boolean haschance(allinfo *a, item *i, int side)
{
register state *j, *m;
register ptype p, w, r;
stype pp, ww;
if (a->d.size == 0) return FALSE;
if (side == RIGHT) {
if (a->d.fset->wsum <= a->c - i->w) return TRUE;
p = a->ps; w = a->ws; a->pitested++;
pp = i->p - a->z - 1; ww = i->w - a->c;
r = -DET(pp, ww, p, w);
for (j = a->d.fset, m = a->d.lset + 1; j != m; j++) {
if (DET(j->psum, j->wsum, p, w) >= r) return TRUE;
}
} else {
if (a->d.lset->wsum > a->c + i->w) return TRUE;
p = a->pt; w = a->wt; a->pitested++;
pp = -i->p - a->z - 1; ww = -i->w - a->c;
r = -DET(pp, ww, p, w);
for (j = a->d.lset, m = a->d.fset - 1; j != m; j--) {
if (DET(j->psum, j->wsum, p, w) >= r) return TRUE;
}
}
a->pireduced++;
return FALSE;
}
static boolean haschance(allinfo *a, item *i, int side)
{
register itype p, w;
register state *j, *m;
register stype pp, ww;
if (a->d.size == 0) return FALSE;
#ifdef HASCHANCE
if (side == RIGHT) {
if (a->d.fset->wsum <= a->c - i->w) return TRUE;
p = a->ps; w = a->ws; pitested++;
pp = i->p - a->z - 1; ww = i->w - a->c;
for (j = a->d.fset, m = a->d.lset + 1; j != m; j++) {
if (DET(j->psum + pp, j->wsum + ww, p, w) >= 0) return TRUE;
}
} else {
if (a->d.lset->wsum > a->c + i->w) return TRUE;
p = a->pt; w = a->wt; pitested++;
pp = -i->p - a->z - 1; ww = -i->w - a->c;
for (j = a->d.lset, m = a->d.fset - 1; j != m; j--) {
if (DET(j->psum + pp, j->wsum + ww, p, w) >= 0) return TRUE;
}
}
pireduced++;
return FALSE;
#else
p = a->b->p; w = a->b->w;
if (side == LEFT) {
return (DET(a->psumb - i->p - a->z-1, a->wsumb - i->w - a->c, p, w) >= 0);
} else {
return (DET(a->psumb + i->p - a->z-1, a->wsumb + i->w - a->c, p, w) >= 0);
}
#endif
}
void CHangingLamp::UpdateCL ()
{
inherited::UpdateCL ();
if(m_pPhysicsShell)
m_pPhysicsShell->InterpolateGlobalTransform(&XFORM());
if (Alive() && light_render->get_active()){
if(Visual()) PKinematics(Visual())->CalculateBones();
// update T&R from light (main) bone
Fmatrix xf;
if (light_bone!=BI_NONE){
Fmatrix& M = smart_cast<CKinematics*>(Visual())->LL_GetTransform(light_bone);
xf.mul (XFORM(),M);
VERIFY(!fis_zero(DET(xf)));
}else{
xf.set (XFORM());
}
light_render->set_rotation (xf.k,xf.i);
light_render->set_position (xf.c);
if (glow_render)glow_render->set_position (xf.c);
// update T&R from ambient bone
if (light_ambient){
if (ambient_bone!=light_bone){
if (ambient_bone!=BI_NONE){
Fmatrix& M = smart_cast<CKinematics*>(Visual())->LL_GetTransform(ambient_bone);
xf.mul (XFORM(),M);
VERIFY(!fis_zero(DET(xf)));
}else{
xf.set (XFORM());
}
}
light_ambient->set_rotation (xf.k,xf.i);
light_ambient->set_position (xf.c);
}
if (lanim){
int frame;
u32 clr = lanim->CalculateBGR(Device.fTimeGlobal,frame); // возвращает в формате BGR
Fcolor fclr;
fclr.set ((float)color_get_B(clr),(float)color_get_G(clr),(float)color_get_R(clr),1.f);
fclr.mul_rgb (fBrightness/255.f);
light_render->set_color (fclr);
if (glow_render) glow_render->set_color (fclr);
if (light_ambient) {
fclr.mul_rgb (ambient_power);
light_ambient->set_color(fclr);
}
}
}
}
bool CSurface3DTriangle::Fit(/*long No,*/ CSurface3DPoint &P1, CSurface3DPoint &P2, CSurface3DPoint &P3)
{
double a = DET(P2.y-P1.y,P2.z-P1.z,P3.y-P1.y,P3.z-P1.z);
double b = DET(P2.z-P1.z,P2.x-P1.x,P3.z-P1.z,P3.x-P1.x);
double c = DET(P2.x-P1.x,P2.y-P1.y,P3.x-P1.x,P3.y-P1.y);
if (fabs(c) < 1.0e-30)
return false;
m_A = (a/c) * (-1.0);
m_B = (b/c) * (-1.0);
m_C = (a*P1.x + b*P1.y + c*P1.z)/c;
//m_No = No;
return true;
}
void partsort(allinfo *a, item *f, item *l, stype ws, int what)
{
register ptype mp, mw;
register item *i, *j, *m;
register stype wi;
register int d;
d = l - f + 1;
if (d < 1) errorx("negative interval in partsort");
if (d > MINMED) {
m = median(f, l, (int) sqrt((double)d));
} else {
if (d > 1) {
m = f + d / 2;
if (DET(f->p, f->w, m->p, m->w) < 0) SWAP(f, m);
if (d > 2) {
if (DET(m->p, m->w, l->p, l->w) < 0) {
SWAP(m, l);
if (DET(f->p, f->w, m->p, m->w) < 0) SWAP(f, m);
}
}
}
}
if (d > 3) {
mp = m->p; mw = m->w; i = f; j = l; wi = ws;
for (;;) {
do { wi += i->w; i++; } while (DET(i->p, i->w, mp, mw) > 0);
do { j--; } while (DET(j->p, j->w, mp, mw) < 0);
if (i > j) break;
SWAP(i, j);
}
if (wi <= a->cstar) {
if (what == SORTALL) partsort(a, f, i-1, ws, what);
if (what == PARTIATE) push(a, LEFT, f, i-1);
partsort(a, i, l, wi, what);
} else {
if (what == SORTALL) partsort(a, i, l, wi, what);
if (what == PARTIATE) push(a, RIGHT, i, l);
partsort(a, f, i-1, ws, what);
}
}
if ((d <= 3) || (what == SORTALL)) {
a->fpart = f; a->lpart = l; a->wfpart = ws;
}
}
static int __init myri_sbus_probe(void)
{
struct net_device *dev = NULL;
struct sbus_bus *bus;
struct sbus_dev *sdev = 0;
static int called = 0;
int cards = 0, v;
#ifdef MODULE
root_myri_dev = NULL;
#endif
if (called)
return -ENODEV;
called++;
for_each_sbus(bus) {
for_each_sbusdev(sdev, bus) {
if (cards)
dev = NULL;
if (myri_sbus_match(sdev)) {
cards++;
DET(("Found myricom myrinet as %s\n", sdev->prom_name));
if ((v = myri_ether_init(dev, sdev, (cards - 1))))
return v;
}
}
}
if (!cards)
return -ENODEV;
return 0;
}
/* determines new minimum and new maximum
* DetMinMax* (* = all cell representation) analyzes
* an array of cells and adjust the min and max argument
* if necessary. If min and max are not yet set then they
* must be MV both. The function
* assumes that both min and max are MV if min is MV.
