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
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+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    utilities_conf.h
+  * @author  MCD Application Team
+  * @brief   Configuration file for STM32 Utilities.
+  ******************************************************************************
+  * @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 UTILITIES_CONF_H
+#define UTILITIES_CONF_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "cmsis_compiler.h"
+#include "string.h"
+#include "app_conf.h"
+/******************************************************************************
+ * common
+ ******************************************************************************/
+#define UTILS_ENTER_CRITICAL_SECTION( )   uint32_t primask_bit = __get_PRIMASK( );\
+                                          __disable_irq( )
+
+#define UTILS_EXIT_CRITICAL_SECTION( )          __set_PRIMASK( primask_bit )
+
+#define UTILS_MEMSET8( dest, value, size )      memset( dest, value, size);
+
+/******************************************************************************
+ * tiny low power manager
+ * (any macro that does not need to be modified can be removed)
+ ******************************************************************************/
+#define UTIL_LPM_INIT_CRITICAL_SECTION( )
+#define UTIL_LPM_ENTER_CRITICAL_SECTION( )      UTILS_ENTER_CRITICAL_SECTION( )
+#define UTIL_LPM_EXIT_CRITICAL_SECTION( )       UTILS_EXIT_CRITICAL_SECTION( )
+
+/******************************************************************************
+ * sequencer
+ * (any macro that does not need to be modified can be removed)
+ ******************************************************************************/
+#define UTIL_SEQ_INIT_CRITICAL_SECTION( )
+#define UTIL_SEQ_ENTER_CRITICAL_SECTION( )      UTILS_ENTER_CRITICAL_SECTION( )
+#define UTIL_SEQ_EXIT_CRITICAL_SECTION( )       UTILS_EXIT_CRITICAL_SECTION( )
+#define UTIL_SEQ_CONF_TASK_NBR                  (32)
+#define UTIL_SEQ_CONF_PRIO_NBR                  CFG_SCH_PRIO_NBR
+#define UTIL_SEQ_MEMSET8( dest, value, size )   UTILS_MEMSET8( dest, value, size )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*UTILITIES_CONF_H */