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    stm32wbxx_hal_timebase_tim.c
+  * @brief   HAL time base based on the hardware TIM.
+  ******************************************************************************
+  * @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 */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32wbxx_hal.h"
+#include "stm32wbxx_hal_tim.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef        htim16;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @brief  This function configures the TIM16 as a time base source.
+  *         The time source is configured  to have 1ms time base with a dedicated
+  *         Tick interrupt priority.
+  * @note   This function is called  automatically at the beginning of program after
+  *         reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
+  * @param  TickPriority: Tick interrupt priority.
+  * @retval HAL status
+  */
+HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
+{
+  RCC_ClkInitTypeDef    clkconfig;
+  uint32_t              uwTimclock = 0;
+  uint32_t              uwPrescalerValue = 0;
+  uint32_t              pFLatency;
+
+  HAL_StatusTypeDef     status = HAL_OK;
+
+  /*Configure the TIM16 IRQ priority */
+  HAL_NVIC_SetPriority(TIM1_UP_TIM16_IRQn, TickPriority ,0);
+  /* Enable the TIM16 global Interrupt */
+  HAL_NVIC_EnableIRQ(TIM1_UP_TIM16_IRQn);
+
+  /* Enable TIM16 clock */
+  __HAL_RCC_TIM16_CLK_ENABLE();
+
+  /* Get clock configuration */
+  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+
+  /* Compute TIM16 clock */
+  uwTimclock = HAL_RCC_GetPCLK2Freq();
+
+  /* Compute the prescaler value to have TIM16 counter clock equal to 1MHz */
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
+
+  /* Initialize TIM16 */
+  htim16.Instance = TIM16;
+
+  /* Initialize TIMx peripheral as follow:
+   * Period = [(TIM16CLK/1000) - 1]. to have a (1/1000) s time base.
+   * Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+   * ClockDivision = 0
+   * Counter direction = Up
+   */
+  htim16.Init.Period = (1000000U / 1000U) - 1U;
+  htim16.Init.Prescaler = uwPrescalerValue;
+  htim16.Init.ClockDivision = 0;
+  htim16.Init.CounterMode = TIM_COUNTERMODE_UP;
+
+  status = HAL_TIM_Base_Init(&htim16);
+  if (status == HAL_OK)
+  {
+#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1U)
+      /* Register callback */
+      HAL_TIM_RegisterCallback(&htim16, HAL_TIM_PERIOD_ELAPSED_CB_ID, TimeBase_TIM_PeriodElapsedCallback);
+#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */
+
+    /* Start the TIM time Base generation in interrupt mode */
+    status = HAL_TIM_Base_Start_IT(&htim16);
+    if (status == HAL_OK)
+    {
+    /* Enable the TIM16 global Interrupt */
+        HAL_NVIC_EnableIRQ(TIM1_UP_TIM16_IRQn);
+      /* Configure the SysTick IRQ priority */
+      if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+      {
+        /* Configure the TIM IRQ priority */
+        HAL_NVIC_SetPriority(TIM1_UP_TIM16_IRQn, TickPriority, 0U);
+        uwTickPrio = TickPriority;
+      }
+      else
+      {
+        status = HAL_ERROR;
+      }
+    }
+  }
+
+ /* Return function status */
+  return status;
+}
+
+/**
+  * @brief  Suspend Tick increment.
+  * @note   Disable the tick increment by disabling TIM16 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_SuspendTick(void)
+{
+  /* Disable TIM16 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim16, TIM_IT_UPDATE);
+}
+
+/**
+  * @brief  Resume Tick increment.
+  * @note   Enable the tick increment by Enabling TIM16 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_ResumeTick(void)
+{
+  /* Enable TIM16 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim16, TIM_IT_UPDATE);
+}
+