*/
static void DetMinMaxUINT1(
UINT1 *min, /* read-write. adjusted minimum */
UINT1 *max, /* read-write. adjusted maximum */
size_t nrCells,/* number of cells in buf */
const UINT1 *buf) /* cell values to be examined */
{
DET(min, max, nrCells, buf, UINT1);
}
/* determines new minimum and new maximum
* DetMinMax* (* = all cell representation) analyzes
* an array of cells and adjust the min and max argument
* if necessary. If min and max are not yet set then they
* must be MV both. The function
* assumes that both min and max are MV if min is MV.
*/
static void DetMinMaxINT4(
INT4 *min, /* read-write. adjusted minimum */
INT4 *max, /* read-write. adjusted maximum */
size_t nrCells,/* number of cells in buf */
const INT4 *buf) /* cell values to be examined */
{
DET(min, max, nrCells, buf, INT4);
}
TVec4 cross(const TVec4 &a, const TVec4 &b, const TVec4 &c)
{
TVec4 result;
// XXX can this be improved? Look at assembly.
#define ROW(i) a[i], b[i], c[i]
#define DET(i,j,k) dot(TVec3(ROW(i)), cross(TVec3(ROW(j)), TVec3(ROW(k))))
result[0] = DET(1,2,3);
result[1] = -DET(0,2,3);
result[2] = DET(0,1,3);
result[3] = -DET(0,1,2);
return(result);
#undef ROW
#undef DET
}
static void partsort(allinfo *a, item *f, item *l, stype ws, stype c, int what)
{
register itype mp, mw;
register item *i, *j, *m;
register stype wi;
int d;
d = l - f + 1;
if (d > 1) {
m = f + d / 2;
if (DET(f->p, f->w, m->p, m->w) < 0) SWAP(f, m);
if (d > 2) {
if (DET(m->p, m->w, l->p, l->w) < 0) {
SWAP(m, l);
if (DET(f->p, f->w, m->p, m->w) < 0) SWAP(f, m);
}
}
}
if (d > 3) {
mp = m->p; mw = m->w; i = f; j = l; wi = ws;
for (;;) {
do { wi += i->w; i++; } while (DET(i->p, i->w, mp, mw) > 0);
do { j--; } while (DET(j->p, j->w, mp, mw) < 0);
if (i > j) break;
SWAP(i, j);
}
if (wi <= c) {
if (what == SORTALL) partsort(a, f, i-1, ws, c, what);
if (what == PARTITION) push(a, LEFT, f, i-1);
partsort(a, i, l, wi, c, what);
} else {
if (what == SORTALL) partsort(a, i, l, wi, c, what);
if (what == PARTITION) push(a, RIGHT, i, l);
partsort(a, f, i-1, ws, c, what);
}
}
if ((d <= 3) || (what == SORTALL)) {
a->fpart = f;
a->lpart = l;
a->wfpart = ws;
}
}
item *median(item *f1, item *l1, ntype s)
{
/* Find median r of items [f1, f1+s, f1+2s, ... l1], */
/* and ensure the ordering f1 >= r >= l1. */
register ptype mp, mw;
register item *i, *j;
register item *f, *l, *k, *m, *q;
ntype n, d;
static item r;
n = (l1 - f1) / s; /* number of values */
f = f1; /* calculated first item */
l = f1 + s * n; /* calculated last item */
k = l; /* saved last item */
q = f + s * (n / 2); /* middle value */
for (;;) {
d = (l - f + s) / s;
m = f + s * (d / 2);
if (d > 1) {
if (DET(f->p, f->w, m->p, m->w) < 0) SWAP(f, m);
if (d > 2) {
if (DET(m->p, m->w, l->p, l->w) < 0) {
SWAP(m, l);
if (DET(f->p, f->w, m->p, m->w) < 0) SWAP(f, m);
}
}
}
if (d <= 3) { r = *q; break; }
r.p = mp = m->p; r.w = mw = m->w; i = f; j = l;
for (;;) {
do { i += s; } while (DET(i->p, i->w, mp, mw) > 0);
do { j -= s; } while (DET(j->p, j->w, mp, mw) < 0);
if (i > j) break;
SWAP(i, j);
}
if ((j <= q) && (q <= i)) break;
if (i > q) l = j; else f = i;
}
SWAP(k, l1);
return &r;
}
void CCar::cb_Steer (CBoneInstance* B)
{
VERIFY2(fsimilar(DET(B->mTransform),1.f,DET_CHECK_EPS),"Bones receive returns 0 matrix");
CCar* C = static_cast<CCar*>(B->callback_param());
Fmatrix m;
m.rotateZ(C->m_steer_angle);
B->mTransform.mulB_43 (m);
#ifdef DEBUG
if( !fsimilar(DET(B->mTransform),1.f,DET_CHECK_EPS) ){
Log("RotatingZ angle=",C->m_steer_angle);
VERIFY2(0,"Bones callback returns BAD!!! matrix");
}
#endif
}
static void rudidiv(allinfo *a)
{
register item *i, *m, *b;
register itype x, y, r;
register prod pb, wb, q;
register stype ws;
b = a->b; pb = b->p; wb = b->w;
q = DET(a->z+1-a->psumb, a->c-a->wsumb, pb, wb);
x = a->fitem->w; ws = 0;
for (i = a->fitem, m = a->litem+1; i != m; i++) {
if ((i < b) && (DET(-i->p, -i->w, pb, wb) < q)) { ws += i->w; continue; }
if ((i > b) && (DET(i->p, i->w, pb, wb) < q)) { continue; }
y = x; x = i->w;
while (y != 0) { r = x % y; x = y; y = r; }
if (x == 1) return;
}
a->c = ws + x * ((a->c-ws) / x);
}
//==========================================================================*
// Result := Curvature (Inverse radius)
//--------------------------------------------------------------------------*
double Curv(double X1, double Y1, double X2, double Y2, double X3, double Y3)
{
double Px = X1 - X2;
double Py = Y1 - Y2;
double Qx = X2 - X3;
double Qy = Y2 - Y3;
double Rx = X3 - X1;
double Ry = Y3 - Y1;
return ((2 * (Px * Qy - Py * Qx)) / DET(Px,Py,Qx,Qy,Rx,Ry));
}
static void sursort(item *f, item *l, itype sur, stype c,
stype *p1, stype *w1, item **b)
{
register itype s;
register prod mp, mw;
register item *i, *j, *m;
register stype ws, ps;
static item nn;
item *l1;
stype psum;
int d;
psum = 0; s = sur; l1 = l + 1;
for (;;) {
d = l - f + 1;
if (d > 1) {
m = f + d / 2;
if (DET(f->p, f->w+s, m->p, m->w+s) < 0) SWAP(f, m);
if (d > 2) {
if (DET(m->p, m->w+s, l->p, l->w+s) < 0) {
