pima/Trinity-DevPCB-V1.0
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
5e3dd3128b544c5df5f3e5b62e12fd71d522a38e
Trinity-DevPCB-V1.0/Debug/Core/Src/sensors.o
T

2416 lines
1.3 MiB
Plaintext
Raw Normal View History

Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
ELF(\S4(„ƒ¢£¤¥¦§¨©ª«¬­®¯°±²³´µ·¸¹º»¼½¾¿ÀÁÂÃÄÅÆÇÈÉÊËÌÍÎÏÐÑÒÓÔÕÖ×ØÙÚÛÜÝÞßàáâãäåæçèéêëìíîïðñòóôõö÷øùúûüýþÿ 
  
 !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxy€DE€EF€F33A33ƒA33BƒBCƒC3D3ƒD3E€µ„°¯x`{hhJ“BÑ"!Oð�@ÿ÷þÿ#û` Khñ !Fÿ÷þÿûh+ÐKOð€R`¿óO�¿óo�¿7½F€½0@íà€µ„°¯x`{hh
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
J“BÑ#û` Khñ !Fÿ÷þÿûh+ÐKOð€R`¿óO�¿óo�¿7½F€½T@íà€µ„°¯x`{hh
J“BÑ#û` Khñ !Fÿ÷þÿûh+ÐKOð€R`¿óO�¿óo�¿7½F€½T@íàErrorCallback: %ld
Initializing ICM45686Error in reading WHO AM I:%d
WHO AM I (0xE9): 0x%02X
Error in setting ACCEL_CONFIG0:%d
ACCEL_CONFIG0 wrote: 0x%02X
Error reading ACCEL_CONFIG0:%d
ACCEL_CONFIG0 read: 0x%02X
Error in setting GYRO_CONFIG0:%d
GYRO_CONFIG0 wrote: 0x%02X
Error reading GYRO_CONFIG0:%d
GYRO_CONFIG0 read: 0x%02X
Error in setting PWR_MGMT0:%d
PWR_MGMT0 wrote: 0x%02X
Error reading PWR_MGMT0:%d
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
PWR_MGMT0 read: 0x%02X
Calibration read ICM failed: %d
Calibration finished of ICM45686a_x: %.2f a_y: %.2f a_z: %.2f g_x: %.2f g_y: %.2f g_z: %.2f t: %.2f
Enabling IMU INT pinEnabling of IMU INT failed: %d
Reading IMU INT configuration0 failed: %d
INT1_CONFIG0 read: 0x%02X
Configuring IMU INTConfiguration of IMU INT failed: %d
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
Reading IMU INT configuration2 failed: %d
INT1_CONFIG2 read: 0x%02X
Starting up and configuring BMM350Initialization: %d
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
CHIP_ID (should be 0x33) - Read Register: 0x00 BMM350 Chip ID: 0x%X
Powermode (%d): %d
ODR(%d) and AVG(%d): %d
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
Interrupt enable: %d
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
Configure interrupt: %d
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
€µ„°¯x`{hhJ“BÑ#û`xhÿ÷þÿFF
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
Hÿ÷þÿ
Khñ !Fÿ÷þÿûh+ÐKOð€R`¿óO�¿óo�¿7½F€½T@íà€µ„°¯Fû€#û`ûˆ³õ€oÑKhñ !Fÿ÷þÿûˆ³õoÑ Khñ !Fÿ÷þÿûh+ÐKOð€R`¿óO�¿óo�¿7½F€½íà€µˆ°¯ø`¹`z`{€ûhXhûh‰"Fÿ÷þÿûhh{ˆ2"’zh¹hÿ÷þÿFûuûhXhûh‰"Fÿ÷þÿû}F7½F€½€µ†°¯ø`¹`z`{€ûhXhûh‰"Fÿ÷þÿûhh{ˆzh¹hÿ÷þÿFûuû}F7½F€½€µ†°¯ø`¹`Fû€ûhXhûh‰"Fÿ÷þÿûhhúˆ2#¹hÿ÷þÿFûuûhXhûh‰"Fÿ÷þÿû}F7½F€½€µ„°¯x`iHÿ÷þÿò#;sññ #xhÿ÷þÿFûsû{+Ðû{F`Hÿ÷þÿà{zF^Hÿ÷þÿ#;s{hšz{h{CÛ²{sñ "Fxhÿ÷þÿFûsû{+Ðû{FRHÿ÷þÿà{{FPHÿ÷þÿ›#;s#{sññ #xhÿ÷þÿFûsû{+Ðû{FFHÿ÷þÿà{zFDHÿ÷þÿ#;s{hÚz{h{CÛ²{sñ "Fxhÿ÷þÿFûsû{+Ðû{F8Hÿ÷þÿà{{F6Hÿ÷þÿœ#;s#{sññ #xhÿ÷þÿFûsû{+Ðû{F,Hÿ÷þÿà{zF*Hÿ÷þÿ#;s#{sñ "Fxhÿ÷þÿFûsû{+Ðû{F!Hÿ÷þÿà{{FHÿ÷þÿ�#;s#{sññ #xhÿ÷þÿFûsû{+Ðû{FHÿ÷þÿà{zFHÿ÷þÿú ÿ÷þÿ¿7½F€½¿,LhŒ¬Ìì0PlŒ¨Ä-é°O¢° ¯øa¹añ4"`Z`š`š�ñ$"`Z`š`Ãø €#‡ø$0#{e–àñDñ$#øiÿ÷þÿF‡øS0—øS0+ЗøS0FªHÿ÷þÿ·ù40š²—øE0²²—øF0² C²›²D›²²»†·ù60š²—øG0²²—øH0² C²›²D›²²û†·ù80š²—øI0²²—øJ0² C²›²D›²²;‡·ù:0š²—øK0²²—øL0² C²›²D›²²{‡·ù<0š²—øM0²²—øN0² C²›²D›²²»‡·ù>0š²—øO0²²—øP0² C²›²D›²²û‡·ù@0š²—øQ0²²—øR0² C²›²D›²²§ø@0{m3{ezm»išB÷d¯·ù40î�:øîçj»iî�:¸îçzÆî‡zûiÃíz·ù60î�:øîçj»iî�:¸îçzÆî‡zûiÃíz·ù80î�:øîçj»iî�:¸îçzÆî‡zûiÃí z·ù:0î�:øîçj»iî�:¸îçzÆî‡zûiÃí
z·ù<0î�:øîçj»iî�:¸îçzÆî‡zûiÃí z·ù>0î�:øîçj»iî�:¸îçzÆî‡zûiÃí z·ù@0î�:øîçj»iî�:¸îçzÆî‡zûiÃí
zûiÓí z·îzwîÇzûiÃí zûi"v'Hÿ÷þÿûiÛiFÿ÷þÿÇéûijFÿ÷þÿ€F‰Fûi[jFÿ÷þÿ‚F‹Fûi›jFÿ÷þÿÇéûiÛjFÿ÷þÿÇéûikFÿ÷þÿF
Fûi[kFÿ÷þÿF FÍé
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
#ÍéE—í{�í{—í{�í{Íé«Íé‰×é#Hÿ÷þÿ¿X7½F½è°�à(€µ„°¯x`#;�#;s#{sHÿ÷þÿñ "Fxhÿ÷þÿFûsû{+Ðû{FHÿ÷þÿ–#;s#{sññ #xhÿ÷þÿFûsû{+Ðû{FHÿ÷þÿà{zFHÿ÷þÿ¿7½F€½pˆ¨Ô€µ„°¯x`#;�#;s#{sHÿ÷þÿñ "Fxhÿ÷þÿFûsû{+Ðû{FHÿ÷þÿ˜#;s#{sññ #xhÿ÷þÿFûsû{+Ðû{FHÿ÷þÿà{zFHÿ÷þÿ¿7½F€½ð,X€´¯ KÛhJCð€sÓ`K"Z`KhJCð`¿½F]ø{pGðíàà€µˆ°¯¹`z`;`Fûs;hxûuû}›²[™²û{š²{h›²“»h“# Hÿ÷þÿF+ Ñ
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
"! ÿ÷þÿF+Ñ#àOðÿ3F7½F€½¿€µˆ°¯¹`z`;`Fûs;hxûuû}›²[™²û{š²{h›²“»h“# Hÿ÷þÿF+ Ñ
"! ÿ÷þÿF+Ñ#àOðÿ3F7½F€½¿€´…°¯x`9`K[hû`
Kh
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
J¢û#š {hûó»`¿KZhûhÓºhšBøØ¿¿7½F]ø{pG¿àƒÞC€µ„°¯x`{h#Jš`{h"JÚ`{h"Ja{h!J`!Hÿ÷þÿxhÿ÷þÿFûs—ù0+Зù0'à—ù0FHÿ÷þÿ{hyFHÿ÷þÿyh ÿ÷þÿFûs—ù0F!Hÿ÷þÿzh! ÿ÷þÿFûs—ù0"! Hÿ÷þÿ#F7½F€½¿t˜¬ô€µ†°¯x`yh ÿ÷þÿFûs—ù0F Hÿ÷þÿ{h“#"! ÿ÷þÿFûs—ù0FHÿ÷þÿ#F7½F€½¿$<Í)q
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
¿9
ö}
;
”g )*K+I
W~ Z©7\
•=)9o
“õ
×Ó o| O‰
,¥
kü
2Ü *int
d
ï±1Pù
=¸ðk P;$cÕ¡ 0}æòæ ¥ \ƒX*"…ò"ƒ†ò&܇ò:® ˆò ‰òËDŠòÉœ ‹ò  Œ÷è™�ò ¬c Žò$0�ò((�ü,*Þ‘ò0*t’ò4&0“ò82”ü<0Þ•ò@0t–òD00—òH<˜üL6Þ™òP6tšòT:0›òXúœ  ˆ§ðë
Šòwï ‹ò4 Œòݯ�ò RŽewA <æ CCRò|¼ òtòù;ò ‘K æ£*  À  AISR
ò¥´òX_ eCCRò-Ö
N –CSRòCFRò r »ÞX!ò‰É"£ $î•Ñ&òŒ'ò§ô(È ,K�jMò˜— Nò5ý OòZ­
Pò IDRQòODRRòSgSòé€
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
TòAFRU� BRRVò(ò�¥�ô…Wû ,\OCR1^òCR2_òô*`òù*aò gÃbòb0 còISRdòICReòCS
fò ÒX gò$'Óhò(‡Î i¯ 4ÂCR16òCR27òSR8òDR9ò ¤Ž:òâÕ;òõq<ò¢m=\
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
‹MI'ýD÷S $�ºP`K,ÖI2$A ôW 5  /¡ã_
1 æ•4 æ¿÷8 æ½J; æ Þi> æŒ|
A æëzD æQÓI æ[øK0IQÔ`' ·
¯\
L¹à3V­Ô ©¹ `rÜÛ½tÜ›v¡«x$$Â
zà%—;|á(¢ã~ ó,¥ € ó0š‚ ó4Rö
„ ó8Kn †ò<úˆø@Þ
ŠæDzÛŒ%ýHmŽ%Lhn �$æPDa’%Tå ”% XÔ –$æ\+!îîåãAe–»î�M—åIE8@¸DzH /µ:þ 1 æ6Q 5 æýF 8 æJ¿
; æ BQ > æƒe A æÄb E 枈 H 棲 KDI m Ô•4Å ÊD$-D!À "jÔ(‡�)gw *¿`1t zÁ I “> !Ýkî:­
Õ§@6 ™ > €T ¸9
Û½ º9
› ¼µµY ¾>
$Ë ÀÕ(]
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
Âá*�u
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
Äò,¬� Çò0Þ… Éa
4JJ Íf
8|� Ïf
<« Ó$@Â
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
Õ Aëz ×J BKn ÙòDÏ� ÛòHÖ« ÝòL‘ ßòPO¸ý\
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
\
ææO C
Ô
 þO k
4
.. ëz
0 æ•
3 æ¾}
6 æG
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

Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
9 æ ‚
< æ%NSS
? æDW
C æ(T
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
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
I æt 
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
L æ `­
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
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
O æ$Ø
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
R æ(E7
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
U æ,
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
Y æ0Õ½
_|
I
ey ãà Ó�Ÿ j~ ‘?+— K ýy
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
n: y E
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
d
sg Û½
ug ›
w. Ï
yl 877
{Õ<^6
}á>vâ
>
@¹
�ÕDkô
ćF4
…æHI€
‡
� L´y
‰
� PJJ
‹f
T|�
�f
X«
�$\Â
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
‘… ]Kn
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
“ò`ÂÄ!| | Š q ÁÒ
¢Š
¿þ’ ™ ôâI#¿ ¹, U:™nI(ç �­
¤§½¼
QÎ ÒlI/-
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
`pŽ
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
[Z³Ã
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

Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
,YT¼ ¬^
çÈI@I
40[kRS IDe
ÝÕžÞII�
  (ÀÆ
IN�
bZ ð{ÎÚ
IgÝ
£" Ï…
†
C†
3TÔÆ
Ⱦ
Q£Ô · ê
ï
¬
¸>
æáΫ
È ¬=¸l æá#~
ÔJO!_æá±¾
álq¬€€…/ñ°HÍ) " áÉ %
¸vŒ (Ý
Ž4 +
 Òà
.=–˜ 1¬ž¶
4
¸ß 7"‘Çÿ :òdBô =
¸¤0 @_¨€ C
¸¬Ô< F
¸­
Ï]Hx“™�t
– H0¢ ™ H9¢ œ HB¢ Ÿ H sÊ ¥Þý› ¨ Hú; « H/ ® H,< ± H Õ! ·  ¹ H º H » H" ÁLQ0 à HW0 Ä H,Y Å H{Ë‘»” Í H¡± Î HõÊ
Ï HÿÊ
Ð H oNLÖòà Ù#T� Ü#™ë› ßÞ Kœ â,Þ�
å H8ü¸ èL<Õ¥
hI¦ ;vÙÂ
<‰1 Bæ¸=¥ž
Æ_‹ ÐRÀ ~øÁ }" |;Š{üz,…ÿÿÿÞ
Ï=¥û
Óác] k
P
‹Æó‹8Flá FêËK–» Õt
¸
 � 
¸ %odr
¸ f7
H³²Ha9Óc  P† ¢H`¥·»
!»I9ÃûlrBaBã 0Ù&4¸’@p58 a‘¦
ìY Oӥà ›XÓOú¥ê %túj¦ \&"-…µ &£&¯ ¢ô‹ ¬hI
e
�
-
€ ¸?s¬„£ € „"¬¥ç �
€"U6ò¬À¿ €"U g¬Ö€ ”+
¡ýÕÕÕ>
Õk
P3¤
æ, ! #Ž £ý\ÕÕÕ>
Õ û
á sæ jA
ý™Fl Õæ T�
&ý¿Fl >
Õ 6.
ýêFl >
Õæ"E‚Ξž . bà Íæw
'ªò:
:: 'žð.\KÕ8² �¬Tœ•#dev�4€‘l]k
‚ ¬‘w3¼Z¬¼œà#devZ$€‘l]k
[ ¬‘wÉÊ
_¸/ÓOPœ4Iê Oæ‘lÍ)O-á‘h&Sæ‘t÷úTæ‘p#Ú @¬`œšå@/¸‘o}¬@Hl ‘hó@[æ‘dÍ)@iá‘`{ A
¸‘wÔ¦
0¬`œå0.¸‘o}¬0A>
‘hó0Tæ‘dÍ)0bá‘`{ 2
¸‘w0wÿ%4œ1%?Œœa#imu7a‘l(tx
-‘t(rx-‘p¬ý‘w`¤HúŒœ²
imuú3a‘ltxû
-‘trxû-‘p¬ý‘wV.
М7
imuÐ,a‘¤Y� Ð5ž‘  ¬Ñý‘[ ‚‡ Ò
7‘L úÑÓ
G‘¼txÔ
7‘¬0>i× ž‘\¸G¥ÉW¥/Ò
_윣
imu_'a‘ltxr
-‘trxr-‘p ¬sý‘w$nIXýJœô
imuX6a‘l
txXC>
‘hí‡XRÕ‘f ¬Zý‘w$Û
Rý:œR
imuR9a‘l
txRF>
‘h
rxRT>
‘dí‡RcÕ‘b ¬Tý‘w$YKýNœ°
imuK5a‘l
txKB>
‘h
rxKP>
‘dí‡K_Õ‘b ¬Mý‘w‘J8hœâ–»8&Õ‘n ?« :
‘tf�/dœ™g//‘l: ?« 1 ‘t@Š &PœZº�&3‘l* ?« ) ‘tÛŠ Pœ–º�3‘l* ?«   ‘t2´Ø\œlá 2F‘l6 ?«  ‘t
: ;9 I8 
: ; 9 I8 ( I: ; 9 I !I
:!;9 I8 : ;9 I 4: ; 9 I
$ >   : ;9!  .?: ;9 'I<
:!; 9 I:!;9 II!I/ > I: ; 9 4:!;9 I:!; 9 I>! !I:! ;9!&I5I :! ;9!.?:!; 9!'@|(
4:!; 9 I 4: ; 9 I?< : ; 9! 'I.?:!;9 'I@|  : ; 9!!'".?: ; 9 'I<#:!;9 I$.?:!; 9!'I@|%
: ; 9 I8 &4G:!9!'.?: ;9 '<(4:!;!�9 I)% Uy*$ > + ,(-<./.?: ;9 '@z0.?: ;9 '@z1.?: ;9 '@|2.?: ; 9 '@|¤\PPdhN:J쌌4``P¼Tz\PPdhN:Jì�ŒŒ4``P¼TÇ2ú¢ ÌOô3®X˜ ‰°" 
Ì e`  

b#?¢\" 6£€p“™´Ø !"#á$Ø%ä&è'“(ì’)ð*ô Ð+ø,Œ-õ
.“/Z”0ÄÀ 1 2º3œ4ÎU56²7›W8¤9Ä:´
þ;_M¸<Þ=Ù�à> ?@ @ɬAyÿBC1· 2 >!5"D#6$1%E&F'G(H)IJ!K¸B
"L.\
M�p
NËo
O P¡lQ R =—
N!S+–^/!T!UZ#VÎW!Xj%Yv™
½Z$!'Á([U\]Å 
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
Q!^¦_ [`-Oê 6 6!ab^C
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
#!@B_cbd"Z× .e
#5 cf
0Ø A!uå%g 2ïƒa~Aš¿K_àÅÓ´Î
r1 W /1iDÐ%
êõ80Ê
É„`ʺy�E¨´m
°º°J4
yè¦6[ùQ³é`ŠSe"îå
ãp
#Ÿ€C ,Ÿí

P ‚îXyM‘ºyf# ô6Ç`r4Þ
BP ` J% ‡;º®PŠ¬¬¿xO;›º†*(*òÄVw
-$e o h!Òˆÿª
&ÓÐ ž¶“ 
@ Z² š
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
2ÏÖÅB—Ø ¢C
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
Ùs vS
;w=uœZZ ,Ø
곜
Çó�cö} –y7”ÔEdlLõ   l³)ñÜÔî’w
Z$Û,J …N;9TiÀ pªœé —€ yª™qHœÚvÒâ·/'áª
¿¦
Ée!7?«
>,=T­ Cÿ ï¬ ÑÔ Xr
¢]\É¿S-ªù H ˆ
¾1üo3&
j³»+`™±º¤z {´R
ÿ‰&ר Í ˆ‚Ì"vâ"
áœbÍ

“
³´.i¾¥Øj >/zûg(&ûGõùúš¹7°¬>
ºJ!ª 4ˆs3¨ D’s{Š„Ö“÷ö¯úˆª ¿
¾
kzãX:M Q ©*»JìŸF
é°
])µ ÷«Ë„M­
|¯�Ã
<ù¼b?u‰Ì}bYG
3¯
>•�΂O�õã¯ì‡ ²Êå|rùO’¢v]¦+ JÄS> ëü <5Z‹
Hª�„ 7ÂçïMN'¸Î}
T[(É¾×  ø. ÒÆ
‹–:‘É ³’uê
ÚQ Ýj¯<PÀ YðÍ{¾
ˆÖ,š«& ¹"[¿ <jÇ�¶&õý?
lV
nh�òEÚ *¡×¿uöKñ#ŒäH¼‰ ¼«h­Wo
ôVvÎfùí%M êË 2ñU=ÿ‹d_KX"% ¾£cÂñ”3:Ð œ9
)ñ Ϥ: _9=ÐXK y*ûPlª
Í\=³©�CUþ¦’‘ô4dÃà~å¿]‰äEVß<3£ÕÛׇ·û" ^°`I�ŸR4Ä ÷345YR Yú
Óî½­´‰"ÚYÞ
¤lÁÍs&pïÝÒå%—V €pFQ áð¼
\+„¢W·î½Æºß Âñâö�ˆ
Õ]aÖO
ÓÄŸ�
¿»Þ^q €T@ô

-¢
ŸC0Ο
r)oœ Àc^Y ©õ±û@f
FT
V�€Õ
ÏÎ
„8’Îß°Š’j *ýCŽ
Mú ® Dô áËãŠ{Pêdž-/�…~�„@è ÅŽý å*˜ÞÌ jÈF
Uxïô:qfÛ7˜ýõ P"bl.ȶ ñ,F¢3L —•poSvÇooHjlˇ®i¿ ý�™ª—© $é)\l*‚% +ç¯0ÖW
4…T 8»(9¥Ò
>‹ ?û@pi A!ÎBJC½¹ D¤†F+ú G’H
Ï IM.JÒÊ
KWëL÷dMsNŒ…OGèP ëQrÎ
RrÇ S�T8_
UV¨nW�4 XfÇYóbF—fõënô-w÷ë~€Ù †�d�pû
˜SúœÛ¶¥, °º±ë²ÌϳMm´¶‹µíÅ Å»Ó
&Ñœ 4b F±$GôHcÈI�KJ¥M
$¢‹0G�1•š2�3@C4dã5;ÎÆ :Û� m`
 Kˆ
!°ð(Î\’T§“x6 —™/˜ë=
™ëš‚Û­Á— ®R[�ÃB•Lx�·r¥|v
°1ý´£Û
º‹7ÌÀÜ–î>
ÆÈL¾!Ré/+§=5ôS9¦mk쌴^ ¦ô¹¼otμôƒJ

b´—Q +§,4V -¿þ.4°
/int0[X 1Á» 2ͤ 3–* 4(
5Ãf6©M7m„8lŽ9o¿ :M×CY”JŠ R¢”]žÙh"u
qF"x¬J�f'ˆ‰2 “’Ì
—èþ¢ïö­àß
Lk¸§¹4V º¿þ»4°
¼int½ͤ Â[X ÃÁ» 
¹~§PùYÆ\
!
