static int
bt_eisa_attach(device_t dev)
{
struct bt_softc *bt = device_get_softc(dev);
/* Allocate resources */
bt_eisa_alloc_resources(dev);
/* Allocate a dmatag for our SCB DMA maps */
/* XXX Should be a child of the PCI bus dma tag */
if (bus_dma_tag_create( /* parent */ NULL,
/* alignment */ 1,
/* boundary */ 0,
/* lowaddr */ BUS_SPACE_MAXADDR_32BIT,
/* highaddr */ BUS_SPACE_MAXADDR,
/* filter */ NULL,
/* filterarg */ NULL,
/* maxsize */ BUS_SPACE_MAXSIZE_32BIT,
/* nsegments */ ~0,
/* maxsegsz */ BUS_SPACE_MAXSIZE_32BIT,
/* flags */ 0,
/* lockfunc */ NULL,
/* lockarg, */ NULL,
&bt->parent_dmat) != 0) {
bt_eisa_release_resources(dev);
return (ENOMEM);
}
/*
* Now that we know we own the resources we need, do the full
* card initialization.
*/
if (bt_probe(dev) || bt_fetch_adapter_info(dev) || bt_init(dev)) {
bt_eisa_release_resources(dev);
return (ENXIO);
}
/* Attach sub-devices - always succeeds (sets up intr) */
bt_attach(dev);
return 0;
}
void bt_malloc(sgmnt_addrs *csa)
{
unsigned int n;
sgmnt_data_ptr_t csd;
csd = csa->hdr;
/* check that the file header is quad word aligned */
if ((-(SIZEOF(uint4) * 2) & (sm_long_t)csd) != (sm_long_t)csd)
GTMASSERT;
if ((-(SIZEOF(uint4) * 2) & SIZEOF_FILE_HDR(csd)) != SIZEOF_FILE_HDR(csd))
GTMASSERT;
csa->nl->bt_header_off = (n = (uint4)(SIZEOF_FILE_HDR(csd)));
csa->nl->th_base_off = (n += csd->bt_buckets * SIZEOF(bt_rec)); /* hash table */
csa->nl->th_base_off += SIZEOF(que_ent); /* tnque comes after fl and bl of blkque */
csa->nl->bt_base_off = (n += SIZEOF(bt_rec)); /* th_queue anchor referenced above */
assert((n += (csd->n_bts * SIZEOF(bt_rec))) == (SIZEOF_FILE_HDR(csd)) + (BT_SIZE(csd))); /* DON'T use n after this */
bt_init(csa);
bt_refresh(csa, TRUE);
return;
}
int main(int argc, char **argv)
{
bt_config_t config;
bt_init(&config, argc, argv);
DPRINTF(DEBUG_INIT, "Starting peer.c ...\n");
config.identity = 1;
strcpy(config.chunk_file, "chunkfile");
strcpy(config.has_chunk_file, "haschunks");
bt_parse_command_line(&config);
bt_dump_config(&config);
init(&config);
peer_run(&config);
return 0;
}
int main(int argc, char **argv) {
bt_init(&config, argc, argv);
DPRINTF(DEBUG_INIT, "peer.c main beginning\n");
#ifdef TESTING
config.identity = 1; // your group number here
strcpy(config.chunk_file, "chunkfile");
strcpy(config.has_chunk_file, "haschunks");
#endif
bt_parse_command_line(&config);
#ifdef DEBUG
if (debug & DEBUG_INIT) {
bt_dump_config(&config);
}
#endif
peer_run(&config);
return 0;
}
int main (void)
{
init_pins();
char* bt_data = bt_init();
pacer_init (LOOP_POLL_RATE);
pio_output_set(PIO_AUX_ENABLE, 0);
short aux_power = 0;
while (1)
{
pacer_wait ();
pio_output_set(PIO_LED_G, bt_connected());
if (bt_read()) {
process_command(bt_data);
}
}
}
int main(void) {
out(DEBUGLED);
for(uint8_t i=0; i<5; i++) {
toggle(DEBUGLED);
_delay_ms(100);
}
off(DEBUGLED);
bt_init();
irmp_init();
timer1_init();
pwm_init();
IRMP_DATA irmp_data;
sei();
// polling mode
while(1) {
checkIR(&irmp_data);
checkBT();
}
}//end main
static int
bt_mca_attach (device_t dev)
{
struct bt_softc * bt = device_get_softc(dev);
int error = 0;
/* Allocate resources */
if ((error = bt_mca_alloc_resources(dev, BT_MCA_ATTACH))) {
device_printf(dev, "Unable to allocate resources in bt_mca_attach()\n");
return (error);
}
isa_dmacascade(rman_get_start(bt->drq));
/* Allocate a dmatag for our CCB DMA maps */
if (bus_dma_tag_create( /* parent */ NULL,
/* alignemnt */ 1,
/* boundary */ 0,
/* lowaddr */ BUS_SPACE_MAXADDR_24BIT,
/* highaddr */ BUS_SPACE_MAXADDR,
/* filter */ btvlbouncefilter,
/* filterarg */ bt,
/* maxsize */ BUS_SPACE_MAXSIZE_32BIT,
/* nsegments */ ~0,
/* maxsegsz */ BUS_SPACE_MAXSIZE_32BIT,
/* flags */ 0,
/* lockfunc */ NULL,
/* lockarg */ NULL,
&bt->parent_dmat) != 0) {
bt_mca_release_resources(dev);
return (ENOMEM);
}
if (bt_init(dev)) {
bt_mca_release_resources(dev);
return (ENOMEM);
}
/* DMA tag for our sense buffers */
if (bus_dma_tag_create( /* parent */ bt->parent_dmat,
/* alignment */ 1,
/* boundary */ 0,
/* lowaddr */ BUS_SPACE_MAXADDR,
/* highaddr */ BUS_SPACE_MAXADDR,
/* filter */ NULL,
/* filterarg */ NULL,
/* maxsize */ bt->max_ccbs *
sizeof(struct scsi_sense_data),
/* nsegments */ 1,
/* maxsegsz */ BUS_SPACE_MAXSIZE_32BIT,
/* flags */ 0,
/* lockfunc */ NULL,
