pima/Trinity-DevPCB-V1.0
1
0 Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
1409bad40b0655b4d6dfd4224eb6c5b4b73e6b86
Trinity-DevPCB-V1.0/Debug/Core/Src/hw_timerserver.o
T

2274 lines
1.2 MiB
Plaintext
Raw Normal View History

Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ELF(T‘4(TS’“”•–—�™š›śťžź ˇ˘Ł¤Ą¦§¨©Ş«¬­®Ż°±˛ł´µ·¸ąş»Ľ˝ľżŔÁÂĂÄĹĆÇČÉĘËĚÍÎĎĐŃŇÓÔŐÖ×ŘŮÚŰÜÝŢßŕáâăäĺćçčéęëěíîďđńňóôőö÷řůúűüýţ˙ 
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
  
 !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHI€´�°Żx`KÓř€ I{hCÁř€0ż 7˝F]ř{pGX€´�°Żx`KhI{hC `ż 7˝F]ř{pGX€´�°Ż
K›j›˛{` K›j›˛;`ŕ;h{`K›j›˛;`zh;hšBőŃ;hF 7˝F]ř{pGż(@€´…°ŻF
FűqF»qşyIF[DŰ D3xűsű{+ Đú{IF[DŰ D3úypúyIF[DŰ D3ú{púy IF[DŰ D3şypşyIF[DŰ D3úypż7˝F]ř{pGż€´…°ŻF
FűqF»q)Kx۲şyšB2Đşy'IF[DŰ D3xűsú{"IF[DŰ D3úypúyIF[DŰ D3şypúyIF[DŰ D3ú{pşyIF[DŰ D3úypŕúy
IF[DŰ D3şypşyIF[DŰ D3úypż7˝F]ř{pGż€µ„°ŻFűqNKx۲+ŃKKxÚ˛KKpIJűypúyIIF[DŰ D3"pEKOđ˙2`#ű�xŕ˙÷ţ˙Fű�úy>IF[DŰ D3hű‰úyD9HF[DŰD3`úy4IF[DŰ D3h»`.Kx۲F.J F[ DŰD3hşhšB7Ó&Kx{sz{&IF[DŰ D3x;sŕz{!IF[DŰ D3x{sz{IF[DŰ D3x;s;{+ Đ:{IF[DŰ D3hşhšBÜŇz{űyFF˙÷ţ˙ŕ
KxÚ˛űyFF˙÷ţ˙KxÚ˛KpJűypű‰F7˝F€˝ż€´…°ŻF
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
FűqF»q9Kx۲úyšBŃ6KxÚ˛6Kpúy5IF[DŰ D3xÚ˛/Kp>ŕúy/IF[DŰ D3xűsúy*IF[DŰ D3x»sůyú{$H F[ DŰD3xز IF[DŰ D3Fp»{+Đůyş{H F[ DŰD3xزIF[DŰ D3FpúyIF[DŰ D 3"p Kx۲+Ń»y+ŃKOđ˙2`żż7˝F]ř{pG€µ‚°ŻKhłń˙?&Đ˙÷ţ˙x`KhzhšBŘKh{hÓ{`
ŕK�F{hÓ;`
Kh:hD{`
KxF{hűó{`
KxF{hÓ@{`ŕ#{`{h›˛F7˝F€˝ż€µ‚°ŻFű€ű�+Ń˙÷ţ˙F!J` ˙÷ţ˙9ŕű�+ŘKx+Đű�;ű€żKhŰhđ+řĐKhŰhÚ˛Khbô�bÚ`KOô"Ú` ˙÷ţ˙K[i ú�ICKa˙÷ţ˙FJ`KhšhKhBô€bš`˙÷ţ˙ż7˝F€˝X(@€µ„°ŻEK›hô€cłő€oŃżBKhŰhđ+řŃ>Khšh=Kh"ô€bš`;Kxűsú{:IF[DŰ D3h»`˙÷ţ˙Fű€ű�şhšBŇ#»�2K"pMŕű�0J�’˛DF»h“BŮ,K�»�*K"p=ŕ»hš˛ű�Ó»�%K"p4ŕú{"IF[DŰ D3hű�šB
Ňú{IF[DŰ D3"`ŕú{IF[DŰ D3hű�ú{ÉHF[DŰD3`ú{ IF[DŰ D3xűsű{+ÇŃ»‰F˙÷ţ˙ż7˝F€˝(@€µŠ°Żďó�{a{i{br¶żYKhĘ"ZbWKhS"ZbUKhšhTKh"ô€bš`RKx‡ř#0—ř# PIF[DŰ D 3x۲+nŃ—ř# JIF[DŰ Dhűa—ř# EIF[DŰ D3h»aAKx۲+LĐ—ř# =IF[DŰ D
3x۲+$Ń—ř#0!F˙÷ţ˙{j;a;i�ó�ż—ř# 0IF[DŰ D3h—ř#0FF˙÷ţ˙'KhĘ"Zb%KhS"Zbŕ{jű`űh�ó�ż—ř#0F˙÷ţ˙KhĘ"ZbKhS"Zb—ř#0úiF¸i˙÷ţ˙"ŕ˙÷ţ˙{j»`»h�ó�ŕżKhŰhđ+řĐ
KhŰhÚ˛ Khbô�bÚ`
KOô"Ú`{j{`{h�ó�żKh˙"Zbż(7˝F€˝żX€µ�°ŻF9`űq^KhĘ"Zb\KhS"Zb[K›hZJCđ “`XK›h۲đ۲ĂńÚ˛UKpSKiôţOôţ:a:i’ú˘ňú`úhzazi*Ń "ŕzi˛ú‚ňҲÓ@۲3Ú˛HKpEKi›˛Ăó›˛3š˛DK€CK�;@JxűóŁő s<JxÓ@»a»iOöţr“BŮ;KOö˙r€ŕ»iš˛7K€Oô ˙÷ţ˙Oô ˙÷ţ˙űy+=Ń2K"p1KOđ˙2`#űw ŕú.IF[DŰ D 3"pű3űwű+ďŮ(K"pKhšhKh"ô€bš`KhŰhÚ˛Khbô�bÚ`KOô"Ú` ˙÷ţ˙KhšhKhBô€Bš` ŕ
KhŰhô€c+Đ ˙÷ţ˙Kh˙"Zb"! ˙÷ţ˙ ˙÷ţ˙ż 7˝F€˝ż(@X€´‹°Żř`ą`;`Fűq#‡ř&0ďó�űaűi;br¶żŕ—ř&03‡ř&0—ř&0+ Ř—ř& ,IF[DŰ D 3x۲+éŃ—ř&0+8Đ—ř& $IF[DŰ D 3"p;j»a»i�ó�ż—ř& IF[DŰ D3úh`—ř& IF[DŰ D
3úyp—ř& IF[DŰ D:h`»h—ř& p#‡ř'0ŕ;j{a{i�ó�ż#‡ř'0—ř'0F,7˝F]ř{pGż€µ‚°ŻFűqűyF˙÷ţ˙úyIF[DŰ D 3"pż7˝F€˝ż€µ†°ŻFűqďó�ű`űh{ar¶ż ˙÷ţ˙4KhĘ"Zb2KhS"Zbúy0IF[DŰ D 3x۲+BŃűy!F˙÷ţ˙)Kxűtű|+/Ń'K›hô€cłő€oŃż KhŰhđ+řŃKhšhKh"ô€bš`żKhŰhđ+řĐKhŰhÚ˛Khbô�bÚ`KOô"Ú` ˙÷ţ˙ŕKx۲ú|šBĐ˙÷ţ˙Kh˙"Zb ˙÷ţ˙{i»`»h�ó�żż7˝F€˝ż(@X€µ†°ŻF9`űqúy;IF[DŰ D 3x۲+ŃűyF˙÷ţ˙ďó�ű`űh{ar¶ż ˙÷ţ˙/KhĘ"Zb-KhS"Zbúy*IF[DŰ D 3"púy%IF[DŰ D3:h`úy IF[DŰ D3:h`űyF˙÷ţ˙F{‚Kx{tKx۲z|šBĐ˙÷ţ˙ŕúyIF[DŰ D3h{ŠúyÉ HF[DŰD3` Kh˙"Zb ˙÷ţ˙{i»`»h�ó�żż7˝F€˝ż€µ†°Żďó�»`»h;ar¶żK›hô€cłő€oŃK[iű�˙÷ţ˙F»�ú‰»‰šBŮú‰»‰Óű‚ŕ#ű‚ŕOö˙sű‚;i{`{h�ó�żűŠF7˝F€˝(@€µ„°Żř` Fz`űr{h�Gż7˝F€˝‚"Đk
.ĐA ‰•
Á%+=ü" "I
9Wg›
Ąy - Oq”ŚÓˇ
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
ş† #intćÁ ‚
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
1 ”éŘ$K Ą+Ş
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
0e–áÓ$îŘ *D™
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ˇÎ r
ÇŰ s
S/ t
™zu
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
s v
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ż${
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
á!|
8Ů~
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
)Ď x�
CAß…¸wŚ
M#Ľ
‘¶+H é¸
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
Ś´ öT
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
‰±
‘ŤBa˝;â ŹĄ .ž
Z\0Ň ĘuÚ ďß
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
~�Hô˙}ú–w°ĄÓxŕyä
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ăT!i’"Ţ6# l$řp %�Ż& n' (Ś7 )‡×*—+°&,“ß- .űó /Ô)0!F1Z&2žĐ3ËË
4@ž55<6€°7ú 
8bE 9b:7Ą;(B
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
<€F=Zí>˛ˇ “۵Ť ĄÂĘŤ ş ´TRÂDRÂCRÂISR W1 Â, Â1
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
á| ÂÄ„ Â WPR
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
Â$SSRÂ(óđÂ,řÉÂ0QÂ4ţňÂ8ďz
Â<9
Â@°:ÂD<nÂHORÂLĂýÂP˝ÂTo
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ÂX>Â\Â`Ş«
Âdş,ÂhŽ2Âl'< ÂpÜE!ÂtŠL"ÂxX#Â| $€Sf%„Šl&Â�¸? 'ÂŚÜL (Â�g„)” Ś*Â�Z’+Âśý¶,ĎÂĎŤ żŘ3ńź5ÂÝ'
6ÂY7ÂPR18Â ź
9ĎQÎ:Â �$ ;Â$×Z
<Â(PR2=Â,ź
>Ď0V•?µ@�•@µ`Ŕő A€@×
B„Č•CĘ�Ĺő DÂ�E×
E” ź
F�4CGÂŔÍ-HÂÄŞź
IĘČ;CJÂĐÔ-KÂÔÂŤ ń˝+LÔ =r+ľý %SET =2E
ťt)Ď5+” = 1‚˙ö
šą×ťŐ鶆 7V ‚ <÷�I > 5© A ){ D aĹ G •Ě J uš M ťü P  ű R“$ ¨@“ « @­^ ­÷Ő–
ŻE Ľ° ±Ž!´Đł Ě =
_kfă ś ď´
bQ =
k‘lá¦Ó
nw =
v·qý¨14
yť®í
{Î =ďżĆ ú a¤eéĎ ="?t o0‹
%ű =(; ŁŁG
+! ;-˝Ĺ/ĂÝś0uŇ1’D2ď ËŠ3‘
4l 5”źm6”VÉ7L ˝ÉŢŤ ÎüâD Ţ[˝E ß]F VGÂř H1GhóN”ĹO”�śPĄ— Q±&ę°TEżW™ ™x¶Ş ™ĺ Ĺ ™'‡,
`
†Â Ţ ™|7ď ™Ţs
ś6
s+¶‘túh sC”‘sĹs]Ă‘l(ťQR
ĄhśÓ
‰‘T ‘p‹ U Ą‘vßÁUĄ‘n+k
U-Ą‘l `WŞ
p‘h|XERn
S‘d‚™ ś| ˇ
”‘g«Ý-¶‘`>  Ą‘rű‰  ”‘q‰‘" ‘t `,+S p‘l|6,EęL
S‘hGć
Ôś ˇ
Ô”‘gű‰ Ö ”‘s‰‘Ů ‘t `
ÝÝ p‘l|ŢEŢ
S‘hµ;Ë4ś- ˇ
Ë”‘w)BQž·ôś
ž,¶‘\ŢPžEQ‘XËŠž\‘‘WažxĂ‘PĚ ·‘wü"
ˇ ”‘v‰‘Ł ‘p `§Ň p‘l| ¨ Etµţ
S‘hEĐÂ
S‘d‰ M´ś«
[I
M"k‘_sMD«
‘Xü"
O ”‘w]P ‘p L \]‘
-‘h9‘dX\]
‘lEfç�śź�EéĂ‘lÔe ę ‘hIë ”‘s‰‘í ‘t `ńp‘d|ň E´ K
S‘` Eň h
S‘\ E,+…
S‘XEbC
S‘Tc׋4śńŢ*Ť
”‘wĂű
Ž
‘p*Ź
Ą‘t> �
Ą‘nH`P°ś�ŕP+Ą‘v*ŚÝ&Ą€śQ‹ (
‘tR
)
‘pč¨üśžúh ü!”‘o¸ü;‘n. ţ ”‘wÇ} ˙ ”‘v+ń± ĄTś˙úh ¶#”‘o`B¸ ‘p> ą Ą‘vb ş ”‘uÇ} » ”‘t&»›Ŕś>úh ›%”‘oO›6”‘n. ť ”‘wŕ<„Śś}úh „$”‘oO„5”‘nÇ} † ”‘w,ž�k@ś´Ő
m ‘tn ‘p ü#
$śÚGl=¶‘t 6a
B(śGlB5¶‘t†…6”d;6-¶Ł¸Ed;/¶!×w-áč ß`Ź ß2¶ŕ‚Á|!×wĂ.Gű
Ď( 
:!;9!I8 4:!;9 I: ; 9 I
: ; 9 I8 4:!; 9 I: ;9 I$ >  5I
1 > !I: ; 9  1X!YW 
(

:!;9!I8 I:!; 9 I.?:!;9 '@|411X!YW I!I/ .?:! ;9!'<1X!YW! !I : ; 9! .:!; 9!
'@z.:!;9 'I !:!;9 I :!;9! :!;9!I.:!;9!
'@| .:!;9!'@z!4:!;9! I"% Uy#$ > $'%( &4: ; 9 I?<'.?: ; 9 '<(.?: ;9 'I@|).?: ;9 'I@z*.: ;9 'I@|+.: ; 9 'I@|,.: ; 9 'I@z-.: ;9 ' ..: ; 9 ' ¤($@ŚŔT€°4�´ô4 h�($@ŚŔÔ�€°´�´ô4�Śh G
 
r¬ T ó�


|KŐ
«I
 }ć   âÂ

+n/ĐX#ÎĘ VT
˝ !$'}ë("U#$µ
%­ & ""'Ď(
É)]Ő*
čű
X�+ ďm?,˘-Č 6Ł.€,™/KvŘ0/J 1Ě2–ę¦k34€5á6Ř ä7č8“9ě:’;đ<ô=Đ>ř?Ś@ľş A“Bá”CZm D şEśFűGH˛Iŕ2J¤ ÄK´LţMÁJ¸NŢOŮ ´P P!G"Q#H$D%R&S'T(U)VW):ę­ ;(ż$FľCXý3đłJşX
Ć&1
žß
Ç» ¸" ĐK­JŻç
J�MY€W{9
˙�őĎčÇ pŁËŘĽ“J!ß5Z¬
9Ś
�
]$ů# ±y“
HMjŽŕ
«]ĂOO>PÉ
J,
ŹAů
Ľ„
ô !ďrË
�Ź•·T­�u‡č´‚�Źţ˙©!
 ‡@
Ţ"‘ b! Ôĺ[ŽT
8¤ ť| ~…«; Ýĺ
QZ µ ŕŁ3GŐË
5~ ě ć$ Sĺ 
.K¬@ă‰(ţ 
L­ţ'
V4łň‘ěYŔ 7‰
qÁ
-«ˇë
@%¸ €b0Đ î]¤Ů|
tçĆţ ‘6o@łh „‹ŹsN" MĹ{Oc'ŠăPˇÜĂ‚íx%ÉľâO
t0
8ÎT
"ľG»K � ‘K  € z
úE^r × /ő“¤ 5ô“° Ő¶ŠĚ™0*Ľ kpŘ2W¬ł6+ ăb‰ä ÷Ŕsü ëV ČÍhRš˘+PăĚ Z„út
R;
?wBC ź>ĐâĄ
m-ÍöŘÝ_·ăĽ=�Hť•ç çĹH G[{˝
Pđ@kO÷
…ň/
¸: ĆąžŤxz´l. 6G
LBX57÷
€;™ ‘´úî ˙5ŤŃb ?¦5Ca7
h11M
ď0lÜçé
/Z÷¬˘óÚ ť+xĘ×~M¦ăŘr6) †±ťdŻüü*ÚmhYBŇ
ZĽ2ä
(Ł á“'4
äl5 «¨¸»�ü™

{=°ď™AýÓ”Ő
go
iÖTYĆ OV^t
˘ő H]MîĐ1ćl ćć©
± ÓWVę �±ßNä]] –WybŁ~ÝŽ± 9č ·
…Čí„ Bâ4®ż@ŢŮPĂÄsŰ<Ą9 čmNo
‡T{µP»NűqĚnr #łq=ţł‡VŢr:JË
Ű„©Ńeô]v ă Ó– P. źŕ
ą'Ľ|î fŃăS
ßf`ŕ�e8ţçż�Řę6
ż™™f)§{ďI\ĚCcµ’(I¶F zÜĺŮ!đä‡q4gl ż‰)uá_ř
ÍĚ­¦ gÓ›T¤Ń˝g
ź0…•ZuÁeąĂ!ü Ľm: ąć•
¶Ylö%‡Ůe§ˇ{ ÇĂ|Öo
.94«"ěTÇZšíŻ J…3ć
Ď ÄÜ
0}
OŁ C-
“AYÜI
_ČK “>Ký  |„Ă
÷ ü C‹“|
„Ă
Yä®PeË m~ /Ď 
FĄ őĚ ź =�č üC�„2
Ě_xB•€x’ ‘qÖż6ú†k ÷Š Ř DcÔOK`ÁŁ± ¸X+Ś.¤v şT Á"`˝
ôďĂ„tI*6|T@Fe0ÝĂΛŤg ˙Ń3Ą*d w& Ľń  ĄČ!ˇ˛(€Z’h�“pď—u÷�ç ™š¨±­1Y ®n!ŹV•-8ťkoĄP
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
°Kó´+‚
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ş�Á
Ě@‰ÜÍhîaAč�`Ş![«/¶ˇ=ĘS|ŤméĐŚ q
¦§ĽÁú
ÎŻ=ôÝ 
b~� +ů,ßű
-îŘ.ŻY
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
/int0zý
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
1yh 2ŕC 3”Đ
4ńą 5`d6WÖ
7›]8q9q] :…XCHgJ< R»�]GşhÚ
qßöxH�¬č�4× “DV
—�Ԣͭki
×h¸ůąßű
şîŘ»ŻY
Ľint˝ŕC Âzý
Ăyh 
¬B�O î !żĺ %
ă'łÚ-+˙ 1ł°3¨ś
9PÜ=ęň?}č
Dt±IúÂN"ż SQ=
÷…­Ş #}u )k9 5Ä=?íIÇŁSČč€Î0�-y
‚¶ý�Hą™WíšZů˘˘ Łěń¤Ü®®Iy
Ż( °O¸7 ą
śşÄÝáĹů Ćs.Ô<1ŐzÖ=憦çh˙ č»PöŹ�÷ë řó† ‡iľ�Ty
–�‚
—Ŕ�ťÝ¦ÎË §–í
¨-e ·
W¸É1Ć؆
ÇCĎćE×ĹĘ
Ý“ĺ Ţ űâćO!ë{]ö†k€{Ä… Ś>Ç Ť�t
�Č™[R¤&ÓĄ’‰±t ˛Z{ÁQ
„T
Á
úŮ
*nu2Č5lĂę†0í›i
óčýö üůîř
ţĚŇ
�x©š<›¤›ĺ
M<[q^bżc‡r ‹ákŽń ŕÖVćŻí ę©WřÜ6ü> �-‰ŽČ –Q˘qű2L °e
!9%LE+l±
E‡ń Iď• JF'k (s*ÉŃ“ńl”1L •IŢ
–/
—ŕÍ�@÷™LBš˘K
›+śFÉ­ĽČ[Ě É„ŕĘŠâË)’ĚäŮ ÍŃÄÎťhĎĄ˝ĐťžŃßoŇ�<Ó�ŁÔÖ× ŐŁ™
Ö«g×rCŘYu ßX
ü·˘šMÜ ›ę,śfî
ťÔž2ź
ź¸ ň� ˇ7/
˘3SŁ8¤µ™Ą,U¦ĚŐ§Š¨�U ©h= Űtě—,ž—
Łd”©«® ôŻô¸´nę
1*2ßń3Ŕ%6éI 9É´
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
:×<¨ş =B•>źé
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
? BđŽ CMŻDřŃ^˝|_'|kŘ~lh
pÉfqűŠsçµu-÷x©őymŢz;á}Öd‚[Ü „Üh …뛇F¤Šä˙‹•ŁŚ`îŽΑ ŹăX‘TQ“…¤˛ŮĄ{u¦Ö&§kµ
¨Ł° Şn®«Ü,¬ńm ŮI' ćöôç�č?é(~ęëŘĹěÝóď
dđžrö!´Ň1
äJ`ęňP ëŔň&˙ř/éţ^ť˙
†K ‡™íŽô ”í=
Ąűk˛%�ÔbqŐGÜc©ÝK.ŕŚÂęđ~ë«Kőú ‹śo ŤŹ™Ô
�}’ó’ś ă1¤m §Uę«�C­
ĐřĺÔŐ
Ř^á
ÜŐoŕéô ä ú č öěKßó7, ô•ő
 öđ„÷Ď_ ŚűM ŤJN
źĚŢĄmé ¨vS Şűµ®ş~°D
´÷·¦ ąÍş˝r ż×­ ÁsÍ Ĺµ Öí%×»XŘdžÜŮ|ÝÔQâ(g ć>)ę?`îßďhđqy �ÎX
rw­Ľü·˘ě—,ń‘™ řŚ¨
ž—
Łd”©«® ôŻô¸ô¤’Öl ”ßű
ł–»DŔS‰Éc 7ľ˝ Ěp #Hç%BG 'Ţ
*©],E
.d÷ 0Jj2ó 49T 6ŕ8čú;ťŻ=¬N« aű’ëş «’M¬
­v ®jV
Ż, °Ř/±2ď ˝W?ľ‚6żjĘś˙Ë Ě4
͆ÎK=¬ÓÉ Ćŕl j{RđYÎ-ęIĎ>+ŮJ âôÜćDë$
ö÷Ĺ
ůzZ˙—`‚eĄ�
 Š~, ˇđĄ
¤­ž §čs¨5*©ÁtŞ% « ˘¬şš ­ŕú®é,
ŻÄ °ÜJ±lô˛ďšł).´Xµqń#’
·˙= ¸éŇą"ç
şśf»p�ĽáGŔäŠÓ¤‹[ç
Ś¨ÓŤó@ŽŁŕŹµo�8’‘W~
’E± “E”@ă–uˇYM§5X´O]·ž˙ąĂ
š3X
Ż
­Ľü·˘ě—,ž—
Łd”©«® ôŻô¸±
Ó ´- ·ˇş»óË(Ł!X
"Ż
"é/'™@/Ü^ Cq/MÚÓRüę#

U¦Ź
WęšXčYYňă
ZK2\c]Wđ^řŇ_Eu`>¤aí bvbcůŔ d—�ehi_l~7 mMęxbžy»zzĐÝ |lö
�‹ř‡•ŤăŠ“f` —Ó1›č& žĎqˇ˙Ó
¤„Ą ¦JO§.k¨­, Ş$)
«^ů
¬i ´ęJ ď8Bđčh’Ĺ´ Żčő ÓąÔďEŐYTÖ…�‚Š„ç@Š‹»’~J
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
X
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ČQ Ż
í 
YÁÜ&8g™<ňŰ=Ŕ†?üd C¨‰ô^ čR"é/2Ô4®ô
5nS
8ůä:*ç mf/přţvš8 y+5? 7—t :Ť~;` = �>±?R)
@ř AH
BCE DąÚEŔ®Fö
G
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
3HI>@
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
J®»K�x LóMV
NÂOspP©5QŚI RĘYVŕ�Z¬«[ü^$_Łľ`%a¨~d0Żg™\h4
i~j“çkĐÎ l®Čo›@pÝ q­Mrsu t_bu"v‰ź w~yxĎ!