B %<'É-y¤1R·3Œ9~ñ=Äü?RaDò^I½âN 
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´
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
櫓3#Ú ):"
5=r?íöIÏS�€ó;��Ñ
‚˜9ã™›
šÜ@ ¢x
£a"¤èô®«Ñ
¯·† °ˆD¸vʹ™Æº.Ä Å�U Æ¡¬Ôm]Õâ0Ö•qæu¬ç–[ èhöÚ{÷jB
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
ø–~†®!‡nèˆ[ï
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
–ºù
—ø˜þ¦E& §\f¨�gµi ·ƒ¸,qÆvà
ÇÏÞ‚×#èÝáA ÞN
â�5æ+ë©uö•ê€Ä…Ðߌ 3
�KÌ
˜^U™u_¤¨¥WŽ±>È ²}Á¥Ç
ÂÒÊ
 �#m†$)%•B�cCÎ@
Di-G$Èg�8 ©
)ËÖ ,²h /w� 2 *5ÀË8So;¡�>Ô3 Aí”D«H L¸Y TÒ·
\�­
dõwlè‹om—rgÝ u›«
¦Áþ
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
ª0~®+²)ÓâþPNÿÜ„€­Ã‡^�[ˆ•iRœ§ �¾UÔ Cdä ú·ÓèŽJ ä5e祓®¹×ÛVpÝà} Þ'� á!² âã5À”uZ•€ë
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
—š¿ ˜ìäš©ñ›zŽ�Þž“C ¢Ï¡æ£Ú�¤Ç(µO, ^ƒÑ· Ò¼V Ôº•ÕìפØJ°Ú^s Û‡² Ýä ÞJÛà"Âá;!ã9ÔäÚ÷æ•(ç>ª éßæêéøì3º íÙ. €�xƒ´ „¬¥†@e‡Žï¨5m
©ÒO$ÓDWÕ ÖëØP
Ù_õÛb°ÜÝñÞÎ|ß9ûâ·�
ã¡ÏåÐ æƒÝ蟙
é"¹ ëôÉì'î5BïO+ñ\,
ò # ô¶%õȪ÷Ažø¿ úl¹û¾pý¼þ¿�ö€
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
‚²z…@¬†ÂˈJÛ ‰¹‹Ö»ŒŽ©¦�‘&‡ ’„ô ”å> •+<—Í-˜éÊ›WAœHÁ žƒ7Ÿÿ+
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
¡€m ¢7 ¥³´¦§%¨Ø
©Ø«´e
¬�z®Ã0 ¯ y ±©�²�ôeµºí
¸G‡¹o»Ñ¼„þ
¾%
¿XaÁ¼¼ÂuëÄ´>ÅKiÇ”ùÈLˆÊwËœŒ
Í°†Î ÄП†ÑÓUc ÔµÖŸP×:·Ùg›
ÚxºÜ2Ý©ß�
àÿðã×X äÄõæ=R
ç,vé«� ê¿i íMäî9Šðó4 ñV‹ó2¸ô÷öC ÷f ùÒ ú-iüV
ý
² €›U�fƒKì„@a†?)‡-ȉ£Ÿ Š pŒÈŒ�Ž
�~Ê�Ȫ’gy
“Ím–ËG—t ™sš3&œÈm
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
�É~ Ÿ™ ªÃ¢…‰£³µ¥†{¦†9
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
©ö‘ªˆ�¬sq­¦y
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
¯âÔ°­³ò ´& Yá·n) ¹× ºµœ¼_'½‘¿e±Ào ×k®ØX* ÛÙËÜ…ßÞ®Qߛ៳âÖ— äèd
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
å¤çþæè}Š
€X}
�‚LƒŸ©„ö�†­5‡ëU‰
ŠØÏ�=ŽÉ®‘À€’¾^•á
–ý ˜/R™ ò›E¸œ"y
ͳsÎXÛÑÍ"Ò‹ü ÔÜGÕ¬>×Ò5Øg— ÚÆoÛ;c
Ý®:ÞwŸàŠ—ᨛ ãž_
ä‡? æÊ@çàž
éyêêkúí?`î�Èðœ:ñVý ó(ƒ
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
ô²
Ÿ!ý  F)¢Ù¬ £3H
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
¥�Ó¦m¨­ý©Y¶«¦o¬E®Gɯÿ±PÐ ²œa´cþµc¨ ·lç¸ïQ ºôÇ»m6½¦ ¾mwÀW^ÁêÎÃÞ‹Ä�ƳxÇ÷“É*ýÊʈÌQÉ
Í.pÏ3ü
Ð@ÒÝ° Óõ ÖÒ ×ˆÇÚ[mÛrÓÞOߪ&
â‚í㺤æÚçDꚎëùê
îƒpïö[ñøòÀÜôîLõW‚÷ùšø’–úñ û
ýjlþ Ì€G¯�¡ÌƒØu„W†[E ‡„D ³PÊ´ZÍ·� ¸©
»_· ¼_ ¾ÌQ¿5ýÁÑ'
ÂlUÄ�ÈÅ®™È6s É!"Ë¿óÌ´Ï–ÐJ…
ÓÂÔ‰“
Öh1 ×n ÙP/ Ú–;ÜÙGÝ€/ ߉àz9â
É
ã6v å±¾
æªXéO§ê­çìníhð˽ñ”ýóÅ%ô8öŠL÷Û
ùmIú;ÍüjÆ
ý�ì ÿ<¶€ “¯‚ ¸¦ƒ 7m† ¾Ð‡ x ‰ CŠ àm� •&Ž ê‘ „’ E1” Vø
• õp— è
˜ ¦æš ©ë › ¾È � <~ ž âd   F´
¡ QΤ åP¥ éc§ í¨ BÇ ¿š Ê QçË ëÍ ³Ç Î îÌÐ ‡Y
Ñ V Ô Y¹Õ Ú·× êAØ ÅWÚ ÈhÛ ìûÞ Žsß È6 â âîã €å M×æ �eè î
é ‘ì ¸í ‰
ï yKð ÊDò f`ó 7@õ …,ö F®ø ý ù =Y
û œ¾ü ™” þ 5õÿ ôË�
L‚
[„
z
…
®ÿ ‡
@ˆ
ŠD¤
Iö ¥
bɧ
ÓÌ ¨
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
Msª
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
¼Ä«
Uí ­
f¾®
8°
>^±
sÏ ³
t ´
ê

îs ·
¹
õPº
pR¼
§À½
ɢšÇ Á
¦Ä
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
¥ÄÅ

Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
Ç
 ”È
îéÊ
PË
Fß Í
²û Î
cFÑ
^Ò
h� Ô
ÜéÕ
ûÌ×
 Ø
ó Ú
¿ƒÛ
!.
Ý
ZÕÞ
‹à
àá
Ô�ã
mä
ï æ
îç
˜ê
�ë
Åí
�î
* ð
3ñ
Åó
5¡ô
ýT ø
¾ù
¯
‘ &© ’ …D” 4/• Œ
— ­˜ puš ×ù› �� °ôž ¢Ÿ  99¡ Y¹ £ i°¤ G ¦ ×}
§ ïh © «Ð ª U� ¬ Êa
­ Þ¯ Âi° â#² ‚³ £v ó · Òb¹ ¥pº 94½ ÷¦ ¾ §GÀ q¾Á Ü5à ¬Þ
Ä îÆ Æ‰
Ç Q É ? Ê £Ì E,Í j Ï {Ð ”[Ò i_Ó ’”Õ }™ Ö ¹
Ø ÀÙ î
Û =ÁÜ / Þ <Àß ˜ò
á ÎÖ
â ‡²ô ã6ü ”O ‰ D Š œÄ
‹ ŠÇŒ ®#
� H Ž »<
� a� ’¯ ’ ûΓ ^Ô ƒê• <æ– Á— ’V
˜ !/™ ¿ßœ †å� -Q  WS
¡ Û Ã *#Ä %¯Å Ì Æ ÈòÇ ·;È »0É •Ê ø Ë ,ÊÌ Û$Í KÆÎ ð°× ‘
Ø IüÛ £ß ¤:à 'ûá Kuâ o$ã =êä ” Ù§"¥, #¶g $IS%ÚB&ãµ'é‰ (5Å )ô‡*5ç+o/,ßþ
-õ¾.xå /1 0A
1ù�2¶3$4{ˆ5®ä 6› 70~ 8ªB
9¸\:<¼;Wƒ<Gi =m* ?O @Z6A;ÔBm| CÛµD:½K˜çX… gù… {GË…H‘�| �¹P¢ž€
§ò¬må±’Ó –%Û—³k˜g¼�Y.žX³
ŸŠ ­Q¢i £2Ǥ”Œ§¨ÇX©ÖëªI­YŽ ®š
¯ζ
±¹²%ä³(�´g·òü
¸<“¹ˆi º2 »܆
¼ƒ ½ nÀ@#
ÁI Ž
Ã�Äâ|Å>8ƦÇe ÈÝ É¡¨Ê• Ëe_Ì#[ Í»ŒÐðÉÑ 7ÒszÓÄRÔݶÕ¾`Ö.ñ ד‚Ø,JÙ:ƒ
ÚõiÛq7
Þ¹›
ߧT
àC¤á¶$
â°äò�ålÀæ¨I
ç™
èL:éßsê’óìÀ
íuÏ î¾ï,$ðe ñö¯
ò$æ ô*Ö õRžöñ
÷Ý ø¸ý ù&wú‚ûðRü +ý þÕ>ÿ¥n€Xú �# ƒ~j „᪠…»ª†KÁˆ×ô
‰D Œ²° �&…Ž¦¶
�ÎÒ�I¡‘‰}’
¨”o»•C—$Ëš–<›\é œû„�!`žT&
Ÿ> ýâ¡¡¢«= ¥P#ªvj­ø ®$E
¯z°°å¬»=¾¼‹È
½D%¾:d
¿ËÀ8ŒÁ‡P
Â#‰ÃÛÞÄâ´Å™µ
Æ>Ð
Ç°[ Êéq
Ë‚o
ÌûhÍùÎWÏ<Ð<¬ÑÀïÒLG ÓžÆÔÚDÕHj ÖHêÙÇn Úúè Û—$ Ü0Y
Ý
” Þ¦Ëß”ànEâS`ãlä�:åLm
湩 çóë è™z
é8´ ë3º ìG_íÐÁîp ïo2ðŽ ñ)×ò6$ó -ô‚�õ¥÷
ö±ì÷ºøФùµzûâ9ü
, ýYþËK € ¦;� We
ƒ ë+„ PN‡ f|ˆ T‰ 3< Š ŸE‹ €†Œ ‘Ž ú3� Ó‘ ZŠ ” Ù. • ‡ – ¤Ž— ÙÏ
˜ �™ 
š ÂA› ;;œ ÐŽ� ”×
ž {(Ÿ Êš¢ U±
¤
�
° ¾=Å §›
È Ð°É (¬Ê ’£
Ë ëÌ Î×
Í Rô Î Óý
Ï ÍÐ ‘
Ñ ±7Ò .aÓ õ- Ô » Õ 3Ö qÞ × Z™Ø ¡Ù ß¹Ú üçÛ ‚èÜ † Ý tQÞ 9ß �à L°á „9â nB ã Q] ä �Tå êæ 8Nç ˜pè VÛ
ë ÏNì nVí °
î f�
ï Ôyð ‚æ
ñ •Úò Ž‚ó –—ô jòõ ¢‘ö ²ž÷ «Ž ø \1ù ”Pú “û Äñ
ü ÉCý $þ í
ÿ ×`
€
Õ �
�f ‚
¿Cƒ
I¯„
‹…
É�†
. ‡
¸ˆ
^Å ‰
ÉíŠ
tô‹
㯠Ž
�k�
¥(�
vW‘
  ’
ô÷“
�”
•
4 –
ì‰
—
Xø˜
Àë ™
8ðš
.`›
ÉUœ
;
�
Ð(ž
Ÿ
YÇ 
1µ¡
þ�¢
<1£
~ݤ
vå¥
�:
¦
e §
®E ¨
Å ©
Sšª
V\
«
ïr®
~ ¯
e»°
æ8±
äM²
#¿³
æk
µ
u
¢Ì·
Ò¸
£Á
¹
=»
‚õ¼
ºw½
¥ò¿
.:À
ÿ Á
žñÂ
2Ã
ÿ¦ Ä
°y Å
ÃüÇ
ðÈ
³RÉ
kôÊ
ù� Ë
xùÍ
ÉÎ
 Ï
$Ð
-;Ñ
Ò
öèÓ
îlÔ
ÖÕ
6™×
°ˆØ
FÙ
ht
Û
ÝÁ Ü
q‹ Ý
–Þ
‰gß
1Ç
à
�’ â
ûã
’±ä
UÕå
% æ
¶kç
) è
‹ é
Œ‰ê
Ö>ë
ƒýì
 í
:î
¥ ï
7š ð
Nñ
†T
ò
ó
×õ
Ö
ö
òv÷
¯¹ø
:Àù
`ú
DÇû
t¯ü
ª\þ
T²ÿ
Äý€ ¨ƒ �Ö„ ài… €’‡ ຠˆ '�‰ Âö‹ ‚Œ ûÉ� ;k
Ž ƒL� �_� —÷’ �I
“ œo” @• PØ
– Åþ — %˜ Xáš � › çè
œ r«ž ð Ÿ ç  Ú] £ 3¤ �”
¥ ˆR¦ Zȧ ¨ù
¨ s¹ª Ðã « w ¬ �­ z˜® 7Ç
¯ öÒ± Dz œÉ³ ë!´ ]µ çã /¸ ¡c¹ Z º öÖ » õy¼ ÿ½ ŸÚ
¿ ðè
À aÉÁ 2€Â Ù«Ã Ä üô Æ á\Ç ŠÈ ™É îÒ Ê xñË š"Í ŒmÎ >â Ï ¾»Ð >% Ñ ¡
Ò X9Ô oPÕ Ý¬Ö Ÿc
× ìÇØ ¶C Ù Û Ü š]Ý Þ ÷àß £{à V,â 2n ã \× ä ©å Êþæ X{ç WX ê U°ë HÝì ùL
í �‹î VP
ï ë%ñ ³Zò Bó iô Éõ Èö 7‘ ø 9ž ù !Øú wôû Æü
cý µ’
ÿ §ï€ `g� Æ΂ )½ ƒ t„ Ðô† ó ‡ jùˆ Ñ�‰ ñŠ Gâ
‹ Ò¶� 6)Ž NŠ� C•� âÇ‘ R×’ ¶u ” ;R• êð– î— 4‘ ˜ mñ™ ~Ñ› ‚çœ � WÑ
ž )ÍŸ d¯  l¢ ¸ £ ¥ã¤ Ó{ ¥ ©¦ œt § 5F ª Ûr« U׬ Ž³­ '® ˆè¯ ‚Á° ••
± ¢#² CV³ ‡´ LC µ ¨„ …W · øθ `kº Ø` » ”Ý ¼ Ö$
½ Û
¾ ®§¿ 'À JRÁ nõ ž0à ϻÄ @ôÅ þÖÆ x²Ç }qÈ �ƒ Ë äq Ì ÕÍ °Ê Î \œÏ ³9 Ð ÷-
Ñ ¸ÊÒ ßÓ öIÔ ÕÕ å5× ÌZØ ’Ù (1Ú ?cÛ cU Ü �éÝ õÑÞ Ý&ß ªrà ßð á géä å ÍÏæ âæç µ è !é ¢ê ̨ë ¸_ì þF
í "î T
ð ŸÑñ 1Aò õó EÒô Ë&õ & ö ™÷ Å# ø Qù ÑÓú ëý ¬ö
þ ÜÜ ÿ Éß €
`��
ÿ­‚
Ù#ƒ
p…
†é †
 ‡
 ˆ
f�‰
£Š
÷}
‹
¬3 Œ
‘ Ž
âK�
õó�
‘
óþ’
i0“
î”
ëÌ •
„—
¢˜
~±™
1 
š
¡›
Sã
œ
Âé�
Bž
Ž| 
Ãx ¡
„w ¢
O’£
Fˆ ¤
Ñ¥
ôš ¦
0- §
Ü–ª
U«
ï1¬
)_­
ëå®
¯
�Ä °
µ±
\ ³
ä
´
¦õ
µ
•[
F>·
Sg¸
¼' ¹
ðÞº
ôd¼
�ñ ½
±z¾
˵
¿
yÃ
À
çØ Á
à(Â
s{Ã
ö¾Å
52Æ
çg
Ç
@–È
DÎ
É
=å Ê
¥YË
<ÕÌ
8ØÎ
ÌÏ
EÐ
£Ñ
}Ü
Ò
Ä:Ó
ºÔ
eîÕ
C
Ø
‹
Ù
¨Ú
O
Û
ƒ“ Ü
âBÝ
ðŠÞ
ħ
‚·
á
Ÿ) â
ýŽ
ã
‰rä
äe å
U
æ
>¥ç
˜ª
è
*Ø ê
#É
ë
Aþì
@-í
{Δ
6ï
ˆÁð
çt
ñ
Fó
bô
~ õ
±í ö
æ¡÷
Œ` ø
O
ù
�—ú
Ouü
Ó‚ý
ËYþ
Ç�ÿ
{À/� �X—‚›¶ƒÚ
†OŸ‡ÊS
ˆZ½ ‰ÎHŠ¼
‹ýT Œ6=�Á�d5
�,‘2½
’¨š“£Ó” •Ò]–Cž™˜š9À ›GÏœ•»�6žWDŸµ  ‹Ä
¡«‡ ¢²à£Íꤧ襖� ¦à§��¨ý¤©zª(^«Ào®6¯] °C
±ü¶²+“´>r µê) �/
·`Y¸ŸÑ ¹3¡ º±¼Çš
½ß6¾õ- ¿KÀXÀÂPæ õÉ
Ät(ÅëÆžÇ{ÓÈ™àÉAË‚#Ì›-ÍÚS
ή”ÏÊ
ÐüÑ Òß ÔDŸÕ­¶ÖØx
×{"ØB’
Ù‹Ÿ ÚÚÛ†>Ý°ÞÙ‹ß”à$ùáY¸âÖI
ã@ùäuçAdè'U韻êH ë€ ì)Hí fîGCï¥ ðEL ñù{òv4óËôøoõ¬Ú÷ÌÊø<ùùF1 ú§œû¦~üº*ýà…þ ˆ€2
�­î‚ x……c
†'k‡<Ñ ˆ¦Ÿ‰€Ô
Šñ‹6”ŒF×�@�Žã�”(�‘ç‘ús
’G6“¶£•¶F
–3‰
—¬&˜¶g™ÖÒš%E›o4œáy ž”eŸS q £RV
¤É¥èÚ
¦ƒI§ö
¨ › ©­¦ ªú” «ŸB¬gŒ
­|Ô
®Ùˆ
¯â
°ªÔ±ªM³¦ž´ Fµ×ИË
·êÂ
¸Ù@¹»+ºí„¼Ž½…Ÿ¾aeÁˆÌÂÕÃV#Ä1ù
Å)ÆË-ÇŒD
È2(É}Ý Êe˪ Ì}Íu¬Î&ßσ] Ñ~ÉÒ)5 Ó�× ÔŠÕ*òÖ»×õQؽ™Ú6æ
Û¯ÖܤDßçj àq ájÓ âe˜ ãžÓän·å<N æUçÚ% è•céR) ê7eë“sìbcíÁ´î;”ïÚ± ð7°ñ£Bô,,õõ’ö�g
÷å1 ø¥^ù*>ú0
û)ùüÆ ýOéþ\Ðÿáú€`
�Œ8
‚¤
ƒHÊ„³v
…†X †Ÿo‰„…Ši‹bŒ¼,�!@ŽÎÜ�lÆ�?<‘Ýø ’>Í“U@”þ‚•�š –n¨—¹š˜Ôƒ™\šƒ››# žP�Ÿ Ÿ  “œ¡×f¢2Þ£‚Ó
¤5ë
¥u0¦Ô1§¡T¨üF ©%
ª¢ô «Dð¬ð¦­' ®'« ¯÷_ °I]³¸´ïæµÅï
GO·”'¸¶1¹BÀ º¹»åp ¼°õ½7/¾ðé ¿x„À׫ ÁqmÂF‰ ÃÒî Ä%ßÅ…ÅƇ€ Ç:NÈe
Ëܦ Ì’À ÍvÓÎ8H Ï–»Ð*Ñ#Ò¦Ó„XÔOŒ ÕmQÖnß׈*Ø‹µÙ²ÐÚú˜
Û�§Ü½û ÝOÙÞVäßN¦àõqãnN äWåæêFçIé
èZ
éI+ ê#�ëÑ ì·ŠíÈî.õ
ï·ðûØñvæòK ólºô õóöw ÷“
ø˜ûîûüg[ý?%þºÝÿoÆ€mF�ð
‚?ƒY„]x †‡?_ˆb
‰ÝÏ ŠX­‹_8 Œ?�Â
Ž ¡�ŠX“6 ”s·•oå
–"Ñ—ßó˜oŠ ™aò šÃë œæF�¡ž%5Ÿ áA¡¤å ¢Âõ
¤Q¥ц ¦FB¨/©.# ªC«óù¬®¨¯‰"°JQ±´Š²²´ÓIµÄô ¡‘·G¸A㹑 º¦�¼*é½å%¾û® ¿eò ÀŸÁMÂ
Â'ÃGÄŠÇs+Èì_ Év…Êû
˸„ Ì ÄÔCÄ Õï7ÖÙÒ
×Oاd ÙXÚÊnÛHܯ:
ÝÞEß2?à0üáYãâòž ã)äŽÏå5%
æÜçòáè¥Dé?èêO2 ëAjìú
íNvîÐ ï_,
ðlbñcŸ òË×ó@® ô0®õ±jöF³ ÷L„ørÖ ù ‚
úf'ûÊ üª ýïmþu�ÿa?€ŒÉ �9s‚¨½ ƒ¡¢„¥—…"I†�Þ ‡ˆì�ƒ' ‘ÿW’› •vÄ
–Á —lM š©å
›$œ"�ZÊ ž†
Ÿ-Ü ™
¡žÇ ¢dP £Ü¤Á¥©Ã¦‰§ôƨ½Ù©Ëñ¬ô<­·Ä®Š ±Ãï ²�K³aI»ô¼¬{ ½,¾î;¿ÈÙÀK—Á¾—
Âb Ä«¦Å�U
Æz~Çî
ÈÆ ÊŽkËuIÌ¿ Í¡ÎKüÏ!Ñù Ò€‘ÓÖËÔÒ- ÕÊóÖ¼$×Ú ØáEÙ×cÚ·’Ûn5ÜNºÝZ¦ ÞBßD`àbXá`Çâ{3ä
÷å®
æ^zçuBè+°êoëäKìR¡îgn
ïçWð7 ñ˜
òšý ó" ô#U÷Æ
ø)¿ùNúIô ûÙ4ü’š
ýÝÆþdôÿñQ
€¨ö�­Ä‚ « …gæ †öø‡ô£Š¡h‹�ŒŒ¿¶�½¹�Ue‘œŠ”ÜF•Y;–<f™çš?›¾« žD‚Ÿ€% Eˆ£‚¤›ô¥v ¨ú·©| ªl­”P®ìŽ
¯÷™²iè³^ ´Ç·ê¯¸—ð¹Çe¼uK½ž€¾ÒšÁ3àÂ�Ã�¥
Æ�}Çt¡ÈÀßË1‚ÌqhÍêŒÐ Ñ6™ÒÚ®
ÕèÈÖ7Ë×$
Ú"× Û¤TÜ™kßRà~
ápDä,A åc° æ«%é<êø$ ë~²
îUVï¤Tð5{ùµ&ú‡Ú û@ü�ýöEþÃbÿ)L€
ç �•ˆ ‚·Sƒ‚‚
„qà…,
†0ý
‡€– ˆKð ‰<ìŠh�‹B
Œôš�ÎH Žg3 �ìB�*'
‘Ñ’“9ÿ”‘•èš–5² —᜘}ž ™‰ëšÒ.›ËòœÌÛ �i¤ž·q ŸŒÒ ¨|¡pf
¢¾�
£êÌ¤ç¾ ¥�ˆ¦Q_§™¨Öv ©®%ªaP«ÑÕ ¬¿º­÷Ï®#Ÿ¯uý°óx
±ϸ²©Œ³­ ´¾
µJ²°&·K¸¿- ¹Uyº�º»Ã¼Û·½ÇØ ¾"E ¿PÍÀs6Á&cÂ?Q
Ã" ÄØÅ5Í
ÆçÇ™îÈÙÖɵ÷ ÊÎy ËvwÌÝeχCИ¥ÑYž
Ò]ŒÓ`†ÔX8Õ [Ö|×ÐõØj¾Ùs€ÚH¹ÛÊ
Ü�Ý“6Þªdßè
ànáõ: âò ãJ ä‡fåÿæÒ-çIåè]éc�ê>.ë�
ìêÔí#}î¡ïCŸðÏœñ ò®óm% ôQÜ õʇ öšé ÷ 1øʺ ùý[
úO
ûhüáÉý“:þÔÿ/S €öL�'‚1 ƒ&Ë„œ……¯�
†/o‡Ôòˆú‰'< Š~½
‹ܯ Œ(G
�­ÂŽï¡�CY�ý!‘i’T
“¯!
