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_sin_cos_q31.c
+ * Description:  Cosine & Sine calculation for Q31 values
+ *
+ * $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"
+#include "arm_common_tables.h"
+
+/**
+  @ingroup groupController
+ */
+
+/**
+  @addtogroup SinCos
+  @{
+ */
+
+/**
+  @brief         Q31 sin_cos function.
+  @param[in]     theta    scaled input value in degrees
+  @param[out]    pSinVal  points to processed sine output
+  @param[out]    pCosVal  points to processed cosine output
+  @return        none
+
+  The Q31 input value is in the range [-1 0.999999] and is mapped to a degree value in the range [-180 179].
+ */
+
+void arm_sin_cos_q31(
+  q31_t theta,
+  q31_t * pSinVal,
+  q31_t * pCosVal)
+{
+  q31_t fract;                                     /* Temporary input, output variables */
+  uint16_t indexS, indexC;                         /* Index variable */
+  q31_t f1, f2, d1, d2;                            /* Two nearest output values */
+  q31_t Dn, Df;
+  q63_t temp;
+
+  /* Calculate the nearest index */
+  indexS = (uint32_t)theta >> CONTROLLER_Q31_SHIFT;
+  indexC = (indexS + 128) & 0x1ff;
+
+  /* Calculation of fractional value */
+  fract = (theta - (indexS << CONTROLLER_Q31_SHIFT)) << 8;
+
+  /* Read two nearest values of input value from the cos & sin tables */
+  f1 =  sinTable_q31[indexC  ];
+  f2 =  sinTable_q31[indexC+1];
+  d1 = -sinTable_q31[indexS  ];
+  d2 = -sinTable_q31[indexS+1];
+
+  Dn = 0x1921FB5; /* delta between the two points (fixed), in this case 2*pi/FAST_MATH_TABLE_SIZE */
+  Df = f2 - f1;   /* delta between the values of the functions */
+
+  temp = Dn * ((q63_t)d1 + d2);
+  temp = temp - ((q63_t)Df << 32);
+  temp = (q63_t)fract * (temp >> 31);
+  temp = temp + ((3 * (q63_t)Df << 31) - (d2 + ((q63_t)d1 << 1)) * Dn);
+  temp = (q63_t)fract * (temp >> 31);
+  temp = temp + (q63_t)d1 * Dn;
+  temp = (q63_t)fract * (temp >> 31);
+
+  /* Calculation of cosine value */
+  *pCosVal = clip_q63_to_q31((temp >> 31) + (q63_t)f1);
+
+  /* Read two nearest values of input value from the cos & sin tables */
+  f1 = sinTable_q31[indexS ];
+  f2 = sinTable_q31[indexS+1];
+  d1 = sinTable_q31[indexC ];
+  d2 = sinTable_q31[indexC+1];
+
+  Df = f2 - f1; // delta between the values of the functions
+  temp = Dn * ((q63_t)d1 + d2);
+  temp = temp - ((q63_t)Df << 32);
+  temp = (q63_t)fract * (temp >> 31);
+  temp = temp + ((3 * (q63_t)Df << 31) - (d2 + ((q63_t)d1 << 1)) * Dn);
+  temp = (q63_t)fract * (temp >> 31);
+  temp = temp + (q63_t)d1 * Dn;
+  temp = (q63_t)fract * (temp >> 31);
+
+  /* Calculation of sine value */
+  *pSinVal = clip_q63_to_q31((temp >> 31) + (q63_t)f1);
+}
+
+/**
+  @} end of SinCos group
+ */