/* lockarg */ NULL,
&bt->sense_dmat) != 0) {
bt_mca_release_resources(dev);
return (ENOMEM);
}
bt->init_level++;
/* Allocation of sense buffers */
if (bus_dmamem_alloc(bt->sense_dmat,
(void **)&bt->sense_buffers,
BUS_DMA_NOWAIT, &bt->sense_dmamap) != 0) {
bt_mca_release_resources(dev);
return (ENOMEM);
}
bt->init_level++;
/* And permanently map them */
bus_dmamap_load(bt->sense_dmat, bt->sense_dmamap,
bt->sense_buffers,
bt->max_ccbs * sizeof(*bt->sense_buffers),
btmapsensebuffers, bt, /*flags*/0);
bt->init_level++;
if ((error = bt_attach(dev))) {
bt_mca_release_resources(dev);
return (error);
}
return (0);
}
/*
* Attach all the sub-devices we can find
*/
static int
bt_isa_attach(device_t dev)
{
struct bt_softc *bt = device_get_softc(dev);
bus_dma_filter_t *filter;
void *filter_arg;
bus_addr_t lowaddr;
int error, drq;
/* Initialise softc */
error = bt_isa_alloc_resources(dev, 0, ~0);
if (error) {
device_printf(dev, "can't allocate resources in bt_isa_attach\n");
return error;
}
/* Program the DMA channel for external control */
if ((drq = isa_get_drq(dev)) != -1)
isa_dmacascade(drq);
/* Allocate our parent dmatag */
filter = NULL;
filter_arg = NULL;
lowaddr = BUS_SPACE_MAXADDR_24BIT;
if (bt->model[0] == '4') {
/*
* This is a VL adapter. Typically, VL devices have access
* to the full 32bit address space. On BT-445S adapters
* prior to revision E, there is a hardware bug that causes
* corruption of transfers to/from addresses in the range of
* the BIOS modulo 16MB. The only properly functioning
* BT-445S Host Adapters have firmware version 3.37.
* If we encounter one of these adapters and the BIOS is
* installed, install a filter function for our bus_dma_map
* that will catch these accesses and bounce them to a safe
* region of memory.
*/
if (bt->bios_addr != 0
&& strcmp(bt->model, "445S") == 0
&& strcmp(bt->firmware_ver, "3.37") < 0) {
filter = btvlbouncefilter;
filter_arg = bt;
} else {
lowaddr = BUS_SPACE_MAXADDR_32BIT;
}
}
/* XXX Should be a child of the ISA or VL bus dma tag */
if (bus_dma_tag_create( /* parent */ bus_get_dma_tag(dev),
/* alignemnt */ 1,
/* boundary */ 0,
/* lowaddr */ lowaddr,
/* highaddr */ BUS_SPACE_MAXADDR,
/* filter */ filter,
/* filterarg */ filter_arg,
/* maxsize */ BUS_SPACE_MAXSIZE_32BIT,
/* nsegments */ ~0,
/* maxsegsz */ BUS_SPACE_MAXSIZE_32BIT,
/* flags */ 0,
/* lockfunc */ NULL,
/* lockarg */ NULL,
&bt->parent_dmat) != 0) {
bt_isa_release_resources(dev);
return (ENOMEM);
}
error = bt_init(dev);
if (error) {
bt_isa_release_resources(dev);
return (ENOMEM);
}
if (lowaddr != BUS_SPACE_MAXADDR_32BIT) {
/* DMA tag for our sense buffers */
if (bus_dma_tag_create(
/* parent */ bt->parent_dmat,
/* alignment */ 1,
/* boundary */ 0,
/* lowaddr */ BUS_SPACE_MAXADDR,
/* highaddr */ BUS_SPACE_MAXADDR,
/* filter */ NULL,
/* filterarg */ NULL,
/* maxsize */ bt->max_ccbs *
sizeof(struct scsi_sense_data),
/* nsegments */ 1,
/* maxsegsz */ BUS_SPACE_MAXSIZE_32BIT,
/* flags */ 0,
/* lockfunc */ NULL,
/* lockarg */ NULL,
&bt->sense_dmat) != 0) {
bt_isa_release_resources(dev);
return (ENOMEM);
}
bt->init_level++;
/* Allocation of sense buffers */
if (bus_dmamem_alloc(bt->sense_dmat,
(void **)&bt->sense_buffers,
BUS_DMA_NOWAIT, &bt->sense_dmamap) != 0) {
bt_isa_release_resources(dev);
return (ENOMEM);
}
bt->init_level++;
/* And permanently map them */
bus_dmamap_load(bt->sense_dmat, bt->sense_dmamap,
bt->sense_buffers,
bt->max_ccbs * sizeof(*bt->sense_buffers),
btmapsensebuffers, bt, /*flags*/0);
bt->init_level++;
}
error = bt_attach(dev);
if (error) {
bt_isa_release_resources(dev);
return (error);
}
return (0);
}
void fc_init()
{
DEBUG(" *** Flight computer init ***\n");
//start values
active_page = config.gui.last_page;
if (active_page >= config.gui.number_of_pages)
active_page = 0;
//reset flight status
fc_reset();
//using fake data
#ifdef FAKE_ENABLE
return;
#endif
//temperature state machine
fc.temp.step = 0;
//init DMA
DMA_PWR_ON;
//init calculators
vario_init();
audio_init();
logger_init();
protocol_init();
wind_init();
gps_init();
if (config.connectivity.use_gps)
gps_start();
bt_init();
if (config.connectivity.use_bt)
bt_module_init();
//VCC to baro, acc/mag gyro + i2c pull-ups
mems_power_on();
//init and test i2c
//HW_REW_1504 have two mems enable pins, both have to be enabled!
