From 2c5d774f1e4c54031d6d96a0398a60cdeec73ab1 Mon Sep 17 00:00:00 2001
From: MarwanMashaly1 <90435216+MarwanMashaly1@users.noreply.github.com>
Date: Wed, 1 May 2024 13:23:18 -0400
Subject: [PATCH 1/5] Update message size test  (#104)

* add size check for different message types

* add dbg msgs and cleanup

* fix dbg msg

* add consts instead of hardcoded values

* update consts
---
 libraries/messages/src/lib.rs | 28 +++++++++++++++++++++++++---
 1 file changed, 25 insertions(+), 3 deletions(-)

diff --git a/libraries/messages/src/lib.rs b/libraries/messages/src/lib.rs
index c89fb673..90fdccc1 100644
--- a/libraries/messages/src/lib.rs
+++ b/libraries/messages/src/lib.rs
@@ -25,6 +25,11 @@ pub mod sensor_status;
 pub mod state;
 
 pub const MAX_SIZE: usize = 64;
+pub const MAX_HEALTH_SIZE: usize = 47;
+pub const MAX_SENSOR_SIZE: usize = 53;
+pub const MAX_STATE_SIZE: usize = 13;
+pub const MAX_LOG_SIZE: usize = 15;
+pub const MAX_COMMAND_SIZE: usize = 15;
 
 pub use logging::{ErrorContext, Event, Log, LogLevel};
 
@@ -70,7 +75,7 @@ impl Message {
 
 #[cfg(test)]
 mod test {
-    use crate::{Message, MAX_SIZE};
+    use crate::{Message, MAX_HEALTH_SIZE, MAX_COMMAND_SIZE, MAX_LOG_SIZE, MAX_SENSOR_SIZE, MAX_STATE_SIZE};
     use proptest::prelude::*;
 
     proptest! {
@@ -78,8 +83,25 @@ mod test {
         fn message_size(msg: Message) {
             let bytes = postcard::to_allocvec(&msg).unwrap();
 
-            dbg!(msg);
-            assert!(dbg!(bytes.len()) <= MAX_SIZE);
+            dbg!(&msg);
+            // The size of the message should be less than or equal the maximum size.
+            match msg.data {
+                crate::Data::State(_) => {
+                    assert!(dbg!(bytes.len()) <= MAX_STATE_SIZE);
+                }
+                crate::Data::Sensor(_) => {
+                    assert!(dbg!(bytes.len()) <= MAX_SENSOR_SIZE);
+                }
+                crate::Data::Log(_) => {
+                    assert!(dbg!(bytes.len()) <= MAX_LOG_SIZE);
+                }
+                crate::Data::Command(_) => {
+                    assert!(dbg!(bytes.len()) <= MAX_COMMAND_SIZE);
+                }
+                crate::Data::Health(_) => {
+                    assert!(dbg!(bytes.len()) <= MAX_HEALTH_SIZE);
+                }
+            }
         }
     }
 }

From beef05902cf80fa0d66eb290d4202f0bbc58eb65 Mon Sep 17 00:00:00 2001
From: Danny Harani <danniharany@gmail.com>
Date: Wed, 1 May 2024 14:32:07 -0400
Subject: [PATCH 2/5] Rename sender to node (#102)

* Renamed sender to node in applicable settings.

* Cleanup Comments

---------

Co-authored-by: Noah Sprenger <noahsprenger@aedo.com>
---
 boards/beacon/src/types.rs                    |  8 +++---
 boards/camera/src/communication.rs            |  2 +-
 boards/camera/src/types.rs                    |  6 ++--
 boards/communication/src/communication.rs     |  8 +++---
 boards/communication/src/types.rs             |  8 +++---
 boards/power/src/communication.rs             |  2 +-
 boards/power/src/types.rs                     |  6 ++--
 boards/recovery/src/communication.rs          |  4 +--
 .../state_machine/states/wait_for_recovery.rs |  2 +-
 boards/recovery/src/types.rs                  |  8 +++---
 boards/sensor/src/communication.rs            |  6 ++--
 boards/sensor/src/types.rs                    |  8 +++---
 libraries/messages/src/command.rs             |  4 +--
 libraries/messages/src/lib.rs                 |  8 +++---
 libraries/messages/src/node.rs                | 27 ++++++++++++++++++
 libraries/messages/src/sender.rs              | 28 -------------------
 16 files changed, 67 insertions(+), 68 deletions(-)
 create mode 100644 libraries/messages/src/node.rs
 delete mode 100644 libraries/messages/src/sender.rs

diff --git a/boards/beacon/src/types.rs b/boards/beacon/src/types.rs
index d2fccd10..1274347f 100644
--- a/boards/beacon/src/types.rs
+++ b/boards/beacon/src/types.rs
@@ -1,7 +1,7 @@
-use messages::sender::Sender;
-use messages::sender::Sender::BeaconBoard;
+use messages::node::Node;
+use messages::node::Node::BeaconBoard;
 
 // -------
-// Sender ID
+// Node ID
 // -------
-pub static COM_ID: Sender = BeaconBoard;
\ No newline at end of file
+pub static COM_ID: Node = BeaconBoard;
\ No newline at end of file
diff --git a/boards/camera/src/communication.rs b/boards/camera/src/communication.rs
index cb30c676..1a54fdae 100644
--- a/boards/camera/src/communication.rs
+++ b/boards/camera/src/communication.rs
@@ -103,7 +103,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::SensorBoard.into())
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into())
                     .unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
diff --git a/boards/camera/src/types.rs b/boards/camera/src/types.rs
index 352f57f0..cea33bb0 100644
--- a/boards/camera/src/types.rs
+++ b/boards/camera/src/types.rs
@@ -1,5 +1,5 @@
-use messages::sender::{Sender, Sender::CameraBoard};
+use messages::node::{Node, Node::CameraBoard};
 // -------
-// Sender ID
+// Node ID
 // -------
-pub static _COM_ID: Sender = CameraBoard;
+pub static _COM_ID: Node = CameraBoard;
diff --git a/boards/communication/src/communication.rs b/boards/communication/src/communication.rs
index 1ea183af..6af79cb4 100644
--- a/boards/communication/src/communication.rs
+++ b/boards/communication/src/communication.rs
@@ -120,7 +120,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::RecoveryBoard.into())
+                filter: ecan::StandardId::new(messages::node::Node::RecoveryBoard.into())
                     .unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
@@ -129,7 +129,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo1,
-                filter: ecan::StandardId::new(messages::sender::Sender::SensorBoard.into())
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into())
                     .unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
@@ -138,7 +138,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::PowerBoard.into()).unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::PowerBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Power filter"));
@@ -146,7 +146,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::GroundStation.into())
+                filter: ecan::StandardId::new(messages::node::Node::GroundStation.into())
                     .unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
diff --git a/boards/communication/src/types.rs b/boards/communication/src/types.rs
index 236121d8..34315d1c 100644
--- a/boards/communication/src/types.rs
+++ b/boards/communication/src/types.rs
@@ -1,13 +1,13 @@
 use atsamd_hal::gpio::*;
 use atsamd_hal::sercom::uart::EightBit;
 use atsamd_hal::sercom::{uart, IoSet1, Sercom5};
-use messages::sender::Sender;
-use messages::sender::Sender::CommunicationBoard;
+use messages::node::Node;
+use messages::node::Node::CommunicationBoard;
 
