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_var_f32.c
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* Description: Variance of the elements of a floating-point vector
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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) 2010-2019 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 groupStats
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*/
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/**
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@defgroup variance Variance
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Calculates the variance of the elements in the input vector.
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The underlying algorithm used is the direct method sometimes referred to as the two-pass method:
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<pre>
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Result = sum(element - meanOfElements)^2) / numElement - 1
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meanOfElements = ( pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] ) / blockSize
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</pre>
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There are separate functions for floating point, Q31, and Q15 data types.
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*/
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/**
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@addtogroup variance
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@{
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*/
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/**
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@brief Variance of the elements of a floating-point vector.
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@param[in] pSrc points to the input vector
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@param[in] blockSize number of samples in input vector
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@param[out] pResult variance value returned here
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@return none
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*/
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#if defined(ARM_MATH_NEON_EXPERIMENTAL)
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void arm_var_f32(
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const float32_t * pSrc,
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uint32_t blockSize,
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float32_t * pResult)
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{
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float32_t mean;
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float32_t sum = 0.0f; /* accumulator */
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float32_t in; /* Temporary variable to store input value */
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uint32_t blkCnt; /* loop counter */
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float32x4_t sumV = vdupq_n_f32(0.0f); /* Temporary result storage */
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float32x2_t sumV2;
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float32x4_t inV;
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float32x4_t avg;
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arm_mean_f32(pSrc,blockSize,&mean);
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avg = vdupq_n_f32(mean);
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blkCnt = blockSize >> 2U;
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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)
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{
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/* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
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/* Compute Power and then store the result in a temporary variable, sum. */
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inV = vld1q_f32(pSrc);
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inV = vsubq_f32(inV, avg);
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sumV = vmlaq_f32(sumV, inV, inV);
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pSrc += 4;
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/* Decrement the loop counter */
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blkCnt--;
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}
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sumV2 = vpadd_f32(vget_low_f32(sumV),vget_high_f32(sumV));
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sum = sumV2[0] + sumV2[1];
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/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
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** No loop unrolling is used. */
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blkCnt = blockSize % 0x4U;
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while (blkCnt > 0U)
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{
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/* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
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/* compute power and then store the result in a temporary variable, sum. */
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in = *pSrc++;
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in = in - mean;
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sum += in * in;
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/* Decrement the loop counter */
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blkCnt--;
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}
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/* Variance */
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*pResult = sum / (float32_t)(blockSize - 1.0f);
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}
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#else
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void arm_var_f32(
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const float32_t * pSrc,
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uint32_t blockSize,
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float32_t * pResult)
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{
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uint32_t blkCnt; /* Loop counter */
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float32_t sum = 0.0f; /* Temporary result storage */
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float32_t fSum = 0.0f;
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float32_t fMean, fValue;
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const float32_t * pInput = pSrc;
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if (blockSize <= 1U)
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{
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*pResult = 0;
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return;
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}
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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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blkCnt = blockSize >> 2U;
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while (blkCnt > 0U)
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{
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/* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
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sum += *pInput++;
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sum += *pInput++;
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sum += *pInput++;
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sum += *pInput++;
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/* Decrement loop counter */
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blkCnt--;
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}
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/* Loop unrolling: Compute remaining outputs */
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blkCnt = blockSize % 0x4U;
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#else
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/* Initialize blkCnt with number of samples */
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blkCnt = blockSize;
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#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
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while (blkCnt > 0U)
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{
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/* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
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sum += *pInput++;
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/* Decrement loop counter */
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blkCnt--;
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}
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/* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize */
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fMean = sum / (float32_t) blockSize;
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pInput = pSrc;
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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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blkCnt = blockSize >> 2U;
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while (blkCnt > 0U)
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{
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fValue = *pInput++ - fMean;
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fSum += fValue * fValue;
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fValue = *pInput++ - fMean;
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fSum += fValue * fValue;
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fValue = *pInput++ - fMean;
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fSum += fValue * fValue;
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fValue = *pInput++ - fMean;
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fSum += fValue * fValue;
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/* Decrement loop counter */
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blkCnt--;
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}
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/* Loop unrolling: Compute remaining outputs */
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blkCnt = blockSize % 0x4U;
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#else
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/* Initialize blkCnt with number of samples */
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blkCnt = blockSize;
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#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
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while (blkCnt > 0U)
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{
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fValue = *pInput++ - fMean;
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fSum += fValue * fValue;
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/* Decrement loop counter */
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blkCnt--;
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}
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/* Variance */
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*pResult = fSum / (float32_t)(blockSize - 1.0f);
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}
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#endif /* #if defined(ARM_MATH_NEON) */
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/**
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@} end of variance group
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*/
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