//HW_REW_1506 have standalone ldo for mems, hence only one pin is needed
if (!mems_i2c_init())
{
DEBUG("ERROR I2C, Wrong board rev? (%02X)\n", hw_revision);
hw_revision = HW_REW_1504;
eeprom_busy_wait();
eeprom_update_byte(&config_ro.hw_revision, hw_revision);
eeprom_busy_wait();
mems_power_init();
io_init();
mems_power_on();
assert(mems_i2c_init());
}
else
{
if (hw_revision == HW_REW_UNKNOWN)
{
hw_revision = HW_REW_1506;
eeprom_busy_wait();
eeprom_update_byte(&config_ro.hw_revision, hw_revision);
eeprom_busy_wait();
mems_power_init();
io_init();
mems_power_on();
mems_i2c_init();
}
}
if (!mems_i2c_init())
{
DEBUG("I2C error!\nUnable to init flight computer!\n");
return;
}
//Barometer
ms5611.Init(&mems_i2c, MS5611_ADDRESS_CSB_LO);
//Magnetometer + Accelerometer
lsm303d_settings lsm_cfg;
lsm_cfg.enabled = true;
lsm_cfg.accOdr = lsm_acc_1600Hz;
lsm_cfg.accScale = lsm_acc_16g;
lsm_cfg.magOdr = lsm_mag_100Hz;
lsm_cfg.magScale = lsm_mag_4g;
lsm_cfg.magHiRes = true;
lsm_cfg.tempEnable = false;
//Acceleration calculation init
accel_calc_init();
//Magnetic field calculation init
mag_calc_init();
//Gyro
l3gd20_settings l3g_cfg;
l3g_cfg.enabled = true;
l3g_cfg.bw = l3g_50Hz;
l3g_cfg.odr = l3g_760Hz;
l3g_cfg.scale = l3g_2000dps;
//SHT21
sht21_settings sht_cfg;
sht_cfg.rh_enabled = true;
sht_cfg.temp_enabled = true;
//XXX: do self-test?
lsm303d.Init(&mems_i2c, lsm_cfg);
lsm303d.Start();
l3gd20.Init(&mems_i2c, l3g_cfg);
l3gd20.Start();
sht21.Init(&mems_i2c, sht_cfg);
//Measurement timer
FC_MEAS_TIMER_PWR_ON;
fc_meas_timer.Init(FC_MEAS_TIMER, timer_div1024);
fc_meas_timer.SetInterruptPriority(MEDIUM);
fc_meas_timer.EnableInterrupts(timer_overflow | timer_compareA | timer_compareB | timer_compareC);
//tight timing! 1 tick 0.032 ms
//MS pressure conversion 9.040 ms
// temperature conversion 0.600 ms
//MAG read 0.152 ms
//ACC read 1.600 ms
//Gyro read 1.000 ms
fc_meas_timer.SetTop(313); // == 10ms
fc_meas_timer.SetCompare(timer_A, 27); // == 0.78 ms
fc_meas_timer.SetCompare(timer_B, 70); // == 2 ms
fc_meas_timer.SetCompare(timer_C, 200); // == 6 ms
ms5611.StartTemperature();
lsm303d.StartReadMag(); //it takes 152us to transfer
_delay_ms(1);
fc_meas_timer.Start();
DEBUG(" *** FC init done ***\n");
}
void fc_init()
{
DEBUG(" *** Flight computer init ***\n");
//load configuration
cfg_load();
//start values
eeprom_busy_wait();
active_page = eeprom_read_byte(&config.gui.last_page);
fc.epoch_flight_start = 0;
fc.autostart_state = false;
fc.temp_step = 0;
//init calculators
vario_init();
audio_init();
gps_init();
if (fc.use_gps)
gps_start();
bt_init();
// if (fc.use_flage & ENABLE_BT)
// bt_module_init();
//VCC to baro, acc/mag gyro
MEMS_POWER_ON;
GpioSetDirection(IO0, OUTPUT);
GpioWrite(IO0, HIGH);
//init and test i2c
if (!mems_i2c_init())
{
DEBUG("ERROR I2C\n");
led_set(0xFF, 0, 0);
}
//Barometer
ms5611.Init(&mems_i2c, MS5611_ADDRESS_CSB_LO);
//Magnetometer + Accelerometer
lsm303d_settings lsm_cfg;
lsm_cfg.enabled = true;
lsm_cfg.accOdr = lsm_acc_1600Hz;
lsm_cfg.accScale = lsm_acc_16g;
lsm_cfg.magOdr = lsm_mag_100Hz;
lsm_cfg.magScale = lsm_mag_4g;
lsm_cfg.magHiRes = true;
lsm_cfg.tempEnable = false;
//Gyro
l3gd20_settings l3g_cfg;
l3g_cfg.enabled = true;
l3g_cfg.bw = l3g_50Hz;
l3g_cfg.odr = l3g_760Hz;
l3g_cfg.scale = l3g_2000dps;
sht21_settings sht_cfg;
sht_cfg.rh_enabled = true;
sht_cfg.temp_enabled = true;
//XXX: do self-test?
lsm303d.Init(&mems_i2c, lsm_cfg);
lsm303d.Start();
l3gd20.Init(&mems_i2c, l3g_cfg);
l3gd20.Start();
sht21.Init(&mems_i2c, sht_cfg);
//Measurement timer
FC_MEAS_TIMER_PWR_ON;
fc_meas_timer.Init(FC_MEAS_TIMER, timer_div256); //125 == 1ms
fc_meas_timer.SetInterruptPriority(MEDIUM);
fc_meas_timer.EnableInterrupts(timer_overflow | timer_compareA | timer_compareB | timer_compareC);
fc_meas_timer.SetTop(125 * 10); // == 10ms
fc_meas_timer.SetCompare(timer_A, 100); // == 0.64ms
fc_meas_timer.SetCompare(timer_B, 430); // == 2.7ms
fc_meas_timer.SetCompare(timer_C, 555); // == 3.7ms
fc_meas_timer.Start();
DEBUG(" *** FC init done ***\n");
}
int main(void) {
bt_init(BAUD_RATE);
Sonar_init(CONTINUOUS);
Servo_init(MANUAL, SCAN_AND_LOCK);
motorDriverInit();
while(1){
bt_getStr( tab ); // Get string from buffer
if(strlen( tab )){ // If isn't empty...
