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.
This commit is contained in:
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/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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* Title: arm_rfft_f32.c
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* Description: RFFT & RIFFT Floating point process 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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/* ----------------------------------------------------------------------
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* Internal functions prototypes
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* -------------------------------------------------------------------- */
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extern void arm_radix4_butterfly_f32(
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float32_t * pSrc,
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uint16_t fftLen,
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const float32_t * pCoef,
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uint16_t twidCoefModifier);
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extern void arm_radix4_butterfly_inverse_f32(
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float32_t * pSrc,
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uint16_t fftLen,
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const float32_t * pCoef,
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uint16_t twidCoefModifier,
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float32_t onebyfftLen);
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extern 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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void arm_split_rfft_f32(
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float32_t * pSrc,
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uint32_t fftLen,
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const float32_t * pATable,
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const float32_t * pBTable,
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float32_t * pDst,
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uint32_t modifier);
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void arm_split_rifft_f32(
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float32_t * pSrc,
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uint32_t fftLen,
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const float32_t * pATable,
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const float32_t * pBTable,
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float32_t * pDst,
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uint32_t modifier);
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/**
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@ingroup groupTransforms
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*/
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/**
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@addtogroup RealFFT
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@{
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*/
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/**
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@brief Processing function for the floating-point RFFT/RIFFT.
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@deprecated Do not use this function. It has been superceded by \ref arm_rfft_fast_f32 and will be removed in the future.
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@param[in] S points to an instance of the floating-point RFFT/RIFFT structure
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@param[in] pSrc points to the input buffer
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@param[out] pDst points to the output buffer
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@return none
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*/
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void arm_rfft_f32(
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const arm_rfft_instance_f32 * S,
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float32_t * pSrc,
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float32_t * pDst)
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{
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const arm_cfft_radix4_instance_f32 *S_CFFT = S->pCfft;
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/* Calculation of Real IFFT of input */
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if (S->ifftFlagR == 1U)
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{
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/* Real IFFT core process */
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arm_split_rifft_f32 (pSrc, S->fftLenBy2, S->pTwiddleAReal, S->pTwiddleBReal, pDst, S->twidCoefRModifier);
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/* Complex radix-4 IFFT process */
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arm_radix4_butterfly_inverse_f32 (pDst, S_CFFT->fftLen, S_CFFT->pTwiddle, S_CFFT->twidCoefModifier, S_CFFT->onebyfftLen);
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/* Bit reversal process */
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if (S->bitReverseFlagR == 1U)
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{
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arm_bitreversal_f32 (pDst, S_CFFT->fftLen, S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
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}
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}
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else
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{
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/* Calculation of RFFT of input */
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/* Complex radix-4 FFT process */
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arm_radix4_butterfly_f32 (pSrc, S_CFFT->fftLen, S_CFFT->pTwiddle, S_CFFT->twidCoefModifier);
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/* Bit reversal process */
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if (S->bitReverseFlagR == 1U)
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{
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arm_bitreversal_f32 (pSrc, S_CFFT->fftLen, S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
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}
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/* Real FFT core process */
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arm_split_rfft_f32 (pSrc, S->fftLenBy2, S->pTwiddleAReal, S->pTwiddleBReal, pDst, S->twidCoefRModifier);
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}
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}
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/**
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@} end of RealFFT group
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*/
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/**
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@brief Core Real FFT process
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@param[in] pSrc points to input buffer
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@param[in] fftLen length of FFT
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@param[in] pATable points to twiddle Coef A buffer
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@param[in] pBTable points to twiddle Coef B buffer
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@param[out] pDst points to output buffer
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@param[in] modifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table
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@return none
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*/
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void arm_split_rfft_f32(
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float32_t * pSrc,
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uint32_t fftLen,
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const float32_t * pATable,
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const float32_t * pBTable,
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float32_t * pDst,
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uint32_t modifier)
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{
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uint32_t i; /* Loop Counter */
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float32_t outR, outI; /* Temporary variables for output */
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const float32_t *pCoefA, *pCoefB; /* Temporary pointers for twiddle factors */
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float32_t CoefA1, CoefA2, CoefB1; /* Temporary variables for twiddle coefficients */
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float32_t *pDst1 = &pDst[2], *pDst2 = &pDst[(4U * fftLen) - 1U]; /* temp pointers for output buffer */
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float32_t *pSrc1 = &pSrc[2], *pSrc2 = &pSrc[(2U * fftLen) - 1U]; /* temp pointers for input buffer */
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/* Init coefficient pointers */
