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.

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+//=====================================================================================================
+// MadgwickAHRS.h
+//=====================================================================================================
+//
+// Implementation of Madgwick's IMU and AHRS algorithms.
+// See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
+//
+// Date			Author          Notes
+// 29/09/2011	SOH Madgwick    Initial release
+// 02/10/2011	SOH Madgwick	Optimised for reduced CPU load
+//
+//=====================================================================================================
+#ifndef MadgwickAHRS_h
+#define MadgwickAHRS_h
+
+//----------------------------------------------------------------------------------------------------
+// Variable declaration
+
+//extern volatile float beta;				// algorithm gain
+//extern volatile float q0, q1, q2, q3;	// quaternion of sensor frame relative to auxiliary frame
+
+typedef struct {
+	float q[4]; // Quaternion: [qw, qx, qy, qz]
+	float beta; // Filter gain (tunes correction strength)
+	float sample_freq; // Sampling frequency in Hz
+} MadgwickAHRS_Filter;
+//---------------------------------------------------------------------------------------------------
+// Function declarations
+
+void MadgwickAHRS_init (MadgwickAHRS_Filter* filter, float beta, float sample_freq);
+void MadgwickAHRS_update(MadgwickAHRS_Filter* filter, float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
+void MadgwickAHRS_update_IMU(MadgwickAHRS_Filter* filter, float gx, float gy, float gz, float ax, float ay, float az);
+
+#endif
+//=====================================================================================================
+// End of file
+//=====================================================================================================