//bt_sendStr( tab ); // ...send it back.
if ( strcmp(tab, "w") == 0 ) {
driveForward(speed);
}
else if ( strcmp(tab, "s") == 0) {
driveReverse(speed);
}
else if ( strcmp(tab, " ") == 0) {
stop();
}
else if ( strcmp(tab, "a") == 0) {
driveReverseLeftTrack(40);
driveForwardRightTrack(40);
}
else if ( strcmp(tab, "d") == 0) {
driveForwardLeftTrack(40);
driveReverseRightTrack(40);
}
else if ( strcmp(tab, "ServoScanAndLock") == 0) {
ServoChangeMode(SWEEP);
ServoChangeSweepMode(SCAN_AND_LOCK);
}
else if ( strcmp(tab, "ServoScanAndGo") == 0) {
ServoChangeMode(SWEEP);
ServoChangeSweepMode(SCAN_AND_GO);
}
else if ( strcmp(tab, "ServoCenter") == 0) {
ServoChangeMode(MANUAL);
ServoMoveByDegree(0);
}
else if ( strncmp(tab, "SonarStartMeas",14) == 0) {
int new_deg = ParseIntNumber(tab,14,3);
SonarStartMeas(new_deg);
}
else if ( strncmp(tab, "SonarGetDistance",16) == 0) {
char buffor[12];
int new_deg = ParseIntNumber(tab,16,3);
sprintf(buffor, "%04d,%04hu\n",new_deg,SonarGetDistance(new_deg));
bt_sendStr(buffor);
}
else if ( strcmp(tab, "e") == 0) {
if (speed<=90){
speed+=10;
}
}
else if ( strcmp(tab, "q") == 0) {
if (speed>=10){
speed-=10;
}
}
else if (strncmp(tab, "speed",5) == 0){
int new_speed = ParseIntNumber(tab,5,3);
if (new_speed >= 0 && new_speed <= 100){
speed = new_speed;
}
}
else if ( strncmp(tab, "SonarLockRange",14) == 0) {
int new_range = ParseIntNumber(tab,14,3);
ServoChangeLockRange(new_range);
}
}
}
};
void on_nble_up(void)
{
BT_DBG("%s", __FUNCTION__);
if (bt_ready_cb)
bt_ready_cb(bt_init());
}
int fb_init()
{
bt_error_t status; /* Bit 3 library error return type */
char devname[BT_MAX_DEV_NAME]; /* Device to open */
bt_devdata_t flag;
/* Open the device in A24 space */
bt_gen_name(0, BT_DEV_A24, devname, BT_MAX_DEV_NAME);
status = bt_open(&btd, devname, BT_RDWR);
if (status != BT_SUCCESS) {
cm_msg(MERROR, "fb_init", "Cannot open Bit3 device driver");
return FALSE;
}
bt_init(btd);
bt_clrerr(btd);
/* map SFI memory */
status = bt_mmap(btd, &_sfi, SFI_ADDRESS, SFI_SIZE, BT_RDWR, BT_SWAP_DEFAULT);
if (status != BT_SUCCESS) {
cm_msg(MERROR, "fb_init", "Cannot map VME memory");
bt_close(btd);
return FALSE;
}
/* Open the device in local memory */
bt_gen_name(0, BT_DEV_LM, devname, BT_MAX_DEV_NAME);
status = bt_open(&btd_lm, devname, BT_RDWR);
if (status != BT_SUCCESS) {
cm_msg(MERROR, "fb_init", "Cannot open Bit3 device for local memory");
return FALSE;
}
bt_clrerr(btd_lm);
/* map local memory */
status =
bt_mmap(btd_lm, &remote_ram_buffer, 0, REMOTE_RAM_SIZE, BT_RDWR, BT_SWAP_DEFAULT);
if (status != BT_SUCCESS) {
cm_msg(MERROR, "fb_init", "Cannot map local memory");
bt_close(btd);
return FALSE;
}
/* clear local memory */
memset(remote_ram_buffer, 0, REMOTE_RAM_SIZE);
/* force D32 mode */
bt_get_info(btd, BT_INFO_MMAP_AMOD, &flag);
flag = BT_AMOD_A24_SD;
bt_set_info(btd, BT_INFO_MMAP_AMOD, flag);
/* sequencer reset */
SFI_OUT(SFI_SEQUENCER_RESET, 0);
/* arbitration level */
// SFI_OUT(SFI_FASTBUS_ARBITRATION_LEVEL_REGISTER, 0x15);
SFI_OUT(SFI_FASTBUS_ARBITRATION_LEVEL_REGISTER, 0xBF);
/* timeout */
SFI_OUT(SFI_FASTBUS_TIMEOUT_REGISTER, 0x73);
/* sequencer enable */
SFI_OUT(SFI_SEQUENCER_ENABLE, 0);
/* switch off all output */
SFI_OUT(SFI_CLEAR_BOTH_LCA1_TEST_REGISTER, 0);
/* clear registers */
SFI_OUT(SFI_RESET_REGISTER_GROUP_LCA2, 0);
return SUCCESS;
}
/**
* <EN>
* @brief Launch a recognition process instance.