SWAP(m, l); if (DET(f->p, f->w+s, m->p, m->w+s) < 0) SWAP(f, m);
}
}
}
if (d <= 3) break;
mp = m->p; mw = m->w+s; i = f; j = l; ws = ps = 0;
for (;;) {
do { ws+=i->w+s; ps+=i->p; i++; } while (DET(i->p,i->w+s,mp,mw) > 0);
do { j--; } while (DET(j->p,j->w+s,mp,mw) < 0);
if (i > j) break;
SWAP(i, j);
}
if (ws <= c) { f = i; c -= ws; psum += ps; } else l = i-1;
}
for ( ; f != l1; f++) {
if (f->w+s > c) { *p1 = psum; *w1 = c; *b = f; return; }
c -= f->w+s; psum += f->p;
}
nn.p = 0; nn.w = 1; *p1 = psum; *w1 = c; *b = &nn;
}
static void reduceset(allinfo *a)
{
register state *i, *m, *k;
register stype c, z;
register prod p, w;
state *v, *r1, *rm;
boolean atstart, atend;
if (a->d.size == 0) return;
/* find break point and improve solution */
r1 = a->d.fset; rm = a->d.lset;
v = findvect(a->c, r1, rm);
if (v == NULL) v = r1 - 1; else if (v->psum > a->z) improvesol(a, v);
/* expand core, and choose ps, ws, pt, wt */
expandcore(a, &atstart, &atend);
/* now do the reduction */
/* NB! This is the most efficient implementation, no product q is needed */
c = a->c; z = a->z + 1; k = a->d.setm;
if (!atstart) {
p = a->ps; w = a->ws;
for (i = rm, m = v; i != m; i--) {
if (DET(i->psum-z, i->wsum-c, p, w) >= 0) { k--; *k = *i; }
}
}
if (!atend) {
p = a->pt; w = a->wt;
for (i = v, m = r1 - 1; i != m; i--) {
if (DET(i->psum-z, i->wsum-c, p, w) >= 0) { k--; *k = *i; }
}
}
/* save limit */
a->d.fset = k;
a->d.lset = a->d.setm - 1; /* reserve one record for multiplication */
a->d.size = DIFF(a->d.fset, a->d.lset);
}
void simpreduce(int side, item **f, item **l, allinfo *a)
{
register item *i, *j, *k;
register ptype pb, wb;
register ptype q, r;
register int redu;
if (a->d.size == 0) { *f = *l+1; return; }
if (*l < *f) return;
pb = a->b->p; wb = a->b->w;
q = DET(a->z+1-a->psumb, a->c-a->wsumb, pb, wb);
r = -DET(a->z+1-a->psumb, a->c-a->wsumb, pb, wb);
i = *f; j = *l;
redu = 0;
if (side == LEFT) {
k = a->fsort - 1;
while (i <= j) {
if (DET(j->p, j->w, pb, wb) > r) {
SWAP(i, j); i++; redu++; /* not feasible */
} else {
SWAP(j, k); j--; k--; /* feasible */
}
}
*l = a->fsort - 1; *f = k + 1;
} else {
k = a->lsort + 1;
while (i <= j) {
if (DET(i->p, i->w, pb, wb) < q) {
SWAP(i, j); j--; redu++; /* not feasible */
} else {
SWAP(i, k); i++; k++; /* feasible */
}
}
*f = a->lsort + 1; *l = k - 1;
}
a->simpreduced += redu;
}
static void simpreduce(int side, item **f, item **l, allinfo *a)
{
register item *i, *j, *k;
register prod pb, wb;
register prod q;
register int red;
if (a->d.size == 0) { *f = *l+1; return; }
if (*l < *f) return;
pb = a->b->p; wb = a->b->w;
q = DET(a->z+1-a->psumb, a->c-a->wsumb, pb, wb);
i = *f; j = *l; red = 0;
if (side == LEFT) {
k = a->fsort - 1;
while (i != j+1) {
if (DET(-j->p, -j->w, pb, wb) < q) {
SWAP(i, j); i++; /* not feasible */
red++;
} else {
SWAP(j, k); j--; k--; /* feasible */
}
}
*l = a->fsort - 1; *f = k + 1;
} else {
k = a->lsort + 1;
while (i != j+1) {
if (DET(i->p, i->w, pb, wb) < q) {
SWAP(i, j); j--; /* not feasible */
red++;
} else {
SWAP(i, k); i++; k++; /* feasible */
}
}
*f = a->lsort + 1; *l = k - 1;
}
if (a->master) simpreduced += red;
}
static int myri_do_handshake(struct myri_eth *mp)
{
struct myri_shmem __iomem *shmem = mp->shmem;
void __iomem *cregs = mp->cregs;
struct myri_channel __iomem *chan = &shmem->channel;
int tick = 0;
DET(("myri_do_handshake: "));
if (sbus_readl(&chan->state) == STATE_READY) {
DET(("Already STATE_READY, failed.\n"));
return -1; /* We're hosed... */
}
myri_disable_irq(mp->lregs, cregs);
while (tick++ < 25) {
u32 softstate;
/* Wake it up. */
DET(("shakedown, CONTROL_WON, "));
sbus_writel(1, &shmem->shakedown);
sbus_writel(CONTROL_WON, cregs + MYRICTRL_CTRL);
softstate = sbus_readl(&chan->state);
DET(("chanstate[%08x] ", softstate));
if (softstate == STATE_READY) {
DET(("wakeup successful, "));
break;
}
if (softstate != STATE_WFN) {
DET(("not WFN setting that, "));
sbus_writel(STATE_WFN, &chan->state);
}
udelay(20);
}
myri_enable_irq(mp->lregs, cregs);
if (tick > 25) {
DET(("25 ticks we lose, failure.\n"));
return -1;
}
DET(("success\n"));
return 0;
}
int DET(int A[], int order)
{
if (order == 2)
{
return (A[0] * A[3] - A[2] * A[1]);
}
int k, sum, factor, det;
factor = -1;
sum = 0;
for (k = 0; k < order; k++)
{
factor = factor * -1;
int *min = matminor(A, k, order - 1);
det = DET(min, order - 1);
free (min);
sum = sum + (factor * A[k]* det);
}
return sum;
}
void CHelicopter::UpdateHeliParticles ()
{
CKinematics* K = smart_cast<CKinematics*>(Visual());
m_particleXFORM = K->LL_GetTransform(m_smoke_bone);
m_particleXFORM.mulA_43(XFORM());
if (m_pParticle){
Fvector vel;
Fvector last_pos = PositionStack.back().vPosition;
vel.sub(Position(), last_pos);
vel.mul(5.0f);
m_pParticle->UpdateParent(m_particleXFORM, vel );
}
//lighting
if(m_light_render->get_active()){
Fmatrix xf;
Fmatrix& M = K->LL_GetTransform(u16(m_light_bone));
xf.mul (XFORM(),M);
VERIFY(!fis_zero(DET(xf)));
m_light_render->set_rotation (xf.k,xf.i);