 // -------
-// Sender ID
+// Node ID
 // -------
-pub static COM_ID: Sender = CommunicationBoard;
+pub static COM_ID: Node = CommunicationBoard;
 
 // -------
 // Ground Station
diff --git a/boards/power/src/communication.rs b/boards/power/src/communication.rs
index 4d42abf2..59ca7b66 100644
--- a/boards/power/src/communication.rs
+++ b/boards/power/src/communication.rs
@@ -108,7 +108,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo1,
-                filter: ecan::StandardId::new(messages::sender::Sender::CommunicationBoard.into())
+                filter: ecan::StandardId::new(messages::node::Node::CommunicationBoard.into())
                     .unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
diff --git a/boards/power/src/types.rs b/boards/power/src/types.rs
index 196af97b..f8bae4ef 100644
--- a/boards/power/src/types.rs
+++ b/boards/power/src/types.rs
@@ -1,5 +1,5 @@
-use messages::sender::{Sender, Sender::PowerBoard};
+use messages::node::{Node, Node::PowerBoard};
 // -------
-// Sender ID
+// Node ID
 // -------
-pub static _COM_ID: Sender = PowerBoard;
+pub static _COM_ID: Node = PowerBoard;
diff --git a/boards/recovery/src/communication.rs b/boards/recovery/src/communication.rs
index 4d667b7b..c6e4d6e4 100644
--- a/boards/recovery/src/communication.rs
+++ b/boards/recovery/src/communication.rs
@@ -111,7 +111,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::SensorBoard.into())
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into())
                     .unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
@@ -121,7 +121,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo1,
-                filter: ecan::StandardId::new(messages::sender::Sender::CommunicationBoard.into())
+                filter: ecan::StandardId::new(messages::node::Node::CommunicationBoard.into())
                     .unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
diff --git a/boards/recovery/src/state_machine/states/wait_for_recovery.rs b/boards/recovery/src/state_machine/states/wait_for_recovery.rs
index cd404c88..52d4a3aa 100644
--- a/boards/recovery/src/state_machine/states/wait_for_recovery.rs
+++ b/boards/recovery/src/state_machine/states/wait_for_recovery.rs
@@ -5,7 +5,7 @@ use crate::state_machine::{RocketStates, State, StateMachineContext, TransitionI
 use crate::types::COM_ID;
 use defmt::{write, Format, Formatter};
 use messages::command::{Command, PowerDown, RadioRate, RadioRateChange};
-use messages::sender::Sender::SensorBoard;
+use messages::node::Node::SensorBoard;
 use messages::Message;
 use rtic::mutex::Mutex;
 
diff --git a/boards/recovery/src/types.rs b/boards/recovery/src/types.rs
index d7f5356d..6e6c29f3 100644
--- a/boards/recovery/src/types.rs
+++ b/boards/recovery/src/types.rs
@@ -1,7 +1,7 @@
-use messages::sender::Sender;
-use messages::sender::Sender::RecoveryBoard;
+use messages::node::Node;
+use messages::node::Node::RecoveryBoard;
 
 // -------
-// Sender ID
+// Node ID
 // -------
-pub static COM_ID: Sender = RecoveryBoard;
+pub static COM_ID: Node = RecoveryBoard;
diff --git a/boards/sensor/src/communication.rs b/boards/sensor/src/communication.rs
index 2ef700ca..5eeda897 100644
--- a/boards/sensor/src/communication.rs
+++ b/boards/sensor/src/communication.rs
@@ -112,7 +112,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::CommunicationBoard.into())
+                filter: ecan::StandardId::new(messages::node::Node::CommunicationBoard.into())
                     .unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
@@ -121,7 +121,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::RecoveryBoard.into())
+                filter: ecan::StandardId::new(messages::node::Node::RecoveryBoard.into())
                     .unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
@@ -130,7 +130,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo1,
-                filter: ecan::StandardId::new(messages::sender::Sender::GroundStation.into())
+                filter: ecan::StandardId::new(messages::node::Node::GroundStation.into())
                     .unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
diff --git a/boards/sensor/src/types.rs b/boards/sensor/src/types.rs
index fe0877ab..7c063a71 100644
--- a/boards/sensor/src/types.rs
+++ b/boards/sensor/src/types.rs
@@ -8,14 +8,14 @@ use hal::dmac::BufferPair;
 use hal::sercom::IoSet2;
 
 use hal::sercom::Sercom4;
-use messages::sender::Sender;
-use messages::sender::Sender::SensorBoard;
+use messages::node::Node;
+use messages::node::Node::SensorBoard;
 use sbg_rs::sbg::SBG_BUFFER_SIZE;
 
 // -------
-// Sender ID
+// Node ID
 // -------
-pub static COM_ID: Sender = SensorBoard;
+pub static COM_ID: Node = SensorBoard;
 
 // -------
 // SBG
diff --git a/libraries/messages/src/command.rs b/libraries/messages/src/command.rs
index 6ad0b804..8e2f0b40 100644
--- a/libraries/messages/src/command.rs
+++ b/libraries/messages/src/command.rs
@@ -1,4 +1,4 @@
-use crate::sender::Sender;
+use crate::node::Node;
 use derive_more::From;
 use messages_proc_macros_lib::common_derives;
 
@@ -32,7 +32,7 @@ pub struct DeployMain {
 #[common_derives]
 #[derive(From)]
 pub struct PowerDown {
-    pub board: Sender, // This isn't proper naming !! This is the board to be powered down. Changes name of sender.rs to board.rs.
+    pub board: Node,
 }
 
 #[common_derives]
diff --git a/libraries/messages/src/lib.rs b/libraries/messages/src/lib.rs
index 90fdccc1..e6316d1e 100644
--- a/libraries/messages/src/lib.rs
+++ b/libraries/messages/src/lib.rs
@@ -7,7 +7,7 @@
 
 use crate::command::Command;
 use crate::health::Health;
-use crate::sender::Sender;
+use crate::node::Node;
 use crate::sensor::Sensor;
 use crate::state::State;
 use derive_more::From;
@@ -19,7 +19,7 @@ use messages_proc_macros_lib::common_derives;
 pub mod command;
 pub mod health;
 mod logging;
-pub mod sender;
+pub mod node;
 pub mod sensor;
 pub mod sensor_status;
 pub mod state;
@@ -42,7 +42,7 @@ pub struct Message {
     pub timestamp: u64,
 
     /// The original sender of this message.
-    pub sender: Sender,
+    pub sender: Node,
 