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pCoefA = &pATable[modifier * 2];
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pCoefB = &pBTable[modifier * 2];
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i = fftLen - 1U;
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while (i > 0U)
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{
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/*
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outR = ( pSrc[2 * i] * pATable[2 * i]
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- pSrc[2 * i + 1] * pATable[2 * i + 1]
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+ pSrc[2 * n - 2 * i] * pBTable[2 * i]
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+ pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);
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outI = ( pIn[2 * i + 1] * pATable[2 * i]
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+ pIn[2 * i] * pATable[2 * i + 1]
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+ pIn[2 * n - 2 * i] * pBTable[2 * i + 1]
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- pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);
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*/
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/* read pATable[2 * i] */
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CoefA1 = *pCoefA++;
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/* pATable[2 * i + 1] */
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CoefA2 = *pCoefA;
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/* pSrc[2 * i] * pATable[2 * i] */
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outR = *pSrc1 * CoefA1;
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/* pSrc[2 * i] * CoefA2 */
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outI = *pSrc1++ * CoefA2;
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/* (pSrc[2 * i + 1] + pSrc[2 * fftLen - 2 * i + 1]) * CoefA2 */
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outR -= (*pSrc1 + *pSrc2) * CoefA2;
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/* pSrc[2 * i + 1] * CoefA1 */
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outI += *pSrc1++ * CoefA1;
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CoefB1 = *pCoefB;
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/* pSrc[2 * fftLen - 2 * i + 1] * CoefB1 */
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outI -= *pSrc2-- * CoefB1;
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/* pSrc[2 * fftLen - 2 * i] * CoefA2 */
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outI -= *pSrc2 * CoefA2;
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/* pSrc[2 * fftLen - 2 * i] * CoefB1 */
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outR += *pSrc2-- * CoefB1;
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/* write output */
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*pDst1++ = outR;
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*pDst1++ = outI;
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/* write complex conjugate output */
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*pDst2-- = -outI;
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*pDst2-- = outR;
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/* update coefficient pointer */
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pCoefB = pCoefB + (modifier * 2U);
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pCoefA = pCoefA + ((modifier * 2U) - 1U);
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i--;
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}
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pDst[2U * fftLen] = pSrc[0] - pSrc[1];
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pDst[(2U * fftLen) + 1U] = 0.0f;
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pDst[0] = pSrc[0] + pSrc[1];
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pDst[1] = 0.0f;
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}
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/**
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@brief Core Real IFFT process
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@param[in] pSrc points to input buffer
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@param[in] fftLen length of FFT
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@param[in] pATable points to twiddle Coef A buffer
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@param[in] pBTable points to twiddle Coef B buffer
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@param[out] pDst points to output buffer
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@param[in] modifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table
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@return none
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*/
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void arm_split_rifft_f32(
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float32_t * pSrc,
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uint32_t fftLen,
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const float32_t * pATable,
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const float32_t * pBTable,
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float32_t * pDst,
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uint32_t modifier)
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{
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float32_t outR, outI; /* Temporary variables for output */
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const float32_t *pCoefA, *pCoefB; /* Temporary pointers for twiddle factors */
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float32_t CoefA1, CoefA2, CoefB1; /* Temporary variables for twiddle coefficients */
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float32_t *pSrc1 = &pSrc[0], *pSrc2 = &pSrc[(2U * fftLen) + 1U];
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pCoefA = &pATable[0];
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pCoefB = &pBTable[0];
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while (fftLen > 0U)
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{
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/*
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outR = ( pIn[2 * i] * pATable[2 * i]
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+ pIn[2 * i + 1] * pATable[2 * i + 1]
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+ pIn[2 * n - 2 * i] * pBTable[2 * i]
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- pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);
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outI = ( pIn[2 * i + 1] * pATable[2 * i]
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- pIn[2 * i] * pATable[2 * i + 1]
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- pIn[2 * n - 2 * i] * pBTable[2 * i + 1]
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- pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);
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*/
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CoefA1 = *pCoefA++;
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CoefA2 = *pCoefA;
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/* outR = (pSrc[2 * i] * CoefA1 */
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outR = *pSrc1 * CoefA1;
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/* - pSrc[2 * i] * CoefA2 */
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outI = -(*pSrc1++) * CoefA2;
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/* (pSrc[2 * i + 1] + pSrc[2 * fftLen - 2 * i + 1]) * CoefA2 */
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outR += (*pSrc1 + *pSrc2) * CoefA2;
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/* pSrc[2 * i + 1] * CoefA1 */
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outI += (*pSrc1++) * CoefA1;
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CoefB1 = *pCoefB;
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/* - pSrc[2 * fftLen - 2 * i + 1] * CoefB1 */
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outI -= *pSrc2-- * CoefB1;
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/* pSrc[2 * fftLen - 2 * i] * CoefB1 */
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outR += *pSrc2 * CoefB1;
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/* pSrc[2 * fftLen - 2 * i] * CoefA2 */
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outI += *pSrc2-- * CoefA2;
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/* write output */
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*pDst++ = outR;
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*pDst++ = outI;
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/* update coefficient pointer */
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pCoefB = pCoefB + (modifier * 2);
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pCoefA = pCoefA + (modifier * 2 - 1);
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/* Decrement loop count */
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fftLen--;
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}
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}
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