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_cfft_q31.c
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* Description: Combined Radix Decimation in Frequency CFFT fixed point processing function
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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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extern void arm_radix4_butterfly_q31(
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q31_t * pSrc,
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uint32_t fftLen,
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const q31_t * pCoef,
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uint32_t twidCoefModifier);
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extern void arm_radix4_butterfly_inverse_q31(
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q31_t * pSrc,
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uint32_t fftLen,
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const q31_t * pCoef,
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uint32_t twidCoefModifier);
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extern void arm_bitreversal_32(
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uint32_t * pSrc,
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const uint16_t bitRevLen,
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const uint16_t * pBitRevTable);
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void arm_cfft_radix4by2_q31(
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q31_t * pSrc,
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uint32_t fftLen,
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const q31_t * pCoef);
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void arm_cfft_radix4by2_inverse_q31(
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q31_t * pSrc,
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uint32_t fftLen,
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const q31_t * pCoef);
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/**
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@ingroup groupTransforms
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*/
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/**
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@addtogroup ComplexFFT
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@{
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*/
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/**
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@brief Processing function for the Q31 complex FFT.
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@param[in] S points to an instance of the fixed-point CFFT structure
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@param[in,out] p1 points to the complex data buffer of size <code>2*fftLen</code>. Processing occurs in-place
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@param[in] ifftFlag flag that selects transform direction
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- value = 0: forward transform
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- value = 1: inverse transform
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@param[in] bitReverseFlag flag that enables / disables bit reversal of output
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- value = 0: disables bit reversal of output
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- value = 1: enables bit reversal of output
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@return none
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*/
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void arm_cfft_q31(
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const arm_cfft_instance_q31 * S,
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q31_t * p1,
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uint8_t ifftFlag,
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uint8_t bitReverseFlag)
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{
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uint32_t L = S->fftLen;
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if (ifftFlag == 1U)
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{
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switch (L)
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{
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case 16:
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case 64:
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case 256:
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case 1024:
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case 4096:
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arm_radix4_butterfly_inverse_q31 ( p1, L, (q31_t*)S->pTwiddle, 1 );
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break;
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case 32:
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case 128:
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case 512:
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case 2048:
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arm_cfft_radix4by2_inverse_q31 ( p1, L, S->pTwiddle );
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break;
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}
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}
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else
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{
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switch (L)
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{
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case 16:
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case 64:
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case 256:
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case 1024:
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case 4096:
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arm_radix4_butterfly_q31 ( p1, L, (q31_t*)S->pTwiddle, 1 );
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break;
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case 32:
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case 128:
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case 512:
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case 2048:
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arm_cfft_radix4by2_q31 ( p1, L, S->pTwiddle );
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break;
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}
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}
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if ( bitReverseFlag )
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arm_bitreversal_32 ((uint32_t*) p1, S->bitRevLength, S->pBitRevTable);
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}
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/**
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@} end of ComplexFFT group
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*/
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void arm_cfft_radix4by2_q31(
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q31_t * pSrc,
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uint32_t fftLen,
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const q31_t * pCoef)
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{
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uint32_t i, l;
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uint32_t n2;
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q31_t xt, yt, cosVal, sinVal;
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q31_t p0, p1;
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n2 = fftLen >> 1U;
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for (i = 0; i < n2; i++)
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{
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cosVal = pCoef[2 * i];
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sinVal = pCoef[2 * i + 1];
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l = i + n2;
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xt = (pSrc[2 * i] >> 2U) - (pSrc[2 * l] >> 2U);
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pSrc[2 * i] = (pSrc[2 * i] >> 2U) + (pSrc[2 * l] >> 2U);
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yt = (pSrc[2 * i + 1] >> 2U) - (pSrc[2 * l + 1] >> 2U);
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pSrc[2 * i + 1] = (pSrc[2 * l + 1] >> 2U) + (pSrc[2 * i + 1] >> 2U);
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mult_32x32_keep32_R(p0, xt, cosVal);
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mult_32x32_keep32_R(p1, yt, cosVal);
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multAcc_32x32_keep32_R(p0, yt, sinVal);
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multSub_32x32_keep32_R(p1, xt, sinVal);
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pSrc[2 * l] = p0 << 1;
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pSrc[2 * l + 1] = p1 << 1;
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}
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/* first col */
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arm_radix4_butterfly_q31 (pSrc, n2, (q31_t*)pCoef, 2U);
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/* second col */
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arm_radix4_butterfly_q31 (pSrc + fftLen, n2, (q31_t*)pCoef, 2U);
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n2 = fftLen >> 1U;
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for (i = 0; i < n2; i++)
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{
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p0 = pSrc[4 * i + 0];
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p1 = pSrc[4 * i + 1];
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xt = pSrc[4 * i + 2];
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yt = pSrc[4 * i + 3];
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p0 <<= 1U;
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p1 <<= 1U;
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xt <<= 1U;
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yt <<= 1U;
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pSrc[4 * i + 0] = p0;
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pSrc[4 * i + 1] = p1;
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pSrc[4 * i + 2] = xt;
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pSrc[4 * i + 3] = yt;
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}
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}
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void arm_cfft_radix4by2_inverse_q31(
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q31_t * pSrc,
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uint32_t fftLen,
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const q31_t * pCoef)
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{
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uint32_t i, l;
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uint32_t n2;
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q31_t xt, yt, cosVal, sinVal;
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q31_t p0, p1;
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n2 = fftLen >> 1U;
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for (i = 0; i < n2; i++)
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{
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cosVal = pCoef[2 * i];
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sinVal = pCoef[2 * i + 1];
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l = i + n2;
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xt = (pSrc[2 * i] >> 2U) - (pSrc[2 * l] >> 2U);
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pSrc[2 * i] = (pSrc[2 * i] >> 2U) + (pSrc[2 * l] >> 2U);
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yt = (pSrc[2 * i + 1] >> 2U) - (pSrc[2 * l + 1] >> 2U);
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pSrc[2 * i + 1] = (pSrc[2 * l + 1] >> 2U) + (pSrc[2 * i + 1] >> 2U);
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mult_32x32_keep32_R(p0, xt, cosVal);
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mult_32x32_keep32_R(p1, yt, cosVal);
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multSub_32x32_keep32_R(p0, yt, sinVal);
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multAcc_32x32_keep32_R(p1, xt, sinVal);
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pSrc[2 * l] = p0 << 1U;
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pSrc[2 * l + 1] = p1 << 1U;
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}
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/* first col */
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arm_radix4_butterfly_inverse_q31( pSrc, n2, (q31_t*)pCoef, 2U);
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/* second col */
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arm_radix4_butterfly_inverse_q31( pSrc + fftLen, n2, (q31_t*)pCoef, 2U);
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n2 = fftLen >> 1U;
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for (i = 0; i < n2; i++)
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{
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p0 = pSrc[4 * i + 0];
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p1 = pSrc[4 * i + 1];
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xt = pSrc[4 * i + 2];
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yt = pSrc[4 * i + 3];
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p0 <<= 1U;
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p1 <<= 1U;
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xt <<= 1U;
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yt <<= 1U;
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pSrc[4 * i + 0] = p0;
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pSrc[4 * i + 1] = p1;
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pSrc[4 * i + 2] = xt;
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pSrc[4 * i + 3] = yt;
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}
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}
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