m_light_render->set_position (xf.c);
if (m_lanim)
{
int frame;
u32 clr = m_lanim->CalculateBGR(Device.fTimeGlobal,frame); // òþ÷ò¨ð•ðõª ò ¯þ¨üðªõ BGR
Fcolor fclr;
fclr.set ((float)color_get_B(clr),(float)color_get_G(clr),(float)color_get_R(clr),1.f);
fclr.mul_rgb (m_light_brightness/255.f);
m_light_render->set_color (fclr);
}
}
}
bool CIKFoot::GetFootStepMatrix( ik_goal_matrix &m, const Fmatrix &g_anim, const SIKCollideData &cld, bool collide, bool rotation, bool b_make_shift/*=true*/ )const
{
const Fmatrix global_anim = g_anim;
Fvector local_point; ToePosition( local_point ); //toe position in bone[2] space
Fvector global_point; global_anim.transform_tiny( global_point, local_point ); //non collided toe in global space
Fvector foot_normal; FootNormal( foot_normal );
global_anim.transform_dir( foot_normal );
#ifdef DEBUG
//if( ph_dbg_draw_mask.test( phDbgDrawIKGoal ) )
//{
// DBG_DrawLine( global_point, Fvector().add( global_point, foot_normal ), D3DCOLOR_XRGB( 0, 255, 255) );
//}
#endif
if( cld.m_collide_point == ik_foot_geom::heel || cld.m_collide_point == ik_foot_geom::side )
{
Fmatrix foot;ref_bone_to_foot( foot, g_anim );
Fvector heel;
HeelPosition( heel );
foot.transform_tiny(global_point, heel );
#ifdef DEBUG
if( ph_dbg_draw_mask.test( phDbgDrawIKGoal ) )
DBG_DrawPoint( global_point, 0.01, D3DCOLOR_XRGB( 0, 255, 255));
#endif
Fmatrix foot_to_ref;
ref_bone_to_foot_transform(foot_to_ref).transform_tiny(local_point, heel );
}
float dtoe_tri =-cld.m_plane.d - cld.m_plane.n.dotproduct( global_point );
if( !cld.collided || _abs( dtoe_tri ) > collide_dist )
{
m.set( global_anim, ik_goal_matrix::cl_free );
return false;
}
Fplane p = cld.m_plane;
Fmatrix xm; xm.set( global_anim );
ik_goal_matrix::e_collide_state cl_state = ik_goal_matrix::cl_undefined;
if( rotation )//!collide || ik_allign_free_foot
cl_state = rotate( xm, p, foot_normal, global_point, collide );
if( b_make_shift && make_shift( xm, local_point, collide, p, cld.m_pick_dir ) )
switch( cl_state )
{
case ik_goal_matrix::cl_aligned : break;
case ik_goal_matrix::cl_undefined :
case ik_goal_matrix::cl_free :
cl_state = ik_goal_matrix::cl_translational; break;
case ik_goal_matrix::cl_rotational:
cl_state = ik_goal_matrix::cl_mixed; break;
default: NODEFAULT;
}
else if( cl_state == ik_goal_matrix::cl_undefined )
cl_state = ik_goal_matrix::cl_free;
VERIFY( _valid( xm ) );
m.set( xm, cl_state );
#ifdef DEBUG
if(ph_dbg_draw_mask.test( phDbgDrawIKGoal ))
{
DBG_DrawPoint( global_point, 0.03f, D3DCOLOR_RGBA( 255, 0, 0, 255 ) );
}
if(!fsimilar( _abs( DET( g_anim ) - 1.f ), _abs( DET( m.get() ) - 1.f ), 0.001f ) )
Msg("scale g_anim: %f scale m: %f ", DET( g_anim ) , DET( m.get() ) );
#endif
return true;
}
void CWeapon::UpdatePosition(const Fmatrix& trans)
{
Position().set (trans.c);
XFORM().mul (trans,m_strapped_mode ? m_StrapOffset : m_Offset);
VERIFY (!fis_zero(DET(renderable.xform)));
}
/* update ellipsoid according to the given motion */
void ELLIP_Update (ELLIP *eli, void *body, void *shp, MOTION motion)
{
SGP sgp = {shp, eli, GOBJ_ELLIP, NULL};
double *ref = eli->ref_center,
(*ref_pnt) [3] = eli->ref_point,
*cur = eli->cur_center,
(*cur_pnt) [3] = eli->cur_point;
if (motion)
{
motion (body, &sgp, ref, cur);
motion (body, &sgp, ref_pnt [0], cur_pnt [0]);
motion (body, &sgp, ref_pnt [1], cur_pnt [1]);
motion (body, &sgp, ref_pnt [2], cur_pnt [2]);
BODY *bod = body;
switch (bod->kind)
{
case OBS:
case RIG:
{
double *R1 = bod->conf, *R0 = eli->ref_rot, *rot = eli->cur_rot;
NNMUL (R1, R0, rot);
}
break;
case PRB:
{
double *F = bod->conf, *sca0 = eli->ref_sca, *rot0 = eli->ref_rot, *sca1 = eli->cur_sca, *rot1 = eli->cur_rot;
double U[9] = {1.0/(sca0[0]*sca0[0]), 0.0, 0.0, 0.0, 1.0/(sca0[1]*sca0[1]), 0.0, 0.0, 0.0, 1.0/(sca0[2]*sca0[2])};
double A0[9], iF[9], det, X[3], Y[9], A[9];
NTMUL (U, rot0, Y);
NNMUL (rot0, Y, A0);
TNCOPY (F, Y); /* T --> since deformation gradient is stored row-wise */
INVERT (Y, iF, det);
ASSERT_TEXT (det > 0.0, "det(F) <= 0.0 during ellipsoid update");
NNMUL (A0, iF, Y);
TNMUL (iF, Y, A);
ASSERT_TEXT (lapack_dsyev ('V', 'U', 3, A, 3, X, Y, 9) == 0, "Eigen decomposition failed during ellipsoid update");
if (DET(A) < 0.0) /* det(A) is 1.0 or -1.0 */
{
SCALE9 (A, -1.0); /* keep positive space orientation */
}
NNCOPY (A, rot1);
sca1[0] = 1.0/sqrt(X[0]);
sca1[1] = 1.0/sqrt(X[1]);
sca1[2] = 1.0/sqrt(X[2]);
}
break;
default:
{
ASSERT_TEXT (0, "Invalid body kind during ellipsoid update");
}
break;
}
}
else
{
COPY (ref, cur);
COPY (ref_pnt [0], cur_pnt [0]);
COPY (ref_pnt [1], cur_pnt [1]);
COPY (ref_pnt [2], cur_pnt [2]);
sca_rot (eli->ref_center, eli->ref_point, eli->ref_sca, eli->ref_rot);
COPY (eli->ref_sca, eli->cur_sca);
NNCOPY (eli->ref_rot, eli->cur_rot);
}
}
static int __devinit myri_sbus_probe(struct platform_device *op)
{
struct device_node *dp = op->dev.of_node;
static unsigned version_printed;
struct net_device *dev;
struct myri_eth *mp;
const void *prop;
static int num;
int i, len;