yXzi/{y2�O‰
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
�1źŽĺ| ”x>�ń ›u  î‡ Ą)Á ¦�©šW ­ôÉ
*l 7wDo¶ L…ü U>Xň [”2^”ěa¬Z
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
dŁmŰi t™�
|† ŚË™uuź6
¤Śű Ąź� §Šď¨äő&"L 4*âFGĆHµIIăHJşß $zO0Üf1C 2`f34A4‚ž5@µ ë~#�˛$ěń%ŃB`>CÔ DEőGžg©-.R
)|| ,z /W7 2¨(5’ˇ8WI;~}>Ú
Aą^DÚ‰ LĽý
TĎa
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
\•7
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
dą<lsVo5zrŁ‡ u#U
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
¦|‡
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ŞáQ®5߲.ć٤ţšK˙�
€‰Ş‡;{ŤşK•Š-ś™E Ź€Ý
Ô ÇLä Ą‘‡ŁßŽ_đ
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
äÂbçzl®O“Ű UÝ…" Ţ 1 áŚP âW‹ă±•”C•`‘
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
—0l �Ędš­Ç›vťöýž$Í
 ś¶ˇfÝŁZ¤ÜéµŃ NŃÄ‘
Ňńű
Ô‚xŐ$ü×ýš
Ř—ÚI ŰłsÝ“ôŢó»ŕú­á§ăř›ä�ÉćZřç3R éáĘęÓxě_b í†C €ÝM�Ó\� „ńo†�0‡OÚ¨Çý ©ĺzŇ„ěÓ‰2Ő¬ŘÖ—áŘź° Ůw·Ű†rÜÎłŢýxßńâP8
ăýÇ弡ćĺ°č¬%
éNa ë
a ě{îrď©úńÉŐ ň'ÜôđúőT}÷ě€ř] úͲűsUýCÚţŤ«�V
‚ŮN…A�†qÄ�Ń… ‰pĂ‹Ź
Ś‘ŃŽ±‡ŹÓ‘a7 ’}š ”ôö•}—�˝±›śŔm žźlŐ ˇ ˘ďlĄ®¦î¨5µ ©ĂĂ«_
¬ţk®_×
Żô) ±Ő˛ę™´•:µ”“
¸5@ąXl»ďĽ?‡
ľ"Ď ż•!Á“Âf˝Ä´
ĹŞ4ÇRËČ6„ĘćËŠ
ÍOQΤ™ĐÝwŃżţÓ7 Ôú‹Ö˘+×4tŮŤC
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
ÚřŹÜˇŢÝ#ßf¸ ŕąăÄü äJŮćšů çŕZé 5 ę‡
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
íŠÄî†đYŮ ńp^ó,uô†öSµ ÷† ůöĚú.Kü« ýZ €q�*�殄·-†,‡·¨‰Ö> ŠNXŚ›PŤµ6
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
ŹB¶�ët’C!
“Ţ: –ř—” ™Đ2š)°
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
śM
ťi/ ź¸ X†˘ź\ŁŽŚĄRc¦šĚ ©Ó[Ş%`¬Ş“­Ń
ŻĆĚ°4Ůłť ´™Ë b·RĎ
ąD‚ şT ĽF˝®Śż�Ŕ! ×ŕ€ŘĎ Ű„ŽÜ·µŢé&ß×ᢊâ'8 äÁ
ĺĽâç ˘čO
€
�äI�—„‘‹†Ü ‡­Ý
‰ ż ŠóPŤ)2Ž ‘ť|’.G•pj
–VŁ � ™˛č›Ů�ś}
Í·ŮÎ)q ŃŚ÷Ňů” Ô­EŐę ײöŘp? Ún;ŰJ
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
ÝŢ Ţiŕ[á<K ă¸đ äë÷ć#çH
é°¬ę±đí¤Xî‹đéń#¨ ó,
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ôęŻ źî§  0˘˝T Ł·Ú Ąo¨¦Ă8¨ÖĎ©ö–«Óö
¬Kî®çJŻń±-| ˛Çč
´ čµwV ·
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
h¸·ő şµŔ»Ű˝ô”
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ľ9CŔ“FÁFÇĂI|Ä‹ĆjÇ‹fÉÓćĘykĚUS
ÍË0Ď›ˇ
Đ‘řŇşX Ó  Ö¦¤×ŞśÚďNŰ÷ąŢ$ߵРâäăübć˘áç«ę6Rëât
î1Xďhńlˇ
ňŁ¤ô 5őw[÷Isř}}úGş
űŰéý˛ó
ţsM€ťq�*¸�)J„[9†¬č ‡Őç łÝŚ´�·Đ> ¸î± »p_ ĽHŻ
ľOżlÓÁn˝ ÂÚRIJ�ĹEcČC$ ɬń˶µĚLůĎ™Đ
‹ ÓĐCÔH
Ö(Ř
×i ŮěŐ
ÚÉÜú/ÝÔ ß8ŕŕ7âS
ăČ ĺÂG
ćĄVéazę•ËěŃ´ íÚZđß©ń=çóć
ôNńöČ4÷š�
ůŚ
ú˙”üäO
ýĺ– ˙žŻ€ ¤ś‚ Cˇ� 4G† ¨Ľ‡ »‰ źíŠ ëGŤ °îŽ )Ő‘ ©Ň’ Ý” ž
• ŞU— ÁĹ� ĆŃš Ő• › ďf ť á" ž ‰   †=
ˇ ­Ć¤ ]Ą b9§ ňć¨ ;$Ç SJ Ę _˘Ë @­Í Ů Î ółĐ 3ë Ń Âű
Ô Q|Ő Kě× .Ř ×,Ú ĚJŰ tŰŢ #?ß ¤câ ‡oă ?ĺ ~™ć m@č ˛ é �€ě KŽí ö� ď v-đ @ ň ţ:ó ő aôö ,př ‡Ş
ů Úę ű •ü m5 ţ |ë˙ ˘�
‰
‚
0ĺ„
î!
…
|� ‡
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
2Ł�
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
Ĥ
¶‘ Ą
K§
y ¨
ŕoŞ
‘Ť«
ů’ ­
V{®
jî°
—9±
ël ł
Ü´
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
Ş© 
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
Ů ·
Ďüą
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
a3ş
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ç:Ľ
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
≽
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ś�Ŕ
t Á
ĆY Ä
zŤĹ
žÉ Ç
ŁmČ
ĘĘ
|äË
3‰ Í
Ů“ Î
u.Ń
~*Ň
¬L Ô
Ó¤Ő
Ł×
-ÍŘ
ž Ú
‰WŰ
hĂ Ý
ÁŢ
_mŕ
˘á
Mgă
śNä
źÂ ć
®°ç
ë…ę
¤Së
á›
í
ÂKî
Đ
đ
§ń
˝Ąó
Âjô
ëTř
{ů
ä¶ ‘ ZQ ’ Î
” ŕ • 
— ă“� zű
š •Ë› Ŕbť ”Ęž ř]  ź7ˇ …a Ł >—¤ L¦ Ť
§ · © n Ş Ë" ¬ ř
­ ĚŻ B*° ž­
˛ şůł ą6 ˘ô· Ö"ą ámş É]˝ &U ľ ĆŔ ĺ¤Á JĂ 4…
Ä GĚĆ �
Ç ¬ É çä
Ę Ń�Ě ±zÍ Î
Ď =ŕĐ č'Ň …ć
Ó wŐ ťA Ö höŘ ¦–Ů é› Ű —ąÜ ż Ţ w‰ß ś� á ­`
â ´4ô 0ü  ‰ iç Š ×m
‹ 0„Ś ţ\Ť ÷í
Ž s
Ź &C� *N ’ őµ“ "¤” ŁŐ• …Ý– Ůą— 2˙ � P-™ "łś �»ť Ą  4ĺ ˇ ŽęĂ ČňÄ 6śĹ Ux Ć ż´Ç :Č A&É Z�Ę «ęË ¶ŞĚ —®
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
Í :�Î ž× Ƶ Ř |Ű ^eß pŕ đzá Uű
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
â “ůă ]Őä LĘ í�"AÓ
#~ $ž5%ś &Ů} '31 (Hc )ě
*DŢ+K÷,š‡
-(�.mŠ /
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
Ŕ0
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
Ľ 1~2fô33ů4ÓR5©€ 6­x7e 8ŮŐ 9Nä
:Ę=;_F<x =QĐ
?ľ·
@ČAÉ–B  CnxDőµKľŻXtĂ
g* {­A …a€�c ť•˘w)
§…r¬h»± –öĆ—®/�ő=ťŠžá\
źnQ .E˘őŁ®¤Io§;ć¨ÂV©�®ŞĺF­T/ ®cş Żä`
± ˛5¦łŔ´Ąd·Z˘
¸ÉQąÖ şŻ
»0
ĽÂ' ˝ł9ŔAÍ ÁLÂ`
Ă«—
ÄTkĹ6Â
Ƣ}ÇšöČpőÉ`–ĘŮđ Ë“Ěę
ÍpoĐg†ŃwŇ?bÓ˙'Ôz—Ő!ÖŤŚ ×€Vؤ Ůp
Ú”RŰăaŢßC
ߏć ŕů{á·Î âxáä,#ĺƸć,Ü çŁĂ č| é)Xę–ÉěMşíR{ î¬îďFđ<Á ń:
ňN‹ ôV� őí‹öş¶ ÷‚ ř…¨ ůę;ú ű+(üŃýCüţŐ
˙Í2€QĄ �ßë�Ě „ÖR …Ď‹†Ć—�«š
‰�ýŚJO Ť�ŽĽ`
Ź §�Ź‘ęn’DŹ”}~•Ć —ÄLš– ›Ť“ ś 
ťą:ž_Đ źŤ –ǡ)‰˘ öĄ“°©Đ޸5­K“ ®ˇí ŻÂ °Ën»p‡Ľ'R
˝[úľ“ő ż˘LŔě‡Áä÷ ‚LìÄÄnwĹ·_
ĆÜw
Ç‚˙ ĘË
ËH
ĚZ4Í€Î'ôĎÍ>ĐÇ!Ń�ÚŇKí
ÓýľÔŐ– ÖĄŮ! ÚŽ ŰÝĘ
Üj
Ý„D Ţ�ß˝Čŕä âuö ă5�äeÄ
ĺŢý ć]H çP‘ č7*éŕa ëřW ěÇ+í¸˘îÜď$Ľ
đŘ5 ńż’ň
ôóĚ ôť}őm€
ö‚Ě÷«�ř·’ů?ű/ü©Ň
ý);ţňń
€ ˘� .� ™„ ‡ ÎV� »ů‰ â
Š ‹  Ś ní
Ž 
Ź Źë‘ a+ ” uŐ
• L( – Ą~— yY
� îS™ ď? š ¨?› Ť"ś śqť Í~ ž 0ńź g^˘ ŢZ
¤ m
° Ĺ ź'
Č ×rÉ ‚*Ę ¨.
Ë „đĚ Ľ~
Í .ź Î ąŁ
Ď Aˇ
Đ ®9
Ń –˙Ň ˙6Ó ”Ň Ô ţg Ő ÂóÖ n� × ńbŘ §
Ů ĂvÚ äËŰ ;»Ü ä Ý Ż&Ţ ýß Ł˝ŕ prá Ńâ ć ă × ä ¦)ĺ CĘć ‚Kç ž÷
č Ćd
ë Lě Ţ
í č­ î ˙8
ď i>đ RDń >»ň Ťjó ^zô nČő >Uö †÷ }6 ř )ů jú řű {
ü F
ý ňţ Ýě˙ ě
€
ő“
�
R
‚
•8�
�„
î…
"†
ÜŇ
L�
qc ‰
濊
YŘ‹
ŔW Ž
*iŹ
D'�
ž,‘
?? ’
'ş“
đY”
�˙•
?Ú
–
Š2
—
�
‘ ™
;Ćš
%^›
!Iś
gä ť
Hţž
—Ůź
5® 
˝wˇ
®L˘
ňřŁ
ɤ
–ĐĄ
ąÍ ¦
ę§
˙č ¨
Rj©
×]Ş
«
«
¦>®
Ż
Uś°
±
’Ö
˛
b”ł
¬ü µ
î
}ˇ·
¬”¸
Ňj
ą
=»
fÇĽ
ľK˝
¸¬ż
”8Ŕ
·­ Á
đĐÂ
ˇĂ
O Ä
p* Ĺ
Ś|Ç
0¸Č
ľqÉ
ŘŢĘ
r2 Ë
ŤÁÍ
ęŻÎ
˛ĐĎ
ĂSĐ
0Ń
-ęŇ
ÉÓ
H-Ô
k�Ő
Íb×
_kŘ
ďŘŮ
±ôŰ
Un Ü
x, Ý
řŢ
Ăî
ß
Ćo
ŕ
ŘXâ
˛Ăă
¬žä
ă—ĺ
@ş ć
,ç
ŕáč
; é
ëLę
Ü˙ë
¸ě
ôí
p8î
aěď
µ9 đ
Yń
N»ň
Éó
1˝ő
`
ö
¶;÷
R�ř
l¸ů
�üú
ď§ű
)8ü
Ń>ţ
�4˙
MÝ€ ¤˘� T«„ `*… <‡ Ág � 6Z‰ űÁ‹ nEŚ …ŞŤ ü Ž 1'Ź ü€ � â’ Ü “ —3” é• /b
– ć¤ — ň� wĚš h×› Ťr
ś ą�ž ‘Çź Ë   Ł Ęפ ˝<
Ą ©-¦ ž§ <ź
¨ 晪 Ë� « ű˙¬ ¬‹­ �“® ˇP
Ż ȧ± � 
˛ ľžł „ö´ (?µ dŰ ćø Y#ą ţ
ş "‚ » NĽ â˝ .�
ż 7Ź
Ŕ %µÁ ŹÂ ­
Ă ›đÄ i� Ć Ç †TČ ‘ńÉ š~ Ę iłË !Í ‘7Î 9~ Ď «xĐ ĚĘ Ń #Ŕ Ň ę Ô çŐ ˛“Ö řô × >IŘ ç Ů şŘŰ ŘÜ ź#Ý ĺ˙Ţ Ěß \`ŕ 2ôâ µ ă s ä wkĺ LŢć ąlç h ę ‡2ë f�ě ő í ú{î ł÷ ď io ń ‘/ň $ó |ů
ô @žő ň–
ö L2 ř }M ů şĎú k®ű 5ľü Eý t
˙ hÚ€ J'� "Ç‚ +[ � ç„ ´Ę† A•
‡ Bď� Z`‰ ­Š ©�
‹ ĚsŤ űřŽ .IŹ g� ť‘ ŐÎ’ H ” • «Ű– )¶— KA � żĐ™ `˝› }˝ś “Çť [
ž ÔŹź şq 
S˘ yďŁ ±Î¤ h, Ą G�¦ ‡ § tţŞ ľd« ŤX¬ ×u­ ü® ®°Ż ö§° Â=
± ˇ˛ čÝ
ł zČ´ }űµ ůW –
· �ý
¸ Mş 6 » ‘‚ Ľ Ďş ˝ ~d
ľ Â�ż }‡ Ŕ &Á ţu �
Ă żśÄ /ĆĹ ”’Ć ›|Ç âEČ 4 Ë =# Ě žŔÍ «‰
Î Ő�Ď zňĐ >Ă Ń XLŇ fÓ BÔ äśŐ × Ş/Ř ‚PŮ őÚ ję
Ű ëř Ü ˇÔÝ Ť¸Ţ Äß q2ŕ �› á Ľä uÍĺ ŰĎ ć đˇç ňýč őé SÖę Mkë ćě µŮ í ő«
î sÇ đ ·Éń uň Żó <Ęô süő ßö çl
÷ dÉ ř ’Dů Vşú Áý �
ţ ÖŽ˙ ¶‰ €
p�
Ô/‚
$ě�
çI…
{… †
$@ ‡
t¸
�
 W‰
ó`Š
'
‹
;Ř Ś
jÂŽ
�&Ź
iÓ�
Fű‘
Őá’
}ş
“
#”
,y •
7�—
č_�
…s™
­+
š
÷›
em
ś
ęÉť
Íîž
Fd 
®) ˇ
Ă ˘
ĹPŁ
R, ¤
V±Ą
�J ¦
ć§
şŞ
Ü«
Ąů¬
©+­
 ®
áׯ
żb °
˙
±
" ł
‘î ´
z›
µ
qN
D·
YZ¸
…ŕą
ˇş
¬$Ľ
”— ˝
WTľ
Ţ_
ż
»l
Ŕ
śt Á
ĄřÂ
N;Ă
G•Ĺ
‹'Ć
çř Ç
ýhČ
ĹW
É
ZC Ę
 WË
Ö«Ě
řĂÎ
}ÖĎ
� Đ
l€Ń
�
Ň
ô Ó
á;Ô
5ŮŐ
3Ö Ř

Ů
ĐÚ
…ö Ű
ĐŞÜ
ë*Ý
ކŢ
˘Aß
a
á
�Ď
â
˝
ă
Í6ä
µ ĺ
pßć
¦Śç
T
č
ës ę
'S
ë
ĂÝě
ví
sî
ţď
�đ
ĺ
ń
'ó
-éô
Ć. ő
� ö
°Ź÷
Ż ř
uĂ ů
¦’ú
ľ@ü
ó[ý
~á
ţ
 ˙
q¤€ł4 �A…‚rť�Őž †ĺ™‡żű �\[ ‰ţŠ|© ‹¨ú
ŚĂŤś–ŹÉ �”*‘uF
