Merge branch 'ootx_decoder_context_cleanup'

7 files changed, 244 insertions, 226 deletions

diff --git a/tools/ootx_decode/HMD_Datagen.c b/tools/ootx_decode/HMD_Datagen.c
index f2e8b19..15ed62c 100644
--- a/tools/ootx_decode/HMD_Datagen.c
+++ b/tools/ootx_decode/HMD_Datagen.c
@@ -1,4 +1,4 @@
-// (C) 2016 Joshua Allen, MIT/x11 License.
+// (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.
 
@@ -9,8 +9,9 @@
 #include <stdint.h>
 #include <time.h>
 #include <stdlib.h>
+#include <zlib.h>
 
-#include "crc32.h"
+//this program is broken and does not produce useable data.
 
 uint32_t time_stamp = -525198892;
 
@@ -33,7 +34,8 @@ int main(int argc, char* argv[])
 	print_preamble();
 
 	uint16_t payload_lenth = strlen(str);
-	uint32_t crc = crc32(0xffffffff,(uint8_t*)str,payload_lenth);
+	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);
@@ -98,4 +100,4 @@ void print_bit(uint8_t data) {
 	*/
 
 	//fire off a callback when a full OOTX packet is received
-}
\ No newline at end of file
+}
diff --git a/tools/ootx_decode/Makefile b/tools/ootx_decode/Makefile
index 2c0d01a..9170ac4 100644
--- a/tools/ootx_decode/Makefile
+++ b/tools/ootx_decode/Makefile
@@ -1,7 +1,7 @@
 all: ootx_decode hmd_datagen
 
-hmd_datagen: HMD_Datagen.c crc32.c crc32.h
-	gcc -Wall HMD_Datagen.c crc32.c -o hmd_datagen
+hmd_datagen: HMD_Datagen.c 
+	gcc -Wall HMD_Datagen.c -lz -o hmd_datagen
 
-ootx_decode: ootx_decode.c ootx_decoder.c ootx_decoder.h crc32.c crc32.h
-	gcc -Wall ootx_decode.c ootx_decoder.c crc32.c -o ootx_decode
\ No newline at end of file
+ootx_decode: ootx_decode.c ootx_decoder.c ootx_decoder.h
+	gcc -Wall ootx_decode.c ootx_decoder.c -lz -o ootx_decode
diff --git a/tools/ootx_decode/crc32.c b/tools/ootx_decode/crc32.c
deleted file mode 100644
index a719cbf..0000000
--- a/tools/ootx_decode/crc32.c
+++ /dev/null
@@ -1,103 +0,0 @@
-/*-
- *  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/tools/ootx_decode/crc32.h b/tools/ootx_decode/crc32.h
deleted file mode 100644
index c771d4a..0000000
--- a/tools/ootx_decode/crc32.h
+++ /dev/null
@@ -1,13 +0,0 @@
-// (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.
-
-#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
\ No newline at end of file
diff --git a/tools/ootx_decode/ootx_decode.c b/tools/ootx_decode/ootx_decode.c
index 735b5fc..1074698 100644
--- a/tools/ootx_decode/ootx_decode.c
+++ b/tools/ootx_decode/ootx_decode.c
@@ -1,4 +1,4 @@
-// (C) 2016 Joshua Allen, MIT/x11 License.
+// (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.
 
@@ -12,9 +12,6 @@
 
 #include "ootx_decoder.h"
 
-//char* fmt_str = "L Y HMD %d 5 1 206230 %d\n";
-//extern std::istream cin;
-
 void my_test(ootx_packet* packet) {
 	packet->data[packet->length] = 0;
 	printf("%d %s 0x%X\n", packet->length, packet->data, packet->crc32);
@@ -22,79 +19,91 @@ void my_test(ootx_packet* packet) {
 
 void my_test2(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);
 }
 
-ootx_decoder_context ctx[2];
 
-void hello_world_test() {
-//	ootx_init_buffer();
-	ootx_packet_clbk = my_test;
+void print_crc32(uint32_t crc) {
+//	uint8_t* p = (uint32_t*)&crc;
+//	uint8_t i = 0;
 
-	char* line = NULL;
-	size_t line_len = 0;
-	char trash[100] = "";
-	uint32_t ticks = 0x00;
+	printf("%X\n", crc);
+}
 
