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.

2026-09-13 19:51:03 +02:00
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+/*
+ * Copyright (C) 2010-2018 Arm Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS NN Library
+ * Title:        arm_nn_activations_q7.c
+ * Description:  Q7 neural network activation function using direct table look-up
+ *
+ * $Date:        17. January 2018
+ * $Revision:    V.1.0.0
+ *
+ * Target Processor:  Cortex-M cores
+ *
+ * -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+#include "arm_nnfunctions.h"
+
+/**
+ *  @ingroup groupNN
+ */
+
+/**
+ * @addtogroup Acti
+ * @{
+ */
+
+  /**
+   * @brief Q7 neural network activation function using direct table look-up
+   * @param[in,out]   data        pointer to input
+   * @param[in]       size        number of elements
+   * @param[in]       int_width   bit-width of the integer part, assume to be smaller than 3
+   * @param[in]       type        type of activation functions
+   * @return none.
+   *
+   * @details
+   * 
+   * This is the direct table look-up approach.
+   *
+   * Assume here the integer part of the fixed-point is <= 3.
+   * More than 3 just not making much sense, makes no difference with
+   * saturation followed by any of these activation functions. 
+   */
+
+void arm_nn_activations_direct_q7(q7_t * data, uint16_t size, uint16_t int_width, arm_nn_activation_type type)
+{
+    uint16_t  i = size;
+    q7_t     *pIn = data;
+    q7_t     *pOut = data;
+    q7_t      in;
+    q7_t      out;
+    uint16_t  shift_size = 3 - int_width;
+    const q7_t *lookup_table;
+    switch (type)
+    {
+    case ARM_SIGMOID:
+        lookup_table = sigmoidTable_q7;
+        break;
+    case ARM_TANH:
+    default:
+        lookup_table = tanhTable_q7;
+        break;
+    }
+    while (i)
+    {
+        in = *pIn++;
+        out = lookup_table[(uint8_t) (in >> shift_size)];
+        *pOut++ = out;
+        i--;
+    }
+}
+
+/**
+ * @} end of Acti group
+ */