’ŞX“šË”ŃÁ •P*–®\™4ćš�h ›cĘś�´ť9žčÍ
ź˛±
 N
ˇ¬7 ˘̨ŁČŔ¤žŁĄ2 ¦dɧ3`¨eŚ©AhŞÎű«íö
®$Ż6Ă°Ĺł ±Óť˛á\´ µÎĎ
’Ř ·¸–w ąćO şą¦ Ľ\˝�5ľ‘Ô
żĹ`ŔBÂ(‚ Ă�S
Ä^ĹśáĆ€\Ç0›ČYaÉsńËpřĚG
Í·ĺ ÎÇ�ĎRr
ĐɶŃÂÄŇţÔŃhŐí‹ÖĐ
×÷Ř
ŮGG ÚŞóۆ
ÝÚ–
ŢŃßWXŕ»áş±âZÜ ăţĘäî4çQ# č‘é}˘ę$Ŕ ë˝ýěYíŠ&îÚď/«
đ ńIGňÔóŚ«ô-EőU»÷Ť řĽÜůńŐ ú˛oű_fü§ýŽmţşj€”ˇ �:傇ţ
…Ţô †8ň
‡–n �3i‰m^
Š 6‹qáŚĂŤă_ŽUĂŹ~�‰Ţ‘
’?Ŕ
“f•mŮ –×ę—Çî�Se™=ä š
C›űśˇ* žŰ0źc5 Ľ" Łč ¤öץXd
¦z=§Ă ¨´J ©1E ŞqE «“@¬U
­Ź{
®Ź1
ŻWĚ°8—±NAł‡ü
´öµ¨·Đs
·,l
¸gąŐGş>XĽş‰˝—wľA@Á7ĹÂpVĂI ÄĹž
ĹçĆw
Ç í ČÁÉą‡ ĘXCË™Ä
Ě�íÍJ“ÎâÖĎ  Ń?ÂŇŹŮ ÓNs Ô­ăŐ>ÖÖ†č×Ń؇ڱŚ
ŰRźÜkß5 ŕ° á8y âOH ă0żä˙—ĺaô
ćĘ×çŕŢčŔę
éÎ ę]XëÄ7ěŰ8íÁ~î@{ďŚđň�ń4Ě
ôÍőazö�ř ÷�Ö řÍ9ů*
ú¸Ä ű™Řü\n ýoÔţFĽ˙iÚ€�® � Ë ‚»š �}’„˘
…— †ÔD‰É^Š–׋’ŚĄ Ť(Žä—ŹËľ�? ‘)ź ’¬­“•(”®M•: –-–—0}�y ™?>šT–›iÉ
ž–Uź'N  ©Šˇí1˘P™Łüz
¤u
Ąţ.¦*'§ň"¨űě
©§´ Ş� «)˛¬lŹ ­<á®
Y Żć °ˇEł+:´Żµľy
ëB·Ý%¸lůą5^ ş§‚»w ĽŐß˝hľ!” ż¦]ŔxJ Áź_Â/9 ĂŠ Ä�˛Ĺ-¦ĆE% ÇčÖ
Čż.Ë U ĚÜ ÍśÎ-î
φśĐńŃśäŇŃ“ÓčÔw- ŐCÖăż×)ŘŢŮf§Ú-A
Űjܦ Ý€›ŢďdߤŤŕ«că“ô
äö
ĺůŚć0Đ
ç›Y
č†âéĺŃ
ę5uë[©
ěq†íë®î~
ďOřđ”Đń·Ňň$Áó„ô»Ďő6»öźk÷"ř0“űÄüŽ=ýŤţ±˙^�€â�ő•
‚Ź�±ŕ
„H) †/Ö‡O%�
‰v Š*/‹ZÜ Ś4'ŤĂĘ ŽB&ŹĽ&“ŕÓ”mt•Ń‹
–×�—Ä×�ą1 ™ŔŤ š˝›ś[ť«Ţž¤*ź—1  ·6ˇÚŹ ˘˛~
¤Ą( ¦ ¨dű©ÍČ Şç7«Ýy¬.˘Ż´˙°Â±RN˛w×´�$µŞź ]·Ĺ۸ÚÇąĐ8 şZ‰Ľ!¤˝ľťM żcť Ŕ'wÁ�K
ÂňéĂ7ÄjçÇ.vČë ÉmĘ!ÓË15 ĚĚŻÔvl Ő -Öł\
×*Ř° ŮŰÚďr
Ű�*ÜŰÍ ÝĺÉŢ(-ß8ŕŮĺádâ8> ă7ůä9’ĺ@Ď ćšĽçťčßée°ęŻŘ
ëÁ*ě?˛ íyąî�­ ďÔÁ đ©"ń©> ň_¦ ó8V ô•őŘDö=[ ÷ÄWřž� ůó*
ú�ďűëp ü=őýő
ţ`˙h€[p �đ>‚Ş[ �Ll„^p…ők†Uz ‡šÜ�E˘
�Í ‘>3’îB •N
–•
—> šŠo
›éś§� ť%őž,
ź•ž ,%
ˇřo ˘)ô Ł^—¤PŠĄź¤¦Ĺ§Sż¨VŃ©Ţ«¬ř­x°®źŕ±™• ˛S?łâ1»ĽA, ˝ôóľ@żÂżŔjÁĘî Âľ
Ä&,Ĺjç Ć×Ç
É ČÓ‘
ʵEË#$̬k ÍňřÎ÷¶ĎÇđŃ[ź Ň|jÓ=MÔŇ Ő>ÓÖ ×Ű»ŘVŮçEÚDQŰÜÜń�ÝŢD ŢGćß;^ŕˇ3á4łâäsÚĺŁW
ćó>çi@č]2ęE/ëX
ě1_îůţ ďKđÇĹ ń$
ň– óĘďôt#÷޲ řŚ·ů‹ęúBš ű ü¸B
ý±˛ţ«ę˙Nů €ąĚ�»�‚ńX …?‚ †Îî‡QVŠ4‹tŚ×8ŹóŹ�­0‘:N”2•U–bY™˙ĽšĐĹ›¤Y žd[źÝć ôjŁÓ÷¤Ź®Ą” ¨f�©o Şvß­Ľ2®…7
ŻÁ˛QĚłH ´^’·Pm¸$çąTcĽç ˝ľ?ľldÁ9˘ÂĂ50
ĆwAÇS_ČňµËáLĚĐ3ÍFfĐ.ĎŃŤ5
Ňî8
Ő©žÖ ˛×JŇÚÓ| ŰęQÜŞň
ß2ôŕË
á(•ä!ç
ĺ@X ćĚ
énďęŢë\
î+ďđhíů]üúŮ űT"ü‚íýRĎ
ţÓD˙×Ô
€� �ß/ ‚­�l+
„äË…C¬ †ë…
‡T7 �ő• ‰şĐŠű‹‹oŐŚÓ�Ť  ŽÇŮ
Ź}Ě
�[בԷ’˛ “éÔ”! •‚d– P —ěo�®M ™zlšć¸
›ĎČśî€ ť?bž# źbľ ˇî
˘Ż*
Łš¤}k Ą?k¦mć
§žb¨ ( © çŞV%«‚{ ¬b„­Q®—aŻžĎ°N
±0˛˛ˇł¸
´Ţٵdtöç·â׸™ćąă]şß�»ű©ĽWz˝|t ľBë
ż·NŔ“Á‚Âśř ñÄkÄĹËV
Ć0ŇÇ˙ŇČ/ů Éž˘ Ę
 Ë*\ĚjcĎ{AĐnxŃé)
Ň5PÓJ‚Ô|Ő0=Öxm×–ŻŘĄdŮÚCÚ©˛Ű?ĚÜśvÝłŢ7bßFĎŕQź
áđŕ
âíÍăÝäq&ĺËćŐîç¶ÜčîĆé{hęAďë9
ěÚ©íŰdîŕŽď·ađFńň· ňŢóűĘ ôŞw ő) ö˝Ž ÷ňřŹX ů`
ú9" űĹükŞýů8ţ’ë
˙÷ö €Ů.�‚íí�çĂ„á^…H6
†ÝV‡vW �ťŮ‰ŞôŠ•F
‹„] ŚßŮ ŤĄ‹ŽÎ_Ź��ń‘K’Ś­ “¸ ”P·•Z–TM—Oě�+
™A šEŠ›áśvĽť6É
žfyź€a Ęᡨ˘H Ą*3¦)ś §ř
¨—ă©@Ş˘ő «a…¬ä­/H®qń ŻwB°÷U±‚ď˛/… łŤS ´7‡ µż‹Í·P ¸]dą\lşҲ »¨] Ľt ľç.żš“ŔăŐÁ4r Âs�
Äß…ĹzuĆŘ Ç}Č’ý ĘŠdËV3
̢ń Íę>ÎÎáЧ2ŃĘü
Ň˙Ő¨G Ö71×ÚqxŰ� ÜÓ ß Eŕ)˙á–é9ęż? ëHˇ ěĂşí†î
Ěď]đ\• ńý?ň/ó–Ôôąď ő“öŁ÷·€řŘś ů4Íú“űéJ ü›Ć
ý’dţ˛Ć˙+€|Ď�ٵ
‚đ]�
Ű„Pł …o0 †©f
‡0^ �Ńß
‰°s Š|C‹«ť
Ś>
Ť˝ĚŽîvŹ„’ⱓ¸…”�ř•Cš –±ć—´ś �oý
™Hőšá°›-®śú
ť€[žZ@ź(N ˙qˇ~٢—& Ł»
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
¤b}Ą5’¦ó¬
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
§¨ ę ©bTŞň« «ő×
¬
­řZ ®K
ŻÖ °|ľ±§é˛°ĐłŚ� ´;Vµ@˘Ä«·ä ¸­…ą«Ö
şž§
»šë ľ(š ż‚HŔěĄ Áű#
ÂnĂ�y ÄĄÝĹŢĎĆl?ÇÉ~Č1�ÉĂĘqË×·ĚúÍU0 ÎŇwĎAl ĐŔCŃ-9Ň3ÎÓ�ŢÔ üŐ'źÖ=~
×ĎŘ•zŮ{ ÚLďŰĹä
Ü)cÝ \Ţ~ß.Żŕ¸§á5ë â&Äă¦ĂäWÍĺaëće‘ç…(ęe*ëgłěe( íQ“îâ:ď—0
đş
ńňéîóć$ôöYőÖCö6ç ÷5˝
ř4ł ů«˙ú˛‰ űIůüKX
ýZţA6˙ €� �h¦‚k6�0â„€J‡ ��‰$‰đ6
ŠÓ‹ȉ ŚÇĐŤä°Ž€IŹ©ë�ôH‘Ž« ’T˙•:ř –Äa —–/ �ŮË™$đ š: ›¦g śa8 ť�žBăźJ1 Z‰ ©0˙ŞĺŐ « ¬q{­Łx®l2Żőď°�ʱq`
˛čĽłĂ„ ´îLµżZ
v3·oѸű ąÁ‡şTW »L‹
Ľ%; ˝˙ć
ľŹ*żŃěŔ�ÉÁ,Â@KĂ´ Ä4iĹşí ĆČÇÇ˙ČA¬ÉţĘ3� Ëł ĚFÍÉÎՊϸE ĐÉč ŃzżŇ«HÓgÔó
Őű
ÖÚ+×8†Ř˙ŮQaÚčé
Űć›Ü‚‹ÝúĄŢb·ßŔ× ŕ
áĎ`âĚÖă>ÉäřÂĺąť
ć+Ąç?´čÜCéKćę,ąëZţěďE
ífe
îš4ď0 đ‹sóÜaôšő©´
öٸ÷Ťř—é
ů¬Púůwű Ôü[řýbË
ţÜ\˙rŽ €óÝ�ú× ‚Ç= �ö. „^Ĺ…÷Ç †«„‡@K�ąc‰Ţ’Šđ{‹śiŚKé ŤýąŽÓŹ¤¶�\0‘%š’¨N“)Ĺ
”G3•q; –¨s—ö�`™ŰŚš)¬ ›ý] śP2
ťźŢžŻ"źšl Ő ˇx€ ˘űnŁů#¤SčĄ}ܦUm§_
¨Ĺ&©Ĺ# Ş�
«Oá ¬O­"p
®µâŻ€ °ń,±şô ˛Đś łj† ´ 7µ(dQ·ßŰ
¸1 ą ťşš™ ˝é¦ľ©@żůRŔ…_Áń;ÂZcĂöÄ4[ʼné ĆĄťÇú ČZ˛Éł6 Ę Ú Ë1{Ě\q
Íö©
ηVĎšr Đ$x ŃRµŇg
Ó – Ô‰—
ŐÖüQ ×édŘU®Ů•
ÚpŘŰßăÜŹÜ
ݦŻŢí ß˝ŕOi á|” âIiăt
äôk ĺ< ćâ9çîó
čŠQé Ć ęŞ
ë
ěCźíÜî>Ő
ď†đŠ ńsw ňË$óP+
ô¨# ő%“
ö[R÷–ř|·ů ~úŘl űý]ü=Fý
Zţv[
˙ÓË €§ź�ÚB ‚E¸
�CÍ
„A� ‡Rś�
@
‰¦Š.4‹›źŚ�•ŤŰ ŽmäŹäĆ�c‘>Ź ’*“&R”™•uŐ
– ę—R$�¤˝ ™*�šâo›ł:śĐťš žÇźŕŔ úˇŇX˘Z Ł§«¤›šĄđý
¦tů§¤^ ¨wł
©�öŞÉ«Wج”Ű ­5®Uř Ż¶î°ŔĽ ±†0˛ułłĆA´´Yµ_
(·€{ ¸~ą
şRŞ»Ąl Ľ.2
˝zs ľEżž ŔŠďÁ€Ś
ÂB©Ă;
Ä›+
ĹZ1 ĆĂÇQČzN Ét
Ę;ŹËĆÖ
Ě•ĚÍy ÎŇŃĽ| ŇÓĆ|Ô…�Őç5Öżź×ŚŘó
ŮÚ>
ÚđCŰJµÜ3íß
ŕŇIáJ§âş›ă
äĺOĺTnćđç�»
č_üé÷T
ę6żíyˇî—h
ď)ÉđDěń.ňFZó�ô-&őÁóöÂ÷:přúîűŇŠ
üĺx ý]Äţ8-˙­8€Ő�Vw‚'A�íu
„L …JŻ †çe‰† Šńë ‹j;Śü˘Ť˛č Ž¨ŔŹH�¬ő‘Ř’čź“ŹŚ”Ń
•]�
–—. —
�. ™Ŕr
š}D›Ť˛
śľ}ť‡ižOĆź ®Żˇ$U˘–´ Ł¨{¤ţŤĄş› ¦ Á §v$¨­©ń쪢š «¬L­ʡ ®än ŻęÄ °Śd±g<˛ źł_ ´›Öµ”;˛H·m.
¸«Č ąŚy ş ň»B¦Ľ“˝ň”
ľÝ�żý\Ŕéđ
Á˛
Â.éĂe¤Ä¦Ĺ3Ć«EÇ*wČAÉź˛ Ę#CËÎ Ě‘˝Í[Äν� Ďşí
ĐžW ŃôYŇ—d ÓE4Ôáh ŐzÖ˛×W¸ŘĘŮ7<
Ú9Ď
Űq‡Ü#ŠÝĘVŢŘÜ
ß,
ŕ‚á¬ďâß
ăܱä|A ĺrĐč—śé'F ę0 ëFŐěßTíň+
îC ďVö đ˛bńX¨ňęż
ó‡ôťíő±§ ö„Ó÷¦éřů™ť
úô†
űV¦ü?ýó# ţVR ˙޵€»W�F\‚¦á�%Ę„€é…~ †ůZ‡@˙�e‰śxŠY‹}ŚŤ*–Žô
Ź; �>í ‘›
’L“Fş”Úq•ž –"R—8\�a–™„Iš¤Ö ›ő‘ś™
ť6JžZźÉw  ĽŘ ˇ†é
˘ÜŁ Ł߸¤� Ą~ҦĄt
§–O¨G, ©gc¬m{­H
®pz Ż5V°ů
±µ"˛č-łŐ
´
µłŐ÷Đ·Ôý¸!
ą˘ ş™…»Âľ Ľ[– ˝á ľ©ĹżQľ Ŕâ, Áab
Â.řñ
Ä™ńĹ`K ĆJťÇ�Ă
ČţĹÉ�)ʇđË�±ĚŁ ͮΥţ ĎR�Đń?
Ń­ŇÓe ÔŘÁ
ŐPء5ŮúA
Ú-ŰQW
ܧu ÝObޤm߬ŕ=R
㗞䍅呩ć„íç—čbŐéč€ęĹ… ëiú
ě÷í{űîĺűď˯𽦠ńa¬ ňŐĘóóaôŚłőMŚ öXĆ ÷q řű; ůH†úÖnűĆ üjč ýq˝
ţ†ä˙ꨀčĹ�‡h‚e® �j „Ő…¨ĺ
†I‡}˙
�Ľ± ‰ Š«Â‹–ŐŚlj
Ťâ]Žc� ŹŠe
�<‚
‘ ?’6“ l
”ą•~ţ–‘p
— ¬�n{™{˙š{o›Űă ś·-ťě*žd˛ źoí  ďíˇ"†˘V' ŁŚ
¤”�ĄkB¦1Ä §pí
¨}ý©ž–
Ş�r «šš¬Xg ­™<®-~Ż9� °‚ý±(¸˛
B łzÜ´[µf
đM·Ą¸ÍąuÖş$Ä»­ÖĽth˝Ś
ľn1ż5Ď ÂŽm
ĂHY
ĬĹĂL ĆRßÇ‘ÂČܵÉ)SĘÚg ËŃňĚÖűÍNw΋*ĎŽn Đ#Ńfó
ŇŰÓď:Ôˇ´Ő˘� Ö5E×b6
ŘÇ>Ů‹ÚŠőŰŻ Üś9ÝżA Ţ=`ß6Ę ŕĐá”Ď â×Ćă¤$ä»kĺv^ć:ç, č3Ć ékbęRď ë\™ě<6 íęĽ
îľöďK§đ@Á ńůŃňÇt
ó« ô…;őÍ7öK!
÷/×řÄůyî
ú|®űLĘ
ü.ýŮ+ţéF˙i:€zą �±l
‚[˙�š� †‹;‡ Ń�r‰š»Š  ‹%
ŚCş
ŤµIŽb5Źr7 �ĺ‘[p’­Ď
“á)”e•çŰ–Ní—d)�Ëz ™´ špŃ›�Ośűy
ťW3
žD’ź±Ă
 
ˇE˘q]ŁPߤµ1Ąřš¦°§ĄO ¨uR©Qó
Ş�«{¬Ĺř ­É®ĽůŻ¶,˛Bz ł8ţ
´ �µĎC¶ë
·Šs ¸NłąÎ ş§>ĂîĘÄ8
ĹÜ
Ćôú ÇŞČýÉI Ę߇ËŤŽĚ�#ÍA—ÎBˇĎ·<Đýô
ŃěŇŢłÓĘ8
Ôş
ŐčÖ(
×
ćŘ0Ö
ŮCÚH�Ý�
Ţ$ěßfNŕĄČáGCâp�ăNę ä÷§ĺ™í ćWOçÎ�če"ëĂ-ě?Ţ í,îMč ď?l đáÇń,â
ň
ĹóˇŠöýť
ůµ ú�Wýňđ€xÜ�Ý” ‚Y‘�„©—…­�¨Đ‰nhŠ;ú‹›Ś­° Ź$ý�čí ‘Ë’eG “żŕ”®ó•WŚ–ia
—óGšyŕ›&NśÁťpžPç ź‘2 äţˇ; ¤¦G Ą¸Đ¦ů§Mó ¨Ŕe©
ŞQO ­[„
°b%±ă2 ˛ąm
łâ;´ń-µ¬
UÇ·H¸ľ–ąžŽşC
˝cKľJćż Ŕĺ=Áí¦ÄŰ«ĹßjĆĘÇľNČ}'Éýü
Ęů\ËXáĚÔ
Í\Î‹Ć Ď©»
Đ‹6 ÓVÖsđ×(ô
ŘŻ˝Ů *
Ú˝aŰ÷D ÜÇŞ ßÎËâóťă�@äÎwĺrrčJĐëĘśě"ĺí ^đ đórőôDŚő«mř BűŻFü¦öý+D€pţ�p„.”…ţ˛ �–~ ‹�Ń Śľ\ ŤÍŽE
‘­Y”ąH •¬1–2Ć™ľÉś#Ş
ťµGžôc ź—b ˘@żĄÜE¦ŕü §&b¨źy
«Ď®×sŻ
°ň±q
´†�Ľ»ż ˝wLľđ9żÄŮ
Ŕx°Ápt
 0Ă‘ÄĘ& ĹĐ#Ć��Ç›÷ČŹÉ­äĘ#�ËąÜĚĎ
Í˝‘Î^ŢĎZĐď… Ńg´ ŇRÂÓ¦ĚÔ% Ő�vÖÚŘćd
Ůâ˘
ÚŰŤ Ű›­ŢÔÚ
ß˙1 ŕ:< á[ĂâÚ ă<äíĄĺ*– ćöěçHzč<¶ éDę]`ëfE ěăć íí#î€
ďLëđ’ÎńŹňä óşDô¤Óőwŕö�÷=2 ř'»
ů­úë
űě?ü;y
ýFçţ§@ ˙–©€ ¤č� 9Ď‚ Ž�� qA„ M… ˘G † , ‡ 5F � ů‰ [QŠ –`Ť ^Ž 6™Ź FK� ›‘ y’ ^ “ Sb ” RV
• M
– Ţ`— =Ó� |ş™ I»š Ę˝› Qś Ź™ ť MHž Aź ,%   ´�ˇ …ş˘ f㣠Bv¤ ˙Á Ą í"¦ ¸·§ ,W¨ Z © üťŞ ׌« x¬ ×
­  ® fŻŻ Nö° r;
± �C˛ : ł $ěË· b¸ Ś, ą Źş Ő‹
» Ř
Ľ ˝ Ůńľ gż Ŕ ä%Á ˇc «b Ă yÄ PĚĹ eńĆ ŞMÇ wNČ K
É Ľ­Ę ßÍ HYÎ ńđ
Ď -í Đ 'Ń {$Ň tž Ó ŁbÔ µĂŐ 8ŠÖ _– × UsŘ ‚1Ů 3
Ú ţäŰ ż&Ü bKÝ LDŢ ţ®ß HSŕ Iß á _ą
â öçă Öy ä 8ß
ĺ O;ć Đ ç ˙
č ý0é śžę Eqë \Ůě Ă•í şKî &rď Ć» đ ˇŐ ń Á« ň "ó 9śô ť&
ő öö ť÷ ěŤ ř žUů ¨Ćú )ű 
ü G÷
ý ĺĂţ ‹� ˙ Ä>€!B6
�!OÜ
‚!˛…!
