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_negate_f32.c
+ * Description:  Negates floating-point vectors
+ *
+ * $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 BasicNegate Vector Negate
+
+  Negates the elements of a vector.
+
+  <pre>
+      pDst[n] = -pSrc[n],   0 <= n < blockSize.
+  </pre>
+
+  The functions support in-place computation allowing the source and
+  destination pointers to reference the same memory buffer.
+  There are separate functions for floating-point, Q7, Q15, and Q31 data types.
+ */
+
+/**
+  @addtogroup BasicNegate
+  @{
+ */
+
+/**
+  @brief         Negates the elements of a floating-point vector.
+  @param[in]     pSrc       points to input vector.
+  @param[out]    pDst       points to output vector.
+  @param[in]     blockSize  number of samples in each vector.
+  @return        none
+ */
+
+void arm_negate_f32(
+  const float32_t * pSrc,
+        float32_t * pDst,
+        uint32_t blockSize)
+{
+        uint32_t blkCnt;                               /* Loop counter */
+
+#if defined(ARM_MATH_NEON_EXPERIMENTAL)
+    float32x4_t vec1;
+    float32x4_t res;
+
+    /* Compute 4 outputs at a time */
+    blkCnt = blockSize >> 2U;
+
+    while (blkCnt > 0U)
+    {
+        /* C = -A */
+
+    	/* Negate and then store the results in the destination buffer. */
+        vec1 = vld1q_f32(pSrc);
+        res = vnegq_f32(vec1);
+        vst1q_f32(pDst, res);
+
+        /* Increment pointers */
+        pSrc += 4;
+        pDst += 4;
+        
+        /* Decrement the loop counter */
+        blkCnt--;
+    }
+
+    /* Tail */
+    blkCnt = blockSize & 0x3;
+
+#else
+#if defined (ARM_MATH_LOOPUNROLL)
+
+  /* Loop unrolling: Compute 4 outputs at a time */
+  blkCnt = blockSize >> 2U;
+
+  while (blkCnt > 0U)
+  {
+    /* C = -A */
+
+    /* Negate and store result in destination buffer. */
+    *pDst++ = -*pSrc++;
+
+    *pDst++ = -*pSrc++;
+
+    *pDst++ = -*pSrc++;
+
+    *pDst++ = -*pSrc++;
+
+    /* 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_EXPERIMENTAL) */
+
+  while (blkCnt > 0U)
+  {
+    /* C = -A */
+
+    /* Negate and store result in destination buffer. */
+    *pDst++ = -*pSrc++;
+
+    /* Decrement loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**
+  @} end of BasicNegate group
+ */