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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+/**
+  ******************************************************************************
+  * @file    ble_common.h
+  * @author  MCD Application Team
+  * @brief   Common file to BLE Middleware
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2018-2021 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.
+  *
+  ******************************************************************************
+  */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __BLE_COMMON_H
+#define __BLE_COMMON_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+
+#include "ble_conf.h"
+#include "ble_dbg_conf.h"
+
+/* Event types copied from MW Legacy file*/
+#include "tl.h"
+
+/* -------------------------------- *
+ *  Basic definitions               *
+ * -------------------------------- */
+
+#undef NULL
+#define NULL                    0
+
+#undef FALSE
+#define FALSE                   0
+
+#undef TRUE
+#define TRUE                    (!0)
+
+
+/* -------------------------------- *
+ *  Macro delimiters                *
+ * -------------------------------- */
+
+#define M_BEGIN     do {
+
+#define M_END       } while(0)
+
+
+/* -------------------------------- *
+ *  Some useful macro definitions   *
+ * -------------------------------- */
+
+#ifndef MAX
+#define MAX( a, b )            (((a) > (b)) ? (a) : (b))
+#endif
+
+#ifndef MIN
+#define MIN( a, b )            (((a) < (b)) ? (a) : (b))
+#endif
+
+#define MODINC( a, m )       M_BEGIN  (a)++;  if ((a)>=(m)) (a)=0;  M_END
+
+#define MODDEC( a, m )       M_BEGIN  if ((a)==0) (a)=(m);  (a)--;  M_END
+
+#define MODADD( a, b, m )    M_BEGIN  (a)+=(b);  if ((a)>=(m)) (a)-=(m);  M_END
+
+#define MODSUB( a, b, m )    MODADD( a, (m)-(b), m )
+
+#ifdef WIN32
+#define ALIGN(n)
+#else
+#define ALIGN(n)             __attribute__((aligned(n)))
+#endif
+
+#define PAUSE( t )           M_BEGIN \
+                               volatile int _i; \
+                               for ( _i = t; _i > 0; _i -- ); \
+                             M_END
+
+#define DIVF( x, y )         ((x)/(y))
+
+#define DIVC( x, y )         (((x)+(y)-1)/(y))
+
+#define DIVR( x, y )         (((x)+((y)/2))/(y))
+
+#define SHRR( x, n )         ((((x)>>((n)-1))+1)>>1)
+
+#define BITN( w, n )         (((w)[(n)/32] >> ((n)%32)) & 1)
+
+#define BITNSET( w, n, b )   M_BEGIN (w)[(n)/32] |= ((U32)(b))<<((n)%32); M_END
+
+  /* -------------------------------- *
+   *  Compiler                         *
+   * -------------------------------- */
+#define PLACE_IN_SECTION( __x__ )  __attribute__((section (__x__)))
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__BLE_COMMON_H */
+
+