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.

Core/Inc/app_debug.h

@@ -0,0 +1,67 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    app_debug.h
+  * @author  MCD Application Team
+  * @brief   Header for app_debug.c module
+  ******************************************************************************
+  * @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_DEBUG_H
+#define APP_DEBUG_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+  /* Exported types ------------------------------------------------------------*/
+/* USER CODE BEGIN ET */
+
+/* USER CODE END ET */
+
+/* Exported constants --------------------------------------------------------*/
+/* USER CODE BEGIN EC */
+
+/* USER CODE END EC */
+
+/* Exported variables --------------------------------------------------------*/
+/* USER CODE BEGIN EV */
+
+/* USER CODE END EV */
+
+/* Exported macros ------------------------------------------------------------*/
+/* USER CODE BEGIN EM */
+
+/* USER CODE END EM */
+
+/* Exported functions ---------------------------------------------*/
+  void APPD_Init( void );
+  void APPD_EnableCPU2( void );
+/* USER CODE BEGIN EF */
+
+/* USER CODE END EF */
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*APP_DEBUG_H */