†!ÇU
‡!ţjŠ!ĽÁ‹!a
Ś!Ľ$Ť!łńŽ!ž– Ź!Ó„’!ł
“!CŽ”!±N•!=v–! 4
—!‚¸š!ŁĎ ›!Ř÷ś!šĎ
ť!µnž!%sź!î_˘!ĚrŁ!ˇÓ ¤!�§!„¨!ué©!Ńĺ
¬!Đ­!WŁ®!ü- ±!1o˛!Xł!+%´!ÝŽµ!?¶!rŐ ·!]Ÿ!•Eą!XęĽ!d˝!ś>ľ!/˙
Ŕ!´CÁ!Ł”Â!®űĂ!4IÄ!AĽĹ!l= Ç!?ŰČ!–5É!óÍ Ę!ŲË!XgĚ!$ŢÍ!b:Î!ł
Ď! Ň!ĆÓ!¨ÚÔ!c Ő!‹
Ö!}Ś×!bŘ!uö Ů!Ú!ČŠŰ!)Ü!ěgÝ!`Eŕ!ůá!1â!·ă!uä!űXĺ!�ć!n!ç!hč!Čřé!¬ú ę!óë!W€ě!nä í!Í$î! ď![ęđ!6Ů ń!%Ýň!_ěó!źô!żÚő!�Đ
ö!‰É÷!áČř!±�ů!®5ú!ś—ű!^h ü!đÉý!e ţ!�ń
˙!”ý€"ˇw�"őż‚"ş �"ťH„"żá
…"ňÝ †"Xy ‰"éŠ" ® ‹"%NŚ"–[Ť"dTŽ"­?Ź"FM�"/Ę‘"żČ’" “"bm”"’S•"€¤ –"®°—"ś“
�"­c
™"Ę@š"Ĺ6 ›"‚l ś"&‡ť"ş
ž"Ď,ź"ť "ŐÁˇ"ĽĘ˘";
Ł">× «"!r¬"v;­"=4 ®"ođŻ"»„ °"#±"Lţ˛"‘śł"jŽ´"c”µ"É#¶"yČ·"šb¸"ú4
ą" ¸ş"Y«»"GçĽ"Ô@˝":xľ"Şcż"ř… Ŕ"סÁ"L§
Â"x�Ă". Ä"Ą÷Ĺ"GŤĆ"t�
Ç"ńČ"˙f
É"FĘ"ÎgË"QĚ"Â
Í"0AÎ"n/Ď"ĺţĐ"2q Ń"ą—Ň"ÖęÓ"$|
Ô"od Ő"Ý�Ö"{¦ ×"5† Ř"7źŮ"źâÚ"ő Ű"d©Ü"ľŤÝ"˘}
Ţ"žťß"6yŕ"$ á"ć
â"äöă"Ě
ä"aĺ"éć"ŻĽç"¨.č"Ó é"Ĺß
ę"–Âë"(
ě"2ń í"¸ î")ľ ď"aŘđ"şĘń"'$ ň"Ť« ó"đŁô">"ő"çyö"Ż÷÷"ć?ř"Zů"Lz ú"ő�
ý":’ ţ"C[
˙"‰Y€#�9�#‚#�Ż
�# Ě „#W~
…#Ô·†#[h‡#G7�#Jh ‰#áoŠ#fť
‹#VnŚ#N Ť#w¬Ž#ß# Ź#čś�# Ä
‘#i#’#č5“#Ú�”#QĂ •#w„–#Bĺ
—#¬€�#g
™#Ôš#m# ›#°0ś#édť#÷ž#�Xź#„< #Oҡ#ě( ˘#BYŁ#
<¤#ťĄ#F$¦#×Ä §#¨i
¨#Jĺ©#S‰Ş# Ä«#÷  ¬#ĎĎŻ#‡‘°#Ž±#Ůź
˛#Z= ł#Ë´#Ë: µ#F8¶#F·#Äă¸#­ ą#Aş#»#D• Ľ#í.˝#P˛
ľ#�Íż#P5
Ŕ#g˛ Á#hĹÂ#CM Ă#Éř Ä#ˇŮĹ#»3 Ć#z Ç#¨–Č#|yÉ#ý’Ę#в Ë#Ě#ž=Í#bśÎ#@ć Ď#DŃ Đ#żZŃ#H}Ň#ý?Ó#6VÔ#qK Ő#ŢÖ#Ś×#Ho
Ř#Ë8Ů#rk Ú#xRŰ#ŢÄÜ#W)Ý#Č€
Ţ#pÚ
ß# |
ŕ#šĚá#ţt
â#AĽă#™¶ä# őĺ#@Öć#Á ç#8ł
č#–Ńé#*<ę#Ö�ë#ţY ě#™í#—rî#Kď#Ö“đ#˝\ń#bçň#íńó#a&ô#ăźő#�Š ö#v@ ÷#}˘ ř#Uź ů#|H
ú#×ëű#Zżü#�»ý#ob ţ#‡ó �$_8
‚$ÇW�$ÜČ „$^ …$?5†$U‹
‡$�$&� ‰$˙`Š$ăŠ
‹$tČ Ś$°�Ť$�Ž$ĐźŹ$×$�$˘Ę‘$#w ’$č“$RD ”$E+•$ŤS–$�Ě—$íČ�$¶™$îrš$T ›$iđś$ďě ť$˝íž$ ź$ � $jBˇ$(ű˘$.$Ł$µ+¤$%Ą$ť»¦$*ç$¶Ĺ ¨$4©$ţFŞ$Ö‡«$ퟬ$Űi
­$ęý®$4 Ż$^ţ °$‚(±$w˛$€¦ ł${b
´$!Cµ$)޶$K— ·$+ď
¸$xŤ ą$
Ůş$j‰»$?iĽ$Jţ˝$P„ľ$`ż$wŃŔ$®FÁ$jT Â$ŹKĂ$¶ÍÄ$ú
Ĺ$$_
Ć$�âÇ$%Č$ÎáÉ$áŮĘ$ă® Ë$1ZĚ$É}Í$*Î$1ÁĎ$˛ĽĐ$*
Ó$ ^ Ô$ŁĹŐ$gÖ$Xĺ×$?Ő Ř$ ¬ Ů$ �Ú$Çú Ű$ąÜ$#Ý$bîŢ$"×
ß$J´ŕ$G#á$Oâ$eWă$6ä$Icĺ$N–
ć$?Bç$‘p č$4 é$ ę$(®ë$gĚ
ě$a) í$•űî$”Řď$B,
đ$Ť· ń$ËŐň$G
ó$Hł ô$öő ő$ćăö$Ló÷$X,ř$ýŚů$"ú$ű$[2
ü$^ý$ux ţ$­˙$$(
€%g¦�%qŐ‚%€l
…%µ‘†%-.‡%łc�%"ى%j Š%< ‹%™q Ś%§Ť%=RŽ%^ Ź%22�%Ş ‘%fĄ’%ü:“%ş~”%pB•%P–%łě—%ž<�%PŇ™%7ź š%Nă›%Š
ś%Yť%“|ž%‰:
ź%˙+ %Dˇ%gɢ%čţ Ł%Ç%
¤%ßÓ Ą%JŽ¦%÷ł§%¸ŕ¨%ăĚ©%¶îŞ%âr«%Ô
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
¬%ťŁ ­%» ®%5=Ż%Ů°%>^
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
±%w
˛%0 ł%h´%Ŕa ·%Ší ¸%=ą%�”ş%gŮ»%+˛Ľ%(Ĺ˝%sĽ ľ%d]ż%’Ŕ%'=Á%éóÂ%ÄIĂ%iĘÄ%1žĹ%ç Ć%(fÇ%}A Č%÷? É%AöĘ%{ęË%,lĚ%ĽBÍ%AřÎ%×ÇĎ%„ÜĐ%t% Ń%+óŇ%ě|
Ó%jÁ Ô%»Z
Ő%đÍÖ%>0×%Ną Ř%đů Ů%uĺÚ%>Ű%.2Ü%€” Ý%'Ţ%ÄÄß%ffŕ%š˛á%„| â%ˢă%‹-
ä%s«ĺ%Ź[
ć%˙ç%č%ś8é%Ýę%)č ë%*Ůě%űň
í%î%˝( ď%®7 đ%/+ń%Ép ň%odó%›ô%&Ăő%\4ö%4d÷%?cř%uů%mňú%Ó›ű%ąąü%�ý%Ȣţ%Ŕ{ ˙%î
€&PF�&˙¬ ‚&ľj�&«ě„&ýÝ …&YF†&—u ‡&Ő� �&oÓ‰&iű
Š&(`‹&”Ś&DŤ&iÚŽ&9Ď
Ź&lQ�&ľn
‘&�—’&Úľ “&óc”&őb
•&PÉ–&DÔ™&Ldš&vó ›&€(
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
ś&Xjť&QĆž&D&ź&- &ěˇ&~Ž˘&ꚣ&ŮŃ ¤& Ą&}3¦&9§&°�
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
¨&n�©&ŠŇŞ& Ţ«&�
¬&n� ­&âe®&‘Ĺ Ż&!:°&Çô ±&oP
˛&F�ł&6×´&Nfµ&˝8
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
¶& K·&˘ř
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
¸&m�ą&Ű
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
ş&-»&Zë
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
Ľ&$˝& Żľ&&«ż&sÍ Ŕ&H{
Á&{,Â&pÎĂ&ĐšÄ&ÚvĹ&Üy
Ć&Źf
Ç&ŰGČ&#É&ÝçĘ&‚±Ë& ú
Î&^3Ď&Ç*Đ&ëŻ
Ń&WŞŇ&ŢŘ Ó&Š˛ Ô&Óď
Ő&‚áÖ&î×&­}Ř&âŮŮ&żÝÚ&5�Ű&$­Ü&©vÝ&ş´Ţ&zěß&żŽ
ŕ&ĂS á&v`â&`Yă&b-ä&‚}ĺ&çČć&S(ç&J·č&§é&ý ę&Ú[ë&•›ě&É*
í&a/î&ĆW ď&ČA
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
đ&oń&Ś< ň&­eó&ę˙ ô&
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
wő&ć[ö&ă
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
÷&:2ř&‡m ů&›2ú&;Ń ű&Ě ü&6ňý&ţäţ&¬Ý˙&Ć— €'vó�'G¨‚'^/�'¤; „'0…'ŠÚ�'a ‰'Ľë Š'/‹'±Ô Ś'—GŤ';Ž'd/
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
Ź'$X�'ŕ¸
‘',
’'çÚ“'‡ď ”'Fá•'`Ö
–';î—'Źď �'˙c
™'nQ š'c`›'Ŕś'őť'¶`ž'HŐź' K  'mܡ'Ił˘'[–Ł'Pđ¤'bŽĄ'ă#¦'r*§'C¸¨'­ ©'kŕŞ'ÜK
«'n
¬'$­'�®'¦
Ż'Ç°'śş±'p˛' zł'#ë
´'§ µ'„¶'é
·'qR¸'Żą'üň ş',B »'­€Ľ'áv˝'hż ľ'¸ ż'Ů Â'é%Ă'�"Ä'9t Ĺ'™żĆ'FSÇ'
ŠČ'úbÉ'ĚwĘ'#—
Ë' Ě'–Ť
Í'C´Î'řĎ'Ŕ
Đ'Ä%Ń'ĺ: Ň'ŢĚÓ'TŐ Ô'W*Ő'ŇÖ'ÉM×'ßŘ'†áŮ'˝eÚ'BrŰ'XÜ'} Ý' Ţ'ٱ ß'őźŕ'ßłá'%˙â'O
ă'˛ăä'čŽĺ'ë=ć'’= ç'Â;č'{é'ľ/ ę'ďß ë'ÜH
ě'żbí'¦î'?†
ď'_- đ'ń'w3ů'ţ©ú'đšű'‘†ü'©·ý'ő�ţ'‘Ĺ
˙'_€(ÉÜ�(gŢ„(©Q
…(
ˇ
†(ěÇ ‡(�j �(R¨ ‰(3ŞŠ(™N‹(Ž˝
Ś(ŮđŹ(\�(ěĐ‘(n¦’(Ra“(zŁ”(đH •(Ýú–(+——(“V�(ą™(‡[š(‚›(˝*ś(θť(ž((Ť ź(á} (¶®ˇ(dk ˘((ŰŁ(ŔS
¤(Ü Ą(Ŕ†¦(*˙§(6Ł ¨(Ä˙©(P® Ş(]^«(źÂ¬(µ­(ś€®(Tž
Ż(Ďł °(‘ ±(7Ĺ
˛(@ˇł(Ő´($µ(ăŐ¶(d˙·(ø(ÔEą(c4 ş(zY
»(Ý­
Ľ(iK˝(ˇšľ(W6 ż(ÔŔ(oaÁ(ýÂ(+¤Ă("Ä(ţśĹ(iÓĆ(ÜčÇ(eÍČ(�ť
É(ě¤Ę(Š
Ë(őÎ Ě(ˇ× Í(–ž Î(xćĎ(Ź Đ(oíŃ(fŇ( R
Ó(ŚHÔ(�HŐ(ŻÖ(¬/×(ËnŘ(J5Ů(,“ Ú(;”
Ű(}vÜ(Y^Ý(©¶Ţ(/ß(,ŕ(>�
á(Áôâ(ż¤ă(?ä(ĺ{ ĺ(–gć(˛>ç( Ôč(ć
é(t÷ę(Xž
ë(IŐě(X< í(ům î(!¨ń(ćň(ĽÚó(Ď\
ô(Ł~
ő(˘;
ö(\a÷(_(ř(Cüů(ŕ ú(Çňű(a
ü(€Ľý(n‘ţ(Q˙([€)
;�)�
‚)ly�)µĆ „)ă@…)F§ †)sy ‡)X¤
�)Xlj)-Š)Ř ‹)ŇŚ)�Ť)>t Ž)›U Ź)Ëă�)ö‘)Ł1’)5ő “)ŕ”)é3 •)Ś –)q¤—)u �)¨L ™)Ńhš)ŘĘ›)éhś)ö ť)"çž)h´ź)·F )Hˇ)4i ˘)ĹŁ)Âé
¤)0đĄ)EϦ)ŞO§)±É ¨)±–©)RŞ)�ě«)¸»¬)s­)>®)ˇ}Ż)óŠ °)F®±)ô¸˛)ł)‡c ´)§ľ µ)Đ%¶)ˇ“·)Č3¸)m¨ą)L ş)DV»)xŠĽ)AŮ˝)Âľ)łđ ż)Ź%Ŕ)ąŢÁ)¨¸Â)3L
Ă)Šű Ä)đ‚Ĺ)�ĆĆ)ókÇ)Ě_Č)ë6 É)CĚĘ)Ë Ë)DU Ě)¤ Í)‰i
Î)ŤÓĎ)Wh
Đ)C:Ó)Ô)�p Ő)_ÎÖ)`·×)†Ř)OjŮ)JÚ)⌠Ű)Ă Ü))Ý)@Ţ)�ß)ů4ŕ)° á)Ćb
â)yŔ ă)°aä)©hĺ)s ć)ŕĐ ç)
č)qú é),#ę)ťë)ě)‰ í)qÖî)J@ď)Čěđ)ń)yĺň)ˇ|ó)ő
ô)M« ő)xö)sg
÷)˘*ř)nbů)ŽR ú)1sű)ü)" ý)) ţ)GÚ˙)V“€*ę¶�*µ¨‚*dl�*f… „*‚Č…*aL†*Şˇ‡*ŘŽ�* ¶ ‰* Í
Š*a[‹*y}Ś*‚üŤ*í&Ž*ĂFŹ*R# �*ł‘*6ě’*Î!“*8h”*�Q
•*ď –*j,—*Z(
�*T›™*îš*Űű›*%Kś*Ăť*Ůçž*Ť–ź*ĺŘ *&­ˇ*?˘*s•Ł*;¬ ¤*pî
Ą*xX¦*ô~ §*ú ¨*š©*´J
Ş*K0
«*Đ;¬*ů!­*^®*;Ż*K±
°*ä�±*çE˛*89 µ*�Ż¶*°«·*ř‘
¸*'ň ą*‘ö ş*éf»*ëś Ľ*É@ ˝*]ľ*„&
ż*áÎ Ŕ*V× Á*ű@Â*XyĂ*óÄÄ*ĎĹ*4żĆ*WťÇ*óČ*+TÉ*BśĘ*ąůË*\ůĚ*I‡Í*ç™Î*îCĎ*�÷Đ*ĐAŃ*›éŇ*ĹWÓ*a| Ô*ŤŐ*w¸Ö*žŁ×*e�Ř*‘xŮ*zCÚ*
\Ű*ŮnÜ*üÝ*řë Ţ*­
ß*â%ŕ*Ä á*—Ůâ*�W ă*ž§ ä*Ćŕ
ĺ*+mć*Őşç*‹Ů č*Ů(é*‹]ę*ď\ë*Çě*sí*XKî*řď*¶'đ*vDń*4ň*aTó*8Ë ô*íń ő*‚Nö*‰G÷*)fř*¤ů*č|ú*B4ű*<ü*â8ý*siţ*űĚ˙*h“€+-•�+7o‚+ł'
�+�ü „+ } …+«— †+8݇+ć­�+„® ‰+ĺ¦
Š+ 8 ‹+Áž
Ś+ť† Ť+!íŽ+׏+)c�+�
‘+ŹŠ ’+mŽ“+ ( ”+Kž —+>'�+Ŕ™+ź-š+ď»›+cyś+ľť+V_ž+°ć ź+‡| +·Kˇ+v�˘+Př
Ł+řG ¤+Ú Ą+ză ¦+"Ń §+Łą¨+ň˛ ©+KÉŞ+Í$ «+Ň
¬+÷u­+ď
®+�Ż+ż°+ââ ±+HŲ+3˘ł+m˘´+1µ+š ¶+×
·+ł ¸+,}ą+@á
ş+xĐ »+ď­Ľ+®® ˝+Ń  ľ+?׿+Vi Ŕ+mÁ+- Â+˘ Ă+1đÄ+EĹ+J
Ć+ÎĐÇ+¤ń
Č+ÉÉ+®4 Ę+šzË+äKĚ+ž Í+™¨Î+omĎ+ÔËĐ+ý� Ń+](Ň+…¨Ó+e¦ Ô+Î Ő+HÜ
Ö+Nú
×+!˘ Ř+F±
Ů+ę
Ú+±Á Ű+Ę~Ü+
Ý+N’
Ţ+ZJß+Fŕ+;c á+˘(â+¤úă+l ä+=Ś ĺ+Źć+čb ç+`č+-zé+˛ř ę+OÖë+‡
ě+±Ĺ
í+üK î+Eď+—Cđ+-‹ń+ą=ň+üó+" ô+Ţő+ĘŃö+
„ů+Đ�ú+őű+ ü+Hý+ů"ţ+ZÝ˙+­Ŕ€,ćę�,Y„ ‚,Nź �,ZA„,Ő8…,aý
†,± ‡,±ŕ�,�’ ‰, cŠ,ýj
‹,CŚ,6ĘŤ,@”Ž,ń2Ź,ô�,V5‘,¨t’,O“,:”,ę•,Ş%–,/é —,â�,ÜĹ ™,BLš,
›,L3 ś,ęť,růž,o¬
ź,Č.
