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
commit 7ee381de58
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+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    app_common.h
+  * @author  MCD Application Team
+  * @brief   App Common application configuration file for STM32WPAN Middleware.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef APP_COMMON_H
+#define APP_COMMON_H
+
+#ifdef __cplusplus
+extern "C"{
+#endif
+
+#include <stdint.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+
+#include "app_conf.h"
+
+/* -------------------------------- *
+ *  Basic definitions               *
+ * -------------------------------- */
+#undef NULL
+#define NULL                    0
+
+#undef FALSE
+#define FALSE                   0
+
+#undef TRUE
+#define TRUE                    (!0)
+
+/* -------------------------------- *
+ *  Critical Section definition     *
+ * -------------------------------- */
+#define BACKUP_PRIMASK()    uint32_t primask_bit= __get_PRIMASK()
+#define DISABLE_IRQ()       __disable_irq()
+#define RESTORE_PRIMASK()   __set_PRIMASK(primask_bit)
+
+/* -------------------------------- *
+ *  Macro delimiters                *
+ * -------------------------------- */
+#define M_BEGIN     do {
+
+#define M_END       } while(0)
+
+/* -------------------------------- *
+ *  Some useful macro definitions   *
+ * -------------------------------- */
+#ifndef MAX
+#define MAX( x, y )          (((x)>(y))?(x):(y))
+#endif
+
+#ifndef MIN
+#define MIN( x, y )          (((x)<(y))?(x):(y))
+#endif
+
+#define MODINC( a, m )       M_BEGIN  (a)++;  if ((a)>=(m)) (a)=0;  M_END
+
+#define MODDEC( a, m )       M_BEGIN  if ((a)==0) (a)=(m);  (a)--;  M_END
+
+#define MODADD( a, b, m )    M_BEGIN  (a)+=(b);  if ((a)>=(m)) (a)-=(m);  M_END
+
+#define MODSUB( a, b, m )    MODADD( a, (m)-(b), m )
+
+#define PAUSE( t )           M_BEGIN \
+                               __IO int _i; \
+                               for ( _i = t; _i > 0; _i -- ); \
+                             M_END
+
+#define DIVF( x, y )         ((x)/(y))
+
+#define DIVC( x, y )         (((x)+(y)-1)/(y))
+
+#define DIVR( x, y )         (((x)+((y)/2))/(y))
+
+#define SHRR( x, n )         ((((x)>>((n)-1))+1)>>1)
+
+#define BITN( w, n )         (((w)[(n)/32] >> ((n)%32)) & 1)
+
+#define BITNSET( w, n, b )   M_BEGIN (w)[(n)/32] |= ((U32)(b))<<((n)%32); M_END
+
+/* -------------------------------- *
+ *  Compiler                         *
+ * -------------------------------- */
+#define PLACE_IN_SECTION( __x__ )  __attribute__((section (__x__)))
+
+#ifdef WIN32
+#define ALIGN(n)
+#else
+#define ALIGN(n)             __attribute__((aligned(n)))
+#endif
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*APP_COMMON_H */