*
* This function will create an recognition process instance
* using the given SEARCH configuration, and launch recognizer for
* the search. Then the created instance will be installed to the
* engine instance. The sconf should be registered to the global
* jconf before calling this function.
*
* </EN>
*
* <JA>
* @brief 認識処理インスタンスを立ち上げる．
*
* この関数は，与えられた SEARCH 設定に従って 認識処理インスタンスを生成し，
* 対応する音声認識器を構築します．その後，その生成された認識処理インスタンスは
* 新たにエンジンインスタンスに登録されます．SEARCH設定はこの関数を
* 呼ぶ前にあらかじめ全体設定jconfに登録されている必要があります．
*
* </JA>
*
* @param recog [i/o] engine instance
* @param sconf [in] SEARCH configuration to launch
*
* @return TRUE on success, or FALSE on error.
*
* @callgraph
* @callergraph
* @ingroup instance
*
*/
boolean
j_launch_recognition_instance(Recog *recog, JCONF_SEARCH *sconf)
{
RecogProcess *p;
PROCESS_AM *am;
PROCESS_LM *lm;
jlog("STAT: composing recognizer instance SR%02d %s (AM%02d %s, LM%02d %s)\n", sconf->id, sconf->name, sconf->amconf->id, sconf->amconf->name, sconf->lmconf->id, sconf->lmconf->name);
/* allocate recognition instance */
p = j_recogprocess_new(recog, sconf);
/* assign corresponding AM instance and LM instance to use */
for(lm=recog->lmlist;lm;lm=lm->next) {
if (sconf->lmconf == lm->config) {
for(am=recog->amlist;am;am=am->next) {
if (sconf->amconf == am->config) {
p->am = am;
p->lm = lm;
}
}
}
}
if (p->config->sw.triphone_check_flag && p->am->hmminfo->is_triphone) {
/* go into interactive triphone HMM check mode */
hmm_check(p);
}
/******************************************/
/******** set work area and flags *********/
/******************************************/
/* copy values of sub instances for handly access during recognition */
/* set lm type */
p->lmtype = p->lm->lmtype;
p->lmvar = p->lm->lmvar;
p->graphout = p->config->graph.enabled;
/* set flag for context dependent handling */
if (p->config->force_ccd_handling) {
p->ccd_flag = p->config->ccd_handling;
} else {
if (p->am->hmminfo->is_triphone) {
p->ccd_flag = TRUE;
} else {
p->ccd_flag = FALSE;
}
}
/* iwsp prepare */
if (p->lm->config->enable_iwsp) {
if (p->am->hmminfo->multipath) {
/* find short-pause model */
if (p->am->hmminfo->sp == NULL) {
jlog("ERROR: iwsp enabled but no short pause model \"%s\" in hmmdefs\n", p->am->config->spmodel_name);
return FALSE;
}
p->am->hmminfo->iwsp_penalty = p->am->config->iwsp_penalty;
} else {
jlog("ERROR: \"-iwsp\" needs multi-path mode\n");
jlog("ERROR: you should use multi-path AM, or specify \"-multipath\" with \"-iwsp\"\n");
return FALSE;
}
}
/* for short-pause segmentation */
if (p->config->successive.enabled) {
if (p->config->successive.pausemodelname) {
/* pause model name string specified, divide it and store to p */
char *s;
int n;
p->pass1.pausemodelnames = (char*)mymalloc(strlen(p->config->successive.pausemodelname)+1);
strcpy(p->pass1.pausemodelnames, p->config->successive.pausemodelname);
n = 0;
for (s = strtok(p->pass1.pausemodelnames, " ,"); s; s = strtok(NULL, " ,")) {
n++;
}
p->pass1.pausemodelnum = n;
p->pass1.pausemodel = (char **)mymalloc(sizeof(char *) * n);
strcpy(p->pass1.pausemodelnames, p->config->successive.pausemodelname);
n = 0;
for (s = strtok(p->pass1.pausemodelnames, " ,"); s; s = strtok(NULL, " ,")) {
p->pass1.pausemodel[n++] = s;
}
} else {
p->pass1.pausemodel = NULL;
}
/* check if pause word exists on dictionary */
{
WORD_ID w;
boolean ok_p;
ok_p = FALSE;
for(w=0;w<p->lm->winfo->num;w++) {
if (is_sil(w, p)) {
ok_p = TRUE;
break;
}
}
if (!ok_p) {
#ifdef SPSEGMENT_NAIST
jlog("Error: no pause word in dictionary needed for decoder-based VAD\n");
#else
jlog("Error: no pause word in dictionary needed for short-pause segmentation\n");
#endif
jlog("Error: you should have at least one pause word in dictionary\n");
jlog("Error: you can specify pause model names by \"-pausemodels\"\n");
return FALSE;
}
}
}
/**********************************************/
/******** set model-specific defaults *********/
/**********************************************/
if (p->lmtype == LM_PROB) {
/* set default lm parameter if not specified */
if (!p->config->lmp.lmp_specified) {
if (p->am->hmminfo->is_triphone) {
p->config->lmp.lm_weight = DEFAULT_LM_WEIGHT_TRI_PASS1;