 ,°& ˇ,ďs˘,
Ł, A¤,<÷Ą,Äô ¦,‹§,pd¨,¬©,źŞ,])«,>Ť¬,'Ę­,¸M®,ˇô Ż,už °,#±,'ş˛,{şł,–Ö´,;'µ,iI
¶,nř
·,†'¸,’…ą,\Ĺ ş,ź�
»,ş8 Ľ,} ˝,m
ľ, kż,·;
Ŕ,^ŕÁ,«— Â,RĂ,^¨Ä,ŐłĹ,Ż%Ć, ‚Ç,ź�Č,dÉ,ę Ę,¶Ë,âĚ,‚ş Í,7Î,;áĎ,öĐ,O Ń,3ĄŇ,.gÓ, 1 Ô,Ľą Ő,…Ö,ß«×,ŞmŘ,–mŰ,˙Ü, żÝ,ggŢ,Üąß,(ŕ,–Řá,.R â,3Ýă,·Ť ä,Ń÷
ĺ,l"
ć,Î�ç,˘Š č,Ęüé,7
ę,,'ë,đjě,^ĺí,+.î,Zď,M� đ,ŠĆń,żtň,â›ó,8µô,v˘
ő,wIö,pó÷,g“ř,ż_ů,ú,öî
ű,íü,ó‚ ý,úGţ,Qĺ ˙,`€-
��-Ăî‚-©I�-Ű?„-Ńű
…- †-“]‡-ëÔ
�-VÖ‰-t!Š-¡‹-á)Ś-ęĺŤ-!oŽ--xŹ-@®�-ÝF‘-ž
’-ěn“-‰Ż ”-yĎ•-iŤ–-îţ—-ďţ�-ÁV ™-çš-˙&›-š
ś-‘ä ť-˙ů ž-z6
ź-_X -^nˇ-Ţ-< Ł-3<¤-�<Ą-¦-p§- ű¨-K˘©-ÔřŞ-#č«-L¬-÷Â
­-ŇŘ®-¤˛
Ż-ä°-+M±-/‹
˛-[
ł-GM
´-ţµ-%5¶-t2 ·-żň¸-žją-Ł™ş-Ô˝-©‹ľ-Îě ż-` Ŕ-ţĂ Á-5= Â-cßĂ-üv Ä-ŕ
Ĺ-HŃĆ-˙ Ç-™{ Č-OŕÉ-GĘ-ÚĆË-&;Ě-#¤Í-veÎ-.Ď-`=Đ-©Ń-6Ň-\Ó-+IÔ-”„
Ő-<…
Ö-µđ×-ŇXŘ-ţŮ-ń6Ú-eOŰ-Í™Ü-ŞbÝ-o'Ţ-©d
ß-ű„
ŕ-T…á-ôâ-Śą
ă-En ä-%ĺ-§Đ ć-R‚ç-ňá č-Ä{
é-ů‰ę-ypë-Ń�ě-ńŽ
í-”; î-(8ď-I‹ đ-NWń-b7ň-Ţë
ó-˝ ô-QLő-؇ö-ʵ÷-IŠř-†Yů-5Ů ú-(ű-ć ü-\ý-Ěţ-ŔŢ
˙-¦Ď €.ćß�.”G‚.Q�.fđ„.lG….eí†.JŻ‡.†B�.Ź ‰.î>
Š.čN‹.-ŮŚ.˙ Ť.>L Ž.v° Ź.Ńţ �.Uö
‘.ńČ’.qµ“.­­ ”.Ńó
•.tż–.&
—.˘‘�.ë3™.0= š.ĚI ›.—ś
ś.\‚ ź.AĄ  .Ó)ˇ.M˘.ŮV
Ł.T7¤.ş Ą.r¸ ¦.ǧ.öXŞ.łn«.®ű¬.-r
´.\1 µ.÷|¶.ß# ·.×ń¸.ŰH
ą.®1 ş.tŇ».�+Ľ.o›˝.śqľ.żŽ ż.Dă Ŕ.U� Á.ýÜÂ.q=Ă.ÜAÄ.úůĹ.H¤Ć.~ŘÇ.éČ.‚ĆÉ.zĘ.‡¦Ë.˝üĚ.mA Í.“
Î.ăč Ď.żrĐ.ˇ#
Ń.hUŇ.Ţ Ó.6ż Ô.GR Ő.YËÖ.}ă×.—„ Ř.Ö
Ů.rçÚ.¬-Ű.O0Ü.xľÝ.đ1Ţ.¸ß.łĺŕ.eSá.:Ďâ. Bă.waä.ZĘ ĺ.“ćć.&<ç.çúč.č‡é.]Mę.m*ë.bĹ
ě.ü™í.Đ°î.ĺď.•đ.%Q ń.Í„ň."… ő.Ýđö.Őä÷.kř.<ß ů.Yˇú.˘Wű.>ü.L]ý.gţ.ÉŠ
˙.ţŮ€/QW�/˙/ ‚/÷ �/j+„/‰…/I‘†/ą
‡/ţ �/wX‰/÷VŠ/s{‹/P
Ś/§*Ť/TâŽ/µŹ/Ż… �/ťü‘/ĺř’/C“/U‹”/5 •/|‹ �/Hi™/\'š/J›/2
ś/=~ť/t ž/–pź/řÍ
 /y Ł/Ö¤/ýj
Ą/@s¦/c§/ô;¨/z9©/˙AŞ/â˙«/�­¬/ř ­/‘Ô®/–# Ż/Ő
°/ś ±/Ű© ˛/�>ł/KR´/wµ/ ś¶/Ť·/‰ ¸/u”ą/‡ś ş/ q
»/­�Ľ/ÂW˝/|‘ľ/\
ż/ĆC
Ŕ/Ř« Á/×T Ä/…=Ĺ/‰b Ć/s@Ç/:…Č/?É/Ů^Ę/Đ‹Ë/vĺĚ/
ŠÍ/0sÎ/ŻĎ/íWĐ/\>Ń/PŇ/Ő/]DÖ/[×/¤+Ř/�^Ů/(zÚ/-‹Ű/X
Ü/Ł8Ý/_Ś
Ţ/ß/Ř. ŕ/"—á/Ďâ/să/Cć/�Sç/Ü/č/Öé/§ę/‘Č ë/ľfě/Jí/<#î/ľČ ď/R
đ/łáń/5¶
ň/ó/=Óô/ő/�ö/ü÷/;Äř/ˇÜů/¬ú/Úű/~f
ü/Ýb ý/�Sţ/…¦˙/1K
€0�0şX‚0µo�0“l
„0?S
…0>Ú†0Ť˛‡0¦�0Ľ‰0sËŠ0 Ú‹0„©Ś0ŤůŤ0ĄŽ0[
Ź0`ń�0Ô=‘0«« ’0ů6“0ń”0Ůá
•0HQ–0‡P
—0FÉ�0h\›0é' ś0Tşť0„ž0Ýź0�¬  0âݡ0™ű ˘0BĘŁ0fí¤0Ä Ą0ňę
¦0e§0g1¨0(Ů ©0°łŞ0$ý«0ˇ/¬0(m­0Ŕ/®0Ř´Ż0 °0ö8 ±02†˛0Ŕ÷ł0¤ţ
´0€‡µ0u¸0ű‹ ą0,ą ş0ň
˝09Eľ0�Fż0�J
Â0PĂ0ě
Ä0šhĚ03SÍ0Í.Î0Ń0†zŇ0śŰÓ0^iÔ0~
Ő0˛Ö0uĺ
Ů0*ÓÚ0X�Ű0<ýŢ0źź ß0â^ŕ0řá0”¶â03§ă0~Ěä05�ĺ0ɤć0N} é0·łę0‚ë0íó0*~
ö0-§÷0‰›
ř0Zů0~ú0ý™ű0IÇ ý0J
ţ04˙0˝„�10đ ‚1“I�18Ž …1Óě†1»…‡1]‰1üqŠ1{Ú ‹1żŚ1ŐąŤ19| Ź1bŠ�1|‚‘1@Ç”1Í]•1$C–1€
�1rś ™1˙[š1V;
›1Iµś1Ť�ť1Qw
ź1ćG
 1Żĺˇ1Ŕ’˘1Š Ł1Kl¤1ÄĐ Ą1ÇT¦1}Ń
§1ľF©18 Ş1c‰«1ź®1âŻ1Ep°1¶|±1'!˛1𦠳1t´1Ćǵ1ĂŹ¶1$¤·1c ¸1Ľ›ą1ďoş1\ »1ŞđĽ1éµ ˝1,š ľ1G+
ż1:Á1ĺz Â1UĂ1w+Ĺ1Š“Ć1ŮŃÇ1‘�É1t�Ę1 iË1§SÍ1s Î1Ľ=Ď1¤=
Đ1ď Ń1bß
Ň1©Ŕ
Ó1/w Ô1KŤŐ1"™
Ö1Č5×17;Ř1 8Ú1ŕÍ
Ű1ëÜ1ËĽß1 ŕ1›°á1;&
â1ú— ă1g© ä1
ĺ1Úîć1.Wç1¬ č1Üé1
@ę1óµë1Ülě1 �
í1©ž
î1íď1“Ĺ
đ1U=ň1sľ
ó1.Ľô1Ťž
ő1´zö1Ü' ÷1ăÔ ů1Ň/
ú1°k ű1Č
ţ1™6˙19 €2Ç�2ťá‚2{= �29Í„2Ů€
…2'?
†2»V
‡2ş �22Ή2Ęő Š2ޱ
‹2ŇŇŚ2úŤ2·ĹŽ2YâŹ2„‘2d˘ ’2:“24Ű•2s –2Fn—2Ů™2‰xš2±4›2Uś2©Q ť2×ńž2Π2„ˇ2v
˘2uĽŁ2Ň#
¤2:0Ą2© ¦2¶Ó
§2‡‘ ¨2?ď
Ş2ëN «2ý¬2^q®2ק Ż20ď°2×Î ł2ކ ´2wřµ2˙¶2ť] ·2t
¸2C ş2TF»2ú«Ľ2Íë˝2SÄ ľ2„ ż2`žÁ2‹ń Â2O” Ă2'Ű Ä2[‡Ĺ2_P Ć2ç1
Č2ľ™ É2ENĘ2­JË21‡Ě2‚�Í2M} Î2ŕÜ
Ď2˘ÁĐ2´ŹÓ2[ÄÔ23T Ő2¨•
Ö2×2îä Ř2w�Ů2# Ú2ńëŰ2]ÓÜ2*› Ý2ÁyŢ2$• ß2ÚI ŕ2«Ćá2­Ä â2’Ő ă2
e ä2˝yć2KSç2� č2Ö� ę2˘ë2ŔŞě2yóî2#Íď2ő� đ2_Íń2Śtň2‰=ó2¸
ő2ânö2— ÷2.3ř2[÷ů2µ›ú2ĚŁű2Zřü2YÇ ý2Ď6˙2 s€3Ę”�3ůt„3 …3+†3{$‡3ë6 �3W‰3[P Š3řç Ś3łîŤ3ÎĽŽ3×"Ź3iâ�3{j
‘3şŻ“3¶ ”3 •3ŤÇ—3o"�3@^™3ÖJś3aóť33ëž3ňź3©† 3X
ˇ3¨Ţ ˘3Ł3ء
¤3Š
Ą3m
¦3W±§3WQ¨3ŕ©3}@Ş3™€«3#’ ¬3Ć•
­3:Á®3ÂYŻ3ź-°3µ‹
±3úE ˛3ÔĚł3ĄĚ
´3'hµ3†Ő¶3˙�·3Fo¸3Ň% ą3O+ş3@»3ÍpĽ3ż<˝3Żčľ3šŻż3ăŔ3Ö2Á3ßÂ3¬¦Ă3úIÄ3ě$Ĺ3ţ+Ć3)E Ç3¨Ń Č3‹–Ë3RĚ3$tÍ3—_
Î3D2Ď3‡|Đ3µ“Ń3÷ĘŇ3†żÓ3dÄÔ36Á
Ő3$?Ö3×3}ůŘ3]tŮ3yÓ
Ú3kˇŰ3¤ţÜ3
 Ý3ő8 Ţ33Ąß3vGŕ3� á3ľń â3Žlă3ş
ä3jřĺ3ť±ć3ď/ç3†�č3g~é3I„ę3 Îë3´Ö
ě3«Äí3$z î3¸ď3TŮđ3Öń3ÖĄň3ËŮ ó3Rô3§p÷3Ą" ř3¦áů3Ĺj ú3]Ă
ű3°ü3ÔJý3Ý[ ţ3)Î
˙3 {€4O¸ �4Yb‚4‡ą�4ž„4ýV…4…
†4H7‡4Í�4éÄ
‰4ŘΊ4_ ‹4aöŚ4ścŤ4¸gŽ4_#Ź4°�4{ó‘4©f’4,ˇ “4š–”4^y•4fÄ –4¸¸ —4Z‡ �4Ü• ™4$ š4f›41˛ś4Xť4„áž4 Ý
ź4S‹ 4at
ˇ4z˘4ČŁ4Ôi¤4ő5Ą4Z3 ¦4ňŘ©4ăÎŞ4pź «4â¬4źh ­44©®4łűŻ4· °4g5±4¬Ě
˛4ť  ł4ŐÚ´4  µ4lC¶4ů(·4wă¸4:Úą4
»ş4Ş»4hsĽ4g˝4Ëwľ4¸ż4ľŁ Ŕ4RĽ Á4i[Â4‰­Ă4đčÄ4'' Ĺ4�1Ć4
Ç4XAČ4F{
É4áÁĘ4śoË4¦’Ě4YU Í4OźÎ4čĎ4Ď2Đ4ČĘŃ4ô4Ň4ĆőÓ4ĹMÔ4zHŐ4Ę9
Ř4CĂŮ43Ú4:ŐŰ4ŮYÜ4˘Ý4FŢ4đß4Ůŕ4€Ř á41-â4”’ ă4(
ä4jŃ ĺ4Šć4ŁLç4KĹ
č4§&é4 }ę4\
ë4uĘě4(`í4»&î4‹ ď4™đ4Ŕ,ń4gň4t ó4Ń
ô4®ő4Ýhö4ř†÷4[ą
ř4|– ů4 ‹ú4çmű4 †ü4_ ý4v! ţ4äŤ˙4Ňu€5^s�5n
‚5Ďź�5Đ#„5q÷…5z͆5KÖ ‡5„oŠ5Aţ‹5üŚ5!
Ť5- Ž5ŹNŹ5Ó�5–/‘5˛X’5RŚ“5z7”5!đ•5î»–5:Đ
—5Ţ  �5]ý™5€z š5·Ř ›5ä{ś5Ę" ť5nĺž5Żł ź5N±  5Ýyˇ5ŕ˘5"JŁ5»š¤5 Ą5˘ď¦5sa§5ÎL¨5M©5ň‡Ş5 ~«55ń ¬5¬× ­5U
®5c Ż5í°5­ ±5ů3˛5qKł5öÔ´5iµ5•’
¶5hŔ·5q' ¸5ýo ą5Ř Ľ5x ˝5ĚÉ ľ5Đ ż5Ď— Ŕ58ŁÁ5Ą
Â5F2Ă5†IÄ5FĹ5b9Ć5Ç5)űČ5‹ŃÉ5EI Ę5ÔłË5§jĚ5@LÍ5M€
Î5¶¬Ď5†ăĐ5@ľ
Ń5”ă Ň5‹Ę Ó5ŁÔ5׎ Ő5Ě×Ö5¤a×5
Ý Ř5�
Ů5Ú
Ú5í)Ű5Ő— Ü5>´Ý5ęQŢ5Đß5'ß ŕ5l" á5ÎÓ
â5ôŔă56u ä5�†ĺ5z5ć5ćc
ç5Ú7 č5řË
ë5QŁ ě5;‰í5†î5ďS ď5_Ďđ5rµń5ČŢ ň5^
ó5Ź÷ô5G}ő5gö5ŘĆ
÷5N( ř5·±ů5v ú5źű5ÜT ü5í:ý5&±ţ5Źë˙5m_€6óđ�6í4‚6Ü:�6ц „6wÚ …6™$†6#¸‡6Aç�6*Ź‰6dăŠ6˝ ‹6ôŞ Ś6úą Ť6ůPŽ6™Ź6ÄŇ�6›Ú‘6¶ ’6tü
“6
đ ”6‰« •6X2–6č—6´‡š6Ź–›6^“ ś6ý�ť6;/ž6”\ź6do 6Kס6
˘6ç«Ł6ĚΤ6zĄ6žy
¦6 §6şĂ¨6- «6CJ¬6‹D­6ÝH®6TŕŻ6Hă°6ôż
±6h˛6t‡ ł6ňú
´6©%µ6ýŇ
¶6p3·6 ¸6y·ą6ŃXĽ6�.˝6s ľ6 Âż6†·Ŕ6B4Á6#?Â6ďPĂ6‘z
Ä6gŞ
Ç6[¸ Č6čˇÉ6ŕŽĘ6qRË6IĚ6—ď
Í6ëÉ
Î6$…Ď6OŇ6­ŚÓ6 Ô6Đ Ő6ĘÖ6Ä^ ×6‹—Ů6_ŹÚ6‘�Ű6 �
Ý6Ö Ţ6Ç7ß6ĺvá6Ý× â6-eă6˛µĺ6bPć6Đěç6‘ę6O#ë65Éě66hí6$ĺ
î6Ţpď6
kđ6­ń60śň6t
ó6˙źô6ž ő6xö6Ő;
÷6–ř6ŮÝ ů6„1
ú6ËÓű6{Ţý6ňVţ6¤B˙6Ľg€7×’ �7ä‚7–ö„7Q× …7`*†7�i�7G[‰7ődŠ7,ü
Ť79
Ž7° Ź7Ł†
�7şë‘7©@ ’7)ź
“76™”7tć
•7eg—7Ô€ �7Ě
™7±ůš7ţŞ›7Îăś7
ť7ŃÍž7}€ź7*.  7<żˇ7ß| ˘7ţ¤7ÉS
Ą7”ŕ ¦7#•¨7˙h©7ö© Ş7Ńc«7Ż¬7$„­7'µ7“®
¶7c·7+�
¸7ź
ą7™q
ş7ś»7Iş Ľ7‘l˝7(łľ7pWż7ů Ŕ7¨
Á7ⶠÂ7Ú¬Ă7p
Ä7Ĺ7yRĆ7‡Ü
Ç7JČ7śÉ7F Ę7çţ
Ë7¦Ě7=ěÍ7ĚWÎ7Ś_Ď7Đ7F?Ń7X Ň7·śÓ7^ÚÔ7ó°Ő76‰Ö7‘‰
×7 tŘ7*± Ů7<$Ú7#<Ű74
Ü7ĹD
Ý7Yč Ţ7)ĺá7ˇ¸â7ăă7óĽ
ä7� ĺ7ĆĚć7™.ç7NEč7°Ň é7 [
ę7îu
ë7Tě7ľ
ď7{|
đ7X ń7´Sň7€&ó7O9ô7Ťţő7ŰÉö7Ž?÷7zŰř7ý ů7¶ ú7ăľű7l^ ü7¶Gý7x“ţ7w˙7óî€8Lď�8QŞ‚8­ţ�8Ű-†8®
‡8~4 �8Ķ‰8,2 Š8o,‹8¦˙ Ś8/ Ť8gfŽ8í Ź8´ě
�8¨ŕ ‘8?i
”8¨;•8řX–8é›™8fËš8Ş7›8ď:ś86Ćť8˘¸ž8¬iź8{ 8őWˇ8ć‡
˘8˘8Ł8UČ
¤8E}
Ą8[¦8öô§8?
¨8 ó©8©Ű
Ş8˛«8e¦
¬8AJ­8xó®8„qŻ8|ă°8Żp ±8ş[˛8d‡
ł8őČ´8Á@µ8X:¶81Ň
·8=ľ¸8¦€ą8CNş8Ő?»8oĽ8Ž
˝8ŕľ8>Ľż8ŇłŔ8óY
Á8VÂ8K’Ă8ÜőÄ8pÔĹ8 ´Ć8˘Ç8»Ę8mŻ Ë8
Ě8đÄĎ8ľyĐ8uüŃ8@d Ô8h‡Ő8,ZÖ8÷
Ů8v­Ú8 K Ű8ôs Ţ8Ë�ß8«'ŕ8–ę ă8ĺLä84!ĺ8h‚č8ÄÉé8Wę8Ź’ô8`ő8xóö8Ũ÷86ćř8ĺj ű8wźü8Oyý8ýÉţ8Ś$˙8)Ç€9Ç3�9€ń‚9BŐ
�9sž†9¤[‡9!+�9n
‰9_`Š9”΋9PŹ
Ś9SŤ9Ó:Ž98ĐŹ9°o�9ę† ‘9
Á
’9Q“9?Ş ”9ýΖ9(Ă —9ď �9đ™9E
š9$O›9á«ś9ęť9/h ž9”ĺź9±d 9Bˇ9€!