”´¾•^\–Py—œ3 ˜šŸ
™ü{ šéÍ›ŠêœïÛ�L# žú‘ŸÎŽ =ë¡æ¢Ia ¥ïë ¦+ñ §ýQ ¨_©|ªŠM
«e_¬�"­®T®-I
¯¯g°[’±P²:é ³Ò« ´Iâ µ "â·ϧ ¸«‘¹këºP
»¦¿ ¼
c ¾^0¿ø ÀÁHŠ„ÄפÅj�
ÆŒ3 Ç7ýÈÀY Êؑ˸Š
ÌS`
Í‘iÎ"Ðß^ѲvÒ‘/Õ!  Öšp×}2Ú3‡Ûóê Ü )
ߟÃà#>á
é•cê…  ëüú ì’òí…¨î±ïµ1ð†ï ñ[¾òpóH ôuG
õÌöã:÷·¶øÚñ ù(âúOûU› ü¿ ýD¢þ¯ðÿof€þê�  ‚škƒ „Î
…a� †WÝ
‡ˆ° ˆJ9 ‰6Ç Šhi‹ï÷
ŒR–
�™ ŽÜž�΢’¼Û“Ï—”ð•É=
–×- —¶ñ ˜vw™%š ś˴œéW �!�ž3^Ÿ‡á ¢u¡÷¢Šu £ED¤K¢¥«¦þ"§“\¨FA
©û‰ªÛ
«—ά4r
­³ ®Rd
¯»3°„ر’(²"³Më ´ÓÔµXÁ×·JR
¸Љ¹ýMº'»bH ¾(ô ¿UÀ<
Áî—
Â�&ÃcÍ Ä\æÅ`ëÆ×sÇÑ‚È ·Év:ÊŠ&Ë1×ÌnÍG� ÎÀŸÏÄ ÐY€Ñ´cÒ›îÓh% ÔØ,ÕÊÖQ×
×5OØ)“Ùïz Ú1'Ûp]Ü’™Ýë‚Þ'�ß̵àoû á�B
âM ãåÊäRûå¥æ�£çE£êždë“Çì2w ío¥îëFïãÙð¸ ñ*
ò·óÂBôõÃaöåC ÷-3ø²
ùÆ7úßä û„)üÀ®
ýº2þÎSÿÐ{ €¯L �¼ë‚'rƒNÿ„ p‡ìŒˆ”O‰WŽ
Š2-‹Ÿî Œ§å�ÖÐŽ/u�ö2 �¼…‘Î
’< •:g
–˜¹ —ö~ ˜;
™àG
š 6›ź œ}ˆ �óž|* Ÿ:O ‡ä ©ó!ªx,
«”¬…¨­e‡®r' ¯¥^°{±’Ö
²
 ³ à ´kµ=±
8K·å¸Aj
¹Åº‡¹ »Ur¼ß› ½á>¾a¥¿
ÀêÝÁDÂ`ŒÃ™3Ä8�Åb\
Æ’-ÇX0ÈÓËÉ¡(ÊÞ Ë ¹ÌKHÍü1ÎèœÏ4§ ÐxE Ñ€ÙÒZnÓø1Ôv
ÕgU Ö‘¦×0¥Ø‰Ù{£Ú»C ÛuÆܤÝRÅÞÎËßo.
àhf áù¢âãéä7ÊåóæDÝçNòèôEécêIØëF ìž
íi»
îm²ï:ðê‹ó*�ôÐ?õ¬ öÜâ÷‰=ølbùü…ú »û,õüA7ýµAþqžÿàã €qþ�E
‚ê• ƒ<~ „�ß…Y4
†Y‡ˆˆã‰‹¼Š'ü‹;xŒˆ@
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
�mÎŽB"�é½�÷î‘äÃ’�z“: ”ÛP•o‹ –®¶—„ÿ˜™™H‘š
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
›U° œ—§
�ÿž];Ÿ©ë 
h ¡%Õ ¢¶¤£¨U¤ˆ¥MŽ
¦p§J†
¨ŠQ©lr ª`'«q= ¬k„­�Ç
®ƒ¯´Ú °ôJ±ac
²Õ
³ãÛ ´osµ?Åh·›S¸Ÿp ¹ɶº‚
½Û¹¾‚^¿HyÀ@†Á4|°âÃ,&ÄÕœÅ8F ÆbÛÇph Ȇ÷Éx† Ê«0
˨ÌÉ
Íl Î oÏãÖ Ð_Ò Ñê8Ò„Óbð Ôbñ
ÕaÖ ´ ×›¢ØyÇÙ5�
ÚÂÛ³ÜKTÝåÃÞg] ßç๼ áÀî â'†ã@µ äÁà åA#æªEç¦lè†^é{ ê�ëŽ
ìfí’î�Lï¥ð™!ñÜ òb&óf‚
ô õKí
ö¦x÷L›øÐüùÜ”ú¥Ä û+vü¼ÄýArþÊÑ
ÿ¿8
€m²�ñ‘ ‚1.ƒ²C„Ôô ‡“Ԉח
‰×ÅŠ
?‹�¾ŒóÒ�ne ŽØ"�áð�;{‘0ê ’c“"_”7ž•ÇL–O—¤I˜È ™)¬šá²›:eœ£J�s žDŸhÿ ƒ#¡âs¢C¬ £
Õ¤ ¥Z ¦QA §æÀ ¨z
©¡5ªûЫ’¬I
­w_®Ug
¯ú °K
±‹l²¡ø³À´Žfµ.Õ
M·£Ï ¸ÿ5¹^ûºÈÉ»À ¼u§
½¹× ¾g•¿`>À Á˜Â9çÃ7zı‚
ÅR� Æ",ÇÅSÈ_Ÿ ɼt
Ê»¹ËṈÔÍ%Ý Î’Ñ × ÒK½Ó£²Ô)ÌÕÂqÖ××ÃØ7lÙ­–
ÚQ[ÛíÜw
ßí_
àzVáÖÀâ‰Ùãð:ä5…åqæu ço1èéEË
êëzíÛ£îü›
ïk÷ðJñœ7òVuóEôÛCõ0öîù÷‰ˆø"ùûWêü¤Ì ý¦þ /ÿG:€¤õ�Ê´‚¸uƒ%ì
„î` …? †w�‰4Ú ŠtC
‹b¹ŒÎ�åV
Ž­ê�…�ý ‘ŠX’x“p·”öG•9 –Ý} —_i ˜†8™é
š¾…›~(œÓ–�Ê–žóÍŸA ÒÈ¡Am¢•
£ßû¤#·¥»w¦D §ÜA¨E ©>4 ª‹
«B:¬"�­[®KÂ ¯O0
°ïf±Y>²¥³.i ´ÏµÐv·f·W…
¸ # ¹¾Ó ºzü»4¹¼½½ï
¾)�¿%ÜÀ‹J Á Âè'ÃL·Ä•«Å�.ÆèyÇûzÈï^Éþ Ê„ZËMF
̯ÑÍFüÎ\`Ï€fÐÁ¯ Ñ(rÒ„Æ Óo?Ô�ËÕ«’Ö£Þ׆ÑØcÙ
”
ÚÝEÛ&ËÜÇÍÝ.“Þ”TßÑx
àÅáâ�8 ãËäe‘ åÙØèuÇé=– êR]ë&êìÿaíƒ
î—/ïÄN
ð3 ñ†Óò< ó!ô¨÷õþ
ödè÷ç0 øí"ùÓú’à
ûFäü·iýq‚ þaª ÿû€”�]^‚Žƒ
Ò„—
…->†-s‡$vˆý‰¦ŠT‹†ªŒt� lŽ¼]
�ím �ÁD
‘ ’j“ìÁ”q™•Jz –q~—Ù�˜ÞÀ™‰gš…C
›†Öœi;�þ†žš1ŸÒÑ  -4 ¡gC ¢óø £Oͤ÷r ¥X
¦¼ê
§/Ψ@‹ ©®~¬�¾­b8
®¢Ô ¯ï�°tg
±{�²qa³u. ´â‚
µ>Îþ·2¸œm
¹g ºeÂ»æ ¼±ð ½^m ¾Ð
¿Ï
ÀM| Ád¸
Âu0Ã
'Ä%ž¬ ÆZ¼ÇÃ9ÈmÉùhʃ/Ë£ïÌ{
Í"4În
Ϻо—
Ñ4ÒpSÓ�g Ôà7Õƒ2Ø™_Ùé™
Ú·§Û”Í
Ü„Ï Ý¸˜Þhpß8à©
ã}±ä.¼å¦¯æ�÷çjGè` éo™êê ëtìv5íFî´,ïÛð

ñ¡
òÏóA�ôfÝõÍá ö&2
÷6Ê ø” ùr´ú/ŒûÃ1
ü�V
ý> þpÿÔ€�#�¼v‚-
ƒ{½ „U…Õ? †…Y‡–yˆ ‰‰8ŠêÉ‹ä, ŒF�vŽí ��»
�´Û
‘þ½’®“^Ã
”ÁŒ•A!–Ôæ
—éé˜xŠ™–7šÇr›R
œ�8�m5žL
ŸòD
 “¡ü¢º‚ £ Z ¤œ¥-m¦-
§6f¨�©·ð
ª,Ì «iج4¿ ­}®»¯<Þ °(±û=
²ú¢ ³+Q´7‘µã
‰Ì·~ª¸Ÿ¹ ¹HºdØ»8¼éj½ñˆ ¾¦2¿}* ÂSÄ
Ãͯ
Ä{.Å!® ÆÐÿǨÜÈî¼É÷jÊùº Ë«ü̡͆ÎvžÏ4Æ ÐcÑlÒS@Ó¿<ÔáÕ¥Ü Ö´Ã×É�
ØôcÙÏ’Ú= Û ÜYWÝŸ™ Þø†ßˆ6
àÉ?á·* âóôã(&äH®å`æ3zç>{ è£ éŸzêG
ëȸìjŽ í© îê&ï—Ððd ñ{íòÞê
óP ô©¹õTbö•
÷¸÷ø„Ñ ù?gúë×û$ üç/ýÐCþ¤rÿ´u€F#
�Ÿâ
‚U>ƒwÞ †”G‡^ ˆ =‰áèŠϲ‹"Z Œ/0�ºgŽ¹6�ž– �D,‘\�’QF“ÞN”®¦•�ä–H—NT˜ß ™—
šPæ›xuœð
�á¨
žÊŸÜ9 `
¡I<¢™Ü£F¤”<¥b ¦õϧò  ¨¾_©,M ªÁ «å.¬:Y­P÷®$¯6`²tÔ ³JZ ´{Õµ
xŽE ·5Í ¸(ݹ'h ºÃ½êÄ ÚÅ”
Æ=W ǸáÈ^'É^™ ʬ¾Ë:“ÌVžÍpœÎßÏ
»ÐØN ÑX Ò¡ÓÓ1�
Ô 0ÕP
Ö8¤×aüØ”/ ÙÀÁÚ:ÄÝY4Þq3 ߶là²á_Eâ÷›ãýF ä%ÓåuJ æT{çµ’èk\ë”/ìl: í9î€V
ï©¿ ðÜñyZò
ïó9£ö2ù ú�~ýÞ
€ å�·ê ‚ž°ƒÌ„bª…¢Ìˆ‰r„Š¶*‹Ÿ¼Œu
�ì�ÄJ ‘Q/’{— “
þ”ž@ •_ÖŠ×
—øešTö›vƒœ5�r>ž>
ŸË3 Þ=¡“ ¤ᨠ¥�þ¦z§K
¨,“©FDª�­ÓÝ
°ƒ/±j‚ ²§ã
³Ô=´qiµ.¢â·†¸!¶¹Ú­º&*½bi¾®¿y,ÀîIÁÓÞÄmËÅl­Æ  Ç\ÈEÉ^Ê˃Ë’( Ìžƒ
ÍÍ
ÎY2
ÏW з• Óy’Ö-ú×N ؾëÙ{ž
Ú0dÛs¦ Ü ßêõâÕâãJû äŸ{唟è!þë¨Çì±#íJlðœ/óà ô±�õJ|øXgû{ü
"ýix€j6ƒ~³„ó…ã
ˆ›â ‹v'
Œ¼¾ �þúŽêw
‘��”™ •+I–"þ™§œ¬�ªmžáÅ Ÿï´ ¢FÙ¥z¦óX §t�¨Ò
«°ï®QŒ¯@Š
°k±»~
´Ã¼9
½Ç�¾ÂQ¿\QÀjÐÁ‡ê
ÂE;Ãë©Ä½u ÅË]Æ_ÈÇÖ'È­“ÉíúÊuÅË0ý̺_
Í2±ÎñóÏå¬ÐhÛ Ñå
Ò=úÓ ÔÁ€ ÕTöÖ’úØvÛ
Ù‰ÚÐè Û×Þ³4 ßµŠ àE” áFûâ Ô ãHä´ãåÄý æŠçÜ’èc
é=?êÂxë⦠ìZC í.ïæÎ ð×ñäRòz@ óªbô„èõ7öèK÷Ä� øÕ ùŽGúÉs
ûÀ
üBï
ý^þ‡˜ ÿ�ç€ ƒá� g ‚ 5±ƒ !v„ ÅO… ¸— † ˆ ‡ ±§ ˆ ‰ W^Š Q‡� „yŽ ï«� |€� û3‘ ¦‘’ ìµ “ $Ä ”  Ì
• Ã
– à— F˜ ÓÙ™ bóš UÝ› !œ �ó � ÌTž ¥/Ÿ n€   ²¡ Rø¢ ¦ù£ ^¹¤ M ¥ *H¦  õ§ ÌŒ¨ ˆM © %·ª Ä« õŸ¬ Š
­ »j ® �|
¯ ° T±
± .…² ûJ³ *¶ Ðê· pḠ÷{ ¹ L®º Ä» ƒ\
¼ ’1½ 9 ¾ ‹R¿ ý§À Ô_Á S¡Â º à ùÄ ìÅ ûÆ ¹ZÇ ÍÈ HZ É áóÊ WÍ
›Î ÓiÏ ¤[
Ð u@Ñ ÃdÒ vó Ó ê}Ô äÝÕ �ŽÖ ùý × ´‹Ø p!Ù bf Ú WÛ ÕfÜ NÝ dFÞ œµß ‘`à v; á  â  ã Ô ä ˜Wå §oæ B+ ç yè Oé ~ãê ï®ë 
ì î®í pNî »ñï d ð 4,
ñ 
ò b;ó Úô w}
õ ).ö j;÷ �ò ø »mù kæú ²#û ³w
ü Apý Ðûþ IÊÿ
s€!Ì«
�!
6 ‚!Éé…!Þ=†!Ì
‡!�yŠ!§ù‹!=×
Œ!ÇO�!»Ž!%ì �!0»’!
)“!VÒ”!;�•!Õ„–!Þ‹
—!B¬š!˜%
›!Uœ!¶) �!Œž!£¬Ÿ!,ߢ!Òµ£!/ ¤!Ì“§!_²¨!{©!|^¬!\ ­!¦¼®!V} ±!|Œ²!;+³!ñV´!®µ!R&¶!,B
·!̸!Ĺ!C)¼!Í'½!z¾!HyÀ!õÁÁ!ÿØÂ!yÃ!9gÄ!ºÛÅ!&ž Ç!AÈ!YZÉ! ( Ê!ŸÜË!i”Ì!¢þÍ!�zÎ!
