diff options
| -rw-r--r-- | Makefile | 7 | ||||
| -rw-r--r-- | calibrate.c | 124 | ||||
| -rw-r--r-- | data_recorder.c | 4 | ||||
| -rw-r--r-- | include/survive.h | 23 | ||||
| -rw-r--r-- | redist/crc32.c | 104 | ||||
| -rw-r--r-- | redist/crc32.h | 17 | ||||
| -rw-r--r-- | src/ootx_decoder.c | 163 | ||||
| -rw-r--r-- | src/ootx_decoder.h | 41 | ||||
| -rw-r--r-- | src/survive_cal.c | 68 | ||||
| -rw-r--r-- | src/survive_cal.h | 44 | ||||
| -rw-r--r-- | src/survive_data.c | 12 | ||||
| -rw-r--r-- | src/survive_internal.h | 26 | ||||
| -rw-r--r-- | src/survive_process.c | 15 |
13 files changed, 631 insertions, 17 deletions
@@ -1,4 +1,4 @@ -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 @@ -9,10 +9,13 @@ 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 redist/crc32.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..b8746bc --- /dev/null +++ b/src/ootx_decoder.c @@ -0,0 +1,163 @@ +// (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. + +/* ootx data decoder */ + +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <assert.h> +#include "ootx_decoder.h" +#include <crc32.h> + +//char* fmt_str = "L Y HMD %d 5 1 206230 %d\n"; + + +void (*ootx_packet_clbk)(ootx_decoder_context *ctx, ootx_packet* packet) = NULL; + +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; + + memset( ctx->buffer, 0, sizeof( ctx->buffer ) ); + 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; +} + +/* +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_detect_preamble(ootx_decoder_context *ctx, uint8_t dbit) { + ctx->preamble <<= 1; + ctx->preamble |= (0x01 & dbit); + if ((ctx->preamble & 0x0001ffff) == 0x01) 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_OOTX_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; +// printf("%d\n", dbit); + *current_byte >>= 1; + *current_byte |= (0x80 & dbit); + ++(ctx->bits_written); + if (ctx->bits_written>7) { + ctx->bits_written=0; +// printf("%d\n", *current_byte); + ootx_inc_buffer_offset(ctx); + } +} + +void ootx_process_bit(ootx_decoder_context *ctx, uint8_t dbit) { + //uint8_t dbit = ootx_decode_bit(length); + ++(ctx->bits_processed); + +// printf("z %d %d\n", bits_processed,dbit); +// printf("d %d\n", bits_processed,dbit); + + 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( "Sync bit missing\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); +printf( "%d / %d -> ", ctx->buf_offset, *ctx->payload_size ); +int k; +for( k = 0; k < 32; k++ ) +{ + printf( "%02x ", ctx->buffer[k] ); +} +printf( "\n" ); + if (ctx->buf_offset >= (*(ctx->payload_size)+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); + + uint32_t crc = crc32(0xffffffff,op.data,op.length); + + if (crc != op.crc32) { + printf("CRC mismatch\n"); + } + + if ((crc == op.crc32) && ootx_packet_clbk) ootx_packet_clbk(ctx, &op); + + ootx_reset_buffer(ctx); + } + } +} diff --git a/src/ootx_decoder.h b/src/ootx_decoder.h new file mode 100644 index 0000000..5df5ba2 --- /dev/null +++ b/src/ootx_decoder.h @@ -0,0 +1,41 @@ +// (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 OOTX_DECODER_H +#define OOTX_DECODER_H + +#include <stddef.h> +#include <stdint.h> + +#define MAX_OOTX_BUFF_SIZE 1024 + +typedef struct { + uint16_t length; + uint8_t* data; + uint32_t crc32; +} ootx_packet; + +typedef struct { + uint8_t buffer[MAX_OOTX_BUFF_SIZE]; + uint16_t buf_offset; + uint8_t bits_written; + uint16_t* payload_size; + + uint32_t preamble; + uint8_t bits_processed; + uint8_t found_preamble; + void * user; + int user1; +} ootx_decoder_context; + + +//void ootx_init_buffer(); +void ootx_process_bit(ootx_decoder_context *ctx, uint8_t dbit); //dbit MUST be 0x00 or 0xFF +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); + + +extern void (*ootx_packet_clbk)(ootx_decoder_context * ctx, ootx_packet* packet); + +#endif diff --git a/src/survive_cal.c b/src/survive_cal.c new file mode 100644 index 0000000..4223e70 --- /dev/null +++ b/src/survive_cal.c @@ -0,0 +1,68 @@ +// (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 ); +} + + +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-1 && so->codename[0] == 'H' ) + { + uint8_t dbit = (acode & 2)?0xff:0x00; + printf( "%s %d %d %d\n", so->codename, lhid, acode, dbit ); + ootx_process_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! } - |