Feature/navigation

.project

@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>Flight-Computer</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+	</buildSpec>
+	<natures>
+	</natures>
+</projectDescription>

.vscode/launch.json

@@ -24,7 +24,7 @@
             "device": "STM32F411RE",
             "interface": "swd",
             "runToEntryPoint": "main",
-            "preLaunchTask": "Build",
+            // "preLaunchTask": "Build",
         }
 
     ]

.vscode/settings.json

@@ -1,4 +1,5 @@
 {
     "cortex-debug.gdbPath.linux": "/usr/bin/arm-none-eabi-gdb",
-    "cortex-debug.stutilPath.linux": "/usr/bin/st-util"
+    "cortex-debug.stutilPath.linux": "/usr/bin/st-util",
+    "cortex-debug.variableUseNaturalFormat": true
 }

.vscode/tasks.json

@@ -10,11 +10,11 @@
             "detail": "Build"
         },
         {
-            "label": "Clean Build",
+            "label": "Clean",
             "group": "build",
             "type": "shell",
             "command": "make",
-            "args": [ "-j", "-C", "./Code/", "cleanbuild"],
+            "args": [ "-j", "-C", "./Code/", "clean"],
             "detail": "Do a clean build"
         },
         {

Code/Code.ioc

@@ -8,19 +8,32 @@ ADC1.master=1
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
+Dma.Request0=UART4_RX
+Dma.RequestsNb=1
+Dma.UART4_RX.0.Direction=DMA_PERIPH_TO_MEMORY
+Dma.UART4_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.UART4_RX.0.Instance=DMA1_Stream2
+Dma.UART4_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.UART4_RX.0.MemInc=DMA_MINC_ENABLE
+Dma.UART4_RX.0.Mode=DMA_CIRCULAR
+Dma.UART4_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.UART4_RX.0.PeriphInc=DMA_PINC_DISABLE
+Dma.UART4_RX.0.Priority=DMA_PRIORITY_LOW
+Dma.UART4_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 File.Version=6
 KeepUserPlacement=false
 Mcu.CPN=STM32F446RET6
 Mcu.Family=STM32F4
 Mcu.IP0=ADC1
-Mcu.IP1=I2C2
-Mcu.IP2=NVIC
-Mcu.IP3=RCC
-Mcu.IP4=SPI1
-Mcu.IP5=SYS
-Mcu.IP6=UART4
-Mcu.IP7=USB_OTG_FS
-Mcu.IPNb=8
+Mcu.IP1=DMA
+Mcu.IP2=I2C2
+Mcu.IP3=NVIC
+Mcu.IP4=RCC
+Mcu.IP5=SPI1
+Mcu.IP6=SYS
+Mcu.IP7=UART4
+Mcu.IP8=USB_OTG_FS
+Mcu.IPNb=9
 Mcu.Name=STM32F446R(C-E)Tx
 Mcu.Package=LQFP64
 Mcu.Pin0=PC13
@@ -67,6 +80,7 @@ Mcu.UserName=STM32F446RETx
 MxCube.Version=6.16.1
 MxDb.Version=DB.6.0.161
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.DMA1_Stream2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -140,9 +154,10 @@ PB4.GPIOParameters=GPIO_Label
 PB4.GPIO_Label=LORA_CS
 PB4.Locked=true
 PB4.Signal=GPIO_Output
-PB5.GPIOParameters=GPIO_Label
+PB5.GPIOParameters=PinState,GPIO_Label
 PB5.GPIO_Label=BARO_CS
 PB5.Locked=true
+PB5.PinState=GPIO_PIN_SET
 PB5.Signal=GPIO_Output
 PB6.GPIOParameters=GPIO_Label
 PB6.GPIO_Label=FLASH_CS
@@ -235,7 +250,7 @@ ProjectManager.LastFirmware=true
 ProjectManager.LibraryCopy=1
 ProjectManager.MainLocation=Core/Src
 ProjectManager.NoMain=false
-ProjectManager.PreviousToolchain=
+ProjectManager.PreviousToolchain=STM32CubeIDE
 ProjectManager.ProjectBuild=false
 ProjectManager.ProjectFileName=Code.ioc
 ProjectManager.ProjectName=Code
@@ -246,8 +261,9 @@ ProjectManager.TargetToolchain=Makefile
 ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
-ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_I2C2_Init-I2C2-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true,6-MX_UART4_Init-UART4-false-HAL-true,7-MX_USB_OTG_FS_PCD_Init-USB_OTG_FS-false-HAL-true
+<<<<<<< HEAD
+ProjectManager.UnderRoot=true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_I2C2_Init-I2C2-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_UART4_Init-UART4-false-HAL-true,8-MX_USB_OTG_FS_PCD_Init-USB_OTG_FS-false-HAL-true
 RCC.AHBFreq_Value=180000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
 RCC.APB1Freq_Value=45000000
@@ -319,13 +335,16 @@ SH.S_TIM1_CH2.0=TIM1_CH2
 SH.S_TIM1_CH2.ConfNb=1
 SH.S_TIM1_CH3.0=TIM1_CH3
 SH.S_TIM1_CH3.ConfNb=1
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_2
-SPI1.CalculateBaudRate=45.0 MBits/s
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
+SPI1.CLKPhase=SPI_PHASE_1EDGE
+SPI1.CLKPolarity=SPI_POLARITY_LOW
+SPI1.CalculateBaudRate=5.625 MBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
-SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
+SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPhase,CLKPolarity
 SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
-UART4.IPParameters=VirtualMode
+UART4.BaudRate=9600
+UART4.IPParameters=VirtualMode,BaudRate
 UART4.VirtualMode=Asynchronous
 USB_OTG_FS.IPParameters=VirtualMode
 USB_OTG_FS.VirtualMode=Device_Only