DET(("myri_ether_init(%p,%d):\n", op, num));
dev = alloc_etherdev(sizeof(struct myri_eth));
if (!dev)
return -ENOMEM;
if (version_printed++ == 0)
;
SET_NETDEV_DEV(dev, &op->dev);
mp = netdev_priv(dev);
spin_lock_init(&mp->irq_lock);
mp->myri_op = op;
/* Clean out skb arrays. */
for (i = 0; i < (RX_RING_SIZE + 1); i++)
mp->rx_skbs[i] = NULL;
for (i = 0; i < TX_RING_SIZE; i++)
mp->tx_skbs[i] = NULL;
/* First check for EEPROM information. */
prop = of_get_property(dp, "myrinet-eeprom-info", &len);
if (prop)
memcpy(&mp->eeprom, prop, sizeof(struct myri_eeprom));
if (!prop) {
/* No eeprom property, must cook up the values ourselves. */
DET(("No EEPROM: "));
mp->eeprom.bus_type = BUS_TYPE_SBUS;
mp->eeprom.cpuvers =
of_getintprop_default(dp, "cpu_version", 0);
mp->eeprom.cval =
of_getintprop_default(dp, "clock_value", 0);
mp->eeprom.ramsz = of_getintprop_default(dp, "sram_size", 0);
if (!mp->eeprom.cpuvers)
mp->eeprom.cpuvers = CPUVERS_2_3;
if (mp->eeprom.cpuvers < CPUVERS_3_0)
mp->eeprom.cval = 0;
if (!mp->eeprom.ramsz)
mp->eeprom.ramsz = (128 * 1024);
prop = of_get_property(dp, "myrinet-board-id", &len);
if (prop)
memcpy(&mp->eeprom.id[0], prop, 6);
else
set_boardid_from_idprom(mp, num);
prop = of_get_property(dp, "fpga_version", &len);
if (prop)
memcpy(&mp->eeprom.fvers[0], prop, 32);
else
memset(&mp->eeprom.fvers[0], 0, 32);
if (mp->eeprom.cpuvers == CPUVERS_4_1) {
if (mp->eeprom.ramsz == (128 * 1024))
mp->eeprom.ramsz = (256 * 1024);
if ((mp->eeprom.cval == 0x40414041) ||
(mp->eeprom.cval == 0x90449044))
mp->eeprom.cval = 0x50e450e4;
}
}
#ifdef DEBUG_DETECT
dump_eeprom(mp);
#endif
for (i = 0; i < 6; i++)
dev->dev_addr[i] = mp->eeprom.id[i];
determine_reg_space_size(mp);
/* Map in the MyriCOM register/localram set. */
if (mp->eeprom.cpuvers < CPUVERS_4_0) {
/* XXX Makes no sense, if control reg is non-existent this
* XXX driver cannot function at all... maybe pre-4.0 is
* XXX only a valid version for PCI cards? Ask feldy...
*/
DET(("Mapping regs for cpuvers < CPUVERS_4_0\n"));
mp->regs = of_ioremap(&op->resource[0], 0,
mp->reg_size, "MyriCOM Regs");
if (!mp->regs) {
;
goto err;
}
mp->lanai = mp->regs + (256 * 1024);
mp->lregs = mp->lanai + (0x10000 * 2);
} else {
DET(("Mapping regs for cpuvers >= CPUVERS_4_0\n"));
mp->cregs = of_ioremap(&op->resource[0], 0,
PAGE_SIZE, "MyriCOM Control Regs");
mp->lregs = of_ioremap(&op->resource[0], (256 * 1024),
PAGE_SIZE, "MyriCOM LANAI Regs");
mp->lanai = of_ioremap(&op->resource[0], (512 * 1024),
mp->eeprom.ramsz, "MyriCOM SRAM");
}
DET(("Registers mapped: cregs[%p] lregs[%p] lanai[%p]\n",
mp->cregs, mp->lregs, mp->lanai));
if (mp->eeprom.cpuvers >= CPUVERS_4_0)
mp->shmem_base = 0xf000;
else
mp->shmem_base = 0x8000;
DET(("Shared memory base is %04x, ", mp->shmem_base));
mp->shmem = (struct myri_shmem __iomem *)
(mp->lanai + (mp->shmem_base * 2));
DET(("shmem mapped at %p\n", mp->shmem));
mp->rqack = &mp->shmem->channel.recvqa;
mp->rq = &mp->shmem->channel.recvq;
mp->sq = &mp->shmem->channel.sendq;
/* Reset the board. */
DET(("Resetting LANAI\n"));
myri_reset_off(mp->lregs, mp->cregs);
myri_reset_on(mp->cregs);
/* Turn IRQ's off. */
myri_disable_irq(mp->lregs, mp->cregs);
/* Reset once more. */
myri_reset_on(mp->cregs);
/* Get the supported DVMA burst sizes from our SBUS. */
mp->myri_bursts = of_getintprop_default(dp->parent,
"burst-sizes", 0x00);
if (!sbus_can_burst64())
mp->myri_bursts &= ~(DMA_BURST64);
DET(("MYRI bursts %02x\n", mp->myri_bursts));
/* Encode SBUS interrupt level in second control register. */
i = of_getintprop_default(dp, "interrupts", 0);
if (i == 0)
i = 4;
DET(("prom_getint(interrupts)==%d, irqlvl set to %04x\n",
i, (1 << i)));
sbus_writel((1 << i), mp->cregs + MYRICTRL_IRQLVL);
mp->dev = dev;
dev->watchdog_timeo = 5*HZ;
dev->irq = op->archdata.irqs[0];
dev->netdev_ops = &myri_ops;
/* Register interrupt handler now. */
DET(("Requesting MYRIcom IRQ line.\n"));
if (request_irq(dev->irq, myri_interrupt,
IRQF_SHARED, "MyriCOM Ethernet", (void *) dev)) {
;
goto err;
}
dev->mtu = MYRINET_MTU;
dev->header_ops = &myri_header_ops;
dev->hard_header_len = (ETH_HLEN + MYRI_PAD_LEN);
/* Load code onto the LANai. */
DET(("Loading LANAI firmware\n"));
if (myri_load_lanai(mp)) {
;
goto err_free_irq;
}
if (register_netdev(dev)) {
;
goto err_free_irq;
}
dev_set_drvdata(&op->dev, mp);
num++;
// printk("%s: MyriCOM MyriNET Ethernet %pM\n",
;
return 0;
err_free_irq:
free_irq(dev->irq, dev);
err:
/* This will also free the co-allocated private data*/
free_netdev(dev);
return -ENODEV;
}
static int __init myri_ether_init(struct net_device *dev, struct sbus_dev *sdev, int num)
{
static unsigned version_printed = 0;
struct myri_eth *mp;
unsigned char prop_buf[32];
int i;
DET(("myri_ether_init(%p,%p,%d):\n", dev, sdev, num));
dev = init_etherdev(0, sizeof(struct myri_eth));
if (version_printed++ == 0)
printk(version);
printk("%s: MyriCOM MyriNET Ethernet ", dev->name);
mp = (struct myri_eth *) dev->priv;
mp->myri_sdev = sdev;
/* Clean out skb arrays. */
