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_mult_q15.c
+ * Description:  Q15 vector multiplication
+ *
+ * $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 BasicMult
+  @{
+ */
+
+/**
+  @brief         Q15 vector multiplication
+  @param[in]     pSrcA      points to first input vector
+  @param[in]     pSrcB      points to second input vector
+  @param[out]    pDst       points to output vector
+  @param[in]     blockSize  number of samples in each vector
+  @return        none
+
+  @par           Scaling and Overflow Behavior
+                   The function uses saturating arithmetic.
+                   Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated.
+ */
+
+void arm_mult_q15(
+  const q15_t * pSrcA,
+  const q15_t * pSrcB,
+        q15_t * pDst,
+        uint32_t blockSize)
+{
+        uint32_t blkCnt;                               /* Loop counter */
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+#if defined (ARM_MATH_DSP)
+  q31_t inA1, inA2, inB1, inB2;                  /* Temporary input variables */
+  q15_t out1, out2, out3, out4;                  /* Temporary output variables */
+  q31_t mul1, mul2, mul3, mul4;                  /* Temporary variables */
+#endif
+
+  /* Loop unrolling: Compute 4 outputs at a time */
+  blkCnt = blockSize >> 2U;
+
+  while (blkCnt > 0U)
+  {
+    /* C = A * B */
+
+#if defined (ARM_MATH_DSP)
+    /* read 2 samples at a time from sourceA */
+    inA1 = read_q15x2_ia ((q15_t **) &pSrcA);
+    /* read 2 samples at a time from sourceB */
+    inB1 = read_q15x2_ia ((q15_t **) &pSrcB);
+    /* read 2 samples at a time from sourceA */
+    inA2 = read_q15x2_ia ((q15_t **) &pSrcA);
+    /* read 2 samples at a time from sourceB */
+    inB2 = read_q15x2_ia ((q15_t **) &pSrcB);
+
+    /* multiply mul = sourceA * sourceB */
+    mul1 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1 >> 16));
+    mul2 = (q31_t) ((q15_t) (inA1      ) * (q15_t) (inB1      ));
+    mul3 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) (inB2 >> 16));
+    mul4 = (q31_t) ((q15_t) (inA2      ) * (q15_t) (inB2      ));
+
+    /* saturate result to 16 bit */
+    out1 = (q15_t) __SSAT(mul1 >> 15, 16);
+    out2 = (q15_t) __SSAT(mul2 >> 15, 16);
+    out3 = (q15_t) __SSAT(mul3 >> 15, 16);
+    out4 = (q15_t) __SSAT(mul4 >> 15, 16);
+
+    /* store result to destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+    write_q15x2_ia (&pDst, __PKHBT(out2, out1, 16));
+    write_q15x2_ia (&pDst, __PKHBT(out4, out3, 16));
+#else
+    write_q15x2_ia (&pDst, __PKHBT(out1, out2, 16));
+    write_q15x2_ia (&pDst, __PKHBT(out3, out4, 16));
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+#else
+    *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16);
+    *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16);
+    *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16);
+    *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16);
+#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 * B */
+
+    /* Multiply inputs and store result in destination buffer. */
+    *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16);
+
+    /* Decrement loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**
+  @} end of BasicMult group
+ */