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
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+/*###ICF### Section handled by ICF editor, don't touch! ****/
+/*-Editor annotation file-*/
+/* IcfEditorFile="$TOOLKIT_DIR$\config\ide\IcfEditor\cortex_v1_0.xml" */
+/*-Specials-*/
+define symbol __ICFEDIT_intvec_start__ = 0x08000000;
+/*-Memory Regions-*/
+/***** FLASH Part dedicated to M4 *****/
+define symbol __ICFEDIT_region_ROM_start__ = 0x08000000;
+define symbol __ICFEDIT_region_ROM_end__   = 0x0807FFFF;
+define symbol __ICFEDIT_region_RAM_start__ = 0x20000008;
+define symbol __ICFEDIT_region_RAM_end__   = 0x2002FFFF;
+/*-Sizes-*/
+define symbol __ICFEDIT_size_cstack__ = 0x400;
+define symbol __ICFEDIT_size_heap__   = 0x200;
+/**** End of ICF editor section. ###ICF###*/
+
+define symbol __ICFEDIT_region_RAM_SHARED_start__ = 0x20030000;
+define symbol __ICFEDIT_region_RAM_SHARED_end__   = 0x200327FF;
+
+define memory mem with size = 4G;
+define region ROM_region        = mem:[from __ICFEDIT_region_ROM_start__   to __ICFEDIT_region_ROM_end__];
+define region RAM_region        = mem:[from __ICFEDIT_region_RAM_start__   to __ICFEDIT_region_RAM_end__];
+define region RAM_SHARED_region = mem:[from __ICFEDIT_region_RAM_SHARED_start__   to __ICFEDIT_region_RAM_SHARED_end__];
+
+define block CSTACK    with alignment = 8, size = __ICFEDIT_size_cstack__   { };
+define block HEAP      with alignment = 8, size = __ICFEDIT_size_heap__     { };
+
+/* MB_MEM1 and MB_MEM2 are sections reserved to mailbox communication. It is placed in the shared memory */
+initialize by copy { readwrite };
+do not initialize  { section .noinit,
+                     section MAPPING_TABLE,
+                     section MB_MEM1 };
+
+place at address mem:__ICFEDIT_intvec_start__ { readonly section .intvec };
+
+place in ROM_region        { readonly };
+place in RAM_region        { readwrite,block CSTACK, block HEAP };
+place in RAM_SHARED_region { first section MAPPING_TABLE};
+place in RAM_SHARED_region { section MB_MEM1};
+place in RAM_SHARED_region { section MB_MEM2};