66_Config* config) {
+    if(config != nullptr) {
+        io_driver = *config;
+    }
+	else {
+		SOAR_PRINT("MX66_Init: config is nullptr!\n");
+	}
 }
 
-void csLOW(void)
-{
-	HAL_GPIO_WritePin(SPI_FLASH_CS_GPIO_Port, SPI_FLASH_CS_Pin, GPIO_PIN_RESET);
+// Internal Helper Wrappers
+
+
+void MX66_Delay(uint32_t ms) {
+	if(io_driver.Delay) {
+		io_driver.Delay(ms);
+	} else {
+		SOAR_PRINT("[MX66 ERROR] MX66_Delay called before MX66_Init!\n");
+	}
 }
 
-void csHIGH(void)
-{
-	HAL_GPIO_WritePin(SPI_FLASH_CS_GPIO_Port, SPI_FLASH_CS_Pin, GPIO_PIN_SET);
+
+void csLOW(void) {
+	if(io_driver.SetCS) {
+		io_driver.SetCS(false);
+	} else {
+		SOAR_PRINT("[MX66 ERROR] csLOW called before MX66_Init!\n");
+	}
 }
 
-void SPI_Write(uint8_t *data, uint16_t len)
-{
-	HAL_SPI_Transmit(&MX66_SPI, data, len, 2000);
+
+void csHIGH(void) {
+	if(io_driver.SetCS) {
+		io_driver.SetCS(true);
+	} else {
+		SOAR_PRINT("[MX66 ERROR] csHIGH called before MX66_Init!\n");
+	}
 }
 
-void SPI_Read(uint8_t *data, uint16_t len)
-{
-	HAL_SPI_Receive(&MX66_SPI, data, len, 5000);
+
+void SPI_Write(uint8_t *data, uint16_t len) {
+	if(io_driver.Write) {
+		io_driver.Write(data, len);
+	} else {
+		SOAR_PRINT("[MX66 ERROR] SPI_Write called before MX66_Init!\n");
+	}
+}
+
+
+void SPI_Read(uint8_t *data, uint16_t len) {
+	if(io_driver.Read) {
+		io_driver.Read(data, len);
+	} else {
+		SOAR_PRINT("[MX66 ERROR] SPI_Read called before MX66_Init!\n");
+	}
 }
 
 /************************************
@@ -173,7 +209,7 @@ void write_enable(void)
 	csLOW();
 	SPI_Write(&tData, 1);
 	csHIGH();
-	HAL_Delay(5);
+	MX66_Delay(5);
 }
 
 void write_disable(void)
@@ -182,7 +218,7 @@ void write_disable(void)
 	csLOW();
 	SPI_Write(&tData, 1);
 	csHIGH();
-	HAL_Delay(5);
+	MX66_Delay(5);
 }
 
 void MX66_Erase_Chip(void)