// called in Com_Frame, so don't take up any time! (can also be called during dedicated) // void SP_CheckForLanguageUpdates(void) { if (sp_language && sp_language->modified) { SP_Init(); // force language package to reload sp_language->modified = qfalse; } }
int Unscented_Kalman_Filter::_update(const dcovector &Y) { Gaussian_Nonlinear_Model *m=dynamic_cast<Gaussian_Nonlinear_Model *>(model); const double _2_PI_= 6.283185307; int N,i; dgematrix cyy,cxy,k; dcovector my,mx; dcovector I; if(SP_Init()) return 1; N=sX.size(); for(i=0;i<N;i++) { sX[i]=m->State_Function(sX[i],sW[i]); } U_Mean(sX,mx); U_Cov(sX,mx,sX,mx,Rp); Xp=mx; for(i=0;i<N;i++) { sY[i]=m->Observation_Function(sX[i]); } U_Mean(sY,my); U_Cov(sY,my,sY,my,cyy); cyy=cyy + m->Qv; U_Cov(sX,mx,sY,my,cxy); k=cxy*CPPL::i(cyy); I = (Y-my); M = mx + k * I; R = Rp - k * cyy * t(k); Likelihood += -0.5* I.l * log(_2_PI_) - 0.5*log(det(cyy)) - 0.5 * CPPL::t(I) * CPPL::i(cyy) * I; return 0; }
SAPIRESULTCODE CSAPIConfig::SP_New(char* lpConfigName) { SAPIRESULTCODE iRet; DeleteAll(); iRet = SP_Init(); if(SAPI_OK != iRet) { return iRet; } SAPI_ASSERT(strlen(lpConfigName) < MAX_STRING_COUNT_HUGE); strncpy(m_szConfigFile,lpConfigName,MAX_STRING_COUNT_HUGE-1); return iRet; }
SAPIRESULTCODE CSAPIConfig::SP_Open(char* lpConfigName) { SAPIRESULTCODE iRet; DeleteAll(); iRet = SP_Init(); if(SAPI_OK != iRet) { return iRet; } SAPI_ASSERT(strlen(lpConfigName) < MAX_STRING_COUNT_HUGE); strncpy(m_szConfigFile,lpConfigName,MAX_STRING_COUNT_HUGE-1); SAPI_DB_PRINTF("SP_Open---m_szConfigFile = %s\r\n",m_szConfigFile); iRet = __SP_Read(); if(SAPI_OK != iRet) { return iRet; } return iRet; }
/* ================= Com_Init ================= */ void Com_Init( char *commandLine ) { char *s; Com_Printf( "%s %s %s\n", Q3_VERSION, CPUSTRING, __DATE__ ); try { // prepare enough of the subsystems to handle // cvar and command buffer management Com_ParseCommandLine( commandLine ); Swap_Init (); Cbuf_Init (); Com_InitZoneMemory(); Cmd_Init (); Cvar_Init (); // get the commandline cvars set Com_StartupVariable( NULL ); // done early so bind command exists CL_InitKeyCommands(); FS_InitFilesystem (); //uses z_malloc Com_InitJournaling(); Cbuf_AddText ("exec default.cfg\n"); // skip the jk2config.cfg if "safe" is on the command line if ( !Com_SafeMode() ) { Cbuf_AddText ("exec jk2config.cfg\n"); } Cbuf_AddText ("exec autoexec.cfg\n"); Cbuf_Execute (); // override anything from the config files with command line args Com_StartupVariable( NULL ); // allocate the stack based hunk allocator Com_InitHunkMemory(); // if any archived cvars are modified after this, we will trigger a writing // of the config file cvar_modifiedFlags &= ~CVAR_ARCHIVE; // // init commands and vars // Cmd_AddCommand ("quit", Com_Quit_f); Cmd_AddCommand ("writeconfig", Com_WriteConfig_f ); com_maxfps = Cvar_Get ("com_maxfps", "85", CVAR_ARCHIVE); com_developer = Cvar_Get ("developer", "0", CVAR_TEMP ); com_logfile = Cvar_Get ("logfile", "0", CVAR_TEMP ); com_speedslog = Cvar_Get ("speedslog", "0", CVAR_TEMP ); com_timescale = Cvar_Get ("timescale", "1", CVAR_CHEAT ); com_fixedtime = Cvar_Get ("fixedtime", "0", CVAR_CHEAT); com_showtrace = Cvar_Get ("com_showtrace", "0", CVAR_CHEAT); com_viewlog = Cvar_Get( "viewlog", "0", CVAR_TEMP ); com_speeds = Cvar_Get ("com_speeds", "0", 0); cl_paused = Cvar_Get ("cl_paused", "0", CVAR_ROM); sv_paused = Cvar_Get ("sv_paused", "0", CVAR_ROM); com_sv_running = Cvar_Get ("sv_running", "0", CVAR_ROM); com_cl_running = Cvar_Get ("cl_running", "0", CVAR_ROM); com_skippingcin = Cvar_Get ("skippingCinematic", "0", CVAR_ROM); com_buildScript = Cvar_Get( "com_buildScript", "0", 0 ); com_FirstTime = Cvar_Get( "com_FirstTime", "0", CVAR_ARCHIVE); if ( com_developer && com_developer->integer ) { Cmd_AddCommand ("error", Com_Error_f); Cmd_AddCommand ("crash", Com_Crash_f ); Cmd_AddCommand ("freeze", Com_Freeze_f); } s = va("%s %s %s", Q3_VERSION, CPUSTRING, __DATE__ ); com_version = Cvar_Get ("version", s, CVAR_ROM | CVAR_SERVERINFO ); SP_Init(); // Initialize StripEd Sys_Init(); // this also detects CPU type, so I can now do this CPU check below... if( !com_FirstTime->integer ) // special request to detect and use top-settings for Intel Williamette chip... { Cvar_Set( "com_FirstTime", "1" ); // only