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_shift_q7.c
+ * Description:  Processing function for the Q7 Shifting
+ *
+ * $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 BasicShift
+  @{
+ */
+
+/**
+  @brief         Shifts the elements of a Q7 vector a specified number of bits
+  @param[in]     pSrc       points to the input vector
+  @param[in]     shiftBits  number of bits to shift.  A positive value shifts left; a negative value shifts right.
+  @param[out]    pDst       points to the output vector
+  @param[in]     blockSize  number of samples in each vector
+  @return        none
+
+  @par           onditions for optimum performance
+                   Input and output buffers should be aligned by 32-bit
+  @par           Scaling and Overflow Behavior
+                   The function uses saturating arithmetic.
+                   Results outside of the allowable Q7 range [0x80 0x7F] are saturated.
+ */
+
+void arm_shift_q7(
+  const q7_t * pSrc,
+        int8_t shiftBits,
+        q7_t * pDst,
+        uint32_t blockSize)
+{
+        uint32_t blkCnt;                               /* Loop counter */
+        uint8_t sign = (shiftBits & 0x80);             /* Sign of shiftBits */
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+#if defined (ARM_MATH_DSP)
+  q7_t in1,  in2,  in3,  in4;                    /* Temporary input variables */
+#endif
+
+  /* Loop unrolling: Compute 4 outputs at a time */
+  blkCnt = blockSize >> 2U;
+
+  /* If the shift value is positive then do right shift else left shift */
+  if (sign == 0U)
+  {
+    while (blkCnt > 0U)
+    {
+      /* C = A << shiftBits */
+
+#if defined (ARM_MATH_DSP)
+      /* Read 4 inputs */
+      in1 = *pSrc++;
+      in2 = *pSrc++;
+      in3 = *pSrc++;
+      in4 = *pSrc++;
+
+    /* Pack and store result in destination buffer (in single write) */
+      write_q7x4_ia (&pDst, __PACKq7(__SSAT((in1 << shiftBits), 8),
+                                     __SSAT((in2 << shiftBits), 8),
+                                     __SSAT((in3 << shiftBits), 8),
+                                     __SSAT((in4 << shiftBits), 8) ));
+#else
+      *pDst++ = (q7_t) __SSAT(((q15_t) *pSrc++ << shiftBits), 8);
+      *pDst++ = (q7_t) __SSAT(((q15_t) *pSrc++ << shiftBits), 8);
+      *pDst++ = (q7_t) __SSAT(((q15_t) *pSrc++ << shiftBits), 8);
+      *pDst++ = (q7_t) __SSAT(((q15_t) *pSrc++ << shiftBits), 8);
+#endif
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    while (blkCnt > 0U)
+    {
+      /* C = A >> shiftBits */
+
+#if defined (ARM_MATH_DSP)
+      /* Read 4 inputs */
+      in1 = *pSrc++;
+      in2 = *pSrc++;
+      in3 = *pSrc++;
+      in4 = *pSrc++;
+
+    /* Pack and store result in destination buffer (in single write) */
+      write_q7x4_ia (&pDst, __PACKq7((in1 >> -shiftBits),
+                                     (in2 >> -shiftBits),
+                                     (in3 >> -shiftBits),
+                                     (in4 >> -shiftBits) ));
+#else
+      *pDst++ = (*pSrc++ >> -shiftBits);
+      *pDst++ = (*pSrc++ >> -shiftBits);
+      *pDst++ = (*pSrc++ >> -shiftBits);
+      *pDst++ = (*pSrc++ >> -shiftBits);
+#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) */
+
+  /* If the shift value is positive then do right shift else left shift */
+  if (sign == 0U)
+  {
+    while (blkCnt > 0U)
+    {
+      /* C = A << shiftBits */
+
+      /* Shift input and store result in destination buffer. */
+      *pDst++ = (q7_t) __SSAT(((q15_t) *pSrc++ << shiftBits), 8);
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    while (blkCnt > 0U)
+    {
+      /* C = A >> shiftBits */
+
+      /* Shift input and store result in destination buffer. */
+      *pDst++ = (*pSrc++ >> -shiftBits);
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+  }
+
+}
+
+/**
+  @} end of BasicShift group
+ */