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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+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_abs_q31.c
+ * Description:  Q31 vector absolute value
+ *
+ * $Date:        18. March 2019
+ * $Revision:    V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+  @ingroup groupMath
+ */
+
+/**
+  @addtogroup BasicAbs
+  @{
+ */
+
+/**
+  @brief         Q31 vector absolute value.
+  @param[in]     pSrc       points to the input vector
+  @param[out]    pDst       points to the output vector
+  @param[in]     blockSize  number of samples in each vector
+  @return        none
+
+  @par           Scaling and Overflow Behavior
+                   The function uses saturating arithmetic.
+                   The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF.
+ */
+
+void arm_abs_q31(
+  const q31_t * pSrc,
+        q31_t * pDst,
+        uint32_t blockSize)
+{
+        uint32_t blkCnt;                               /* Loop counter */
+        q31_t in;                                      /* Temporary variable */
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+  /* Loop unrolling: Compute 4 outputs at a time */
+  blkCnt = blockSize >> 2U;
+
+  while (blkCnt > 0U)
+  {
+    /* C = |A| */
+
+    /* Calculate absolute of input (if -1 then saturated to 0x7fffffff) and store result in destination buffer. */
+    in = *pSrc++;
+#if defined (ARM_MATH_DSP)
+    *pDst++ = (in > 0) ? in : (q31_t)__QSUB(0, in);
+#else
+    *pDst++ = (in > 0) ? in : ((in == INT32_MIN) ? INT32_MAX : -in);
+#endif
+
+    in = *pSrc++;
+#if defined (ARM_MATH_DSP)
+    *pDst++ = (in > 0) ? in : (q31_t)__QSUB(0, in);
+#else
+    *pDst++ = (in > 0) ? in : ((in == INT32_MIN) ? INT32_MAX : -in);
+#endif
+
+    in = *pSrc++;
+#if defined (ARM_MATH_DSP)
+    *pDst++ = (in > 0) ? in : (q31_t)__QSUB(0, in);
+#else
+    *pDst++ = (in > 0) ? in : ((in == INT32_MIN) ? INT32_MAX : -in);
+#endif
+
+    in = *pSrc++;
+#if defined (ARM_MATH_DSP)
+    *pDst++ = (in > 0) ? in : (q31_t)__QSUB(0, in);
+#else
+    *pDst++ = (in > 0) ? in : ((in == INT32_MIN) ? INT32_MAX : -in);
+#endif
+
+    /* Decrement loop counter */
+    blkCnt--;
+  }
+
+  /* Loop unrolling: Compute remaining outputs */
+  blkCnt = blockSize % 0x4U;
+
+#else
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+  while (blkCnt > 0U)
+  {
+    /* C = |A| */
+
+    /* Calculate absolute of input (if -1 then saturated to 0x7fffffff) and store result in destination buffer. */
+    in = *pSrc++;
+#if defined (ARM_MATH_DSP)
+    *pDst++ = (in > 0) ? in : (q31_t)__QSUB(0, in);
+#else
+    *pDst++ = (in > 0) ? in : ((in == INT32_MIN) ? INT32_MAX : -in);
+#endif
+
+    /* Decrement loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**
+  @} end of BasicAbs group
+ */