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   crs_stm.h
+  * @author  MCD Application Team
+  * @brief   Header for crs_stm.c module
+  ******************************************************************************
+  * @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 __STM32XX_CRS_H
+#define __STM32XX_CRS_H
+
+#ifdef __cplusplus
+extern "C" 
+{
+#endif
+
+/* Includes ------------------------------------------------------------------*/ 
+/* Exported types ------------------------------------------------------------*/
+typedef enum
+{
+  CRS_NOTIFY_ENABLED_EVT,
+  CRS_NOTIFY_DISABLED_EVT,
+  CRS_READ_EVT,
+  CRS_WRITE_EVT,
+} CRS_Opcode_evt_t;
+
+typedef struct
+{
+  uint8_t * pPayload;
+  uint8_t   Length;
+}CRS_Data_t;  
+
+typedef struct
+{
+  CRS_Opcode_evt_t                              CRS_Evt_Opcode;
+  CRS_Data_t                                    DataTransfered;
+  uint16_t                                      ConnectionHandle;
+  uint8_t                                       ServiceInstance;
+}CRS_STM_Notification_evt_t;
+
+
+/* Exported constants --------------------------------------------------------*/
+#define CRS_MAX_DATA_LEN                                           (BLE_DEFAULT_ATT_MTU - 3) /**< Maximum length of data (in bytes) that can be transmitted to the peer. */
+
+/* External variables --------------------------------------------------------*/
+/* Exported macros -----------------------------------------------------------*/
+/* Exported functions ------------------------------------------------------- */
+void CRS_STM_Init(void);
+void CRS_STM_Notification(CRS_STM_Notification_evt_t *p_Notification);
+tBleStatus CRS_STM_Update_Char(uint16_t UUID,  uint8_t *p_Payload);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__STM32XX_CRS_H */
+
+