examples: add Gyro FFT using CMSIS 5 on Cortex-m (#15104)

- this is a work in progress experiment to compute real time FFTs from raw gyro FIFO data on Cortex-m hardware (stm32f4/f7/h7, etc)

msg/CMakeLists.txt

@@ -119,6 +119,8 @@ set(msg_files
 	sensor_correction.msg
 	sensor_gps.msg
 	sensor_gyro.msg
+	sensor_gyro_fft.msg
+	sensor_gyro_fft_axis.msg
 	sensor_gyro_fifo.msg
 	sensor_mag.msg
 	sensor_preflight_mag.msg

msg/sensor_gyro_fft.msg

@@ -0,0 +1,15 @@
+uint64 timestamp          # time since system start (microseconds)
+uint64 timestamp_sample
+
+uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+
+float32 dt                # delta time between samples (microseconds)
+float32 scale
+
+uint8 samples             # number of valid samples
+
+uint8 peak_index
+
+float32 peak_frequency_0
+float32 peak_frequency_1
+float32 peak_frequency_2

msg/sensor_gyro_fft_axis.msg

@@ -0,0 +1,23 @@
+uint64 timestamp          # time since system start (microseconds)
+uint64 timestamp_sample
+
+uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+
+float32 dt                # delta time between samples (microseconds)
+
+uint16 samples             # number of valid samples
+
+float32 resolution_hz
+
+int16[128] fft
+
+uint16 peak_index
+uint16 peak_index_quinns
+
+float32 peak_frequency
+float32 peak_frequency_quinns
+
+uint8 AXIS_X = 0
+uint8 AXIS_Y = 1
+uint8 AXIS_Z = 2
+uint8 axis

msg/tools/uorb_rtps_message_ids.yaml

@@ -285,6 +285,10 @@ rtps:
     id: 135
   - msg: generator_status
     id: 136
+  - msg: sensor_gyro_fft
+    id: 137
+  - msg: sensor_gyro_fft_axis
+    id: 138
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150