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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* Copyright (C) 2010-2018 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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/* ----------------------------------------------------------------------
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* Project: CMSIS NN Library
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* Title: arm_nnsupportfunctions.h
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* Description: Public header file of support functions for CMSIS NN Library
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*
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* $Date: 13. July 2018
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* $Revision: V.1.0.0
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*
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* Target Processor: Cortex-M cores
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* -------------------------------------------------------------------- */
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#ifndef _ARM_NNSUPPORTFUNCTIONS_H_
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#define _ARM_NNSUPPORTFUNCTIONS_H_
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#include "arm_math.h"
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#include "arm_common_tables.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#define LEFT_SHIFT(_shift) (_shift > 0 ? _shift : 0)
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#define RIGHT_SHIFT(_shift) (_shift > 0 ? 0 : -_shift)
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#define Q31_MIN (0x80000000L)
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#define Q31_MAX (0x7FFFFFFFL)
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/**
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* @brief Union for SIMD access of Q31/Q15/Q7 types
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*/
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union arm_nnword
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{
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q31_t word;
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/**< Q31 type */
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q15_t half_words[2];
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/**< Q15 type */
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q7_t bytes[4];
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/**< Q7 type */
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};
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/**
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* @brief Struct for specifying activation function types
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*
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*/
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typedef enum
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{
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ARM_SIGMOID = 0,
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/**< Sigmoid activation function */
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ARM_TANH = 1,
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/**< Tanh activation function */
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} arm_nn_activation_type;
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/**
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* @defgroup nndata_convert Neural Network Data Conversion Functions
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*
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* Perform data type conversion in-between neural network operations
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*
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*/
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/**
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* @brief Converts the elements of the Q7 vector to Q15 vector without left-shift
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* @param[in] *pSrc points to the Q7 input vector
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* @param[out] *pDst points to the Q15 output vector
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* @param[in] blockSize length of the input vector
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* @return none.
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*
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*/
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void arm_q7_to_q15_no_shift(const q7_t * pSrc, q15_t * pDst, uint32_t blockSize);
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/**
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* @brief Converts the elements of the Q7 vector to reordered Q15 vector without left-shift
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* @param[in] *pSrc points to the Q7 input vector
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* @param[out] *pDst points to the Q15 output vector
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* @param[in] blockSize length of the input vector
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* @return none.
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*
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*/
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void arm_q7_to_q15_reordered_no_shift(const q7_t * pSrc, q15_t * pDst, uint32_t blockSize);
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#if defined (ARM_MATH_DSP)
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/**
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* @brief read and expand one Q7 word into two Q15 words
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*/
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__STATIC_FORCEINLINE void *read_and_pad(void *source, q31_t * out1, q31_t * out2)
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{
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q31_t inA = *__SIMD32(source)++;
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q31_t inAbuf1 = __SXTB16(__ROR(inA, 8));
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q31_t inAbuf2 = __SXTB16(inA);
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#ifndef ARM_MATH_BIG_ENDIAN
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*out2 = __PKHTB(inAbuf1, inAbuf2, 16);
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*out1 = __PKHBT(inAbuf2, inAbuf1, 16);
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#else
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*out1 = __PKHTB(inAbuf1, inAbuf2, 16);
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*out2 = __PKHBT(inAbuf2, inAbuf1, 16);
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#endif
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return source;
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}
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/**
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* @brief read and expand one Q7 word into two Q15 words with reordering
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*/
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__STATIC_FORCEINLINE void *read_and_pad_reordered(void *source, q31_t * out1, q31_t * out2)
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{
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q31_t inA = *__SIMD32(source)++;
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#ifndef ARM_MATH_BIG_ENDIAN
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*out2 = __SXTB16(__ROR(inA, 8));
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*out1 = __SXTB16(inA);
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#else
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*out1 = __SXTB16(__ROR(inA, 8));
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*out2 = __SXTB16(inA);
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#endif
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return source;
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}
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#endif
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/**
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* @defgroup NNBasicMath Basic Math Functions for Neural Network Computation
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*
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* Basic Math Functions for Neural Network Computation
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*
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*/
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/**
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* @brief Q7 vector multiplication with variable output shifts
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* @param[in] *pSrcA pointer to the first input vector
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* @param[in] *pSrcB pointer to the second input vector
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* @param[out] *pDst pointer to the output vector
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* @param[in] out_shift amount of right-shift for output
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* @param[in] blockSize number of samples in each vector
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* @return none.
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*
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* <b>Scaling and Overflow Behavior:</b>
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* \par
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* The function uses saturating arithmetic.
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* Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.
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*/
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void arm_nn_mult_q15(
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q15_t * pSrcA,
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q15_t * pSrcB,
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q15_t * pDst,
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const uint16_t out_shift,
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uint32_t blockSize);
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/**
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* @brief Q7 vector multiplication with variable output shifts
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* @param[in] *pSrcA pointer to the first input vector
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* @param[in] *pSrcB pointer to the second input vector
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* @param[out] *pDst pointer to the output vector
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* @param[in] out_shift amount of right-shift for output
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* @param[in] blockSize number of samples in each vector
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* @return none.
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*
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* <b>Scaling and Overflow Behavior:</b>
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* \par
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* The function uses saturating arithmetic.
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* Results outside of the allowable Q7 range [0x80 0x7F] will be saturated.
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*/
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void arm_nn_mult_q7(
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q7_t * pSrcA,
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q7_t * pSrcB,
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q7_t * pDst,
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const uint16_t out_shift,
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uint32_t blockSize);
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/**
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* @brief macro for adding rounding offset
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*/
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#ifndef ARM_NN_TRUNCATE
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#define NN_ROUND(out_shift) ( (0x1u << out_shift) >> 1 )
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#else
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#define NN_ROUND(out_shift) 0
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#endif
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/**
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* @brief Saturating doubling high multiply. Result matches
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* NEON instruction VQRDMULH.
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* @param[in] m1 Multiplicand
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* @param[in] m2 Multiplier
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* @return Result of multiplication.
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*
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*/
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__STATIC_FORCEINLINE q31_t arm_nn_sat_doubling_high_mult(const q31_t m1, const q31_t m2)
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{
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q31_t result = 0;
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// Rounding offset to add for a right shift of 31
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q63_t mult = 1 << 30;
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if ((m1 < 0) ^ (m2 < 0))
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{
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mult = 1 - mult;
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}
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// Gets resolved as a SMLAL instruction
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mult = mult + (q63_t)m1 * m2;
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// Utilize all of the upper 32 bits. This is the doubling step
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// as well.
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result = mult / (1UL << 31);
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if ((m1 == m2) && (m1 == Q31_MIN))
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{
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result = Q31_MAX;
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}
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return result;
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}
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/**
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* @brief Rounding divide by power of two.
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* @param[in] dividend - Dividend
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* @param[in] exponent - Divisor = power(2, exponent)
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* Range: [0, 31]
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* @return Rounded result of division. Midpoint is rounded away from zero.
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*
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*/
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__STATIC_FORCEINLINE q31_t arm_nn_divide_by_power_of_two(const q31_t dividend, const q31_t exponent)
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{
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q31_t result = 0;
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const q31_t remainder_mask = (1l << exponent) - 1;
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int32_t remainder = remainder_mask & dividend;
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// Basic division
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result = dividend >> exponent;
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// Adjust 'result' for rounding (mid point away from zero)
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q31_t threshold = remainder_mask >> 1;
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if (result < 0)
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{
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threshold++;
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}
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if (remainder > threshold)
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{
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result++;
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}
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return result;
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}
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#ifdef __cplusplus
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}
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#endif
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#endif
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