p->config->lmp.lm_penalty = DEFAULT_LM_PENALTY_TRI_PASS1;
} else {
p->config->lmp.lm_weight = DEFAULT_LM_WEIGHT_MONO_PASS1;
p->config->lmp.lm_penalty = DEFAULT_LM_PENALTY_MONO_PASS1;
}
}
if (!p->config->lmp.lmp2_specified) {
if (p->am->hmminfo->is_triphone) {
p->config->lmp.lm_weight2 = DEFAULT_LM_WEIGHT_TRI_PASS2;
p->config->lmp.lm_penalty2 = DEFAULT_LM_PENALTY_TRI_PASS2;
} else {
p->config->lmp.lm_weight2 = DEFAULT_LM_WEIGHT_MONO_PASS2;
p->config->lmp.lm_penalty2 = DEFAULT_LM_PENALTY_MONO_PASS2;
}
}
if (p->config->lmp.lmp_specified != p->config->lmp.lmp2_specified) {
jlog("WARNING: m_fusion: only -lmp or -lmp2 specified, LM weights may be unbalanced\n");
}
}
/****************************/
/******* build wchmm ********/
/****************************/
if (p->lmtype == LM_DFA) {
/* execute generation of global grammar and build of wchmm */
multigram_build(p); /* some modification occured if return TRUE */
}
if (p->lmtype == LM_PROB) {
/* build wchmm with N-gram */
p->wchmm = wchmm_new();
p->wchmm->lmtype = p->lmtype;
p->wchmm->lmvar = p->lmvar;
p->wchmm->ccd_flag = p->ccd_flag;
p->wchmm->category_tree = FALSE;
p->wchmm->hmmwrk = &(p->am->hmmwrk);
/* assign models */
p->wchmm->ngram = p->lm->ngram;
if (p->lmvar == LM_NGRAM_USER) {
/* register LM functions for 1st pass here */
p->wchmm->uni_prob_user = p->lm->lmfunc.uniprob;
p->wchmm->bi_prob_user = p->lm->lmfunc.biprob;
}
p->wchmm->winfo = p->lm->winfo;
p->wchmm->hmminfo = p->am->hmminfo;
if (p->wchmm->category_tree) {
if (p->config->pass1.old_tree_function_flag) {
if (build_wchmm(p->wchmm, p->lm->config) == FALSE) {
jlog("ERROR: m_fusion: error in bulding wchmm\n");
return FALSE;
}
} else {
if (build_wchmm2(p->wchmm, p->lm->config) == FALSE) {
jlog("ERROR: m_fusion: error in bulding wchmm\n");
return FALSE;
}
}
} else {
if (build_wchmm2(p->wchmm, p->lm->config) == FALSE) {
jlog("ERROR: m_fusion: error in bulding wchmm\n");
return FALSE;
}
}
/* 起動時 -check でチェックモードへ */
if (p->config->sw.wchmm_check_flag) {
wchmm_check_interactive(p->wchmm);
}
/* set beam width */
/* guess beam width from models, when not specified */
p->trellis_beam_width = set_beam_width(p->wchmm, p->config->pass1.specified_trellis_beam_width);
/* initialize cache for factoring */
max_successor_cache_init(p->wchmm);
}
/* backtrellis initialization */
p->backtrellis = (BACKTRELLIS *)mymalloc(sizeof(BACKTRELLIS));
bt_init(p->backtrellis);
/* prepare work area for 2nd pass */
wchmm_fbs_prepare(p);
jlog("STAT: SR%02d %s composed\n", sconf->id, sconf->name);
if (sconf->sw.start_inactive) {
/* start inactive */
p->active = -1;
} else {
/* book activation for the recognition */
p->active = 1;
}
if (p->lmtype == LM_DFA) {
if (p->lm->winfo == NULL ||
(p->lmvar == LM_DFA_GRAMMAR && p->lm->dfa == NULL)) {
/* make this instance inactive */
p->active = -1;
}
}
return TRUE;
}
int
main (void)
{
/* accelerometer readings fifo */
TFifoEntry acc_lowpass;
TFifoEntry fifo_buf[FIFO_DEPTH];
int fifo_pos;
TFifoEntry *fifo;
uint32_t SSPdiv;
uint16_t oid_last_seen;
uint8_t cmd_buffer[64], cmd_pos, c;
uint8_t volatile *uart;
int x, y, z, moving;
volatile int t;
int i;
/* wait on boot - debounce */
for (t = 0; t < 2000000; t++);
/* Initialize GPIO (sets up clock) */
GPIOInit ();
/* initialize pins */
pin_init ();
/* fire up LED 1 */
GPIOSetValue (1, 1, 1);
/* initialize SPI */
spi_init ();
/* read device UUID */
bzero (&device_uuid, sizeof (device_uuid));
iap_read_uid (&device_uuid);
tag_id = crc16 ((uint8_t *) & device_uuid, sizeof (device_uuid));
random_seed =
device_uuid[0] ^ device_uuid[1] ^ device_uuid[2] ^ device_uuid[3];
/************ IF Plugged to computer upon reset ? ******************/
if (GPIOGetValue (0, 3))
{
/* wait some time till Bluetooth is off */
for (t = 0; t < 2000000; t++);
/* Init 3D acceleration sensor */
acc_init (1);
/* Init Flash Storage with USB */
storage_init (TRUE, tag_id);
g_storage_items = storage_items ();
/* Init Bluetooth */
bt_init (TRUE, tag_id);
/* switch to LED 2 */
GPIOSetValue (1, 1, 0);
GPIOSetValue (1, 2, 1);
/* set command buffer to empty */
cmd_pos = 0;
/* spin in loop */
while (1)
{
/* reset after USB unplug */
if (!GPIOGetValue (0, 3))
NVIC_SystemReset ();