for (i = 0; i < (RX_RING_SIZE + 1); i++)
mp->rx_skbs[i] = NULL;
for (i = 0; i < TX_RING_SIZE; i++)
mp->tx_skbs[i] = NULL;
/* First check for EEPROM information. */
i = prom_getproperty(sdev->prom_node, "myrinet-eeprom-info",
(char *)&mp->eeprom, sizeof(struct myri_eeprom));
DET(("prom_getprop(myrinet-eeprom-info) returns %d\n", i));
if (i == 0 || i == -1) {
/* No eeprom property, must cook up the values ourselves. */
DET(("No EEPROM: "));
mp->eeprom.bus_type = BUS_TYPE_SBUS;
mp->eeprom.cpuvers = prom_getintdefault(sdev->prom_node,"cpu_version",0);
mp->eeprom.cval = prom_getintdefault(sdev->prom_node,"clock_value",0);
mp->eeprom.ramsz = prom_getintdefault(sdev->prom_node,"sram_size",0);
DET(("cpuvers[%d] cval[%d] ramsz[%d]\n", mp->eeprom.cpuvers,
mp->eeprom.cval, mp->eeprom.ramsz));
if (mp->eeprom.cpuvers == 0) {
DET(("EEPROM: cpuvers was zero, setting to %04x\n",CPUVERS_2_3));
mp->eeprom.cpuvers = CPUVERS_2_3;
}
if (mp->eeprom.cpuvers < CPUVERS_3_0) {
DET(("EEPROM: cpuvers < CPUVERS_3_0, clockval set to zero.\n"));
mp->eeprom.cval = 0;
}
if (mp->eeprom.ramsz == 0) {
DET(("EEPROM: ramsz == 0, setting to 128k\n"));
mp->eeprom.ramsz = (128 * 1024);
}
i = prom_getproperty(sdev->prom_node, "myrinet-board-id",
&prop_buf[0], 10);
DET(("EEPROM: prom_getprop(myrinet-board-id) returns %d\n", i));
if ((i != 0) && (i != -1))
memcpy(&mp->eeprom.id[0], &prop_buf[0], 6);
else
set_boardid_from_idprom(mp, num);
i = prom_getproperty(sdev->prom_node, "fpga_version",
&mp->eeprom.fvers[0], 32);
DET(("EEPROM: prom_getprop(fpga_version) returns %d\n", i));
if (i == 0 || i == -1)
memset(&mp->eeprom.fvers[0], 0, 32);
if (mp->eeprom.cpuvers == CPUVERS_4_1) {
DET(("EEPROM: cpuvers CPUVERS_4_1, "));
if (mp->eeprom.ramsz == (128 * 1024)) {
DET(("ramsize 128k, setting to 256k, "));
mp->eeprom.ramsz = (256 * 1024);
}
if ((mp->eeprom.cval==0x40414041)||(mp->eeprom.cval==0x90449044)){
DET(("changing cval from %08x to %08x ",
mp->eeprom.cval, 0x50e450e4));
mp->eeprom.cval = 0x50e450e4;
}
DET(("\n"));
}
}
#ifdef DEBUG_DETECT
dump_eeprom(mp);
#endif
for (i = 0; i < 6; i++)
printk("%2.2x%c",
dev->dev_addr[i] = mp->eeprom.id[i],
i == 5 ? ' ' : ':');
printk("\n");
determine_reg_space_size(mp);
/* Map in the MyriCOM register/localram set. */
if (mp->eeprom.cpuvers < CPUVERS_4_0) {
/* XXX Makes no sense, if control reg is non-existant this
* XXX driver cannot function at all... maybe pre-4.0 is
* XXX only a valid version for PCI cards? Ask feldy...
*/
DET(("Mapping regs for cpuvers < CPUVERS_4_0\n"));
mp->regs = sbus_ioremap(&sdev->resource[0], 0,
mp->reg_size, "MyriCOM Regs");
if (!mp->regs) {
printk("MyriCOM: Cannot map MyriCOM registers.\n");
return -ENODEV;
}
mp->lanai = (unsigned short *) (mp->regs + (256 * 1024));
mp->lanai3 = (unsigned int *) mp->lanai;
mp->lregs = (unsigned long) &mp->lanai[0x10000];
} else {
DET(("Mapping regs for cpuvers >= CPUVERS_4_0\n"));
mp->cregs = sbus_ioremap(&sdev->resource[0], 0,
PAGE_SIZE, "MyriCOM Control Regs");
mp->lregs = sbus_ioremap(&sdev->resource[0], (256 * 1024),
PAGE_SIZE, "MyriCOM LANAI Regs");
mp->lanai = (unsigned short *)
sbus_ioremap(&sdev->resource[0], (512 * 1024),
mp->eeprom.ramsz, "MyriCOM SRAM");
mp->lanai3 = (unsigned int *) mp->lanai;
}
DET(("Registers mapped: cregs[%lx] lregs[%lx] lanai[%p] lanai3[%p]\n",
mp->cregs, mp->lregs, mp->lanai, mp->lanai3));
if (mp->eeprom.cpuvers >= CPUVERS_4_0)
mp->shmem_base = 0xf000;
else
mp->shmem_base = 0x8000;
DET(("Shared memory base is %04x, ", mp->shmem_base));
mp->shmem = (struct myri_shmem *) &mp->lanai[mp->shmem_base];
DET(("shmem mapped at %p\n", mp->shmem));
mp->rqack = &mp->shmem->channel.recvqa;
mp->rq = &mp->shmem->channel.recvq;
mp->sq = &mp->shmem->channel.sendq;
/* Reset the board. */
DET(("Resetting LANAI\n"));
myri_reset_off(mp->lregs, mp->cregs);
myri_reset_on(mp->cregs);
/* Turn IRQ's off. */
myri_disable_irq(mp->lregs, mp->cregs);
/* Reset once more. */
myri_reset_on(mp->cregs);
/* Get the supported DVMA burst sizes from our SBUS. */
mp->myri_bursts = prom_getintdefault(mp->myri_sdev->bus->prom_node,
"burst-sizes", 0x00);
if (!sbus_can_burst64(sdev))
mp->myri_bursts &= ~(DMA_BURST64);
DET(("MYRI bursts %02x\n", mp->myri_bursts));
/* Encode SBUS interrupt level in second control register. */
i = prom_getint(sdev->prom_node, "interrupts");
if (i == 0)
i = 4;
DET(("prom_getint(interrupts)==%d, irqlvl set to %04x\n",
i, (1 << i)));
sbus_writel((1 << i), mp->cregs + MYRICTRL_IRQLVL);
mp->dev = dev;
dev->open = &myri_open;
dev->stop = &myri_close;
dev->hard_start_xmit = &myri_start_xmit;
dev->tx_timeout = &myri_tx_timeout;
dev->watchdog_timeo = 5*HZ;
dev->get_stats = &myri_get_stats;
dev->set_multicast_list = &myri_set_multicast;
dev->irq = sdev->irqs[0];
/* Register interrupt handler now. */
DET(("Requesting MYRIcom IRQ line.\n"));
if (request_irq(dev->irq, &myri_interrupt,
SA_SHIRQ, "MyriCOM Ethernet", (void *) dev)) {
printk("MyriCOM: Cannot register interrupt handler.\n");
return -ENODEV;