     /// The data contained in this message.
     pub data: Data,
@@ -62,7 +62,7 @@ pub enum Data {
 impl Message {
     pub fn new<const NOM: u32, const DENOM: u32>(
         timestamp: &Instant<u64, NOM, DENOM>,
-        sender: Sender,
+        sender: Node,
         data: impl Into<Data>,
     ) -> Self {
         Message {
diff --git a/libraries/messages/src/node.rs b/libraries/messages/src/node.rs
new file mode 100644
index 00000000..3eff0712
--- /dev/null
+++ b/libraries/messages/src/node.rs
@@ -0,0 +1,27 @@
+use messages_proc_macros_lib::common_derives;
+
+#[common_derives]
+#[derive(Copy)]
+pub enum Node {
+    GroundStation,
+    SensorBoard,
+    RecoveryBoard,
+    CommunicationBoard,
+    PowerBoard,
+    CameraBoard,
+    BeaconBoard,
+}
+
+impl From<Node> for u16 {
+    fn from(node: Node) -> Self {
+        match node {
+            Node::GroundStation => 0,
+            Node::SensorBoard => 1,
+            Node::RecoveryBoard => 2,
+            Node::CommunicationBoard => 3,
+            Node::PowerBoard => 4,
+            Node::CameraBoard => 5,
+            Node::BeaconBoard => 6,
+        }
+    }
+}
diff --git a/libraries/messages/src/sender.rs b/libraries/messages/src/sender.rs
deleted file mode 100644
index 2bc90999..00000000
--- a/libraries/messages/src/sender.rs
+++ /dev/null
@@ -1,28 +0,0 @@
-use messages_proc_macros_lib::common_derives;
-
-// I don't agree with the naming, We can use these as Ids to sent commands to that specific board.
-#[common_derives]
-#[derive(Copy)]
-pub enum Sender {
-    GroundStation,
-    SensorBoard,
-    RecoveryBoard,
-    CommunicationBoard,
-    PowerBoard,
-    CameraBoard,
-    BeaconBoard,
-}
-
-impl From<Sender> for u16 {
-    fn from(sender: Sender) -> Self {
-        match sender {
-            Sender::GroundStation => 0,
-            Sender::SensorBoard => 1,
-            Sender::RecoveryBoard => 2,
-            Sender::CommunicationBoard => 3,
-            Sender::PowerBoard => 4,
-            Sender::CameraBoard => 5,
-            Sender::BeaconBoard => 6,
-        }
-    }
-}

From 8f34d7f985763951794dc58375c7c90c43edd65b Mon Sep 17 00:00:00 2001
From: Fernando Nogueira <abert036@uottawa.ca>
Date: Sat, 11 May 2024 12:20:55 -0400
Subject: [PATCH 3/5] format: run cargo fmt (#106)

* format: run cargo fmt

* ci:
---
 .github/workflows/clippy.yml              |  3 +
 boards/beacon/src/communication.rs        |  2 +-
 boards/beacon/src/main.rs                 | 29 ++++-----
 boards/beacon/src/types.rs                |  2 +-
 boards/camera/src/communication.rs        |  3 +-
 boards/camera/src/data_manager.rs         |  6 +-
 boards/communication/src/communication.rs |  9 +--
 boards/recovery/src/communication.rs      |  3 +-
 boards/recovery/src/data_manager.rs       | 14 ++--
 boards/sensor/src/communication.rs        |  6 +-
 boards/sensor/src/data_manager.rs         |  3 +-
 libraries/messages/src/lib.rs             |  4 +-
 libraries/sbg-rs/src/data_conversion.rs   | 79 +++++++++++++++--------
 13 files changed, 93 insertions(+), 70 deletions(-)

diff --git a/.github/workflows/clippy.yml b/.github/workflows/clippy.yml
index bf48bc47..0f021d0f 100644
--- a/.github/workflows/clippy.yml
+++ b/.github/workflows/clippy.yml
@@ -19,6 +19,8 @@ jobs:
           components: clippy
           toolchain: stable
           target: thumbv7em-none-eabihf
+      - name: cargofmt
+        run: cargo fmt --check
       - uses: actions/cache@v3
         with:
           path: |
@@ -31,3 +33,4 @@ jobs:
       - uses: actions-rs/clippy-check@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
+  
\ No newline at end of file
diff --git a/boards/beacon/src/communication.rs b/boards/beacon/src/communication.rs
index 52a04d58..765597b7 100644
--- a/boards/beacon/src/communication.rs
+++ b/boards/beacon/src/communication.rs
@@ -1 +1 @@
-//! Interface the SPI-based CAN device here. 
\ No newline at end of file
+//! Interface the SPI-based CAN device here.
diff --git a/boards/beacon/src/main.rs b/boards/beacon/src/main.rs
index 5fb6b46a..fbf26102 100644
--- a/boards/beacon/src/main.rs
+++ b/boards/beacon/src/main.rs
@@ -9,19 +9,22 @@ use common_arm::SdManager;
 use common_arm::*;
 use data_manager::DataManager;
 // use defmt::info;
-use messages::sensor::Sensor;
-use messages::*;
-use stm32l0xx_hal as hal;
 use hal::{
     gpio::*,
+    gpio::{
+        gpioa::{PA10, PA9},
+        Output, PushPull,
+    },
     prelude::*,
     rcc::Config,
-    gpio::{gpioa::{PA9, PA10}, Output, PushPull},
 };
+use messages::sensor::Sensor;
+use messages::*;
+use stm32l0xx_hal as hal;
 
 use systick_monotonic::*;
 
-// use https://github.com/lora-rs/lora-rs.git 
+// use https://github.com/lora-rs/lora-rs.git
 
 /// Custom panic handler.
 /// Reset the system if a panic occurs.
@@ -30,7 +33,7 @@ fn panic(_info: &core::panic::PanicInfo) -> ! {
     stm32l0xx_hal::pac::SCB::sys_reset();
 }
 
-// Add dispatchers 
+// Add dispatchers
 #[rtic::app(device = hal::pac, peripherals = true, dispatchers = [EXTI0_1, EXTI2_3, EXTI4_15])]
 mod app {
 
@@ -56,11 +59,11 @@ mod app {
     fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
         let device = cx.device;
         let core = cx.core;
-        
-        // configure the clock 
+
+        // configure the clock
         let mut rcc = device.RCC.freeze(Config::hse(64_000_000u32.Hz()));
 
-        // configure leds 
+        // configure leds
         let gpioa = device.GPIOA.split(&mut rcc);
         let mut green_led = gpioa.pa9.into_push_pull_output();
         let mut red_led = gpioa.pa10.into_push_pull_output();
@@ -73,12 +76,8 @@ mod app {
             Shared {
                 em: ErrorManager::new(),
                 data_manager: DataManager::new(),
-
-            },
-            Local { 
-                green_led,
-                red_led,
             },
+            Local { green_led, red_led },
             init::Monotonics(mono),
         )
     }
@@ -97,7 +96,7 @@ mod app {
         todo!("Send messages over CAN");
     }
 
