vrpn_IMU_SimpleCombiner::vrpn_IMU_SimpleCombiner
(const char * name, vrpn_Connection * trackercon,
vrpn_Tracker_IMU_Params *params,
float update_rate, bool report_changes)
: vrpn_Tracker(name, trackercon),
d_update_interval(update_rate ? (1 / update_rate) : 1.0),
d_report_changes(report_changes)
{
// Set the restoration rates for gravity and north.
// These are the fraction of the way to full restoration that should
// occur over one second.
d_gravity_restore_rate = 0.9;
d_north_restore_rate = 0.9;
// Hook up the parameters for acceleration and rotational velocity
d_acceleration.params = params->d_acceleration;
d_rotational_vel.params = params->d_rotational_vel;
// Magetometers by definition produce unit vectors and
// have their axes as (x,y,z) so we just have to specify
// the name here and the others are all set to pass the
// values through.
d_magnetometer.params.name = params->d_magnetometer_name;
for (int i = 0; i < 3; i++) {
d_magnetometer.params.channels[i] = i;
d_magnetometer.params.offsets[i] = 0;
d_magnetometer.params.scales[i] = 1;
}
//--------------------------------------------------------------------
// Open analog remotes for any channels that have non-NULL names.
// If the name starts with the "*" character, use tracker
// connection rather than getting a new connection for it.
// Set up callbacks to handle updates to the analog values.
setup_vector(&d_acceleration, handle_analog_update);
setup_vector(&d_rotational_vel, handle_analog_update);
setup_vector(&d_magnetometer, handle_analog_update);
//--------------------------------------------------------------------
// Set the current timestamp to "now", the current orientation to identity
// and the angular rotation velocity to zero.
vrpn_gettimeofday(&d_prevtime, NULL);
d_prev_update_time = d_prevtime;
vrpn_Tracker::timestamp = d_prevtime;
q_vec_set(pos, 0, 0, 0);
q_from_axis_angle(d_quat, 0, 0, 1, 0);
q_vec_set(vel, 0, 0, 0);
q_from_axis_angle(vel_quat, 0, 0, 1, 0);
vel_quat_dt = 1;
}
void __init init_IRQ(void)
{
int c;
setup_vector();
for (c = 0; c < NR_IRQS; c++)
set_irq_chip_and_handler(c, &h8300irq_chip, handle_simple_irq);
}
void __init init_IRQ(void)
{
int c;
setup_vector();
for (c = 0; c < NR_IRQS; c++) {
irq_desc[c].status = IRQ_DISABLED;
irq_desc[c].action = NULL;
irq_desc[c].depth = 1;
irq_desc[c].chip = &h8300irq_chip;
}
}
void init_system()
{
uint8_t cpuid = smp_processor_id();
setup_vector();
setup_httbr((uint32_t) &__HYP_PGTABLE);
setup_mem_attr();
if (cpuid == 0) {
// TODO(wonseok) console init will be moved dev_init().
console_init();
libc_init();
}
irq_init();
//enable_traps();
if (cpuid == 0) {
paging_create((addr_t) &__HYP_PGTABLE);
platform_init();
dev_init(); /* we don't have */
vdev_init(); /* Already we have */
timer_hw_init(NS_PL2_PTIMER_IRQ);
setup_vm_mmap();
#ifdef CONFIG_SMP
printf("wake up...other CPUs\n");
secondary_smp_pen = 1;
#endif
}
printf("%s[%d]: CPU[%d]\n", __func__, __LINE__, cpuid);
enable_mmu();
start_hypervisor();
}
int main(int argc, char *argv[]) {
//Recupero il numero di elementi da generare
int nmax;
nmax = atoi(argv[1]);
int intervallo = nmax;
int v[nmax];
f = fopen("file.txt", "w");
if(f == NULL){
printf("Error opening file!\n");
return(1);
}
setup_vector(v,nmax);
//printv(v, nmax);
permute(v,0,nmax-1,nmax);
fclose(f);
}
vrpn_IMU_Magnetometer::vrpn_IMU_Magnetometer
(std::string const &name, vrpn_Connection *output_con,
vrpn_IMU_Axis_Params params,
float update_rate, bool report_changes) :
vrpn_Analog_Server(name.c_str(), output_con),
d_update_interval (update_rate ? (1/update_rate) : 1.0),
d_report_changes (report_changes)
{
// We have 3 output channels.
num_channel = 3;
//--------------------------------------------------------------------
// Set the current timestamp to "now" and current direction to along X.
// This is done in case we never hear from the analog devices.
vrpn_gettimeofday(&d_prevtime, NULL);
vrpn_Analog::timestamp = d_prevtime;
channel[0] = 1;
channel[1] = 0;
channel[2] = 0;
// Set empty axis values.
d_vector.params = params;
d_vector.time = d_prevtime;
//--------------------------------------------------------------------
// Open analog remote to use to listen to.
// If the name starts with the "*" character, use our output
// connection rather than getting a new connection for it.
// Set up callbacks to handle updates to the analog reports.
setup_vector(&d_vector);
//--------------------------------------------------------------------
// Set the minimum and maximum values past each other and past what
// we expect from any real device, so they will be inialized properly
// the first time we get a report.
for (size_t i = 0; i < 3; i++) {
d_mins[i] = 1e100;
d_maxes[i] = -1e100;
}
}
void __init init_IRQ(void)
{
setup_vector();
irqchip_init();
}