}
DET(("ether_setup()\n"));
ether_setup(dev);
dev->mtu = MYRINET_MTU;
dev->change_mtu = myri_change_mtu;
dev->hard_header = myri_header;
dev->rebuild_header = myri_rebuild_header;
dev->hard_header_len = (ETH_HLEN + MYRI_PAD_LEN);
dev->hard_header_cache = myri_header_cache;
dev->header_cache_update= myri_header_cache_update;
/* Load code onto the LANai. */
DET(("Loading LANAI firmware\n"));
myri_load_lanai(mp);
#ifdef MODULE
dev->ifindex = dev_new_index();
mp->next_module = root_myri_dev;
root_myri_dev = mp;
#endif
return 0;
}
BOOL CGameObject::net_Spawn (CSE_Abstract* DC)
{
VERIFY (!m_spawned);
m_spawned = true;
m_spawn_time = Device.dwFrame;
m_ai_obstacle = xr_new<ai_obstacle>(this);
CSE_Abstract *E = (CSE_Abstract*)DC;
VERIFY (E);
const CSE_Visual *visual = smart_cast<const CSE_Visual*>(E);
if (visual) {
cNameVisual_set (visual_name(E));
if (visual->flags.test(CSE_Visual::flObstacle)) {
ISpatial *self = smart_cast<ISpatial*>(this);
self->spatial.type |= STYPE_OBSTACLE;
}
}
// Naming
cName_set (E->s_name);
cNameSect_set (E->s_name);
if (E->name_replace()[0])
cName_set (E->name_replace());
bool demo_spectator = false;
if (Level().IsDemoPlayStarted() && E->ID == u16(-1))
{
Msg("* Spawning demo spectator ...");
demo_spectator = true;
} else {
R_ASSERT(Level().Objects.net_Find(E->ID) == NULL);
}
setID (E->ID);
// if (GameID() != eGameIDSingle)
// Msg ("CGameObject::net_Spawn -- object %s[%x] setID [%d]", *(E->s_name), this, E->ID);
// XForm
XFORM().setXYZ (E->o_Angle);
Position().set (E->o_Position);
#ifdef DEBUG
if(ph_dbg_draw_mask1.test(ph_m1_DbgTrackObject)&&stricmp(PH_DBG_ObjectTrackName(),*cName())==0)
{
Msg("CGameObject::net_Spawn obj %s Position set from CSE_Abstract %f,%f,%f",PH_DBG_ObjectTrackName(),Position().x,Position().y,Position().z);
}
#endif
VERIFY (_valid(renderable.xform));
VERIFY (!fis_zero(DET(renderable.xform)));
CSE_ALifeObject *O = smart_cast<CSE_ALifeObject*>(E);
if (O && xr_strlen(O->m_ini_string)) {
#pragma warning(push)
#pragma warning(disable:4238)
m_ini_file = xr_new<CInifile>(
&IReader (
(void*)(*(O->m_ini_string)),
O->m_ini_string.size()
),
FS.get_path("$game_config$")->m_Path
);
#pragma warning(pop)
}
m_story_id = ALife::_STORY_ID(-1);
if (O)
m_story_id = O->m_story_id;
// Net params
setLocal (E->s_flags.is(M_SPAWN_OBJECT_LOCAL));
if (Level().IsDemoPlay()) //&& OnClient())
{
if (!demo_spectator)
{
setLocal(FALSE);
}
};
setReady (TRUE);
if (!demo_spectator)
g_pGameLevel->Objects.net_Register (this);
m_server_flags.one ();
if (O) {
m_server_flags = O->m_flags;
if (O->m_flags.is(CSE_ALifeObject::flVisibleForAI))
spatial.type |= STYPE_VISIBLEFORAI;
else
spatial.type = (spatial.type | STYPE_VISIBLEFORAI) ^ STYPE_VISIBLEFORAI;
}
reload (*cNameSect());
if(!g_dedicated_server)
CScriptBinder::reload (*cNameSect());
reinit ();
if(!g_dedicated_server)
CScriptBinder::reinit ();
#ifdef DEBUG
if(ph_dbg_draw_mask1.test(ph_m1_DbgTrackObject)&&stricmp(PH_DBG_ObjectTrackName(),*cName())==0)
{
Msg("CGameObject::net_Spawn obj %s After Script Binder reinit %f,%f,%f",PH_DBG_ObjectTrackName(),Position().x,Position().y,Position().z);
}
#endif
//load custom user data from server
if(!E->client_data.empty())
{
// Msg ("client data is present for object [%d][%s], load is processed",ID(),*cName());
IReader ireader = IReader(&*E->client_data.begin(), E->client_data.size());
net_Load (ireader);
}
else {
// Msg ("no client data for object [%d][%s], load is skipped",ID(),*cName());
}
// if we have a parent
if ( ai().get_level_graph() ) {
if ( E->ID_Parent == 0xffff ) {
CSE_ALifeObject* l_tpALifeObject = smart_cast<CSE_ALifeObject*>(E);
if (l_tpALifeObject && ai().level_graph().valid_vertex_id(l_tpALifeObject->m_tNodeID))
ai_location().level_vertex (l_tpALifeObject->m_tNodeID);
else {
CSE_Temporary* l_tpTemporary = smart_cast<CSE_Temporary*> (E);
if (l_tpTemporary && ai().level_graph().valid_vertex_id(l_tpTemporary->m_tNodeID))
ai_location().level_vertex (l_tpTemporary->m_tNodeID);
}
if (l_tpALifeObject && ai().game_graph().valid_vertex_id(l_tpALifeObject->m_tGraphID))
ai_location().game_vertex (l_tpALifeObject->m_tGraphID);
validate_ai_locations (false);
// validating position
if (
UsedAI_Locations() &&
ai().level_graph().inside(
ai_location().level_vertex_id(),
Position()
) &&
can_validate_position_on_spawn()
)
Position().y = EPS_L + ai().level_graph().vertex_plane_y(*ai_location().level_vertex(),Position().x,Position().z);
}
else {
CSE_ALifeObject* const alife_object = smart_cast<CSE_ALifeObject*>(E);
if ( alife_object && ai().level_graph().valid_vertex_id(alife_object->m_tNodeID) ) {
ai_location().level_vertex (alife_object->m_tNodeID);
ai_location().game_vertex (alife_object->m_tGraphID);
}
}
}
inherited::net_Spawn (DC);
m_bObjectRemoved = false;
spawn_supplies ();
#ifdef DEBUG
if(ph_dbg_draw_mask1.test(ph_m1_DbgTrackObject)&&stricmp(PH_DBG_ObjectTrackName(),*cName())==0)
{
Msg("CGameObject::net_Spawn obj %s Before CScriptBinder::net_Spawn %f,%f,%f",PH_DBG_ObjectTrackName(),Position().x,Position().y,Position().z);