-    #[task(capacity = 5)] 
+    #[task(capacity = 5)]
     fn send_external(cx: send_external::Context, m: Message) {
         todo!("Send messages over LORA");
     }
diff --git a/boards/beacon/src/types.rs b/boards/beacon/src/types.rs
index 1274347f..c13f876d 100644
--- a/boards/beacon/src/types.rs
+++ b/boards/beacon/src/types.rs
@@ -4,4 +4,4 @@ use messages::node::Node::BeaconBoard;
 // -------
 // Node ID
 // -------
-pub static COM_ID: Node = BeaconBoard;
\ No newline at end of file
+pub static COM_ID: Node = BeaconBoard;
diff --git a/boards/camera/src/communication.rs b/boards/camera/src/communication.rs
index 1a54fdae..d3a36b35 100644
--- a/boards/camera/src/communication.rs
+++ b/boards/camera/src/communication.rs
@@ -103,8 +103,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Sensor filter"));
diff --git a/boards/camera/src/data_manager.rs b/boards/camera/src/data_manager.rs
index 5e62aca9..bcafdcb1 100644
--- a/boards/camera/src/data_manager.rs
+++ b/boards/camera/src/data_manager.rs
@@ -64,7 +64,7 @@ impl DataManager {
             Some(air) => match air.altitude {
                 Some(altitude) => altitude > HEIGHT_MIN,
                 None => false,
-            }
+            },
             None => false,
         }
     }
@@ -105,8 +105,8 @@ impl DataManager {
         match self.air.as_ref() {
             Some(air) => match air.altitude {
                 Some(altitude) => altitude < MAIN_HEIGHT,
-                None => false
-            }
+                None => false,
+            },
             None => false,
         }
     }
diff --git a/boards/communication/src/communication.rs b/boards/communication/src/communication.rs
index 6af79cb4..bdee0df0 100644
--- a/boards/communication/src/communication.rs
+++ b/boards/communication/src/communication.rs
@@ -120,8 +120,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::node::Node::RecoveryBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::RecoveryBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Recovery filter"));
@@ -129,8 +128,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo1,
-                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Sensor filter"));
@@ -146,8 +144,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::node::Node::GroundStation.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::GroundStation.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Ground Station filter"));
diff --git a/boards/recovery/src/communication.rs b/boards/recovery/src/communication.rs
index c6e4d6e4..ee914d38 100644
--- a/boards/recovery/src/communication.rs
+++ b/boards/recovery/src/communication.rs
@@ -111,8 +111,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Sensor Board filter"));
diff --git a/boards/recovery/src/data_manager.rs b/boards/recovery/src/data_manager.rs
index 605d6285..a6acb042 100644
--- a/boards/recovery/src/data_manager.rs
+++ b/boards/recovery/src/data_manager.rs
@@ -78,7 +78,7 @@ impl DataManager {
             Some(air) => match air.altitude {
                 Some(altitude) => altitude > HEIGHT_MIN,
                 None => false,
-            }
+            },
             None => false,
         }
     }
@@ -120,7 +120,7 @@ impl DataManager {
             Some(air) => match air.altitude {
                 Some(altitude) => altitude < MAIN_HEIGHT,
                 None => false,
-            }
+            },
             None => false,
         }
     }
@@ -132,11 +132,11 @@ impl DataManager {
             messages::Data::Sensor(sensor) => match sensor.data {
                 messages::sensor::SensorData::Air(air_data) => {
                     /*
-                        NOTE!!!
-                        There should be added a counter to check how many times 
-                        the alt is dropped, if the number is high switch to 
-                        the on board barometer. 
-                     */
+                       NOTE!!!
+                       There should be added a counter to check how many times
+                       the alt is dropped, if the number is high switch to
+                       the on board barometer.
+                    */
 
                     if let Some(alt) = air_data.altitude {
                         let tup_data: (f32, u32) = (alt, air_data.time_stamp);
diff --git a/boards/sensor/src/communication.rs b/boards/sensor/src/communication.rs
index 5eeda897..097adcbb 100644
--- a/boards/sensor/src/communication.rs
+++ b/boards/sensor/src/communication.rs
@@ -121,8 +121,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::node::Node::RecoveryBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::RecoveryBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Recovery filter"));
@@ -130,8 +129,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo1,
-                filter: ecan::StandardId::new(messages::node::Node::GroundStation.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::GroundStation.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Ground Station filter"));
diff --git a/boards/sensor/src/data_manager.rs b/boards/sensor/src/data_manager.rs
index 4c895db0..5691b5cd 100644
--- a/boards/sensor/src/data_manager.rs
+++ b/boards/sensor/src/data_manager.rs
@@ -1,7 +1,8 @@
 use crate::app::sleep_system;
 use common_arm::{spawn, HydraError};
 use messages::sensor::{
-    Air, EkfNav1, EkfNav2, EkfQuat, GpsPos1, GpsPos2, GpsVel, Imu1, Imu2, SensorData, UtcTime, EkfNavAcc, GpsPosAcc, GpsVelAcc,
+    Air, EkfNav1, EkfNav2, EkfNavAcc, EkfQuat, GpsPos1, GpsPos2, GpsPosAcc, GpsVel, GpsVelAcc,
+    Imu1, Imu2, SensorData, UtcTime,
 };
 use messages::Message;
 
diff --git a/libraries/messages/src/lib.rs b/libraries/messages/src/lib.rs
index e6316d1e..9541c85c 100644
--- a/libraries/messages/src/lib.rs
+++ b/libraries/messages/src/lib.rs
@@ -75,7 +75,9 @@ impl Message {
 
 #[cfg(test)]
 mod test {
-    use crate::{Message, MAX_HEALTH_SIZE, MAX_COMMAND_SIZE, MAX_LOG_SIZE, MAX_SENSOR_SIZE, MAX_STATE_SIZE};
+    use crate::{
+        Message, MAX_COMMAND_SIZE, MAX_HEALTH_SIZE, MAX_LOG_SIZE, MAX_SENSOR_SIZE, MAX_STATE_SIZE,
+    };
     use proptest::prelude::*;
 
