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    dbg_trace.c
+  * @author  MCD Application Team
+  * @brief   This file contains the Interface with BLE Drivers functions.
+  ******************************************************************************
+  * @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.
+  *
+  ******************************************************************************
+  */
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "utilities_common.h"
+#include "stm_queue.h"
+#include "dbg_trace.h"
+
+/* Definition of the function */
+#if !defined(__GNUC__)  /* SW4STM32 */
+size_t __write(int handle, const unsigned char * buf, size_t bufSize);
+#endif
+
+/** @addtogroup TRACE
+ * @{
+ */
+
+
+/** @defgroup TRACE_LOG
+ * @brief TRACE Logging functions
+ * @{
+ */
+
+/* Private typedef -----------------------------------------------------------*/
+/** @defgroup TRACE Log private typedef 
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/* Private defines -----------------------------------------------------------*/
+/** @defgroup TRACE Log private defines 
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/* Private macros ------------------------------------------------------------*/
+/** @defgroup TRACE Log private macros 
+ * @{
+ */
+/**
+ * @}
+ */
+
+/* Private variables ---------------------------------------------------------*/
+/** @defgroup TRACE Log private variables 
+ * @{
+ */
+#if (( CFG_DEBUG_TRACE_FULL != 0 ) || ( CFG_DEBUG_TRACE_LIGHT != 0 ))
+#if (DBG_TRACE_USE_CIRCULAR_QUEUE != 0)
+static queue_t MsgDbgTraceQueue;
+static uint8_t MsgDbgTraceQueueBuff[DBG_TRACE_MSG_QUEUE_SIZE];
+#endif
+__IO ITStatus DbgTracePeripheralReady = SET;
+#endif
+/**
+ * @}
+ */
+
+/* Global variables ----------------------------------------------------------*/
+/** @defgroup TRACE Log Global variable
+ * @{
+ */
+/**
+ * @}
+ */
+
+/* Private function prototypes -----------------------------------------------*/
+/** @defgroup TRACE Log private function prototypes 
+ * @{
+ */
+#if (( CFG_DEBUG_TRACE_FULL != 0 ) || ( CFG_DEBUG_TRACE_LIGHT != 0 ))
+static void DbgTrace_TxCpltCallback(void);
+#endif
+
+
+/**
+ * @}
+ */
+
+
+/* Private Functions Definition ------------------------------------------------------*/
+/** @defgroup TRACE Log Private function 
+ * @{
+ */
+
+
+/* Functions Definition ------------------------------------------------------*/
+/** @defgroup TRACE Log APIs 
+ * @{
+ */
+
+/**
+ * @brief  DbgTraceGetFileName: Return filename string extracted from full path information
+ * @param  *fullPath Fullpath string (path + filename)
+ * @retval char* Pointer on filename string
+ */
+
+const char *DbgTraceGetFileName(const char *fullpath)
+{
+  const char *ret = fullpath;
+
+  if (strrchr(fullpath, '\\') != NULL)
+  {
+    ret = strrchr(fullpath, '\\') + 1;
+  }
+  else if (strrchr(fullpath, '/') != NULL)
+  {
+    ret = strrchr(fullpath, '/') + 1;
+  }
+
+  return ret;
+}
+
+/**
+ * @brief  DbgTraceBuffer: Output buffer content information to output Stream
+ * @param  *pBuffer  Pointer on buffer to be output
+ * @param  u32Length buffer Size
+ * @paramt strFormat string as expected by "printf" function. Used to desrcibe buffer content information.
+ * @param  ...       Parameters to be "formatted" in strFormat string (if any)
+ * @retval None
+ */
+
+void DbgTraceBuffer(const void *pBuffer, uint32_t u32Length, const char *strFormat, ...)
+{
+  va_list vaArgs;
+  uint32_t u32Index;
+  va_start(vaArgs, strFormat);
+  vprintf(strFormat, vaArgs);
+  va_end(vaArgs);
+  for (u32Index = 0; u32Index < u32Length; u32Index ++)
+  {
+    printf(" %02X", ((const uint8_t *) pBuffer)[u32Index]);
+  }
+}
+
+#if (( CFG_DEBUG_TRACE_FULL != 0 ) || ( CFG_DEBUG_TRACE_LIGHT != 0 ))
+/**
+ * @brief  DBG_TRACE USART Tx Transfer completed callback
+ * @param  UartHandle: UART handle.
+ * @note   Indicate the end of the transmission of a DBG_TRACE trace buffer to DBG_TRACE USART. If queue
+ *         contains new trace data to transmit, start a new transmission.
