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_scale_f32.c
+ * Description:  Multiplies a floating-point vector by a scalar
+ *
+ * $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 BasicScale Vector Scale
+
+  Multiply a vector by a scalar value.  For floating-point data, the algorithm used is:
+
+  <pre>
+      pDst[n] = pSrc[n] * scale,   0 <= n < blockSize.
+  </pre>
+
+  In the fixed-point Q7, Q15, and Q31 functions, <code>scale</code> is represented by
+  a fractional multiplication <code>scaleFract</code> and an arithmetic shift <code>shift</code>.
+  The shift allows the gain of the scaling operation to exceed 1.0.
+  The algorithm used with fixed-point data is:
+
+  <pre>
+      pDst[n] = (pSrc[n] * scaleFract) << shift,   0 <= n < blockSize.
+  </pre>
+
+  The overall scale factor applied to the fixed-point data is
+  <pre>
+      scale = scaleFract * 2^shift.
+  </pre>
+
+  The functions support in-place computation allowing the source and destination
+  pointers to reference the same memory buffer.
+ */
+
+/**
+  @addtogroup BasicScale
+  @{
+ */
+
+/**
+  @brief         Multiplies a floating-point vector by a scalar.
+  @param[in]     pSrc       points to the input vector
+  @param[in]     scale      scale factor to be applied
+  @param[out]    pDst       points to the output vector
+  @param[in]     blockSize  number of samples in each vector
+  @return        none
+ */
+
+void arm_scale_f32(
+  const float32_t *pSrc,
+        float32_t scale,
+        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 * scale */
+
+    	/* Scale the input and then store the results in the destination buffer. */
+        vec1 = vld1q_f32(pSrc);
+        res = vmulq_f32(vec1, vdupq_n_f32(scale));
+        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 * scale */
+
+    /* Scale input and store result in destination buffer. */
+    *pDst++ = (*pSrc++) * scale;
+
+    *pDst++ = (*pSrc++) * scale;
+
+    *pDst++ = (*pSrc++) * scale;
+
+    *pDst++ = (*pSrc++) * scale;
+
+    /* 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 * scale */
+
+    /* Scale input and store result in destination buffer. */
+    *pDst++ = (*pSrc++) * scale;
+
+    /* Decrement loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**
+  @} end of BasicScale group
+ */