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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* 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_fully_connected_q15.c
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* Description: Q15 basic fully-connected layer function
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*
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* $Date: 17. January 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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* -------------------------------------------------------------------- */
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#include "arm_math.h"
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#include "arm_nnfunctions.h"
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/**
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* @ingroup groupNN
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*/
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/**
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* @addtogroup FC
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* @{
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*/
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/**
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* @brief Q15 opt fully-connected layer function
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* @param[in] pV pointer to input vector
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* @param[in] pM pointer to matrix weights
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* @param[in] dim_vec length of the vector
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* @param[in] num_of_rows number of rows in weight matrix
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* @param[in] bias_shift amount of left-shift for bias
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* @param[in] out_shift amount of right-shift for output
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* @param[in] bias pointer to bias
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* @param[in,out] pOut pointer to output vector
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* @param[in,out] vec_buffer pointer to buffer space for input
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* @return The function returns <code>ARM_MATH_SUCCESS</code>
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*
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*
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* @details
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*
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* <b>Buffer size:</b>
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*
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* vec_buffer size: 0
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*
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*/
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arm_status
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arm_fully_connected_q15(const q15_t * pV,
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const q15_t * pM,
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const uint16_t dim_vec,
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const uint16_t num_of_rows,
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const uint16_t bias_shift,
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const uint16_t out_shift,
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const q15_t * bias,
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q15_t * pOut,
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q15_t * vec_buffer)
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{
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#if defined (ARM_MATH_DSP)
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/* Run the following code for Cortex-M4 and Cortex-M7 */
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const q15_t *pB = pM;
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const q15_t *pB2 = pB + dim_vec;
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q15_t *pO = pOut;
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const q15_t *pA;
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const q15_t *pBias = bias;
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uint16_t rowCnt = num_of_rows >> 1;
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/* this loop loops over different output */
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while (rowCnt) {
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q31_t sum = ((q31_t)(*pBias++) << bias_shift) + NN_ROUND(out_shift);
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q31_t sum2 = ((q31_t)(*pBias++) << bias_shift) + NN_ROUND(out_shift);
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uint16_t colCnt = dim_vec >> 2;
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pA = pV;
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pB2 = pB + dim_vec;
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while (colCnt)
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{
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q31_t inV1, inM1, inM2;
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inV1 = *__SIMD32(pA)++;
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inM1 = *__SIMD32(pB)++;
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sum = __SMLAD(inV1, inM1, sum);
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inM2 = *__SIMD32(pB2)++;
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sum2 = __SMLAD(inV1, inM2, sum2);
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inV1 = *__SIMD32(pA)++;
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inM1 = *__SIMD32(pB)++;
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sum = __SMLAD(inV1, inM1, sum);
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inM2 = *__SIMD32(pB2)++;
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sum2 = __SMLAD(inV1, inM2, sum2);
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colCnt--;
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}
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colCnt = dim_vec & 0x3;
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while (colCnt)
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{
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q15_t inV = *pA++;
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q15_t inM = *pB++;
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q15_t inM2 = *pB2++;
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sum += inV * inM;
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sum2 += inV * inM2;
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colCnt--;
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} /* while over colCnt */
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*pO++ = (q15_t) (__SSAT((sum >> out_shift), 16));
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*pO++ = (q15_t) (__SSAT((sum2>> out_shift), 16));
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/* adjust the pointers and counters */
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pB = pB + dim_vec;
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rowCnt --;
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}
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rowCnt = num_of_rows & 0x1;
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while (rowCnt) {
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q31_t sum = ((q31_t)(*pBias++) << bias_shift) + NN_ROUND(out_shift);
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uint16_t colCnt = dim_vec >> 2;
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pA = pV;
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while (colCnt) {
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q31_t inV1, inM1;
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inV1 = *__SIMD32(pA)++;
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inM1 = *__SIMD32(pB)++;
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sum = __SMLAD(inV1, inM1, sum);
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inV1 = *__SIMD32(pA)++;
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inM1 = *__SIMD32(pB)++;
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sum = __SMLAD(inV1, inM1, sum);
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colCnt--;
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}
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/* left-over of the vector */
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colCnt = dim_vec & 0x3;
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while(colCnt) {
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q15_t inV = *pA++;
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q15_t inM = *pB++;
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sum += inV * inM;
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colCnt--;
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}
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*pO++ = (q15_t) (__SSAT((sum >> out_shift), 16));
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rowCnt --;
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}
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#else
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int i, j;
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/* Run the following code as reference implementation for Cortex-M0 and Cortex-M3 */
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for (i = 0; i < num_of_rows; i++)
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{
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int ip_out = ((q31_t)(bias[i]) << bias_shift) + NN_ROUND(out_shift);
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for (j = 0; j < dim_vec; j++)
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{
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ip_out += pV[j] * pM[i * dim_vec + j];
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}
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pOut[i] = (q15_t) __SSAT((ip_out >> out_shift), 16);
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}
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#endif /* ARM_MATH_DSP */
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/* Return to application */
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return (ARM_MATH_SUCCESS);
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}
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/**
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* @} end of FC group
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*/
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