˘9<ć
Ł9ĐŻ¤9íͦ9“/§9"!¨9
W
©9`J Ş9
q«9p&¬9$Ż­9ˇT
®9’şŻ95ΰ9…t±98Ôł9D ´9éx µ9 ¶9ł¶·91€
¸9ÍÄ ş9j=»9 ÖĽ92Ź˝9±xľ9»"ż9ăP
Ă9�»Ä9\%
Ĺ9·ÄĆ9
· Ç9şć Č9ËÔÉ9“µ Ę9ÜŃË9,Ě9öúÍ9Ě[Đ9îě Ń9cŇ9ő9Ó9¬ Ô9OIŐ9feÖ9ô`×9/ńŘ9†ŐŮ9ă§
Ú9mő Ý9­gŢ9®�ß9Kŕ9má9Í�â9yă9ä9Áz ĺ9šíć9lÎç9l„ę9gh ë9–
ě9Đ{ í9/Űî9iŁď9đ9K ń9ŢWň9„Ćó9Ťf÷9ňŞř9I~ů9Ľe
ú9»Uű9ésţ9ŹŞ
˙9»í €:łß
�:|^‚:źŃ…:łl†:˘h‡:NČ�:€Ă‰:®ç Š:xq ‹:R�Ž:qŹ:â�:Y˝
‘:p<’:Ň“:Äá –:6Ú—:0Y �:˙¤™:«”š:-/›:[•
ž:‹Đ ź:ô±
 :StŁ:Ő¤:嬥:â»
¨:Pu
©:Ö—
Ş:zµ­:›n®:ŠĄŻ:M†˛:~:ł:Żp´:mÔ
µ:p1 ¶:&%·:˙W¸:¶� »:Sé Ľ:}s ˝:0� ľ:?ý
ż:� Ŕ:=�Ă:ŠéÄ:‚V
Ĺ:ËňĆ:ťSÇ:˘®É:«ä
Ę:áË:DÂĚ:'^Í:�ç Î:ÇŔ Đ:ř„Ń:/‘Ň:«;Ó:m} Ô:·Ľ
Ő:»¶Ö:·q×:‡‰Ř:„ÄŮ:q Ű:P Ü:
NÝ:>Ţ:ÎÓß:Ż=ŕ:áĐ
á:_Šâ:’ă:)• ä:—×ĺ:‚€
ç:n č:[Ď é:Cˇ ę:Đî ë:mI
ě:©S í:´ĺî:[Jď:ÚU
ń:ťż
ň:tJó:.ž
ô:đ
ő:Ä#ö:Ŕ÷:ć…ř:Żků: ü:Őťý:´ ţ:�˙:/ €;w �;Ă‚;oň
�;´»„;˛…;ůq ‡;^v�;9Ě ‰;S¨Š;E[‹;�ţŚ;ÉŻŤ;—~Ž;ŰÉŹ;—u�;4‘;á‚“;Ô\”;Ä•;—Ż–;Č% —;�;Ž+™;€ę
š;˘a›;}µť;d·ž;Ľ† ź;^  ;ęR ˇ;zç˘;gGŁ;΂ ¤;˙Ş
Ą;EQ¨;ľ! ©;#�Ş;4m«;¤Ć ¬;Wl­;÷ľ®;Ň%Ż;üR°;ćŘ ±;É—˛;¸íł;í.´;3–
µ;%Ţ ¶;~ć·;˙@¸;Jľ ą;–Pş;âa
»;ěwĽ;÷ľ ˝;Üč ľ;fż;›îŔ; 
Á;Ä+ Â;\K
Ă;Ťf Ä;i‘Ĺ;ČÝ É;—žĘ;Ű&Ë;±nĚ;ő! Í;ÚÝ
Î;E( Ď;‚NĐ;ŃŃ;±Ň;Xk
Ó;iÔ;%Ő;n„ Ö;.7×;Z” Ř;©�Ů;úđÚ;|Ű;yŔÜ;Nń Ý;¤d Ţ;I
ß;•‘
ŕ;@ á;ÜČ
â;… ă;¶Eä;ąJĺ;ĹŚć;ßlç;X č;â˛
é;ĹŤě;s?í;Áiî;„*ď;çđ;C ń;¸
ň;G ó;íô;pQő;6˛
ö;,÷;{wř;~0ů;<ń ú;ý€ű;3
ü;Ň©
ý;‘rţ;~˙;ŰĄ€<Đ
�<oá‚<â2�<h
„<r…<ŤT†<�5‡<M‹�<汉<µŽŠ<“s ‹<ŢRŚ<�ćŹ<ÍE �<t‘<:ł
’<Š“<Ă\•<‘t–<”—<Ôu�<!ú™<-Ę›<wĺ ś<$)ť<§ťž<(ź<8€˘<¶ËŁ<¤<_ţĄ<›
¦<X•§<ő° ¨<g˛©<ž„Ş<‚Ĺ «<şµ¬<b¤­<ŁH®<ş†
Ż<[Q°<6! ł<š>´<ŁĆµ<«H¶<D=·<Ö ¸<Óţą<í‰
ş<#Ë
»<Ľ<U-˝< `ľ<$Öż<aŃ Ŕ<ä©Á<Â<˝®Ă<ö»Ä<ń‹ Ĺ<F"Ć<ÂÜÇ<˘€Č<Ň`É<ÔćĘ<‘Ž
Í<PÖÎ<v Ď<Ĺ6Đ<0Ń<Ę”Ň<ŰH Ó<ZŞ
Ô<á(Ő<q˛ Ö<‘×<Ů`Ř<>=Ů<ąÚ<KvŰ<°łÜ<iŢÝ<!Ű
Ţ<÷˙ß<#ŕ<-
á<|iä<Šĺ<ôş ć<8ç<@č<[é<Ž ę<(Łë<Ŕě<Äż
í<¬Ń
î<'ď<Ä® đ<“÷ ń<ÇĎň< r ó<Ä˙ ô<˘Ó ő<Důö<ľ÷<~"ř<ß ů<Ódú<t-ű< ? ţ<˙é˙<śĐ
€=·.�=Şâ
‚= Ú�=1’ †=“Ƈ=<p�=Â͉=
Š=Ů
‹=»{Ś=
öŤ=\
Ž=8� Ź=Ż�=Âá ‘=®q ’=‹'“=ę'”=äŘ •=“–=—=c[ š=ĚĚ
›=äŃ ś=
©ź=ÚH =Ä…ˇ=" ˘=˝|Ł=‘ź ¤=µ¨ Ą= ¦=?M§=A&¨=‘E©=`‰ Ş=Ŕá«=oš
¬=šo ­=U˙
°=%€ ±=_ë ˛=ÍYł=ţ´=ép
µ=~â
¶=‡Ń·=IÂ
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
¸=_]ą=D8 ş=ĹÓ »=ÜiĽ=G˘˝=µřľ=ć‡ ż=°şŔ=&•Á=g" Â=žµĂ=÷Ä=�ŢĹ=Ş™ Ć=ÄÇÇ=_\Ę=ˇm Ë=şĚ=Y:Í=ŹŐÎ=×xĎ= ýĐ=ý…Ń=`Ë Ň=~ď
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
Ó=QŻÔ=Ó€ Ő=…Ö=â'×=i Ř=IŮ=†
Ú=ŞŹ Ű=©ćÜ=ŕÓÝ=ÄaŢ=x)á=µ/
â=”2ă=r ä=!^ĺ=¦bć=$#ç=> č=°©é=R6ę=íµë=?4
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
ě=;]í=Vž î=+‹ ď= Îđ=CŇ ń=Â0ň=ó=:‘
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ô=4ő='ö=ŞÝ÷=HW ř=ž0ů=b ú=ĺ±ű=µü=Yâý=y¶
ţ=‹
�>’)‚>��>żU „> ~
…>Ŕ7†>A=‰>żÂŠ>©‹>”Ś>IŤ>€cŽ>·«Ź>J�>ľß‘>7¬’>­„
“>Nľ ”>Żd•>&–>QĎ —>Aq�>č™>c¶š>‰óť>BB ž>Ź ź>\  >Ü˝ˇ>
˘>G Ł>ź�¤>şbĄ>µu
¦>Yȧ>Ě1 ¨>…©>ńŞ>«>Dü¬>‚-­>Zq ®>Ýľ
±>—…˛>n4ł>+Ž
´>˛ńµ>1Ą
¶>é‘·>Jp¸>˝• ą>@Y ş>Z… »>Ú� Ľ>ţ1˝>Ů_ľ>z
ż>Ď2Ŕ>? Á>°’Â>�wĂ>«x Ä>Ë�Ĺ>"�Ć><« Ç>9§ Č>UąË>DGĚ> r
Í>‹ 
Î>kő
Ď>Ó
Đ>.^Ń>!Ň>*�Ó>ţ Ô>6ľ
Ő>ĐP
Ö>źY×>IGŘ>¸ÍŮ>{U Ú>ů­
Ű>5°Ü>Zďß>ă<ŕ>_¸á>L-â>ă� ă>í6ä>š+ ĺ>7ěć>éç>,‡
č>!Äé>3ę>—ľë>7" ě>ií>B\î>W�
ď>Řžđ>+˘ń>�W
ň>=ó>ńJô>˝Ł ő>
ö> ú÷>5ř>[» ů>2|ú>’ ű>Ř&
ü>‹8˙>q˘€?^ů �?´R ‚?S˘�?ž.
„?<ţ‡?”™�?��‰?ŰőŠ?ĚW‹?ę�Ś?şqŤ?Î7 Ž?BÄŹ?™— �?ľ7‘?&�’?ů“?(q”?š`•?ŢĘ –?ÇĹ—?Ô9 �?Ős›?Mr
ś?ÁŤť?až?˙‹ ź?Żzˇ?łU˘?eěŁ?ĐŤ¤? +Ą?|¬§?o 
¨?ż©?á5Ş?�0«?6† ­?�Ť®?+„Ż?yŮ°? /
±?Eéł?DK´?räµ?K¶?ű
·?®¤ ą?-šş?ź‚»?ëŔĽ?öQ ˝?ëż?ŇŔ?ľ Á?·©Â?ă÷ Ă?,·Ĺ?GoĆ?€Ç?@1Č?V´É?2‚Ë?˘aĚ?’Ŕ Í?zÎ?¶úĎ?çé Ń?lÚ Ň?ë®Ó?‡LÔ?őąŐ?WˇŘ?ĂĎ Ů?}9
Ú?€
Ű?ńMÜ?ŕ9Ý?uZŢ?Áß?/:ŕ?·Úâ?5É ă?ju
ä?ű¤ĺ?Wđć?Ľsč?°é?=� ę?Ý­ë?b
ě?Žşí?3ď?|ťđ?pń?<¸ň? ó?†• ő?Âuö?>'÷?tęů?¸�ú? aű?Ţ ý?`7ţ?_ý ˙?żP€@’ �@/H‚@K˝
…@Ţť†@)°‡@Äý �@µÜ‰@9?Š@
‹@o,
Ś@ Ť@w<
Ž@4€
Ź@Ę® �@K0‘@A– ’@ľ
“@?°”@śL•@˛ő–@Ôx—@��@u
™@kK š@·H›@Nś@ßť@Fů ž@3&ź@…Ď @ĄÜˇ@x
˘@ÁŁ@đö ¤@SkĄ@¨ ¦@hP§@'1 ¨@Q.©@}„ Ş@sj«@=¬@]­@ŞŚ®@ą�Ż@±Ń°@�;±@ka ˛@*â ł@…ß´@Ňѵ@c�¶@řő·@J8ş@ÚĚ»@gĘ
Ľ@ö`˝@i\
ľ@džż@k€Ŕ@ć 
Á@†^Â@&ď Ă@ňŘÄ@¤H
Ĺ@Ď
Ć@ 
Ç@zčČ@"�É@ ˇ
Ę@Řú Ë@› Î@�ł
Ď@GÝ
Đ@,¶Ň@ŞÄÓ@ŕˇÔ@ÁżÖ@qf×@ÇŘ@P„ Ů@Ę&Ú@t Ű@:-Ü@¤2Ý@dˇ
Ţ@{
ß@{Ďŕ@ôŢ á@ĂLă@Ln
ä@IAĺ@c­ć@+"ç@}ýč@Łé@Éę@ôłë@˝§ě@ţ
í@ŃSî@Éď@‰4đ@Q
ń@3üň@‡só@Q! ô@Ř™ő@ď€
ö@ęż ÷@2 ú@1ű@Ćťü@ü
ý@śçţ@��˙@Ő €Anč‚AlŹ�A�ţ„Ađy…A3†AĂŚ‡A·8�A ŠA�ł‹AńXŚAÜjŤA©!ŽA@•ŹA¬p
�A^Ű
‘AqN’AŰZ
•A0×–Aŕ—A8­�ASR™Aę™
šA*›AÜ”śAF`
ťA@žAÓ źAWe AŠţ ˇAjN
˘Aî<
ŁACr ¤Aä ĄAď¦A�ô©Au2ŞAvG«AŤw¬A®9­Amä®AÁÂŻA
Ď°A˙Ž±Aň˛AÔY
łA˘- ´A8vµAĺU¶A� ·A3l¸A fąAZÁşAB
»A•FĽA ˝Aň‘ľA%żAd“ŔA`m
ĂAv\ÄAuE ĹA„
ĆAX
ÇA4 ČAwVÉA-‡ĘA 2
ËAcf
ĚA~ÍA»:ÎAĄĎA
ĐAŽ‡
ŃA\9ŇA ~ÓAůPÔAé�
×ALŘAfwŮA�˙
ÚAHD ŰAs‹ ÜAć–ÝAś±ŢAŮKßAM¶ŕA2đáAgbâAloăA=ÓäA¬ ĺAÖ|ćAx�çAUGčAÇ™ éA« ęAaťëAɶěAd‚
íAŮzîAÄ ďAĽđAé¸ ńAń ôA΂őAöA~‚÷A'ŃřAQ\ ůA#h
üA‹† ýAN1ţAč4 ˙Ag«€Bń3�B˝ ‚BčĚ
�BĄö „Bͬ…B¸ž†B+χBŽ�Bf=
‰B mŠBW…‹Bb ŚB™3
ŤB+"�B>h‘BŤ×’BĺŐ“B›: ”B;Ź•Bő\�BńZ ™B šB›BĄśBÇťBň_žB2OźB°‹  BÍůˇB±Ô ˘BŽ\ŁB÷@¤BzJĄBŚç¦Bc§BŹŚ
¨BeE©BMg
¬BŔ—­B‰�®BXq ŻBC °B–e±BŹđ˛B^}łBîÚ ´BwkµBR[¶Bu· ·BZë
¸B˛ĘąBË•şB)´»Bź0ĽB�Ü ˝BfĐľBm@żB1ŔBd·
ÁBĹhÂB˘ĂB S ĆB[eÇB'· ČBěÉBľŢĘB~FËB2Ş ĚB<„
ÍBÓ…ÎB‘# ĎB®[ ĐBć†ŃBz„ŇB·}ÓBĚţÔBŘr×BŰĄ ŘB
ŮB7 ÚBí ŰBś
ÜBâ ÝB{ě ŢB¸ŞßByyŕB<ńáB?�âBî ăB|r äB\ĺBąćB¦ çBµv čBynéBńjęBoëBŚěBd&íBîCîBÓ¨ďBź´đB˝�ńB&YôBü� őBúż öBÍT÷B‘� řBÇú ůB4™ üBÖţ ýB.�ţBžĐ
˙B«€CR˙
�CWŽ‚C �CJň „C3@…CĐś
†C=‡Câń
�Cg'‰C
¤ ŠC‚^ ‹CÉ8ŚC—č ŤCµ�CW¦
‘C'°
’C-›“CŞ
”C�וCRťCžCŚ źC”=  CˇCóđ˘CÄĎ ŁC ę¤C¦…
ĄCC
¨C$Ď
©Cb ŞC
î
«Cwó ¬C¶_­Cáő
®ChˇŻCŰe°Cři±Cśx˛ChłCÝ{´Ci9 µC—‰¶C´ź ŔCC?ÁC®á
ÂCćy
ĂC1
ÄCŇ~ĹC¶@ĆCu×ÉCr'ĘCî‡
ËC÷Ë ĚCíóÍCRŔ ÎCnŢĎC™'ĐC%»ŃCŻq ŇC˘S
ÓC_řÔC›)ŐCńW
ÖC$-×CXJŘC3¤ŮCă�ÚCŐě ŰC|ÁÜC ÉÝCN#ŢCÖż ßC•0ŕCĹëáCÎg âCCăC¬ąäC! ĺCĹaćCYéçCńťčC‡éCÚÄęCIëëC SěC�ŁíC-I îCv.ďCňźđCś‘ńCSĄôCŃÖőCŹeöCmť ÷CBřC+DůCĆŢ úC9TűC'Z
üC±ÝýC�©ţCşĘ ˙CeÉ€Dßď �DĽ_ ‚DůĄ �DS„D5H …DR܆Dş5 ‡Dç– �D:^‰D{ ŠDĽ
‹D{F ŚDkşŤD� ŽD˘ŹD6�D›t‘DPŠ ’D•í“DÇG”D¦•D‰x–D™± —Dą$ �DĚ™D>ÖšD “›DfśDÎ� ťD„
 DĆ0 ˇDë˘Dś5ŁDdؤDłÓĄD]°¦D\�§DôÁ ¨DpŤ ©D?w
ŞD6«DĐ,¬Dď°­Dö ®D‹ßŻD΋°D,p±D­ż˛DěđłD$)´DGdµD" ¶D]x
·D»Í ¸DRÎ ąDr±şD· »De�ĽD"˝D/ľDÍżDýŔDiĐ
ÁD‰
ÂDć* ĂD
†ÄD?xĹD/
ĆDŢ(ÇD~ČD¶> ÉD–:ĘD“
ËDß„
ĚD:ôÍD5Z ÎDaĂĎDŰĐD(-ŃDVXŇDJHÓD˛ÔDI‰ŐDŽg ÖDW˛×Dđ
ŘDĄeŮDń˝ ÚD˙ŰDhÜDó2ÝDĂŢD†,ßDeĺ ŕDőE áDç+âDőşăDŠĽ ćDa®çDD<čDéD U
ęDÓëD ż
ěDáą íD-› îDCŐďD†#đDôÜńD˘® ňDx�óDEm ôDr¶őDk( öDŮf÷D8:řDűbůDů8úD9ąűDIlüDŮŁýD1ţD‰ú˙Dk߀E©�Ed|
‚E«;�EŔ•„EĆ…EŔ†EÓ‡Eř˙ �E%x‰EBE ŠEo
‹E’� ŚE1ŤEo‹ŽEHNŹE”L�EöÖ‘EUs’E±{
“E^· ”Eşs•EfD –EÜ4—EzŰ�E†±™EV˘ šEVâ›EcžEÓPźEÔ’ Eś9ˇE%˘E2dŁEř ¦E.j§E‚‰ ¨Eă/«EaŁ ¬E†E­Eo®Eô® ŻE
]°Eń ±E<DzE- łE.A´EODµE2r ¶EĽn ·E©‰¸Eˇ
ąE şE_»E´Í
ĽEg˝E5ľE‡~żEŢĎ
ŔEAÁEžrÂE*\ĂE4’ÄEđÓ ĹE“9 ĆEáÇEă ČE–M ÉE'/ĘE‚LËEĚE2|ÍEŰ–ÎEW÷ĎE˙aĐEĺ&ŃEÚ+ŇE"ÄÓEUÔE%dŐE8® ÖEpj×EÄ« ŘEzť ŮE9â ÚE(ň ŰE=ÇÜE�j ÝEE…ŢE´ßEłĘ ŕEµYáEÉ âEóŘăEŇĚ äEśŽĺE» ćE2ţ çE2†čE× éEš¤ ęE9^ëEE@ ěEÍ»
íE"ľ îEFńE4ňE�˝ óE hôE÷xőEß~
öE˛Ę÷E•TřE8~ůEÍúEźŹűE˘Ż üEç„ýEÖŰ ţEm«˙Ek€Fzt�F‡
‚F/:
�FŇd „F¸g…FŤŚ †FAT‡F �Fęă ‰F× ŠFM‹F]ş
ŚF�� ŤFVU
ŽF{Ł ŹFĆ�F
‘FşB’F­n“FŇß”F\d •F) –F�ś —F3¸�FÝô™F€Ô šFČd ›F
Ž śFÖšťFĄş
žFWš
źFó F+ ˇF‹ ˘Fq° ŁFź$¤F?ć ĄFN´ ¦FÓ§FH­
¨FW©F[ŞFŐ! «F˝
¬F[N­Fť·®FŚ†
ŻF_°FÜK±Fku˛F— łFŮ•´Fy‹·F5¸FcX ąF`3ĽFý˝FČHľFĽÔÁFŮ�ÂFěĂF(íÄFĽÇĹFíf ĆFr
ÉF» ĘFÁŽ ËFKšĚFZJÍF*pÎF‰
ĎF—ĐF®ŽŃF%ĆŇFţÓFs
ÔFH? ŐFŻ]ÖFťD
×F¸ ŘFz7ŮFâą ÚFuďŰFáU ÜF¶¸
ÝFJŢF‘ßFűľŕF¶1áFg‹âFIžăFÚŢäFXĹ ĺFAűćFţÔçFéD čFuqéF4™ęF™~ëF9ÉěFnšíF2»îFZ1ďFţÄđFQˇńF�N
ôF(†
őF”ŐöF]w÷F­řFŚ‚ůF­úFÔ¶űF�M üF§ ýFŻsţFh˙F»2 €G^,�Gł?‚G C�Gfş„GÇ…GO †GPó‡GůŇ�G˛[‰G(nŠGž‹G÷-ŚGŤ›ŤG§ĎŽGF®ŹGß’G›e“GVY”G$>—G[:
�Gś™GlÝšGĆl›GËň śGŚťG~> žG¶¦źGí8 Gh¦ ˇGYF ˘G
Š ŁGÉí
¤G;\
ĄGuŦGľ+§G®6¨G¦©GbAŞGv
«GžĄ®GëŻG¬7°Guá
±G7Ś ˛Gj łG»Z´Gď' µG™% ¶G�±·G<¸GľĹ
ąGVşG b»G(�ĽGhv˝Gš”ľGôźżGÄFŔGń ÁG÷šÂG|ĂGŹÄGÍvĹG]
ĆG �ÇGőČGŮ´ ÉG*fĘGQ> ËG\
ĚGÍG¬
ÎGÓ
ĎG‰˝ĐGjŃGCĽ ŇGýÂÓG×2 ÔGÇ?ŐGEÖG"F
×Gő–ŘG¦őŮGK ÚGö]ŰGČPÜG=IÝG©ŽŢGąŮßGó¦ŕG5†
áGâG=ĺ ăG·ä äG7ĺG
ćGOI çG[čGľ
éG´Ź ęGť¶ ëGş�ěG!Ĺ íGWt îG´ý
ďG>zđGř§ ńGž�ňGÄň
óGwi öG™7÷GöCřGő°ůG¶“
úGQ4űG´¤üG–ě ýGÜ‘ţGvł˙G!O‚Hő[�Hĺe „HˇT…HF†H\ě‡H‘a �Hßü‰HqéŠH=ű ‹Hó!ŽH°ŹHĵ�H&P‘Híż’H,v
“HÄö –H >—H`l�HĐ^›Hhk
śH45ťHţă H·”ˇH9m˘HŮJĄH"W ¦H ;§HG2ŞHôK«H ¬H˘ŻHU¬°H®Ĺ ±H"´H GµHŹŁ ¶HX¦ąHďşHăi
»H>XľH`Ľ żHŠŤŔHäS
ĂH¦ĺÄH–b
ĹHÉGČHűéÉH˛�ĘHuÍHŚˇ
ÎHöOĎH` ŇHő-ÓHŁř
ÔH[2×HEŘHŻ…ŮHÉ\ ÜHT�ÝHéśŢHÜ
áHĽQ
âH ěăH@3 ćH0VçH·™čH‚°ëH«÷ěHIĚíHŽă đH.ü ńH±Ś
ňH…mőH{’öH›'÷HÇÇúHúË‚Iw…�I07„I­…IS2†Ij)‡I�ň �IQN ‰IŹë ŠI¨ ŚIK¸
ŤIĂFŽI!ďŹI—Q�I›ŕ‘IDÔ“Iä ”Iş™•I5
–IRŹ —Iő.�I
ć
™IÄŐšIŘ›Iań
śI >ťIĎ žI{_
źI{T ITL ˇI˝˘IcÜŁIÉ`¤I±ČĄINö¦Ir~§I×)¨IgŁ©I'ęŞI$«IŤ!¬IăP­Iyé®IĐŔŻI&p°Iă_łI#;´I›VµI‘¶Iq‰
·I0[ ¸Iř
ąIÜşIG»I–D ĽI-ˇ˝IB
ľIŚh
żI+÷ŔIX,
ÁIŞh
ÂIř ĂIť&ÄIl|ĹIń`ĆI·¨ÇI\;ČIÉ2ÉI),
ĘIőĎËISI ĚIÍIľ±ÎIá0ĎIß
ĐIĎHŃISŇI€ÓIWăÔIÉžŐI˛2
ÖIŘp
×I·“ ŘI•·ŮI�E
ÚI;»
ÝI5“ŢI ßIěyŕI&<
áI˘wâI‘HăIYäIeC ĺIůăćIN5çIŰ}čIaČéISęIxëI@ěIž
íI9‹îIÄ: ďI<ĚđIäk
ńIPôňI±†óIj®ôIŐKőIĺ�öI°Ą ÷Iź_řI¦ůIś)úI~JűI©e ţI
Á ˙Iqź€J'k�J�Ů„JmŮ
…J �JaY‰J{îŠJć4ŤJéE ŽJŔ˙ŹJ÷—JuG �J*‹™JÂÄšJ!Ą›JĎśJaŇ ťJ˛žJWĚźJ  J´Â ˇJúN˘Ja”ŁJ�¨¤JęŔĄJV
§J4Š¨J«¶©J½ŞJż«J¬Jűß®JĹě
ŻJ8H°JŐŕ±J« ˛J łJjŰ µJsű ¶JAb·Jz$¸J™ ąJEę
şJĐ�ĽJŹS˝JÜt ľJw{
żJ,ŔJ~ţ ÁJ˘UÂJĹ´ĂJęś ÄJËđĹJŞŔ ÇJ• ČJ¨5ÉJ€iĘJ3ËJŰOĚJ„BÍJY¬ ĎJs:
ĐJFú ŃJ–2
ŇJű‘
ÓJ3» ÔJk¨ ŐJxŘJň ŮJ9ÚJż?ŰJ©_ÜJB‰
ÝJhJ ŕJYóáJB4 âJ"ďăJ=näJo÷
ĺJ§>čJ,4éJ#•
ęJ=áëJQěJ¶ň íJ8 đJ)´ńJBëňJǵóJmc ôJÜ°őJĂ1öJ‹ ÷J<třJúůJ‹ŘúJů0űJ—ľüJ’¦ýJT&ţJ
� ˙Jä:€KWÎ�KŔO ‚KgO�KU©„K~…KÍx†KK‡KŤň�K  ‰Kˇ ŠK ‹Kı
ŚKýÚ ŤK(äŽKF
ŹKĘ—�KH ‘K°
’KĹĚ
“KŠµ ”Kj •K9e –Kf÷—K:<
�K!
