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_mat_add_q15.c
+ * Description:  Q15 matrix addition
+ *
+ * $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 groupMatrix
+ */
+
+/**
+  @addtogroup MatrixAdd
+  @{
+ */
+
+/**
+  @brief         Q15 matrix addition.
+  @param[in]     pSrcA      points to first input matrix structure
+  @param[in]     pSrcB      points to second input matrix structure
+  @param[out]    pDst       points to output matrix structure
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Scaling and Overflow Behavior
+                   The function uses saturating arithmetic.
+                   Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated.
+ */
+
+arm_status arm_mat_add_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+        arm_matrix_instance_q15 * pDst)
+{
+        q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
+        q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
+        q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+        
+        uint32_t numSamples;                           /* total number of elements in the matrix */
+        uint32_t blkCnt;                               /* loop counters */
+        arm_status status;                             /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+
+      /* Add, saturate and store result in destination buffer. */
+#if defined (ARM_MATH_DSP)
+      write_q15x2_ia (&pOut, __QADD16(read_q15x2_ia (&pInA), read_q15x2_ia (&pInB)));
+
+      write_q15x2_ia (&pOut, __QADD16(read_q15x2_ia (&pInA), read_q15x2_ia (&pInB)));
+#else
+      *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+
+      *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+
+      *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+
+      *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+#endif
+
+      /* 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(m,n) = A(m,n) + B(m,n) */
+
+      /* Add, saturate and store result in destination buffer. */
+#if defined (ARM_MATH_DSP)
+      *pOut++ = (q15_t) __QADD16(*pInA++, *pInB++);
+#else
+      *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+#endif
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**
+  @} end of MatrixAdd group
+ */