Here is a list of all files with brief descriptions:

01_Library
Common
CSerializable.h	Declaration of serializable object interface
DataSerializer.h	Functions and templates for data serialization
TemplateUtils.h	General-purpose templates for metaprogramming
UintToBool.h	Conversion of integer validity flags to boolean
Headers
BahrsSensorFusion
AttitudeMonitorApi.h	Declaration of the API class for attitude output monitor
BahrsFilterApi.h	Declaration of the BAHRS filter API
BarometerMonitorApi.h	Declaration of the barometer monitor API
CButterworthLowPassFilter2.h	Declaration of a 2nd order Butterworth low-pass filter
CGeoConstants.h	Declaration of the geodetic constants
ClosedLoopErrorStateKfApi.h	Declaration of filter modes and high-level filter interface types
CLowPassFilter.h	Declaration of the simple low-pass filter
CMathConstants.h	Definitions of different mathematical constants
CommonMonitorTypes.h	Type declaration common to all sensor monitors
CQuaternion.h	Declaration of the quaternion class
ImuMonitorApi.h	Declaration of the IMU monitor API
MagneticHeadingFilterApi.h	Declaration of the magnetic heading filter API
MeasurementStructs.h	Declaration of measurement structs
NavigationUtilities.h	Different functions related to navigational mathematics
TLabeledArray.h	Implementation of a labeled array template
VerticalChannelMonitorApi.h	Declaration of the API class for a vertical channel (height and velocity down) monitor
Stm32
Components
General
CSoftwareComponentBase.h	Base class template for all software components
CSoftwareComponentExample.h	An example showing how to declare a software component
HelperSoftwareComponentMacros.h	Implementation of auxiliary convenience macros
CSoftwareComponentPort.cpp	Implementation of software component port functions
CSoftwareComponentPort.h	Declaration of software component port template
Drivers
CBmm150Driver.cpp	Implementation of the BMM150 driver software component
CBmm150Driver.h	Declaration of the BMM150 driver software component
CIcm20789Driver.cpp	Implementation of the ICM20789 Driver software component
CIcm20789Driver.h	Declaration of the ICM20789 Driver software component
Lib
crc32.cpp
crc32.h
GetMicroseconds.c	Implementation of a microsecond timer
GetMicroseconds.h	Declaration of a microsecond timer
02_Projects
Stm32Bahrs
shared
asw
swc-attitude-monitor
inc
CAttitudeMonitorSwc.h	Declaration of the attitude monitor software component
src
CAttitudeMonitorSwc.cpp	Implementation of the attitude monitor software component
swc-bahrs-filter
inc
BahrsFilterSwcCApi.h	Declaration C APIs of the BAHRS filter SWC
CBahrsFilterSwc.h	Implementation of the BAHRS filter software component
src
CBahrsFilterSwc.cpp	Implementation of the BAHRS filter software component
swc-barometer-monitor
inc
CBaroMonitorSwc.h	Declaration of the barometer monitor software component
src
CBaroMonitorSwc.cpp	Implementation of the barometer monitor software component
swc-imu-monitor
inc
CImuMonitorSwc.h	Implementation of the IMU monitor software component
src
CImuMonitorSwc.cpp	Implementation of the BAHRS filter software component
swc-imu-pre-filter
inc
CImuPreFilterSwc.h	Declaration of the IMU pre-filter SWC class
ImuPreFilterSwcCApi.h	Declaration of C APIs of the IMU pre-filter SWC
src
CImuPreFilterSwc.cpp	Implementation of the IMU pre-filter SWC class
swc-magnetic-heading-filter
inc
CMagneticHeadingFilterSwc.h	Implementation of the magnetic heading filter software component
src
CMagneticHeadingFilterSwc.cpp	Implementation of the magnetic heading filter software component
swc-magnetometer-compensator
inc
CMagnetometerCompensator.h	Declaration of the magnetometer Compensator SWC class