™KžšKě›KDî
śK€-ťK©˙ žKá-źK�C K+ß ˇKő·˘KäpŁK©
¤KH}ĄK
ż
¦K`'§KE
¨K�’
©Ktď ŞKób«KŰa¬KĽ) ­KZ±®K‚sŻK:ţ °KJĽ±Ků9˛K5j
łKv�´K’ µKŠť¶KEO·KÝ#¸KÇÝąKďëşKX
»Ks ĽKą¨ ˝KźľK}Ö
żKOĆ ŔKÁŮÁKçSÂKµ™
ĂK­¤ĆK$ÇK5ç
ČK™ÂÉKË­ĘK@)
ËK.˛ĚKUF ÍK‘ÍÎK36 ĎK'ë
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
ĐK ŽŃKíŇKÁöÓK*t
ÔKF€ ŐKm‰ÖK”6 ×KÉpŘK$ŮK]ÚK˛ę ŰKř·ÜK4ýÝK»ŐŢKf
ßK3T ŕKťáKy âKŰžăKřŠäK“ÉĺKŰ[
ćKN
çK“ďčKî‚éKIńęK\ŮëK á
ěKgŠ íKˇ îK‡†ďKVFđKËńKÜĚňKYĘ
óKśgôKźdőKr„öKü¤÷KýsřK"'ůKŁ�úKű
űK�üKćš ýKäŻţKž˙Krş €LŠó�L˛R‚LNŃ �L™Z„Lę?…L×b†L^›‡Lź�L”‰L:ŠL$‹LHŚLBĺŤLľ‰
ŽLĽŽŹL7č�Lżú‘LĐ’L˙€“LÚ”L“… •LâÉ–L´Ń—L§�Lqt™Lý® śLíć ťL§< žLáźLÉ LH~ˇLŕJ˘LMŁLF ¤LW'ĄL<-¦L5î§L­¨LHŐ©LävŞLK° «Lgv
¬L貭L@x ®LŻLh°LRŮ ±L+˘
˛L5,łLc´L�ŻµLf˶LV/·LD¸LCŠąLĚřşLöQ»Lˇ¦ĽL“Ű˝L&ŘľL§iżL�Ü ŔL
»ÁLXÂLđ
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ĂLYŚ ÄLü×ĹLáÇ
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
ĆLp˙ÇLŰśČL†”ÉLâŇ
ĘL-(ËLp`ĚLe0ÍL± ÎLbĎLgEĐL7ĆŃLM ŇLýlÓL(î ÔL%±
ŐL‚A ÖL,&×LdoŘL`¸ŮL:@ÚL㡠ŰL°ăÜLF�ÝLąjŢLWş ßL]7ŕL!ŐáL -âLţ ăL¬´äLĽĺL†�ćLSŔçLĽ8čLbąéLç ęL”mëLTxěL  íLWîLÄ9ďLĺĐňL÷ óL¤ôLëä
őL+˝öL˝á÷LŤą
řL…zůLŢÝúLg�űLÍüL|ÁýL1TţL=Á
˙LkW€Mó^�M×Y ‚M Ö�MP;„MRö
…M"đ†MxG‡MąE
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
�M�§‰M›7 ŠMă‘‹MYT
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
ŚM%4 ŤMö7ŽMé ŹM› �MöÓ‘M´D ’M,Ë“M¨ý”MD •MЧ–Mmâ—MŔ“
�Mř™M~ šMYŚ›Mj“śM}CťMj—žMjü źMŮk MNˇMkǢM¬ŁMč¤M•Í ĄMĎ} ¦Mx$§M M¨MR—©MŇŞMg«MńÂ
¬M�Š­M”ů®Môő ŻM‡&°M‚±M
˛MőúłMg
´M®6µMq˝¶Mµ·Mđk¸Mś�ąMöô
şMת»MĄ
ĽM4ä˝MśľMn?
żM"čŔMpŞ ÁM ÂMĆĂM¬ĂÄM5Ö ĹMîÔ
ČMÎŁ
ÉMďË ĘMí[ËM(ÇĚMůá ÍMSuÎMŽŹ
ĎMńĐMŠ ŃM‰"ŇMr
ÓM{őÔMęJŐMLňÖMŔ› ×Mˇ
ŘMŻÜ
ŮM5…ÚMšŰMÇÜMÖ}
ÝM.n ŢMăJßMŐ)ŕM|űáMë/
âM'-ăM¤
äMţĺMô
ćM
# çM®ý čM*éMé ęM�NëMÓ'ěMKŕíM†Î îMĽ˛ ďMwđMŻˇńMѵôM´] őM'I
öMą
˙MMf
€N3>�NŔ_‚Nťč �Nśż „Nb,†N˙* ‡N3Đ�N
‰Nč" ŠN% ‹N�ŤN_¸
ŽNĆZ ŹNî¶ �N ť‘N7b “Nťu
”N3� •NÁS–NŇs—NŠ�NU€ ›NĘ śNÝpťNTä žNÇĎ
źNaŠ N؆ˇNš˘Nëî ŁNĺĘĄNX¦NC?
§NćK¨NŢ; ©NgeŞNpX ¬N�ľ ­Nm`®NkOŻN�C °Ný¶ ±NČđłN�‚
´NĹVµN»&
¶N9č·NgS¸NŤź
şNľh»N… ĽNžn˝NgľNl żNOu ÁNűěÂNAĂN*7ÄNgçĹNĚ˙ ÇN üČNŻÉN`±ĘN±Z ËN÷ ĚNŁ• ĎNŠťĐN§ńŃNĹ%
ŇNSÓNóG
ÔN3 ŐN‡@ÖNç¨×Níď ŘNX ŮNć±ÚNË„ŰNľs
ÜNđĎÝNš’ ŢNGH
ßNţlŕNŠăN': äN]âĺNÎ ćN‹ô çNxl čN
ëN3ó
ěN/Ž
íN"úőNEöNpť ÷NC®řNůNő˛űNżĹüN‚™ýNËÖţN?¬˙Nlx‚OµŢ�Ob„O�…O[ †O3 �Oôś
‰O“ŠO}h‹O6ÇŚO_ŽOąűŹOu�O$"
‘Oˇg’O`ě
“O\‚•Oxo
–Of—O��OK ™OÓBšO.ÉśOÓůťOÉńžOźO m O"
˘O‰cŁOpJ¤OĄ�
ĄOWś ¦OÚV§OHx¨O9ö©OŁłŞO“¨ «OLś
¬OřÜ­Ov‘®O­ťŻO<`°O?7 ˛OÉ łO%ü´O¸Â µOk«¶Oi–·OHď¸O^†ąOŘçşO¤sĽOžđ˝O"…ľO›< ŔO÷� ÁO<ŻÂOK÷ ĹOw˛ĆOb{
ÇOýř
ČOěqÉO«ßĘO0ĚOÇÍO‰`
ÎOXĎOÉ ĐOu‡ŃO|çŇOż1ÓOč ÔO=ŐO”óÖOFx×O<qÚO;mŰOžÚ
ÜOkaÝO› 
ŢOŠ
ßOü ŕOëí áO–¤âO^HäOŹľ
ĺO@ô ćO°_çOą´ čOo˙éOA/ęO¶;ëO
EďOŇÔđOdŢ
ńOÔ_ňO÷ëóO˙
ôO;öőOŽĎöO .÷OËŰřOoUůOD5űO&ÂüOtýOĹ ţOČm˙OŚ|€P=4�P–Ç‚P[Ë�P]„Pk†Ph(‡P4ä �P벉Plâ ŠPö÷‹Pc‘ ŚP’ŤP% ŽPĂy‘PŘ�’P#:“P§„”P ť•Pe
–PŤC—PD��P7)šPĆ“›P*) śPZ^ťPĂľžPÚ
 Pľ0 ˇP�ϢPĐ‘
ŁPGÚ ¤PW„ĄPۦP=^¨P ô©P„KŞPîË
­PQC®PŮÄŻPŢ« °Pˇ ±P«€ ˛P«· łPÝŇ´PäáµP7ű¶P%{·PôÚ ¸PńŞąPG] şP}Ó»Pđ˝ĽP^‹˝P“Ŕ
ľP6�żPzÍ
ŔPaÁP
j
ÄPµÔĹPˇĚ ĆP_7ÇPQ*ČPČÉP‘YĘP¸ËPlBĚP<t
ÍPw
ÎPŽ ĎP”±
ĐPF2 ŃP;ŻŇP(
ÓP€: ÔPľNŐPĂę ÖPČ×P5OŘP0—ÚPJ€ŰP%DÜPÜE ÝPqÖŢPµăßP
âPL ăPęäPŇ×
ĺP˝BćPűĆçPďčP†+éPÎLęPv
ëP!\
ěPWćíP¸9îP@ďP•9đPĆŘńPh ňP’­óP"ś
ôP­/őP)ąöP�bůPŻ6
úP<™űPr�ţPZy ˙P4u €QŻě‚Qí �Qř{ „Qî …Qt#†Q@Y �Q¨‰QüΊQ{\‹QÇ›ŚQ-
ŤQľ° ŽQ€
ŹQyî�Q··‘QË-’Q¸¶
“Q¸t –Q‘—Q€˘�QŻŇ™Qµ€šQdÉ›QÁşťQÓĆžQnO źQ®y  QşôˇQ J˘Qí(¤QňĄQďq¦Qw!
§Q®h¨Q ˛ ©QLŁ
«Q¤Ę¬Q؉­QAK®Q|Ö ŻQ
P°QP ˛QBĘłQ‘ ´Q©µQŤS¶Qcś·QjŽąQ¨ şQű »Q) ĽQóÉ˝QomľQ ŔQą
ÁQúnÂQâĆĂQŚÄQ‘… ĹQ�v
ÇQŕ)ČQ:RÉQŞ`ĘQ~© ËQ4ţ
ĚQBó ÔQPj
ŐQŢ­ÖQ…·×Q#ëŘQĺAŮQbÜQLÝQç(ŢQż‹ßQÂę ŕQĎ?áQqËâQ˝ăQ•óäQ€úĺQućQ[çQĐQ
čQË
éQáXęQżĄëQ1cěQ…íQ>˙ îQË®ďQm«đQ+ńQ¤Z ňQ›¸óQ‡Ú ôQVőQo�öQ”†÷QväřQ‹ůQt úQh űQt üQV˙QVČ €RF­�Rš•‚Rˇ
�Ršő„Ru…R˘†RŠĽ‡Rä��R6̉RJü
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
ŠR‰¨ŹRęć�Rĺ„‘Rá_’Ry? “R´”R—˙
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
™Re
šR*›Rá
śR)vťRş)žRęô ŁRs’¤Rá„ĄR逦Rbu§RN׬R#·­R;®R\˛ŻR%Ł
°RĄ¨±RAż ´R7͵RCú¶RŰh·R•l¸R†D ąRĹćşRGi»R
ńĽRb˝Rś:ľR˛žżRľ€ÄR·ťĹRJ  ĆRŕM
ÇRB>ČRxYÍRžĘ
ÎRş)ĎRb`ĐR9é
ŐR„EÖRÄ=
×R•”ŘRď*
ÝRFs
ŢR-MßRör ŕR0IăRÖŔäRUŘ ĺRËTćRŘA çR‡…čR�RéR€ęRňáëR+đ
ěR}íR“XîRĹóR6Ă
ôR˛bőR ČöR^műReHüR• ýR}ń
ţREż�S„Sň …SU†S ‹SĚk ŚS/1
ŤS 
ŽS‚Ç‘SJŕ’S
ô
“Sií ”S秕SV:–Si
—Sń+�SG™SÉtšS·µ›SPď śS äˇSCT˘SDGŁSló¤S­đ ©SČjŞSAl «SÄw¬S›y±Sźš˛STłS!´S"ŇąS`şSŞŠ
»SOĽS† żSâ"ŔSóK ÁSg… ÂS «ĂSĽ”ÄSuéĹSóőĆSšÄÇS¸lĘSmřËSő ĚSşÍS¦
ÎS°
ĎSs:ĐSÓCŃSJ ŇSÝM ÓS–Á ÔSŃ1
ŐSnÖSĆŔ×Sĺ ŘS�ŰSúÇÜSo{ÝS\ŢSĐ5ßSź&
ŕS�śáSPÎâSżG ăSô\ äStĺSÚç ćSgYçSŮ čS"řéSś&ęSßbëS”ůěSŔ íStI îS÷®ďS;đSÖă
ńSµÂňS«ÎóSr‡ôSguőS‘( öSr"÷SˇřSý9 ůSŻpúSÁ űSŠˇüSO…ýS?ţS+¦
˙S€TăV�Ti‚T„ �TÓ÷ „TdU…Tů†TM‘‡TX
�TĚ
‰TŔĘŠT‹T‡÷ŚTŽ
ŤT'
ŽT˙"ŹT«�TÉ‘TüG
’T˝é“T¦Ô”TŹp•TŮe–TQ=—Tß™�T*® ™TÂţšT<c›Tľň śTK ťTąńžT ŤźT2Ţ TÓˇTĎĺ˘T:ŻŁT-í
¤Tţ ĄTË ¦Tži§T‚Ą¨TIö ©Tî.
