Merge branch 'axlecrusher-master'

17 files changed, 1027 insertions, 19 deletions

diff --git a/Makefile b/Makefile
index dbd4869..797c257 100644
--- a/Makefile
+++ b/Makefile
@@ -1,18 +1,23 @@
-all : lib data_recorder test
+all : lib data_recorder test calibrate
 
 CFLAGS:=-Iinclude -fPIC -g -Os -Iredist -flto
 LDFLAGS:=-lpthread -lusb-1.0 -lz -lX11 -flto
 
+# unused: redist/crc32.c
+
 test : test.c lib/libsurvive.so redist/os_generic.o
 	gcc -o $@ $^ $(LDFLAGS) $(CFLAGS)
 
 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 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..4db2ed0
--- /dev/null
+++ b/calibrate.c
@@ -0,0 +1,124 @@
+//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 );
+}
+
+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 * 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]++;
+			}
+		}
+
+
+		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_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 d2f5bfe..4a95a2f 100644
--- a/include/survive.h
+++ b/include/survive.h
@@ -10,6 +10,12 @@ 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;
@@ -32,10 +38,10 @@ struct SurviveObject
 	//Flood info, for calculating which laser is currently sweeping.
 	int8_t oldcode;
 
-	uint32_t last_time[2];    //0 = master, 1 = slave.  Hardcoded, because it cannot simply be expanded.
-	uint32_t last_length[2];
-	int8_t   sync_set_number; //0 = master, 1 = slave, -1 = fault.  Possibly more lighthouses???
-	int8_t   did_handle_ootx;
+	uint32_t last_time[NUM_LIGHTHOUSES];
+	uint32_t last_length[NUM_LIGHTHOUSES];
+	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 recent_sync_time;
 
 	uint32_t last_lighttime;  //May be a 24- or 32- bit number depending on what device.
@@ -64,8 +70,15 @@ 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.  
+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/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/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_cal.c b/src/survive_cal.c
new file mode 100644
index 0000000..adcb7bc
--- /dev/null
+++ b/src/survive_cal.c
@@ -0,0 +1,72 @@
+// (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"
+
+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;
+
+	printf( "Got OOTX packet %d %p\n", id, cd );
+
+	lighthouse_info_v6 v6;
+	init_lighthouse_info_v6(&v6, packet->data);
+	print_lighthouse_info_v6(&v6);
+}
+
+
+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;
+				//printf( "%s %d %d %d\n", so->codename, lhid, acode, dbit );
+				ootx_pump_bit( &cd->ootx_decoders[lhid], dbit );
+			}
+		}
+			
+		break;
+	}
+}
+
diff --git a/src/survive_cal.h b/src/survive_cal.h
new file mode 100644
index 0000000..a74bf95
--- /dev/null
+++ b/src/survive_cal.h
@@ -0,0 +1,44 @@
+// (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 max_data );
+
+//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  );
+
+struct SurviveCalData
+{
+	//Stage:
+	// 0: Idle
+	// 1: Collecting OOTX data.
+	int stage;
+
+	//OOTX Data is sync'd off of 
+	ootx_decoder_context ootx_decoders[NUM_LIGHTHOUSES];
+};
+
+#endif
+
diff --git a/src/survive_data.c b/src/survive_data.c
index b79f96e..c557951 100644
--- a/src/survive_data.c
+++ b/src/survive_data.c
@@ -81,7 +81,7 @@ static void handle_lightcap( struct SurviveObject * so, struct LightcapElement *
 			else
 			{
 				ssn = ++so->sync_set_number;
-				if( so->sync_set_number > 1 )
+				if( so->sync_set_number >= NUM_LIGHTHOUSES )
 				{
 					SV_INFO( "Warning.  Received an extra, unassociated sync pulse." );
 					ssn = so->sync_set_number = -1;
@@ -106,12 +106,20 @@ static void handle_lightcap( struct SurviveObject * so, struct LightcapElement *
 			}
 		}
 	}
+
+
+
 	//See if this is a valid actual pulse.
 	else if( le->length < 1800 && le->length > 40 && delta > 30000 && ssn >= 0 )
 	{
 		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.
@@ -128,6 +136,7 @@ static void handle_lightcap( struct SurviveObject * so, struct LightcapElement *
 		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 )
@@ -135,7 +144,6 @@ static void handle_lightcap( struct SurviveObject * so, struct LightcapElement *
 			int32_t delta1 = so->last_time[0] - so->recent_sync_time;
 			int32_t delta2 = so->last_time[1] - so->last_time[0];
 
-			//XXX Axlecrusher -> Add your code here!!!
 			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] );
 
diff --git a/src/survive_internal.h b/src/survive_internal.h
index 446f3c0..11c9d89 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
 {
@@ -75,9 +91,15 @@ struct SurviveContext
 	light_process_func lightproc;
 	imu_process_func imuproc;
 
-	//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.
+
 };
 
 
diff --git a/src/survive_process.c b/src/survive_process.c
index d3a8c4a..184532b 100644
--- a/src/survive_process.c
+++ b/src/survive_process.c
@@ -1,15 +1,19 @@
 //<>< (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  )
 {
+
+	if( so->ctx->calptr )
+	{
+		survive_cal_light( so, sensor_id, acode, timeinsweep, timecode, length );
+	}
+
 	//TODO: Writeme!
 }
 
@@ -18,4 +22,3 @@ void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro
 	//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/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;
+}