/* if UART rx send to menue */
if (UARTCount)
{
/* blink LED1 upon Bluetooth command */
GPIOSetValue (1, 1, 1);
/* execute menue command with last character received */
/* scan through whole UART buffer */
uart = UARTBuffer;
for (i = UARTCount; i > 0; i--)
{
UARTCount--;
c = *uart++;
if ((c < ' ') && cmd_pos)
{
/* if one-character command - execute */
if (cmd_pos == 1)
main_menue (cmd_buffer[0]);
else
{
cmd_buffer[cmd_pos] = 0;
debug_printf
("Unknown command '%s' - please press H+[Enter] for help\n# ",
cmd_buffer);
}
/* set command buffer to empty */
cmd_pos = 0;
}
else if (cmd_pos < (sizeof (cmd_buffer) - 2))
cmd_buffer[cmd_pos++] = c;
}
/* reset UART buffer */
UARTCount = 0;
/* un-blink LED1 */
GPIOSetValue (1, 1, 0);
}
}
} /* End of if plugged to computer*/
/***************** IF UNPLUGGED TO PC ........********/
/* Init Bluetooth */
bt_init (FALSE, tag_id);
/* shut down up LED 1 */
GPIOSetValue (1, 1, 0);
/* Init Flash Storage without USB */
storage_init (FALSE, tag_id);
/* get current FLASH storage write postition */
g_storage_items = storage_items ();
/* initialize power management */
pmu_init ();
/* blink once to show initialized flash */
blink (1);
/* Init 3D acceleration sensor */
acc_init (0);
blink (2);
/* Initialize OpenBeacon nRF24L01 interface */
if (!nRFAPI_Init(CONFIG_TRACKER_CHANNEL, broadcast_mac, sizeof (broadcast_mac), 0))
for (;;)
{
GPIOSetValue (1, 2, 1);
pmu_sleep_ms (500);
GPIOSetValue (1, 2, 0);
pmu_sleep_ms (500);
}
/* set tx power power to high */
nRFCMD_Power (1);
/* blink three times to show flash initialized RF interface */
blink (3);
/* blink LED for 1s to show readyness */
GPIOSetValue (1, 1, 0);
GPIOSetValue (1, 2, 1);
pmu_sleep_ms (1000);
GPIOSetValue (1, 2, 0);
/* disable unused jobs */
SSPdiv = LPC_SYSCON->SSPCLKDIV;
i = 0;
oid_last_seen = 0;
/* reset proximity buffer */
prox_head = prox_tail = 0;
bzero (&prox, sizeof (prox));
/*initialize FIFO */
fifo_pos = 0;
bzero (&acc_lowpass, sizeof (acc_lowpass));
bzero (&fifo_buf, sizeof (fifo_buf));
moving = 0;
g_sequence = 0;
while (1)
{
pmu_sleep_ms (500);
LPC_SYSCON->SSPCLKDIV = SSPdiv;
acc_power (1);
pmu_sleep_ms (20);
acc_xyz_read (&x, &y, &z);
acc_power (0);
fifo = &fifo_buf[fifo_pos];
if (fifo_pos >= (FIFO_DEPTH - 1))
fifo_pos = 0;
else
fifo_pos++;
acc_lowpass.x += x - fifo->x;
fifo->x = x;
acc_lowpass.y += y - fifo->y;
fifo->y = y;
acc_lowpass.z += z - fifo->z;
fifo->z = z;
nRFAPI_SetRxMode (0);
bzero (&g_Beacon, sizeof (g_Beacon));
g_Beacon.pkt.proto = RFBPROTO_BEACONTRACKER_EXT;
g_Beacon.pkt.flags = moving ? RFBFLAGS_MOVING : 0;
g_Beacon.pkt.oid = htons (tag_id);
g_Beacon.pkt.p.tracker.strength = (i & 1) + TX_STRENGTH_OFFSET;
g_Beacon.pkt.p.tracker.seq = htonl (LPC_TMR32B0->TC);
g_Beacon.pkt.p.tracker.oid_last_seen = oid_last_seen;
g_Beacon.pkt.p.tracker.time = htons ((uint16_t)g_sequence++);
g_Beacon.pkt.p.tracker.battery = 0;
g_Beacon.pkt.crc = htons (
crc16(g_Beacon.byte, sizeof (g_Beacon) - sizeof (g_Beacon.pkt.crc))
);
nRFCMD_Power (0);
nRF_tx (g_Beacon.pkt.p.tracker.strength);
nRFCMD_Power (1);
nRFAPI_PowerDown ();
LPC_SYSCON->SSPCLKDIV = 0x00;
blink (10);
}
return 0;
}
int bt617_set_am(MVME_INTERFACE *vme, int am)
{
int i;
BT617_TABLE *ptab;
bt_error_t status;
bt_devdata_t flag;
for (i=0 ; i<MAX_BT617_TABLES ; i++)
if (((BT617_TABLE *)vme->table)[i].am == am)
break;
if (((BT617_TABLE *)vme->table)[i].am == am) {
vme->handle = i;
ptab = ((BT617_TABLE *)vme->table)+i;
bt_set_info(ptab->btd, BT_INFO_DMA_AMOD, am);
bt_set_info(ptab->btd, BT_INFO_PIO_AMOD, am);
bt_set_info(ptab->btd, BT_INFO_MMAP_AMOD, am);
return MVME_SUCCESS;
}
/* search free slot */
for (i=0 ; i<MAX_BT617_TABLES ; i++)
if (((BT617_TABLE *)vme->table)[i].am == 0)
break;
if (i==MAX_BT617_TABLES)
return MVME_NO_MEM;
/* mode not yet open, open it */
vme->handle = i;
ptab = ((BT617_TABLE *)vme->table)+i;
ptab->am = am;
if (am == MVME_AM_A16_SD || am == MVME_AM_A16_ND)
bt_gen_name(vme->index, BT_DEV_A16, ptab->devname, BT_MAX_DEV_NAME);
else if (am == MVME_AM_A24_SB ||
am == MVME_AM_A24_SP ||
am == MVME_AM_A24_SD ||
am == MVME_AM_A24_NB ||
am == MVME_AM_A24_NP ||
am == MVME_AM_A24_ND ||
am == MVME_AM_A24_SMBLT ||