ŞTťD«T[_¬TÇc­T…w
®Tm»ŻT÷i°TI| ±T~4˛T ® łT°V ´T?µTĺ
¶T©ś·Tlg¸TÝąTč#şTŢ ˝T‰\ľTeh
żT ÂTŇ/ĂT“f
ÄT"ÁĹTKŔĆT8 ÇT�Í
ČTŤOÉT•3ĘT.1ËT…čĚTč… ÍTżÎT@ĎTzĐTß}
ŃT=Q ŇT´ÓT?BÔTe^ ŐTÄű ÖT�Í×T[ ŘT!–ŮT$+
ÚTďŰT4± ÜTj~ ÝTŁ ŢT&kßT9ôŕT§r áT_+ âTĚÄăT?ŚäT$×
ĺTŕ5 ćTÂTçT
čTä§éTÔâęTÚ®ëT™yěTˇíTř îT©ě ďT1Ü
đT�‘ńT˝,
ňTZóTűĘôT'őTĄ
öTne ÷T&řT‘uůT�–úT5 űTŠG üTjÓ
ýTbZ ţTé ˙T|q€U}(�U¦Ő
‚UTÖ�UŘÉ„Uô…UáQ †Uą ‡U�
�Uňé‰UşßŠUóO‹UË'ŚUüH
ŤU+|ŽU
łŹU‡Ä�U;B
‘UŘa’Uz’“Uś» ”UŘD•UOí–Uň±—UŻQ�Uş[™U¤âšUjř›UúĚ
śUGěťUűM žUý‘źUŮu UĺˇU
x¤U&ĄU•!¦UôާU‚ý
¨U ©USÉ ŞUúž
«UŁŮ¬UĄ ­UF/
®UÍŻUłI°U9€±Un-˛U>HłUA- ´UhöµU�g
¶UiĂ·UĸUćąU« şU6]»UŤäĽUÜě
˝UY\ľUÇ6żU˙çŔU‹ÁU´ôÂU–/
ĂUÔi ÄUSĹUŮo ĆU`) ÇUČU•ĽÉU1QĘU—ÓËUßĚUÚóÍUc=ĐU�ŃUź"
ŇU!8ÓU‘č
ÔU­ÔŐU#kÖU••×Uy�
ŘUŠ
ŰU…–ÜUÜ< ÝUö2 ßUf&ŕUşáUlě
âUŘăU·� äU
ĺUî7ćU’~ çU?$
čU‰ éUK ęUůeëUFßěUzníUĽîU^b
ďUG˙đU•�
ńUnňUÖ{óUcp
ôU ¬őU-_öUOŚ÷Uš˘řUěę
ůU_—úUÜAűUüYüUü8ýUavţUŐđ ˙Uô(€V-�VZ˘ ‚VĽg�V´Ľ„VX…VÝĆV*
‡Vöí�VŠĂ‰V¨řŠV°…‹V7ŚVV�ŤVGŽV¸|ŹVR:�Vcľ‘VśÉ
’VżÔ “Vę”V7˝ •VH‡–VT¤ —Vş˙ �VűO
™V|S šVV›V­ śVó˛ťVĆ„žVÇNźVÇ V”Ť ˇV0?˘VĘlŁVĽř
¤VŔÇ ĄV5G¦V:a§VyبVá@©Vom ¬VĚé­VŠc®Věs ŻV ‡
°V»Ű±V×Á˛V�łVyÔ´VL¤ µVřý¶VT·Vŕö¸Vj� ąVgşVú@»VkĽVôĹ˝Vf~ ľVôążVرŔVHĎÁVňŃÂVź˘
ĂVÓ·ÄV ·ĹVďŹĆV
ÇV eČVvÉVćć ĘV8q ËVN ĚVá‘ÍV5ÎV´ĎVŰw ĐVş^ ŃVÜŇV¶ŔÓVŠfÔV›}ŐVëÖVÓř
×VÎĆ ŘVĆh
ŮV�p
ÚV‘LŰVÉąÜVč[
ÝVÄDŢVČ0ßV+\ŕVô*áVĂâVÍl ăVXIäVs'
ĺV‰ućV çVNÉ ęVďÝëV•g ěV%;íVyîV4c ďV{OđV1DńVŻ“ ňV°YóVą
ôV
őVň˝ ýVT ţV¦˙VŹ €WëŹ �WµÎ
‚W*Q�W®î
„Wˇ[…W›O†W:X‡W´0�WŘí ‰WŐŠW†‚ ‹W¦ŤW¶ż ŽW÷
ŹW§Ă�W$‘Wy9“Whâ
”Wv•W6g
—W«a �WŻu™W‚¦
šWG+›WŔ[
ťW˘ľžWźK źWôŹ
˘W{rŁW‘z¤Wjń
ĄW˛Ę¦W §W]T¨W·“ ©W‹ ŞW岬Wn5­Wé ®W=T
ŻW!—
°Wď0±WÄ łW[é´W¶ µWa¶W"¨·WR¸W"ąWLú şW‚»W^oĽW|µ ˝WÓ ľWí'żWnŔWĆúÁWIř ÂWDéĂWS; ÄW�> ĹWĽĆWÝ ÇWĘÉČW4€ÉWU<
ĘW&î
ËW7ĚWEËÍWČc
ÎWyŠĎW�ĐWţŰŇWŔ·ÓW±pÔWĄFŐWcŚ ÖW…ť ×WóDŘWjŤŰWaIÜWĚĄÝW,O ŢWŘüßWú_ŕW¦ćáW“*ăWĺC äW˘ĺWÍçW¶
čWÖ3
éWK„ęW!±ëW@"
ěWŃo íWc™ îWŢ» đWĘ+ńWn­ňW?ôW3ëőWę·öWQŽ÷W%%řWµ‡ůW´r úWá5üWÜľ ýWţWzĚ ˙Ww
€XQý‚X–¤�XÚŕ„XÖ …Xűî†Xńe
‡XÎÜŠXb�
‹XQuŚX©Ĺ ŤX?±ŽX*«ŹX&‡�X‡â‘Xx ’XÚ“XŢr ”X*ý•XŻO–XKh—XF{�X\š ™XךXĐ9
›XéĂśX”aťX뼞X„UźXÂ~ X˙ ˇX˙˘˘X'’ ŁXľl¤X˝ĄĄXĂi
¦X¤
§XZ¨X¸
©X˘'ŞX×P«XŇ®¬Xęq­X|Ą®X‘ôŻX}ý °X#± ±X/
˛X`´łXgA
´XĹ•µXHP¶XQ ąX’ŠşX(€»X©|
ĽXp¦˝XFü ľX,HżXrŔXňâÁX‡NÂX± ĂXŽZÄXÜcĹXŤAĆXćÇX§VČX$¨ ÉXÄ ĘXĄşËX?fĚX�� ÍX4é
ÎXjśĎX—eĐXJ÷ ŃX
jŇX€; ÓXçîÔX»“ŐX5źÖXäC×XŤÖ ŘX�f ŮXoS ÚX?_ŰXŁś ÜXبÝXMŢXá4 ßX33ŕXěĺáXµ âXýĘăXž÷äX¸uĺX´ćXsěçX2üčX•6 ěX¶±íXŠ9îX1 ďX]đXÔX ńXü)ňXˇóXć¤ôX˝ őXiLöXď ÷X řX ůXĆúXň,
űXOéüXÝŐýXkGţXŤë
˙XA
€YyR�YRó
‚Y¤6�Y…r„Y+s…YB.
†YX�ŠYsř‹Y÷™ ŚYć
ŤYŮŽY8��Y*T‘YĽ’Y3“Y‰Ż ”Yś`•Yxi—Y2„�Yçg™Yz� šY”a›Y´| śY}ŚťYÁ
źYł
 Y[áˇY(z ŁYí'
¤YĎŮĄYE�¦YŘţ§Y§ş©Y¬öŞY|«Ymz ¬YÉ­YHA®Y^
°YmI±YQ‚ ˛Y3śłY9ř´Y4˵YжYAŠ¸YVŁąY6ű
şYÍ™˝YbKľYL żYĂ‘ŔY!´
ÁYÁŹĂYÜöÄYG—ĹY‹?ĆY4ÇYśî ČYz5ÉYŻŠËYrfĚYŚ@ÍYd"ÎYú ĎYľL
ŃY°žŇY°- ÓY"ă ÔY(ŃŐY©uÖYÂú×Y(ÚYD;ŰYp�ÜYGŐÝYĘ›ŢY
D
ŕY$ áYź!âYTYăYŘ3äY»˝ ĺY§ňçYvŹčYNČéY÷ęYf0
ëYÔěY>íY0YďY€T đYŇBńYş» óYor ôY„oőY{töYOC÷Yĺę ůY<núY¶:
űYĆÂüY…ýY™ţYËE€ZHĹ�Zą‚ZĎŚ
�Z»„Z$…ZK� †Z.P �Z‰Zj_ ŠZ,5
ŤZÁ׎ZhŁ ŹZˇx�ZDb‘Zz×
“Zě4”Z5Ň •Zĺ.
–ZŕM—Zlů �Zx
™Z’Y›Z*X śZYŕ
ťZÚîžZčßźZâiˇZ´˘ZŁ ŁZ&¤Z™ĄZ˛C ¦Z{ú§Záę ŞZu «Zč× ¬Z;đ
­Zá„ ®Zž‹
ŻZEŰ ±ZžP˛ZoV łZóŕ´Z�×µZ@޶ZJ
·Z� ąZCÄşZ‘±»ZŃ+ ˝ZşLľZq$żZXLŔZ,ÁZ›¦ÂZL* ÄZÓî ĹZt ĆZQÚÇZlż
ČZ ˘ ÉZ�–ĘZ×ĚZîźÍZŽÉ
ÎZ
ŃZË
ŇZŇÓZYBÔZ8cŐZŹ`ÖZés×Z$›ŘZKRŮZ}-ÚZrß ŰZÝĺÜZĄX
ÝZI=ŢZů˘ßZ´
ŕZ:“áZ3śâZ¤á ăZú!
äZnIĺZ˙
ćZł� çZ�N čZ¨˝éZnęZAŤ ëZb‹ěZ�ÄíZ‚} îZ‡ĂďZ-
đZ]Ô ńZ…u ňZJ,óZ€xôZ,őZńÁöZ&Ĺ÷ZU řZĽůZ$TúZ\ŹűZµ üZ°oýZ·`ţZ®Ě˙Z#Ş€[‹D�[Ş»‚[•‘�[ő„[· …[M� †[÷ˇ‡[â4
�[/p ‰[ćÔŚ[ŰÝŤ[Š_ Ž[˝± Ź[`Š�[< ‘[Gź”[ýâ•[Up
–[ä™[kýš[!ż›[ÎŻ ž[Ĺ� ź[Äă [�
Ł[^9 ¤[łFĄ[Kk¨[Ţ9©[3Ş[Ž6­[±€
®[é
Ż[‹g˛[e¬ł[-´[ăë ·[äD
¸[Ąű ą[Ő«
ş[¨z »[‚ĺĽ[ęŃ
˝[=6ľ[—ż[ięŔ[ÍĂÁ[ç Â[EEĹ[Ŕ/
Ć[›7Ç[kĘ[íĎË[}Ě[Ař
Í[9ÄÎ[ąËĎ[M Đ[Ž6Ń[+� Ň[uź
Ó[—ľ Ô[lś
Ö[`%×[ ‰Ř[ť,
Ů[żĹÚ[ěíÜ[‘Ý[yQ Ţ[bLß[˙Óŕ[Fá[b{ â[Ś�ă[KRä[¶_ĺ[×± ć[”Ň ç[.ďč[ÔĽé[ô
ę[ Ü ë[L
ě[cB í[Âď[R đ[hĐń[,> ň[-ó[j ô[Od ö[{®
÷[µ�ř[K4 ů[ŰK ú[D‚ ű[°s ý[ ţ[Ąç˙[zÝ€\#»�\ž¬‚\«ˇ„\
…\c;†\
؇\zĘ�\Ż¶ ‰\Lá Ś\ĹHŤ\¬kŽ\Ź\!  �\2©
‘\U ’\)˝ “\Śó •\¤–\Π
—\Ůk�\eś
™\ź]š\;• ›\€"ś\%a ź\A
 \ ®ˇ\wç¤\ĆáĄ\ž[
¦\§ §\-F¨\BÁ©\ű/Ş\üˇ«\†«
®\Ď’Ż\‘a°\űŽ ±\¨˛\IRł\ĂT´\4Ş
µ\ě�¶\Gń·\´¸¸\ł »\1� Ľ\rŠ˝\
ľ\ł ż\iźÂ\sĂ\eÄ\˛–Ĺ\U×Ć\Cö É\ Ę\5Ë\ąÝĚ\&Î Í\0ńÎ\şĎ\ËOĐ\V-
Ń\ŕ{ Ň\AËÓ\I5Ô\ů
Ő\żŕÖ\;r×\%*
Ř\�Ů\¸1Ú\fŰ\0jÜ\\ Ý\Ö(Ţ\»Tß\hŤŕ\Q‚ă\}& ä\ýX ĺ\żć\ţ~ç\^�č\ôJë\ťoě\ťí\Yvî\Fď\mcđ\•ąń\˝Ć
ň\€ó\Š˛
ô\ę÷
ő\;ö\i0÷\ęt ř\ů\Ąú\#Bű\ń˘ ü\÷[ ˙\m�€]üA�]ęl‚]-c �]Ś„]䪅];á†]ôö‡]šű
�]y‰]�ŰŠ]yH‹]$”Ś]U­ Ť]őLŽ]�( Ź]!ę�]Ůź “]ý[”]cě •]E –]K` —]ŔI�]*U
™]>‘š]öw›]śµś]ť]fOž]2
ź]UĚ ]ůk ˇ]ń ˘]JéŁ]­§¤]
�­]8®]>ÓŻ]Q°]>{±]Iô
˛]
ł]3ű´]Ä©µ]ą¶]7H·]ݸ]č^ą]Vş]��»]úËĽ]sĘ˝]#‚ľ]s‚ ż]çWŔ]űĐ
Á]Ő Ä]ěĹ],ŕĆ]ćÎ Ç]‚˙Č]&P É]o Ę]ú—Ë]¦×Ě]'(Í]†ŃÎ]^
Ď]łGĐ]×ÓŃ]ŔŇ]•\Ó]V­Ô]z„Ő]!üÖ]ş×]>ěŘ]&ďŰ]ŁŽ Ü]źi Ý])řŢ]żeß]›źŕ]ţá]|‚â]µšă]đä]´qĺ]Üĺć]Ô ç]y č]iźé]3
ę]ůüë]Ź�ě]ç·í]
î]ę ď]k†ň]KG ó]H…ô]Éß ö]qĘ ÷]ŁÉř]­ů]‹ľú]ÓE
ü]Ě$ ý]íůţ]é{˙]1ě €^ýŐ‚^ÉH �^ăň „^¨8 …^ľ†^ń7 �^Đ
‰^źQŠ^…ˇ‹^h»Ś^}=Ť^ôÍ Ź^őŠ�^UĐ‘^­$’^l “^ýű”^BÓ–^9Ř —^¶R�^ÄŐ
™^Ńťš^aŕś^¬Rť^ŞÇž^i�ź^4
 ^Ę¡^žÝ˘^řüŁ^!y¤^Ăů
Ą^�ž ¦^si§^â ¨^˝
©^[$ Ş^ľ‚ «^ě¦ ¬^Ť_­^»ě°^-—±^Z˛
˛^üN ł^¸˛ ´^ ص^—U¶^ch·^g�¸^Ů0 ą^Îş^»”
»^“ůĽ^b�
˝^ě ľ^e'Á^ńÚÂ^ÂŞ Ă^y�
Ć^t� Ç^čŠ
Č^&"Ë^€9Ě^»(Í^?]Đ^Nń Ń^¨ď
Ň^‡Ó^T7Ô^·řÝ^€ă
Ţ^†‹ß^–Lŕ^dŇá^ÄŤ
â^ďĺ^- ć^şç^ž| č^Ą é^& ę^ÁŇ ë^őZě^íDí^đ9î^¦Ú ď^µđ^5Śń^Çň^Ř–ó^áńô^~Gő^Śśö^­ĺ
ř^ ů^Ň&ú^=[
ű^ľü^}ý^›´ţ^NP˙^[Ź
€_­�_÷‚_!]�_un„_ĺ}…_| †_u_‡_ĺ1 �_'J‰_ó=Ś_& Ť_đĘ
Ž_C Ź_)�_´¸ ‘_n’_#$“_…
”_"É•_m…–_řX
—_���_6¶™_á¤
š_訛_7„ ś_wó
ť_Žlź_pď _‹3 ˇ_ť:˘_‹� Ł_| ¤_!‚
Ą_q¦_^™ §_˛J ¨_f\©_Č Ş_¸ «_Ŕ�¬_S ­_ç% ®_Ú Ż_ľë°_¶čł_r ´_=ĺ
µ_wY¶_š ·_`¸_jůą_TGş_ń»_PçĽ_ó
˝_QŤľ_ű: ż_�Ŕ_…ZÁ_ĆůÂ_'[
Ă_ÖÄ_vęÇ_ąIČ_ş{É_-W
Ę_Ë_<Ě_B… Ď_W�Đ_ňŃ_x—Ň_Ó_;
Ô_PŐ_Ś¬ Ö_'‚×_ Ř_á•Ů_\ Ú_sŰ_ ÉÜ_znÝ_Pü
Ţ_"h ß_Ěć
ŕ_i â_ůťă_üYä_ôËĺ_zĐ
ć_“o
ç_©.č_-�é_®ę_a�ë_Ń"ě_śN í_K{î_‘
ď_ä+đ_őă ń_Á«ň_-@ó_ľ3 ö_st÷_ ř_I¸ů_üF ú_tý ű_rü_/şý_NL
ţ_˙9˙_Ře
€`cń �`ľ]‚`é·�`=„`zĎ…`gB†`K‡`™y‰`Ú! Š`y„‹`ç< Ś`·¸Ť`ĚŽ`.˙
Ź`îG�`Đ‘`–¶ ’`cŕ “`¬T”`Ú•`Ŕn–`/˘—`a–�`Oź™`A š`Vť`›Nž`AŐ ź`› `L‚ˇ`ע`.p Ł`;˛¤`CăĄ`¸, ¦`�Ö
§`�± ¨`e©`×őŞ`]Đ«`Qµ¬`rÉ
­`pŠ®`es±`Š¬˛`śn ł`Źg´`‰v
µ`Vµ¶`ťu ą`=˝ş`Ô0
»`’ Ľ`«V˝`9ľ` ż`xy
Ŕ`*·Á`Cń
Â`žĐ Ă`
Ö
Ä`Ů|Ĺ`™ÁĆ`�łÇ`ÖŞČ`äÉ`DŃĘ`#JĚ`´¤ Í`l~ Î`Ýŕ Ď` ŽĐ`ĚŃ`NŇ`,6Ó`?íÔ`ŁöŐ`^K
Ö`� ×`Ë%Ř`,Ů`§»
Ú`âhŰ`ôĐÜ`ś‹Ý`uŔ
ŕ`ř}
á`ÁQâ`akă`˛ ä`�»ĺ`Öąć`Eşç`ˇč`` é`\Çę`l ë`Ä2ě`‰&í`Fůî`gžď`’đ`„cń` ó`zÉô`˝2 ő`H
ö`Ç:÷`“Ł
ř`ć~ů`˛ú`Y ű`f‹ ü`; ý`ěl
ţ`ëů
˙`Üp €aEO�a�g‚aůŮ
�a’Ş„ađÔ‡aR
�a¸‰aô�Šan ‹aČ]Śa$“ŤaxęŽaź=Źa–G�aŐ\‘aK�
’a‰A
“aŤ”a8•aŠF –aP—aµ@ �aă>›aęŁaOŕ
¤aî^Ąa쨦aP›§afͨa9¶©aľ Şaj°
«aaʬa5
­aq4 ®a3tŻa6‹°aŠŽ ±a_č˛a[�łaIÝ
´aĹr µa+ ¶a+·aď¸a_V ąa+úşa_4»a%‘Ľaü ˝aí
ľaöżaž�Ŕa<“ÁaďI
Âa¤ÁĂaâÖÄa Ĺa5ĆaAÇa ČaLÉa‰ĘaÎł
ËaüĚa@LÍaôz ÎaÔzĎa�Đa^.ŃamqŇaoÓa„Â
Ôa¸dŐa=¸ÖaB ×aŮŘaĹ�
ŮaÁÇÚagŰaď ÜaőňÝaĚŠŢan¶ ßaÂÝŕa‚ďáaN6âa5 ăa¦ŠäaW ĺaTćaD çać|čaŕ� éa5ĺęabĄëa(‚ěa:Fía(p îa`ÜďaNĄđaŃĂ ńa˘áňaLóa8×ôaş őaŠ
öaU�÷at.řa#
ůa€úaŐËűaőNţatň˙a±˙€bµ€
�b‚bľČ�b€„b�c…b†N †b 2‡bË‘�bČá ‰bđřŠbE3‹bćyŚbZ Ťb1lŽb0ŹbÄn�b~בbS&
’b•)“b€ ”bob•b>–bxĚ—b‹ő
�b™�™bLh
šb¶E›b˙ű śbážťbH-žbĆŤźb;ď bĘu
ˇbÁ
˘bč˛ Łb°B¤bxMĄbž¦
¦büŤ§bT� ¨b9Ú ©bć ŞbńY «bȬbÉa ­bXÁ®b„ĚŻbzš°b.{
±b6P ˛bŻ1łb¨´b%Ĺ µbźx¶bëë
·bĐü¸bW…
ąbŘôşbMÁ
»b)Ę ĽbÜ0 ˝b‘{
Ŕb]2 ÁbÝüÂb&C Ăb±*Äbĺ
Ĺb;ĐĆbÝďÇbµyČb'Ń
ÉbcľĘb0�Ëb…žĚbě$ Íb×ËÎbŠ*
ĎbĽ9 Đbőř
Ńbd• ŇbÄ˙ÓbAťÔb­a
ŐbŇ Öbű™ ×b†W ŘbJ7Ůb±ăÚb€- ŰbÍ}Üb
K
ÝbhĄŢb|Çßb { ŕbŕ@
ábÁâbY
ăbŽŹ äb‡hĺbľ$
ćb¨űçbN^čb�” éb~ ęb^3ëb�˛ěb]íbĄîbh/ďbş đbAńb8b ňb†) óbŕ±
ôbýrőbCöbc,÷b’Źřbď ůb?ÄúbQ űbŹ†übGýbžC ţb"á˙bhš€c+V�c[É‚c)‘ �c-„cĹđ…cµ·†c,j‡c
+�cŞ ‰c›Šc!‹c Śců
ŤcÄ� Žc|� Źcég�cĎĂ ‘c1’cŽ"•c§ş –cF¨™cT šcU‘›c�ĘścŤţ
ťc Äžcëšcť˘cďŕ
Łcgź ¤cwä Ąc&>¦c�
Fixed DMA and INT bugs
2026-10-03 17:42:33 +02:00
©c«DŞc)0«c<¨
¬c`­c‹Ż®cHŻc,5°cń±cl ˛cö= łcäę´cÂfµcE¶cx—
·c\şcŰ‹ »c‰'Ľcµ˝c°
ľczżcŢK Ŕc˙· Ác ¸ÂcÜ@ĂcpoÄcć‰
Ĺcť) ĆctüÇc㌠Čcó¤Éc%ľĘcÇX
Reference in new issue Copy Permalink