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_bitreversal.c
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* Description: Bitreversal functions
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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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#include "arm_common_tables.h"
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/**
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@brief In-place floating-point bit reversal function.
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@param[in,out] pSrc points to in-place floating-point data buffer
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@param[in] fftSize length of FFT
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@param[in] bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table
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@param[in] pBitRevTab points to bit reversal table
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@return none
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*/
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void arm_bitreversal_f32(
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float32_t * pSrc,
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uint16_t fftSize,
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uint16_t bitRevFactor,
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const uint16_t * pBitRevTab)
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{
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uint16_t fftLenBy2, fftLenBy2p1;
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uint16_t i, j;
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float32_t in;
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/* Initializations */
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j = 0U;
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fftLenBy2 = fftSize >> 1U;
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fftLenBy2p1 = (fftSize >> 1U) + 1U;
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/* Bit Reversal Implementation */
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for (i = 0U; i <= (fftLenBy2 - 2U); i += 2U)
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{
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if (i < j)
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{
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/* pSrc[i] <-> pSrc[j]; */
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in = pSrc[2U * i];
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pSrc[2U * i] = pSrc[2U * j];
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pSrc[2U * j] = in;
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/* pSrc[i+1U] <-> pSrc[j+1U] */
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in = pSrc[(2U * i) + 1U];
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pSrc[(2U * i) + 1U] = pSrc[(2U * j) + 1U];
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pSrc[(2U * j) + 1U] = in;
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/* pSrc[i+fftLenBy2p1] <-> pSrc[j+fftLenBy2p1] */
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in = pSrc[2U * (i + fftLenBy2p1)];
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pSrc[2U * (i + fftLenBy2p1)] = pSrc[2U * (j + fftLenBy2p1)];
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pSrc[2U * (j + fftLenBy2p1)] = in;
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/* pSrc[i+fftLenBy2p1+1U] <-> pSrc[j+fftLenBy2p1+1U] */
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in = pSrc[(2U * (i + fftLenBy2p1)) + 1U];
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pSrc[(2U * (i + fftLenBy2p1)) + 1U] =
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pSrc[(2U * (j + fftLenBy2p1)) + 1U];
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pSrc[(2U * (j + fftLenBy2p1)) + 1U] = in;
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}
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/* pSrc[i+1U] <-> pSrc[j+1U] */
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in = pSrc[2U * (i + 1U)];
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pSrc[2U * (i + 1U)] = pSrc[2U * (j + fftLenBy2)];
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pSrc[2U * (j + fftLenBy2)] = in;
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/* pSrc[i+2U] <-> pSrc[j+2U] */
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in = pSrc[(2U * (i + 1U)) + 1U];
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pSrc[(2U * (i + 1U)) + 1U] = pSrc[(2U * (j + fftLenBy2)) + 1U];
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pSrc[(2U * (j + fftLenBy2)) + 1U] = in;
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/* Reading the index for the bit reversal */
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j = *pBitRevTab;
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/* Updating the bit reversal index depending on the fft length */
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pBitRevTab += bitRevFactor;
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}
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}
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/**
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@brief In-place Q31 bit reversal function.
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@param[in,out] pSrc points to in-place Q31 data buffer.
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@param[in] fftLen length of FFT.
