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Merged
butchhartman merged 17 commits into from
Feb 9, 2026
Merged

Protected Sensor Data Reads #95

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0274bd5
Added wrappers for interrupt enable/disable
butchhartman Jan 29, 2026
eb65195
Typdefs
butchhartman Jan 29, 2026
2b7bf3a
Include common.h when building for flight computer
butchhartman Jan 29, 2026
2add115
Conform irq toggling functions to file style
butchhartman Jan 30, 2026
f40ef71
Check sensor status before read
butchhartman Jan 30, 2026
c66cc9f
Minor common.c styling fix
butchhartman Jan 30, 2026
9b630ad
More formatting in common.c
butchhartman Jan 30, 2026
cac9759
Fix common.c
ETSells Feb 2, 2026
b5950aa
Remove include cmsis_gcc.h (oops)
butchhartman Feb 2, 2026
ba7e409
Added getters for imu, mag, and baro data ready flags
butchhartman Feb 3, 2026
e6c57b4
Made baro_data_ready flag static
butchhartman Feb 3, 2026
ee24355
Updated changes to adhere to SDR standards
butchhartman Feb 4, 2026
ce2760a
Moved common include trying to fix weird indentation
butchhartman Feb 4, 2026
9a8cc80
Fixed common include indentation
butchhartman Feb 4, 2026
4a4eb3e
Fixed formatting on imu.c function desc headers
butchhartman Feb 4, 2026
6f144f9
sensor_get_it_ready() if indentation fix
butchhartman Feb 4, 2026
062e934
Resolving nitpicks myself so I'm not torturing robert
ETSells Feb 4, 2026
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4 changes: 3 additions & 1 deletion NOTICE
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Original file line number Diff line number Diff line change
@@ -1 +1,3 @@
This larger work, the Sun Devil Rocketry mod Submodule, uses the BSD-3-Clause. This software project does not use any dependencies, and all files in this project are covered under this license.
This larger work, the Sun Devil Rocketry mod Submodule, uses the BSD-3-Clause. This software project does not have any official dependencies, however some derivative code is used. This is attributed below.

sensor.c:sensor_conv_mag - Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved. BSD-3-Clause license. https://opensource.org/license/bsd-3-clause
21 changes: 20 additions & 1 deletion baro/baro.c
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@ETSells ETSells Feb 4, 2026

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You appear to be double indenting (8 spaces instead of 4) when you hit tab. This is likely a setting in vim that can be updated.

@ETSells ETSells Feb 4, 2026

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Also if you have a "tabs -> spaces" setting, I recommend enabling that as well. Tabs can be variable between different text editors, but if it converts to spaces then it'll render correctly across them.

Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ static BARO_CAL_DATA baro_cal_data;
uint8_t baro_raw_buffer[6];
float baro_pres_proc = NAN;
float baro_temp_proc = NAN;
bool baro_data_ready = false;
static bool baro_data_ready = false;


/*------------------------------------------------------------------------------
Expand Down Expand Up @@ -863,6 +863,25 @@ return write_reg( BARO_REG_CMD, BARO_CMD_FIFO_FLUSH );
} /* baro_flush_fifo */


/*******************************************************************************
* *
* PROCEDURE: *
* baro_get_baro_data_ready *
* *
* DESCRIPTION: *
* Returns the baro_data_ready flag *
* *
*******************************************************************************/
bool baro_get_baro_data_ready

@ETSells ETSells Feb 4, 2026

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Fixing this myself bc it's a total nitpick but whitespace is still a little off. it should be two lines between functions

(
void
)
{
return baro_data_ready;

} /* baro_get_baro_data_ready */


/*******************************************************************************
* *
* PROCEDURE: *
Expand Down
6 changes: 6 additions & 0 deletions baro/baro.h
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Original file line number Diff line number Diff line change
Expand Up @@ -282,6 +282,12 @@ BARO_STATUS baro_get_altitude
void
);

