plot_lighthouse/Makefile

28 files changed, 1898 insertions, 427 deletions

diff --git a/Makefile b/Makefile
index 8279efa..ed51e30 100644
--- a/Makefile
+++ b/Makefile
@@ -1,7 +1,9 @@
-all : lib data_recorder test
+all : lib data_recorder test calibrate
 
-CFLAGS:=-Iinclude -fPIC -g -Os -Iredist -flto -DUSE_OLD_DISAMBIGUATOR
-LDFLAGS:=-lpthread -lusb-1.0 -lz -lX11 -flto
+CFLAGS:=-Iinclude -fPIC -g -Os -Iredist -flto
+LDFLAGS:=-lpthread -lusb-1.0 -lz -lX11 -lm -flto
+
+# unused: redist/crc32.c
 
 test : test.c lib/libsurvive.so redist/os_generic.o
 	gcc -o $@ $^ $(LDFLAGS) $(CFLAGS)
@@ -9,10 +11,13 @@ test : test.c lib/libsurvive.so redist/os_generic.o
 data_recorder : data_recorder.c lib/libsurvive.so redist/os_generic.o redist/DrawFunctions.o redist/XDriver.o
 	gcc -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
+calibrate :  calibrate.c lib/libsurvive.so redist/os_generic.c redist/DrawFunctions.c redist/XDriver.c
+	gcc -o $@ $^ $(LDFLAGS) $(CFLAGS)
+
 lib:
 	mkdir lib
 
-lib/libsurvive.so : src/survive.o src/survive_usb.o src/survive_data.o src/survive_process.o src/disambiguator.c redist/jsmn.o $(DEBUGSTUFF)
+lib/libsurvive.so : src/survive.o src/survive_usb.o src/survive_data.o src/survive_process.o redist/jsmn.o src/survive_cal.o src/ootx_decoder.o $(DEBUGSTUFF)
 	gcc -o $@ $^ $(LDFLAGS) -shared
 
 clean :
diff --git a/calibrate.c b/calibrate.c
new file mode 100644
index 0000000..60f4316
--- /dev/null
+++ b/calibrate.c
@@ -0,0 +1,167 @@
+//Data recorder mod with GUI showing light positions.
+
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <survive.h>
+#include <string.h>
+#include <os_generic.h>
+#include <DrawFunctions.h>
+
+struct SurviveContext * ctx;
+
+void HandleKey( int keycode, int bDown )
+{
+	if( !bDown ) return;
+
+	if( keycode == 'O' || keycode == 'o' )
+	{
+		survive_usb_send_magic(ctx,1);
+	}
+	if( keycode == 'F' || keycode == 'f' )
+	{
+		survive_usb_send_magic(ctx,0);
+	}
+}
+
+void HandleButton( int x, int y, int button, int bDown )
+{
+}
+
+void HandleMotion( int x, int y, int mask )
+{
+}
+
+int bufferpts[32*2*3];
+char buffermts[32*128*3];
+int buffertimeto[32*3];
+
+void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  )
+{
+	survive_default_light_process( so, sensor_id, acode, timeinsweep, timecode, length );
+
+	if( acode == -1 ) return;
+//return;
+	int jumpoffset = sensor_id;
+	if( strcmp( so->codename, "WM0" ) == 0 ) jumpoffset += 32;
+	else if( strcmp( so->codename, "WM1" ) == 0 ) jumpoffset += 64;
+
+
+	if( acode == 0 || acode == 2 ) //data = 0
+	{
+		bufferpts[jumpoffset*2+0] = (timeinsweep-100000)/500;
+		buffertimeto[jumpoffset] = 0;
+	}
+	if( acode == 1 || acode == 3 ) //data = 1
+	{
+		bufferpts[jumpoffset*2+1] = (timeinsweep-100000)/500;
+		buffertimeto[jumpoffset] = 0;
+	}
+
+
+	if( acode == 4 || acode == 6 ) //data = 0
+	{
+		bufferpts[jumpoffset*2+0] = (timeinsweep-100000)/500;
+		buffertimeto[jumpoffset] = 0;
+	}
+	if( acode == 5 || acode == 7 ) //data = 1
+	{
+		bufferpts[jumpoffset*2+1] = (timeinsweep-100000)/500;
+		buffertimeto[jumpoffset] = 0;
+	}
+}
+
+void my_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
+{
+	survive_default_imu_process( so, accelgyro, timecode, id );
+
+return;
+	//if( so->codename[0] == 'H' )
+	if( 1 )
+	{
+		printf( "I %s %d %d %d %d %d %d %d %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
+	}
+}
+
+
+void my_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
+{
+	survive_default_angle_process( so, sensor_id, acode, timecode, length, angle );
+}
+
+
+void * GuiThread( void * v )
+{
+	short screenx, screeny;
+	while(1)
+	{
+		CNFGHandleInput();
+		CNFGClearFrame();
+		CNFGColor( 0xFFFFFF );
+		CNFGGetDimensions( &screenx, &screeny );
+
+		int i;
+		for( i = 0; i < 32*3; i++ )
+		{
+			if( buffertimeto[i] < 50 )
+			{
+				uint32_t color = i * 3231349;
+				uint8_t r = color & 0xff;
+				uint8_t g = (color>>8) & 0xff;
+				uint8_t b = (color>>16) & 0xff;
+				r = (r * (5-buffertimeto[i])) / 5 ;
+				g = (g * (5-buffertimeto[i])) / 5 ;
+				b = (b * (5-buffertimeto[i])) / 5 ;
+				CNFGColor( (b<<16) | (g<<8) | r );
+				CNFGTackRectangle( bufferpts[i*2+0], bufferpts[i*2+1], bufferpts[i*2+0] + 5, bufferpts[i*2+1] + 5 );
+				CNFGPenX = bufferpts[i*2+0]; CNFGPenY = bufferpts[i*2+1];
+				CNFGDrawText( buffermts, 2 );			
+				buffertimeto[i]++;
+			}
+		}
+
+		CNFGColor( 0xffffff );
+		char caldesc[256];
+		survive_cal_get_status( ctx, caldesc, sizeof( caldesc ) );
+		CNFGPenX = 3;
+		CNFGPenY = 3;
+		CNFGDrawText( caldesc, 4 );
+
+
+		CNFGSwapBuffers();
+		OGUSleep( 10000 );
+	}
+}
+
+
+
+
+int main()
+{
+	ctx = survive_init( );
+
+	survive_install_light_fn( ctx,  my_light_process );
+	survive_install_imu_fn( ctx,  my_imu_process );
+	survive_install_angle_fn( ctx, my_angle_process );
+
+	survive_cal_install( ctx );
+
+	CNFGBGColor = 0x000000;
+	CNFGDialogColor = 0x444444;
+	CNFGSetup( "Survive GUI Debug", 640, 480 );
+	OGCreateThread( GuiThread, 0 );
+	
+
+	if( !ctx )
+	{
+		fprintf( stderr, "Fatal. Could not start\n" );
+		return 1;
+	}
+
+	while(survive_poll(ctx) == 0)
+	{
+		//Do stuff.
+	}
+}
+
diff --git a/data_recorder.c b/data_recorder.c
index 4c5627f..ced82c4 100644
--- a/data_recorder.c
+++ b/data_recorder.c
@@ -39,6 +39,8 @@ int buffertimeto[32*3];
 
 void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  )
 {
+	survive_default_light_process( so, sensor_id, acode, timeinsweep, timecode, length );
+
 	if( acode == -1 ) return;
 //return;
 	int jumpoffset = sensor_id;
@@ -77,6 +79,8 @@ void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int
 
 void my_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
 {
+	survive_default_imu_process( so, accelgyro, timecode, id );
+
 return;
 	//if( so->codename[0] == 'H' )
 	if( 1 )
diff --git a/include/survive.h b/include/survive.h
index d29b487..3e8dc35 100644
--- a/include/survive.h
+++ b/include/survive.h
@@ -3,13 +3,19 @@
 
 #include <stdint.h>
 
-#define SV_FLOAT  		double
+#ifndef FLT
+#define FLT double
+#endif
 
 struct SurviveContext;
 
 //DANGER: This structure may be redefined.  Note that it is logically split into 64-bit chunks
 //for optimization on 32- and 64-bit systems.
 
+//Careful with this, you can't just add another one right now, would take minor changes in survive_data.c and the cal tools.
+//It will also require a recompile.  TODO: revisit this and correct the comment once fixed.
+#define NUM_LIGHTHOUSES 2  
+
 struct SurviveObject
 {
 	struct SurviveContext * ctx;
@@ -25,21 +31,27 @@ struct SurviveObject
 	int8_t  ison:1;
 	int8_t  additional_flags:6;
 
-	SV_FLOAT * sensor_locations;
-	SV_FLOAT * sensor_normals;
+	FLT * sensor_locations;
+	FLT * sensor_normals;
+
+	//Timing sensitive data (mostly for disambiguation)
+	int32_t timebase_hz;		//48,000,000 for normal vive hardware.  (checked)
+	int32_t timecenter_ticks; 	//200,000 for normal vive hardware.     (checked)
+	int32_t pulsedist_max_ticks; //500,000 for normal vive hardware.   (guessed)
+	int32_t pulselength_min_sync; //2,200 for normal vive hardware.    (guessed)
+	int32_t pulse_in_clear_time; //35,000 for normal vive hardware.    (guessed)
+	int32_t pulse_max_for_sweep; //1,800 for normal vive hardware.     (guessed)
+	int32_t pulse_synctime_offset; //20,000 for normal vive hardware.  (guessed)
+	int32_t pulse_synctime_slack; //5,000 for normal vive hardware.    (guessed)
 	int8_t nr_locations;
 
 	//Flood info, for calculating which laser is currently sweeping.
 	int8_t oldcode;
-
- #ifdef USE_OLD_DISAMBIGUATOR
-	uint32_t last_master_time;
-	uint32_t last_slave_time;
- 	int32_t last_photo_length;
- #else
-	uint32_t last_master_time;
- 	struct disambiguator * d;
- #endif
+	int8_t   sync_set_number; //0 = master, 1 = slave, -1 = fault. 
+	int8_t   did_handle_ootx; //If unset, will send lightcap data for sync pulses next time a sensor is hit.
+	uint32_t last_time[NUM_LIGHTHOUSES];
+	uint32_t last_length[NUM_LIGHTHOUSES];
+	uint32_t recent_sync_time;
 
 	uint32_t last_lighttime;  //May be a 24- or 32- bit number depending on what device.
 
@@ -47,17 +59,19 @@ struct SurviveObject
 	int tsl;
 };
 
-typedef void (*text_feedback_fnptr)( struct SurviveContext * ctx, const char * fault );
+typedef void (*text_feedback_func)( struct SurviveContext * ctx, const char * fault );
 typedef void (*light_process_func)( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length );
 typedef void (*imu_process_func)( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id );
+typedef void (*angle_process_func)( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
 
 struct SurviveContext * survive_init();
 
 //For any of these, you may pass in 0 for the function pointer to use default behavior.
-void survive_install_info_fn( struct SurviveContext * ctx,  text_feedback_fnptr fbp );
-void survive_install_error_fn( struct SurviveContext * ctx,  text_feedback_fnptr fbp );
+void survive_install_info_fn( struct SurviveContext * ctx,  text_feedback_func fbp );
+void survive_install_error_fn( struct SurviveContext * ctx,  text_feedback_func fbp );
 void survive_install_light_fn( struct SurviveContext * ctx,  light_process_func fbp );
 void survive_install_imu_fn( struct SurviveContext * ctx,  imu_process_func fbp );
+void survive_install_angle_fn( struct SurviveContext * ctx,  angle_process_func fbp );
 
 void survive_close( struct SurviveContext * ctx );
 int survive_poll();
@@ -67,8 +81,18 @@ struct SurviveObject * survive_get_so_by_name( struct SurviveContext * ctx, cons
 //Utilitiy functions.
 int survive_simple_inflate( struct SurviveContext * ctx, const char * input, int inlen, char * output, int outlen );
 
-//TODO: Need to make this do haptic responses for hands.
+//TODO: Need to make this do haptic responses for hands. 
 int survive_usb_send_magic( struct SurviveContext * ctx, int on );
 