     proptest! {
diff --git a/libraries/sbg-rs/src/data_conversion.rs b/libraries/sbg-rs/src/data_conversion.rs
index 2ff7a675..f54c8c6d 100644
--- a/libraries/sbg-rs/src/data_conversion.rs
+++ b/libraries/sbg-rs/src/data_conversion.rs
@@ -1,11 +1,15 @@
 use crate::bindings::{
-    SbgLogAirData, SbgLogEkfNavData, SbgLogEkfQuatData, SbgLogGpsVel, SbgLogImuData, SbgLogUtcData, SbgLogGpsPos,
+    SbgLogAirData, SbgLogEkfNavData, SbgLogEkfQuatData, SbgLogGpsPos, SbgLogGpsVel, SbgLogImuData,
+    SbgLogUtcData,
 };
 use bitflags::Flags;
-use messages::sensor::{Air, EkfNav1, EkfNav2, EkfNavAcc, EkfQuat, GpsVel, Imu1, Imu2, UtcTime, GpsPos1, GpsPos2, GpsPosAcc, GpsVelAcc};
+use messages::sensor::{
+    Air, EkfNav1, EkfNav2, EkfNavAcc, EkfQuat, GpsPos1, GpsPos2, GpsPosAcc, GpsVel, GpsVelAcc,
+    Imu1, Imu2, UtcTime,
+};
 use messages::sensor_status::{
-    AirFlags, AirStatus, EkfFlags, EkfStatus, GpsVelStatus, GpsVelStatusE, ImuFlags, ImuStatus,
-    UtcStatus, UtcTimeStatus, GpsPositionStatus, GpsPositionStatusE
+    AirFlags, AirStatus, EkfFlags, EkfStatus, GpsPositionStatus, GpsPositionStatusE, GpsVelStatus,
+    GpsVelStatusE, ImuFlags, ImuStatus, UtcStatus, UtcTimeStatus,
 };
 
 /// Simple helper function to work with the flags structure and set the fields as needed.
@@ -23,29 +27,49 @@ where
 impl From<SbgLogGpsPos> for (GpsPos1, GpsPos2, GpsPosAcc) {
     fn from(value: SbgLogGpsPos) -> Self {
         let status = GpsPositionStatus::new(value.status);
-        
+
         let valid = matches!(status.get_status(), Some(GpsPositionStatusE::SolComputed));
-        
+
         (
             GpsPos1 {
-                latitude: if valid {Some(value.latitude)} else {None},
-                longitude: if valid {Some(value.longitude)} else {None},
+                latitude: if valid { Some(value.latitude) } else { None },
+                longitude: if valid { Some(value.longitude) } else { None },
             },
             GpsPos2 {
-                altitude: if valid {Some(value.altitude)} else {None},
-                undulation: if valid {Some(value.undulation)} else {None},
-                time_of_week: if valid {Some(value.timeOfWeek)} else {None},
+                altitude: if valid { Some(value.altitude) } else { None },
+                undulation: if valid { Some(value.undulation) } else { None },
+                time_of_week: if valid { Some(value.timeOfWeek) } else { None },
             },
             GpsPosAcc {
                 status,
                 time_stamp: value.timeStamp,
-                latitude_accuracy: if valid {Some(value.latitudeAccuracy)} else {None},
-                longitude_accuracy: if valid {Some(value.longitudeAccuracy)} else {None},
-                altitude_accuracy: if valid {Some(value.altitudeAccuracy)} else {None},
-                num_sv_used: if valid {Some(value.numSvUsed)} else {None},
-                base_station_id: if valid {Some(value.baseStationId)} else {None},
-                differential_age: if valid {Some(value.differentialAge)} else {None},
-            }
+                latitude_accuracy: if valid {
+                    Some(value.latitudeAccuracy)
+                } else {
+                    None
+                },
+                longitude_accuracy: if valid {
+                    Some(value.longitudeAccuracy)
+                } else {
+                    None
+                },
+                altitude_accuracy: if valid {
+                    Some(value.altitudeAccuracy)
+                } else {
+                    None
+                },
+                num_sv_used: if valid { Some(value.numSvUsed) } else { None },
+                base_station_id: if valid {
+                    Some(value.baseStationId)
+                } else {
+                    None
+                },
+                differential_age: if valid {
+                    Some(value.differentialAge)
+                } else {
+                    None
+                },
+            },
         )
     }
 }
@@ -53,10 +77,13 @@ impl From<SbgLogGpsPos> for (GpsPos1, GpsPos2, GpsPosAcc) {
 impl From<SbgLogUtcData> for UtcTime {
     fn from(value: SbgLogUtcData) -> Self {
         let status = UtcTimeStatus::new(value.status);
-        let valid = matches!(status.get_utc_status(), Some(UtcStatus::Valid | UtcStatus::NoLeapSec));
+        let valid = matches!(
+            status.get_utc_status(),
+            Some(UtcStatus::Valid | UtcStatus::NoLeapSec)
+        );
 
         Self {
-            time_stamp: value.timeStamp, // not convinced this is matched valid to the Utc Status bitmask. 
+            time_stamp: value.timeStamp, // not convinced this is matched valid to the Utc Status bitmask.
             status,
             year: if valid { Some(value.year) } else { None },
             month: if valid { Some(value.month) } else { None },
@@ -114,7 +141,6 @@ impl From<SbgLogEkfNavData> for (EkfNav1, EkfNav2, EkfNavAcc) {
             EkfNav1 {
                 time_stamp: value.timeStamp,
                 velocity: check(&flags, EkfFlags::VelocityValid, value.velocity),
-
             },
             EkfNav2 {
                 undulation: check(&flags, EkfFlags::AttitudeValid, value.undulation),
@@ -124,7 +150,7 @@ impl From<SbgLogEkfNavData> for (EkfNav1, EkfNav2, EkfNavAcc) {
                 velocity_std_dev: check(&flags, EkfFlags::VelocityValid, value.velocityStdDev),
                 position_std_dev: check(&flags, EkfFlags::PositionValid, value.positionStdDev),
                 status,
-            }
+            },
         )
     }
 }
@@ -142,7 +168,7 @@ impl From<SbgLogImuData> for (Imu1, Imu2) {
                 accelerometers: check(&flags, ImuFlags::AccelsInRange, value.accelerometers),
             },
             Imu2 {
-                temperature: Some(value.temperature), // we cannot check since no flag exists. Keep in option for uniformity. 
+                temperature: Some(value.temperature), // we cannot check since no flag exists. Keep in option for uniformity.
                 delta_velocity: check(&flags, ImuFlags::AccelsInRange, value.deltaVelocity),
                 delta_angle: check(&flags, ImuFlags::GyrosInRange, value.deltaAngle),
             },
@@ -159,16 +185,15 @@ impl From<SbgLogGpsVel> for (GpsVel, GpsVelAcc) {
         (
             GpsVel {
                 time_stamp: value.timeStamp,
-                time_of_week: if valid {Some(value.timeOfWeek) } else {None}, 
+                time_of_week: if valid { Some(value.timeOfWeek) } else { None },
                 status,
                 velocity: if valid { Some(value.velocity) } else { None },
                 course: if valid { Some(value.course) } else { None },
-            }, 
+            },
             GpsVelAcc {
                 velocity_acc: if valid { Some(value.velocityAcc) } else { None },
                 course_acc: if valid { Some(value.courseAcc) } else { None },
-            }
-            
+            },
         )
     }
 }

From a05f34a96e06c592eaf13512697f5ce7f287e7f0 Mon Sep 17 00:00:00 2001
From: Fernando Nogueira <abert036@uottawa.ca>
Date: Wed, 15 May 2024 13:10:36 -0400
Subject: [PATCH 4/5] Update Dev container and README (#108)

