Integration rebase

Components/DataBroker/Inc/DataBroker.hpp

@@ -175,17 +175,35 @@ class DataBroker {
    * @brief Returns the correct Publisher object for a template type
    */
   template <typename T>
-  static constexpr auto getPublisher(void) {
+  static constexpr Publisher<T>* getPublisher(void) {
     if constexpr (matchType<T, IMUData>()) {
       return &IMU_Data_publisher;
-    } else {
+    }
+    else if constexpr(matchType<T, BaroData>()){
+    	return &Baro_Data_publisher;
+    }
+    else if constexpr(matchType<T, MagData>()){
+    	return &Mag_Data_publisher;
+    }
+    else if constexpr(matchType<T, FilterData>()){
+    	return &Filter_Data_publisher;
+    }
+    else if constexpr(matchType<T, GPSData>()){
+    	return &GPS_Data_publisher;
+    }
+    else {
       SOAR_ASSERT(false, "This publisher type does not exist, you must create it");
       return (Publisher<T>*)nullptr;
     }
   }
 
   // List of Publishers
   inline static Publisher<IMUData> IMU_Data_publisher{DataBrokerMessageTypes::IMU_DATA};
+  inline static Publisher<MagData> Mag_Data_publisher{DataBrokerMessageTypes::MAG_DATA};
+  inline static Publisher<BaroData> Baro_Data_publisher{DataBrokerMessageTypes::BARO_DATA};
+  inline static Publisher<FilterData> Filter_Data_publisher{DataBrokerMessageTypes::FILTER_DATA};
+  inline static Publisher<GPSData> GPS_Data_publisher{DataBrokerMessageTypes::GPS_DATA};
+
 
 };
 /************************************

Components/SystemTypes/DataBrokerMessageTypes.hpp

@@ -45,7 +45,7 @@ std::string ToString(DataBrokerMessageTypes messageType);
 inline std::string ToString(DataBrokerMessageTypes messageType) {
   switch (messageType) {
     case DataBrokerMessageTypes::IMU_DATA: {
-      std::string type{"IMU_DATA"};
+      std::string type{"IMU32G_DATA"};
       return type;
     }
     case DataBrokerMessageTypes::GPS_DATA: {

Components/SystemTypes/SensorDataTypes.hpp

@@ -26,33 +26,74 @@
  * @param accelY The acceleration in the Y axis relative to the sensor
  * @param accelZ The acceleration in the Z axis relative to the sensor
  */
+struct ACCEL_t {
+	int16_t x;
+	int16_t y;
+	int16_t z;
+};
+
+struct GYRO_t {
+	int16_t x;
+	int16_t y;
+	int16_t z;
+};
+
 struct IMUData {
-  uint32_t accelX;
-  uint32_t accelY;
-  uint32_t accelZ;
+	ACCEL_t accel;
+	GYRO_t gyro;
+	int16_t temp;
+	uint8_t id;
+	uint32_t gyroX;
+	uint32_t gyroY;
+	uint32_t gyroZ;
+
+	uint32_t accelX;
+	uint32_t accelY;
+	uint32_t accelZ;
 };
 
 /**
  * @param Temperature. Can be any where from -2147483648 to 2147483647
  */
 struct ThermocoupleData {
-  int32_t temperature;
+	int32_t temperature;
 };
 
 struct GPSData{
 	uint32_t gps;
 };
 
-struct BaroData{
+
+struct BaroData {
 	uint32_t baro;
+	int16_t temp;
+	uint32_t pressure;
+	uint8_t id;
 };
 
-struct FilterData{
-	uint32_t filter;
+struct FilterData {
+	uint32_t alt;
+	uint32_t velo;
+	uint32_t acc;
+
+	// predictions can be published later
+	/*
+	uint32_t alt_predict;
+	uint32_t velo_predict;
+	uint32_t acc_predict;
+	*/
 };
 
-struct MagData{
-	uint32_t mag;
+struct MagData {
+    uint32_t rawX;
+    uint32_t rawY;
+    uint32_t rawZ;
+    float scaledX;
+    float scaledY;
+    float scaledZ;
+	uint32_t magX;
+	uint32_t magY;
+	uint32_t magZ;
 };
 
 #endif /* SENSORDATATYPES_HPP_ */

CubeDefines.hpp

@@ -16,6 +16,7 @@
 #include <cstdint>        // For uint32_t, etc.
 #include <cstdio>        // Standard c printf, vsnprintf, etc.
 #include "cmsis_os.h"    // CMSIS RTOS definitions
+#include "Mutex.hpp"
 
 /* Global Functions ------------------------------------------------------------------*/
 void cube_print(const char* format, ...);

CubeTask.cpp

@@ -36,6 +36,7 @@ void CubeTask::InitTask()
 void CubeTask::Run(void * pvParams)
 {
     //UART Task loop
+
     while(1) {
         Command cm;
 