+//Install the calibrator.
+void survive_cal_install( struct SurviveContext * ctx );
+
+//Call these from your callback if overridden.  
+//Accept higher-level data.
+void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length );
+void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id );
+void survive_default_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
+
+
 #endif
 
diff --git a/redist/crc32.c b/redist/crc32.c
new file mode 100644
index 0000000..834e7f2
--- /dev/null
+++ b/redist/crc32.c
@@ -0,0 +1,104 @@
+/*-
+ *  COPYRIGHT (C) 1986 Gary S. Brown.  You may use this program, or
+ *  code or tables extracted from it, as desired without restriction.
+ *
+ *  First, the polynomial itself and its table of feedback terms.  The
+ *  polynomial is
+ *  X^32+X^26+X^23+X^22+X^16+X^12+X^11+X^10+X^8+X^7+X^5+X^4+X^2+X^1+X^0
+ *
+ *  Note that we take it "backwards" and put the highest-order term in
+ *  the lowest-order bit.  The X^32 term is "implied"; the LSB is the
+ *  X^31 term, etc.  The X^0 term (usually shown as "+1") results in
+ *  the MSB being 1
+ *
+ *  Note that the usual hardware shift register implementation, which
+ *  is what we're using (we're merely optimizing it by doing eight-bit
+ *  chunks at a time) shifts bits into the lowest-order term.  In our
+ *  implementation, that means shifting towards the right.  Why do we
+ *  do it this way?  Because the calculated CRC must be transmitted in
+ *  order from highest-order term to lowest-order term.  UARTs transmit
+ *  characters in order from LSB to MSB.  By storing the CRC this way
+ *  we hand it to the UART in the order low-byte to high-byte; the UART
+ *  sends each low-bit to hight-bit; and the result is transmission bit
+ *  by bit from highest- to lowest-order term without requiring any bit
+ *  shuffling on our part.  Reception works similarly
+ *
+ *  The feedback terms table consists of 256, 32-bit entries.  Notes
+ *
+ *      The table can be generated at runtime if desired; code to do so
+ *      is shown later.  It might not be obvious, but the feedback
+ *      terms simply represent the results of eight shift/xor opera
+ *      tions for all combinations of data and CRC register values
+ *
+ *      The values must be right-shifted by eight bits by the "updcrc
+ *      logic; the shift must be unsigned (bring in zeroes).  On some
+ *      hardware you could probably optimize the shift in assembler by
+ *      using byte-swap instructions
+ *      polynomial $edb88320
+ *
+ *
+ * CRC32 code derived from work by Gary S. Brown.
+ */
+
+#include <stddef.h>
+#include <stdint.h>
+
+static uint32_t crc32_tab[] = {
+	0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f,
+	0xe963a535, 0x9e6495a3,	0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988,
+	0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2,
+	0xf3b97148, 0x84be41de,	0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+	0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec,	0x14015c4f, 0x63066cd9,
+	0xfa0f3d63, 0x8d080df5,	0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172,
+	0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,	0x35b5a8fa, 0x42b2986c,
+	0xdbbbc9d6, 0xacbcf940,	0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+	0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423,
+	0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924,
+	0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,	0x76dc4190, 0x01db7106,
+	0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+	0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d,
+	0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e,
+	0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950,
+	0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+	0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7,
+	0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0,
+	0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa,
+	0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+	0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81,
+	0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a,
+	0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, 0xe3630b12, 0x94643b84,
+	0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+	0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb,
+	0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc,
+	0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e,
+	0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+	0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55,
+	0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
+	0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28,
+	0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+	0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f,
+	0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38,
+	0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242,
+	0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+	0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69,
+	0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2,
+	0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc,
+	0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+	0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693,
+	0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94,
+	0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
+};
+
+uint32_t crc32(uint32_t crc, const void *buf, size_t size)
+{
+	const uint8_t *p;
+
+	p = buf;
+	crc = crc ^ ~0U;
+
+	while (size--)
+		crc = crc32_tab[(crc ^ *p++) & 0xFF] ^ (crc >> 8);
+
+	return crc ^ ~0U;
+}
+
diff --git a/redist/crc32.h b/redist/crc32.h
new file mode 100644
index 0000000..5a8d16a
--- /dev/null
+++ b/redist/crc32.h
@@ -0,0 +1,17 @@
+// (C) 2016 Joshua Allen, MIT/x11 License.
+//
+//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
+//crc32.c under liberal license.
+//
+// You should only include this file if you are going to include the calibration subsystem of libsurvive.
+
+#ifndef CRC32_H
+#define CRC32_H
+
+#include <stddef.h>
+#include <stdint.h>
+
+uint32_t crc32(uint32_t crc, uint8_t *buf, size_t size);
+
+#endif
+
diff --git a/redist/linmath.c b/redist/linmath.c
index d5d54e3..157141f 100644
--- a/redist/linmath.c
+++ b/redist/linmath.c
@@ -75,7 +75,7 @@ FLT anglebetween3d( FLT * a, FLT * b )
 	FLT bn[3];
 	normalize3d( an, a );
 	normalize3d( bn, b );
-	FLT dot = dot3d( a, b );
+	FLT dot = dot3d(an, bn);
 	if( dot < -0.9999999 ) return LINMATHPI;
 	if( dot >  0.9999999 ) return 0;
 	return FLT_ACOS(dot);
diff --git a/src/disambiguator.c b/src/disambiguator.c
deleted file mode 100644
index f1d310a..0000000
--- a/src/disambiguator.c
+++ /dev/null
@@ -1,197 +0,0 @@
-// (C) 2016 Julian Picht, MIT/x11 License.
-//
-// All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
-
-//
-// The theory behind this disambiguator is, that if we just track all pulses and if one could be a sync pulse, we look back in time,
-// if we saw as sync pulse X samples ago than it is probably a sync pulse.
-//
-// X can be 20000 or 400000, depending if it came from the master or the slave.
-//
-
-#include "disambiguator.h"
-#include <stdlib.h>
-#include <string.h>
-#include <stdio.h>
-#include <stdbool.h>
-
-typedef uint8_t pulse_data;
-
-/**
- * Translate pulse length to pulse SKIP, DATA, AXIS
- * @param length Length of the pulse in (1/48000000) seconds
- * @return pulse data
- */
-pulse_data get_pulse_data(uint32_t length) {
-	uint16_t temp = length - 2880;
-
-#if BETTER_SAFE_THAN_FAST
-	if (temp < 0 || length > 6525) {
-		return -1;
-	}
-#endif
-
-	if ((temp % 500) < 150) {
-		return temp / 500;
-	}
-
-	return -1;
-}
-
-const uint32_t pulse_types[] = {
-	0, 1, 0, 1,
-	2, 3, 2, 3,
-};
-
-#define PULSE_BIT_AXIS 0x1
-#define PULSE_BIT_DATA 0x2
-#define PULSE_BIT_SKIP 0x4
-
-#define PULSE_DATA(D) ((D >> 1)&0x1)
-#define PULSE_AXIS(D) (D&0x01)
-#define PULSE_SKIP(D) ((D >> 2)&0x1)
-
-void disambiguator_init( struct disambiguator * d ) {
-	memset(&(d->times), 0x0, sizeof(d->times));
-	memset(&(d->scores), 0x0, sizeof(d->scores));
-
-	d->state = D_STATE_UNLOCKED;
-	d->last = 0;
-	d->max_confidence = 0;
-}
-
-inline void disambiguator_discard( struct disambiguator * d );
-
-/**
- * Drop all data that is outdated
- * @param d
- * @param age Maximum age of data we care to keep
- */
-void disambiguator_discard( struct disambiguator * d )
-{
-	long age;
-	if (d->state == D_STATE_LOCKED) {
-		age = d->last - 400000;
-	} else {
-		age = 1000000;
-	}
-	int confidence = 0;
-	for (unsigned int i = 0; i < DIS_NUM_VALUES; ++i) {
-		if (d->times[i] != 0 && d->times[i] < age) {
-			d->times[i] = 0;
-			d->scores[i] = 0;
-		} else {
-			if (d->scores[i] > confidence) {
-				confidence = d->scores[i];
-			}
-		}
-	}
-	d->max_confidence = confidence;
-}
-
-/**
- * Find the index that has the best likelyhood too match up with the timestamp given
- * @param t1 Rising edge time, where we expect to find the last sync pulse, if this is a master pulse
- * @param t2 Rising edge time, where we expect to find the last sync pulse, if this is a slave pulse
- * @param max_diff Maximum difference we are prepared to accept
- * @return index inside d->times, if we found something, -1 otherwise
- */
-inline int disambiguator_find_nearest( struct disambiguator * d, uint32_t t1, uint32_t t2, int max_diff );
-
-int disambiguator_find_nearest( struct disambiguator * d, uint32_t t1, uint32_t t2, int max_diff )
-{
-	int diff = max_diff; // max allowed diff for a match
-	int idx = -1;
-	for (unsigned int i = 0; i < DIS_NUM_VALUES; ++i) {
-		if (d->times[i] == 0) continue;
-
-		int a_1 = abs(d->times[i] - t1);
-		int a_2 = abs(d->times[i] - t2);
-
-//		printf("T            %d %d %d\n", time, i, a);
-		if (a_1 < diff) {
-			idx = i;
-			diff = a_1;
-		} else if (a_2 < diff) {
-			idx = i;
-			diff = a_2;
-		}
-	}
-
-//	if (idx != -1) {
-//		printf("R            %d %d %d\n", idx, d->scores[idx], diff);
-//	}
-
-	return idx;
-}
-
-pulse_type disambiguator_step_return_helper( struct disambiguator * d, bool sweep_possible ) {
-	if (d->state == D_STATE_LOCKED && sweep_possible) {
-		return P_SWEEP;
-	}
-	return P_UNKNOWN;
-}
-
-pulse_type disambiguator_step( struct disambiguator * d, uint32_t time, int length)
-{
-	uint32_t diff = time - d->last;
-	bool sweep_possible = (diff > 70000 && diff < 350000);
-
-	// all smaller pulses are most probably sweeps
-	// TODO: check we are inside the time window of actual sweeps
-	if (length < 2750) {
-		return disambiguator_step_return_helper(d, sweep_possible);
-	}
-
-	// we expected to see a sync pulse earlier ...
-	if (time - d->last > 401000) {
-		d->state = D_STATE_UNLOCKED;
-	}
-
-	// discard all data, that is so old, we don't care about it anymore
-	disambiguator_discard(d);
-
-	// find the best match for our timestamp and presumed offset
-	int idx = disambiguator_find_nearest(d, time - 400000, time - 20000, 1000);
-
-	// We did not find a matching pulse, so try find a place to record the current
-	// one's time of arrival.
-	if (idx == -1) {
-		for (int i = 0; i < DIS_NUM_VALUES; ++i) {
-			if (d->times[i] == 0) {
-				d->times[i] = time;
-				break;
-			}
-		}
-
-		return d->state == D_STATE_LOCKED && sweep_possible ? P_SWEEP : P_UNKNOWN;
-	} else {
-		d->scores[idx]++;
-
-		// we need to be reasonably sure, that we have the right pulses
-		if (d->scores[idx] >= DIS_NUM_PULSES_BEFORE_LOCK) {
-			d->state = D_STATE_LOCKED;
-		}
-
-		// if the offset is about 20000 ticks, then this is a slave pulse
-		if (diff < 21000) {
-			if (d->state == D_STATE_LOCKED) {
-				return P_SLAVE;
-			}
-
-			return P_UNKNOWN;
-		}
-
-		d->times[idx] = time;
-		d->last = time;
-
-		// TODO: why do we need to check the confidence level here?
-		if (d->state == D_STATE_LOCKED && d->scores[idx] >= d->max_confidence) {
-			return P_MASTER;
-		}
-
-		return P_UNKNOWN;
-	}
-
-	return disambiguator_step_return_helper(d, sweep_possible);
-}
diff --git a/src/disambiguator.h b/src/disambiguator.h
deleted file mode 100644
index 8258a18..0000000
--- a/src/disambiguator.h
+++ /dev/null
@@ -1,68 +0,0 @@
-// (C) 2016 Julian Picht, MIT/x11 License.
-//
-//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
-#ifndef DISAMBIGUATOR_H
-#define DISAMBIGUATOR_H
-
-// Determines the number of samples stored in the disambiguator struct.
-// Has to be higher than the maximum number of pulses expected between sync pulses.
-#define DIS_NUM_VALUES 48
-#define DIS_NUM_PULSES_BEFORE_LOCK 30
-#include <stdint.h>
-
-/**
- * internal disambiguator state
- */
-typedef enum {
-	D_STATE_INVALID = 0,
-	D_STATE_LOCKED = 1,
-	D_STATE_UNLOCKED = -1,
-} dis_state;
-
-/**
- * classification result
- */
-typedef enum {
-	P_UNKNOWN = 0,
-	P_MASTER = 1,
-	P_SWEEP = 2,
