Merge github.com:cnlohr/libsurvive

2 files changed, 0 insertions, 311 deletions

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
deleted file mode 100644
index b5a7b54..0000000
--- a/tools/ootx_decode/ootx_decoder.c
+++ /dev/null
@@ -1,243 +0,0 @@
-// (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_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;
-	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[ctx->buf_offset] = 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);
-		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
-
-		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(&op,crc);
-			}
-			else if (ootx_packet_clbk != NULL) {
-				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
deleted file mode 100644
index c707159..0000000
--- a/tools/ootx_decode/ootx_decoder.h
+++ /dev/null
@@ -1,68 +0,0 @@
-// (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];
-} 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);
-
-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