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
commit 7ee381de58
1630 changed files with 632404 additions and 0 deletions
@@ -0,0 +1,165 @@
+/**************************************************************************//**
+ * @file     os_tick_ptim.c
+ * @brief    CMSIS OS Tick implementation for Private Timer
+ * @version  V1.0.2
+ * @date     02. March 2018
+ ******************************************************************************/
+/*
+ * Copyright (c) 2017-2018 Arm Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "RTE_Components.h"
+#include CMSIS_device_header
+
+#if defined(PTIM)
+
+#include "os_tick.h"
+#include "irq_ctrl.h"
+
+#ifndef PTIM_IRQ_PRIORITY
+#define PTIM_IRQ_PRIORITY           0xFFU
+#endif
+
+static uint8_t PTIM_PendIRQ;        // Timer interrupt pending flag
+
+// Setup OS Tick.
+int32_t OS_Tick_Setup (uint32_t freq, IRQHandler_t handler) {
+  uint32_t load;
+  uint32_t prio;
+  uint32_t bits;
+
+  if (freq == 0U) {
+    return (-1);
+  }
+
+  PTIM_PendIRQ = 0U;
+
+  // Private Timer runs with the system frequency
+  load = (SystemCoreClock / freq) - 1U;
+
+  // Disable Private Timer and set load value
+  PTIM_SetControl   (0U);
+  PTIM_SetLoadValue (load);
+
+  // Disable corresponding IRQ
+  IRQ_Disable     (PrivTimer_IRQn);
+  IRQ_ClearPending(PrivTimer_IRQn);
+
+  // Determine number of implemented priority bits
+  IRQ_SetPriority (PrivTimer_IRQn, 0xFFU);
+
+  prio = IRQ_GetPriority (PrivTimer_IRQn);
+
+  // At least bits [7:4] must be implemented
+  if ((prio & 0xF0U) == 0U) {
+    return (-1);
+  }
+
+  for (bits = 0; bits < 4; bits++) {
+    if ((prio & 0x01) != 0) {
+      break;
+    }
+    prio >>= 1;
+  }
+
+  // Adjust configured priority to the number of implemented priority bits
+  prio = (PTIM_IRQ_PRIORITY << bits) & 0xFFUL;
+
+  // Set Private Timer interrupt priority
+  IRQ_SetPriority(PrivTimer_IRQn, prio-1U);
+
+  // Set edge-triggered IRQ
+  IRQ_SetMode(PrivTimer_IRQn, IRQ_MODE_TRIG_EDGE);
+
+  // Register tick interrupt handler function
+  IRQ_SetHandler(PrivTimer_IRQn, handler);
+
+  // Enable corresponding interrupt
+  IRQ_Enable (PrivTimer_IRQn);
+
+  // Set bits: IRQ enable and Auto reload
+  PTIM_SetControl (0x06U);
+
+  return (0);
+}
+
+/// Enable OS Tick.
+void OS_Tick_Enable (void) {
+  uint32_t ctrl;
+
+  // Set pending interrupt if flag set
+  if (PTIM_PendIRQ != 0U) {
+    PTIM_PendIRQ = 0U;
+    IRQ_SetPending (PrivTimer_IRQn);
+  }
+
+  // Start the Private Timer
+  ctrl  = PTIM_GetControl();
+  // Set bit: Timer enable
+  ctrl |= 1U;
+  PTIM_SetControl (ctrl);
+}
+
+/// Disable OS Tick.
+void OS_Tick_Disable (void) {
+  uint32_t ctrl;
+
+  // Stop the Private Timer
+  ctrl  = PTIM_GetControl();
+  // Clear bit: Timer enable
+  ctrl &= ~1U;
+  PTIM_SetControl (ctrl);
+
+  // Remember pending interrupt flag
+  if (IRQ_GetPending(PrivTimer_IRQn) != 0) {
+    IRQ_ClearPending (PrivTimer_IRQn);
+    PTIM_PendIRQ = 1U;
+  }
+}
+
+// Acknowledge OS Tick IRQ.
+void OS_Tick_AcknowledgeIRQ (void) {
+  PTIM_ClearEventFlag();
+}
+
+// Get OS Tick IRQ number.
+int32_t  OS_Tick_GetIRQn (void) {
+  return (PrivTimer_IRQn);
+}
+
+// Get OS Tick clock.
+uint32_t OS_Tick_GetClock (void) {
+  return (SystemCoreClock);
+}
+
+// Get OS Tick interval.
+uint32_t OS_Tick_GetInterval (void) {
+  return (PTIM_GetLoadValue() + 1U);
+}
+
+// Get OS Tick count value.
+uint32_t OS_Tick_GetCount (void) {
+  uint32_t load = PTIM_GetLoadValue();
+  return  (load - PTIM_GetCurrentValue());
+}
+
+// Get OS Tick overflow status.
+uint32_t OS_Tick_GetOverflow (void) {
+  return (PTIM->ISR & 1);
+}
+
+#endif  // PTIM