-	P_SLAVE = 3,
-} pulse_type;
-
-/**
- * internal state of the disambiguator
- */
-struct disambiguator {
-	// the timestamps of the recorded pulses
-	uint32_t times[DIS_NUM_VALUES];
-	// countes how many sync pulses we have seen, that match the time offset at the same offset
-	uint16_t scores[DIS_NUM_VALUES];
-	// current state
-	dis_state state;
-	// last sync pulse time
-	uint32_t last;
-	// the absolute maximum counter value
-	int max_confidence;
-	// the last code type seen
-	char code;
-};
-
-
-/**
- * Initialize a new disambiguator. calloc or memset with 0x00 will work just as well.
- *
- * @param d Pointer to the struct
- */
-void disambiguator_init( struct disambiguator * d);
-
-/**
- * Feed in one pulse to have if classified.
- *
- * @param d      Pointer to disambiguator state
- * @param time   Rising edge of the pulse
- * @param length Length of the pulse
- * @return       Classification result
- */
-pulse_type disambiguator_step( struct disambiguator * d, uint32_t time, int length);
-
-#endif /* DISAMBIGUATOR_H */
\ No newline at end of file
diff --git a/src/ootx_decoder.c b/src/ootx_decoder.c
new file mode 100644
index 0000000..8ec16f2
--- /dev/null
+++ b/src/ootx_decoder.c
@@ -0,0 +1,287 @@
+// (C) 2017 Joshua Allen, MIT/x11 License.
+//
+//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
+
+/* ootx data decoder */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <zlib.h>
+#include <assert.h>
+#include "ootx_decoder.h"
+//#include "crc32.h"
+
+//char* fmt_str = "L Y HMD %d 5 1 206230 %d\n";
+
+#define MAX_BUFF_SIZE 64
+
+void (*ootx_packet_clbk)(ootx_decoder_context * ctx, ootx_packet* packet) = NULL;
+void (*ootx_bad_crc_clbk)(ootx_decoder_context * ctx, ootx_packet* packet, uint32_t crc) = NULL;
+
+void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit);
+
+void ootx_init_decoder_context(ootx_decoder_context *ctx) {
+	ctx->buf_offset = 0;
+	ctx->bits_written = 0;
+
+	ctx->preamble = 0XFFFFFFFF;
+	ctx->bits_processed = 0;
+	ctx->found_preamble = 0;
+
+	ctx->buffer = (uint8_t*)malloc(MAX_BUFF_SIZE);
+	ctx->payload_size = (uint16_t*)ctx->buffer;
+	*(ctx->payload_size) = 0;
+}
+
+void ootx_free_decoder_context(ootx_decoder_context *ctx) {
+	free(ctx->buffer);
+	ctx->buffer = NULL;
+	ctx->payload_size = NULL;
+}
+
+uint8_t ootx_decode_bit(uint32_t length) {
+	uint8_t t = (length - 2750) / 500; //why 2750?
+//	return ((t & 0x02)>0)?0xFF:0x00; //easier if we need to bitshift right
+	return ((t & 0x02)>>1);
+}
+
+uint8_t ootx_detect_preamble(ootx_decoder_context *ctx, uint8_t dbit) {
+	ctx->preamble <<= 1;
+//	ctx->preamble |= (0x01 & dbit);
+	ctx->preamble |= dbit;
+	if ((ctx->preamble & 0x0003ffff) == 0x00000001) return 1;
+	return 0;
+}
+
+void ootx_reset_buffer(ootx_decoder_context *ctx) {
+	ctx->buf_offset = 0;
+	ctx->buffer[0] = 0;
+	ctx->bits_written = 0;
+	*(ctx->payload_size) = 0;
+}
+
+void ootx_inc_buffer_offset(ootx_decoder_context *ctx) {
+	++(ctx->buf_offset);
+
+//	assert(ctx->buf_offset<MAX_BUFF_SIZE);
+
+	/* the buffer is going to overflow, wrap the buffer and don't write more data until the preamble is found again */
+	if(ctx->buf_offset>=MAX_BUFF_SIZE) {
+		ctx->buf_offset = 0;
+		ctx->found_preamble = 0;
+	}
+
+	ctx->buffer[ctx->buf_offset] = 0;
+}
+
+void ootx_write_to_buffer(ootx_decoder_context *ctx, uint8_t dbit) {
+	uint8_t *current_byte = ctx->buffer + ctx->buf_offset;
+
+	*current_byte <<= 1;
+//	*current_byte |= (0x01 & dbit);
+	*current_byte |= dbit;
+
+	++(ctx->bits_written);
+	if (ctx->bits_written>7) {
+		ctx->bits_written=0;
+//		printf("%d\n", *current_byte);
+		ootx_inc_buffer_offset(ctx);
+	}
+}
+
+uint8_t ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) {
+	uint8_t dbit = ootx_decode_bit(length);
+	ootx_pump_bit( ctx, dbit );
+	return dbit;
+}
+
+void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit) {
+//	uint8_t dbit = ootx_decode_bit(length);
+	++(ctx->bits_processed);
+
+	if ( ootx_detect_preamble(ctx, dbit) ) {
+		/*	data stream can start over at any time so we must
+			always look for preamble bits */
+		//printf("Preamble found\n");
+		ootx_reset_buffer(ctx);
+		ctx->bits_processed = 0;
+		ctx->found_preamble = 1;
+	}
+	else if(ctx->bits_processed>16) {
+		//every 17th bit needs to be dropped (sync bit)
+//		printf("drop %d\n", dbit);
+		if( !dbit )
+		{
+			printf("Bad sync bit\n");
+			ootx_reset_buffer(ctx);
+		}
+		ctx->bits_processed = 0;
+	}
+	else if (ctx->found_preamble > 0)
+	{
+		/*	only write to buffer if the preamble is found.
+			if the buffer overflows, found_preamble will be cleared
+			and writing will stop. data would be corrupted, so there is no point in continuing
+		*/
+
+		ootx_write_to_buffer(ctx, dbit);
+
+		uint16_t padded_length = *(ctx->payload_size);
+		padded_length += (padded_length&0x01); //extra null byte if odd
+
+/*		int k;
+		printf( ":" );
+		for( k = 0; k < 36; k++ )
+		{
+			printf( "%02x ", ctx->buffer[k] );
+		}
+		printf( "\n" );*/
+
+		if (ctx->buf_offset >= (padded_length+6)) {
+			/*	once we have a complete ootx packet, send it out in the callback */
+			ootx_packet op;
+
+			op.length = *(ctx->payload_size);
+			op.data = ctx->buffer+2;
+			op.crc32 = *(uint32_t*)(op.data+padded_length);
+
+			uint32_t crc = crc32( 0L, Z_NULL, 0 );
+			crc = crc32( crc, op.data,op.length);
+
+			if (crc != op.crc32) {
+				if (ootx_bad_crc_clbk != NULL) ootx_bad_crc_clbk(ctx, &op,crc);
+			}
+			else if (ootx_packet_clbk != NULL) {
+				ootx_packet_clbk(ctx,&op);
+			}
+
+			ootx_reset_buffer(ctx);
+		}
+	}
+}
+
+uint8_t* get_ptr(uint8_t* data, uint8_t bytes, uint16_t* idx) {
+	uint8_t* x = data + *idx;
+	*idx += bytes;
+	return x;
+}
+
+/* simply doing:
+float f = 0;
+uint32_t *ftmp = (uint32_t*)&f; //use the allocated floating point memory
+This can cause problem when strict aliasing (-O2) is used.
+Reads and writes to f and ftmp would be considered independent and could be 
+be reordered by the compiler. A union solves that problem.
+*/
+union iFloat {
+	uint32_t i;
+	float f;
+};
+
+float _half_to_float(uint8_t* data) {
+	uint16_t x = *(uint16_t*)data;
+	union iFloat fnum;
+	fnum.f = 0;
+
+	//sign
+	fnum.i = (x & 0x8000)<<16;
+
+	if ((x & 0x7FFF) == 0) return fnum.f; //signed zero
+
+	if ((x & 0x7c00) == 0) {
+		//denormalized
+		x = (x&0x3ff)<<1; //only mantissa, advance intrinsic bit forward
+		uint8_t e = 0;
+		//shift until intrinsic bit of mantissa overflows into exponent
+		//increment exponent each time
+		while ((x&0x0400) == 0) {
+			x<<=1;
+			e++;
+		}
+		fnum.i |= ((uint32_t)(112-e))<<23; //bias exponent to 127, half floats are biased 15 so only need to go 112 more.
+		fnum.i |= ((uint32_t)(x&0x3ff))<<13; //insert mantissa
+		return fnum.f;
+	}
+
+	if((x&0x7c00) == 0x7c00) {
+		//for infinity, fraction is 0
+		//for NaN, fraction is anything non zero
+		//we could just copy in bits and not shift, but the mantissa of a NaN can have meaning
+		fnum.i |= 0x7f800000 | ((uint32_t)(x & 0x3ff))<<13;
+		return fnum.f;
+	}
+
+	fnum.i |= ((((uint32_t)(x & 0x7fff)) + 0x1c000u) << 13);
+
+	return fnum.f;
+}
+
+void init_lighthouse_info_v6(lighthouse_info_v6* lhi, uint8_t* data) {
+	uint16_t idx = 0;
+	/*
+	uint16_t fw_version;//Firmware version (bit 15..6), protocol version (bit 5..0)
+	uint32_t id; //Unique identifier of the base station
+	float fcal_0_phase; //"phase" for rotor 0
+	float fcal_1_phase; //"phase" for rotor 1
+	float fcal_0_tilt; //"tilt" for rotor 0
+	float fcal_1_tilt; //"tilt" for rotor 1
+	uint8_t sys_unlock_count; //Lowest 8 bits of the rotor desynchronization counter
+	uint8_t hw_version; //Hardware version
+	float fcal_0_curve; //"curve" for rotor 0
+	float fcal_1_curve; //"curve" for rotor 1
+	int8_t accel_dir_x; //"orientation vector"
+	int8_t accel_dir_y; //"orientation vector"
+	int8_t accel_dir_z; //"orientation vector"
+	float fcal_0_gibphase; //"gibbous phase" for rotor 0 (normalized angle)
+	float fcal_1_gibphase; //"gibbous phase" for rotor 1 (normalized angle)
+	float fcal_0_gibmag; //"gibbous magnitude" for rotor 0
+	float fcal_1_gibmag; //"gibbous magnitude" for rotor 1
+	uint8_t mode_current; //Currently selected mode (default: 0=A, 1=B, 2=C)
+	uint8_t sys_faults; //"fault detect flags" (should be 0)
+	*/
+
+	lhi->fw_version = *(uint16_t*)get_ptr(data,sizeof(uint16_t),&idx);
+	lhi->id = *(uint32_t*)get_ptr(data,sizeof(uint32_t),&idx);
+	lhi->fcal_0_phase = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_phase = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_0_tilt = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_tilt = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->sys_unlock_count = *get_ptr(data,sizeof(uint8_t),&idx);
+	lhi->hw_version = *get_ptr(data,sizeof(uint8_t),&idx);
+	lhi->fcal_0_curve = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_curve = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->accel_dir_x = *(int8_t*)get_ptr(data,sizeof(uint8_t),&idx);
+	lhi->accel_dir_y = *(int8_t*)get_ptr(data,sizeof(uint8_t),&idx);
+	lhi->accel_dir_z = *(int8_t*)get_ptr(data,sizeof(uint8_t),&idx);
+	lhi->fcal_0_gibphase = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_gibphase = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_0_gibmag = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_gibmag = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->mode_current = *get_ptr(data,sizeof(uint8_t),&idx);
+	lhi->sys_faults = *get_ptr(data,sizeof(uint8_t),&idx);
+
+}
+
+void print_lighthouse_info_v6(lighthouse_info_v6* lhi) {
+
+	printf("\t%X\n\t%X\n\t%f\n\t%f\n\t%f\n\t%f\n\t%d\n\t%d\n\t%f\n\t%f\n\t%d\n\t%d\n\t%d\n\t%f\n\t%f\n\t%f\n\t%f\n\t%d\n\t%d\n",
+		lhi->fw_version,
+		lhi->id,
+		lhi->fcal_0_phase,
+		lhi->fcal_1_phase,
+		lhi->fcal_0_tilt,
+		lhi->fcal_1_tilt,
+		lhi->sys_unlock_count,
+		lhi->hw_version,
+		lhi->fcal_0_curve,
+		lhi->fcal_1_curve,
+		lhi->accel_dir_x,
+		lhi->accel_dir_y,
+		lhi->accel_dir_z,
+		lhi->fcal_0_gibphase,
+		lhi->fcal_1_gibphase,
+		lhi->fcal_0_gibmag,
+		lhi->fcal_1_gibmag,
+		lhi->mode_current,
+		lhi->sys_faults);
+}
diff --git a/src/ootx_decoder.h b/src/ootx_decoder.h
new file mode 100644
index 0000000..8ddf527
--- /dev/null
+++ b/src/ootx_decoder.h
@@ -0,0 +1,72 @@
+// (C) 2017 Joshua Allen, MIT/x11 License.
+//
+//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
+
+#ifndef OOTX_DECODER_H
+#define OOTX_DECODER_H
+
+#include <stddef.h>
+#include <stdint.h>
+
+typedef struct {
+	uint16_t length;
+	uint8_t* data;
+	uint32_t crc32;
+} ootx_packet;
+
+typedef struct {
+	uint8_t* buffer;
+	uint16_t buf_offset;
+	uint8_t bits_written;
+	uint16_t* payload_size;
+
+	uint32_t preamble;
+	uint8_t bits_processed;
+	uint8_t found_preamble;
+
+	uint8_t bit_count[2];
+
+	void * user;
+	int user1;
+} ootx_decoder_context;
+
+
+typedef float float16;
+
+typedef struct {
+	uint16_t fw_version;//Firmware version (bit 15..6), protocol version (bit 5..0)
+	uint32_t id; //Unique identifier of the base station
+	float16 fcal_0_phase; //"phase" for rotor 0
+	float16 fcal_1_phase; //"phase" for rotor 1
+	float16 fcal_0_tilt; //"tilt" for rotor 0
+	float16 fcal_1_tilt; //"tilt" for rotor 1
+	uint8_t sys_unlock_count; //Lowest 8 bits of the rotor desynchronization counter
+	uint8_t hw_version; //Hardware version
+	float16 fcal_0_curve; //"curve" for rotor 0
+	float16 fcal_1_curve; //"curve" for rotor 1
+	int8_t accel_dir_x; //"orientation vector"
+	int8_t accel_dir_y; //"orientation vector"
+	int8_t accel_dir_z; //"orientation vector"
+	float16 fcal_0_gibphase; //"gibbous phase" for rotor 0 (normalized angle)
+	float16 fcal_1_gibphase; //"gibbous phase" for rotor 1 (normalized angle)
+	float16 fcal_0_gibmag; //"gibbous magnitude" for rotor 0
+	float16 fcal_1_gibmag; //"gibbous magnitude" for rotor 1
+	uint8_t mode_current; //Currently selected mode (default: 0=A, 1=B, 2=C)
+	uint8_t sys_faults; //"fault detect flags" (should be 0)
+} lighthouse_info_v6;
+
+void init_lighthouse_info_v6(lighthouse_info_v6* lhi, uint8_t* data);
+void print_lighthouse_info_v6(lighthouse_info_v6* lhi);
+
+void ootx_init_decoder_context(ootx_decoder_context *ctx);
+void ootx_free_decoder_context(ootx_decoder_context *ctx);
+
+uint8_t ootx_process_bit(ootx_decoder_context *ctx, uint32_t length);
+void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit);
+
+uint8_t ootx_decode_bit(uint32_t length);
+
+extern void (*ootx_packet_clbk)(ootx_decoder_context *ctx, ootx_packet* packet);
+extern void (*ootx_bad_crc_clbk)(ootx_decoder_context *ctx, ootx_packet* packet, uint32_t crc);
+
+#endif
diff --git a/src/survive.c b/src/survive.c
index af4d804..aab2ae6 100644
--- a/src/survive.c
+++ b/src/survive.c
@@ -8,7 +8,7 @@
 #include <jsmn.h>
 #include <string.h>
 #include <zlib.h>
-#include "disambiguator.h"
+
 
