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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+/**
+  ******************************************************************************
+  * @file    stm32wbxx_hal_spi_ex.c
+  * @author  MCD Application Team
+  * @brief   Extended SPI HAL module driver.
+  *          This file provides firmware functions to manage the following
+  *          SPI peripheral extended functionalities :
+  *           + IO operation functions
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2019 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.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32wbxx_hal.h"
+
+/** @addtogroup STM32WBxx_HAL_Driver
+  * @{
+  */
+
+/** @defgroup SPIEx SPIEx
+  * @brief SPI Extended HAL module driver
+  * @{
+  */
+#ifdef HAL_SPI_MODULE_ENABLED
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private defines -----------------------------------------------------------*/
+/** @defgroup SPIEx_Private_Constants SPIEx Private Constants
+  * @{
+  */
+#define SPI_FIFO_SIZE       4UL
+/**
+  * @}
+  */
+
+/* Private macros ------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/
+
+/** @defgroup SPIEx_Exported_Functions SPIEx Exported Functions
+  * @{
+  */
+
+/** @defgroup SPIEx_Exported_Functions_Group1 IO operation functions
+  *  @brief   Data transfers functions
+  *
+@verbatim
+  ==============================================================================
+                      ##### IO operation functions #####
+ ===============================================================================
+ [..]
+    This subsection provides a set of extended functions to manage the SPI
+    data transfers.
+
+    (#) Rx data flush function:
+        (++) HAL_SPIEx_FlushRxFifo()
+
+@endverbatim
+  * @{
+  */
+
+/**
+  * @brief  Flush the RX fifo.
+  * @param  hspi pointer to a SPI_HandleTypeDef structure that contains
+  *               the configuration information for the specified SPI module.
+  * @retval HAL status
+  */
+HAL_StatusTypeDef HAL_SPIEx_FlushRxFifo(const SPI_HandleTypeDef *hspi)
+{
+  __IO uint32_t tmpreg;
+  uint8_t  count = 0U;
+  while ((hspi->Instance->SR & SPI_FLAG_FRLVL) !=  SPI_FRLVL_EMPTY)
+  {
+    count++;
+    tmpreg = hspi->Instance->DR;
+    UNUSED(tmpreg); /* To avoid GCC warning */
+    if (count == SPI_FIFO_SIZE)
+    {
+      return HAL_TIMEOUT;
+    }
+  }
+  return HAL_OK;
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#endif /* HAL_SPI_MODULE_ENABLED */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */