//! 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(); } }