 static int jsoneq(const char *json, jsmntok_t *tok, const char *s) {
  if (tok->type == JSMN_STRING && (int) strlen(s) == tok->end - tok->start &&
@@ -30,7 +30,7 @@ static void survivenote( struct SurviveContext * ctx, const char * fault )
 	fprintf( stderr, "Info: %s\n", fault );
 }
 
-static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so, char * ct0conf, SV_FLOAT ** floats_out, jsmntok_t * t, int i )
+static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so, char * ct0conf, FLT ** floats_out, jsmntok_t * t, int i )
 {
 	int k;
 	int pts = t[i+1].size;
@@ -43,7 +43,7 @@ static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so,
 	{
 		tk = &t[i+2+k*4];
 
-		float vals[3];
+		FLT vals[3];
 		int m;
 		for( m = 0; m < 3; m++ )
 		{
@@ -60,7 +60,7 @@ static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so,
 
 			memcpy( ctt, ct0conf + tk->start, elemlen );
 			ctt[elemlen] = 0;
-			float f = atof( ctt );
+			FLT f = atof( ctt );
 			int id = so->nr_locations*3+m;
 			(*floats_out)[id] = f;
 		}
@@ -144,24 +144,14 @@ struct SurviveContext * survive_init()
 
 	ctx->lightproc = survive_default_light_process;
 	ctx->imuproc = survive_default_imu_process;
+	ctx->angleproc = survive_default_angle_process;
 
 	ctx->headset.ctx = ctx;
 	memcpy( ctx->headset.codename, "HMD", 4 );
-#ifndef USE_OLD_DISAMBIGUATOR
-	ctx->headset.d = calloc( 1, sizeof( struct disambiguator ) );
-#endif
-
 	ctx->watchman[0].ctx = ctx;
 	memcpy( ctx->watchman[0].codename, "WM0", 4 );
-#ifndef USE_OLD_DISAMBIGUATOR
-	ctx->watchman[0].d = calloc( 1, sizeof( struct disambiguator ) );
-#endif
-
 	ctx->watchman[1].ctx = ctx;
 	memcpy( ctx->watchman[1].codename, "WM1", 4 );
-#ifndef USE_OLD_DISAMBIGUATOR
-	ctx->watchman[1].d = calloc( 1, sizeof( struct disambiguator ) );
-#endif
 
 	//USB must happen last.
 	if( r = survive_usb_init( ctx ) )
@@ -175,6 +165,18 @@ struct SurviveContext * survive_init()
 	if( LoadConfig( ctx, &ctx->watchman[0], 2, 0, 1 ) ) { SV_INFO( "Watchman 0 config issue." ); }
 	if( LoadConfig( ctx, &ctx->watchman[1], 3, 0, 1 ) ) { SV_INFO( "Watchman 1 config issue." ); }
 
+	ctx->headset.timebase_hz = ctx->watchman[0].timebase_hz = ctx->watchman[1].timebase_hz = 48000000;
+	ctx->headset.pulsedist_max_ticks = ctx->watchman[0].pulsedist_max_ticks = ctx->watchman[1].pulsedist_max_ticks = 500000;
+	ctx->headset.pulselength_min_sync = ctx->watchman[0].pulselength_min_sync = ctx->watchman[1].pulselength_min_sync = 2200;
+	ctx->headset.pulse_in_clear_time = ctx->watchman[0].pulse_in_clear_time = ctx->watchman[1].pulse_in_clear_time = 35000;
+	ctx->headset.pulse_max_for_sweep = ctx->watchman[0].pulse_max_for_sweep = ctx->watchman[1].pulse_max_for_sweep = 1800;
+
+	ctx->headset.pulse_synctime_offset = ctx->watchman[0].pulse_synctime_offset = ctx->watchman[1].pulse_synctime_offset = 20000;
+	ctx->headset.pulse_synctime_slack = ctx->watchman[0].pulse_synctime_slack = ctx->watchman[1].pulse_synctime_slack = 5000;
+
+	ctx->headset.timecenter_ticks     = ctx->headset.timebase_hz / 240;
+	ctx->watchman[0].timecenter_ticks = ctx->watchman[0].timebase_hz / 240;
+	ctx->watchman[1].timecenter_ticks = ctx->watchman[1].timebase_hz / 240;
 /*
 	int i;
 	int locs = ctx->headset.nr_locations;
@@ -206,7 +208,7 @@ fail_gracefully:
 	return 0;
 }
 
-void survive_install_info_fn( struct SurviveContext * ctx,  text_feedback_fnptr fbp )
+void survive_install_info_fn( struct SurviveContext * ctx,  text_feedback_func fbp )
 {
 	if( fbp )
 		ctx->notefunction = fbp;
@@ -214,7 +216,7 @@ void survive_install_info_fn( struct SurviveContext * ctx,  text_feedback_fnptr
 		ctx->notefunction = survivenote;
 }
 
-void survive_install_error_fn( struct SurviveContext * ctx,  text_feedback_fnptr fbp )
+void survive_install_error_fn( struct SurviveContext * ctx,  text_feedback_func fbp )
 {
 	if( fbp )
 		ctx->faultfunction = fbp;
@@ -238,6 +240,17 @@ void survive_install_imu_fn( struct SurviveContext * ctx,  imu_process_func fbp
 		ctx->imuproc = survive_default_imu_process;
 }
 
+
+void survive_install_angle_fn( struct SurviveContext * ctx,  angle_process_func fbp )
+{
+	if( fbp )
+		ctx->angleproc = fbp;
+	else
+		ctx->angleproc = survive_default_angle_process;
+}
+
+
+
 void survive_close( struct SurviveContext * ctx )
 {
 	survive_usb_close( ctx );
diff --git a/src/survive_cal.c b/src/survive_cal.c
new file mode 100644
index 0000000..7b0a824
--- /dev/null
+++ b/src/survive_cal.c
@@ -0,0 +1,195 @@
+// (C) 2016, 2017 Joshua Allen, MIT/x11 License.
+// (C) 2016, 2017 <>< C. N. Lohr, Under MIT/x11 License.
+
+// All OOTX code was written by J. Allen. Rest of the code is probably mostly CNLohr.
+
+#include "survive_cal.h"
+#include "survive_internal.h"
+#include <math.h>
+#include <string.h>
+
+#define PTS_BEFORE_COMMON 32
+#define NEEDED_COMMON_POINTS 20
+
+static void handle_calibration( struct SurviveCalData *cd );
+static void reset_calibration( struct SurviveCalData * cd );
+
+void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet)
+{
+	struct SurviveContext * ctx = (struct SurviveContext*)(ct->user);
+	struct SurviveCalData * cd = ctx->calptr;
+	int id = ct->user1;
+
+	SV_INFO( "Got OOTX packet %d %p\n", id, cd );
+
+	lighthouse_info_v6 v6;
+	init_lighthouse_info_v6(&v6, packet->data);
+
+	struct BaseStationData * b = &ctx->bsd[id];
+	//print_lighthouse_info_v6(&v6);
+
+	b->BaseStationID = v6.id;
+	b->fcalphase[0] = v6.fcal_0_phase;
+	b->fcalphase[1] = v6.fcal_1_phase;
+	b->fcaltilt[0] = tan(v6.fcal_0_tilt);
+	b->fcaltilt[1] = tan(v6.fcal_1_tilt);  //XXX??? Is this right? See https://github.com/cnlohr/libsurvive/issues/18
+	b->fcalcurve[0] = v6.fcal_0_curve;
+	b->fcalcurve[1] = v6.fcal_1_curve;
+	b->fcalgibpha[0] = v6.fcal_0_gibphase;
+	b->fcalgibpha[1] = v6.fcal_1_gibphase;
+	b->fcalgibmag[0] = v6.fcal_0_gibmag;
+	b->fcalgibmag[1] = v6.fcal_1_gibmag;
+	b->OOTXSet = 1;
+}
+
+int survive_cal_get_status( struct SurviveContext * ctx, char * description, int description_length )
+{
+	struct SurviveCalData * cd = ctx->calptr;
+
+	switch( cd->stage )
+	{
+	case 0:
+		return snprintf( description, description_length, "Not calibrating" );
+	case 1:
+		return snprintf( description, description_length, "Collecting OOTX Data (%d:%d)", cd->ootx_decoders[0].buf_offset, cd->ootx_decoders[1].buf_offset );
+	case 2:
+		if( cd->found_common )
+		{
+			return snprintf( description, description_length, "Collecting Sweep Data %d/%d", cd->peak_counts, DRPTS );
+		}
+		else
+		{
+			return snprintf( description, description_length, "Searching for common watchman cal %d/%d", cd->peak_counts, PTS_BEFORE_COMMON );
+		}
+	default:
+		return snprintf( description, description_length, "Unkown calibration state" );
+	}
+}
+
+void survive_cal_install( struct SurviveContext * ctx )
+{
+	int i;
+	struct SurviveCalData * cd = ctx->calptr = calloc( 1, sizeof( struct SurviveCalData ) );
+
+	for( i = 0; i < NUM_LIGHTHOUSES; i++ )
+	{
+		ootx_init_decoder_context(&cd->ootx_decoders[i]);
+		cd->ootx_decoders[i].user = ctx;
+		cd->ootx_decoders[i].user1 = i;
+	}
+
+	cd->stage = 1;
+
+	ootx_packet_clbk = ootx_packet_clbk_d;
+
+	ctx->calptr = cd;
+}
+
+
+void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  )
+{
+	struct SurviveContext * ctx = so->ctx;
+	struct SurviveCalData * cd = ctx->calptr;
+
+	if( !cd ) return;
+
+	switch( cd->stage )
+	{
+	default:
+	case 0: //Default, inactive.
+		break;
+
+	case 1:
+		//Collecting OOTX data.
+		if( sensor_id < 0 )
+		{
+			int lhid = -sensor_id-1;
+			if( lhid < NUM_LIGHTHOUSES && so->codename[0] == 'H' )
+			{
+				uint8_t dbit = (acode & 2)>>1;
+				ootx_pump_bit( &cd->ootx_decoders[lhid], dbit );
+			}
+			int i;
+			for( i = 0; i < NUM_LIGHTHOUSES; i++ )
+				if( ctx->bsd[i].OOTXSet == 0 ) break;
+			if( i == NUM_LIGHTHOUSES ) cd->stage = 2;  //If all lighthouses have their OOTX set, move on.
+		}
+		break;
+	case 2:      //Taking in angle data.
+		break;
+	}
+}
+
+void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
+{
+	struct SurviveContext * ctx = so->ctx;
+	struct SurviveCalData * cd = ctx->calptr;
+
+	if( !cd ) return;
+
+	switch( cd->stage )
+	{
+	default:
+	case 1:	//Collecting OOTX data. (Don't do anything here, yet.)
+	case 0: //Default, inactive.
+		break;
+	case 2:
+	{
+		int sensid = sensor_id;
+		if( strcmp( so->codename, "WM0" ) == 0 )
+			sensid += 32;
+		if( strcmp( so->codename, "WM1" ) == 1 )
+			sensid += 64;
+
+		int lighthouse = acode>>2;
+		int axis = acode & 1;
+		int ct = cd->all_counts[sensid][lighthouse][axis]++;
+		cd->all_lengths[sensid][lighthouse][axis][ct] = length;
+		cd->all_angles[sensid][lighthouse][axis][ct] = angle;
+		if( ct > cd->peak_counts )
+		{
+			cd->peak_counts = ct;
+			if( ct >= DRPTS )
+				handle_calibration( cd ); //This will also reset all cals.
+		}
+
+		//TODO: Determine if there is a sensor on a watchman visible from both lighthouses.
+		if( sensid >= 32 && !cd->found_common )
+		{
+			int k;
+			int ok = 1;
+			for( k = 0; k < NUM_LIGHTHOUSES; k++ )
+			{
+
+				if( cd->all_counts[sensid][k][0] < NEEDED_COMMON_POINTS || cd->all_counts[sensid][k][1] < NEEDED_COMMON_POINTS )
+				{
+					ok = 0;
+					break;
+				}
+			}
+			if( ok ) cd->found_common = 1;
+		}
+
+		if( cd->peak_counts > PTS_BEFORE_COMMON && !cd->found_common )
+		{
+			reset_calibration( cd );
+		}
+
+		break;
+	}
+	}
+}
+
+static void reset_calibration( struct SurviveCalData * cd )
+{
+	memset( cd->all_counts, 0, sizeof( cd->all_counts ) );
+	cd->peak_counts = 0;
+	cd->found_common = 0;
+}
+
+static void handle_calibration( struct SurviveCalData *cd )
+{
+	//Do stuff.
+
+	reset_calibration( cd );
+}
diff --git a/src/survive_cal.h b/src/survive_cal.h
new file mode 100644
index 0000000..42ff1ee
--- /dev/null
+++ b/src/survive_cal.h
@@ -0,0 +1,57 @@
+// (C) 2016, 2017 <>< C. N. Lohr, Under MIT/x11 License.
+
+// All OOTX code was written by J. Allen. Rest of the code is probably mostly CNLohr.
+
+#ifndef _SURVIVE_CAL_H
+#define _SURVIVE_CAL_H
+
+//This is a file that is intended for use with capturing vive data during the
+//setup phase.  This and survive_cal.c/.h should not be included on embedded
+//uses of libsurvive.
+
+//This file handles the following:
+//  1: Decoding the OOTX data from the lighthouses.
+//  2: Setting OOTX props in the survive context.
+//  3: Collect a bunch of data with the vive pointed up and the watchment to either side.
+//  4: Running the code to find the lighthouses.
+//  5: Setting the information needed to develop the worldspace model in the SurviveContext.
+
+
+#include <stdint.h>
+#include "ootx_decoder.h"
+#include "survive_internal.h"
+
+void survive_cal_install( struct SurviveContext * ctx );
+int survive_cal_get_status( struct SurviveContext * ctx, char * description, int description_length );
+
+//void survive_cal_teardown( struct SurviveContext * ctx );
+
+//Called from survive_default_light_process
+void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  );
+void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
+
+#define MAX_TO_CAL 96
+#define DRPTS 512
+
+struct SurviveCalData
+{
+	//OOTX Data is sync'd off of the sync pulses coming from the lighthouses.
+	ootx_decoder_context ootx_decoders[NUM_LIGHTHOUSES];
+
+	//For statistics-gathering phase.
+	FLT all_lengths[MAX_TO_CAL][NUM_LIGHTHOUSES][2][DRPTS];
+	FLT all_angles[MAX_TO_CAL][NUM_LIGHTHOUSES][2][DRPTS];
+	int16_t all_counts[MAX_TO_CAL][NUM_LIGHTHOUSES][2];
+	int16_t peak_counts;
+	int8_t found_common;
+
+	//Stage:
+	// 0: Idle
+	// 1: Collecting OOTX data.
+	int8_t stage;
+};
+
+
+
+#endif
+
diff --git a/src/survive_data.c b/src/survive_data.c
index d380d4a..ad834cf 100644
--- a/src/survive_data.c
+++ b/src/survive_data.c
@@ -11,7 +11,6 @@
 //All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
 