-	while (getline(&line,&line_len,stdin)>0) {
-//		printf("%s\n", line);
-		sscanf(line,"%s %s %s %s %s %s %s %d",
-			trash,
-			trash,
-			trash,
-			trash,
-			trash,
-			trash,
-			trash,
-			&ticks);
-//		printf("%d\n", ticks);
+void write_to_file(uint8_t *d, uint16_t length){
+	FILE *fp = fopen("binary.data","w");
+	fwrite(d, length, 1, fp);
+	fclose(fp);
+}
 
-		ootx_process_bit(ctx, ticks);
-	}
+void bad_crc(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);
 }
 
-void raw_test() {
+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] = "";
-	int32_t atime = 0x00;
+	int8_t lh_id = 0x00;
 	uint32_t ticks = 0x00;
-	uint32_t delta = 0x00;
+	int32_t delta = 0x00;
 
-	int8_t current_lighthouse = 0;
+	ootx_decoder_context *c_ctx = ctx;
 
 	while (getline(&line,&line_len,stdin)>0) {
-//		printf("%s\n", line);
-
-		//HMD 20 0 5881 765645903 -5
-		sscanf(line,"%s %s %s %d %d %d",
+			//R Y HMD -1575410734 -2 7 19714 6485
+			sscanf(line,"%s %s %s %s %hhd %s %d %d",
+			trash,
 			trash,
 			trash,
 			trash,
-			&ticks,
-			&atime,
-			&delta);
-//		printf("%d\n", ticks);
+			&lh_id,
+			trash, //sensor id?
+			&delta,
+			&ticks);
 
-		int8_t lh = ootx_decode_lighthouse_number(current_lighthouse, ticks, delta);
+//		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
 
-		if (lh > -1) {
 			//change to newly found lighthouse
-			current_lighthouse = lh;
-//			printf("%d %d %d\n", ticks, delta, current_lighthouse);
-			ootx_process_bit(ctx+current_lighthouse, ticks);
-			printf("%d %d %d\n", current_lighthouse, *(ctx->payload_size), ctx->found_preamble);
-		}
+			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);
+
 /*
-		if (current_lighthouse >= 0) {
-			ootx_process_bit(ctx+current_lighthouse, ticks);
+			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[])
@@ -102,7 +111,10 @@ int main(int argc, char* argv[])
 	ootx_init_decoder_context(ctx);
 	ootx_init_decoder_context(ctx+1);
 
-	raw_test();
+	cnlohr_code_test();
+
+	ootx_free_decoder_context(ctx);
+	ootx_free_decoder_context(ctx+1);
 
 	return 0;
 }
\ No newline at end of file
diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index b386132..b5a7b54 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -1,4 +1,4 @@
-// (C) 2016 Joshua Allen, MIT/x11 License.
+// (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.
 
@@ -6,16 +6,19 @@
 
 #include <stdio.h>
 #include <stdlib.h>
-
+#include <zlib.h>
 #include <assert.h>
 #include "ootx_decoder.h"
-#include "crc32.h"
+//#include "crc32.h"
 
 //char* fmt_str = "L Y HMD %d 5 1 206230 %d\n";
 
-#define MAX_BUFF_SIZE 1024
+#define MAX_BUFF_SIZE 64
 
 void (*ootx_packet_clbk)(ootx_packet* packet) = NULL;
+void (*ootx_bad_crc_clbk)(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;
@@ -29,42 +32,24 @@ void ootx_init_decoder_context(ootx_decoder_context *ctx) {
 	ctx->payload_size = (uint16_t*)ctx->buffer;
 	*(ctx->payload_size) = 0;
 }
-/*
-void ootx_init_buffer() {
-	buffer = (uint8_t*)malloc(MAX_BUFF_SIZE);
-	payload_size = (uint16_t*)buffer;
-	*payload_size = 0;
-}
-*/
-
-/*
-	how to decode pulses
-	ticks>2000 && delta>100000== master lighthouse
-	ticks>2000 && delta>10000 == slave lighthouse
-*/
-
-int8_t ootx_decode_lighthouse_number(uint8_t last_num, uint32_t ticks, int32_t delta) {
-	if (ticks<2000) return -1; //sweep
-	if ((ticks > 2000) & (delta>100000)) return 0; //master
-	if ((ticks > 2000) & (delta>10000)) return last_num+1; //a slave
-	return -1;
-}
 
+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 ticks) {
-	ticks = ((ticks/500)*500)+500;
-
-	ticks-=3000;
-	if (ticks>=2000) { ticks-=2000; }
-	if (ticks>=1000)  { return 0xFF; }
-
-	return 0x00;
+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);
-	if ((ctx->preamble & 0x0001ffff) == 0x01) return 1;
+//	ctx->preamble |= (0x01 & dbit);
+	ctx->preamble |= dbit;
+	if ((ctx->preamble & 0x0003ffff) == 0x00000001) return 1;
 	return 0;
 }
 