Ï!{Ò!#?Ó!çïÔ!)³Õ!³ä
Ö!âž×!MzØ!­R Ù!FXÚ!lÎÛ!SQÜ!sžÝ!žyà!µ�á!jŒ
â!¬ãã!΃ä!Øå!ù?æ!ž+ç!�jè!_"é!Ûi
ê!°@ë!â­ì!™R
í!½^î!¢Dï!œ1 ð!˜¿ñ!œýò!eó!×Bô!%ãõ!;Gö!På÷!îø!›•ù!‰qú!!Áû!¦» ü!ØÑý! l þ!aK ÿ!\€"e �"ûÙ‚"(u ƒ" `„"à; …"ÝK
†"Í ‰"â?Š"2 ‹"¡eŒ"˜�">lŽ"†]�"ç‰�"qø‘"Ì’")“"ü¯”"••"0
–"íÄ—"� ˜"=Ú
™"Rfš"ñ• ›"
Ï œ"G™�"‰Ýž"‹~Ÿ"w¢ "ÛÛ¡"ÅÒ¢"Ñ’
£"“2 «"ý¯¬"ÿR­"¹Œ ®"n
¯"šÛ °"Å4±"ª²"sá³"•Å´"M�µ"W%¶"7è·"è�¸"8Œ
¹"âº"ÏÊ»"¼"´X½"$ø¾"h¥¿"�KÀ"ËÆÁ"ÎÂ"ÍžÃ"Ye Ä"‹6Å"¦Æ"ìÚ
Ç"(È"‡½
É"’DÊ"vË"}�Ì"( Í"ôkÎ")dÏ"ß6Ð"“Õ Ñ"ì×Ò"#2 Ó"Õ
Ô"· Õ"–«Ö"Ó$×"¦ê Ø"”ÖÙ"× Ú"œl Û"[çÜ"# Ý"öÕÞ"€âß"¾¶à"Ëá"É'â"6v
ã"æ�
ä"U|å"Q0 æ"Åúç"–Fè"p. é"%Xê"½ ë"‘{
ì" `
í"Ít î"�
ï"Çð"‰êñ"s ò"v
ó"BÏô"{Gõ"ú¼ö"?÷"Öšø"@ù"Î ú"ë
ý"è þ"—Ñ
ÿ"]�€#
d�#\H‚#¢%ƒ# 9
„#gõ
…#Âä†#½ç‡#¦kˆ#Ê ‰#¿R
Š# ‹#9•Œ#p&�#èÕŽ#; �#Ç�#Ë:‘#0A’#¦j“#8¸”#+
•#ÑÇ–#í]—#K™˜#}x
™#g š#r ›#pœ#T›�#;'ž#ÕpŸ#Àw #Ñí¡#i„ ¢#¯•£#<º¤#)Ç¥#Žd¦#' §#mà
¨#„, ©#÷̪#2 «#ö ¬#Ãä¯#Üΰ#Ò±#²#X� ³#!õ´#Ö’ µ# ]¶#ŽÄ·#/"¸#p ¹#"Cº#»#Öü ¼#‘j½#S ¾#î¿#›Œ
À#"
Á#aóÂ#ÿ� Ã#lQ
Ä#_
Å#¥b Æ#Q3Ç#KÛÈ#�¼É#¥Ê#µ
Ë#iÕÌ#yÍ#ŠÆÎ#«B Ï#€, Ð#órÑ#%³Ò#BÓ#«‹Ô#V¤ Õ#�Ö#Ú@×#¡Æ
Ø#mVÙ#?à Ú#2UÛ#¡äÜ#scÝ#ø
Þ#O4 ß#ÿà#½úá#ë
â#Fæã#=ñä#w°å#¦öæ#IO ç#;
è#væé#Zê#o¡ë##¬ ì#ßí#,�î#ªWï#k³ð#"jñ#&ò#õó#d>ô#@×õ#£å ö#<¡ ÷#ä
ø#Z
ù#BŸ
ú#Ýû#tíü#aóý#Cº þ#YK
�$K®
‚$Ü~ƒ$>5
„$À …$du†$óä
‡$L%ˆ$Ñí ‰$ÖnŠ$�ä
‹$Õ" Œ$Ƈ�$VŽ$®Ê�$W< �$«Ò‘$ÊÛ ’$, “$úX ”$HI•$Üy–$0
—$ÕИ$…,™$ç°š$&¶ ›$ˆ'œ$ÐI �$až$üv Ÿ$’Ä $W`¡$÷B ¢$ÝU£$7-¤$>&¥$½¦$%ñ§$È
¨$Ú8©$-Iª$÷™«$Ú¸¬$ à
­$ä<®$„a ¯$�U
°$ã)±$“�²$‡ ³$ÂØ
´$.µ$¯ï¶$öì ·$ñg¸$Ðâ ¹$È º${²»$¥k¼$
!½$fè¾$3G¿$%òÀ$|'Á$;¦ Â$7XÃ$îÄ$]T Å$µ
Æ$pÇ$R$È$¢ É$÷Ê$Ø$Ë$à†Ì$«Í$ ÌÎ$7ÛÏ$ùéÐ$¥g
Ó$Öµ Ô$Õ$¢Ö$¯û×$Ò+
Ø$ô
Ù$^žÚ$W Û$uBÜ$Î7Ý$¦ Þ$tNß$õëà$õ;á$¢�â$“™ã$ÝZä$�~å$gð
æ$ªvç$òÔ è$;“ é$Q[ ê$Môë$ÖBì$… í$ð î$%áï$Æ 
ð$+ ñ$ÿÿò$¿½
ó$I
ô$�d
õ$Ÿö$s+÷$Îgø$(Äù$[Gú$9û$½‰
ü$Âký$4Ì þ$ ÿ$<œ
€%¿Å�%]ñ‚%>Ã
…%5¼†%¶a‡%šˆ%€‰%ˆc Š%Œ ‹%r|Œ%¯Š�%ˆxŽ%Sv �%±I�%T
‘%µ6’%ÕX“%¤Á”%±À•%Ï…–%÷ —%eÚ˜%0ç™%<
š%‘›%³ã
œ%ïT�%¥ž%‰°
Ÿ%öC %nC¡%OÑ¢%ÿZ £%Ú™
¤%Ÿ@
¥%uŦ%¢ë§%“ö¨%Kí©%Þøª% «%D¬%´ø ­%;
®%u;
¯%ªù°%QÔ
±%b_
²%1a ³%~€´%´ ·%
E
¸%oZ¹%ßغ%à»%W÷¼%(ó½%“&
¾%ùj¿%*À%?Á%XÂ%bLÃ%ÒÞÄ%ãÅ%Up Æ%½�Ç%j¢ È%9� É%®!Ê%_Ë%�¢Ì%É~Í%¬Î%ÓñÏ%i# Ð%gt Ñ%ýÒ%ÙÕ
Ó%õ+
Ô%Ñ
Õ%aÖ%i®×%…
Ø%ðh
Ù%IÚ%‚¼Û%©mÜ%Zê Ý%aLÞ%Ìß%Ûhà%Æ÷á%ºÐ â%åÍã%u¢
ä%Ëå%²
æ%Ì:ç%D1è%>Vé%K8ê%ØD ë%%ì%êkí%®1î%:„ ï%ô� ð%æ¥ñ%·Ã ò%¦ó%Åô%éâõ%apö%Šã÷%ñ ø%H’ù%Ù1ú%¢Ùû%_Áü%{6ý%“Ãþ%Ùß ÿ% H €&Ql�&è
‚&‘ƒ&–+„&$…&ØĆ&0Ú ‡&ØÜ ˆ&ñ‰&¾U Š&úm‹&Œ&¾�&I Ž&U) �&͆�&Æ
‘&Iª’&þ “&Vf”&ø¸
•&¹Ý–&”þ™&³ãš&½O ›&p
œ&÷x�& ž&ç'Ÿ&># &ˆV¡&B¸¢&©Ä£&- ¤&“g ¥&h¦&`§&†¨&`Ä©& ª&Yû«&˜u
¬&så ­&”£®&á ¯&úW°&Q ±&Ç
²&ŠÔ³&?ì´&Ãhµ&©®
¶&쀷&œq¸&:¿¹&€x
º&½l»&þc¼&lì ½&Rþ&ã¿& ( À&úÓ
Á&C.Â&áîÃ&�ÄÄ&N´Å&>Ò
Æ&=Ý
Ç&NJÈ&ß@É&—&Ê&@ÑË&²sÎ&coÏ&ÄOÐ&
Ñ&{ÃÒ&O4 Ó&r
Ô&²hÕ&õêÖ&×&¯ºØ&œâÙ&°æÚ&—Ê
Û&iÖÜ&ŹÝ&)áÞ&€ß&dè
à&¶%á&Ûxâ&%›ã&t«ä&_³å&4Ýæ&£ç&žüè&ÑÔé&,Y ê&Ûë&àÓì&MŸ
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&~Mî&º ï&¢™
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
ð&à ñ&—” ò&_£ó&°W
ô&�´õ&"iö&é[÷&k^ø&-Å ù&Ôrú&û=
û&Y{ ü&Âý&)þ&‘$ ÿ&¿ñ €'¯: �'œÇ‚'Õ0ƒ'¢‹ „'"l…'!÷ˆ'æ ‰'?C
Š'«b‹'0 Œ'G|�'z`Ž'-Ò �'Ó„�'Š ‘'"Ý’'Mã“'CG
”'~•'²M–'Ú%—'u^
˜'�Ú
™'%³ š':n›',œ'�< �'q‡ž'¸ÝŸ'Gœ  'D¡'ôê¢'Æ¿£'·¤'&¸¥'q%¦'!U§'ö¨'æl ©'V ª'¹¢
«'}"¬'m0­'”®'Kw
¯';4°'B±'~s²'S¥³'Çc´'Ö µ'Q<¶'œ°·'À~¸'@Ú¹'­a
º'Pš »'±½¼'º½'é)
¾'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
¿'¡k Â';KÃ'N�Ä'øÇ Å'³íÆ'Íe
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
Ç'
³È'{ É'ߺÊ'ùË'5K Ì'ç
Í'’ùÎ'jÏ'k Ð' CÑ'Ÿ› Ò'úÔÓ'B
Ô'0BÕ'îÖ'+Š×'rc
Ø'Z Ù'é}Ú'¡ŠÛ'49Ü'b× Ý'|(Þ'Á
ß'4Êà'Šëá'
â'ÞFã'ä'¬¸å'cæ'Lž ç'|è' Šé' ê'< ë'ô¿
ì'~í'z�î'Ýß
ï'7Œ ð'½=ñ' Qù'Õú'¿Øû'‰¥ü'×ý'Š>þ'Ã;ÿ'!Q €(?�(L% „(
È
…(™†(8" ‡(T ˆ(…ý ‰(WÊ(#�‹(†3Œ(ö7 �(;Û�(b‘(ú¿’()o“(﨔(:™ •(÷–(ÎÛ—(³c˜(qÍ™(Ãhš(?@›(?^œ(˜þ�(º ž(Éñ Ÿ(Æ� (�æ¡(ξ ¢(}! £(åÉ
¤(ƒl ¥(FŸ¦(í©§(�
¨(ÅG ©(Í
ª(f`«(ãÖ¬(ÜÞ­(œ¶®(‘¯(´ °("±(b;²(iæ³(  ´(¼µ( ¶(Í·([ʸ(|]¹(ߌ º(ÿ¯
»(!$¼(>w½(Z­¾(…Ž ¿(‘À(£yÁ(þ;Â(%âÃ(á?Ä(í¯Å(IèÆ(õ Ç(YâÈ(Ô÷
É(ÃÎÊ(Œt
Ë(È) Ì(ö2 Í(ºó Î(sÏ(oó Ð(³
Ñ(n‹Ò(ªÈ
Ó(‘fÔ(¨‰Õ(ó’Ö(81×(‡Ø(XµÙ(ˆí Ú(aî
Û(NzÜ(N Ý(ˆàÞ(:ß(üHà(–ú
á( â(K¾ã(uMä(4Ö å(žæ(ÒJç(#aè(C@ é(J�ê(Äø
ë(
ì(c” í(ŸÅ î(vÇñ(*•ò(S÷ó(õÒ
ô(µ×
õ(Z“
ö(ªŽ÷($Sø(Lù(Ny ú(Sû(í¶
ü(…æý(LÉþ(<ÿ($Ó €)2{�)QÛ
‚)¤–ƒ)–
„)¼^…)“
†)¥Ó ‡)¿þ
ˆ)•A‰)ð.Š)œZ‹)Z Œ)D �)éÍ Ž)©· �) ½�) (‘)Û2’)M
“)éõ”)“ •)ÉE–)å½—)£M ˜)® ™)¯…š)ù›)\Ÿœ)µd
�)Å%ž)z»Ÿ)¸l )Pˆ¡)ž¼ ¢)¦1£)•C ¤)S
¥)@ý¦)Ag§)$ ¨)üΩ) ¢ª)Ü «)‘ó¬)w­)ÔT®)Øý¯)˜ï °)ä´±)šÀ²)IZ³)%¶ ´)%
µ)|W¶)6³·)Ío¸)ãǹ)š º)­n»)ÐŽ¼)ÿ ½)5¾)5M ¿)F'À)7ÿÁ)rþÂ)*5 Ã)•S
Ä)?±Å)â Æ)�©Ç)úwÈ)$� É)Ö¯Ê)Ñ7
Ë)R· Ì)’
Í)9À
Î)ÇÏ)óÞ
Ð)ŽuÓ)-)Ô)²É Õ)�ÖÖ)�Ð×)BBØ)ʧÙ).pÚ)¸ç Û)+†Ü)1‹Ý).eÞ)‘@ß)Ápà)È
á)
Ù
â)÷
ã)kˆä)ì•å)¾Ì æ), ç)·} è) i
é)7Nê)ÝDë)Qì)¼í í)™ î)²ï)zð)¾íñ)Qò)¶•ó)éÕô)�
õ) ö)Þ
÷)$^ø)µ}ù)�´ ú)Ôvû)ZCü)Ùp ý)(x þ)œ ÿ)!Ë€*ðÏ�*ãÓ‚*ù‰ƒ*¯à „*Äö…*O†*Ï̇*–ƈ*ù ‰*xCŠ*Ý—‹*-ÀŒ*h;�*gŽ*~r�*ùq �*¼¹‘*Ç’*`“*mv”*çÇ
•*œ} –*XD—*-
˜*¼Å™*K š*14›*EŒœ*’-�*ë#ž*0ÛŸ*uù *ij¡**7¢*"¿£*{
¤*{H ¥*'…¦*lÓ §*ß3¨*O©*Âyª*£¥
«*9p¬*»?­* Ý®*­�¯*U'°*:Õ±*H²*C‘ µ*!¶¶*z¾
·*ì
¸*ùI
¹*ÉR º*p�»*Ÿö ¼*©˜ ½*.u¾*sš
¿*à$
À*‚D
Á*CÂ*%¦Ã*
Ä*äÅ*¼ýÆ*�ÇÇ*?CÈ*ĉÉ*¬¡Ê*•$Ë*8$Ì*þÊÍ*2ÒÎ*ØiÏ*§/Ð*FƒÑ*ÐÒ*ådÓ*zà Ô*†¬Õ*DöÖ*»Û×*«Ø*É•Ù*’EÚ*$^Û*ó›Ü*µC Ý*LZ
Þ*0 ß*¾Cà*4æ á*¿ â*¤¯ ã*Ñü ä*Ë: å*Qšæ*ëøç*ÔF
è*ÖMé*µ“ê*ø^ë*Žì*Àší*¿øî*¿ï*WEð*Ojñ*<ò*è•ó*÷7
ô*4N õ*Òƒö*×I÷*•“ø*í+ù*\ªú*²û*—3ü*¥]ý*ø«þ*ïáÿ*(¾€+X®�+XJ‚+»›
ƒ+ŸT
„+™á …+Ví †+‡+�ëˆ+­ ‰+gŠ+
ˆ ‹+þŒ+
t�+ ,Ž+P�+ç¤�+Ú|
‘+hà ’+6§“+‰ƒ ”+ÿ÷ —+8E˜+¢" ™+p/š+6é›+v¡œ+ ö�+¹œž+'C Ÿ+TŒ +Ê¡+<¢+Jq£+q  ¤+;d ¥+±? ¦+â=
§+”ã¨+Ú
©+kñª+Kƒ «+‚+ ¬+�„­+Ú†
®+tž¯+¢+°+íP
±+Eï²+̳+’Í´+›Hµ+î.¶+o
·+‘^ ¸+cý¹+a; º+Š�»+ô¼+× ½+Úõ ¾+¼º¿+ Ë À+Ú¢Á+þ] Â+”¿Ã+ˆÄ+ïFÅ+ûÀ
Æ+5ÙÇ+“jÈ+шÉ+Ú“ Ê+¸Ë+šNÌ+&P Í+³»Î+3pÏ+_BÐ+eÙ Ñ+3Ò+ÂÓ+l Ô+Ê( Õ+TÖ+÷s×+8÷ Ø+G Ù+ØbÚ+/
Û+λÜ+ß^Ý+tì
Þ+zpß+¾]à+» á+L3â+�B ã+Û} ä+Þð å+Û¸æ+þG
ç+æè+dúé+²g
ê+"ë+6Åì+ã;í+£œ î+Î#ï+¯Eð+š�ñ+ÇUò+\Kó+n ô+0.õ+@ö+dÇù+Ϫú+�Hû+æGü+Jý+¿�þ+¨úÿ+5ÿ€,ý"�,ÁÙ ‚,rô ƒ,›¿„,§P…,BX †,;E‡,è' ˆ,2÷ ‰,_âŠ,£á
‹,E8Œ,ŸÞ�,šÑŽ,Ð=�,`�,Z³‘,Ü‘’,:‹“,kn”,´-•,a'–,’W
—,ä˜,d1
™,@rš,7$›,ùœ,&"�,!ž,z"Ÿ,²£
 ,9… ¡,Eó¢,Â\
£,�u¤,¥,´¦,�§,r¨,­Ë©,ôãª,A«,«‘¬,æ­,4e®,ÜP ¯,)ø °,+±,4ç²,›ç³,üö´,ðXµ,F 
¶,hR ·,k?¸,µ‰¹,¬ º,°»,Öˆ ¼,á ½,ÖÃ
¾,]ˆ¿,¿±
À,œÁ,¤ñ Â,õ~Ã,ªÑÄ,DàÅ,x Æ,“Ç,ÖÈ,xfÉ,€X
Ê,àPË,ø(Ì,¹
Í, OÎ,‡9Ï, *Ð,Ÿa Ñ,¿¾Ò,#ƒÓ,� Ô,ó
Õ,ÀÖ,#××,Q‹Ø,žšÛ,UCÜ,ÁÆÝ,ÉÞ,©÷ß,RTà,èá,ÿ£ â,êåã,¬è ä,¨Q å,T€æ,°ç,^ï è,’é,{Ž
ê,Ò¡ë,f˜ì,‰í,9î, %ï,*Þ ð,¶áñ,Å·ò,›®ó,Aóô,ý
õ,—Šö,Æ#÷,Ñ×ø,¥aù,X+ú,¼gû,Åü,ïæ ý,×¾ þ,
8ÿ,ñ2€-YŒ�-‘‚-GLƒ-7L„-¹u…-Q †-(k‡-O. ˆ-Ô‰-ü9Š-¼ß‹-i4Œ-�-–Ž-W¥�-ÒÍ�-\S‘-H’-Ï•“-+
”-•-Ž¶–-ÙÕ —-öF ˜-ô¸ ™- Dš-�D›-……
œ-þ@ �-HV ž-¬
Ÿ-'× -˜›¡-N#¢-” £-—º¤--Ï ¥-øE¦-³§-Ô¨-Eà©-—…ª-Ý&«-ƒc¬- ­-î®-•(¯-í°-Z±-Íä
²-z
³-:~´-6µ-³¶-*‹ ·-¸-+­¹-J²º-·Ü½-ɾ-"[
¿-Y² À-ú
Á-ï� Â-Ã-9Ñ Ä-þ9 Å-(æÆ-~n
Ç-¼Ï È-É-âÊ-, Ë-K{Ì-
·Í-(£Î-¿Ç
Ï-9[Ð-úàÑ-qÒ-—Ó-ÚtÔ- Þ
Õ-�ü
Ö-Ÿ×-¦ŽØ-(YÙ-“TÚ-üfÛ-rÃÜ-ÞzÝ-Ð(Þ-9Û
ß-sÞ
à-Ý�á-9,â-x/ã-ëÐ ä->/å-ã+ æ-½¸ç-ñ¹è-±Ô
é-�Íê-á�ë-Çì-–è
í-Nœ î-íï-x( ð-îŒñ-‘aò-‚dó- ¦ô-Pjõ-ú`ö-(û÷-ø-–tù-h0
ú-éaû-ëã ü-Ö)ý-Aúþ-9Wÿ-†<
€.d�.T‚.P†ƒ.4„.qe….ù†.赇.Qmˆ.�_ ‰.͵
Š.‹‹.§õŒ.4[ �.úœ Ž.k
�.V
�.m ‘.3÷’.Ïú“.;
”.‰l•.b÷–.Rv
—.Œ–˜.t™..� š.š ›.Ãö
œ.0× Ÿ. ÿ  .½T¡.m‚¢.­‹
£.(¤.èL ¥..õ¦.ƒA§.c•ª.‡«.<&¬.‡è
´.〠µ.«¿¶.†r ·.߸.¡Ÿ
¹.5� º.ö».
