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_q15.c
+ * Description:  Fast cosine calculation for Q15 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
+ */
+
+/**
+  @addtogroup cos
+  @{
+ */
+
+/**
+  @brief         Fast approximation to the trigonometric cosine function for Q15 data.
+  @param[in]     x  Scaled input value in radians
+  @return        cos(x)
+
+  The Q15 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*PI).
+ */
+
+q15_t arm_cos_q15(
+  q15_t x)
+{
+  q15_t cosVal;                                  /* Temporary input, output variables */
+  int32_t index;                                 /* Index variable */
+  q15_t a, b;                                    /* Two nearest output values */
+  q15_t fract;                                   /* Temporary values for fractional values */
+
+  /* add 0.25 (pi/2) to read sine table */
+  x = (uint16_t)x + 0x2000;
+  if (x < 0)
+  { /* convert negative numbers to corresponding positive ones */
+    x = (uint16_t)x + 0x8000;
+  }
+
+  /* Calculate the nearest index */
+  index = (uint32_t)x >> FAST_MATH_Q15_SHIFT;
+
+  /* Calculation of fractional value */
+  fract = (x - (index << FAST_MATH_Q15_SHIFT)) << 9;
+
+  /* Read two nearest values of input value from the sin table */
+  a = sinTable_q15[index];
+  b = sinTable_q15[index+1];
+
+  /* Linear interpolation process */
+  cosVal = (q31_t) (0x8000 - fract) * a >> 16;
+  cosVal = (q15_t) ((((q31_t) cosVal << 16) + ((q31_t) fract * b)) >> 16);
+
+  /* Return output value */
+  return (cosVal << 1);
+}
+
+/**
+  @} end of cos group
+ */