Merge pull request #99 from jdavidberger/misc-bugfix

Fixed two minor / potential bugs

4 files changed, 23 insertions, 9 deletions

diff --git a/src/ootx_decoder.c b/src/ootx_decoder.c
index 7bf7d7e..ad55f5b 100644
--- a/src/ootx_decoder.c
+++ b/src/ootx_decoder.c
@@ -182,8 +182,13 @@ union iFloat {
 	float f;
 };
 
+
+struct __attribute__((__packed__)) unaligned_16_t {
+	uint16_t v;
+};
+
 float _half_to_float(uint8_t* data) {
-	uint16_t x = *(uint16_t*)data;
+	uint16_t x = ((struct unaligned_16_t*)data)->v;
 	union iFloat fnum;
 	fnum.f = 0;
 
diff --git a/src/survive_cal.c b/src/survive_cal.c
index 87d8c0b..f3a682a 100755
--- a/src/survive_cal.c
+++ b/src/survive_cal.c
@@ -15,6 +15,7 @@
 #include <sys/stat.h>
 #include <sys/types.h>
 #include <linmath.h>
+#include <assert.h>
 
 #include "survive_config.h"
 
diff --git a/src/survive_cal.h b/src/survive_cal.h
index ae644d1..f5ef6dc 100644
--- a/src/survive_cal.h
+++ b/src/survive_cal.h
@@ -51,14 +51,14 @@ struct SurviveCalData
 	ootx_decoder_context ootx_decoders[NUM_LIGHTHOUSES];
 
 	//For statistics-gathering phase. (Stage 2/3)
-	FLT all_lengths[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES][2][DRPTS];
-	FLT all_angles[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES][2][DRPTS];
+	FLT all_lengths[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES][2][DRPTS + 1];
+	FLT all_angles[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES][2][DRPTS + 1];
 	int16_t all_counts[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES][2];
 	int16_t peak_counts;
 	int8_t found_common;
 	int8_t times_found_common;
 
-	FLT all_sync_times[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES][DRPTS];
+	FLT all_sync_times[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES][DRPTS + 1];
 	int16_t all_sync_counts[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES];
 
 	//For camfind (4+)
diff --git a/src/survive_vive.c b/src/survive_vive.c
index 843482a..5be2d03 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -902,8 +902,16 @@ int survive_get_config( char ** config, SurviveViveData * sv, int devno, int ifa
 ///////////////////////////////////////////////////////////////////////////////
 
 #define POP1  (*(readdata++))
-#define POP2  (*(((uint16_t*)((readdata+=2)-2))))
-#define POP4  (*(((uint32_t*)((readdata+=4)-4))))
+
+
+struct __attribute__((__packed__)) unaligned_16_t {
+    uint16_t v;
+};
+struct __attribute__((__packed__)) unaligned_32_t {
+    uint32_t v;
+};
+#define POP2  ((((( struct unaligned_16_t*)((readdata+=2)-2))))->v)
+#define POP4  ((((( struct unaligned_32_t*)((readdata+=4)-4))))->v)
 
 void calibrate_acc(SurviveObject* so, FLT* agm) {
 	if (so->acc_bias != NULL) {
@@ -1431,7 +1439,7 @@ void survive_data_cb( SurviveUSBInterface * si )
 		//printf( "%d -> ", size );
 		for( i = 0; i < 3; i++ )
 		{
-			int16_t * acceldata = (int16_t*)readdata;
+            struct unaligned_16_t * acceldata = (struct unaligned_16_t *)readdata;
 			readdata += 12;
 			uint32_t timecode = POP4;
 			uint8_t code = POP1;
@@ -1443,8 +1451,8 @@ void survive_data_cb( SurviveUSBInterface * si )
 				obj->oldcode = code;
 
 				//XXX XXX BIG TODO!!! Actually recal gyro data.
-				FLT agm[9] = { acceldata[0], acceldata[1], acceldata[2],
-								acceldata[3], acceldata[4], acceldata[5],
+				FLT agm[9] = { acceldata[0].v, acceldata[1].v, acceldata[2].v,
+								acceldata[3].v, acceldata[4].v, acceldata[5].v,
 								0,0,0 };
 
 				agm[0]*=(float)(1./8192.0);