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@param[in] bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table
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@param[in] pBitRevTab points to bit reversal table
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@return none
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*/
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void arm_bitreversal_q31(
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q31_t * pSrc,
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uint32_t fftLen,
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uint16_t bitRevFactor,
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const uint16_t * pBitRevTab)
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{
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uint32_t fftLenBy2, fftLenBy2p1, i, j;
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q31_t in;
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/* Initializations */
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j = 0U;
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fftLenBy2 = fftLen / 2U;
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fftLenBy2p1 = (fftLen / 2U) + 1U;
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/* Bit Reversal Implementation */
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for (i = 0U; i <= (fftLenBy2 - 2U); i += 2U)
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{
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if (i < j)
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{
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/* pSrc[i] <-> pSrc[j]; */
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in = pSrc[2U * i];
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pSrc[2U * i] = pSrc[2U * j];
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pSrc[2U * j] = in;
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/* pSrc[i+1U] <-> pSrc[j+1U] */
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in = pSrc[(2U * i) + 1U];
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pSrc[(2U * i) + 1U] = pSrc[(2U * j) + 1U];
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pSrc[(2U * j) + 1U] = in;
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/* pSrc[i+fftLenBy2p1] <-> pSrc[j+fftLenBy2p1] */
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in = pSrc[2U * (i + fftLenBy2p1)];
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pSrc[2U * (i + fftLenBy2p1)] = pSrc[2U * (j + fftLenBy2p1)];
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pSrc[2U * (j + fftLenBy2p1)] = in;
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/* pSrc[i+fftLenBy2p1+1U] <-> pSrc[j+fftLenBy2p1+1U] */
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in = pSrc[(2U * (i + fftLenBy2p1)) + 1U];
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pSrc[(2U * (i + fftLenBy2p1)) + 1U] =
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pSrc[(2U * (j + fftLenBy2p1)) + 1U];
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pSrc[(2U * (j + fftLenBy2p1)) + 1U] = in;
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}
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/* pSrc[i+1U] <-> pSrc[j+1U] */
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in = pSrc[2U * (i + 1U)];
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pSrc[2U * (i + 1U)] = pSrc[2U * (j + fftLenBy2)];
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pSrc[2U * (j + fftLenBy2)] = in;
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/* pSrc[i+2U] <-> pSrc[j+2U] */
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in = pSrc[(2U * (i + 1U)) + 1U];
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pSrc[(2U * (i + 1U)) + 1U] = pSrc[(2U * (j + fftLenBy2)) + 1U];
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pSrc[(2U * (j + fftLenBy2)) + 1U] = in;
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/* Reading the index for the bit reversal */
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j = *pBitRevTab;
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/* Updating the bit reversal index depending on the fft length */
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pBitRevTab += bitRevFactor;
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}
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}
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/**
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@brief In-place Q15 bit reversal function.
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@param[in,out] pSrc16 points to in-place Q15 data buffer
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@param[in] fftLen length of FFT
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@param[in] bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table
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@param[in] pBitRevTab points to bit reversal table
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@return none
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*/
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void arm_bitreversal_q15(
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q15_t * pSrc16,
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uint32_t fftLen,
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uint16_t bitRevFactor,
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const uint16_t * pBitRevTab)
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{
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q31_t *pSrc = (q31_t *) pSrc16;
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q31_t in;
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uint32_t fftLenBy2, fftLenBy2p1;
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uint32_t i, j;
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/* Initializations */
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j = 0U;
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fftLenBy2 = fftLen / 2U;
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fftLenBy2p1 = (fftLen / 2U) + 1U;
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/* Bit Reversal Implementation */
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for (i = 0U; i <= (fftLenBy2 - 2U); i += 2U)
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{
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if (i < j)
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{
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/* pSrc[i] <-> pSrc[j]; */
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/* pSrc[i+1U] <-> pSrc[j+1U] */
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in = pSrc[i];
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pSrc[i] = pSrc[j];
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pSrc[j] = in;
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/* pSrc[i + fftLenBy2p1] <-> pSrc[j + fftLenBy2p1]; */
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/* pSrc[i + fftLenBy2p1+1U] <-> pSrc[j + fftLenBy2p1+1U] */
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in = pSrc[i + fftLenBy2p1];
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pSrc[i + fftLenBy2p1] = pSrc[j + fftLenBy2p1];
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pSrc[j + fftLenBy2p1] = in;
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}
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/* pSrc[i+1U] <-> pSrc[j+fftLenBy2]; */
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/* pSrc[i+2] <-> pSrc[j+fftLenBy2+1U] */
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in = pSrc[i + 1U];
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pSrc[i + 1U] = pSrc[j + fftLenBy2];
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pSrc[j + fftLenBy2] = in;
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/* Reading the index for the bit reversal */
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j = *pBitRevTab;
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/* Updating the bit reversal index depending on the fft length */
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pBitRevTab += bitRevFactor;
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}
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}
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