* docs:

* chore:update dockerfile

* chore: update dockerfile

* chore: make dockerfile multiplayer
---
 .devcontainer/Dockerfile | 27 ++++++++++++-----
 .gitignore               |  3 +-
 README.md                | 62 +++++++++++++++++++++++++---------------
 3 files changed, 61 insertions(+), 31 deletions(-)

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 8c950e5a..06c8907b 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,11 +1,24 @@
+# Base image for toolchain download
+FROM mcr.microsoft.com/devcontainers/rust:latest as toolchain
+
+RUN mkdir -p /toolchain && \
+    curl -L "https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-x86_64-arm-none-eabi.tar.xz" \
+    | tar --strip-components=1 -xJ -C /toolchain
+
+# Final image
 FROM mcr.microsoft.com/devcontainers/rust:latest
 
+# Copy the toolchain from the previous stage
+COPY --from=toolchain /toolchain /toolchain
+
+ENV PATH="${PATH}:/toolchain/bin"
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && apt-get upgrade -y && apt-get install -y cmake pkg-config libusb-1.0-0-dev libftdi1-dev libudev-dev libssl-dev
 
-# Install ARM GCC deps
-RUN mkdir -p toolchain && \
-    curl -L "https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-x86_64-arm-none-eabi.tar.xz" \
-    | tar --strip-components=1 -xJ -C toolchain && \
-    cargo install --locked probe-rs --features cli
-ENV PATH="${PATH}:/toolchain/bin"
\ No newline at end of file
+# Necessary system packages
+RUN apt-get update && apt-get install -y cmake pkg-config libusb-1.0-0-dev libftdi1-dev libudev-dev libssl-dev && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install Rust crates
+RUN cargo install probe-rs --features cli \
+    && cargo install cargo-make
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
index ce0aec4d..d5446d17 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
 /target
 /.vscode/.cortex-debug.registers.state.json
 /.vscode/.cortex-debug.peripherals.state.json
-/.vscode/settings.json
\ No newline at end of file
+/.vscode/settings.json
+/toolchain
diff --git a/README.md b/README.md
index 32273847..16db41b5 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,6 @@
 # HYDRA &emsp; [![Build Status]][actions] [![docs-badge]][docs]
-*HYper Dynamic Rocketry Avionics*
+
+***HY**per **D**ynamic **R**ocketry **A**vionics*
 
 [Build Status]: https://github.com/uorocketry/hydra/actions/workflows/build.yml/badge.svg
 [actions]: https://github.com/uorocketry/hydra/actions?query=branch%3Amaster
@@ -12,46 +13,60 @@
 
 ## Getting Started
 
-1. Install Rust: https://www.rust-lang.org/tools/install
-2. Build: `cargo build`
-3. Install probe-run: `cargo install --git https://github.com/uorocketry/probe-run`
-    - `probe-run` currently requires a patch to flash our chip, so please use the above version while the patch is upstreamed
-4. Install cargo-make: `cargo install cargo-make`
-4. Flash: `cargo run --bin main`
-5. Run tests: `cargo make test-host` or `cargo make test-device`
+> If you are in a DevContainer skip to step 5.
+
+- Install Rust: https://www.rust-lang.org/tools/install
+- Install necessary build tools:
+  - cargo-make: `cargo install cargo-make`
+  - probe-rs: `cargo install probe-rs --features cli`
+- Install the [ARM GNU Toolchain](https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads) (last tested with 13.2) and have it available in your PATH
+  - Arch Linux: `sudo pacman -S arm-none-eabi-gcc`
+  - Alpine/Debian/Ubuntu: <https://pkgs.org/download/gcc-arm-none-eabi>
+  - MacOS: `brew install arm-none-eabi-gcc`
+- Build: `cargo build`
+  - In case it fails, try `cargo build --release`
+- Run tests:
+  - In the host machine: `cargo make test-host`
+  - In the device: `cargo make test-device`
+- Flash on hardware: `cargo run --bin main`
 
 For more detailed instructions on flashing, debugging, and more, please see [the wiki](https://avwiki.uorocketry.ca/en/Avionics/HYDRA/Software).
 
 ## Windows Users
 
 ### Setting up with Docker
-1. Install Docker: https://docs.docker.com/desktop/install/windows-install/
-2. Install VS Code: https://code.visualstudio.com/download
-3. From VS Code, install the "Dev Containers" extension
-4. press `ctrl` + `shift` + `p`, and search for `Dev Containers: Open Folder in Container`
+
+- Install [Docker](https://docs.docker.com/desktop/install/windows-install/)
+- Install [VS Code](https://code.visualstudio.com/download)
+- From VS Code, install the "Dev Containers" extension
+- press `ctrl` + `shift` + `p`, and search for `Dev Containers: Open Folder in Container`
 
 ### Setting up with WSL
-1. Enable WSL: https://learn.microsoft.com/en-us/windows/wsl/install
-2. Install a linux distro from the Microsoft Store
-4. Install ARM GNU Toolchain: https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads
+
+- Enable WSL: https://learn.microsoft.com/en-us/windows/wsl/install
+- Install a linux distro from the Microsoft Store
+- Install the [ARM GNU Toolchain](https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads)
   - NOTE: You may find this in your distro's package manager, but ensure it is version 13.2.
   - Ubuntu has an outdated version in its repositories. If using Ubuntu, download it manually from the link above
-3. Follow the rest of the instructions in [Getting Started](#-getting-started)
+- Follow the rest of the instructions in [Getting Started](#-getting-started)
 
 ### Flashing
+
 After plugging in J-Link, it will likely show up as unknown.
+
 1. Install Zadig: https://zadig.akeo.ie/
 2. From Zadig, select J-Link as the device and WinUSB as the driver
 3. click Install Driver
 
 If using WSL or Docker with a WSL backend (you probably are), you need to tell Windows to share J-Link with WSL.
-1. From WSL, install linux-tools-generic
-  1. on Ubuntu: `sudo apt install linux-tools-generic`
-2. Install usbipd-win: https://github.com/dorssel/usbipd-win/releases
-3. Open command prompt/powershell with admin privileges and run `usbipd list`
-4. Make note of the entry called J-Link and run `usbipd bind --busid <busid>`
-5. Next, run `usbipd attach --wsl --busid <busid>`
-6. You can now follow the flashing instructions in [Getting Started](#-getting-started)
+
+- From WSL, install linux-tools-generic
+  - on Ubuntu: `sudo apt install linux-tools-generic`
+- Install usbipd-win: https://github.com/dorssel/usbipd-win/releases
+- Open command prompt/powershell with admin privileges and run `usbipd list`
+- Make note of the entry called J-Link and run `usbipd bind --busid <busid>`
+- Next, run `usbipd attach --wsl --busid <busid>`
+- You can now follow the flashing instructions in [Getting Started](#getting-started)
 
 ## Documentation
 
@@ -60,6 +75,7 @@ Run `cargo doc --open` to build and open the documentation. Most documentation f
 Documentation is also automatically built and deployed to https://hydra-docs.uorocketry.ca/common_arm
 
 ## Project Structure
+
 The project is structured in a way to allow reuse of the code across various boards and other projects.
 