do this once // // ( make a local ptr only for quick test, since this is a common module ) // cvar_t* s_CPUType = Cvar_Get("sys_cpuid","",0); if (s_CPUType->value == CPUID_INTEL_WILLIAMETTE) { Cbuf_AddText ("exec perfect.cfg\n"); // Cbuf_Execute (); } } Netchan_Init( Com_Milliseconds() & 0xffff ); // pick a port value that should be nice and random // VM_Init(); SV_Init(); CL_Init(); Sys_ShowConsole( com_viewlog->integer, qfalse ); // set com_frameTime so that if a map is started on the // command line it will still be able to count on com_frameTime // being random enough for a serverid com_frameTime = Com_Milliseconds(); // add + commands from command line if ( !Com_AddStartupCommands() ) { #ifdef NDEBUG // if the user didn't give any commands, run default action // if ( !com_dedicated->integer ) { Cbuf_AddText ("cinematic openinglogos\n"); // if( !com_introPlayed->integer ) { // Cvar_Set( com_introPlayed->name, "1" ); // Cvar_Set( "nextmap", "cinematic intro" ); // } } #endif } com_fullyInitialized = qtrue; Com_Printf ("--- Common Initialization Complete ---\n"); } catch (const char* reason) { Sys_Error ("Error during initialization %s", reason); } }
// ***************************************************************************** // InitialiseHW // Setup the processor // ***************************************************************************** void InitialiseHW ( void ) { // If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is // a workaround to allow the PLL to operate reliably. // if(REVISION_IS_A2) { SysCtlLDOSet(SYSCTL_LDO_2_75V); } // 50 MHz SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ); // Enable Peripherals SysCtlPeripheralEnable(SYSCTL_PERIPH_ETH); SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC); SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD); SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE); SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG); SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOH); SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0); SysCtlPeripheralEnable(SYSCTL_PERIPH_UART1); // Set interrupt priority levels IntPrioritySet(INT_ETH, 0x20); IntPrioritySet(FAULT_SYSTICK, 0x40); // // Enable the peripherals that should continue to run when the processor // is sleeping. // SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOA); SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOB); SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOC); SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOD); SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE); SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOF); SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOG); SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOH); SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0); SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART1); SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_ETH); SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0); SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1); SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER2); // // Enable peripheral clock gating. Note that this is required in order to // measure the the processor usage. // SysCtlPeripheralClockGating(true); // Grab the Config from Flash SysConfigInit(); AdcInit(); pwmInit(); RelayInit(); //usrand(0x23482937); // Note (From the DriverLib) : // It takes five clock cycles after the write to enable a peripheral // before the the peripheral is actually enabled. During this time, attempts // to access the peripheral result in a bus fault. Care should be taken // to ensure that the peripheral is not accessed during this brief time // period. #ifdef SERIAL_ENABLED Serial_Init(); #endif #ifdef UPNP_ENABLED UPnPInit(); #endif Ethernet_Init(); #ifdef LOGIC_ENABLED LogicStartStop(true); #endif #ifdef SOLDERBRIDGES_ENABLED SB_Init(); ExtGpio_Init(); SolderBridge_StartScan(); ExtGpio_Scan(); #endif #ifdef SPLASHPIXEL_ENABLED SP_Init(); #endif // Set up the GPIO as specified by the user UserGpioInit(); // Most, if not all M3's have a SysTick which you can use for scheduling your code SysTickPeriodSet(SysCtlClockGet() / SYSTICKHZ); SysTickEnable(); SysTickIntEnable(); }