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    stm_list.c
+  * @author  MCD Application Team
+  * @brief   TCircular Linked List Implementation.
+  ******************************************************************************
+  * @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.
+  *
+  ******************************************************************************
+  */
+
+
+/******************************************************************************
+ * Include Files
+ ******************************************************************************/
+#include "utilities_common.h"
+
+#include "stm_list.h"
+
+/******************************************************************************
+ * Function Definitions 
+ ******************************************************************************/
+void LST_init_head (tListNode * listHead)
+{
+  listHead->next = listHead;
+  listHead->prev = listHead;
+}
+
+uint8_t LST_is_empty (tListNode * listHead)
+{
+  uint32_t primask_bit;
+  uint8_t return_value;
+
+  primask_bit = __get_PRIMASK();  /**< backup PRIMASK bit */
+  __disable_irq();                  /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+  if(listHead->next == listHead)
+  {
+    return_value = TRUE;
+  }
+  else
+  {
+    return_value = FALSE;
+  }
+  __set_PRIMASK(primask_bit);     /**< Restore PRIMASK bit*/
+
+  return return_value;
+}
+
+void LST_insert_head (tListNode * listHead, tListNode * node)
+{
+  uint32_t primask_bit;
+
+  primask_bit = __get_PRIMASK();  /**< backup PRIMASK bit */
+  __disable_irq();                  /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+
+  node->next = listHead->next;
+  node->prev = listHead;
+  listHead->next = node;
+  (node->next)->prev = node;
+
+  __set_PRIMASK(primask_bit);     /**< Restore PRIMASK bit*/
+}
+
+
+void LST_insert_tail (tListNode * listHead, tListNode * node)
+{
+  uint32_t primask_bit;
+
+  primask_bit = __get_PRIMASK();  /**< backup PRIMASK bit */
+  __disable_irq();                  /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+
+  node->next = listHead;
+  node->prev = listHead->prev;
+  listHead->prev = node;
+  (node->prev)->next = node;
+
+  __set_PRIMASK(primask_bit);     /**< Restore PRIMASK bit*/
+}
+
+
+void LST_remove_node (tListNode * node)
+{
+  uint32_t primask_bit;
+
+  primask_bit = __get_PRIMASK();  /**< backup PRIMASK bit */
+  __disable_irq();                  /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+
+  (node->prev)->next = node->next;
+  (node->next)->prev = node->prev;
+
+  __set_PRIMASK(primask_bit);     /**< Restore PRIMASK bit*/
+}
+
+
+void LST_remove_head (tListNode * listHead, tListNode ** node )
+{
+  uint32_t primask_bit;
+
+  primask_bit = __get_PRIMASK();  /**< backup PRIMASK bit */
+  __disable_irq();                  /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+
+  *node = listHead->next;
+  LST_remove_node (listHead->next);
+
+  __set_PRIMASK(primask_bit);     /**< Restore PRIMASK bit*/
+}
+
+
+void LST_remove_tail (tListNode * listHead, tListNode ** node )
+{
+  uint32_t primask_bit;
+
+  primask_bit = __get_PRIMASK();  /**< backup PRIMASK bit */
+  __disable_irq();                  /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+
+  *node = listHead->prev;
+  LST_remove_node (listHead->prev);
+
+  __set_PRIMASK(primask_bit);     /**< Restore PRIMASK bit*/
+}
+
+
+void LST_insert_node_after (tListNode * node, tListNode * ref_node)
+{
+  uint32_t primask_bit;
+
+  primask_bit = __get_PRIMASK();  /**< backup PRIMASK bit */
+  __disable_irq();                  /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+
+  node->next = ref_node->next;
+  node->prev = ref_node;
+  ref_node->next = node;
+  (node->next)->prev = node;
+
+  __set_PRIMASK(primask_bit);     /**< Restore PRIMASK bit*/
+}
+
+
+void LST_insert_node_before (tListNode * node, tListNode * ref_node)
+{
+  uint32_t primask_bit;
+
+  primask_bit = __get_PRIMASK();  /**< backup PRIMASK bit */
+  __disable_irq();                  /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+
+  node->next = ref_node;
+  node->prev = ref_node->prev;
+  ref_node->prev = node;
+  (node->prev)->next = node;
+
+  __set_PRIMASK(primask_bit);     /**< Restore PRIMASK bit*/
+}
+
+
+int LST_get_size (tListNode * listHead)
+{
+  int size = 0;
+  tListNode * temp;
+  uint32_t primask_bit;
+
+  primask_bit = __get_PRIMASK();  /**< backup PRIMASK bit */
+  __disable_irq();                  /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+
+  temp = listHead->next;
+  while (temp != listHead)
+  {
+    size++;
+    temp = temp->next;
+  }
+
+  __set_PRIMASK(primask_bit);     /**< Restore PRIMASK bit*/
+
+  return (size);
+}
+
+void LST_get_next_node (tListNode * ref_node, tListNode ** node)
+{
+  uint32_t primask_bit;
+
+  primask_bit = __get_PRIMASK();  /**< backup PRIMASK bit */
+  __disable_irq();                  /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+
+  *node = ref_node->next;
+
+  __set_PRIMASK(primask_bit);     /**< Restore PRIMASK bit*/
+}
+
+
+void LST_get_prev_node (tListNode * ref_node, tListNode ** node)
+{
+  uint32_t primask_bit;
+
+  primask_bit = __get_PRIMASK();  /**< backup PRIMASK bit */
+  __disable_irq();                  /**< Disable all interrupts by setting PRIMASK bit on Cortex*/
+
+  *node = ref_node->prev;
+
+  __set_PRIMASK(primask_bit);      /**< Restore PRIMASK bit*/
+}
+