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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/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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* Title: arm_mat_trans_f32.c
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* Description: Floating-point matrix transpose
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*
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* $Date: 18. March 2019
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* $Revision: V1.6.0
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*
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* Target Processor: Cortex-M cores
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* -------------------------------------------------------------------- */
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/*
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* Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "arm_math.h"
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/**
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@ingroup groupMatrix
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*/
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/**
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@defgroup MatrixTrans Matrix Transpose
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Tranposes a matrix.
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Transposing an <code>M x N</code> matrix flips it around the center diagonal and results in an <code>N x M</code> matrix.
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\image html MatrixTranspose.gif "Transpose of a 3 x 3 matrix"
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*/
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/**
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@addtogroup MatrixTrans
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@{
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*/
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/**
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@brief Floating-point matrix transpose.
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@param[in] pSrc points to input matrix
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@param[out] pDst points to output matrix
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@return execution status
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- \ref ARM_MATH_SUCCESS : Operation successful
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- \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
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*/
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#if defined(ARM_MATH_NEON)
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arm_status arm_mat_trans_f32(
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const arm_matrix_instance_f32 * pSrc,
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arm_matrix_instance_f32 * pDst)
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{
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float32_t *pIn = pSrc->pData; /* input data matrix pointer */
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float32_t *pOut = pDst->pData; /* output data matrix pointer */
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float32_t *px; /* Temporary output data matrix pointer */
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uint16_t nRows = pSrc->numRows; /* number of rows */
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uint16_t nColumns = pSrc->numCols; /* number of columns */
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uint16_t blkCnt, rowCnt, i = 0U, row = nRows; /* loop counters */
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arm_status status; /* status of matrix transpose */
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#ifdef ARM_MATH_MATRIX_CHECK
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/* Check for matrix mismatch condition */
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if ((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
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{
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/* Set status as ARM_MATH_SIZE_MISMATCH */
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status = ARM_MATH_SIZE_MISMATCH;
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}
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else
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#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
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{
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/* Matrix transpose by exchanging the rows with columns */
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/* Row loop */
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rowCnt = row >> 2;
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while (rowCnt > 0U)
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{
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float32x4_t row0V,row1V,row2V,row3V;
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float32x4x2_t ra0,ra1,rb0,rb1;
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blkCnt = nColumns >> 2;
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/* The pointer px is set to starting address of the column being processed */
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px = pOut + i;
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/* Compute 4 outputs at a time.
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** a second loop below computes the remaining 1 to 3 samples. */
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while (blkCnt > 0U) /* Column loop */
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{
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row0V = vld1q_f32(pIn);
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row1V = vld1q_f32(pIn + 1 * nColumns);
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row2V = vld1q_f32(pIn + 2 * nColumns);
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row3V = vld1q_f32(pIn + 3 * nColumns);
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pIn += 4;
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ra0 = vzipq_f32(row0V,row2V);
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ra1 = vzipq_f32(row1V,row3V);
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rb0 = vzipq_f32(ra0.val[0],ra1.val[0]);
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rb1 = vzipq_f32(ra0.val[1],ra1.val[1]);
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vst1q_f32(px,rb0.val[0]);
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px += nRows;
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vst1q_f32(px,rb0.val[1]);
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px += nRows;
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vst1q_f32(px,rb1.val[0]);
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px += nRows;
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vst1q_f32(px,rb1.val[1]);
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px += nRows;
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/* Decrement the column loop counter */
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blkCnt--;
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}
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/* Perform matrix transpose for last 3 samples here. */
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blkCnt = nColumns % 0x4U;
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while (blkCnt > 0U)
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{
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/* Read and store the input element in the destination */
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*px++ = *pIn;
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*px++ = *(pIn + 1 * nColumns);
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*px++ = *(pIn + 2 * nColumns);
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*px++ = *(pIn + 3 * nColumns);
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px += (nRows - 4);
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pIn++;
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/* Decrement the column loop counter */
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blkCnt--;
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}
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i += 4;
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pIn += 3 * nColumns;
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/* Decrement the row loop counter */
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rowCnt--;
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} /* Row loop end */
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rowCnt = row & 3;
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while (rowCnt > 0U)
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{
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blkCnt = nColumns ;
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/* The pointer px is set to starting address of the column being processed */
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px = pOut + i;
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while (blkCnt > 0U)
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{
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/* Read and store the input element in the destination */
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*px = *pIn++;
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/* Update the pointer px to point to the next row of the transposed matrix */
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px += nRows;
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/* Decrement the column loop counter */
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blkCnt--;
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}
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i++;
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rowCnt -- ;
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}
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/* Set status as ARM_MATH_SUCCESS */
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status = ARM_MATH_SUCCESS;
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}
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/* Return to application */
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return (status);
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}
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#else
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arm_status arm_mat_trans_f32(
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const arm_matrix_instance_f32 * pSrc,
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arm_matrix_instance_f32 * pDst)
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{
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float32_t *pIn = pSrc->pData; /* input data matrix pointer */
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float32_t *pOut = pDst->pData; /* output data matrix pointer */
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float32_t *px; /* Temporary output data matrix pointer */
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uint16_t nRows = pSrc->numRows; /* number of rows */
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uint16_t nCols = pSrc->numCols; /* number of columns */
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uint32_t col, row = nRows, i = 0U; /* Loop counters */
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arm_status status; /* status of matrix transpose */
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#ifdef ARM_MATH_MATRIX_CHECK
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/* Check for matrix mismatch condition */
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if ((pSrc->numRows != pDst->numCols) ||
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(pSrc->numCols != pDst->numRows) )
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{
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/* Set status as ARM_MATH_SIZE_MISMATCH */
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status = ARM_MATH_SIZE_MISMATCH;
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}
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else
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#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
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{
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/* Matrix transpose by exchanging the rows with columns */
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/* row loop */
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do
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{
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/* Pointer px is set to starting address of column being processed */
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px = pOut + i;
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#if defined (ARM_MATH_LOOPUNROLL)
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/* Loop unrolling: Compute 4 outputs at a time */
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col = nCols >> 2U;
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while (col > 0U) /* column loop */
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{
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/* Read and store input element in destination */
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*px = *pIn++;
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/* Update pointer px to point to next row of transposed matrix */
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px += nRows;
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*px = *pIn++;
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px += nRows;
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*px = *pIn++;
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px += nRows;
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*px = *pIn++;
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px += nRows;
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/* Decrement column loop counter */
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col--;
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}
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/* Loop unrolling: Compute remaining outputs */
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col = nCols % 0x4U;
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#else
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/* Initialize col with number of samples */
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col = nCols;
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#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
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while (col > 0U)
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{
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/* Read and store input element in destination */
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*px = *pIn++;
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/* Update pointer px to point to next row of transposed matrix */
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px += nRows;
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/* Decrement column loop counter */
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col--;
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}
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i++;
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/* Decrement row loop counter */
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row--;
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} while (row > 0U); /* row loop end */
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/* Set status as ARM_MATH_SUCCESS */
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status = ARM_MATH_SUCCESS;
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}
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/* Return to application */
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return (status);
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}
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#endif /* #if defined(ARM_MATH_NEON) */
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/**
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* @} end of MatrixTrans group
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*/
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