 #include "survive_internal.h"
-#include "disambiguator.h"
 #include <stdint.h>
 #include <string.h>
 
@@ -32,89 +31,164 @@ struct LightcapElement
 //This is the disambiguator function, for taking light timing and figuring out place-in-sweep for a given photodiode.
 static void handle_lightcap( struct SurviveObject * so, struct LightcapElement * le )
 {
-	struct SurviveContext * ct = so->ctx;
-	int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time;
+	struct SurviveContext * ctx = so->ctx;
+	//int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time;
 
 //	printf( "%s %d %d %d %d %d\n", so->codename, le->sensor_id, le->type, le->length, le->timestamp, le->timestamp-so->tsl );
 
 	so->tsl = le->timestamp;
-	if( le->length < 20 ) return;
-#ifndef USE_OLD_DISAMBIGUATOR
-	int32_t offset = le->timestamp - so->d->last;
-	switch( disambiguator_step( so->d, le->timestamp, le->length ) ) {
-	default:
-	case P_SLAVE:
-		// this is only interesting for the OOTX data
-		break;
-	case P_UNKNOWN:
-		// not currently locked
-		break;
-	case P_MASTER:
-		ct->lightproc( so, le->sensor_id, -1, 0, le->timestamp, offset );
-		so->d->code = ((le->length+125)/250) - 12;
-		break;
-	case P_SWEEP:
-		if (so->d->code & 1) return;
-		ct->lightproc( so, le->sensor_id, so->d->code >> 1, offset, le->timestamp, le->length );
-		break;
+	if( le->length < 20 ) return;  ///Assuming 20 is an okay value for here.
+
+	//The sync pulse finder is taking Charles's old disambiguator code and mixing it with a more linear
+	//version of Julian Picht's disambiguator, available in 488c5e9.  Removed afterwards into this
+	//unified driver.
+	int ssn = so->sync_set_number;
+	if( ssn < 0 ) ssn = 0;
+	int last_sync_time  =  so->last_time  [ssn];
+	int last_sync_length = so->last_length[ssn];
+	int32_t delta = le->timestamp - last_sync_time;  //Handle time wrapping (be sure to be int32)
+
+	if( delta < -so->pulsedist_max_ticks || delta > so->pulsedist_max_ticks )
+	{
+		//Reset pulse, etc.
+		so->sync_set_number = -1;
+		delta = so->pulsedist_max_ticks;
 	}
-#else
-	if( le->length > 2200 ) //Pulse longer indicates a sync pulse.
+
+
+	if( le->length > so->pulselength_min_sync ) //Pulse longer indicates a sync pulse.
 	{
-		int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time;
-		if( deltat > 2000 || deltat < -2000 )		//New pulse. (may be inverted)
+		int is_new_pulse = delta > so->pulselength_min_sync /*1500*/ + last_sync_length;
+
+		so->did_handle_ootx = 0;
+
+		if( is_new_pulse )
 		{
-			//See if this is a unique pulse, or another one in the same set we need to look at.
-			if( le->timestamp - so->last_master_time > 1500 + so->last_photo_length )
+			int is_master_sync_pulse = delta > so->pulse_in_clear_time /*40000*/; 
+
+			if( is_master_sync_pulse )
+			{
+				ssn = so->sync_set_number = 0;
+				so->last_time[ssn] = le->timestamp;
+				so->last_length[ssn] = le->length;
+			}
+			else if( so->sync_set_number == -1 )
+			{
+				//Do nothing.
+			}
+			else
 			{
-				// check if it is a slave pulse
-				if (le->timestamp - so->last_master_time < 70000) {
-					so->last_slave_time = le->timestamp;
-					return;
+				ssn = ++so->sync_set_number;
+				if( so->sync_set_number >= NUM_LIGHTHOUSES )
+				{
+					SV_INFO( "Warning.  Received an extra, unassociated sync pulse." );
+					ssn = so->sync_set_number = -1;
+				}
+				else
+				{
+					so->last_time[ssn] = le->timestamp;
+					so->last_length[ssn] = le->length;
 				}
-
-//				printf("%10u %10u %6u %6d\n", so->last_master_time, le->timestamp, (le->length - 2750)/500, (int32_t)le->timestamp - (int32_t)so->last_master_time);
-				so->last_master_time = le->timestamp;
-				so->last_photo_length = le->length;
-				ct->lightproc( so, le->sensor_id, -1, 0, le->timestamp, deltat );
-				deltat = 0;
 			}
 		}
-
-		//Find longest pulse-length from device in our window and use that one.
-		if( le->length > so->last_photo_length )
+		else
 		{
-//			printf("%10u %10u %6d %6d\n", so->last_master_time, le->timestamp, (le->length - 2750)/500, (int32_t)le->timestamp - (int32_t)so->last_master_time);
-			so->last_master_time = le->timestamp;
-			so->last_photo_length = le->length;
+			//Find the longest pulse.
+			if( le->length > last_sync_length )
+			{
+				if( so->last_time[ssn] > le->timestamp )
+				{
+					so->last_time[ssn] = le->timestamp;
+					so->last_length[ssn] = le->length;
+				}
+			}
 		}
 	}
+
+
+
 	//See if this is a valid actual pulse.
-	else if( le->length < 1800 && le->length > 40 && ( le->timestamp - so->last_master_time < 380000 ) )
+	else if( le->length < so->pulse_max_for_sweep && delta > so->pulse_in_clear_time && ssn >= 0 )
 	{
-		int32_t dl = so->last_master_time;
-		int32_t tpco = so->last_photo_length;
+		int32_t dl = so->last_time[0];
+		int32_t tpco = so->last_length[0];
+
+
+#if NUM_LIGHTHOUSES != 2
+		#error You are going to have to fix the code around here to allow for something other than two base stations.
+#endif
 
 		//Adding length 
 		//Long pulse-code from IR flood.
 		//Make sure it fits nicely into a divisible-by-500 time.
-		int32_t acode = (tpco+125+50)/250;  //+10, seems ike that's
-		if( acode & 1 ) return;
 
-		acode >>= 1;
-		acode -= 6;
-		if (acode > 3) {
-			dl = so->last_slave_time;
+		int32_t main_divisor = so->timebase_hz / 384000; //125 @ 48 MHz.
+
+		int32_t acode_array[2] =
+			{
+				(so->last_length[0]+main_divisor+50)/(main_divisor*2),  //+50 adds a small offset and seems to help always get it right. 
+				(so->last_length[1]+main_divisor+50)/(main_divisor*2),	//Check the +50 in the future to see how well this works on a variety of hardware.
+			};
+
+		//XXX: TODO: Capture error count here.
+		if( acode_array[0] & 1 ) return;
+		if( acode_array[1] & 1 ) return;
+
+		acode_array[0] = (acode_array[0]>>1) - 6;
+		acode_array[1] = (acode_array[1]>>1) - 6;
+
+
+		int acode = acode_array[0];
+
+		if( !so->did_handle_ootx )
+		{
+			int32_t delta1 = so->last_time[0] - so->recent_sync_time;
+			int32_t delta2 = so->last_time[1] - so->last_time[0];
+
+			ctx->lightproc( so, -1, acode_array[0], delta1, so->last_time[0], so->last_length[0] );
+			ctx->lightproc( so, -2, acode_array[1], delta2, so->last_time[1], so->last_length[1] );
+
+			so->recent_sync_time = so->last_time[1];
+
+			//Throw out everything if our sync pulses look like they're bad.
+
+			int32_t center_1 = so->timecenter_ticks*2 - so->pulse_synctime_offset;
+			int32_t center_2 = so->pulse_synctime_offset;
+			int32_t slack = so->pulse_synctime_slack;
+
+			if( delta1 < center_1 - slack || delta1 > center_1 + slack )
+			{
+				//XXX: TODO: Count faults.
+				so->sync_set_number = -1;
+				return;
+			}
+
+			if( delta2 < center_2 - slack || delta2 > center_2 + slack )
+			{
+				//XXX: TODO: Count faults.
+				so->sync_set_number = -1;
+				return;
+			}
+
+			so->did_handle_ootx = 1;
 		}
 
-		//printf( "%s / %d %d ++ %d %d\n", so->codename, dl, tpco, offset_from, acode );
+
+		if (acode > 3) {
+			if( ssn == 0 )
+			{
+				SV_INFO( "Warning: got a slave marker but only got a master sync." );
+			}
+			dl = so->last_time[1];
+			tpco = so->last_length[1];
+		}
 
 		int32_t offset_from = le->timestamp - dl + le->length/2;
 
 		//Make sure pulse is in valid window
 		if( offset_from < 380000 && offset_from > 70000 )
 		{
-			ct->lightproc( so, le->sensor_id, acode, offset_from, le->timestamp, le->length );
+			ctx->lightproc( so, le->sensor_id, acode, offset_from, le->timestamp, le->length );
 		}
 	}
 	else
@@ -122,7 +196,6 @@ static void handle_lightcap( struct SurviveObject * so, struct LightcapElement *
 		//printf( "FAIL %d   %d - %d = %d\n", le->length, so->last_photo_time, le->timestamp, so->last_photo_time - le->timestamp );
 		//Runt pulse, or no sync pulses available.
 	}
-#endif
 }
 
 
diff --git a/src/survive_internal.h b/src/survive_internal.h
index 446f3c0..0d0b8a4 100644
--- a/src/survive_internal.h
+++ b/src/survive_internal.h
@@ -62,6 +62,22 @@ struct SurviveUSBInterface
 
 //This is defined in survive.h
 struct SurviveObject;
+struct SurviveCalData;
+
+struct BaseStationData
+{
+	uint8_t PositionSet:1;
+	float Position[3];
+	float Quaternion[4];
+
+	uint8_t OOTXSet:1;
+	uint32_t BaseStationID;
+	float fcalphase[2];
+	float fcaltilt[2];
+	float fcalcurve[2];
+	float fcalgibpha[2];
+	float fcalgibmag[2];
+};
 
 struct SurviveContext
 {
@@ -70,14 +86,22 @@ struct SurviveContext
 	struct libusb_device_handle * udev[MAX_USB_DEVS];
 	struct SurviveUSBInterface uiface[MAX_INTERFACES];
 
-	text_feedback_fnptr faultfunction;
-	text_feedback_fnptr notefunction;
+	text_feedback_func faultfunction;
+	text_feedback_func notefunction;
 	light_process_func lightproc;
 	imu_process_func imuproc;
+	angle_process_func angleproc;
+
 
-	//Data Subsystem
+	//Calibration data:
+	struct BaseStationData bsd[NUM_LIGHTHOUSES];
+
+	struct SurviveCalData * calptr; //If and only if the calibration subsystem is attached.
+
+	//Data Subsystem.  These should be last, as there may be additional surviveobjects.
 	struct SurviveObject headset;
-	struct SurviveObject watchman[2];
+	struct SurviveObject watchman[2]; //Currently only two supported watchmen.
+
 };
 