-¼.׎.™¾.-ä ¿.Ç9À.Nò Á.3òÂ.à}Ã.gÄ.ÂÅ.ÎÆ.áÇ.»'È.{ÚÉ.‰Ê.y¹Ë.5Ì.M™ Í. Î.’E Ï.ošÐ.u—
Ñ."�Ò.NÓ.´
Ô.¤ Õ.WçÖ.À×.ÿÙ Ø.Ù.ÖÚ.ÉKÛ.TlÜ.� Ý.(3Þ.FÑß.Þà.´yá.¡×â./~ã.Ÿä.¬6
å.Žæ.i|ç.ÄB è.à¦é.}Žê.FBë.s ì.fŸí.¡îî.Öï.â
ð.ñ¨ ñ.™Áò.kà õ.Ù/ö.@#÷.ƒø.'M
ù.Φú.؃û.ÉEü.U_ý.Aþ.gä
ÿ.Þ
€/VY�/µˆ ‚/(8ƒ/aC„/«¡…/T§†/ç‰
‡/¹{ ˆ/┉/öqŠ/n”‹/¢Æ
Œ/^¥�/<Ž/¼�/Û �/õ&‘/t’/E9“/R´”/£n •/Ræ ˜/Àw™/2š/«V›/Vs œ/"Ž�/XØ ž/þ�Ÿ/(  /HÓ £/e¤/ÎÁ
¥/wò¦/Oq§/{f¨/;©/`Yª/j*«/¨ó¬/¿P
­/à®/8‚ ¯/fL°/!ö ±/
²/¨J³/ó‡´/”µ/4µ¶/ÀÞ·/žs ¸/ ¾¹/Œ
º/TÉ
»/øм/Úr½/ü»¾/\>¿/ ›
À/å›
Á/ó¬ Ä/Œ?Å/ZÄ Æ/L^Ç/Ã�È/ÿ³É/ƒlÊ/5žË/ÚÌ/û¢Í/R Î/~ìÏ/
eÐ/Ë~Ñ/$°
Ò/ù?Õ/\Ö/¤0×/$kØ/óšÙ/§Ú/íµÛ/ýv
Ü/f]Ý/ˆ÷ Þ/'(ß/Ý� à/½©á/ƒ×â/k›ã/´ æ/ýnç/—dè/;é/ºê/ó4
ë/)�ì/ƒí/Aî/ 5
ï/uÈ
ð/í( ñ/» ò/fLó/ýô/p?õ/£›ö/’U÷/&üø/xù/'²ú/xúû/м
ü/±º ý/Vkþ/žÞÿ/¢
€0%�0‚ׂ0´²ƒ0�â
„0;É
…0¶ú†0,¹‡0ÞAˆ0†Õ‰0‹çŠ0·ö‹0p½Œ0<�0,ÝŽ0œs
�0Ç�0âU‘0ë ’0íN“0e(”0< •0°�–0Ç
—0S˜0lt›0Ÿ† œ0!ø�0X�ž0‹<Ÿ0j
 0n¡0ÛW ¢0_ £01%¤0
¥0o¦0ÒC§0˜]¨0¤4 ©0ŠÝª0«0Æ:¬0/÷­0âZ®0ô� ¯0¨P°0™ ±0»É²0¦6³0ª ´0Ì‹µ0¬ÿ¸0�ð ¹0ø"
º0 k½0k¾0Å¿0„Á
Â0žgÃ0¬dÄ0kÌ0|`Í0³9Î0Ñ0
¸Ò0Ó0Û+
Ô0ùm
Õ0éÿÖ0 ^Ù0€ Ú0üËÛ0°'Þ0Sù ß0E›à0‡ƒá0sàâ0%ºã0¡úä0µºå0°·æ0}Ñ é0Æñê0¿ë06+ó0>×
ö0…Æ÷0“žø0…Ùù0‰›ú0eÄû0*
ý0á 
þ0ÀQÿ0 £�1²L ‚1[†ƒ1Ùò …1¥ö†1‡Â‡1s‰1“™Š1„6 ‹18Œ1EÎ�1Rà �1ºŽ�1縑1þæ”1?y•1€O–1N÷
˜1w
™1Kwš18±
›1§úœ1ßÅ�1³Ï
Ÿ1¬ž
 1¡1m¼¢1[5£1v“¤1©=
¥1_–¦1JH§1¶ƒ©1Z&ª1„›«1xÖ®1Ù ¯1²s°1?š±1§R²1=
³1„´1Eµ1èÓ¶1˜½·1hµ ¸1¡´¹1œïº1\b »1Ç7 ¼1Ù ½1
¾1ËŸ
¿1r( Á1-ß Â1@6Ã1zIÅ1Ï¥Æ1‡òÇ1›¾É1¿ÐÊ1
�Ë1öyÍ1sb Î1ébÏ1d´
Ð1Â]
Ñ1ÂWÒ1û Ó1lÑ Ô1vÄÕ1øÖ1sS×1¹Ø1YlÚ1( Û1$ Ü1DÜß1«z à1ÇÉá1}
â1óñ ã1A ä1/ˆ
å1—.æ1Aƒç1v è1±äé1±jê1MÕë1:…ì1ßí1ù
î1_éï1¤ ð1­Cò1N4ó1Dúô1ùø
õ1¢§ö1©v ÷1D0 ù1’†
ú1SÀû1Ñ þ138ÿ1#™ €2è?�2×( ‚2ž• ƒ24û„2JÚ
…2
†2<­
‡2g} ˆ2pÖ‰28N
Š2è'‹2lîŒ2qn
�2ÍŽ2-
�2¦–‘2Ë
’2šK“2­•2xã –2˜†—2�™2Z|š2ó5›2.bœ2z£ �2ï0ž2yî 2ß4¡2ñf
¢24ô£2¦—
¤2_;¥2¾n ¦2K§2ö ¨2JI ª2П «2׬2Å!®2
ý ¯2¥°2ª) ³2Aë ´2èµ2'¶2õ¯ ·2¬�
¸2*› º2³z»2>×¼23 ½2^/
¾2n ¿2BãÁ2<`
Â2“î Ã27 Ä2|™Å2+¨ Æ21‰
È2¦
É2ÁeÊ2UWË2æÊÌ2l•Í2Fá Î2ž6 Ï2ýË Ð2 ÍÓ2¬ËÔ2A¶ Õ2Áï
Ö2ð ×2HA Ø2°¯Ù2äJÚ2ÃõÛ2ÜÜ2†ð Ý2Ô¡Þ2¶ü ß2¥¢ à2ý á2©
â2cB
ã2÷Æ ä2Óùæ2šyç2LØ è2èç ê23!ë2äÃì2G
î2‹íï2æ ð2{Õñ2/xò2¶bó2£^
õ2�¤ö2öh ÷2psø2¬ù2Æú2Õèû2ü2¥! ý2qTÿ2±€3$Ò�3�z„3¯Y…3A(†3�^‡3– ˆ3bo‰3ñ Š3§D Œ3»5 �3ÓæŽ3���3‡ÿ�3LÁ
‘3ôõ“3›”3©E•3‰ñ—35�˜3nv™3öpœ3Gý�3ìôž3†!Ÿ3/Ÿ 3 ]
¡3“L
¢3R£3¤3Ës
¥3ã
¦3ƒÊ§3»�¨3Ú?©3uª3˜©«3ëç ¬3ßï
­3~Õ®3×€¯3±«°3±3v§ ²3h¸³3}& ´3‰çµ3Y
¶3˜Õ·3å}¸3� ¹3'Vº3ð»3t¼3.}½3w¾3ÏÚ¿3úÀ34Á3úÂ38ÀÃ3‹Ä3ƒ
Å3tgÆ3P� Ç3g»È3̨Ë3ƒŽÌ3zóÍ3yµ
Î3#=Ï3ê™Ð3
ÑÑ3õæÒ3þÓ3aîÔ3>7Õ3DKÖ3z×3¸)Ø3xÙ3ÚJÚ3EßÛ3g!Ü3Õk Ý3 ‰ Þ3-ãß3³ˆà3ã á3öDâ3È™ã3„„
ä3ùå3ÉÊæ3{1ç3—±è3žþé3¦ºê3% ë30 ì3üËí3lÞ î3+>ï3| ð37ñ3*ëò3e5 ó3ÔTô3öˆ÷3ÿp ø3Äþù3/¾ ú3n û3°µü3œ‡ý3Û½ þ3I( ÿ3£€4†
�4¯á‚4÷̓4Ù°„4~Œ…4aü
†4êT‡4-Kˆ4ú ‰4ÎøŠ4· ‹4�5Œ4š�4-jŽ4jN�4ÚS�4«‘4ð~’45ö “4 Ô”4涕4b
–4„"
—4_â ˜42ð ™4û2š46t›4ÅÞœ4¥Ã
�4Dž4ÅTŸ4À� 4)Ì
¡4ýN¢4_ö£4:l¤4ÅM¥4È‹ ¦4k©4Ä
ª4$ù «4":¬4ç» ­4E¯®4ä¯4k °4*Z±4C²4Û
³4K´4:c µ4ëO¶4£3·4$’¸4Ñö¹4åº47û4)›¼4¶¨½4µ÷¾4ùï¿4M
À4í Á4
�Â4UÁÃ410 Ä4Ý… Å4ûpÆ4d-Ç4íïÈ4õñ
É4ÌùÊ4ïË4;²Ì4u­ Í41äÎ4P/ Ï4®=Ð4ÁæÑ4Õ²Ò43Ó4ÁyÔ4)nÕ41‘
Ø4rÝÙ4S
Ú4èõÛ4î€Ü4)ÁÝ4¿Þ4^ ß4*à4çE
á4×lâ4ðì ã4£h
ä4_'
å409æ4D‰ç4\ è4ùKé4|¥ê4Å{
ë4½ì4Vxí4(î4ùt ï4€¸ð4®Wñ41&ò4ÉÍ ó4›„
ô4r×õ4 –ö4>‹÷4G/ø4ì ù4¸£ú4ä”û4£%ü4é¶ ý4(o þ4÷Ñÿ4Ä¢€5•ò�5¸|
‚5ìäƒ5ÛN„5<…5r †5ú,
‡5{–Š5G6‹5&VŒ5ýÖ �5Ú| Ž5Ù[�5æü�5…o‘5Œe’5ÅÉ“5Ùk”5ˆ•5óå–5V* —5Ž
˜5}™5KÎ š5F
›5ù”œ5%~ �5Åûž5” Ÿ5ÿ
 5ª¦¡5 ' ¢5îÈ£5% ¤5ï;¥5Û¦5æc§5øj¨5;©5DŪ5ñ««5‰M ¬5ØD
­5@_
®53:¯5F
°5O ±5DZ²5‘Œ³5‚õ´5…«µ5ˆ
¶5§Ç·5dv ¸5rÒ ¹5?E
¼5‰_ ½5-$ ¾5Þ<
¿5ÿ À5RÎÁ5�`
Â5°Ã54ÈÄ5ü‚Å5ŒDÆ5éFÇ5CÈ5
íÉ5�ª Ê5ÈË5«‘Ì5!YÍ5…÷
Î5�äÏ5ZÐ5’ Ñ5:
Ò57
Ó5/EÔ5´é Õ5½ìÖ5Øy×5¿iØ5(‚
Ù5·QÚ5miÛ5€í Ü5­àÝ5KiÞ5@ß5T; à5Ç} á5/Kâ58Õã5µÙ ä5…¯å58jæ5vÚ
ç5Ù‡ è5Ð% ë5hø ì5L²í5EÃî5k¬ ï5� ð5eßñ5³L
ò5¨}
ó5ô5~ýõ5í/ö5
=÷5w ø5KÞù5G^ ú5R7û5­¦ ü5{ý5×Úþ5Hõÿ5¨Œ€6ié �6«i‚6µXƒ6IÜ „61
…6ëI†6�ý‡6¥ˆ6lj6§Š6Pf ‹64
Œ6ß �6* Ž6±�6Ÿ�6û‘6zZ’6\v“6ð^
”6@ª•6‘r–6
&—6Õ™š6ú¿›6ç~œ6ÛÈ�6Ñbž6fƒŸ6[– 6Ö¡6jo
¢6‘¿£6à ¤6›?¥6¥ï
¦6×s §6á ¨6Ž «6?h¬6·g­6\U®6? ¯60°6ü5±6hµ²68Ý ³6GU ´6ºeµ6^J¶6²s·6.L ¸6¨Ð¹6€…¼6LB
½6e¿¾6¸á¿6òËÀ6íQÁ6¤½Â6�Ã6óÒ
Ä6Ý Ç6õ!
È6âßÉ6�“Ê65ÑË60§ Ì6˜I Í6Ç
Î6#®Ï6{Ò6Á«Ó6ÈYÔ6‘JÕ6�GÖ6Á ×6¶°Ù6„ÓÚ6M¢Û6}Ú
Ý6r1 Þ6æwß6¶zá6Êfâ6½€ã6ļå6²…æ6æHç6¸Õê6ŒHë6Ñì6Äží6Q? î6�Æï6}¡ð6Í>ñ6
iò6¢‰
ó6(åô6Ì÷ õ6DIö6¨“
÷6žˆø6&: ù6f? ú6o û6ùþý6™˜þ6hÿ6j©€7€2�7&Ž‚7Â&„7.
…7gï†7¬ˆ7׉7sŠ7v�7¯
Ž7Í
�7èý
�7}‘7Å� ’7F“7Þ”7¡@ •7©—7+Z˜7
’
™7`š7±›7¸œ7“/�7Séž7oß7„}  7ÇÞ¡7Øà ¢7ä7Rª
¥737
¦7Ò¾¨7Uw©7)ÿ ª77š«7*õ¬7ø”­7ÔDµ7í
¶7‘ ·7P¸7„ù
¹7óç
º7÷4»7€
¼7QŠ½7ݾ7¦ƒ¿7¾Q
À7� Á7€ Â7ÇòÃ7v0Ä7‚DÅ7ÞmÆ7E6 Ç7ä†È7¦GÉ7�§ Ê7yË7¤¿Ì7� Í7’�Î7raÏ7CÐ7€Ñ7dQ Ò7™áÓ7×Ô7¤ÚÕ7‚�Ö7ð×7=‘Ø7Û
Ù7/ÛÚ7œpÛ78‹
Ü7¾œ
Ý7p?
Þ7$á7nöâ7‰9ã7ë2ä7~Y å7ºáæ7ÇYç7>cè7. é7‚±
ê7VÎ
ë7¤ì7Ôw
ï7hÕ
ð7·,ñ7'•ò7I¡ó7ö]ô7)õ7Ãåö75j÷7óø7:l
ù7À ú7nÞû79¶ ü7óˆý7&½þ7Oºÿ7Ø&€8…�8>ð‚8§6ƒ8¥m†8ø~
‡8úŒ ˆ8£à‰8⊠Š8ô¦‹8o
Œ8Ds �8¨Ž8öI �80e�8Ê< ‘8Í¿
”8�Y•8
€–8òÅ™8” š8øk›8:vœ8JÚ�8¥âž8lŸ8ê" 8Ž”¡8+ÿ
¢8)c£8y" ¤8Uô
¥8hv¦8s< §8*`
¨8îï ©8eSª8ÃÑ«8ç¬8ßL­8^ý®8Ó‰¯8а8Õ ±8š‚²8á
³8 ä´8œ|µ8
R¶8’I·8Eظ8ݹ8Í�º83¾»8±}¼897½8
T¾8ýó¿8¬ÝÀ8GÐ
Á8%.Â8µÖÃ8¨EÄ8" Å8ÌÈÆ81»Ç8ÏòÊ8
Ë8i Ì89Ï8‹¦Ð8$-Ñ8-Æ Ô8îŸÕ8]�Ö8åP Ù8¬.Ú8~¬ Û8ŸÍ Þ8©Èß8Q¢à8ÓA
ã8§Oä8¼9å8oG è8Àóé8_‰ê8äÏô8v�õ8çö8QÂ÷8\- ø8O¾ û8¶Éü8b¼ý8Eþ8Ä<ÿ8}Û€9QQ�9ç‚9¦. ƒ9Y±†9E�‡9£,ˆ9ä
‰9�ߊ9ï‹9Pé
Œ9wP�9ZeŽ9ºë�9ür�9�ë ‘9_ ’9‡’“9; ”9*––9³-
—9É
˜9†T™9*4š9½Í›9Åœ9¿Ø�9w» ž9lŸ9› 9-¡9H•
¢9i@ £9q¤¤9Uî¦9°M§9R+¨9o­
©9¿« ª9°«9ÂK¬9HÈ­9«
®9Ûί9þb°9bª±9Ýܳ9ñ| ´9Únµ9Ž\ ¶9Ë·9CÙ
¸9É
º9V?»9qö¼9ö¸½99¶¾9jT¿9À§
Ã9yÃÄ9O™
Å9´îÆ9A
Ç9ÒT
È9«éÉ96
Ê9ZÚË9çB Ì9Í9wÐ9qD
Ñ9ÆòÒ9�;Ó9F
Ô9TgÕ9ö€Ö9dà×9¤!Ø9„ Ù9[ Ú9¥Q Ý9¾”Þ9Õß9uUà9²á9·•â9º"ã9‚
ä9Õ å9—,æ9güç9„²ê9À ë9î
ì9óÏ í9²ãî9†Ûï9‰=ð9,Hñ9éò9óó9P�÷9ßðø9¨¦ù9û»
ú9S—û9Õ›þ9 ÿ9—J €:,9 �:7…‚:Mò…:wo†:Ÿ‡:Jòˆ:{ñ‰:Å>
Š:ªÊ ‹:mÀŽ:&´�:??�:Q3‘:”’:`[“:48
–:ðâ—:W» ˜: Ä™:#£š:!Z›:
ž:Ç+ Ÿ:aö  :©ó£:wí¤:®ê¥:� ¨:gë
©:¬ª:¶É­:ô‹®:¿¯:“Š²:³:Ž´:Ñ- µ:÷€ ¶:^=·:´Ö¸:¯ò »:¶W
¼:ô½:5å ¾:Fw¿:ò À:j7Ã:Ë0 Ä:­
Å:*Æ:ãUÇ:ØÉ:*]Ê:ò Ë:k Ì:™yÍ:0D Î:E
Ð:< Ñ:g£Ò:ú¶Ó:fá Ô:»
Õ:›îÖ:D,×:Ó�Ø:�îÙ:Ä Û:f¡ Ü:”�Ý:Ì[Þ:úß:¸Ià:ÐGá:Îâ:Mã:Sï ä:"å:ÕÙ
ç:Üt è:Ìé:Zö ê:x]
ë:‡À
ì:%¬ í:Œî:
vï::¬
ñ:ï ò:Wó:rø
ô:(Ž
õ: dö:’_÷:²Âø:Nzù:ü:·âý:
þ:b^ÿ:Ž €;b �;¦ ‚;^kƒ;ûè„;û*…;
Å ‡;ö„ˆ;%9
‰;ßÁŠ;%‚‹;ߌ;?í�;Í7 Ž;ø�;‰¢�;[5‘;h›“;º‰”;xI•;
í–;»t —;¹I˜;åf™;SD š;âà›;6í�;Cáž;Îá Ÿ;Ìv  ;»¤ ¡;íð¢;_„£;ñ× ¤;ˆ ¥;”}¨;¸ ©;#·ª;£«;! ¬;µ„­; ®;0¯;¤ˆ°;gÖ±;³Ü²;²³;ƒb´;Lð
µ;L
¶;–·;Hf¸;n ¹;²rº;Ø
»;ÿ”¼;x)
½;ó?
¾;3~¿;iÀ;°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
Á;¸‡ Â;!Â
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
Ã;4¾ Ä;S–Å;³K
É;‰½Ê;�¡Ë;ª+
Ì;§o Í;˜7 Î;ƒ Ï;ÒlÐ;1LÑ;ãYÒ;þá
Ó;m:Ô;ËVÕ;Iè Ö;êr×;)ê Ø;oÂÙ;o!Ú;�™Û;àÜ;Ù¦Ý;^· Þ;æ[
ß;ˆ à;x á;?â;ºa ã;wpä;Ùpå;¬æ;†Šç;ÐÓ è;Ó(é;E¸ì;jí;ô†î;�Oï;<�ð;× ñ;DLò;¨ ó;”�ô;»wõ;9 ö;Ο ÷;þ�ø;&eù;øH
ú;ý¶û;áŠ
ü;[ý;4vþ;‘'ÿ;g¿€<¼F�<l5 ‚<°°ƒ<ŸÞ
„<¥2…<2†<eM‡<ÀȈ< ‰<5¹Š<Ò× ‹<?jŒ<‹�<á� �<µ‘<#‚’<– “<•ƒ•<ƒ–<霗<Dõ˜<‰™</
›<ÅA œ<ä@�<–°ž<µEŸ<��¢<øù£<?Q¤<ç(¥<eƒ
¦<Ü¿§<û
¨<ûÞ©<øǪ<~
«<öɬ<\â­<É®<Xà
¯<Î’°<èn ³<½´<Ïáµ<ft¶<½q·<Uظ<–!¹<lº<vA»<n,¼<Þ`½<^ß¾<hÞ¿<!>
À<ZÉÁ<Í�Â<ÉôÃ<æÃÄ<qá Å<v,Æ<øñÇ<ª„È<�‡É<ìÊ<è
Í<„Î<ð[ Ï<¹NÐ<5NÑ<õ­Ò<7ª Ó<ãÔ<[\Õ<Ð Ö<ý×<ÄbØ<*?Ù<ŠÍÚ<9žÛ<sÓÜ<úÝ<¹RÞ<øG ß<Ôà<ùƒ
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<²èä<î'å<Ù æ<8µç<ç]è<0öé<ôê<Ûë< Jì<œî í<yHî<f(ï<A
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
ð<6P
ñ<iò<Æ ó<×[ ô<b@
õ<óö<l<÷<-Tø<Cù<ðrú<ý`û<ØŸ þ<ê(ÿ<VG€= �=Ë< ‚=Kïƒ=âö †=�ð‡=¤�ˆ=3‰=Us
Š=²2 ‹=ÞŒ=^
�=ÌŽ=æ �=#�=­O
‘=×Õ ’=1¢“=ª?”=â/
•=’–=`—=ˆ­ š=;C›=Ù'
œ=¯Ÿ=F` ==”} ¢=Ź£=–
¤=
¥=;&¦=�‚§=Àè
¨=ÀG©=sß ª=O÷«=A¬=Ò ­=ny°=ëÔ ±='H ²=Çf³=‰´=�È
µ=Ÿ< ¶=£Ë·=Z ¸=‰“¹=Cˆ º=±)
»=—¼=¼§½=7@ ¾=ëâ ¿=ùÎÀ=†ÒÁ=ñ€ Â=ÚÉÃ=8/Ä=aÅ=ªó Æ=hÏÇ=®iÊ=)Á Ë=%ÙÌ=!FÍ=ÞÎ=ê Ï=e5Ð='´Ñ=×% Ò=DhÓ=‹õÔ=Øä Õ=3‰Ö=§R×=çÊ Ø=ŠÙ=]ý
Ú==ô Û=ýÜ=…ÜÝ=øyÞ=�wá=u†
â=s=ã=z ä=$Ýå=C‰æ=ÓTç==R è=C‡ é=©7ê=nâë=r‹
ì=
„í=Xó î=Wï=zð=–- ñ=ßNò= Œó=ò$
ô=G(õ=ÊQö=6÷=k¯ ø=Hù=s´ ú=�éû=·>ü=“) ý=ÿ þ=D�>RA‚>Nƒ>Í· „>×
…>´O†>°}‰>Š>é9‹>2­Œ>£Ç�>ÖâŽ>ÛÄ�>Þ �>æ>‘>ä’>òû
“>Ï(
”>÷|•>ÁW–>1<
—>ؘ>,™>iÏš>·H�>/£ ž>r)Ÿ>w®  >Ò¡>¥[
¢>YŸ £>µ…¤>âp¥>íë
¦>f§>S� ¨>ä,©>º¢ª> ì«>¬>]h­>nÄ ®>¸4±>®—²>°5³>°ç
´>>µ>³¶>¼ª·>I³¸>Wý ¹>Z« º>eé »>}ë ¼>}I½>«m¾>bÒ
¿>§PÀ>¹] Á>{ÊÂ>C†Ã>Ý Ä>ììÅ>ì¹Æ>… Ç>lü È>ÅÍË><„Ì>¿É
Í>$û
Î>FO Ï>f, Ð>é„Ñ>½XÒ>@‡Ó>?U
Ô>.4Õ>fÇ
Ö>N†×>—IØ>®÷Ù>O=
Ú>  Û>tÄÜ>W.ß>\bà>bâá>:Eâ>èã ã>©rä>µ£ å> öæ>�òç>Êà
è>PÞé>oê>8Æë>ƒp ì>ä…í>GGî>-ï>5Öð>çñ>ö­
ò><£ó>Œô>€ý õ>Q�
ö>„*÷>j6ø>’
ù>U€ú>+c û>àš
ü>ãlÿ>kà€?§U �?ô ‚?=Úƒ?ˆ…
„?\‡?c׈?å͉?,
Š?ÑY‹?鬌? Š�?� Ž?i �?Ëþ �?X9‘?*¾’?P)“?Jž”?—•?�7
–?¯ß—?ë‰ ˜?4‚›?§è
œ?M’�?Ô=ž?Õæ Ÿ?�9¡?Ób¢?´f £?õ¶¤?I¥?Vä§?û
¨?�Þ©?Ù_ª?—\«?¯Û ­? Ë®?*­¯?7
°?ö£
±?z³?úM´?²úµ?܇¶?Ðt·?qþ ¹?º¹º?†“»?*ȼ?Ç£ ½?q¿?±À?¿^ Á?£½Â?Íf
Ã?2ÐÅ?
