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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.

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pima
2026-09-13 19:51:03 +02:00
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Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_q15.c
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/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: arm_mat_scale_q15.c
* Description: Multiplies a Q15 matrix by a scalar
*
* $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 MatrixScale
@{
*/
/**
@brief Q15 matrix scaling.
@param[in] pSrc points to input matrix
@param[in] scaleFract fractional portion of the scale factor
@param[in] shift number of bits to shift the result by
@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 input data <code>*pSrc</code> and <code>scaleFract</code> are in 1.15 format.
These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format.
*/
arm_status arm_mat_scale_q15(
const arm_matrix_instance_q15 * pSrc,
q15_t scaleFract,
int32_t shift,
arm_matrix_instance_q15 * pDst)
{
q15_t *pIn = pSrc->pData; /* Input data matrix pointer */
q15_t *pOut = pDst->pData; /* Output data matrix pointer */
uint32_t numSamples; /* Total number of elements in the matrix */
uint32_t blkCnt; /* Loop counter */
arm_status status; /* Status of matrix scaling */
int32_t kShift = 15 - shift; /* Total shift to apply after scaling */
#if defined (ARM_MATH_LOOPUNROLL) && defined (ARM_MATH_DSP)
q31_t inA1, inA2;
q31_t out1, out2, out3, out4; /* Temporary output variables */
q15_t in1, in2, in3, in4; /* Temporary input variables */
#endif
#ifdef ARM_MATH_MATRIX_CHECK
/* Check for matrix mismatch condition */
if ((pSrc->numRows != pDst->numRows) ||
(pSrc->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) pSrc->numRows * pSrc->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) * k */
#if defined (ARM_MATH_DSP)
/* read 2 times 2 samples at a time from source */
inA1 = read_q15x2_ia ((q15_t **) &pIn);
inA2 = read_q15x2_ia ((q15_t **) &pIn);
/* Scale inputs and store result in temporary variables
* in single cycle by packing the outputs */
out1 = (q31_t) ((q15_t) (inA1 >> 16) * scaleFract);
out2 = (q31_t) ((q15_t) (inA1 ) * scaleFract);
out3 = (q31_t) ((q15_t) (inA2 >> 16) * scaleFract);
out4 = (q31_t) ((q15_t) (inA2 ) * scaleFract);
/* apply shifting */
out1 = out1 >> kShift;
out2 = out2 >> kShift;
out3 = out3 >> kShift;
out4 = out4 >> kShift;
/* saturate the output */
in1 = (q15_t) (__SSAT(out1, 16));
in2 = (q15_t) (__SSAT(out2, 16));
in3 = (q15_t) (__SSAT(out3, 16));
in4 = (q15_t) (__SSAT(out4, 16));
/* store result to destination */
write_q15x2_ia (&pOut, __PKHBT(in2, in1, 16));
write_q15x2_ia (&pOut, __PKHBT(in4, in3, 16));
#else
*pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
*pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
*pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
*pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 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) * k */
/* Scale, saturate and store result in destination buffer. */
*pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
/* Decrement loop counter */
blkCnt--;
}
/* Set status as ARM_MATH_SUCCESS */
status = ARM_MATH_SUCCESS;
}
/* Return to application */
return (status);
}
/**
@} end of MatrixScale group
*/