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_cos_f32.c
+ * Description:  Fast cosine calculation for floating-point 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 groupFastMath
+ */
+
+/**
+  @defgroup cos Cosine
+
+  Computes the trigonometric cosine function using a combination of table lookup
+  and linear interpolation.  There are separate functions for
+  Q15, Q31, and floating-point data types.
+  The input to the floating-point version is in radians while the
+  fixed-point Q15 and Q31 have a scaled input with the range
+  [0 +0.9999] mapping to [0 2*pi).  The fixed-point range is chosen so that a
+  value of 2*pi wraps around to 0.
+
+  The implementation is based on table lookup using 256 values together with linear interpolation.
+  The steps used are:
+   -# Calculation of the nearest integer table index
+   -# Compute the fractional portion (fract) of the table index.
+   -# The final result equals <code>(1.0f-fract)*a + fract*b;</code>
+
+  where
+  <pre>
+     b = Table[index];
+     c = Table[index+1];
+  </pre>
+ */
+
+/**
+  @addtogroup cos
+  @{
+ */
+
+/**
+  @brief         Fast approximation to the trigonometric cosine function for floating-point data.
+  @param[in]     x  input value in radians
+  @return        cos(x)
+ */
+
+float32_t arm_cos_f32(
+  float32_t x)
+{
+  float32_t cosVal, fract, in;                   /* Temporary input, output variables */
+  uint16_t index;                                /* Index variable */
+  float32_t a, b;                                /* Two nearest output values */
+  int32_t n;
+  float32_t findex;
+
+  /* input x is in radians */
+  /* Scale input to [0 1] range from [0 2*PI] , divide input by 2*pi, add 0.25 (pi/2) to read sine table */
+  in = x * 0.159154943092f + 0.25f;
+
+  /* Calculation of floor value of input */
+  n = (int32_t) in;
+
+  /* Make negative values towards -infinity */
+  if (in < 0.0f)
+  {
+    n--;
+  }
+
+  /* Map input value to [0 1] */
+  in = in - (float32_t) n;
+
+  /* Calculation of index of the table */
+  findex = (float32_t)FAST_MATH_TABLE_SIZE * in;
+  index = (uint16_t)findex;
+
+  /* when "in" is exactly 1, we need to rotate the index down to 0 */
+  if (index >= FAST_MATH_TABLE_SIZE) {
+    index = 0;
+    findex -= (float32_t)FAST_MATH_TABLE_SIZE;
+  }
+
+  /* fractional value calculation */
+  fract = findex - (float32_t) index;
+
+  /* Read two nearest values of input value from the cos table */
+  a = sinTable_f32[index];
+  b = sinTable_f32[index+1];
+
+  /* Linear interpolation process */
+  cosVal = (1.0f - fract) * a + fract * b;
+
+  /* Return output value */
+  return (cosVal);
+}
+
+/**
+  @} end of cos group
+ */