 
@@ -90,9 +114,6 @@ int survive_get_config( char ** config, struct SurviveContext * ctx, int devno,
 //Accept Data from backend.
 void survive_data_cb( struct SurviveUSBInterface * si );
 
-//Accept higher-level data.
-void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length );
-void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id );
 
 #endif
 
diff --git a/src/survive_process.c b/src/survive_process.c
index d3a8c4a..75453da 100644
--- a/src/survive_process.c
+++ b/src/survive_process.c
@@ -1,21 +1,58 @@
 //<>< (C) 2016 C. N. Lohr, FULLY Under MIT/x11 License.
 //All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
 
-#include "survive_internal.h"
+#include "survive_cal.h"
 
-
-int bufferpts[32*2];
-char buffermts[32*128];
-int buffertimeto[32];
+//XXX TODO: Once data is avialble in the context, use the stuff here to handle converting from time codes to
+//proper angles, then from there perform the rest of the solution. 
 
 void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  )
 {
-	//TODO: Writeme!
+	struct SurviveContext * ctx = so->ctx;
+	int base_station = acode >> 2;
+	int axis = acode & 1;
+
+	if( ctx->calptr )
+	{
+		survive_cal_light( so, sensor_id, acode, timeinsweep, timecode, length );
+	}
+
+	if( base_station > NUM_LIGHTHOUSES ) return;
+
+	//No loner need sync information past this point.
+	if( sensor_id < 0 ) return;
+	FLT angle = (timeinsweep - so->timecenter_ticks) * (1./so->timecenter_ticks * 3.14159265359/2.0);
+
+	//Need to now do angle correction.
+#if 1
+	struct BaseStationData * bsd = &ctx->bsd[base_station];
+
+	//XXX TODO: This seriously needs to be worked on.  See: https://github.com/cnlohr/libsurvive/issues/18
+	angle += bsd->fcalphase[axis];
+//	angle += bsd->fcaltilt[axis] * predicted_angle(axis1);
+	
+	//TODO!!!
+#endif
+
+	FLT length_sec = length / (FLT)so->timebase_hz;
+	ctx->angleproc( so, sensor_id, acode, timecode, length_sec, angle );
 }
 
+
+void survive_default_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
+{
+	struct SurviveContext * ctx = so->ctx;
+	if( ctx->calptr )
+	{
+		survive_cal_angle( so, sensor_id, acode, timecode, length, angle );
+	}
+
+	//TODO: Writeme!
+}	
+
+
 void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )
 {
 	//TODO: Writeme!
 }
 
-
diff --git a/src/survive_usb.c b/src/survive_usb.c
index cf12280..aec76db 100644
--- a/src/survive_usb.c
+++ b/src/survive_usb.c
@@ -125,7 +125,8 @@ static inline int getupdate_feature_report(libusb_device_handle* dev, uint16_t i
 static inline int hid_get_feature_report_timeout(libusb_device_handle* device, uint16_t interface, unsigned char *buf, size_t len )
 {
 	int ret;
-    for (unsigned i = 0; i < 100; i++)
+	uint8_t i = 0;
+    for (i = 0; i < 100; i++)
 	{
         ret = getupdate_feature_report(device, interface, buf, len);
 		if( ret != -9 && ( ret != -1 || errno != EPIPE ) ) return ret;
@@ -146,6 +147,7 @@ int survive_usb_init( struct SurviveContext * ctx )
 	}
 
 	int i;
+	int16_t j;
 	libusb_device** devs;
 	int ret = libusb_get_device_list(ctx->usbctx, &devs);
 
@@ -201,7 +203,7 @@ int survive_usb_init( struct SurviveContext * ctx )
 		}
 
 		libusb_set_auto_detach_kernel_driver( ctx->udev[i], 1 );
-		for (int j = 0; j < conf->bNumInterfaces; j++ )
+		for (j = 0; j < conf->bNumInterfaces; j++ )
 		{
 #if 0
 		    if (libusb_kernel_driver_active(ctx->udev[i], j) == 1) {
diff --git a/tools/lighthousefind_tori/main.c b/tools/lighthousefind_tori/main.c
index aa51448..ee56b37 100644
--- a/tools/lighthousefind_tori/main.c
+++ b/tools/lighthousefind_tori/main.c
@@ -51,6 +51,9 @@ static void runTheNumbers()
 			to->sensor[sensorCount].point.x = hmd_points[i * 3 + 0];
 			to->sensor[sensorCount].point.y = hmd_points[i * 3 + 1];
 			to->sensor[sensorCount].point.z = hmd_points[i * 3 + 2];
+			to->sensor[sensorCount].normal.x = hmd_norms[i * 3 + 0];
+			to->sensor[sensorCount].normal.y = hmd_norms[i * 3 + 1];
+			to->sensor[sensorCount].normal.z = hmd_norms[i * 3 + 2];
 			to->sensor[sensorCount].theta = hmd_point_angles[i * 2 + 0] + LINMATHPI / 2;
 			to->sensor[sensorCount].phi = hmd_point_angles[i * 2 + 1] + LINMATHPI / 2;
 			sensorCount++;
diff --git a/tools/lighthousefind_tori/tori_includes.h b/tools/lighthousefind_tori/tori_includes.h
index 4cfbcdc..a2b9082 100644
--- a/tools/lighthousefind_tori/tori_includes.h
+++ b/tools/lighthousefind_tori/tori_includes.h
@@ -4,13 +4,15 @@
 #include <stddef.h>
 #include <math.h>
 #include <stdint.h>
+#include "linmath.h"
 
+#define PointToFlts(x) ((FLT*)(x))
 
 typedef struct
 {
-	double x;
-	double y;
-	double z;
+	FLT x;
+	FLT y;
+	FLT z;
 } Point;
 
 typedef struct
diff --git a/tools/lighthousefind_tori/torus_localizer.c b/tools/lighthousefind_tori/torus_localizer.c
index 22a0ce2..837b745 100644
--- a/tools/lighthousefind_tori/torus_localizer.c
+++ b/tools/lighthousefind_tori/torus_localizer.c
@@ -400,45 +400,18 @@ double pythAngleBetweenSensors2(TrackedSensor *a, TrackedSensor *b)
 	double pythAngle = sqrt(SQUARED(p*adjP) + SQUARED(d*adjd));
 	return pythAngle;
 }
-Point SolveForLighthouse(TrackedObject *obj, char doLogOutput)
-{
-	PointsAndAngle pna[MAX_POINT_PAIRS];
-
-	size_t pnaCount = 0;
-	for (unsigned int i = 0; i < obj->numSensors; i++)
-	{
-		for (unsigned int j = 0; j < i; j++)
-		{
-			if (pnaCount < MAX_POINT_PAIRS)
-			{
-				pna[pnaCount].a = obj->sensor[i].point;
-				pna[pnaCount].b = obj->sensor[j].point;
-
-				pna[pnaCount].angle = pythAngleBetweenSensors2(&obj->sensor[i], &obj->sensor[j]);
-
-				double pythAngle = sqrt(SQUARED(obj->sensor[i].phi - obj->sensor[j].phi) + SQUARED(obj->sensor[i].theta - obj->sensor[j].theta));
-
-				pnaCount++;
-			}
-		}
-	}
 
+Point GetInitialEstimate(TrackedObject *obj, PointsAndAngle *pna, size_t pnaCount, FILE *logFile)
+{
 	Point **pointCloud = malloc(sizeof(void*)* pnaCount);
 
-	FILE *f = NULL;
-	if (doLogOutput)
-	{
-		f = fopen("pointcloud2.pcd", "wb");
-		writePcdHeader(f);
-		writeAxes(f);
-	}
 
 	for (unsigned int i = 0; i < pnaCount; i++)
 	{
 		torusGenerator(pna[i].a, pna[i].b, pna[i].angle, &(pointCloud[i]));
-		if (doLogOutput)
+		if (logFile)
 		{
-			writePointCloud(f, pointCloud[i], COLORS[i%MAX_COLORS]);
+			writePointCloud(logFile, pointCloud[i], COLORS[i%MAX_COLORS]);
 		}
 
 	}
@@ -451,13 +424,19 @@ Point SolveForLighthouse(TrackedObject *obj, char doLogOutput)
 		pointCloud[i] = NULL;
 	}
 
-	if (doLogOutput)
+	if (logFile)
 	{
-		markPointWithStar(f, bestMatchA, 0xFF0000);
+		markPointWithStar(logFile, bestMatchA, 0xFF0000);
 	}
 #ifdef TORI_DEBUG
 	printf("(%f,%f,%f)\n", bestMatchA.x, bestMatchA.y, bestMatchA.z);
 #endif
+
+	return bestMatchA;
+}
+
+Point RefineEstimateUsingPointCloud(Point initialEstimate, PointsAndAngle *pna, size_t pnaCount, TrackedObject *obj, FILE *logFile)
+{
 	// Now, let's add an extra patch or torus near the point we just found.
 
 	double toroidalAngle = 0;
@@ -473,15 +452,15 @@ Point SolveForLighthouse(TrackedObject *obj, char doLogOutput)
 			pna[i].a,
 			pna[i].b,
 			pna[i].angle,
-			bestMatchA,
+			initialEstimate,
 			&toroidalAngle,
 			&poloidalAngle);
 
 		partialTorusGenerator(pna[i].a, pna[i].b, toroidalAngle - 0.1, toroidalAngle + 0.1, poloidalAngle - 0.2, poloidalAngle + 0.2, pna[i].angle, 800, &(pointCloud2[i]));
 
-		if (doLogOutput)
+		if (logFile)
 		{
-			writePointCloud(f, pointCloud2[i], COLORS[i%MAX_COLORS]);
+			writePointCloud(logFile, pointCloud2[i], COLORS[i%MAX_COLORS]);
 		}
 
 	}
@@ -494,9 +473,9 @@ Point SolveForLighthouse(TrackedObject *obj, char doLogOutput)
 		pointCloud2[i] = NULL;
 	}
 
-	if (doLogOutput)
+	if (logFile)
 	{
-		markPointWithStar(f, bestMatchB, 0x00FF00);
+		markPointWithStar(logFile, bestMatchB, 0x00FF00);
 	}
 #ifdef TORI_DEBUG
 	printf("(%f,%f,%f)\n", bestMatchB.x, bestMatchB.y, bestMatchB.z);
@@ -516,9 +495,9 @@ Point SolveForLighthouse(TrackedObject *obj, char doLogOutput)
 
 		partialTorusGenerator(pna[i].a, pna[i].b, toroidalAngle - 0.05, toroidalAngle + 0.05, poloidalAngle - 0.1, poloidalAngle + 0.1, pna[i].angle, 3000, &(pointCloud3[i]));
 
-		if (doLogOutput)
+		if (logFile)
 		{
-			writePointCloud(f, pointCloud3[i], COLORS[i%MAX_COLORS]);
+			writePointCloud(logFile, pointCloud3[i], COLORS[i%MAX_COLORS]);
 		}
 
 	}
@@ -531,24 +510,461 @@ Point SolveForLighthouse(TrackedObject *obj, char doLogOutput)
 		pointCloud3[i] = NULL;
 	}
 
-	if (doLogOutput)
+	if (logFile)
 	{
-		markPointWithStar(f, bestMatchC, 0xFFFFFF);
+		markPointWithStar(logFile, bestMatchC, 0xFFFFFF);
 	}
 #ifdef TORI_DEBUG
 	printf("(%f,%f,%f)\n", bestMatchC.x, bestMatchC.y, bestMatchC.z);
 #endif
 
