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    stm_queue.h
+  * @author  MCD Application Team
+  * @brief   Header for stm_queue.c
+  ******************************************************************************
+  * @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 __STM_QUEUE_H
+#define __STM_QUEUE_H
+
+/* Includes ------------------------------------------------------------------*/
+/* Exported define -----------------------------------------------------------*/
+/* Options flags */
+#define CIRCULAR_QUEUE_NO_FLAG 0
+#define CIRCULAR_QUEUE_NO_WRAP_FLAG 1
+#define CIRCULAR_QUEUE_SPLIT_IF_WRAPPING_FLAG 2
+
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+   uint8_t* qBuff;        /* queue buffer, , provided by init fct */
+   uint32_t queueMaxSize;   /* size of the queue, provided by init fct (in bytes)*/
+   uint16_t elementSize;    /* -1 variable. If variable element size the size is stored in the 4 first of the queue element */
+   uint32_t first;          /* position of first element */
+   uint32_t last;           /* position of last element */
+   uint32_t byteCount;      /* number of bytes in the queue */
+   uint32_t elementCount;   /* number of element in the queue */
+   uint8_t  optionFlags;     /* option to enable specific features */
+} queue_t;
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions ------------------------------------------------------- */
+int CircularQueue_Init(queue_t *q, uint8_t* queueBuffer, uint32_t queueSize, uint16_t elementSize, uint8_t optionlags);
+uint8_t* CircularQueue_Add(queue_t *q, uint8_t* x, uint16_t elementSize, uint32_t nbElements);
+uint8_t* CircularQueue_Remove(queue_t *q, uint16_t* elementSize);
+uint8_t* CircularQueue_Sense(queue_t *q, uint16_t* elementSize);
+int CircularQueue_Empty(queue_t *q);
+int CircularQueue_NbElement(queue_t *q);
+uint8_t* CircularQueue_Remove_Copy(queue_t *q, uint16_t* elementSize, uint8_t* buffer);
+uint8_t* CircularQueue_Sense_Copy(queue_t *q, uint16_t* elementSize, uint8_t* buffer);
+
+
+#endif /* __STM_QUEUE_H */