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_std_f32.c
+ * Description:  Standard deviation of the elements of a floating-point vector
+ *
+ * $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 groupStats
+ */
+
+/**
+  @defgroup STD Standard deviation
+
+  Calculates the standard deviation of the elements in the input vector.
+  The underlying algorithm is used:
+
+  <pre>
+      Result = sqrt((sumOfSquares - sum<sup>2</sup> / blockSize) / (blockSize - 1))
+
+      sumOfSquares = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]
+      sum = pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]
+  </pre>
+
+  There are separate functions for floating point, Q31, and Q15 data types.
+ */
+
+/**
+  @addtogroup STD
+  @{
+ */
+
+/**
+  @brief         Standard deviation of the elements of a floating-point vector.
+  @param[in]     pSrc       points to the input vector
+  @param[in]     blockSize  number of samples in input vector
+  @param[out]    pResult    standard deviation value returned here
+  @return        none
+ */
+#if defined(ARM_MATH_NEON_EXPERIMENTAL)
+void arm_std_f32(
+  const float32_t * pSrc,
+        uint32_t blockSize,
+        float32_t * pResult)
+{
+  float32_t var;
+  arm_var_f32(pSrc,blockSize,&var);
+  arm_sqrt_f32(var, pResult);
+}
+#else
+void arm_std_f32(
+  const float32_t * pSrc,
+        uint32_t blockSize,
+        float32_t * pResult)
+{
+        uint32_t blkCnt;                               /* Loop counter */
+        float32_t sum = 0.0f;                          /* Temporary result storage */
+        float32_t sumOfSquares = 0.0f;                 /* Sum of squares */
+        float32_t in;                                  /* Temporary variable to store input value */
+
+#ifndef ARM_MATH_CM0_FAMILY
+        float32_t meanOfSquares, mean, squareOfMean;   /* Temporary variables */
+#else
+        float32_t squareOfSum;                         /* Square of Sum */
+        float32_t var;                                 /* Temporary varaince storage */
+#endif
+
+  if (blockSize <= 1U)
+  {
+    *pResult = 0;
+    return;
+  }
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+  /* Loop unrolling: Compute 4 outputs at a time */
+  blkCnt = blockSize >> 2U;
+
+  while (blkCnt > 0U)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* C = A[0] + A[1] + ... + A[blockSize-1] */
+
+    in = *pSrc++;
+    /* Compute sum of squares and store result in a temporary variable, sumOfSquares. */
+    sumOfSquares += in * in;
+    /* Compute sum and store result in a temporary variable, sum. */
+    sum += in;
+
+    in = *pSrc++;
+    sumOfSquares += in * in;
+    sum += in;
+
+    in = *pSrc++;
+    sumOfSquares += in * in;
+    sum += in;
+
+    in = *pSrc++;
+    sumOfSquares += in * in;
+    sum += in;
+
+    /* Decrement loop counter */
+    blkCnt--;
+  }
+
+  /* Loop unrolling: Compute remaining outputs */
+  blkCnt = blockSize % 0x4U;
+
+#else
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+  while (blkCnt > 0U)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* C = A[0] + A[1] + ... + A[blockSize-1] */
+
+    in = *pSrc++;
+    /* Compute sum of squares and store result in a temporary variable, sumOfSquares. */
+    sumOfSquares += ( in * in);
+    /* Compute sum and store result in a temporary variable, sum. */
+    sum += in;
+
+    /* Decrement loop counter */
+    blkCnt--;
+  }
+
+#ifndef ARM_MATH_CM0_FAMILY
+
+  /* Compute Mean of squares and store result in a temporary variable, meanOfSquares. */
+  meanOfSquares = sumOfSquares / ((float32_t) blockSize - 1.0f);
+
+  /* Compute mean of all input values */
+  mean = sum / (float32_t) blockSize;
+
+  /* Compute square of mean */
+  squareOfMean = (mean * mean) * (((float32_t) blockSize) /
+                                  ((float32_t) blockSize - 1.0f));
+
+  /* Compute standard deviation and store result to destination */
+  arm_sqrt_f32((meanOfSquares - squareOfMean), pResult);
+
+#else
+  /* Run the below code for Cortex-M0 */
+
+  /* Compute square of sum */
+  squareOfSum = ((sum * sum) / (float32_t) blockSize);
+
+  /* Compute variance */
+  var = ((sumOfSquares - squareOfSum) / (float32_t) (blockSize - 1.0f));
+
+  /* Compute standard deviation and store result in destination */
+  arm_sqrt_f32(var, pResult);
+
+#endif /* #ifndef ARM_MATH_CM0_FAMILY */
+
+}
+#endif /* #if defined(ARM_MATH_NEON) */
+
+/**
+  @} end of STD group
+ */