//! Do any setup necessary for a connection here
bool cXsensUsbPort::configure()
{
// Perform hardware scan
int mtCount = scanHardware();
std::cout << mtCount << " Xsens Devices Found" << std::endl;
// Check for successful detection
if (mtCount == 0)
{
std::cout << "No XSens devices found" << std::endl;
mImu.closePort();
return false;
}
// Set device to user input settings
mResult = mImu.gotoConfig();
if (mResult != XRV_OK)
{
std::cout << "Error: XSens device could not open config." << std::endl;
return false;
}
mSampleFrequency = mImu.getSampleFrequency();
// set the device output mode for the device(s)
CmtDeviceMode deviceMode(mOutputMode, mSettings, mSampleFrequency);
mResult = mImu.setDeviceMode(deviceMode,true,mDeviceId);
if (mResult != XRV_OK)
{
std::cout << "Error: XSens device could not set device mode." << std::endl;
return false;
}
// start receiving data
mResult = mImu.gotoMeasurement();
if (mResult != XRV_OK)
{
std::cout << "Error: XSens device could not return to measurement." << std::endl;
return false;
}
return true;
}
void boot(int biosdev)
{
int status;
char *bootFile;
unsigned long adler32;
BOOL quiet;
BOOL firstRun = YES;
BVRef bvChain;
zeroBSS();
// Initialize malloc
malloc_init(0, 0, 0, malloc_error);
// Enable A20 gate before accessing memory above 1Mb.
enableA20();
// Set reminder to unload the PXE base code. Neglect to unload
// the base code will result in a hang or kernel panic.
gUnloadPXEOnExit = 1;
// Record the device that the booter was loaded from.
gBIOSDev = biosdev & kBIOSDevMask;
// Initialize boot info structure.
initKernBootStruct( gBIOSDev );
// Setup VGA text mode.
// Not sure if it is safe to call setVideoMode() before the
// config table has been loaded. Call video_mode() instead.
video_mode( 2 ); // 80x25 mono text mode.
// Scan hardware configuration.
scanHardware();
// First get info for boot volume.
bvChain = scanBootVolumes(gBIOSDev, 0);
// Record default boot device.
gBootVolume = selectBootVolume(bvChain);
bootArgs->kernDev = MAKEKERNDEV(gBIOSDev,
BIOS_DEV_UNIT(gBootVolume),
gBootVolume->part_no );
// Load default config file from boot device.
status = loadSystemConfig(0, 0);
if ( getBoolForKey( kQuietBootKey, &quiet ) && quiet ) {
gBootMode |= kBootModeQuiet;
}
// Parse args, load and start kernel.
while (1)
{
const char *val;
int len;
int trycache;
long flags, cachetime, kerneltime, exttime;
int ret = -1;
// Initialize globals.
sysConfigValid = 0;
gErrors = 0;
status = getBootOptions(firstRun);
firstRun = NO;
if (status == -1) continue;
status = processBootOptions();
if ( status == 1 ) break;
if ( status == -1 ) continue;
// Found and loaded a config file. Proceed with boot.
// Reset cache name.
bzero(gCacheNameAdler, sizeof(gCacheNameAdler));
if ( getValueForKey( kRootDeviceKey, &val, &len ) == YES ) {
if (*val == '*') {
val++;
len--;
}
strncpy( gCacheNameAdler + 64, val, len );
sprintf(gCacheNameAdler + 64 + len, ",%s", bootArgs->bootFile);
} else {
strcpy(gCacheNameAdler + 64, bootArgs->bootFile);
}
adler32 = Adler32(gCacheNameAdler, sizeof(gCacheNameAdler));
if (getValueForKey(kKernelCacheKey, &val, &len) == YES) {
strlcpy(gBootKernelCacheFile, val, len+1);
} else {
sprintf(gBootKernelCacheFile, "%s.%08lX", kDefaultCachePath, adler32);
}
// Check for cache file.
trycache = (((gBootMode & kBootModeSafe) == 0) &&
(gOverrideKernel == NO) &&
(gBootFileType == kBlockDeviceType) &&
(gMKextName[0] == '\0') &&
(gBootKernelCacheFile[0] != '\0'));
printf("Loading Darwin/x86\n");
if (trycache) do {
// if we haven't found the kernel yet, don't use the cache
ret = GetFileInfo(NULL, bootArgs->bootFile, &flags, &kerneltime);
if ((ret != 0) || ((flags & kFileTypeMask) != kFileTypeFlat)) {
trycache = 0;
break;
}
ret = GetFileInfo(NULL, gBootKernelCacheFile, &flags, &cachetime);
if ((ret != 0) || ((flags & kFileTypeMask) != kFileTypeFlat)
|| (cachetime < kerneltime)) {
trycache = 0;
break;
}
ret = GetFileInfo("/System/Library/", "Extensions", &flags, &exttime);
if ((ret == 0) && ((flags & kFileTypeMask) == kFileTypeDirectory)
&& (cachetime < exttime)) {
trycache = 0;
break;
}
if (kerneltime > exttime) {
exttime = kerneltime;
}
if (cachetime != (exttime + 1)) {
trycache = 0;
break;
}
} while (0);
do {
if (trycache) {
bootFile = gBootKernelCacheFile;
verbose("Loading kernel cache %s\n", bootFile);
ret = LoadFile(bootFile);
if (ret >= 0) {
break;
}
}
bootFile = bootArgs->bootFile;
verbose("Loading kernel %s\n", bootFile);
ret = LoadFile(bootFile);
} while (0);
clearActivityIndicator();
#if DEBUG
printf("Pausing...");
sleep(8);
#endif
if (ret < 0) {
error("Can't find %s\n", bootFile);
if ( gBootFileType == kBIOSDevTypeFloppy )
{
// floppy in drive, but failed to load kernel.
gBIOSDev = kBIOSDevTypeHardDrive;
initKernBootStruct( gBIOSDev );
printf("Attempting to load from hard drive...");
}
else if ( gBootFileType == kNetworkDeviceType )
{
// Return control back to PXE. Don't unload PXE base code.
gUnloadPXEOnExit = 0;
break;
}
} else {
/* Won't return if successful. */
ret = ExecKernel((void *)kLoadAddr);
}
} /* while(1) */
if ((gBootFileType == kNetworkDeviceType) && gUnloadPXEOnExit) {
nbpUnloadBaseCode();
}
}