 
+
+
+	return bestMatchC;
+}
+
+Point calculateTorusPointFromAngles(PointsAndAngle *pna, double toroidalAngle, double poloidalAngle)
+{
+	Point result;
+
+	double distanceBetweenPoints = distance(pna->a, pna->b);
+	Point m = midpoint(pna->a, pna->b);
+	Matrix3x3 rot = GetRotationMatrixForTorus(pna->a, pna->b);
+
+	double toroidalRadius = distanceBetweenPoints / (2 * tan(pna->angle));
+	double poloidalRadius = sqrt(pow(toroidalRadius, 2) + pow(distanceBetweenPoints / 2, 2));
+
+	result.x = (toroidalRadius + poloidalRadius*cos(poloidalAngle))*cos(toroidalAngle);
+	result.y = (toroidalRadius + poloidalRadius*cos(poloidalAngle))*sin(toroidalAngle);
+	result.z = poloidalRadius*sin(poloidalAngle);
+	result = RotateAndTranslatePoint(result, rot, m);
+
+	return result;
+}
+
+FLT getPointFitnessForPna(Point pointIn, PointsAndAngle *pna)
+{
+
+	double toroidalAngle = 0;
+	double poloidalAngle = 0;
+
+	estimateToroidalAndPoloidalAngleOfPoint(
+		pna->a,
+		pna->b,
+		pna->angle,
+		pointIn,
+		&toroidalAngle,
+		&poloidalAngle);
+
+	Point torusPoint = calculateTorusPointFromAngles(pna, toroidalAngle, poloidalAngle);
+
+	FLT dist = distance(pointIn, torusPoint);
+
+	// This is some voodoo black magic.  This is here to solve the problem that the origin 
+	// (which is near the center of all the tori) erroniously will rank as a good match.
+	// through a lot of empiracle testing on how to compensate for this, the "fudge factor"
+	// below ended up being the best fit.  As simple as it is, I have a strong suspicion
+	// that there's some crazy complex thesis-level math that could be used to derive this
+	// but it works so we'll run with it.
+	// Note that this may be resulting in a skewing of the found location by several millimeters.
+	// it is not clear if this is actually removing existing skew (to get a more accurate value)
+	// or if it is introducing an undesirable skew.
+	double fudge = FLT_SIN((poloidalAngle - M_PI) / 2);
+	//fudge *= fudge;
+	dist = dist / fudge;
+
+	return dist;
+}
+
+//Point RefineEstimateUsingPointCloud(Point initialEstimate, PointsAndAngle *pna, size_t pnaCount, TrackedObject *obj, FILE *logFile)
+//
+FLT getPointFitness(Point pointIn, PointsAndAngle *pna, size_t pnaCount)
+{
+	FLT fitness;
+
+	FLT resultSum=0;
+
+	for (size_t i = 0; i < pnaCount; i++)
+	{
+		fitness = getPointFitnessForPna(pointIn, &(pna[i]));
+		//printf("Distance[%d]: %f\n", i, fitness);
+		resultSum += SQUARED(fitness);
+	}
+
+	return 1/FLT_SQRT(resultSum);
+}
+
+Point getGradient(Point pointIn, PointsAndAngle *pna, size_t pnaCount, FLT precision)
+{
+	Point result;
+
+	Point tmpXplus = pointIn;
+	Point tmpXminus = pointIn;
+	tmpXplus.x = pointIn.x + precision;
+	tmpXminus.x = pointIn.x - precision;
+	result.x = getPointFitness(tmpXplus, pna, pnaCount) - getPointFitness(tmpXminus, pna, pnaCount);
+
+	Point tmpYplus = pointIn;
+	Point tmpYminus = pointIn;
+	tmpYplus.y = pointIn.y + precision;
+	tmpYminus.y = pointIn.y - precision;
+	result.y = getPointFitness(tmpYplus, pna, pnaCount) - getPointFitness(tmpYminus, pna, pnaCount);
+
+	Point tmpZplus = pointIn;
+	Point tmpZminus = pointIn;
+	tmpZplus.z = pointIn.z + precision;
+	tmpZminus.z = pointIn.z - precision;
+	result.z = getPointFitness(tmpZplus, pna, pnaCount) - getPointFitness(tmpZminus, pna, pnaCount);
+
+	return result;
+}
+
+Point getNormalizedVector(Point vectorIn, FLT desiredMagnitude)
+{
+	FLT distanceIn = sqrt(SQUARED(vectorIn.x) + SQUARED(vectorIn.y) + SQUARED(vectorIn.z));
+
+	FLT scale = desiredMagnitude / distanceIn;
+
+	Point result = vectorIn;
+
+	result.x *= scale;
+	result.y *= scale;
+	result.z *= scale;
+
+	return result;
+}
+
+Point getAvgPoints(Point a, Point b)
+{
+	Point result;
+	result.x = (a.x + b.x) / 2;
+	result.y = (a.y + b.y) / 2;
+	result.z = (a.z + b.z) / 2;
+	return result;
+}
+
+// 0.95 is good value for descent
+// 0.1 is a good value for starting precision.
+static Point RefineEstimateUsingGradientDescent(Point initialEstimate, PointsAndAngle *pna, size_t pnaCount, FILE *logFile, FLT descent, FLT startingPrecision)
+{
+	int i = 0;
+	FLT lastMatchFitness = getPointFitness(initialEstimate, pna, pnaCount);
+	Point lastPoint = initialEstimate;
+	Point lastGradient = getGradient(lastPoint, pna, pnaCount, .00000001 /*somewhat arbitrary*/);
+
+	for (FLT f = startingPrecision; f > 0.0001; f *= descent)
+	{
+		Point gradient = getGradient(lastPoint, pna, pnaCount, f / 1000 /*somewhat arbitrary*/);
+		gradient = getNormalizedVector(gradient, f);
+
+		//printf("Gradient: (%f, %f, %f)\n", gradient.x, gradient.y, gradient.z);
+
+		// gradient = getAvgPoints(gradient, lastGradient); // doesn't seem to help much.  might hurt in some cases.
+
+		Point newPoint;
+		newPoint.x = lastPoint.x + gradient.x;
+		newPoint.y = lastPoint.y + gradient.y;
+		newPoint.z = lastPoint.z + gradient.z;
+
+		FLT newMatchFitness = getPointFitness(newPoint, pna, pnaCount);
+
+		if (newMatchFitness > lastMatchFitness)
+		{
+			lastMatchFitness = newMatchFitness;
+			lastPoint = newPoint;
+			//printf("%f\n", newMatchFitness);
+			lastGradient = gradient;
+
+			if (logFile)
+			{
+				writePoint(logFile, lastPoint.x, lastPoint.y, lastPoint.z, 0xFFFFFF);
+			}
+		}
+		else
+		{
+			//printf("-");
+		}
+
+		i++;
+	}
+
+	//printf("i = %d\n", i);
+
+	return lastPoint;
+}
+
+// This is modifies the basic gradient descent algorithm to better handle the shallow valley case,
+// which appears to be typical of this convergence.  
+static Point RefineEstimateUsingModifiedGradientDescent1(Point initialEstimate, PointsAndAngle *pna, size_t pnaCount, FILE *logFile)
+{
+	int i = 0;
+	FLT lastMatchFitness = getPointFitness(initialEstimate, pna, pnaCount);
+	Point lastPoint = initialEstimate;
+	//Point lastGradient = getGradient(lastPoint, pna, pnaCount, .00000001 /*somewhat arbitrary*/);
+
+	// The values below are somewhat magic, and definitely tunable
+	// The initial vlue of g will represent the biggest step that the gradient descent can take at first.
+	//   bigger values may be faster, especially when the initial guess is wildly off.
+	//   The downside to a bigger starting guess is that if we've picked a good guess at the local minima
+	//   if there are other local minima, we may accidentally jump to such a local minima and get stuck there.
+	//   That's fairly unlikely with the lighthouse problem, from expereince.
+	//   The other downside is that if it's too big, we may have to spend a few iterations before it gets down
+	//   to a size that doesn't jump us out of our minima.
+	// The terminal value of g represents how close we want to get to the local minima before we're "done"
+	// The change in value of g for each iteration is intentionally very close to 1.
+	//   in fact, it probably could probably be 1 without any issue.  The main place where g is decremented
+	//   is in the block below when we've made a jump that results in a worse fitness than we're starting at.
+	//   In those cases, we don't take the jump, and instead lower the value of g and try again.
+	for (FLT g = 0.2; g > 0.00001; g *= 0.99)
+	{
+		i++;
+		Point point1 = lastPoint;
+		// let's get 3 iterations of gradient descent here.
+		Point gradient1 = getGradient(point1, pna, pnaCount, g / 1000 /*somewhat arbitrary*/);
+		Point gradientN1 = getNormalizedVector(gradient1, g);
+
+		Point point2;
+		point2.x = point1.x + gradientN1.x;
+		point2.y = point1.y + gradientN1.y;
+		point2.z = point1.z + gradientN1.z;
+
+		Point gradient2 = getGradient(point2, pna, pnaCount, g / 1000 /*somewhat arbitrary*/);
+		Point gradientN2 = getNormalizedVector(gradient2, g);
+
+		Point point3;
+		point3.x = point2.x + gradientN2.x;
+		point3.y = point2.y + gradientN2.y;
+		point3.z = point2.z + gradientN2.z;
+
+		// remember that gradient descent has a tendency to zig-zag when it encounters a narrow valley?
+		// Well, solving the lighthouse problem presents a very narrow valley, and the zig-zag of a basic
+		// gradient descent is kinda horrible here.  Instead, think about the shape that a zig-zagging 
+		// converging gradient descent makes.  Instead of using the gradient as the best indicator of 
+		// the direction we should follow, we're looking at one side of the zig-zag pattern, and specifically
+		// following *that* vector.  As it turns out, this works *amazingly* well.  
+
+		Point specialGradient = { .x = point3.x - point1.x, .y = point3.y - point1.y, .z = point3.y - point1.y };
+
+		// The second parameter to this function is very much a tunable parameter.  Different values will result
+		// in a different number of iterations before we get to the minimum.  Numbers between 3-10 seem to work well
+		// It's not clear what would be optimum here.
+		specialGradient = getNormalizedVector(specialGradient, g/4);
+
+		Point point4;
+
+		point4.x = point3.x + specialGradient.x;
+		point4.y = point3.y + specialGradient.y;
+		point4.z = point3.z + specialGradient.z;
+
+		FLT newMatchFitness = getPointFitness(point4, pna, pnaCount);
+
+		if (newMatchFitness > lastMatchFitness)
+		{
+			if (logFile)
+			{
+				writePoint(logFile, lastPoint.x, lastPoint.y, lastPoint.z, 0xFFFFFF);
+			}
+
+			lastMatchFitness = newMatchFitness;
+			lastPoint = point4;
+			printf("+");
+		}
+		else
+		{
+			printf("-");
+			g *= 0.7;
+
+		}
+
+
+	}
+	printf("\ni=%d\n", i);
+
+	return lastPoint;
+}
+
+// This torus generator creates a point cloud of the given torus, and attempts to keep the 
+// density of the points fairly uniform across the surface of the torus.
+void AnalyzeToroidalImpact(
+	Point p1,
+	Point p2,
+	double lighthouseAngle,
+	double *vals,
+	PointsAndAngle *pna, 
+	size_t pnaCount)
+{
+	double poloidalRadius = 0;
+	double toroidalRadius = 0;
+
+	Point m = midpoint(p1, p2);
+	double distanceBetweenPoints = distance(p1, p2);
+
+	// ideally should only need to be lighthouseAngle, but increasing it here keeps us from accidentally
+	// thinking the tori converge at the location of the tracked object instead of at the lighthouse.
+	double centralAngleToIgnore = lighthouseAngle * 3;
+
+	Matrix3x3 rot = GetRotationMatrixForTorus(p1, p2);
+
+	toroidalRadius = distanceBetweenPoints / (2 * tan(lighthouseAngle));
+
+	poloidalRadius = sqrt(pow(toroidalRadius, 2) + pow(distanceBetweenPoints / 2, 2));
+
+	unsigned int pointCount = 0;
+
+	size_t currentPoint = 0;
+	
+	for (size_t ps = 0; ps < 180; ps++)
+	{
+
+		//for (double toroidalStep = toroidalStartAngle; toroidalStep < toroidalEndAngle; toroidalStep += M_PI / 40)
+		for (double toroidalStep = 0; toroidalStep < M_PI / 2; toroidalStep += M_PI / 180 * 2)
+		{
+			double poloidalStep = M_PI + M_PI / 180 * 2 * ps;
+			Point tmp;
+
+			tmp.x = (toroidalRadius + poloidalRadius*cos(poloidalStep))*cos(toroidalStep);
+			tmp.y = (toroidalRadius + poloidalRadius*cos(poloidalStep))*sin(toroidalStep);
+			tmp.z = poloidalRadius*sin(poloidalStep);
+			tmp = RotateAndTranslatePoint(tmp, rot, m);
+
+			vals[ps] += getPointFitness(tmp, pna, pnaCount);
+
+		}
+
+		vals[ps] = vals[ps] / 180; // average.
+	}
+
+}
+
+void AnalyzePoloidalImpact(TrackedObject *obj, PointsAndAngle *pna, size_t pnaCount, FILE *logFile)
+{
+	Point **pointCloud = malloc(sizeof(void*)* pnaCount);
+
+	double vals[200][180] = { 0 };
+
+
+	for (unsigned int i = 0; i < pnaCount; i++)
+	{
+		//double tmpVals[180] = { 0 };
+
+		AnalyzeToroidalImpact(
+			pna[i].a,
+			pna[i].b,
+			pna[i].angle,
+			vals[i],
+			pna,
+			pnaCount);
+
+
+		//for (int j = 0; j < 180; j++)
+		//{
+		//	vals[j] += tmpVals[j];
+		//}
+
+	}
+	
+	for (int i = 0; i < 180; i++)
+	{
+		printf("%d", i * 2);
+		for (unsigned int j = 0; j < pnaCount; j++)
+		{
+			printf(", %f", vals[j][i]);
+		}
+		printf("\n");
+	}
+}
+
+
+Point SolveForLighthouse(TrackedObject *obj, char doLogOutput)
+{
+	PointsAndAngle pna[MAX_POINT_PAIRS];
+
+	Point avgNorm = { 0 };
+
+	size_t pnaCount = 0;
+	for (unsigned int i = 0; i < obj->numSensors; i++)
+	{
+		for (unsigned int j = 0; j < i; j++)
+		{
+			if (pnaCount < MAX_POINT_PAIRS)
+			{
+				pna[pnaCount].a = obj->sensor[i].point;
+				pna[pnaCount].b = obj->sensor[j].point;
+
+				pna[pnaCount].angle = pythAngleBetweenSensors2(&obj->sensor[i], &obj->sensor[j]);
+
+				double pythAngle = sqrt(SQUARED(obj->sensor[i].phi - obj->sensor[j].phi) + SQUARED(obj->sensor[i].theta - obj->sensor[j].theta));
+
+				pnaCount++;
+			}
+		}
+
+		avgNorm.x += obj->sensor[i].normal.x;
+		avgNorm.y += obj->sensor[i].normal.y;
+		avgNorm.z += obj->sensor[i].normal.z;
+	}
+	avgNorm.x = avgNorm.x / obj->numSensors;
+	avgNorm.y = avgNorm.y / obj->numSensors;
+	avgNorm.z = avgNorm.z / obj->numSensors;
+
+	FLT avgNormF[3] = { avgNorm.x, avgNorm.y, avgNorm.z };
+
+
+	FILE *logFile = NULL;
 	if (doLogOutput)
 	{
-		updateHeader(f);
-		fclose(f);
+		logFile = fopen("pointcloud2.pcd", "wb");
+		writePcdHeader(logFile);
+		writeAxes(logFile);
 	}
 