/* returns the baro_data_ready flag */
bool baro_get_baro_data_ready
(
void
);

BARO_STATUS start_baro_read_IT();
BARO_STATUS baro_IT_handler();
BARO_STATUS get_baro_it(float* pres_ptr, float* temp_ptr);
Expand Down
38 changes: 37 additions & 1 deletion common/common.c
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,41 @@
API Functions
------------------------------------------------------------------------------*/

/*******************************************************************************
* *
* PROCEDURE: *
* disable_irq *
* *
* DESCRIPTION: *
* Disables IRQ interrupts; wrapper for __disable_irq() *
* *
*******************************************************************************/
void disable_irq
(
void
)
{
__disable_irq();
} /* disable_irq */


/*******************************************************************************
* *
* PROCEDURE: *
* enable_irq *
* *
* DESCRIPTION: *
* Enables IRQ interrupts; wrapper for __enable_irq() *
* *
*******************************************************************************/
void enable_irq
(
void
)
{
__enable_irq();
} /* enable_irq */


/*******************************************************************************
* *
Expand All @@ -66,6 +101,7 @@ HAL_Delay(delay);

} /* delay_ms */


/*******************************************************************************
* END OF FILE *
*******************************************************************************/
*******************************************************************************/
14 changes: 11 additions & 3 deletions common/common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ extern "C" {


/*------------------------------------------------------------------------------
Typdefs
Typedefs
------------------------------------------------------------------------------*/

/* UID serial number (packed struct inhibits padding) */
Expand Down Expand Up @@ -107,7 +107,15 @@ memcpy( uid_buffer, uid, sizeof( ST_UID_TYPE ) );
Function Prototypes
------------------------------------------------------------------------------*/

/* common */
void disable_irq
(
void
);

void enable_irq
(
void
);

void delay_ms
(
Expand All @@ -121,4 +129,4 @@ void delay_ms

/*******************************************************************************
* END OF FILE *
*******************************************************************************/
*******************************************************************************/
42 changes: 40 additions & 2 deletions imu/imu.c
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Original file line number Diff line number Diff line change
Expand Up @@ -52,10 +52,10 @@
#if defined( A0002_REV2 )
uint8_t imu_raw_buffer[12];
IMU_RAW imu_raw_processed;
bool imu_data_ready;
static bool imu_data_ready;

uint8_t mag_raw_buffer[8];
bool mag_data_ready;
static bool mag_data_ready;
#endif

MAG_TRIM mag_trim;
Expand Down Expand Up @@ -871,6 +871,44 @@ else
} /* read_imu_regs */


/*******************************************************************************
* *
* PROCEDURE: *
* imu_get_imu_data_ready *
* *
* DESCRIPTION: *
* Returns the imu_data_ready flag *
* *

@ETSells ETSells Feb 4, 2026

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nit: Only one line of spacing at the bottom of a procedure header

*******************************************************************************/
bool imu_get_imu_data_ready
(
void
)
{
return imu_data_ready;

} /* imu_get_imu_data_ready */


/*******************************************************************************
* *
* PROCEDURE: *
* imu_get_mag_data_ready *
* *
* DESCRIPTION: *
* Returns the mag_data_ready flag *
* *
*******************************************************************************/
bool imu_get_mag_data_ready
(
void
)
{
return mag_data_ready;

} /* imu_get_mag_data_ready */


#if defined( A0002_REV2 )
/*******************************************************************************
* *
Expand Down
12 changes: 12 additions & 0 deletions imu/imu.h
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Expand Up @@ -487,6 +487,18 @@ void IMU_config
uint16_t mag_setting
);

/* Get the static variable imu_data_ready */
bool imu_get_imu_data_ready
(
void
);

/* Get the static variable mag_data_ready */
bool imu_get_mag_data_ready
(
void
);

#ifdef A0002_REV2
IMU_STATUS start_imu_read_IT(void);
IMU_STATUS imu_it_handler();
Expand Down
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