Code/Core/Inc/DataContainer.h

@@ -8,6 +8,8 @@
 #ifndef INC_DATACONTAINER_H_
 #define INC_DATACONTAINER_H_
 
+#include <cstdint>
+
 /**
  * @class DataContainer
  * @brief Central data storage and communication hub for all subsystems.
@@ -29,10 +31,66 @@
 class DataContainer {
 private:
 
-
 public:
+	/* IMU Data*/
+	float LSM6DSV320GyroX_dps;
+	float LSM6DSV320GyroY_dps;
+	float LSM6DSV320GyroZ_dps;
+
+	float LSM6DSV320LowGAccelX_mps2;
+	float LSM6DSV320LowGAccelY_mps2;
+	float LSM6DSV320LowGAccelZ_mps2;
+
+	float LSM6DSV320HighGAccelX_mps2;
+	float LSM6DSV320HighGAccelY_mps2;
+	float LSM6DSV320HighGAccelZ_mps2;
+
+	/* Barometer Data*/
+	float MS560702BA03Temperature_C;
+	float MS560702BA03Pressure_hPA;
+	float MS560702BA03Altitude_m;
+
+	/* GPS Data */
+	// Latitude in decimal degrees (+N, -S)
+	float GPSLatitude;
+	// Longitude in decimal degrees (+E, -W)
+	float GPSLongitude;
+	// Altitude in meters (from GPS)
+	float GPSAltitude_m;
+	// GPS fix status: 0 = invalid, 1 = GPS fix, 2 = DGPS
+	int GPSFix;
+	// Number of satellites used in fix
+	int GPSNumSatellites;
+	// UTC time string from GPS (hhmmss.sss)
+	char GPSUTCTime[16];
+
+	/* Quaternion Data */
+	float quaternionW;
+	float quaternionX;
+	float quaternionY;
+	float quaternionZ;
+
+	float quaternionNorm;
+
+	/* Euler Angles */
+	float roll;
+	float pitch;
+	float yaw;
+
+	/* Kalman Filter Data */
+	float KalmanFilterPositionX_m;
+	float KalmanFilterPositionY_m;
+	float KalmanFilterPositionZ_m;
+
+	float KalmanFilterVelocityX_mps;
+	float KalmanFilterVelocityY_mps;
+	float KalmanFilterVelocityZ_mps;
+
+	float KalmanFilterAccelerationX_mps2;
+	float KalmanFilterAccelerationY_mps2;
+	float KalmanFilterAccelerationZ_mps2;
 };
 
 
 
