static int pci_edu_init(PCIDevice *pdev)
{
EduState *edu = DO_UPCAST(EduState, pdev, pdev);
uint8_t *pci_conf = pdev->config;
timer_init_ms(&edu->dma_timer, QEMU_CLOCK_VIRTUAL, edu_dma_timer, edu);
qemu_mutex_init(&edu->thr_mutex);
qemu_cond_init(&edu->thr_cond);
qemu_thread_create(&edu->thread, "edu", edu_fact_thread,
edu, QEMU_THREAD_JOINABLE);
pci_config_set_interrupt_pin(pci_conf, 1);
memory_region_init_io(&edu->mmio, OBJECT(edu), &edu_mmio_ops, edu,
"edu-mmio", 1 << 20);
pci_register_bar(pdev, 0, PCI_BASE_ADDRESS_SPACE_MEMORY, &edu->mmio);
return 0;
}
int main()
{
char buffer[20];
int i;
float tmp, roll_angle;
float acc_gyro = 0, dt;
struct Gyro1DKalman filter_roll;
struct Gyro1DKalman filter_pitch;
init_microcontroller();
adc_init();
adc_start();
timer_init_ms();
uart1_open();
uart1_puts("Device initialized\n\r");
uart1_puts("Entering main loop\n\r");
init_Gyro1DKalman(&filter_roll, 0.0001, 0.0003, 0.69);
while(1)
{
dt = timer_dt(); // time passed in s since last call
// execute kalman filter
tmp = PredictAccG_roll(accelero_z(), accelero_y(), accelero_x());
ars_predict(&filter_roll, gyro_roll_rad(), dt); // Kalman predict
roll_angle = ars_update(&filter_roll, tmp); // Kalman update + result (angle)
//PrintAll(accelero_x(), accelero_y(), accelero_z(), gyro_roll_rad(), gyro_pitch_rad(), r);
PrintForVbApp(roll_angle / 3.14*180.0, tmp);
//PrintForStabilizer(r);
}
uart1_close();
return 0;
}