}
BOOL ret =CScriptBinder::net_Spawn(DC);
#else
return (CScriptBinder::net_Spawn(DC));
#endif
#ifdef DEBUG
if(ph_dbg_draw_mask1.test(ph_m1_DbgTrackObject)&&stricmp(PH_DBG_ObjectTrackName(),*cName())==0)
{
Msg("CGameObject::net_Spawn obj %s Before CScriptBinder::net_Spawn %f,%f,%f",PH_DBG_ObjectTrackName(),Position().x,Position().y,Position().z);
}
return ret;
#endif
}
IC bool check_scale(const Fmatrix &m)
{
float det = DET(m);
return (0.8f<det&&det<1.3f);
}
int main()
{
int A[] = {1, 2, 4, 5, 1, 0, 0, 2, 3, 4, 2, 7, -1, -4, 0, 5};
printf("%d",DET(A, 4));
return 0;
}
static int __devinit myri_sbus_probe(struct of_device *op, const struct of_device_id *match)
{
struct device_node *dp = op->node;
static unsigned version_printed;
struct net_device *dev;
struct myri_eth *mp;
const void *prop;
static int num;
int i, len;
DET(("myri_ether_init(%p,%d):\n", op, num));
dev = alloc_etherdev(sizeof(struct myri_eth));
if (!dev)
return -ENOMEM;
if (version_printed++ == 0)
printk(version);
SET_NETDEV_DEV(dev, &op->dev);
mp = netdev_priv(dev);
spin_lock_init(&mp->irq_lock);
mp->myri_op = op;
for (i = 0; i < (RX_RING_SIZE + 1); i++)
mp->rx_skbs[i] = NULL;
for (i = 0; i < TX_RING_SIZE; i++)
mp->tx_skbs[i] = NULL;
prop = of_get_property(dp, "myrinet-eeprom-info", &len);
if (prop)
memcpy(&mp->eeprom, prop, sizeof(struct myri_eeprom));
if (!prop) {
DET(("No EEPROM: "));
mp->eeprom.bus_type = BUS_TYPE_SBUS;
mp->eeprom.cpuvers =
of_getintprop_default(dp, "cpu_version", 0);
mp->eeprom.cval =
of_getintprop_default(dp, "clock_value", 0);
mp->eeprom.ramsz = of_getintprop_default(dp, "sram_size", 0);
if (!mp->eeprom.cpuvers)
mp->eeprom.cpuvers = CPUVERS_2_3;
if (mp->eeprom.cpuvers < CPUVERS_3_0)
mp->eeprom.cval = 0;
if (!mp->eeprom.ramsz)
mp->eeprom.ramsz = (128 * 1024);
prop = of_get_property(dp, "myrinet-board-id", &len);
if (prop)
memcpy(&mp->eeprom.id[0], prop, 6);
else
set_boardid_from_idprom(mp, num);
prop = of_get_property(dp, "fpga_version", &len);
if (prop)
memcpy(&mp->eeprom.fvers[0], prop, 32);
else
memset(&mp->eeprom.fvers[0], 0, 32);
if (mp->eeprom.cpuvers == CPUVERS_4_1) {
if (mp->eeprom.ramsz == (128 * 1024))
mp->eeprom.ramsz = (256 * 1024);
if ((mp->eeprom.cval == 0x40414041) ||
(mp->eeprom.cval == 0x90449044))
mp->eeprom.cval = 0x50e450e4;
}
}
#ifdef DEBUG_DETECT
dump_eeprom(mp);
#endif
for (i = 0; i < 6; i++)
dev->dev_addr[i] = mp->eeprom.id[i];
determine_reg_space_size(mp);
if (mp->eeprom.cpuvers < CPUVERS_4_0) {
DET(("Mapping regs for cpuvers < CPUVERS_4_0\n"));
mp->regs = of_ioremap(&op->resource[0], 0,
mp->reg_size, "MyriCOM Regs");
if (!mp->regs) {
printk("MyriCOM: Cannot map MyriCOM registers.\n");
goto err;
}
mp->lanai = mp->regs + (256 * 1024);
mp->lregs = mp->lanai + (0x10000 * 2);
} else {
DET(("Mapping regs for cpuvers >= CPUVERS_4_0\n"));
mp->cregs = of_ioremap(&op->resource[0], 0,
PAGE_SIZE, "MyriCOM Control Regs");
mp->lregs = of_ioremap(&op->resource[0], (256 * 1024),
PAGE_SIZE, "MyriCOM LANAI Regs");
mp->lanai = of_ioremap(&op->resource[0], (512 * 1024),
mp->eeprom.ramsz, "MyriCOM SRAM");
}
DET(("Registers mapped: cregs[%p] lregs[%p] lanai[%p]\n",
mp->cregs, mp->lregs, mp->lanai));
if (mp->eeprom.cpuvers >= CPUVERS_4_0)
mp->shmem_base = 0xf000;
else
mp->shmem_base = 0x8000;
DET(("Shared memory base is %04x, ", mp->shmem_base));
mp->shmem = (struct myri_shmem __iomem *)
(mp->lanai + (mp->shmem_base * 2));
DET(("shmem mapped at %p\n", mp->shmem));
mp->rqack = &mp->shmem->channel.recvqa;
mp->rq = &mp->shmem->channel.recvq;
mp->sq = &mp->shmem->channel.sendq;
DET(("Resetting LANAI\n"));
myri_reset_off(mp->lregs, mp->cregs);
myri_reset_on(mp->cregs);
myri_disable_irq(mp->lregs, mp->cregs);
myri_reset_on(mp->cregs);
mp->myri_bursts = of_getintprop_default(dp->parent,
"burst-sizes", 0x00);
if (!sbus_can_burst64())
mp->myri_bursts &= ~(DMA_BURST64);
DET(("MYRI bursts %02x\n", mp->myri_bursts));
i = of_getintprop_default(dp, "interrupts", 0);
if (i == 0)
i = 4;
DET(("prom_getint(interrupts)==%d, irqlvl set to %04x\n",
i, (1 << i)));
sbus_writel((1 << i), mp->cregs + MYRICTRL_IRQLVL);
mp->dev = dev;
dev->watchdog_timeo = 5*HZ;
dev->irq = op->irqs[0];
dev->netdev_ops = &myri_ops;
DET(("Requesting MYRIcom IRQ line.\n"));
if (request_irq(dev->irq, &myri_interrupt,
IRQF_SHARED, "MyriCOM Ethernet", (void *) dev)) {
printk("MyriCOM: Cannot register interrupt handler.\n");
goto err;
}
dev->mtu = MYRINET_MTU;
dev->header_ops = &myri_header_ops;
dev->hard_header_len = (ETH_HLEN + MYRI_PAD_LEN);
DET(("Loading LANAI firmware\n"));
if (myri_load_lanai(mp)) {
printk(KERN_ERR "MyriCOM: Cannot Load LANAI firmware.\n");
goto err_free_irq;
}
if (register_netdev(dev)) {
printk("MyriCOM: Cannot register device.\n");
goto err_free_irq;
}
dev_set_drvdata(&op->dev, mp);
num++;
printk("%s: MyriCOM MyriNET Ethernet %pM\n",
dev->name, dev->dev_addr);
return 0;
err_free_irq:
free_irq(dev->irq, dev);
err:
free_netdev(dev);
return -ENODEV;
}