-#endif /* INC_DATACONTAINER_H_ */
+#endif /* INC_DATACONTAINER_H_ */

Code/Core/Inc/Devices/GPS.h

@@ -0,0 +1,102 @@
+/*
+ * GPS.h
+ *
+ *  Created on: Jan 08, 2026
+ *      Author: colin
+ */
+
+#ifndef SRC_DEVICES_GPS_H_
+#define SRC_DEVICES_GPS_H_
+
+#include "main.h"
+#include "DataContainer.h"
+#include <string.h>
+
+#define GPS_DMA_BUFFER_SIZE 512
+#define GPS_UBX_MAX_PAYLOAD 256
+
+class GPS {
+public:
+    GPS(DataContainer* data, UART_HandleTypeDef* uart, uint8_t* dmaBuffer);
+
+    int deviceInit();
+    int updateDevice();
+
+private:
+    DataContainer* data;
+    UART_HandleTypeDef* uart;
+    uint8_t* dmaBuffer;
+
+    uint16_t currentBufferPos;
+    uint16_t lastDmaBufferPos;
+
+    // UBX message buffer
+    uint8_t ubxBuffer[GPS_UBX_MAX_PAYLOAD];
+    uint16_t ubxIndex;
+
+    // UBX-NAV-PVT structure (92 bytes payload)
+    struct __attribute__((packed)) UBX_NAV_PVT {
+        uint32_t iTOW;          // GPS time of week (ms)
+        uint16_t year;          // Year (UTC)
+        uint8_t month;          // Month (1-12)
+        uint8_t day;            // Day (1-31)
+        uint8_t hour;           // Hour (0-23)
+        uint8_t min;            // Minute (0-59)
+        uint8_t sec;            // Second (0-60)
+        uint8_t valid;          // Validity flags
+        uint32_t tAcc;          // Time accuracy estimate (ns)
+        int32_t nano;           // Fraction of second (-1e9 to 1e9)
+        uint8_t fixType;        // GPS fix type (0=none, 3=3D fix)
+        uint8_t flags;          // Fix status flags
+        uint8_t flags2;         // Additional flags
+        uint8_t numSV;          // Number of satellites
+        int32_t lon;            // Longitude (1e-7 deg)
+        int32_t lat;            // Latitude (1e-7 deg)
+        int32_t height;         // Height above ellipsoid (mm)
+        int32_t hMSL;           // Height above MSL (mm)
+        uint32_t hAcc;          // Horizontal accuracy (mm)
+        uint32_t vAcc;          // Vertical accuracy (mm)
+        int32_t velN;           // North velocity (mm/s)
+        int32_t velE;           // East velocity (mm/s)
+        int32_t velD;           // Down velocity (mm/s)
+        int32_t gSpeed;         // Ground speed (mm/s)
+        int32_t headMot;        // Heading of motion (1e-5 deg)
+        uint32_t sAcc;          // Speed accuracy (mm/s)
+        uint32_t headAcc;       // Heading accuracy (1e-5 deg)
+        uint16_t pDOP;          // Position DOP (0.01)
+        uint8_t reserved1[6];   // Reserved
+        int32_t headVeh;        // Heading of vehicle (1e-5 deg)
+        int16_t magDec;         // Magnetic declination (1e-2 deg)
+        uint16_t magAcc;        // Magnetic declination accuracy (1e-2 deg)
+    };
+
+    // UBX parser state machine
+    enum UBXParseState {
+        WAIT_SYNC1,
+        WAIT_SYNC2,
+        GET_CLASS,
+        GET_ID,
+        GET_LENGTH1,
+        GET_LENGTH2,
+        GET_PAYLOAD,
+        GET_CHECKSUM1,
+        GET_CHECKSUM2
+    };
+
+    UBXParseState parseState;
+    uint8_t msgClass;
+    uint8_t msgId;
+    uint16_t payloadLength;
+    uint16_t payloadIndex;
+    uint8_t ckA, ckB;
+
+    // Private methods
+    void processDMAData();
+    bool parseUBXByte(uint8_t byte);
+    void processUBXMessage();
+    void sendUBXCommand(const uint8_t* cmd, uint16_t len);
+    void calculateChecksum(const uint8_t* data, uint16_t len, uint8_t* ckA, uint8_t* ckB);
+    void configureGPS();
+};
+
+#endif /* SRC_DEVICES_GPS_H_ */