am == MVME_AM_A24_NMBLT ||
am == MVME_AM_A24 ||
am == MVME_AM_A24_D64)
bt_gen_name(vme->index, BT_DEV_A24, ptab->devname, BT_MAX_DEV_NAME);
else
bt_gen_name(vme->index, BT_DEV_A32, ptab->devname, BT_MAX_DEV_NAME);
status = bt_open(&ptab->btd, ptab->devname, BT_RDWR);
if (status != BT_SUCCESS) {
bt_perror(ptab->btd, status, "bt_open error");
return MVME_NO_INTERFACE;
}
bt_init(ptab->btd);
bt_clrerr(ptab->btd);
/* select swapping mode */
flag = BT_SWAP_NONE;
bt_set_info(ptab->btd, BT_INFO_SWAP, flag);
/* set data mode */
flag = BT_WIDTH_D16;
bt_set_info(ptab->btd, BT_INFO_DATAWIDTH, flag);
/* switch off block transfer */
flag = FALSE;
bt_set_info(ptab->btd, BT_INFO_BLOCK, flag);
/* set amod */
bt_set_info(ptab->btd, BT_INFO_DMA_AMOD, am);
bt_set_info(ptab->btd, BT_INFO_PIO_AMOD, am);
bt_set_info(ptab->btd, BT_INFO_MMAP_AMOD, am);
return MVME_SUCCESS;
}
/*
* Attach all the sub-devices we can find
*/
static int
bt_isa_attach(device_t dev)
{
struct bt_softc *bt = device_get_softc(dev);
bus_dma_filter_t *filter;
void *filter_arg;
bus_addr_t lowaddr;
int error, drq;
/* Initialise softc */
error = bt_isa_alloc_resources(dev, 0, ~0);
if (error) {
device_printf(dev, "can't allocate resources in bt_isa_attach\n");
return error;
}
/* Program the DMA channel for external control */
if ((drq = isa_get_drq(dev)) != -1)
isa_dmacascade(drq);
/* Allocate our parent dmatag */
filter = NULL;
filter_arg = NULL;
lowaddr = BUS_SPACE_MAXADDR_24BIT;
/* XXX Should be a child of the ISA bus dma tag */
if (bus_dma_tag_create(/*parent*/NULL, /*alignemnt*/1, /*boundary*/0,
lowaddr, /*highaddr*/BUS_SPACE_MAXADDR,
filter, filter_arg,
/*maxsize*/BUS_SPACE_MAXSIZE_32BIT,
/*nsegments*/BUS_SPACE_UNRESTRICTED,
/*maxsegsz*/BUS_SPACE_MAXSIZE_32BIT,
/*flags*/0, &bt->parent_dmat) != 0) {
bt_isa_release_resources(dev);
return (ENOMEM);
}
error = bt_init(dev);
if (error) {
bt_isa_release_resources(dev);
return (ENOMEM);
}
if (lowaddr != BUS_SPACE_MAXADDR_32BIT) {
/* DMA tag for our sense buffers */
if (bus_dma_tag_create(bt->parent_dmat, /*alignment*/1,
/*boundary*/0,
/*lowaddr*/BUS_SPACE_MAXADDR,
/*highaddr*/BUS_SPACE_MAXADDR,
/*filter*/NULL, /*filterarg*/NULL,
bt->max_ccbs
* sizeof(struct scsi_sense_data),
/*nsegments*/1,
/*maxsegsz*/BUS_SPACE_MAXSIZE_32BIT,
/*flags*/0, &bt->sense_dmat) != 0) {
bt_isa_release_resources(dev);
return (ENOMEM);
}
bt->init_level++;
/* Allocation of sense buffers */
if (bus_dmamem_alloc(bt->sense_dmat,
(void *)&bt->sense_buffers,
BUS_DMA_NOWAIT, &bt->sense_dmamap) != 0) {
bt_isa_release_resources(dev);
return (ENOMEM);
}
bt->init_level++;
/* And permanently map them */
bus_dmamap_load(bt->sense_dmat, bt->sense_dmamap,
bt->sense_buffers,
bt->max_ccbs * sizeof(*bt->sense_buffers),
btmapsensebuffers, bt, /*flags*/0);
bt->init_level++;
}
error = bt_attach(dev);
if (error) {
bt_isa_release_resources(dev);
return (error);
}
return (0);
}
int
main (void)
{
int t, firstrun;
volatile int i;
/* Initialize GPIO (sets up clock) */
GPIOInit ();
/* initialize pins */
pin_init ();
/* setup SPI chipselect pins */
spi_init_pin (SPI_CS_NRF);
/* blink as a sign of boot to detect crashes */
for (t = 0; t < 10; t++)
{
pin_led (GPIO_LED0);
for (i = 0; i < 100000; i++);
pin_led (GPIO_LEDS_OFF);
for (i = 0; i < 100000; i++);
}
/* Init USB HID interface */
hid_init ();
/* Init SPI */
spi_init ();
/* Init OpenBeacon nRF24L01 interface */
nRFAPI_Init (81, broadcast_mac, sizeof (broadcast_mac), 0);
/* Init 3D acceleration sensor */
acc_init ();
/* Init Storage */
storage_init ();
/* Init Bluetooth */
bt_init ();
/* main loop */
t = 0;
firstrun = 1;
while (1)
{
/* blink LED0 on every 32th run - FIXME later with sleep */
if ((t++ & 0x1F) == 0)
{
pin_led (GPIO_LED0);
for (i = 0; i < 100000; i++);
pin_led (GPIO_LEDS_OFF);
}
for (i = 0; i < 200000; i++);
if (UARTCount)
{
/* blink LED1 upon Bluetooth command */
pin_led (GPIO_LED1);
/* show help screen upon Bluetooth connect */
if (firstrun)
{
debug_printf ("press 'H' for help...\n# ");
firstrun = 0;
}
else
/* execute menue command with last character received */
main_menue (UARTBuffer[UARTCount - 1]);
/* LED1 off again */
pin_led (GPIO_LEDS_OFF);
/* clear UART buffer */
UARTCount = 0;
}
}
}