+	//Point initialEstimate = GetInitialEstimate(obj, pna, pnaCount, logFile);
 
+	//Point refinedEstimatePc = RefineEstimateUsingPointCloud(initialEstimate, pna, pnaCount, obj, logFile);
 
-	return bestMatchC;
+	//Point refinedEstimageGd = RefineEstimateUsingGradientDescent(initialEstimate, pna, pnaCount, logFile, 0.95, 0.1);
+
+	// Point refinedEstimageGd = RefineEstimateUsingModifiedGradientDescent1(initialEstimate, pna, pnaCount, logFile);
+
+	// AnalyzePoloidalImpact(obj, pna, pnaCount, logFile);
+
+	// arbitrarily picking a value of 8 meters out to start from.
+	// intentionally picking the direction of the average normal vector of the sensors that see the lighthouse
+	// since this is least likely to pick the incorrect "mirror" point that would send us 
+	// back into the search for the correct point (see "if (a1 > M_PI / 2)" below)
+	Point p1 = getNormalizedVector(avgNorm, 8); 
+
+	Point refinedEstimageGd = RefineEstimateUsingModifiedGradientDescent1(p1, pna, pnaCount, logFile);
+
+	FLT pf1[3] = { refinedEstimageGd.x, refinedEstimageGd.y, refinedEstimageGd.z };
+
+	FLT a1 = anglebetween3d(pf1, avgNormF);
+
+	if (a1 > M_PI / 2)
+	{
+		Point p2 = { .x = -refinedEstimageGd.x, .y = -refinedEstimageGd.y, .z = -refinedEstimageGd.z };
+		refinedEstimageGd = RefineEstimateUsingModifiedGradientDescent1(p2, pna, pnaCount, logFile);
+
+		//FLT pf2[3] = { refinedEstimageGd2.x, refinedEstimageGd2.y, refinedEstimageGd2.z };
+
+		//FLT a2 = anglebetween3d(pf2, avgNormF);
+
+	}
+
+	//FLT fitPc = getPointFitness(refinedEstimatePc, pna, pnaCount);
+	FLT fitGd = getPointFitness(refinedEstimageGd, pna, pnaCount);
+	//FLT fitGd2 = getPointFitness(refinedEstimageGd2, pna, pnaCount);
+
+	printf("Fitness is %f\n", fitGd);
+
+	if (logFile)
+	{
+		updateHeader(logFile);
+		fclose(logFile);
+	}
+	//fgetc(stdin);
+	return refinedEstimageGd;
 }
 
 static Point makeUnitPoint(Point *p)
diff --git a/tools/lighthousefind_tori/visualization.c b/tools/lighthousefind_tori/visualization.c
index 12cbfee..098e0e2 100644
--- a/tools/lighthousefind_tori/visualization.c
+++ b/tools/lighthousefind_tori/visualization.c
@@ -60,10 +60,10 @@ void writePcdHeader(FILE * file)
 	fprintf(file, "SIZE 4 4 4 4\n");
 	fprintf(file, "TYPE F F F U\n");
 	fprintf(file, "COUNT 1 1 1 1\n");
-	fprintf(file, "WIDTH		\n");
+	fprintf(file, "WIDTH        \n");
 	fprintf(file, "HEIGHT 1\n");
 	fprintf(file, "VIEWPOINT 0 0 0 1 0 0 0\n");
-	fprintf(file, "POINTS		\n");
+	fprintf(file, "POINTS        \n");
 	fprintf(file, "DATA ascii\n");
 
 	//fprintf(file, "100000.0, 100000.0, 100000\n");
diff --git a/tools/ootx_decode/HMD_Datagen.c b/tools/ootx_decode/HMD_Datagen.c
new file mode 100644
index 0000000..15ed62c
--- /dev/null
+++ b/tools/ootx_decode/HMD_Datagen.c
@@ -0,0 +1,103 @@
+// (C) 2017 Joshua Allen, MIT/x11 License.
+//
+//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
+
+/* generate data to test ootx decoding */
+
+#include <stdio.h>
+#include <string.h>
+#include <stdint.h>
+#include <time.h>
+#include <stdlib.h>
+#include <zlib.h>
+
+//this program is broken and does not produce useable data.
+
+uint32_t time_stamp = -525198892;
+
+char* fmt_str = "L Y HMD %d 5 1 206230 %d\n";
+
+void print_bit(uint8_t data);
+void print_preamble();
+void print_uint16(uint16_t d);
+void print_uint32(uint32_t d);
+void print_payload(char* data, uint16_t length);
+
+
+int main(int argc, char* argv[])
+{
+	char* str = "Hello World!";
+//	printf("%s\n", str);
+
+	srand(time(NULL));
+
+	print_preamble();
+
+	uint16_t payload_lenth = strlen(str);
+	uint32_t crc = crc32( 0L, Z_NULL, 0 );
+	crc = crc32( crc, (uint8_t*)str,payload_lenth);
+
+	print_uint16(payload_lenth);
+	print_payload(str,payload_lenth);
+	print_uint32(crc);
+
+	return 0;
+}
+
+void print_preamble() {
+	int i;
+	for (i=0;i<17;++i) print_bit(0);
+	print_bit(1);
+}
+
+void print_uint16(uint16_t d) {
+	int i;
+	for (i=0;i<16;++i) {
+		print_bit(d & 0x0001);
+		d>>=1;
+	}
+	print_bit(1);
+}
+
+void print_uint32(uint32_t d) {
+	int i = 0;
+	for (;i<16;++i) {
+		print_bit(d & 0x01);
+		d>>=1;
+	}
+	print_bit(1);
+
+	for (;i<32;++i) {
+		print_bit(d & 0x01);
+		d>>=1;
+	}
+	print_bit(1);
+}
+
+void print_payload(char* data, uint16_t length) {
+	int i;
+	for(i=0;i<length;i+=2) {
+		uint16_t d = *((uint16_t*)(data+i));
+//		printf("%d\n", d);
+		print_uint16(d);
+	}
+}
+
+void print_bit(uint8_t data) {
+	uint32_t length = 3000 + (rand()%2)*500 + data*1000 + (rand()%2)*2000;
+	length -= rand()%500;
+	printf(fmt_str, time_stamp, length);
+
+	time_stamp++;
+
+	/*
+	//to decode
+	// 3000 + x*500 + dbit*1000 + y*2000
+	length -= 3000;
+	if (length>=2000) { length-=2000; y = 0x01; }
+	if (length>=1000)  { length-=1000; dbit = 0x01; }
+	if (length>=500)  { x = 0x01; }
+	*/
+
+	//fire off a callback when a full OOTX packet is received
+}
diff --git a/tools/ootx_decode/Makefile b/tools/ootx_decode/Makefile
new file mode 100644
index 0000000..b3b07b4
--- /dev/null
+++ b/tools/ootx_decode/Makefile
@@ -0,0 +1,7 @@
+all: ootx_decode hmd_datagen
+
+hmd_datagen: HMD_Datagen.c 
+	gcc -Wall HMD_Datagen.c -lz -o hmd_datagen
+
+ootx_decode: ootx_decode.c ../../src/ootx_decoder.c ../../src/ootx_decoder.h
+	gcc -Wall ootx_decode.c ../../src/ootx_decoder.c -lz -o ootx_decode -I ../../src/
diff --git a/tools/ootx_decode/ootx_decode.c b/tools/ootx_decode/ootx_decode.c
new file mode 100644
index 0000000..1823aaa
--- /dev/null
+++ b/tools/ootx_decode/ootx_decode.c
@@ -0,0 +1,121 @@
+// (C) 2017 Joshua Allen, MIT/x11 License.
+//
+//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
+
+/* ootx data decoder test*/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <assert.h>
+
+#include "ootx_decoder.h"
+
+void my_test(ootx_decoder_context *ctx, ootx_packet* packet) {
+	packet->data[packet->length] = 0;
+	printf("%d %s 0x%X\n", packet->length, packet->data, packet->crc32);
+}
+
+void my_test2(ootx_decoder_context *ctx, ootx_packet* packet) {
+	printf("completed ootx packet\n");
+
+	lighthouse_info_v6 lhi;
+	init_lighthouse_info_v6(&lhi,packet->data);
+	print_lighthouse_info_v6(&lhi);
+//	packet->data[packet->length] = 0;
+//	printf("%d %s 0x%X\n", packet->length, packet->data, packet->crc32);
+}
+
+
+void print_crc32(uint32_t crc) {
+//	uint8_t* p = (uint32_t*)&crc;
+//	uint8_t i = 0;
+
+	printf("%X\n", crc);
+}
+
+void write_to_file(uint8_t *d, uint16_t length){
+	FILE *fp = fopen("binary.data","w");
+	fwrite(d, length, 1, fp);
+	fclose(fp);
+}
+
+void bad_crc(ootx_decoder_context *ctx, ootx_packet* packet, uint32_t crc) {
+	printf("CRC mismatch\n");
+
+	printf("r:");
+	print_crc32(packet->crc32);
+
+	printf("c:");
+	print_crc32(crc);
+	write_to_file(packet->data,packet->length);
+}
+
+ootx_decoder_context ctx[2];
+
+void cnlohr_code_test() {
+	ootx_packet_clbk = my_test2;
+	ootx_bad_crc_clbk = bad_crc;
+
+	char* line = NULL;
+	size_t line_len = 0;
+	char trash[100] = "";
+	int8_t lh_id = 0x00;
+	uint32_t ticks = 0x00;
+	int32_t delta = 0x00;
+	uint8_t acode = 0x00;
+
+	ootx_decoder_context *c_ctx = ctx;
+
+	while (getline(&line,&line_len,stdin)>0) {
+			//R Y HMD -1575410734 -2 7 19714 6485
+			sscanf(line,"%s %s %s %s %hhd %hhd %d %d",
+			trash,
+			trash,
+			trash,
+			trash,
+			&lh_id,
+			&acode,
+			&delta,
+			&ticks);
+
+//		int8_t lh = lighthouse_code=='R'?0:1;
+//		printf("LH:%d %s\n", lh_id, line);
+		int8_t lh = (lh_id*-1)-1;
+		if (lh_id < 0) {
+//			uint8_t bit = 0x01; //bit for debugging purposes
+
+			//change to newly found lighthouse
+			c_ctx = ctx+lh;
+
+//			uint8_t dbit = ootx_decode_bit(ticks);
+//			printf("LH:%d ticks:%d bit:%X %s", lh, ticks, dbit, line);
+
+//			ootx_process_bit(c_ctx, ticks);
+			ootx_pump_bit( c_ctx, (acode&0x02)>>1 );
+/*
+			uint16_t s = *(c_ctx->payload_size);
+			uint16_t fwv = *(c_ctx->buffer+2);
+			uint16_t pv = 0x3f & fwv; //protocol version
+			fwv>>=6; //firmware version
+
+			//this will print after any messages from ootx_pump
+//			if (c_ctx->found_preamble>0) printf("LH:%d s:%d 0x%x fw:%d pv:%d bo:%d bit:%d\t%s", current_lighthouse, s, s, fwv, pv, c_ctx->buf_offset, bit, line);
+*/	
+		}
+	}
+}
+
+int main(int argc, char* argv[])
+{
+	ootx_init_decoder_context(ctx);
+	ootx_init_decoder_context(ctx+1);
+
+	cnlohr_code_test();
+
+	ootx_free_decoder_context(ctx);
+	ootx_free_decoder_context(ctx+1);
+
+	return 0;
+}
diff --git a/tools/plot_lighthouse/Makefile b/tools/plot_lighthouse/Makefile
index 07bdcb9..38eece0 100644
--- a/tools/plot_lighthouse/Makefile
+++ b/tools/plot_lighthouse/Makefile
@@ -1,7 +1,7 @@
 UNAME := $(shell uname)
 
 ifeq ($(UNAME), Linux)
-CFLAGS:= -I../../redist -lGL -lGLU -lglut
+CFLAGS:= -lGL -lGLU -lglut -I../../redist -DLINUX -lm -lpthread
 endif
 
 # Darwin is Mac OSX !!
diff --git a/tools/plot_lighthouse/main.c b/tools/plot_lighthouse/main.c
index 8088828..4a64c28 100644
--- a/tools/plot_lighthouse/main.c
+++ b/tools/plot_lighthouse/main.c
@@ -13,6 +13,11 @@
 #include "glutil.h"
 #include "fileutil.h"
 
+#ifdef LINUX
+#include <GL/freeglut.h>
+#endif
+
+
 // Required to set up a window
 #define WIDTH  800
 #define HEIGHT 600
diff --git a/tools/process_rawcap/process_to_points.c b/tools/process_rawcap/process_to_points.c
index a1e835d..3ccfcc1 100644
--- a/tools/process_rawcap/process_to_points.c
+++ b/tools/process_rawcap/process_to_points.c
@@ -192,7 +192,8 @@ int main( int argc, char ** argv )
 			stddevtim += Sdiff * Sdiff;
 			stddevlen += Ldiff * Ldiff;
 
-			Sdiff/=4;
+			//Cast a wider net for the histogram.
+			//Sdiff/=4;
 
 			int llm = Sdiff + (HISTOGRAMSIZE/2.0);
 			if( llm < 0 ) llm = 0;