src
CMagnetometerCompensator.cpp
swc-output-transformer
inc
COutputTransformer.h	Declaration of the Output Transformer SWC class
src
COutputTransformer.cpp
swc-pressure-compensator
inc
CPressureCompensator.h	Declaration of the pressure compensator SWC class
PressureCompensatorSwcCApi.h	Declaration of C APIs of the pressure compensator SWC
src
CPressureCompensator.cpp	Implementation of the pressure compensator SWC class
swc-vertical-channel-monitor
inc
CVerticalChannelMonitorSwc.h	Declaration of the vertical channel data (height and velocity downwards) monitor software component
src
CVerticalChannelMonitorSwc.cpp	Implementation of the vertical channel data (height and velocity downwards) monitor software component
bsw
swc-sync-pulse-handler
inc
CSyncPulseHandler.h	Declaration of the CSyncPulseHandler software component
SyncPulseHandlerCApi.h	Declaration of a C wrapper for CSyncPulseHandler SWC APIs
src
CSyncPulseHandler.cpp	Implementation of the CSyncPulseHandler software component
TargetApp
bsw
bmp384-driver
inc
CBmp384Driver.h	Declaration of the BMP384 Driver software component
src
CBmp384Driver.cpp	Implementation of the BMP384 Driver software component
can-aero
CCanHandler.cpp	Implementation of the CAN Global Handler software component
CCanHandler.h	Declaration of the CCanHandler class (CAN general handler software component)
CCanOutputHandler.cpp	Implementation of the CAN Output Handler software component
CCanOutputHandler.h	Declaration of the CCanOutputHandler class (CAN output handler software component)
diagnostic-mode
CDiagnosticMode.cpp
CDiagnosticMode.h
CDiagnosticModeWrapper.cpp
CDiagnosticModeWrapper.h
mmc5983-driver
inc
CMmc5983Driver.h	Declaration of the MMC5983 Driver software component
src
CMmc5983Driver.cpp	Implementation of the MMC5983 Driver software component
nvm-driver
inc
CNvmDriver.h
src
CNvmDriver.cpp	Implementation of mandatory APIs of the NVM driver SWC
rs232-output-handler
inc
CRs232OutputHandler.h	Declaration of the CRs232OutputHandler class (RS232 output handler software component)
CRs232OutputHandlerWrapper.h
src
CRs232OutputHandler.cpp	Implementation of the RS232 Output Handler software component
CRs232OutputHandlerWrapper.cpp
scha63t-driver
inc
CScha63TDriver.h	Declaration of the SCHA63T driver software component
Scha63TDriverInterruptCallback.h	Declaration of SCHA63T driver callback
Scha63TDriverTypes.h	Type declarations for the SCHA63T driver
src
CScha63TDriver.cpp	Implementation of the SCHA63T driver software component
lib
ams-assertion-handler
inc
AmsAssert.h	Declaration of project-specific assert macro
src
AmsAssert.cpp	Implementattion of project-specific assert function
serial-protocol
inc
CSerialMessageBuilder.h	Declaration of the BAHRS serial protocol message builder class
CSerialProtocol.h	Declaration of the BAHRS serial protocol
src
CSerialMessageBuilder.cpp	Implementation of the CSerialMessageBuilder class
Rte
Inc
CRte.h	Declaration of the runtime environment class
CSoftwareVersion.h	A class storing software version code
Icm20789DriverCApi.h	Declaration of the ICM20789 Driver C APIs
RteTypesGenerated.h	Autogenerated declarations of SWC port data types
RteTypesUserDefined.h	Declaration of software component port types
RteWrapper.h	Declaration of C-wrappers of the CRte class
TaskRoutines.h	Declarations of FreeRTOS task routines that wrap C++ code into C-functions
Src
CRte.cpp	Implementation of the runtime environment class
RteWrapper.cpp	Implementation of C-wrappers of the CRte class methods
TaskRoutines.cpp	Implementation of FreeRTOS task routines that wrap C++ code into C-functions
doc_pages