�Æ?ØüÇ?¿HÈ?ÔÉ?M¿Ë?dÌ?
Í?-¢Î?OÏ?–F Ñ?ãG
Ò?ÃÓ?=OÔ?Â÷Õ?´Ø?£<
Ù?ä�
Ú?!Ù
Û?EûÜ?8nÝ?â–Þ?ùß?Nzà?0â?
ã?¢ë
ä?!Ðå?S/æ?® è?Zé?�Ø ê?J×ë?xw
ì?]òí?s:ï?›Õð?°:ñ?¶ýò?‰s ó?Zë õ?­¿ö?!a÷?-ôù?ð¢ú?ćû?J: ý?#\þ?rY ÿ?¶v€@õ¥�@ÐÆ‚@
 …@ýÕ†@Ї@Z ˆ@Œ‰@¤sŠ@V+‹@¡
Œ@f3�@J”
Ž@l÷
�@’
�@ùG‘@—ð ’@Îu
“@è”@¼�•@Ö-–@³‡—@)3˜@‘ö
™@ï› š@6U›@¯Ìœ@y& �@Fh
ž@XŸ@yä @&±
¡@c`
¢@Û£@¨%¤@bê¥@5{ ¦@ò‘§@� ¨@?F©@åÙ ª@@’S¬@=­@Ê®@�¯@O°@ào±@<à ²@L> ³@´@ µ@Ì¡¶@e·@ä9º@“ »@9$ ¼@*y½@à²
¾@¨£¿@s„À@‡û
Á@¯ÝÂ@ L Ã@íÄ@“¿
Å@º…
Æ@Åv
Ç@ÓñÈ@Ï”É@GÊ@ S
Ë@­V Î@“
Ï@#UÐ@€ûÒ@óÓ@BòÔ@LßÖ@Ý“×@u:Ø@™ß Ù@­`Ú@u` Û@ë§Ü@@JÝ@üû
Þ@µn
ß@)ðà@“5
á@d‰ã@Å
ä@’få@õÌæ@ÚSç@Ûè@µÎé@¸Dê@ Èë@¯ºì@0xí@•Òî@aï@®tð@/t
ñ@‹&ò@æ�ó@ } ô@ëCõ@`Ú
ö@h
÷@¬\ ú@%<û@éÇü@e{
ý@tþ@j”ÿ@Ö` €A» ‚A칃Ak„A¢…AX4†A赇AáCˆA|{ ŠA§ñ‹A …ŒAO¡�Ah:ŽA�§�Aïæ
�AöR‘AJz’A/Ñ
•AŠÈ–A>—AÁ˜A¢~™Aô
šA='›AꙜA(¶
�A3»žAåV ŸAts A¡Z ¡AÙÄ
¢AÁ”
£AlÖ ¤A,R
¥A6 ¦AÞ©AT=ªA© «Aµ¬Aw^­Ah®A¼ð¯A8 °AṮA2;²A(Ð
³Aü| ´A™ŽµA0q¶AìÛ ·AÒz¸A'¹AžÕºA›f »AÄH¼AQE½Ak¾A;'¿Aù²ÀA%Ä
ÃA)ƒÄA‰� ÅAŠÝ
ÆAu®
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
ÇA|Œ ÈA\XÉAú½ÊA‚‰
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
ËAóÜ
ÌAÍAoÎA‘¾ÏAÑ+ÐA,á
ÑA´mÒA
ÁÓAðvÔA ù
×A`ÊØA ºÙA±yÚAÄ¥ ÛA žÜA1ÏÝAÈÅÞAzˆßA-îàAW7 áA‰âA†­ãAâÛäA­_ åAë•æAd§çAÔSèAÇó éAác êA?ÈëA¨ñìA›ù
íAã‰îA{
ïAŒðAµ"
ñAt ôA±õAáöA›÷AæøA©® ùA¿Þ
üA"ë ýAB<þAo„ ÿA‹Ä€BÐ>�Bx'
‚BWCƒB)O
„B§ä…BÖ†Bä‡BEňB&´
‰BÇŠŠB�³‹B ZŒBûŠ
�BÙ:�B ç‘Bà’B4“Bc› ”Bq¡•BÛ‰˜Bï¼ ™BAåšBü>›BS:œB#Ï�B xžB/{ŸB6ð  BH*¡BkA
¢B¶Û£BÒ|¤BM¥B³¦BR{§Bæ
¨BäQ©BÕ½
¬B2Õ­Bˆª®Béu¯B:ñ°BËs±Bç ²B•ý³BjH
´BzµBžv¶B¬
·B:E ¸B¬¹BκB$Í»B¼N¼B�8 ½Bæ¾BÉL¿BO2ÀB ÁB'�ÂBw§ÃBÚ¤ ÆBÂäÇBÅ ÈBM"ÉBÆçÊBƒdËBr
ÌB�û
ÍBö‰ÎB8r ÏB{³ ÐB‡½ÑB׺ÒB·³ÓBT)ÔBˆš×Bâú ØB6x
ÙB?� ÚBâu ÛB?‡
ÜBáR ÝBþC
ÞB¤¾ßBJ}àB£áB¼ÂâB�d ãB»Å äB ,åBàæB,RçBÐÐ èB³›éBò‚êBÚ¤ëB¿2ìB2XíB/ÂîBÒïBkÔðBŸÝñBfôBÐÖ õB{*
öBp÷BŠò øBöi
ùB�@üBDn
ýB’þB * ÿB>Ö€CJ[ �Cã’‚C1ƒC‘N „C�L…Cüö
†C"T‡CÑjˆC
¢‰C$ù ŠCÚ° ‹CèxŒC®?
�CæÔ�Cß ‘C(
’C— “C�*”CŽó•C„“�C_@žC­k ŸC’�  CRž ¡C>(¢C¹%
£Cá1 ¤Cëü
¥C
„
¨C@) ©C¡ÊªCÐf«C(b
¬C–­C¼O ®C�̯CFœ°C+‡±Cªø²C„³C'¤´C€‰ µC\À¶Chù ÀCĽÁCûYÂCíï
ÃCqŽ
ÄCx§ÅCÖeÆCÎl ÉCW?ÊCŒá
ËCn& ÌC<3ÍCÐ
ÎCúÏCú(ÐC°ÔÑCÃÄ ÒC+ª
ÓC¦0ÔCiÕCpÎ
ÖC'K×C ‡ØC
ÎÙCô±ÚC¶I ÛCþÿÜC­ÝCýTÞCT
ßC©®àC áC“ä âCûãC¹æäC=Û åC }æCp
çCã¼èCôCéCîØêC4*ëCi`ìC_ÍíCxª îCòiïCÞ& ðCÔ£ñCyÐôCù õC=§öCr
÷CJ‹øCÄ€ùCó: úCYaûC¡°
üCÿúýCkáþCM7
ÿC,å€D›G
�D«· ‚D ƒD¥U„DK˜ …D) †Dæ” ‡D=ñ ˆD¶š‰Dñf ŠD,‹D–ž ŒD-²�D•V ŽD‚�D#�D¡·‘D ï ’DÙ
“D¿„”DO}•Dw –D�
—D¬s ˜D£
™DÁšDö—›D 9œD6Ù �DjR D:)¡D¢DZj£D”í¤Dk×
¥DÓí¦Dܺ§D,
¨Deè ©Dwí
ªDZ{«D¶7¬Dâî­D…N
®D0¯D;�°D+³±D³Ù²DÖ³Dßh´Dù¡µDXr ¶D¿Ð
·Dº#
¸D%) ¹D¸ºDè
»D´±¼D°[½D¨¾DñO¿Dk8ÀD#GÁDLÂDʼn ÃD«¼ÄD¬µÅD¾FÆDž£ÇD2ÈDøŽ ÉDoXÊD©w
ËDWÞ
ÌD”; ÍDZ¬ ÎDˆ ÏDãÐD±`ÑD*ŽÒDtÓD¦¸ÔDj›ÕD­º ÖDº×Døx
ØDÑ}ÙDr(
ÚDëÛD
-ÜD)_ÝD]GÞD^WßDˆS
àD~• áD’-âDLÚãDÍ&
æDÿ´çD‡|èDpAéD�«
êDÈëD{5ìDÆ íD4õ îDÅïD�]ðDkýñD
òDA©óD†% ôD@àõD!‡ öD‡¨÷DêQøD­Ä ùDËPúD©ÍûDƒ™üDÓáýDÃ6þD8ÿD©€E] �EQÕ
‚E2fƒE—æ„E ð…Eg�†EsO‡ESo
ˆE ‰Ei� ŠE
å
‹Eê’ ŒE0¯�E”´ŽEáÌ�E’r�EE‘E[¶’E@ò
“E•
”E¦›•E⥠–E¯²—E¹ð˜E`Û™Em÷ šEŽ ›Ep™žE�ŸE¾— E#d¡E—A¢E˜š£EÉ5¦E³¬§E¯ä ¨Eèk«EÈ
¬E‚­E¨C®E–
¯ET“°E²w ±EJ\
²EÙݳEŠM´E耵E‹Ë ¶EbÑ ·Eè¸E
|
¹E.!ºEçO»EëܼEG6½E„Ù¾E¾þ¿E˜FÀE�ÁE3òÂE¦˜ÃEá»ÄEQ/ ÅEž‘ ÆERÇEf ÈEež ÉEËjÊEâÊËE’ÌEiüÍEMÔÎE)? ÏE3zÐEÈ`ÑE1gÒE
üÓEŽŠÔEסÕEa ÖEý¬×E­
ØE|ò ÙEº8
ÚEoN ÛEœ ÜERÌ ÝE%VÞEŠ ßE%% àEñØáEÞn âE± ãET' äEÇÅåE#‡æEqU
çEÒžèE9| éEJ
êE³Q
ëEa� ìE¹1íE£(
îEC‡ñEà±òE
óEÕvôE‹‘õEïõ
öEôø÷E­løEoþùEkíúEºûEj
üEýˆýE�2
þEï¾ÿEåm€Fmœ�FÈ“
‚F¦Ö
ƒFÁ· „F€…Fcç †Fð‡FÑ9ˆFk:
‰Fq2 ŠF…*‹FI0ŒFEí �FGÂŽFâ
�F8‚�FÅP ‘F%w’F�•“Fw”F¼ •FJ–Fƒñ —FbјFZ< ™Fá/ šFµÆ ›F«ò œF�­�F‹{ žF)ŸF,E FTz ¡Fh_ ¢F"
£F䬤FMk ¥FÌ
¦FýR§FZ ¨F‚“©F;%ªF‡o «FÞ ¬F Q­Fô ®FÑý
¯F#¡°F·d
±F]¢²F*í ³Fçš´F�·FÉ ¸Fžº ¹F.±¼F'R½F�…¾F,ÝÁF…ÖÂF50ÃF"ÄF¸ñÅF º ÆFØŠ
ÉF†~ ÊF(ó ËFعÌFVhÍFÐ~ÎF+úÏFŸ‰ÐFÁÒÑF"ðÒF/{ÓF­o
ÔF?— ÕF+šÖF–œ
×F&y ØF=\ÙFÆ#
ÚFµùÛFé­ ÜFÕ? ÝF¾ÞF?=ßFÙàF‹máFÌ�âF/±ãFÐäFT
åF æFÞéçFíœ èF¯éF ¸êF™´ëF"ìF-ÄíFÃîFfïFÙðF{ËñF÷Ä
ôF ß
õFœöFà�÷FßêøF§¿ùF!(
úFÚÏûFåüFäEýFŒþF'•ÿF¦‘ €G6W�GL‚GÚhƒGH„Gc …G‡h †GÃ2‡GÓ
ˆG¶Ú‰GìpŠG6‹G ¬ŒGõÅ�G›äŽG³×�Gßµ’G+�“Gft”Gmr—G[°
˜GW8™G¢òšG‘à›G|a
œG˜®�GÀŽ žG¨¹ŸGD G¦û ¡GÕ§ ¢G à £GÔG ¤G²²
¥Gä¦G–V§GH8¨G÷ã©G&lªG-z
«G«®GJ¯G´µ°G–; ±G
ç ²GÙÁ ³GÞ�´G.ƒ µGÛ€ ¶G/¸·G
>¸Gâ ¹GOqºGe»GšÕ¼GÉŽ½GÅ­¾G Ý¿GgÅÀG`
ÁGBÓÂG¦QÃG§YÄGP�ÅG'„
ÆGؾÇG±AÈGW
ÉG•œÊG Ÿ ËG8Ò
ÌG¼}ÍG*"ÎGåˆ
ÏGu×ÐGulÑGL&
ÒG$ ÓG‘ ÔGáAÕG5Ù ÖG5ž
×GrÁØGÒ%ÙGp› ÚG±„ÛG�SÜG†ÝGß ÞG‘ßßG?ÐàGzý
áG9�âG<
ãG–
äGûÙ åGÇX
æG¢ çG‡K
èG4éG¦ê êGh
ëGAœìG
íGÈ îGuïG~ðGE
ñGW«òG³kóGá¼ öG;U÷GFøG”·ùGÜí
úGvtûG‹ÎüGêZ
ýGmÖþGìÿGæQ‚HÛƒH´Ç „Hìo…H€l†HÚ¶ ‡Hbà ˆHj-‰H²0 ŠHHS
‹Hù[ŽH\Ä�HÊÎ�Hr|‘H ’H”Î
“H­e
–HMc—Hš™˜HÙ`›H&Â
œH‹6�Hi" Hâ­¡H²…¢HwM¥H¾¨ ¦H©G§HÂmªHpc«HJ¬HÄ–¯Hê°H1
±H\´HÃŵHRý ¶H¬¹H’ºH“À
»HŽ¾Hi&
¿HnÑÀH Ê
ÃHzÄH™¸
ÅHy|ÈH"ÉHÿÊH€ÍH¾0ÎHB|ÏH-ÛÒH#YÓH�R ÔH:=×H2GØHýÈÙH!¯ ÜH@§ÝHG¢ÞHY áH™¨
âH¦ãH®‹ æH™nçHÒèH3ÚëHò/ìHeÔíH™Q
ðHàßñHÉòH“¢õHÐÏöH~a÷H÷ÛúHè‚I¼ƒIZB„I3…I=g†I{ú‡IjJ
ˆIT¦ ‰IC
ŠIaÔ ŒIÜ �IÈdŽIï�Iøh�I[‘Iš “I=f ”I$Ÿ•I¾;
–I#å —I#­˜I¸^™IöšI„›IPjœI8c�IEh žI]µ
ŸI›a I²­ ¡Io%¢I‘ñ£I!¹¤I­ò¥IÁÿ¦IqŽ§Iž¤¨I�ΩIêªIK «IO?¬IH”­I®®IȯI'�°IÉa³I�v´I¾|µIɺ¶Iã
·IU­ ¸IR ¹I›äºI„»Išœ ¼I¢¦½Idö
¾I(ß
¿IçoÀInƒ
ÁIFß
ÂI¨P
ÃI >ÄIt¹ÅI¬‡ÆIºæÇIÄ`ÈI„WÉI?ƒ
ÊI< ËI�™ ÌI7ÍIêÅÎI÷\ÏI´rÐI~nÑI‹BÒIþ4ÓI+ÔIŸ·ÕI<¨
ÖIç
×I]� ØIYäÙIE¼
ÚI'1ÝI,¬ÞIAM ßIöˆàIbÈáIŒ÷âILtãI™:äIi› åIÍæIùRçIÛ³èIÐéIãjêIÞ†ëIY&ìIo4íIÑ£îIõŠ ïIkìðI¢Â
ñIª; òIȘóIDæôI¬qõI4²öI·ú ÷IZ†øI¹ùI™NúIž‹ûI‰Ç þI1 ÿIOÊ€JxˆƒJö„JèP…Jßl ˆJv€‰Jƒ5 ŠJÈL�Jž ŽJÓ�Jñ?—J¹Ÿ ˜J'´™J…äšJ+Ä›JYËœJ´- �JGÆžJzúŸJ�" Jn
¡Jñt¢J½Ø£J�»¤JÕø¥J—’
§J%£¨J±Ï©JàѪJF «J_N¬Jæ
®JFò¯J=f°J ( ±J¬` ²Jup ³JæH
µJ~S
¶Jˆ}·J~¸JGÚ ¹JD ºJϬ¼Jó�½JÙe
¾J&ò
¿Jb@ÀJìm
ÁJ‹ÂJ‘ÔÃJï
ÄJ…úÅJÎ ÇJ { ÈJ¬³ÉJ^†ÊJHsËJÒuÌJ‘~ÍJB
ÏJs°
ÐJPi
ÑJ ¨
ÒJî ÓJj
ÔJ¸
ÕJü÷ØJ³JÙJEíÚJfjÛJðzÜJàâ
ÝJÔš àJ¯#áJɃ âJJùãJqäJipåJÔcèJú±éJô± êJëJuRìJˆJ
íJvd ðJxùñJFòJHâóJ¸µ ôJÊõJ›OöJ‹b ÷Jp‘øJùùJ+
úJ²eûJŸØüJÀýJBË þJå ÿJL`€KV �K
¡ ‚K^uƒKä\„KQJ…KU¶†KO¼‡KwˆKM} ‰K¬\ŠK$‹KÎ'ŒKœ1
�K›íŽK7b
�K9·�K^© ‘Kú}
’K�& “Kˆ
”K윕K/
–Ký* —Kú²
˜KÞ”
™KÕÛšKk›K
gœKnE�K±žK²/ŸKP KÊ5
¡KlÌ¢KŠ£K� ¤K]–¥Kè4¦K²L§Kër
¨K©ì
©KZ^
ªK·¾«KgŸ¬K]… ­KÇ
®Kˆ¶¯KµÇ°K‘é±K€d²KÛà
³KÓ¹´KÔÔµKGÛ¶Km‹·K£ž¸KS¹K<3 ºKô®
»Kx#¼Kìý ½K³õ¾Ká/ ¿Ka
ÀK ÁKAzÂK½ó
ÃKØ
ÆKÂUÇK@A ÈK”ðÉKxëÊKg€
ËKZÆÌKk– ÍK– ÎK_• ÏKE ÐK¬’ÑK±]ÒK,ÓÓKòË
ÔKKä ÕK¢ÖKÂŽ ×K‰ØKò@ÙKÀžÚKY
ÛKæäÜK�5ÝK¹ ÞK]¼
ßK¦ àK-ÕáK¦b âK½ããK�£äK° åK,æK,s
çKÒ èKK¹éKf8 êKìùëK*; ìK@à íKÎa îKÙÃïK[dðKSPñKhòKß@óKjôKí‘õK÷û öKbª÷K·øK8gùKŠ’úKE~
ûKv#üKíô ýKÛþKžÿKW €Lù�LP
‚LC'
ƒL—„L�…L~†L©Ó‡L<ˆL§³‰L¦dŠLX‹L }ŒL�L\ã
ŽLçÅ�L„ �LœB ‘LjØ’LÅ®“L””LëÚ •Lþó–L2Ú—Lv-˜L¥‘™LÅ
œLU
�LÙ” žLL( ŸL: L:»¡L€¢L²£Lºz ¤LøD¥LR¦Lø§L¢¨LF ©LÎöªLü
«Lq¬L‡¹­L¶Ü ®Lµ¯L8v°L…0
±LÒ²L®G
³LyA´LeϵL5ë¶Lúj·LÍn¸L@³¹L{ºLi“»LíϼLä½LVí¾Lê–¿LJ
ÀL•ÔÁL|QÂLähÃL/ç ÄL‡ÅL" ÆLø)ÇL½áÈLàÑÉLCJÊLÙ[ËL+‡ÌLë1ÍLÂ_ ÎL!pÏLu†ÐL‰ ÑLÙ� ÒL[…ÓLK ÔL/'ÕLb™ ÖL¯
×L¥ØL*þÙL˜¾ÚL¦û ÛLóÜLN…ÝLF­ÞL< ßL‡BàLpáLúWâL¤›ãL§ÍäLµ@åL�ÏæLÞßçL¤¶èLÁéL=¦êL.°ëLB ìL�d íL1³îLKdïL8 òL—ºóLW8ôL–]õLAÑöL‡÷L7 øL˜¢ùLÃ$ úL¹ÅûL"�üL�ëýL‹zþL� ÿL �€MÙ‹�Mþ» ‚M8 ƒMÙR„M%o…M/†MƇMv¼
ˆMÛƉMJ— ŠMc¼‹MEÜŒMQ“ �MÅsŽMvz �MÉM �ML ‘M¸œ ’Mnù“M6(”Mqb •M\Á–MU—Måã˜MEÔ™M憚M~µ›MT˜œM…�M™œžM¬X ŸMõƒ M8[¡MÊ ¢M)Å£MS¤M”#
¥M1Ø ¦M>Ÿ§MÁ‰¨MÏÁ©M²òªMi9«M9¬MÈ­M\®M,R ¯MUX°M»±M
?²M3³M¾Ý
´M²´µM•û¶MßW·M}®¸MËƹMÉmºMÄð»M g
¼M½M¯'¾M;—
¿MIÀM|€ ÁMeg ÂM$ÚÃM§ñÄMŠ1 ÅM@LÈMèý
ÉMÛ8
ÊM’ËM%ñÌM> ÍM#yÎM³ÏMd=ÐM¸I ÑM�\ÒMËf ÓMXÔM’WÕMTÖMÇõ ×M#f
ØMm6 ÙM_³ÚM¢¹ÛMÃ<ÜMæô
ÝMÔÅ ÞMá ßM½ôàMáMxå
âMXãMÁïäM±9åM¼”
æMe~ çMíT
èM/déMZW
êMfëM}2ìM™ýíM…$