Drivers/Inc/UARTTask.hpp

@@ -0,0 +1,78 @@
+/*
+ * UARTTask.hpp
+ *
+ *  Created on: Feb 4, 2026
+ *      Author: jaddina
+ */
+
+#ifndef DRIVERS_INC_UARTTASK_HPP_
+#define DRIVERS_INC_UARTTASK_HPP_
+
+/**
+ ******************************************************************************
+ * File Name          : UARTTask.hpp
+ * Description        :
+ ******************************************************************************
+*/
+#ifndef SOAR_COMMS_UARTTASK_HPP_
+#define SOAR_COMMS_UARTTASK_HPP_
+/* Includes ------------------------------------------------------------------*/
+#include "Task.hpp"
+#include "SystemDefines.hpp"
+#include "UARTDriver.hpp"
+
+
+
+/* Macros ------------------------------------------------------------------*/
+enum UART_TASK_COMMANDS {
+    UART_TASK_COMMAND_NONE = 0,
+    UART_TASK_COMMAND_SEND_DEBUG,
+    UART_TASK_COMMAND_SEND_RADIO,
+    UART_TASK_COMMAND_SEND_PBB,
+    UART_TASK_COMMAND_MAX
+};
+
+
+/* Class ------------------------------------------------------------------*/
+class UARTTask : public Task
+{
+public:
+    static UARTTask& Inst() {
+        static UARTTask inst;
+        return inst;
+    }
+
+    void InitTask();
+
+protected:
+    static void RunTask(void* pvParams) { UARTTask::Inst().Run(pvParams); } // Static Task Interface, passes control to the instance Run();
+
+    void Run(void* pvParams);    // Main run code
+
+    void ConfigureUART();
+    void HandleCommand(Command& cm);
+
+private:
+    UARTTask() : Task(UART_TASK_QUEUE_DEPTH_OBJS) {}    // Private constructor
+    UARTTask(const UARTTask&);                        // Prevent copy-construction
+    UARTTask& operator=(const UARTTask&);            // Prevent assignment
+};
+
+
+/* Utility Functions ------------------------------------------------------------------*/
+namespace UARTUtils
+{
+
+}
+
+
+#endif    // SOAR_COMMS_UARTTASK_HPP_
+
+
+
+
+
+
+
+
+#endif /* DRIVERS_INC_UARTTASK_HPP_ */

Drivers/UARTTask.cpp

@@ -0,0 +1,100 @@
+/*
+ * UARTTask.cpp
+ *
+ *  Created on: Feb 4, 2026
+ *      Author: jaddina
+ */
+/**
+ ******************************************************************************
+ * File Name          : UARTTask.cpp
+ * Description        : UART
+ ******************************************************************************
+*/
+
+#include "UARTTask.hpp"
+#include "UARTDriver.hpp"
+
+/**
+ * TODO: Currently not used, would be used for DMA buffer configuration or interrupt setup
+ * @brief Configures UART DMA buffers and interrupts
+ *
+*/
+void UARTTask::ConfigureUART()
+{
+    // UART 5 - Uses polling for now (switch to DMA or interrupts once SOAR-Protocol is defined)
+}
+
+/**
+ * @brief Initializes UART task with the RTOS scheduler
+*/
+void UARTTask::InitTask()
+{
+    // Make sure the task is not already initialized
+    SOAR_ASSERT(rtTaskHandle == nullptr, "Cannot initialize UART task twice");
+
+    // Start the task
+    BaseType_t rtValue =
+        xTaskCreate((TaskFunction_t)UARTTask::RunTask,
+            (const char*)"UARTTask",
+            (uint16_t)UART_TASK_STACK_DEPTH_WORDS,
+            (void*)this,
+            (UBaseType_t)UART_TASK_RTOS_PRIORITY,
+            (TaskHandle_t*)&rtTaskHandle);
+
+    //Ensure creation succeded
+    SOAR_ASSERT(rtValue == pdPASS, "UARTTask::InitTask() - xTaskCreate() failed");
+
+    // Configure DMA
+
+}
+
+/**
+ * @brief Instance Run loop for the UART 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 UARTTask::Run(void * pvParams)
+{
+    //UART Task loop
+    while(1) {
+        Command cm;
+
+        //Wait forever for a command
+        qEvtQueue->ReceiveWait(cm);
+
+        //Process the command
+        HandleCommand(cm);
+    }
+}
+
+/**
+ * @brief HandleCommand handles any command passed to the UART task primary event queue. Responsible for
+ *           handling all commands, even if unsupported. (Unexpected commands must still be reset)
+ * @param cm Reference to the command object to handle
+*/
+void UARTTask::HandleCommand(Command& cm)
+{
+    //Switch for the GLOBAL_COMMAND
+    switch (cm.GetCommand()) {
+    case DATA_COMMAND: {
+        //Switch for task specific command within DATA_COMMAND
+        switch (cm.GetTaskCommand()) {
+        case UART_TASK_COMMAND_SEND_DEBUG:
+            UART::Debug->Transmit(cm.GetDataPointer(), cm.GetDataSize());
+            break;
+
+        default:
+            SOAR_PRINT("UARTTask - Received Unsupported DATA_COMMAND {%d}\n", cm.GetTaskCommand());
+            break;
+        }
+    }
+    case TASK_SPECIFIC_COMMAND: {
+        break;
+    }
+    default:
+        SOAR_PRINT("UARTTask - Received Unsupported Command {%d}\n", cm.GetCommand());
+        break;
+    }
+
+    //No matter what we happens, we must reset allocated data
+    cm.Reset();
+}