// 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();
}
