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_trans_q15.c
+ * Description:  Q15 matrix transpose
+ *
+ * $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 MatrixTrans
+  @{
+ */
+
+/**
+  @brief         Q15 matrix transpose.
+  @param[in]     pSrc      points to input matrix
+  @param[out]    pDst      points to output matrix
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+
+arm_status arm_mat_trans_q15(
+  const arm_matrix_instance_q15 * pSrc,
+        arm_matrix_instance_q15 * pDst)
+{
+        q15_t *pIn = pSrc->pData;                      /* input data matrix pointer */
+        q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+        uint16_t nRows = pSrc->numRows;                /* number of rows */
+        uint16_t nCols = pSrc->numCols;                /* number of columns */
+        uint32_t col, row = nRows, i = 0U;             /* Loop counters */
+        arm_status status;                             /* status of matrix transpose */
+
+#if defined (ARM_MATH_LOOPUNROLL)
+        q31_t in;                                      /* variable to hold temporary output  */
+#endif
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pDst->numCols) ||
+      (pSrc->numCols != pDst->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop */
+    do
+    {
+      /* Pointer pOut is set to starting address of column being processed */
+      pOut = pDst->pData + i;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+      /* Loop unrolling: Compute 4 outputs at a time */
+      col = nCols >> 2U;
+
+      while (col > 0U)        /* column loop */
+      {
+        /* Read two elements from row */
+        in = read_q15x2_ia ((q15_t **) &pIn);
+
+        /* Unpack and store one element in  destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+        *pOut = (q15_t) in;
+#else
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+        /* Update pointer pOut to point to next row of transposed matrix */
+        pOut += nRows;
+
+        /* Unpack and store second element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#else
+        *pOut = (q15_t) in;
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+        /* Update  pointer pOut to point to next row of transposed matrix */
+        pOut += nRows;
+
+        /* Read two elements from row */
+        in = read_q15x2_ia ((q15_t **) &pIn);
+
+        /* Unpack and store one element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+        *pOut = (q15_t) in;
+#else
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+        /* Update pointer pOut to point to next row of transposed matrix */
+        pOut += nRows;
+
+        /* Unpack and store second element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#else
+        *pOut = (q15_t) in;
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+        /* Update pointer pOut to point to next row of transposed matrix */
+        pOut += nRows;
+
+        /* Decrement column loop counter */
+        col--;
+      }
+
+      /* Loop unrolling: Compute remaining outputs */
+      col = nCols % 0x4U;
+
+#else
+
+      /* Initialize col with number of samples */
+      col = nCols;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+      while (col > 0U)
+      {
+        /* Read and store input element in destination */
+        *pOut = *pIn++;
+
+        /* Update pointer pOut to point to next row of transposed matrix */
+        pOut += nRows;
+
+        /* Decrement column loop counter */
+        col--;
+      }
+
+      i++;
+
+      /* Decrement row loop counter */
+      row--;
+
+    } while (row > 0U);          /* row loop end */
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**
+  @} end of MatrixTrans group
+ */