@@ -91,9 +76,11 @@ void ootx_inc_buffer_offset(ootx_decoder_context *ctx) {
 
 void ootx_write_to_buffer(ootx_decoder_context *ctx, uint8_t dbit) {
 	uint8_t *current_byte = ctx->buffer + ctx->buf_offset;
-//	printf("%d\n", dbit);
-	*current_byte >>= 1;
-	*current_byte |= (0x80 & dbit);
+
+	*current_byte <<= 1;
+//	*current_byte |= (0x01 & dbit);
+	*current_byte |= dbit;
+
 	++(ctx->bits_written);
 	if (ctx->bits_written>7) {
 		ctx->bits_written=0;
@@ -102,12 +89,15 @@ void ootx_write_to_buffer(ootx_decoder_context *ctx, uint8_t dbit) {
 	}
 }
 
-void ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) {
+uint8_t ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) {
 	uint8_t dbit = ootx_decode_bit(length);
-	++(ctx->bits_processed);
+	ootx_pump_bit( ctx, dbit );
+	return dbit;
+}
 
-//	printf("z %d %d\n", bits_processed,dbit);
-//	printf("d %d\n", bits_processed,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
@@ -131,24 +121,123 @@ void ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) {
 
 		ootx_write_to_buffer(ctx, dbit);
 
-		if (ctx->buf_offset >= (*(ctx->payload_size)+6)) {
+		uint16_t padded_length = *(ctx->payload_size);
+		padded_length += (padded_length&0x01); //extra null byte if odd
+
+		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*)(ctx->buffer+2+op.length);
+			op.crc32 = *(uint32_t*)(op.data+padded_length);
 
-			uint32_t crc = crc32(0xffffffff,op.data,op.length);
+			uint32_t crc = crc32( 0L, Z_NULL, 0 );
+			crc = crc32( crc, op.data,op.length);
 
 			if (crc != op.crc32) {
-				printf("CRC mismatch\n");
+				if (ootx_bad_crc_clbk != NULL) ootx_bad_crc_clbk(&op,crc);
+			}
+			else if (ootx_packet_clbk != NULL) {
+				ootx_packet_clbk(&op);
 			}
-
-			if ((crc == op.crc32) && ootx_packet_clbk) ootx_packet_clbk(&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;
+}
+
+float _half_to_float(uint8_t* data) {
+	//this will not handle infinity, NaN, or denormalized floats
+
+	uint16_t x = *(uint16_t*)data;
+	float f = 0;
+
+	uint32_t *ftmp = (uint32_t*)&f; //use the allocated floating point memory
+
+	if ((x & 0x7FFF) == 0) return f; //zero
+
+	//sign
+	*ftmp = x & 0x8000;
+	*ftmp <<= 16;
+
+	*ftmp += ((((uint32_t)(x & 0x7fff)) + 0x1c000) << 13);
+
+	return 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);
+}
\ No newline at end of file
diff --git a/tools/ootx_decode/ootx_decoder.h b/tools/ootx_decode/ootx_decoder.h
index 696fecb..c707159 100644
--- a/tools/ootx_decode/ootx_decoder.h
+++ b/tools/ootx_decode/ootx_decoder.h
@@ -1,4 +1,4 @@
-// (C) 2016 Joshua Allen, MIT/x11 License.
+// (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.
 
@@ -23,15 +23,46 @@ typedef struct {
 	uint32_t preamble;
 	uint8_t bits_processed;
 	uint8_t found_preamble;
+
+	uint8_t bit_count[2];
 } ootx_decoder_context;
 
 
-//void ootx_init_buffer();
-void ootx_process_bit(ootx_decoder_context *ctx, uint32_t length);
+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);
-int8_t ootx_decode_lighthouse_number(uint8_t last_num, uint32_t ticks, int32_t delta);
+void ootx_free_decoder_context(ootx_decoder_context *ctx);
+
+uint8_t ootx_process_bit(ootx_decoder_context *ctx, uint32_t length);
 
+uint8_t ootx_decode_bit(uint32_t length);
 
 extern void (*ootx_packet_clbk)(ootx_packet* packet);
+extern void (*ootx_bad_crc_clbk)(ootx_packet* packet, uint32_t crc);
 
 #endif
\ No newline at end of file