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_cmplx_conj_q15.c
+ * Description:  Q15 complex conjugate
+ *
+ * $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 groupCmplxMath
+ */
+
+/**
+  @addtogroup cmplx_conj
+  @{
+ */
+
+/**
+  @brief         Q15 complex conjugate.
+  @param[in]     pSrc        points to the input vector
+  @param[out]    pDst        points to the output vector
+  @param[in]     numSamples  number of samples in each vector
+  @return        none
+
+  @par           Scaling and Overflow Behavior
+                   The function uses saturating arithmetic.
+                   The Q15 value -1 (0x8000) is saturated to the maximum allowable positive value 0x7FFF.
+ */
+
+void arm_cmplx_conj_q15(
+  const q15_t * pSrc,
+        q15_t * pDst,
+        uint32_t numSamples)
+{
+        uint32_t blkCnt;                               /* Loop counter */
+        q31_t in1;                                     /* Temporary input variable */
+
+#if defined (ARM_MATH_LOOPUNROLL) && defined (ARM_MATH_DSP)
+        q31_t in2, in3, in4;                           /* Temporary input variables */
+#endif
+
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+  /* Loop unrolling: Compute 4 outputs at a time */
+  blkCnt = numSamples >> 2U;
+
+  while (blkCnt > 0U)
+  {
+    /* C[0] + jC[1] = A[0]+ j(-1)A[1] */
+
+    /* Calculate Complex Conjugate and store result in destination buffer. */
+
+    #if defined (ARM_MATH_DSP)
+    in1 = read_q15x2_ia ((q15_t **) &pSrc);
+    in2 = read_q15x2_ia ((q15_t **) &pSrc);
+    in3 = read_q15x2_ia ((q15_t **) &pSrc);
+    in4 = read_q15x2_ia ((q15_t **) &pSrc);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+    in1 = __QASX(0, in1);
+    in2 = __QASX(0, in2);
+    in3 = __QASX(0, in3);
+    in4 = __QASX(0, in4);
+#else
+    in1 = __QSAX(0, in1);
+    in2 = __QSAX(0, in2);
+    in3 = __QSAX(0, in3);
+    in4 = __QSAX(0, in4);
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+    in1 = ((uint32_t) in1 >> 16) | ((uint32_t) in1 << 16);
+    in2 = ((uint32_t) in2 >> 16) | ((uint32_t) in2 << 16);
+    in3 = ((uint32_t) in3 >> 16) | ((uint32_t) in3 << 16);
+    in4 = ((uint32_t) in4 >> 16) | ((uint32_t) in4 << 16);
+
+    write_q15x2_ia (&pDst, in1);
+    write_q15x2_ia (&pDst, in2);
+    write_q15x2_ia (&pDst, in3);
+    write_q15x2_ia (&pDst, in4);
+#else
+    *pDst++ =  *pSrc++;
+    in1 = *pSrc++;
+    *pDst++ = (in1 == (q15_t) 0x8000) ? (q15_t) 0x7fff : -in1;
+
+    *pDst++ =  *pSrc++;
+    in1 = *pSrc++;
+    *pDst++ = (in1 == (q15_t) 0x8000) ? (q15_t) 0x7fff : -in1;
+
+    *pDst++ =  *pSrc++;
+    in1 = *pSrc++;
+    *pDst++ = (in1 == (q15_t) 0x8000) ? (q15_t) 0x7fff : -in1;
+
+    *pDst++ =  *pSrc++;
+    in1 = *pSrc++;
+    *pDst++ = (in1 == (q15_t) 0x8000) ? (q15_t) 0x7fff : -in1;
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+    /* Decrement loop counter */
+    blkCnt--;
+  }
+
+  /* Loop unrolling: Compute remaining outputs */
+  blkCnt = numSamples % 0x4U;
+
+#else
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+  while (blkCnt > 0U)
+  {
+    /* C[0] + jC[1] = A[0]+ j(-1)A[1] */
+
+    /* Calculate Complex Conjugate and store result in destination buffer. */
+    *pDst++ =  *pSrc++;
+    in1 = *pSrc++;
+#if defined (ARM_MATH_DSP)
+    *pDst++ = __SSAT(-in1, 16);
+#else
+    *pDst++ = (in1 == (q15_t) 0x8000) ? (q15_t) 0x7fff : -in1;
+#endif
+
+    /* Decrement loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**
+  @} end of cmplx_conj group
+ */