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_dot_prod_f32.c
+ * Description:  Floating-point dot product
+ *
+ * $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
+ */
+
+/**
+  @defgroup BasicDotProd Vector Dot Product
+
+  Computes the dot product of two vectors.
+  The vectors are multiplied element-by-element and then summed.
+
+  <pre>
+      sum = pSrcA[0]*pSrcB[0] + pSrcA[1]*pSrcB[1] + ... + pSrcA[blockSize-1]*pSrcB[blockSize-1]
+  </pre>
+
+  There are separate functions for floating-point, Q7, Q15, and Q31 data types.
+ */
+
+/**
+  @addtogroup BasicDotProd
+  @{
+ */
+
+/**
+  @brief         Dot product of floating-point vectors.
+  @param[in]     pSrcA      points to the first input vector.
+  @param[in]     pSrcB      points to the second input vector.
+  @param[in]     blockSize  number of samples in each vector.
+  @param[out]    result     output result returned here.
+  @return        none
+ */
+
+void arm_dot_prod_f32(
+  const float32_t * pSrcA,
+  const float32_t * pSrcB,
+        uint32_t blockSize,
+        float32_t * result)
+{
+        uint32_t blkCnt;                               /* Loop counter */
+        float32_t sum = 0.0f;                          /* Temporary return variable */
+
+#if defined(ARM_MATH_NEON)
+    float32x4_t vec1;
+    float32x4_t vec2;
+    float32x4_t res;
+    float32x4_t accum = vdupq_n_f32(0);    
+
+    /* Compute 4 outputs at a time */
+    blkCnt = blockSize >> 2U;
+
+    vec1 = vld1q_f32(pSrcA);
+    vec2 = vld1q_f32(pSrcB);
+
+    while (blkCnt > 0U)
+    {
+        /* C = A[0]*B[0] + A[1]*B[1] + A[2]*B[2] + ... + A[blockSize-1]*B[blockSize-1] */
+        /* Calculate dot product and then store the result in a temporary buffer. */
+        
+	accum = vmlaq_f32(accum, vec1, vec2);
+	
+        /* Increment pointers */
+        pSrcA += 4;
+        pSrcB += 4; 
+
+        vec1 = vld1q_f32(pSrcA);
+        vec2 = vld1q_f32(pSrcB);
+        
+        /* Decrement the loop counter */
+        blkCnt--;
+    }
+    
+#if __aarch64__
+    sum = vpadds_f32(vpadd_f32(vget_low_f32(accum), vget_high_f32(accum)));
+#else
+    sum = (vpadd_f32(vget_low_f32(accum), vget_high_f32(accum)))[0] + (vpadd_f32(vget_low_f32(accum), vget_high_f32(accum)))[1];
+#endif    
+
+    /* Tail */
+    blkCnt = blockSize & 0x3;
+
+#else
+#if defined (ARM_MATH_LOOPUNROLL)
+
+  /* Loop unrolling: Compute 4 outputs at a time */
+  blkCnt = blockSize >> 2U;
+
+  /* First part of the processing with loop unrolling. Compute 4 outputs at a time.
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while (blkCnt > 0U)
+  {
+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
+
+    /* Calculate dot product and store result in a temporary buffer. */
+    sum += (*pSrcA++) * (*pSrcB++);
+
+    sum += (*pSrcA++) * (*pSrcB++);
+
+    sum += (*pSrcA++) * (*pSrcB++);
+
+    sum += (*pSrcA++) * (*pSrcB++);
+
+    /* 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) */
+#endif /* #if defined(ARM_MATH_NEON) */
+
+  while (blkCnt > 0U)
+  {
+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
+
+    /* Calculate dot product and store result in a temporary buffer. */
+    sum += (*pSrcA++) * (*pSrcB++);
+
+    /* Decrement loop counter */
+    blkCnt--;
+  }
+
+  /* Store result in destination buffer */
+  *result = sum;
+}
+
+/**
+  @} end of BasicDotProd group
+ */