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    motenv_stm.h
+  * @author  SRA/AST
+  * @brief   Header for motenv_stm.c module
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2018-2024 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 MOTENV_STM_H
+#define MOTENV_STM_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+/**
+ * @brief  MOTENV Event Opcode definition
+ */
+typedef enum
+{
+  /* HW Service Chars related events */
+  HW_MOTION_NOTIFY_ENABLED_EVT,
+  HW_MOTION_NOTIFY_DISABLED_EVT,
+  HW_ENV_NOTIFY_ENABLED_EVT,
+  HW_ENV_NOTIFY_DISABLED_EVT,
+  HW_ENV_READ_EVT,
+  HW_ACC_EVENT_NOTIFY_ENABLED_EVT,
+  HW_ACC_EVENT_NOTIFY_DISABLED_EVT,
+  HW_ACC_EVENT_READ_EVT,
+  HW_TOF_NOTIFY_ENABLED_EVT,
+  HW_TOF_NOTIFY_DISABLED_EVT,
+  HW_TOF_WRITE_EVT,
+  /* SW Service Chars related events */
+  SW_MOTIONFX_NOTIFY_ENABLED_EVT,
+  SW_MOTIONFX_NOTIFY_DISABLED_EVT,
+  SW_ECOMPASS_NOTIFY_ENABLED_EVT,
+  SW_ECOMPASS_NOTIFY_DISABLED_EVT,
+  SW_ACTIVITY_REC_NOTIFY_ENABLED_EVT,
+  SW_ACTIVITY_REC_NOTIFY_DISABLED_EVT,
+  SW_ACTIVITY_REC_READ_EVT,
+  SW_CARRY_POSITION_NOTIFY_ENABLED_EVT,
+  SW_CARRY_POSITION_NOTIFY_DISABLED_EVT,
+  SW_CARRY_POSITION_READ_EVT,
+  SW_GESTURE_REC_NOTIFY_ENABLED_EVT,
+  SW_GESTURE_REC_NOTIFY_DISABLED_EVT,
+  SW_GESTURE_REC_READ_EVT,
+  SW_PEDOMETER_NOTIFY_ENABLED_EVT,
+  SW_PEDOMETER_NOTIFY_DISABLED_EVT,
+  SW_PEDOMETER_READ_EVT,
+  SW_INTENSITY_DET_NOTIFY_ENABLED_EVT,
+  SW_INTENSITY_DET_NOTIFY_DISABLED_EVT,
+  MOTENV_STM_BOOT_REQUEST_EVT,
+  /* Config Service Chars related events */
+  CONFIG_NOTIFY_ENABLED_EVT,
+  CONFIG_NOTIFY_DISABLED_EVT,
+  CONFIG_WRITE_EVT,
+  /* Console Service Chars related events */
+  CONSOLE_TERM_NOTIFY_ENABLED_EVT,
+  CONSOLE_TERM_NOTIFY_DISABLED_EVT,
+  CONSOLE_STDERR_NOTIFY_ENABLED_EVT,
+  CONSOLE_STDERR_NOTIFY_DISABLED_EVT,
+  CONSOLE_TERM_READ_EVT,
+  CONSOLE_STDERR_READ_EVT
+} MOTENV_STM_Opcode_evt_t;
+
+/**
+ * @brief  MOTENV Event data structure definition
+ */
+typedef struct
+{
+  uint8_t *pPayload;
+  uint8_t  Length;
+} MOTENV_STM_Data_t;  
+
+/**
+ * @brief  MOTENV Notification structure definition
+ */
+typedef struct
+{
+  MOTENV_STM_Opcode_evt_t Motenv_Evt_Opcode;
+  MOTENV_STM_Data_t       DataTransfered;
+  uint16_t                ConnectionHandle;
+  uint8_t                 ServiceInstance;
+} MOTENV_STM_App_Notification_evt_t;
+
+
+/* Exported constants --------------------------------------------------------*/
+/* Exported Variables ------------------------------------------------------- */
+extern uint8_t ToF_BoardPresent;
+
+/* Exported macros -----------------------------------------------------------*/
+/**
+ * @brief  Motion (Acc-Gyro-Magneto) Char shortened UUID
+ */
+#define MOTION_CHAR_UUID                (0xE000)
+/**
+ * @brief  Environmental (Temp-Humidity-Pressure) Char shortened UUID
+ */
+#define ENV_CHAR_UUID                   (0x1D00)
+/**
+ * @brief  ToF Char shortened UUID
+ */
+#define TOF_CHAR_UUID                (0x0000)
+/**
+ * @brief  Acceleration event Char shortened UUID
+ */
+#define ACC_EVENT_CHAR_UUID             (0x0004)
+/**
+ * @brief  Sensor Fusion Char shortened UUID
+ */
+#define MOTION_FX_CHAR_UUID             (0x0100)
+/**
+ * @brief  E-Compass event Char shortened UUID
+ */
+#define ECOMPASS_CHAR_UUID              (0x0040)
+/**
+ * @brief  Activity Recognition Char event Char shortened UUID
+ */
+#define ACTIVITY_REC_CHAR_UUID          (0x0010)
+/**
+ * @brief  Carry Position event Char shortened UUID
+ */
+#define CARRY_POSITION_CHAR_UUID        (0x0008)
+/**
+ * @brief  Gesture Recognition event Char shortened UUID
+ */
+#define GESTURE_REC_CHAR_UUID           (0x0200)
+/**
+ * @brief  Pedometer Char shortened UUID
+ */
+#define PEDOMETER_CHAR_UUID             (0x0001)
+/**
+ * @brief  Intensity Detection Char shortened UUID
+ */
+#define INTENSITY_DET_CHAR_UUID         (0x0020)
+/**
+ * @brief  Config Char shortened UUID
+ */
+#define CONFIG_CHAR_UUID                (0x0002)
+/**
+ * @brief  Console Terminal Char shortened UUID
+ */
+#define CONSOLE_TERM_CHAR_UUID          (0x010E)
+/**
+ * @brief  Cosnole Stderr Char shortened UUID
+ */
+#define CONSOLE_STDERR_CHAR_UUID        (0x020E)
+
+/* Exported functions ------------------------------------------------------- */
+void MOTENV_STM_Init(void);
+void MOTENV_STM_App_Notification(MOTENV_STM_App_Notification_evt_t *pNotification);
+tBleStatus MOTENV_STM_App_Update_Char(uint16_t UUID, uint8_t payloadLen, uint8_t *pPayload);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MOTENV_STM_H */
+
+