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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+CMSIS DSP_Lib example arm_convolution_example for
+  Cortex-M0, Cortex-M3, Cortex-M4 with FPU and Cortex-M7 with single precision FPU.
+
+The example is configured for uVision Simulator.