 - `boards`: Folder containing each individual board's binary crates. Any code in those crates should only contain logic specific to the board.

From 0251afa4491cbfa66486f800c7d8cd94454006eb Mon Sep 17 00:00:00 2001
From: Eilay Katsnelson <22532056+eilayk@users.noreply.github.com>
Date: Sat, 8 Jun 2024 12:54:36 -0400
Subject: [PATCH 5/5] Add Recovery Timeout (#101)

* create recovery timer mechanism

* fix build

* clear interrupts

* WIP: Timer Update

* fix build errors

* optimize

* fix linting

* Fix: Cippy warnings

* Fix: remove magic number

* Fix: remove magic number

* Fix: Clippy

* Fix: Import

---------

Co-authored-by: Eilay Katsnelson <eilayk@eilays-mbp.home>
Co-authored-by: Noah Sprenger <noah.r.sprenger@gmail.com>
---
 boards/recovery/src/data_manager.rs           | 27 ++++++++++------
 boards/recovery/src/main.rs                   | 31 +++++++++++++++++--
 boards/recovery/src/state_machine/mod.rs      | 11 +++++--
 .../state_machine/states/terminal_descent.rs  | 10 ++++++
 .../state_machine/states/wait_for_recovery.rs |  4 +++
 5 files changed, 69 insertions(+), 14 deletions(-)

diff --git a/boards/recovery/src/data_manager.rs b/boards/recovery/src/data_manager.rs
index a6acb042..acceff1e 100644
--- a/boards/recovery/src/data_manager.rs
+++ b/boards/recovery/src/data_manager.rs
@@ -8,6 +8,9 @@ use messages::Message;
 
 const MAIN_HEIGHT: f32 = 876.0; // meters ASL
 const HEIGHT_MIN: f32 = 600.0; // meters ASL
+const RECOVERY_DATA_POINTS: u8 = 8; // number of barometric altitude readings held by the recovery
+                                    // algorithm
+const RECOVERY_TIMER_TIMEOUT: u8 = 15; // minutes
 
 pub struct DataManager {
     pub air: Option<Air>,
@@ -16,8 +19,11 @@ pub struct DataManager {
     pub imu: (Option<Imu1>, Option<Imu2>),
     pub utc_time: Option<UtcTime>,
     pub gps_vel: Option<GpsVel>,
-    pub historical_barometer_altitude: HistoryBuffer<(f32, u32), 8>,
+    pub historical_barometer_altitude: HistoryBuffer<(f32, u32), 8>, // RECOVERY_DATA_POINTS (issue
+    // when putting as const)
     pub current_state: Option<RocketStates>,
+    // each tick represents a minute that passed
+    pub recovery_counter: u8,
 }
 
 impl DataManager {
@@ -32,11 +38,12 @@ impl DataManager {
             gps_vel: None,
             historical_barometer_altitude,
             current_state: None,
+            recovery_counter: 0,
         }
     }
     /// Returns true if the rocket is descending
     pub fn is_falling(&self) -> bool {
-        if self.historical_barometer_altitude.len() < 8 {
+        if (self.historical_barometer_altitude.len() as u8) < RECOVERY_DATA_POINTS {
             return false;
         }
         let mut buf = self.historical_barometer_altitude.oldest_ordered();
@@ -56,14 +63,14 @@ impl DataManager {
                     avg_sum += slope;
                     prev = i;
                 }
-                match avg_sum / 7.0 {
+                match avg_sum / (RECOVERY_DATA_POINTS as f32 - 1.0) {
                     // 7 because we have 8 points.
                     // exclusive range
                     x if !(-100.0..=-5.0).contains(&x) => {
                         return false;
                     }
                     _ => {
-                        info!("avg: {}", avg_sum / 7.0);
+                        info!("avg: {}", avg_sum / (RECOVERY_DATA_POINTS as f32 - 1.0));
                     }
                 }
             }
@@ -82,8 +89,8 @@ impl DataManager {
             None => false,
         }
     }
-    pub fn is_landed(&self) -> bool {
-        if self.historical_barometer_altitude.len() < 8 {
+    pub fn is_landed(&mut self) -> bool {
+        if self.historical_barometer_altitude.len() < RECOVERY_DATA_POINTS.into() {
             return false;
         }
         let mut buf = self.historical_barometer_altitude.oldest_ordered();
@@ -99,13 +106,15 @@ impl DataManager {
                     avg_sum += (i.0 - prev.0) / time_diff;
                     prev = i;
                 }
-                match avg_sum / 7.0 {
+                match avg_sum / (RECOVERY_DATA_POINTS as f32 - 1.0) {
                     // inclusive range
                     x if (-0.25..=0.25).contains(&x) => {
-                        return true;
+                        if self.recovery_counter >= RECOVERY_TIMER_TIMEOUT {
+                            return true;
+                        }
                     }
                     _ => {
-                        // continue
+                        self.recovery_counter = 0;
                     }
                 }
             }
diff --git a/boards/recovery/src/main.rs b/boards/recovery/src/main.rs
index bd08c8f8..c96fbbc7 100644
--- a/boards/recovery/src/main.rs
+++ b/boards/recovery/src/main.rs
@@ -19,6 +19,7 @@ use data_manager::DataManager;
 use gpio_manager::GPIOManager;
 use hal::gpio::{Pin, Pins, PushPullOutput, PB16, PB17};
 use hal::prelude::*;
+use hal::timer::TimerCounter2;
 use mcan::messageram::SharedMemory;
 use messages::*;
 use state_machine::{StateMachine, StateMachineContext};
@@ -42,6 +43,7 @@ mod app {
         data_manager: DataManager,
         can0: communication::CanDevice0,
         gpio: GPIOManager,
+        recovery_timer: TimerCounter2,
     }
 
     #[local]
@@ -78,7 +80,7 @@ mod app {
 
         // SAFETY: Misusing the PAC API can break the system.
         // This is safe because we only steal the MCLK.
-        let (_, _, _, _mclk) = unsafe { clocks.pac.steal() };
+        let (_, _, _, mut mclk) = unsafe { clocks.pac.steal() };
 
         /* CAN config */
         let (pclk_can, gclk0) = Pclk::enable(tokens.pclks.can0, gclk0);
@@ -104,6 +106,11 @@ mod app {
         /* State Machine config */
         let state_machine = StateMachine::new();
 