+ * @retval None
+ */
+static void DbgTrace_TxCpltCallback(void)
+{
+#if (DBG_TRACE_USE_CIRCULAR_QUEUE != 0)
+  uint8_t* buf;
+  uint16_t bufSize;
+
+  BACKUP_PRIMASK();
+
+  DISABLE_IRQ();			/**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+  /* Remove element just sent to UART */
+  CircularQueue_Remove(&MsgDbgTraceQueue,&bufSize);
+
+  /* Sense if new data to be sent */
+  buf=CircularQueue_Sense(&MsgDbgTraceQueue,&bufSize);
+
+
+  if ( buf != NULL) 
+  {
+    RESTORE_PRIMASK();
+    DbgOutputTraces((uint8_t*)buf, bufSize, DbgTrace_TxCpltCallback);
+  } 
+  else
+  {
+    DbgTracePeripheralReady = SET;
+    RESTORE_PRIMASK();
+  }
+
+#else
+  BACKUP_PRIMASK();
+
+  DISABLE_IRQ();      /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+
+  DbgTracePeripheralReady = SET;
+
+  RESTORE_PRIMASK();
+#endif
+}
+#endif
+
+void DbgTraceInit( void )
+{
+#if (( CFG_DEBUG_TRACE_FULL != 0 ) || ( CFG_DEBUG_TRACE_LIGHT != 0 ))
+  DbgOutputInit();
+#if (DBG_TRACE_USE_CIRCULAR_QUEUE != 0)
+  CircularQueue_Init(&MsgDbgTraceQueue, MsgDbgTraceQueueBuff, DBG_TRACE_MSG_QUEUE_SIZE, 0, CIRCULAR_QUEUE_SPLIT_IF_WRAPPING_FLAG);
+#endif 
+#endif
+  return;
+}
+
+
+#if (( CFG_DEBUG_TRACE_FULL != 0 ) || ( CFG_DEBUG_TRACE_LIGHT != 0 ))
+#if defined(__GNUC__)  /* SW4STM32 (GCC) */
+/**
+ * @brief	_write: override the __write standard lib function to redirect printf to USART.
+ * @param	handle output handle (STDIO, STDERR...)
+ * @param	buf buffer to write
+ * @param	bufsize buffer size
+ * @param	...: arguments to be formatted in format string
+ * @retval none
+ */
+size_t _write(int handle, const unsigned char * buf, size_t bufSize)
+{
+  return ( DbgTraceWrite(handle, buf, bufSize) );
+}
+
+#else
+/**
+ * @brief __write: override the _write standard lib function to redirect printf to USART.
+ * @param handle output handle (STDIO, STDERR...)
+ * @param buf buffer to write
+ * @param bufsize buffer size
+ * @param ...: arguments to be formatted in format string
+ * @retval none
+ */
+size_t __write(int handle, const unsigned char * buf, size_t bufSize)
+{
+  return ( DbgTraceWrite(handle, buf, bufSize) );
+}
+#endif /* #if defined(__GNUC__)  */
+
+/**
+ * @brief Override the standard lib function to redirect printf to USART.
+ * @param handle output handle (STDIO, STDERR...)
+ * @param buf buffer to write
+ * @param bufsize buffer size
+ * @retval Number of elements written
+ */
+size_t DbgTraceWrite(int handle, const unsigned char * buf, size_t bufSize)
+{
+  size_t chars_written = 0;
+  uint8_t* buffer;
+
+  BACKUP_PRIMASK();
+
+  /* Ignore flushes */
+  if ( handle == -1 )
+  {
+    chars_written = ( size_t ) 0;
+  }
+  /* Only allow stdout/stderr output */
+  else if ( ( handle != 1 ) && ( handle != 2 ) )
+  {
+    chars_written = ( size_t ) - 1;
+  }
+  /* Parameters OK, call the low-level character output routine */
+  else if (bufSize != 0)
+  {
+    chars_written = bufSize;
+    /* If queue emepty and TX free, send directly */
+    /* CS Start */
+
+#if (DBG_TRACE_USE_CIRCULAR_QUEUE != 0)
+    DISABLE_IRQ();      /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+    buffer=CircularQueue_Add(&MsgDbgTraceQueue,(uint8_t*)buf, bufSize,1);
+    if (buffer && DbgTracePeripheralReady)
+    {
+      DbgTracePeripheralReady = RESET;
+      RESTORE_PRIMASK();
+      DbgOutputTraces((uint8_t*)buffer, bufSize, DbgTrace_TxCpltCallback);
+    }
+    else
+    {
+      RESTORE_PRIMASK();
+    }
+#else
+    DISABLE_IRQ();      /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+    DbgTracePeripheralReady = RESET;
+    RESTORE_PRIMASK();
+
+    DbgOutputTraces((uint8_t*)buf, bufSize, DbgTrace_TxCpltCallback);
+    while (!DbgTracePeripheralReady);
+#endif
+    /* CS END */
+  }
+  return ( chars_written );
+}
+
+#if defined ( __CC_ARM ) || defined (__ARMCC_VERSION) /* Keil */
+
+/**
+  Called from assert() and prints a message on stderr and calls abort().
+
+  \param[in] expr  assert expression that was not TRUE
+  \param[in] file  source file of the assertion
+  \param[in] line  source line of the assertion
+*/
+__attribute__((weak,noreturn))
+void __aeabi_assert (const char *expr, const char *file, int line) {
+  char str[12], *p;
+
+  fputs("*** assertion failed: ", stderr);
+  fputs(expr, stderr);
+  fputs(", file ", stderr);
+  fputs(file, stderr);
+  fputs(", line ", stderr);
+
+  p = str + sizeof(str);
+  *--p = '\0';
+  *--p = '\n';
+  while (line > 0) {
+    *--p = '0' + (line % 10);
+    line /= 10;
+  }
+  fputs(p, stderr);
+
+  abort();
+}
+
+/* For KEIL re-implement our own version of fputc */
+int fputc(int ch, FILE *f)
+{
+  /* temp char avoids endianness issue */
+  char tempch = ch;
+  /* Write one character to Debug Circular Queue */
+  DbgTraceWrite(1U, (const unsigned char *) &tempch, 1);
+  return ch;
+}
+
+#endif /* #if   defined ( __CC_ARM )  */
+
+#endif /* #if (( CFG_DEBUG_TRACE_FULL != 0 ) || ( CFG_DEBUG_TRACE_LIGHT != 0 )) */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+