îM¤
ïM;^ðM6ñM+ÕôM ° õMâŸ
öM^x
ÿMÝÜ
€N`c�N{‚NÐV
ƒN*
„N 7†N?z ‡Nz ˆNW ‰Nbq ŠNF€ ‹N¥{�Nð ŽNļ �N%
�Nþ¢‘N º “NÕë
”N«†
•NOö–Nä±—NÔ´˜NÛ ›NæX œNý³�NR
žN�FŸNM© N‹¡Nù+¢N“]
£Nõ¥N�¦N—
§N�¨N˜œ ©N§ªN“° ¬N¥ ­NâÙ®N0R¯Nu¤ °N› ±N/•³NÜ
´N]ÕµN•}
¶NR ·Ni÷¸Nùù
ºN3k»Nך¼Ne±½Noƒ¾NÀ.¿NèÙ ÁN­ÂNcfÃNYaÄN­. ÅN'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
ÇN¼’ÈNCÉNŒöÊN¯¼ ËNHS ÌN=ý ÏNlâÐNeÑNŸ|
ÒN‰@ÓNâ¾
ÔNì‘ ÕN8kÖNÓ¼×NzØN5_ ÙNzÞÚNܲÛN?ê
ÜNÇýÝNK÷ ÞN
Ÿ
ßN$šàN‚µãN2’ äNMåN$
æNÆP çNâ¿ èNZ ëNM ìNZíNR2õN•QöN$÷ ÷Nˆ1øN!¼ùNñûNªýüNî¸ýN1÷þN ÀÿNVø‚Oš% ƒO.Ö„Oˆ™…O³ †OèˆO ÷
‰Oª¬ŠO߀‹ORõŒO�zŽO��O�OQz
‘OdŽ’O̪“O •OãÆ
–O3;—O‰‹˜OÁ ™Oà~šO—ÝœOÞ�OƒûžO
‹ŸOÏo O–
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
¢O½{£Olh¤OÜø
¥O^ö ¦OßX§Or¥¨OÛ= ©OÏǪOà
«O0¬Oxù­O§®OÐǯOˆ–°O‡ ²O{5
³Oör´OC-
µObé¶OÛÓ·O‡ ¸Oþž¹O�åºO‚¼O½'½OvȾOU� ÀOúÜ ÁOÎÎÂO5f
ÅO¹ÆOÔ
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
ÇOrÈOKŠÉO†õÊOÊ[ÌOñSÍOk¶
ÎOî�ÏO?s ÐO™ÑOTÒOð]ÓO8 ÔO'ÂÕOЯÖOY»×O:kÚOÿoÛO}4 ÜOBoÝO ÞOÊŽ
ßOÛ$àO“\
áO}·âOtäOá åO{P æOÑ¡çOt èOfG éO^MêO´Ó
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
ëOæjïO"ÿðO¿VñO�†òOýóO¤x
ôOg&õOÕ öO7Y÷O°" øO©{ùOqûOeÉüOèýOÔ!þO†ÿO”¹€PÿK�PÆÛ‚PUƒPœÉ„P¹˜†PÉ)‡Pµ:
ˆP–ê‰PŽ> ŠP^‹Pöõ ŒPŠ±�P:t ŽPÖ¼‘P’PëE“PsÁ”P°¼•P­Û
–P&€—P}¯˜P±\šP0Ø›PË„ œPl�Pê žPw
 Pt‰ ¡Pê×¢Pöë
£PP6 ¤P+•¥Py¦P@ݨP;©P€wªP7B­PÐO®PÄü¯P
°Pr5±PˆÕ ²PI ³P¸´P̵PжP5¾·På6 ¸PĹPŸ¯ ºP"Ü»Põç¼Pf½P›6¾Pü®¿PéCÀP�ÁPfvÄPœ ÅP#' ÆPUÇP¢4ÈPòÉPÍØÊPž#ËP×vÌPSê
ÍP�Ï
ÎPhÞÏP— ÐPüŠ ÑP_ÈÒPØ~
ÓP—Š ÔP*mÕP³ ÖPÂ?×P…„ØP­ÁÚPé�ÛPjÜPX§ ÝP¥ÞP‰ßPã/âPzL ãP›xäPMOåPþÀæPõçPO3èPƒPéPî�êPGì
ëP˜²
ìPú$íPR;îPB�ïP}·ðP/ ñP2» òP?ëóPôPœoõPÏÀöPÞáùPQ¬
úP¤ÃûPòºþPŒÓ ÿPóÈ €Q�ö‚QŠ[
ƒQÐ „Qæ…Q"<†QT± ˆQ‰Q÷üŠQa‰‹Q׺ŒQú¡
�Qo
ŽQk…
�Qî�Qºá‘QÝB ’Q> “QcÎ –Qÿ7—QFµ˜Q‰
™Qœ‘šQ¦÷›QÚ�QBžQ»  ŸQàÓ  QÚ¡Qh‡¢Q²S¤Qƪ
¥Q„ñ¦Q›y
Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
§Q3«¨QÆ
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
©QÀ-«Qì¬Q4Ç­Qw®Q+-
¯QÒΰQ²{ ²QÈv³Q²j ´Q±‹µQÆ`¶QAÇ·Q¦­¹Q:ý ºQk »Q}.¼QÛå½QÅ[¾QPa ÀQ;f
ÁQ›ÂQâÃQREÄQâé ÅQãÎ
ÇQ{GÈQ&hÉQ!žÊQ±þ ËQMxÌQ‰O ÔQöà
ÕQpÍÖQdá×QgØQc¬ÙQ©ŸÜQ€ÝQ§@ÞQßQÿA
àQ¨]áQe âQúÖãQ¥äQåQŸXæQ…TçQ­¨
èQ&…éQ»eêQYÏëQ�ìQæÁíQ™n
îQïÇïQšÖðQŸñQ­² òQ‰åóQ5côQé|õQö™öQÊ÷Q¡øQ¤&ùQâo úQÖn ûQiv üQ&ÿQ&Ž€R3ó�RÚ‚Rs
ƒR!„RŸV…R32†RzćRWƈR ‰RW ŠRŒæ�RAý�Rö²‘R-–’RF  “R»”R�[ ™RyZ šRœ+›R²4œR™õ�RB4žR@ó£RŒ¤¤R;È¥RБ¦R—¸§R¹ß¬Rwü­R$G®Rwð¯R™G°R‹à±RÂ)
´R&÷µRܶRß�·RYo¸R¦ ¹R�ºRŠ–»R"0¼RZ}½Rôn¾R¤½¿RžÄRÖÕÅRSõ ÆROÄ
ÇR‹rÈR'†ÍR$AÎR·NÏR¿�ÐRC ÕR¼À
ÖR„´
×RV¿ØRsŸ
ÝRÇé
ÞR)yßR5× àR,oãRý äRS/
åRWæR¸™ çR±³èRLÑéR#½êR¼ëRm ìRT2íRgŽîRQMóRG ôRâõR;ÜöR*£ûRjfüR¸8 ýRljþRl ƒSmB„ST{ …S,2†SMj ‹S™Ã ŒSøE�SKŽS@ç‘S�’SÂl“S帔SÙº•SÝd–S�¿
—S—k˜SÆ9 ™S¼œšSpí›SJL œSSê ¡S‰V¢SIe£S“+¤SiH
©SC¨ªSÉÎ «S×”¬S®¼±S,º²SȳSc[´Sü ¹SîUºSK»Sá6¼SYë ¿S�;ÀSQ­ ÁS¿Ú ÂSéÃS|ZÄSŒ!ÅS`!ÆS®ØÇSR¯ÊSm’ËSõ=ÌS�ÎÍS™ ÎS²t
ÏS%RÐS”d ÑSxK ÒS¬ž ÓS
ÔS§
ÕSvˆÖSNÿ×SÂ_ ØS5ÛSW
ÜS¦ûÝS¯�ÞS“ZßSŽš
àS©ÆáSKüâS8  ãSò¾ äSú±åSñ>
æSŠØçS·^ èS7éSH1êS¥ ëSÏ)ìS‚>íS¿ª îSfØïS¨CðS@\ñSÌÜòS(×óS“™ôS„õS^w öS4@÷Så‘øS’ ùSûsúS +
ûSÿ¦üS£ÈýS§0þS³ ÿSÏ€TG“�T^–‚Tbß ƒT T „TŸW…Tñ#†T ª‡T”®
ˆT…B‰T ŠT|C‹Tm6ŒTlr
�TÝ
ŽT­;�T”Ê�Tí{‘Tž
’Tþ0 “Töþ”TÖ—•Ttœ–Tº»—TGĘTò
™TûšT’â›TO œT¹p �TÑ0žT¤¥ŸT T�5¡Tõ, ¢TlãT.G ¤T‡m
¥T°ø
¦T¢�§TÚĨT�R ©TØ£
ªTŠ®«Tm¬Ty¡­T½í
®Tl ¯T7°TÐ ±Ti²TÔ
³Tœ¨ ´TÓ!µT3? ¶T9û·Taƒ¸T&,¹Tã]ºTˆü ½Tâ¾T¿
¿TàÊÂT^1ÃTå¼
ÄTTiÅTŠÇÆT¨ÇTŽÈT$gÉT6hÊTçeËTž ÌT1á ÍTÎTÈPÏT)‰ÐTóÖ
ÑT © ÒTºëÓTílÔT½° ÕTX ÖTŸÕ×Tl_ ØTL¯ÙT:‚
ÚTUÛTü
ÜToâ ÝT3ø ÞTŒmßTh3àTRÌ áTÍz âTûÞãT ·äTˆ0 åT • æTZÓçT>�
èTÔåéT !êT´æëT-’ìT´(íTFT îTŠI ïTï5 ðT[ªñT7•òT?�óTC ôTí>õTæ’
öTNÇ ÷Tß øTÌ�ùTæµúTÌ ûT  üTÎ, ýT‡¬ þTø!ÿT€€UzM�U
/ ‚U˜ÞƒUAÞ„U‡…UЩ †U–_ ‡UþŠ
ˆU§ÿ‰U8ŠUŒ‹U®aŒUÂ�UÀ‹ŽU9ø�U® �UIš
‘U}’U²“UÓ
”Uæ…•U,D–U
ð—UiT˜Uöh™UøšU¥(›UÒ& œU2+�Uþ¥ žU}¼ŸUq„ Utû¡UÞ{¤UG>¥U;œ¦UjʧU~Y ¨U«F©US€ªUfù
«U:ö¬Uôþ ­U%†
®Uà&¯Ubu°UÄ­±UT8²UÜJ³UŒ ´UÛÿµU ¾
¶U­×·U_¸Uý¹U1}ºU^Ü»Uî¼UÝF ½U¥w¾UŠ[¿U4ÀU6ÁU
ÂUV†
ÃU>½ ÄUlyÅUÇ ÆU?ˆ ÇUG1ÈUTôÉUöSÊU#ôËU“èÌUêÍU
hÐU¼ÑUÔz
ÒU¹ÓUfaÔUüÕU¢¨ÖUÀ×UOØUœˆ
ÛUÁÎÜUAý
ÝUd‹ ßU
€ àU©ÁáU„F âU×ãU‹Ö äU|"åU<læU~Ù çU2˜
èU{ éUZ!êUe“ëUëìUR¬íUÑóîU¥Ø
ïU
"ðU
Ý
ñUj=òUS™óU¦æ
ôUÕ²õUè…öU´ž÷U²ÁøUÌD ùUŠ°úUèCûUÁ›üUTmýU.´þU‘H
ÿU¯h€V5Œ�Vü ‚VCžƒVsô„VòG…VÚî†V—­ ‡VÞ÷ˆVMã‰VÒ0ŠVñ
‹V½/ŒVIï
�VBŽVÛ€�V+X�Vrì‘VdÍ
’V«*
“VQ”V5 •VΟ–Vkù —V€W
˜V�Æ
™VM¥ šVš“›V¢v œVÇ�VÅ­žVV¨F Vìâ ¡V×i¢VŽo£V¶q¤V¡
¥Vrˆ¦Võ‡§V©í¨V#¿©VÙÀ ¬V§­Vf× ®VÍÏ ¯V©à
°V1±V„á²VËŒ³VUÕ´Vü
µV€(¶V‘•·V/¸Vmæ ¹VÔ�ºVVM»Vÿ!¼VF ½VºÒ ¾V$L ¿VÆÀVÊêÁV�ÂVFÃV³ïÄVm¾ÅVúÇÆVqÇV›€ÈV˜•ÉV·=
ÊVLÄ ËVÃÌVV±ÍV©4ÎV„ÏV‚Ü ÐV± ÑVà¼ÒV¡øÓV¿tÔV¾�ÕVFÖV“O×V¯
ØVbß
ÙVîÇ
ÚV»jÛV,ÓÜV_²
ÝVÜFÞVGHßVéˆàV«¥áV#3âVUÏ ãV †äV{›
åV¾¸æV*` çV/
êV=ûëVq¿ ìV}oíV!¡îVµ ïV‘ðVIFñV î òVÀtóVƒƒ
ôV´r
õV ýVn þVY9ÿVZ~ €WÝê �W$E‚WshƒWtg„Wív…W’u†WJs‡WùŽ ˆW[E
‰W<ŠW©× ‹Wc@�WÚ ŽWp�Wç×�Wî,‘W£D“W‰< ”W¨„•WäÝ
—W´ ˜Wty™WšWþ¥›W7²
�W±ìžW„¤ ŸWùé
¢Wv£WÈú¤WCK ¥W«æ¦WKK §W}a¨W†é ©W2l ªW‰Ò¬WPM­Wc\ ®Wa¯¯W:ñ
°W'2±W«P ³Wœ0 ´W$w µWÒ ¶W»·WƇ¸WÐ;¹W•V ºWö4»WSœ¼W
½WIg ¾W­¢¿WN›ÀWî2ÁW�T ÂW…0 ÃW^“ ÄWÚŽ ÅWXWÆW9 ÇW¢éÈW<„ÉW³
ÊWìfËWú\ÌWNÓÍWXÚ
ÎWìÇÏWy1ÐWtÒW×ÓWœ®ÔW`rÕWñ ÖWŠ
×WãbØW¸ÛW�ŠÜWD«ÝW”° ÞW0'ßWÌmàW¾áWjãW3¥ äWLåW:DçWÔq
èWøªéW£êWÀ·ëWmz
ìWFÒ íWcó îW
ðWÆPñWÛÖòWž,ôW*õWÑöWѸ÷W_øW‚¾ùWµ/úW87üWZ
ýWFMþWf9
ÿWKí
€X¯‚X¶ÏƒXÅ „XÕB
…X6 †X0¼
‡X¥ŠXšø
‹X}’ŒXù �XkÊŽX!é�X¬Ÿ�X¿ ‘Xþz’XÎâ“X× ”X$<•XHΖX­€—X9¸˜XE
™Xœ� šXů
›X œX¾£�XdÜžXùŠŸXC4 XÖ&¡Xŵ¢Xƒì £XÍë¤XI¿¥Xˆà
¦XÀö
§X@#¨X” ©XL2ªX-h«XìX€­Xôª®X< ¯X¼T
°X) ±Xio
²Xô³X4™
´X7ÓµX’]¶XÓ¨ ¹X6κX>ûX–Õ
¼XCá½XYT
¾Xçs¿XþDÀX*!ÁXLQÂXæ
ÃX¢�ÄXš¥ÅXοÆXâÇX?ÕÈXq
ÉX2o ÊX ËXÔ�ÌX+õ ÍX bÎXÔ¡ÏX“ÐXP
ÑX‘ÒX‹“ ÓX+ ÔX¦ÕXûÏ
ÖX¯n×XnC
ØXë�ÙX´« ÚX¢œÛX¨
ÜXdÂÝX÷ÞX°� ßX>àXçáX /âXñ ãXp? äXË’åXqàæX 
çXRèXZ† ìXâöíXâmîX§ ïX-ðX÷° ñX„4òXp/óXžîôXPe õXåcöXá¿÷Xr…øXØw ùXõýúXÜ¡
ûXJüXæêýX¹IþX1dÿXј
€Y!ˆ�Y
l‚Y`rƒYš„Ybò…Y,…
†Y£ÐŠY3‹Y÷ó ŒY ÿ
�Y7îŽYùœ�YpV‘Yæ’YOh“YQ
”YÆ¢•Yx—Y}˜Y\j™Y%î šYÛ|›YêÐ œYê��Y
7ŸY¹l Y%¡YóÍ £YÀ~
¤YGú¥Y—ŦYc/§Y½ø©YÐ.ªY1©«YµÞ ¬Y} ­YTC®Y-Ô
°YȱYyæ ²YC»³YÈ´Y�ßµYðý¶Yµ¸Y_è¹Y‹U ºY†¬½Y˜€¾Yè¤ ¿Y–ªÀY$ ÁY‹¹ÃY¥ÄYÌÀÅYd]ÆYÑKÇYF
ÈY~³ÉY›©ËY�ÌYg|ÍY”,ÎYcV ÏYO ÑY†·ÒYˆŒ ÓYD? ÔYÖñÕY`³ÖYˆ%×Y•BÚY¬`ÛY‘šÜY–ÝY˜6ÞYÒàYs áYSâY†ãY·>äYF
åYë)çY¬¡èY�öéYgêY¾¥
ëYÜŠìY1íYE€ïYœ¬ ðY�mñYñ
óY˜Ö ôYU²õYßóöYå„÷Y¹G ùY•úY¶°
ûYÊüYé;ýY¼«þY¤k€ZHó�ZŸ$‚ZTæ
ƒZÞM„Z(;…Z}ÿ †Zú§ ˆZ³G‰Z¬Á ŠZ7^�ZAøŽZø �Zr|�Zlp‘Z¼å
“Z—R”Z*(
•Z˜ó –Z0ƒ—ZR
˜Zw
™ZW››Zeº œZ¹X�ZžZ.ŸZ�x¡Z_ù¢Z9£ZjK¤ZêÝ¥ZŸ¤ ¦Z!+§Z<B
ªZœÙ «ZY3 ¬ZÝI ­Z¼è ®Z<å
¯Z67 ±ZcϲZw® ³Z*( ´ZøµZ§Ó¶Z÷ 
·ZÑå ¹ZrÞºZ<é»Z½Z›Y¾Zõ%¿Zx�ÀZ� ÁZVÂZay ÄZÍK ÅZìÓ ÆZèöÇZ¾ ÈZÌû ÉZ¬¯ÊZîÌZà¾ÍZ+@ÎZ5e ÑZ®*ÒZáæÓZºYÔZhqÕZÍßÖZ‘×Z£ÉØZ¯ŽÙZ�«ÚZ]M
ÛZ±ÜZ—˜ÝZ"[ÞZãÚßZ àZ­ô áZ<ÆâZ8
ãZè•
äZVåZ‰
æZ¸ã çZw¦ èZ3ÝéZ|&
êZ6è ëZú£ìZ—ØíZ±Ñ îZlïZw}
ðZI*
ñZbÏ òZ.óZíµôZ_ õZäëöZ:Ù÷ZƒJ øZOéùZèÒúZ±ÌûZ�
üZO~ýZ¢bþZÊÔÿZ™É€[£F�[ÀÏ‚[:»ƒ[ˆ|„[˜H…[+Ü †[ØÙ‡[ Œ
ˆ[Nà ‰[5Œ[e�[y· Ž[¥
�[ÓÇ�[Àœ ‘[¶¤”[å•[ÀÇ
–[› ™[Ä5š[÷›[–
ž[hë Ÿ[7í [³á
£[i‘ ¤[âH¥[¾¡¨[x;©[WOª[’´­[é÷
®[×a¯[9©²[?ä³[µO´[§f·[Ýœ
¸[Ôj
¹[à!º[ÚÔ »[­¼[e ½[A´¾[yÔ¿[,À[Á[U
Â[S†Å[ê¤
Æ["bÇ[Z˜Ê[TØË[�ºÌ[;R Í[6îÎ[ÑçÏ[Ì×Ð[xvÑ[ÿÕ Ò[’Ó[» Ô[˜ö
Ö[¯9 ×[²Ø[³ƒ
Ù[¼ïÚ[¾4 Ü[ê•Ý[o• Þ[‰ß[‹ôà[¡á[±Õ â[s’ã[Uä[q†å[’
æ[Šq ç[gè[Ëôé[dê[ü7 ë[í¢
ì[‡š í[Sï[kÇð[êëñ[O– ò[þDó[ÊË ô[º¶ ö[� ÷[(Æø[w“ ù[9­ ú[GÝ û[[Í ý[«4þ[ ÿ[Z€\zÚ�\jÀ‚\ĺ„\u
…\3=†\H‡\–ôˆ\M ‰\7O
Œ\1`�\ýˆŽ\~1�\´�\¨ ‘\>’\´
“\}b
•\jÏ–\?—\}n˜\I™\IŸš\‹›\Cbœ\ù¸ Ÿ\¥ \Ò¡\¶¤\®¥\òÑ
¦\ßg §\¬R¨\Gë©\&®ª\´«\,!®\¢«¯\t°\„C±\œí²\®m³\r€´\ª µ\²¯¶\_0·\Ü׸\{k »\cÿ ¼\2µ½\×y
¾\þ
¿\[¾Â\CÃ\‰›Ä\á›Å\Þ÷Æ\Me
É\e.Ê\ûDË\ãÌ\ú:
Í\êúÎ\K!Ï\…Ð\@¢
Ñ\ùß Ò\?çÓ\jÔ\
w
Õ\ª Ö\°×\4�
Ø\%‡Ù\afÚ\,EÛ\1‚Ü\?)Ý\ÚbÞ\{ß\ÛÊà\žã\pu ä\ïb å\åæ\T
ç\$¯è\¼‡ë\èŒì\–?í\Ñî\· ï\å‰ð\uññ\ï<ò\V�ó\� ô\äQ õ\ã<ö\Ž;÷\RÑø\-Wù\B7ú\Žvû\´ü ü\O® ÿ\~±€]D�]Å�‚]Å ƒ]ŽÉ„]Ûè…]û†]½‡]ïU ˆ]‰]í! Š]A…‹]yÑŒ]-`�]E‚Ž]9‡ �] )�]óô “]ж ”]·Z
•],� –]£² —]ˆ†˜]xË
™]ƒ°š] ¥›]l´œ]„.�]¶„ž]ji Ÿ]1  ]c¿ ¡]_o ¢]–x
£]�å¤]l¢­]H½®]À¯]ݳ°]N¾±]m²]N“³]Ò%´]èµ]Û•¶]'}·]Q3¸]ñ`¹]’‹º]»»]K!¼]� ½]ªš¾]vÝ ¿]œÖÀ]¸€
Á]t0 Ä]3NÅ]\éÆ]Æ;
Ç]E"È]Ž± É]g\ Ê]wÂË]áÌ]ç¢Í]º Î]Ùh
Ï]&JÐ]·èÑ]§ßÒ]i
Ó]ÃÖÔ](Õ]*Ö]ä×]k
Ø] 'Û]€é Ü] ½ Ý]‘Þ]"hß]yÊà]2á]`°â]„Øã],+ä],Ïå]@æ]ì)
ç]çu è]ؤé]ts
ê]ë]�·ì];ýí]x
î]ÈF ï]c¥ò]a— ó]@¤ô]ö; ö]Ã6
÷] Þø]×Rù]�èú]�¼
ü]¿s ý]2þ] €ÿ]…Z
€^Ð
‚^7¡ ƒ^µJ
„^î� …^š»†^7� ˆ^ [ ‰^„Њ^žº‹^¯èŒ^æ»�^È:
�^ýÁ�^Ç‘^sŸ’^âg “^`”^4‡
–^7/
—^zј^(/ ™^ßhš^‘éœ^��^hçž^ÜjŸ^s
 ^ñ ¡^qû¢^»£^^ls¥^Dø ¦^Ùk§^�8
¨^s©^Ð ª^ÁÝ «^ü ¬^ꌭ^Ë
°^�±^K(²^Û¦ ³^Àt´^™øµ^û‘¶^Å€·^”¢¸^�‰ ¹^UÖº^áî
»^,¼^â
½^ÓP ¾^*RÁ^iûÂ^
Ã^~ê
Æ^ÜØ Ç^•È^V,Ë^'^Ì^€SÍ^Æk
Ð^¢M Ñ^‡hÒ^�‹Ó^jwÔ^É#Ý^¡= Þ^«´ß^wYà^>
á^ïâ^˜}å^¡z æ^’Óç^—à è^s$é^
u ê^­(
ë^q—ì^lÃí^ uî^¯6 ï^túð^Zµñ^?Ûò^œó^¯ô^.|õ^[Úö^X^ø^ÊJù^3(ú^´±
û^íÅü^ò²ý^ÂÐþ^{Œÿ^€€_ßx�_Ç‚_Šƒ_dž„_U¦…_à †_³Þ‡_›Š ˆ_Gp‰_Ì[Œ_Gl �_æà Ž_’ �_˜\�_ë
‘_úL’_^“_M^
”_/•_ÁÈ–_}¯
—_ß±˜_<Ï™_Hÿ
š_^È›_€ß œ_2Û�_ì„Ÿ_© _ù‹ ¡_m<¢_óØ £_iÖ ¤_Xù
¥_–5¦_ñ
§_¬ ¨_û�©_éj ª__l «_À·¬_"µ ­_Út ®_•| ¯_�õ°_p'³_Á
´_j? µ_䕶_7`·_]¸_­5¹_ä^º_ìð»_Ãð¼_òL ½_Ѿ_µ› ¿_йÀ_ÁgÁ_£A Â_{Ñ
Ã_CÄ_·1 Ç_aVÈ_ ¾É_Åå Ê_ÎÙ Ë_‹SÌ_‹à Ï_Þ›Ð_…"Ñ_ýÀÒ_>OÓ_1ÙÔ_9ŒÕ_Ô Ö_ °×_RÊØ_"¨Ù_]_ Ú_¦ Û_Ü_]•Ý_8vÞ_î¿ ß_ù@ à_ðÀ â_K ã_ uä_V
å_àœ æ_þÆ
ç_�9è_|±é_8Âê_ú ë_×\ì_�Ÿ í_‚ûî_<\
ï_e6ð_V@ ñ_SËò_]�ó_Eƒ ö_íŒ÷_>b ø_)ðù_@Ÿ ú_âl
û_$Ÿü_4äý_åÂ
þ_×^ÿ_¼
€`·M �`ìu‚`Ñõƒ`A„`/…`ÃN†`ÇM‡`¯ù‰`Ô Š`�ˆ‹`¡� Œ`Ò�`2ÔŽ`&[ �`æ„�`3‘`Í
’`°< “`Ìa”`ð•`‡±–`õ´—`�Θ`A¾™`ìO
š`Ë��`4Íž`–0 Ÿ`$# `Å¡`Â6¢`£Ò £`gˤ`—¥`#| ¦`ü/ §`ª ¨`{)©`D!ª`=å«`Lά`Û?­`5Á®`™�±`Sê²`% ³` ”´`Áì
µ`h¼¶`\É ¹`¶Üº`Ї
»` ] ¼`Ðq½`ä7¾`W/¿`ï
À`Ž¾Á`2jÂ`ƒ=
Ã`n/ Ä`�¿Å`ÝÕÆ`àÇ`LÊÈ`(“É`ùÊ`ÁLÌ`Ëù Í`+Ù Î`ÿ< Ï`d¸Ð`Ð:Ñ`îˆÒ`ƒ7Ó`ÓÔ`.Õ`;¢
Ö`þv ×`KØ`æVÙ`“1Ú`g«Û`[ÙÜ`4¤Ý`}6à`õ
á`½^â`Çmã`Kb ä`!Õå`Çãæ`µÎç`]Aè`a é`çê`£Î ë`’°ì`NQí`�1î`ÊÈï`cð`B¥ñ`º` ó`‡ô`D‚ õ`Å
ö`ìz÷`­ý
ø`Œ§ù`±ú`zl û`÷à ü`”h ý`Úâ
þ`”sÿ`=Õ €a
R�aFŽ‚a‘Qƒa~¾„a¬.‡aã¨
ˆaÎ)‰a`¸Ša j ‹arkŒaä½�ac)Ža¦?�aÓˆ�aýÛ‘a^ ’aV™
“a­”a&Ç •a¨ –aúu—a{¡ ˜ad½›a{1£a5: ¤a`z¥aý®¦a5´§aíè¨aºâ©ay
ªak
«a9ê¬a°i
­aøƒ ®a’‚¯a"ª°aøã ±ax ²aZ¬³a7 ´apÌ µaå‰ ¶aØá·a9¸aK¨ ¹aóºaÂ’ »aj°¼as ½a-�
¾aF&¿aJÖÀaѲÁaãÀ
ÂaªÛÃaÎòÄaÖ\ ÅaÚiÆaÖkÇa#%Èa¶.Éa‡ÀÊaÑ
ËaßÝ ÌaáˆÍaCÕ ÎaQ˜Ïa÷‘Ða¯Ñaï˜Òa`rÓa• Ôaj¢Õa@âÖaC_ ×aŒ8Øaüø
Ùa(ãÚa#�Ûab ÜaN*Ýa�Þa9
ßa~àaŠ6 áaNâa2Y ãaJÎäa´Påa\zæa6¿çaòèa�í éa êa·Ë ëa‰(
ìaåWíaýeîaE# ïa5¸ðaÚpñaØh òajóa` ôa\ßõa™"öavš÷aZ9øaN{
ùa„¼úaÇ ûaE„þa^ÿa ª €bÚ
�b+X‚bJäƒbœ­„b<ì …bî¯ †bn°‡bK¼ˆbê= ‰br@ ŠbJo‹b·}ŒbÐÉ�bk™Žbym�br�bQ‘bÍR ’b±c“baH”bâd•be�–b$Q —bfO ˜b{Ý™bÿ¾
šb¦c›bAX œbDZ�bKKžb­Ÿb  b2Î
¡b°W ¢bf
£b{m¤bty¥b ¦bˆ’§bYå ¨bï/©b¿/ªb¼ «b
¬bšÃ ­bSï®b` ¯bâÄ°bàÓ
±bƒ¡ ²bï³bøº´bu µb•¶bÃE ·b�
¸bœü
¹b%ºbU7»b›$ ¼bÔ� ½b�� Àb‹ Áb65Âb­ÃbfÄb¼]ÅbåÆb;õ Çb†}ÈbN ÉbkØÊb’NËbùœÌb.€ ÍbÐëÎbŸ
ÏbÓ‰ ÐbþR Ñb8ë Òb¾>Óbj¶Ôb°·
Õb(
Öbã
×b © ØbyaÙbñùÚbÚ| Ûb=¦ÜbùÝbô¾Þb¬ÛßbZÕ àb­˜
ábEâb†:ãb€ê äb
ðåb±˜
æbwC çbDÀèbY[
éb¬H êb KëbƒËìb>Üíbãîb–­ïb$
ðbñb�´ òb›x óbã ôb võb‘höb+.÷b–‘ øbïa ùbÐúb®bûbo¦üb?ˆýbíþb&ÿb³Ò€c@|�cWó‚cñæ ƒc5Q„c“…c/†co—‡cÁƒˆcz:‰cÁÄŠc¬~ ‹cºa Œc:r�c%úŽc�ã �cÞƒ�cL‘c]’cP@•c®$
–cÌí™cì¥ šcªÎ›cÒøœcŸZ �cîžc�Í¡ceó¢cOY£c‹ô ¤cä@ ¥c/J¦c&v
©cÃFªcO‰
«c´ ¬c« ­cÙ®c¹¯cq°cb
±c¶²c8Ž ³cè´c…�µcG¶cN·c‚˜ºc°`»cNR¼c�Ÿ½ciU¾c‚Š¿c…œ Àc™!
Ácf×Âc8MÃcËîÄc„ã
Åc|ˆ Æc7Çc;â ÈcüéÉc{ÊcL¯
Ëcng
Ìc�s
Íc<ÞÎc²„
ÏcZšÐc‡€Ñc»Ï
ÒcÝZÓc‰\Ôcá¾Õcƒ�Öc[N×c±€Øc¼ç ÙcÛÏ
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
Úc´ˆ ÛcÎŽÜcƒzÝc"ÞcDAßcÏòàcQác£ßâc©ùãc¼ãäcÀ°åc5¬æcŠ¸çc Ý èc4ó écœ�êcÐÿëcÛ1ìc×ù
Both sensors now run over interrupts in pulse mode. This still needs
2026-09-20 19:55:57 +02:00
ícDõîc

ïcZó
ðcZ’ñcjxòc±îóc7nôcmt õcÍŽöc-ß ÷cϹøcÅsùc™júcØÍûc€~ücÌe ýcúþcþ!ÿcŠ  €d°Ö �dKØ‚d•gƒd© „dW›
…dÒ†d]0‡dñ»ˆdñÎ ‰d3ƒŠd‹d¾Œd6�d*ÏŽdä�d¹×�dâÔ‘d‰Ô ’dÌ “d –dä›
—dW£˜dD™dË6šd;É›d‰Í œd¦I�dŠ6žd‘v
Ÿdƒa dUì ¡dS}
¢dÏì
£d¶#¤dï9
¥d¤  ¦d•‚§d¯™¨dUø©d�ð ªdM«dªŽ¬dýß
­d–Ì ®d–L ¯dÔB°dlš ±d…Ê
²d_³dŽ0´dL°µd ¡¶déÿ·dÝÉ ¸dRM ¹däX
ºdaf»d�f ¼d±
½d3·¾d/�¿d¨öÀdÜÌÁdüÂd9GÅdòõÆdŒ^Çdk-ÊdŸ{ËdL±ÌdîŠ Ïd í
Ðdl‘ÑdÎ!Òdj Ód¾¢ Ôd&Õdå‡ÝdXÞdŸ=ßdVÞàdoád;‚âd�Õ ãdâ® äd®åd·Šædý+çd×Vèdó¿
ëd<Vìdïaíd/:õdèîödá_÷d�C ød{ÿ
ùd
fúdƒwûd–t üd–ýd„@þd €e¯–�eKº‚e¼“ …e’2†eTk‡e¥»ˆeÓ ‰eç; ŠeÎi‹e�µŒešÒ�e^~Že|ß�ešõ‘e¥’eþX“e4 ”eê •ecJ—e¸•˜e
0™eñÄœe �eÆ!že“] ¦e):
§eš ¨eV ©e¯†ªe=b
«eYo ®e Ò¯esä °e‘?±en ²e’�³eÍ´eZѵe,:
¶eG·eÞ˜¸eãß ¹eciºei»e°¼eÙ¿eò1Àe2ÁeÞMÂe�šÃeÛ�
ÄeQ¶ ÅeŸUÆe‘ÇeÊÈe2šÉeG°ÊelÿËe~kÌeÐÑÍeéÎeU÷ Ïe…üÐeíJÑe†ÒeÜÓeåþ Öe¬Û×ez+Øe–SÙeˆ�Úe{ ÛeZÀÜeÒ Ýe€
ÞewŽ ßeÿ? àe¸áeÝaâeqOãeÒµ äeýÐåeµc æeû~çeÚ3êea%
ëe]EìeŽ£ïeõêðeáE ñeËtôeJõe3öe%¬÷e«øe fùe& úe[/ûe�^üeI°ÿeÀ|€fü
�f6½‚fdƒfû „fñJ …f¬†fÂ
‡fÐŽfÞŠ�fH‘f>º’f}ï “f� ”fÌk•fË
–fÜÜ—fPzšf>8 ›f œfb7�f
®
žf›ÆŸfÎÜ f_ê ¡fˆš¢fŒÛ £f~ ¤f2|¦fE§f÷É ¨f'K ©fÏ>ªfðò«fK¬ ¬f;Í ­f\®füw
°fÄ ±f$²fq!³fLˆ´fr
µfˆ¡¶fcŸ·f]¸f︹fù#ºf5Þ
»fµ ¼fÂÁ½f~¹¾fbD Àf{DÁf ðÂf¯}ÃfªŸÄfàMÅfÆfõÄÇf#›ÈfjÇÊfàdËfݯÌfUŒÍf±™ Ïfå�
Ðf Ñf¶’ ÒfAáÓfóMÕfŽqÖf®
Øf¬Ü Ùfî“ÚfsŠÛf¿ÜfÈL Ýf9¦ Þfóýßfw(áfIˆâfÚÈãfã[äf*Kåf©e æfF]çf‡uèfó¦éfã\êfµ| ífù`
ïf» ðf»·ñfRïòf­ óf…\ôfiÙöfg´øfxrùfï‰úff@
ûfµ¬ üf¯| ýf$Éþf± €g: �gh ‚g/üƒga¼ „g™O …gòÀ†gkÙ ‰gZ ‘g]ž’g“gZÝ”gÍK•gÏ–gÇô—gú¨˜gÔâ ™g‰šgÌÛgÒìœg1ê�g¥NžgÚ ŸgÞ gùv¡g¦Z¢gQ2£gP¤gñL¥g”Î
¦gÉ÷§gˆ
¨gË» «g°E¬g*˜
­g€Ì ®g~” ¯g"Œ °g¾Ñ²g#
³gþò´g)
µg'ã¶gC> ·gé¹g3Óºg»g|D¼ggg½g*ª¿gWºÀgÁgYÄg;QÅgy¥Ægº=Çg—
ÈgŸ°Égö^ Êg ËgçfÌg ÍgÒ8Îgh
Ïg¥+ ÐgÌ'ÑgÒgD­Ógê.Ôg šÕg¶­Ög_×gO·
Øg8 Ùg#UÚgEsÛg°! Ügf Ýg|!ÞgJ~ágÂxâg3ãgÓäg¾ˆ
ågV“ægDÅçgVèg¤- ég@}êg+-
ëggË
ìgJŽôgª ÷g°Hûg£¡ þg “‚h}X
…hB‰hÆfŒh}¿�hx”h‚ð—hæR›hF]
žhm§¡hµâ£hâw¦h7Ù©hz$¬hÚ ¯hã
²h…r µhsÅhííÇh�pÍh„ö Õh¥sØh$ÎÛhºßhœ~ âh?nåhRW èh¸ŒëhÃå íh'¸ îh
Å ðhSñhh’óhë_
ôh´Ö
öhPø ÷hè%úhDðýh¯/ €iÆ’ƒiOt
†i"&
‰i* �iOÉ‘iô= •iu®˜ih9 žiÚ¡i÷?¤i­Á§i6ªiæ>¯iÂò´ioˆ·iº�½i=Ái ÅiÏ
ÉiÂ%ÌiiÛÏiR‘Òi]ØiêCÞi&Îäi1Ù
êiùU€jgÆ �jv–“j®Ù—j ›jšrŸj¿£jŦjêÁ«jOc ¯jy³jho·j†ñ»jmØ¿jUË Ãj&È
ÇjáyËjIUÑj3”ÖjÍÙjF± Ýj·2àj�ã |çŒqŽ³$ �Âd’$,
”ie–B9˜NœÉé¥wF®²F·׶ÀlúÉkÑ–å#†Ø$›%©
&§õ'm· 5§ª6ô’ 7pŠ8Ù 9D:ÿ;¶{<>‹=hý>ë?(q@@¶ AðªBØR
CíŽDnÁE.FvUGÈcHM˜IH
Jƒ‚
K–’LÄMÒá NßzOdáP®, Q
­RQ
SæWTÏ� U Ò
V;ÍW%ÄX$Y[šZ¾[χ\Ê‚^�™_â
`<n ax¶b·Ð
c'd¥Ù{÷½„/…<h†ì¾‡×ˆÇF
‰­ŠŽÈ ‹^#Œ¶ÿ‘ðÕ
å[‰ôH– öK\�>5‚Þ0 ŒåÃ�=Ž¹ �D0�*Ê‘ò�’Dd“ ”Y½´W= µM
’)·ܺ ¸÷è¹ßº^ç»j’¼²¢½“¾¯d ¿Õ ÀÙ­
Á1ÀzÄ¥ Źä ÆC^dž‹È×5É8ü Ê…Ë[^ÌLØ ÍÁb ÎáHÏg
ÐÌî Ñ+U ÒîeÓdqÔ ¿ Õ=æÖ�<ר™Øä Ùy0Ú`1Û† Ü(PÝMUß$çá‡â�
ãž[äÅ åìæç(çU èSW é×óêl
ëÕöì 
íŸf
îi:ïtð'ñ©~ò¼óÉô­õtö
ö´
÷jø–Qù†Ëú&pûÈ# ü5ïýè þ�©ÿO{€­�æ�‚%ðƒß–„èï…Dz †�‡‡p ˆSô
‰Âà Š‹ŠŒÉà�ÞÞŽ 3“�ª ”¶J
×bÊ
Ø�HÙKŸÚR.ÛãŸÜ¬»ÝÞÌúß‹ðéÒñhù�úŸí
œ�6Ã
žr½¢¹¯ £üÃ
¤¸I ¥Ù«µx\ðLñãòDÖ
óÁ ôhüõ'ü öVa ÷9ø0ú�ñû-OüýŒ˜þäÜ ÿâÒ€n�Ë… ™¦ššo.›s›œxâ�jdž‡Ÿâ0
 <• ±‡Á²¾~»Éš¼Ã
½ ‰¾pǵ È
ÉYðÊÛ§Ì�sÍ£_Î}WÐÐûÑBÀ
Òì;
Ó…M ×ëK Ø×ñÙÀÉ ßkËð]°
ñiO ò¨Á
óšÔõÀ…÷
øeÃùÎUúzK ûÞóƒ G¡„ q
… ¾l † ‡¸‡ ç͉ Ø®Š ê�“ @ ” |8• æA– §r
˜ ± ™ YFš Zw› Í
�
ž ,  ;«¡ ¨¦ £ ¯¤ Ìì¦ Ù¨ &\© >¦ª ×è ¾ ¤²Ô .ˆ Õ /Ö “'× -_Ø ®jÙ gµÚ P| Û  ¡Ü à«ß Åà
”á nAâ è÷ä HÌå ØÄæ •£ç ”×è 2Úñ $Ã
ò ÷_ ô ~C õ Áíö N$÷ a©ù ª‚
ú
¤û Š_ü àÐý Æ“ÿ “6€
†j�
�è ‚
zY„
Vï…
#Ä
†
»6ˆ
Š ‰
‹†Š
–·¡
Š¢
� «
ÕЬ
ã­ ­
…U®
—Ź
”4º
½z¼
°� ½
Ž‡
¾
Ø ¿
�á Á
@7Â
1Ä
èÒÅ
Reference in New Issue Copy Permalink