+        /* Recovery Timer config */
+        let (pclk_tc2tc3, gclk0) = Pclk::enable(tokens.pclks.tc2_tc3, gclk0);
+        let timerclk: hal::clock::v1::Tc2Tc3Clock = pclk_tc2tc3.into();
+        let recovery_timer = hal::timer::TimerCounter2::tc2_(&timerclk, peripherals.TC2, &mut mclk);
+
         /* Spawn tasks */
         run_sm::spawn().ok();
         state_send::spawn().ok();
@@ -120,6 +127,7 @@ mod app {
                 data_manager: DataManager::new(),
                 can0,
                 gpio,
+                recovery_timer,
             },
             Local {
                 led_green,
@@ -136,6 +144,25 @@ mod app {
         loop {}
     }
 
+    // interrupt handler for recovery counter
+    #[task(binds=TC2, shared=[data_manager, recovery_timer])]
+    fn recovery_counter_tick(mut cx: recovery_counter_tick::Context) {
+        cx.shared.recovery_timer.lock(|timer| {
+            if timer.wait().is_ok() {
+                cx.shared.data_manager.lock(|data| {
+                    data.recovery_counter += 1;
+                });
+                // restart timer after interrupt
+                let duration_mins = atsamd_hal::fugit::MinutesDurationU32::minutes(1);
+                // timer requires specific duration format
+                let timer_duration: atsamd_hal::fugit::Duration<u32, 1, 1000000000> =
+                    duration_mins.convert();
+                timer.start(timer_duration);
+            }
+            timer.enable_interrupt(); // clear interrupt
+        });
+    }
+
     #[task(priority = 3, local = [fired: bool = false], shared=[gpio, &em])]
     fn fire_drogue(mut cx: fire_drogue::Context) {
         cx.shared.em.run(|| {
@@ -175,7 +202,7 @@ mod app {
 
     /// Runs the state machine.
     /// This takes control of the shared resources.
-    #[task(priority = 3, local = [state_machine], shared = [can0, gpio, data_manager, &em])]
+    #[task(priority = 3, local = [state_machine], shared = [can0, gpio, data_manager, &em, recovery_timer])]
     fn run_sm(mut cx: run_sm::Context) {
         cx.local.state_machine.run(&mut StateMachineContext {
             shared_resources: &mut cx.shared,
diff --git a/boards/recovery/src/state_machine/mod.rs b/boards/recovery/src/state_machine/mod.rs
index 7b13913f..3972b687 100644
--- a/boards/recovery/src/state_machine/mod.rs
+++ b/boards/recovery/src/state_machine/mod.rs
@@ -5,6 +5,7 @@ use crate::communication::CanDevice0;
 use crate::data_manager::DataManager;
 use crate::gpio_manager::GPIOManager;
 use crate::state_machine::states::*;
+use atsamd_hal::timer::TimerCounter2;
 pub use black_magic::*;
 use core::fmt::Debug;
 use defmt::Format;
@@ -17,6 +18,7 @@ pub trait StateMachineSharedResources {
     fn lock_can(&mut self, f: &dyn Fn(&mut CanDevice0));
     fn lock_data_manager(&mut self, f: &dyn Fn(&mut DataManager));
     fn lock_gpio(&mut self, f: &dyn Fn(&mut GPIOManager));
+    fn lock_recovery_timer(&mut self, f: &dyn Fn(&mut TimerCounter2));
 }
 
 impl<'a> StateMachineSharedResources for crate::app::__rtic_internal_run_smSharedResources<'a> {
@@ -29,6 +31,9 @@ impl<'a> StateMachineSharedResources for crate::app::__rtic_internal_run_smShare
     fn lock_gpio(&mut self, fun: &dyn Fn(&mut GPIOManager)) {
         self.gpio.lock(fun)
     }
+    fn lock_recovery_timer(&mut self, fun: &dyn Fn(&mut TimerCounter2)) {
+        self.recovery_timer.lock(fun)
+    }
 }
 
 pub struct StateMachineContext<'a, 'b> {
@@ -103,9 +108,9 @@ impl From<state::StateData> for RocketStates {
     }
 }
 // Linter: an implementation of From is preferred since it gives you Into<_> for free where the reverse isn't true
-impl Into<state::StateData> for RocketStates {
-    fn into(self) -> state::StateData {
-        match self {
+impl From<RocketStates> for state::StateData {
+    fn from(val: RocketStates) -> Self {
+        match val {
             RocketStates::Initializing(_) => state::StateData::Initializing,
             RocketStates::WaitForTakeoff(_) => state::StateData::WaitForTakeoff,
             RocketStates::Ascent(_) => state::StateData::Ascent,
diff --git a/boards/recovery/src/state_machine/states/terminal_descent.rs b/boards/recovery/src/state_machine/states/terminal_descent.rs
index 104e6ccd..b95b0a58 100644
--- a/boards/recovery/src/state_machine/states/terminal_descent.rs
+++ b/boards/recovery/src/state_machine/states/terminal_descent.rs
@@ -4,6 +4,8 @@ use crate::state_machine::{
     RocketStates, State, StateMachineContext, TransitionInto, WaitForRecovery,
 };
 use crate::{no_transition, transition};
+use atsamd_hal::prelude::_embedded_hal_timer_CountDown;
+use atsamd_hal::timer_traits::InterruptDrivenTimer;
 use common_arm::spawn;
 use defmt::{write, Format, Formatter};
 use rtic::mutex::Mutex;
@@ -17,6 +19,14 @@ impl State for TerminalDescent {
             spawn!(fire_main)?;
             Ok(())
         });
+        context.shared_resources.recovery_timer.lock(|timer| {
+            timer.enable_interrupt();
+            let duration_mins = atsamd_hal::fugit::MinutesDurationU32::minutes(1);
+            // timer requires specific duration format
+            let timer_duration: atsamd_hal::fugit::Duration<u32, 1, 1000000000> =
+                duration_mins.convert();
+            timer.start(timer_duration);
+        });
     }
     fn step(&mut self, context: &mut StateMachineContext) -> Option<RocketStates> {
         context.shared_resources.data_manager.lock(|data| {
diff --git a/boards/recovery/src/state_machine/states/wait_for_recovery.rs b/boards/recovery/src/state_machine/states/wait_for_recovery.rs
index 52d4a3aa..ddcef0b3 100644
--- a/boards/recovery/src/state_machine/states/wait_for_recovery.rs
+++ b/boards/recovery/src/state_machine/states/wait_for_recovery.rs
@@ -3,6 +3,7 @@ use crate::app::monotonics;
 use crate::no_transition;
 use crate::state_machine::{RocketStates, State, StateMachineContext, TransitionInto};
 use crate::types::COM_ID;
+use atsamd_hal::timer_traits::InterruptDrivenTimer;
 use defmt::{write, Format, Formatter};
 use messages::command::{Command, PowerDown, RadioRate, RadioRateChange};
 use messages::node::Node::SensorBoard;
@@ -32,6 +33,9 @@ impl State for WaitForRecovery {
                 })
             });
         }
+        context.shared_resources.recovery_timer.lock(|timer| {
+            timer.disable_interrupt();
+        })
     }
     fn step(&mut self, _context: &mut StateMachineContext) -> Option<RocketStates> {
         no_transition!() // this is our final resting place. We should also powerdown this board.