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    utilities_common.h
+ * @author  MCD Application Team
+ * @brief   Common file to utilities
+ ******************************************************************************
+ * @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 __UTILITIES_COMMON_H
+#define __UTILITIES_COMMON_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+
+#include "app_conf.h"
+
+  /* -------------------------------- *
+   *  Basic definitions               *
+   * -------------------------------- */
+
+#undef NULL
+#define NULL                    0
+
+#undef FALSE
+#define FALSE                   0
+
+#undef TRUE
+#define TRUE                    (!0)
+
+  /* -------------------------------- *
+   *  Critical Section definition     *
+   * -------------------------------- */
+#undef BACKUP_PRIMASK
+#define BACKUP_PRIMASK()    uint32_t primask_bit= __get_PRIMASK()
+
+#undef DISABLE_IRQ
+#define DISABLE_IRQ()       __disable_irq()
+
+#undef RESTORE_PRIMASK
+#define RESTORE_PRIMASK()   __set_PRIMASK(primask_bit)
+
+  /* -------------------------------- *
+   *  Macro delimiters                *
+   * -------------------------------- */
+#undef M_BEGIN
+#define M_BEGIN     do {
+
+#undef  M_END
+#define M_END       } while(0)
+
+  /* -------------------------------- *
+   *  Some useful macro definitions   *
+   * -------------------------------- */
+#undef MAX
+#define MAX( x, y )          (((x)>(y))?(x):(y))
+
+#undef MIN
+#define MIN( x, y )          (((x)<(y))?(x):(y))
+
+#undef MODINC
+#define MODINC( a, m )       M_BEGIN  (a)++;  if ((a)>=(m)) (a)=0;  M_END
+
+#undef MODDEC
+#define MODDEC( a, m )       M_BEGIN  if ((a)==0) (a)=(m);  (a)--;  M_END
+
+#undef MODADD
+#define MODADD( a, b, m )    M_BEGIN  (a)+=(b);  if ((a)>=(m)) (a)-=(m);  M_END
+
+#undef MODSUB
+#define MODSUB( a, b, m )    MODADD( a, (m)-(b), m )
+
+#undef ALIGN
+#ifdef WIN32
+#define ALIGN(n)
+#else
+#define ALIGN(n)             __attribute__((aligned(n)))
+#endif
+
+#undef PAUSE
+#define PAUSE( t )           M_BEGIN \
+                               volatile int _i; \
+                               for ( _i = t; _i > 0; _i -- ); \
+                             M_END
+#undef DIVF
+#define DIVF( x, y )         ((x)/(y))
+
+#undef DIVC
+#define DIVC( x, y )         (((x)+(y)-1)/(y))
+
+#undef DIVR
+#define DIVR( x, y )         (((x)+((y)/2))/(y))
+
+#undef SHRR
+#define SHRR( x, n )         ((((x)>>((n)-1))+1)>>1)
+
+#undef BITN
+#define BITN( w, n )         (((w)[(n)/32] >> ((n)%32)) & 1)
+
+#undef BITNSET
+#define BITNSET( w, n, b )   M_BEGIN (w)[(n)/32] |= ((U32)(b))<<((n)%32); M_END
+
+/* -------------------------------- *
+ *  Section attribute               *
+ * -------------------------------- */
+#define PLACE_IN_SECTION( __x__ )  __attribute__((section (__x__)))
+
+/* ----------------------------------- *
+ *  Packed usage (compiler dependent)  *
+ * ----------------------------------- */
+#undef PACKED__
+#undef PACKED_STRUCT
+
+#if defined ( __CC_ARM )
+  #if defined ( __GNUC__ )
+    /* GNU extension */
+    #define PACKED__ __attribute__((packed))
+    #define PACKED_STRUCT struct PACKED__
+  #elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050U)
+    #define PACKED__ __attribute__((packed))
+    #define PACKED_STRUCT struct PACKED__
+  #else
+    #define PACKED__(TYPE) __packed TYPE
+    #define PACKED_STRUCT PACKED__(struct)
+  #endif
+#elif defined   ( __GNUC__ )
+  #define PACKED__ __attribute__((packed))
+  #define PACKED_STRUCT struct PACKED__
+#elif defined (__ICCARM__)
+  #define PACKED_STRUCT __packed struct
+#else
+  #define PACKED_STRUCT __packed struct
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__UTILITIES_COMMON_H */
+
+