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-rw-r--r--calibrate.c4
-rw-r--r--include/libsurvive/survive.h2
-rw-r--r--include/libsurvive/survive_types.h2
-rw-r--r--redist/CNFGWinDriver.c2
-rw-r--r--redist/json_helpers.c2
-rwxr-xr-xsrc/survive_cal.c30
-rw-r--r--src/survive_cal.h6
-rw-r--r--src/survive_data.c6
-rw-r--r--src/survive_process.c6
-rwxr-xr-xsrc/survive_vive.c6
10 files changed, 37 insertions, 29 deletions
diff --git a/calibrate.c b/calibrate.c
index ee22abf..abf592a 100644
--- a/calibrate.c
+++ b/calibrate.c
@@ -99,9 +99,9 @@ void my_imu_process( struct SurviveObject * so, int mask, FLT * accelgyro, uint3
}
-void my_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
+void my_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh)
{
- survive_default_angle_process( so, sensor_id, acode, timecode, length, angle );
+ survive_default_angle_process( so, sensor_id, acode, timecode, length, angle, lh );
}
char* sensor_name[32];
diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
index 1165e9d..e13312d 100644
--- a/include/libsurvive/survive.h
+++ b/include/libsurvive/survive.h
@@ -132,7 +132,7 @@ void survive_cal_install( SurviveContext * ctx ); //XXX This will be removed if
//Accept higher-level data.
void survive_default_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length , uint32_t lh);
void survive_default_imu_process( SurviveObject * so, int mode, FLT * accelgyro, uint32_t timecode, int id );
-void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
+void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh );
////////////////////// Survive Drivers ////////////////////////////
diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h
index def30b8..bfd0b1d 100644
--- a/include/libsurvive/survive_types.h
+++ b/include/libsurvive/survive_types.h
@@ -30,7 +30,7 @@ typedef struct SurviveCalData SurviveCalData; //XXX Warning: This may be remov
typedef void (*text_feedback_func)( SurviveContext * ctx, const char * fault );
typedef void (*light_process_func)( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lighthouse);
typedef void (*imu_process_func)( SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id );
-typedef void (*angle_process_func)( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
+typedef void (*angle_process_func)( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh);
//Device drivers (prefix your drivers with "DriverReg") i.e.
diff --git a/redist/CNFGWinDriver.c b/redist/CNFGWinDriver.c
index c5da925..b1c1eb0 100644
--- a/redist/CNFGWinDriver.c
+++ b/redist/CNFGWinDriver.c
@@ -232,7 +232,7 @@ void CNFGHandleInput()
case WM_MBUTTONUP: HandleButton( (msg.lParam & 0xFFFF), (msg.lParam>>16) & 0xFFFF, 3, 0 ); break;
case WM_KEYDOWN:
case WM_KEYUP:
- HandleKey( tolower( msg.wParam ), (msg.message==WM_KEYDOWN) );
+ HandleKey( tolower( (int)(msg.wParam) ), (msg.message==WM_KEYDOWN) );
break;
default:
DispatchMessage(&msg);
diff --git a/redist/json_helpers.c b/redist/json_helpers.c
index 3b5cc0d..29d48bd 100644
--- a/redist/json_helpers.c
+++ b/redist/json_helpers.c
@@ -174,7 +174,7 @@ void json_load_file(const char* path) {
int16_t children = -1;
- for (i=0; i<(int)items; i+=2)
+ for (i=0; i<(unsigned int)items; i+=2)
{
//increment i on each successful tag + values combination, not individual tokens
jsmntok_t* tag_t = tokens+i;
diff --git a/src/survive_cal.c b/src/survive_cal.c
index 22a8eff..6c153b4 100755
--- a/src/survive_cal.c
+++ b/src/survive_cal.c
@@ -220,10 +220,13 @@ void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int
else if( acode < -4 ) break;
int lh = (-acode) - 3;
- if( strcmp( so->codename, "WM0" ) == 0 )
- sensor_id += 32;
- if( strcmp( so->codename, "WM1" ) == 0 )
- sensor_id += 64;
+ for (int i=0; i < min(MAX_DEVICES_TO_CAL, cd->numPoseObjects); i++)
+ {
+ if( strcmp( so->codename, cd->poseobjects[i]->codename ) == 0 )
+ {
+ sensor_id += i*32;
+ }
+ }
cd->all_sync_times[sensor_id][lh][cd->all_sync_counts[sensor_id][lh]++] = length;
break;
@@ -233,7 +236,7 @@ void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int
}
-void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
+void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh )
{
struct SurviveContext * ctx = so->ctx;
struct SurviveCalData * cd = ctx->calptr;
@@ -241,14 +244,18 @@ void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uin
if( !cd ) return;
int sensid = sensor_id;
- if( strcmp( so->codename, "WM0" ) == 0 )
- sensid += 32;
- if( strcmp( so->codename, "WM1" ) == 0 )
- sensid += 64;
+
+ for (int i=0; i < min(MAX_DEVICES_TO_CAL, cd->numPoseObjects); i++)
+ {
+ if( strcmp( so->codename, cd->poseobjects[i]->codename ) == 0 )
+ {
+ sensid += i*32;
+ }
+ }
if( sensid >= MAX_SENSORS_TO_CAL || sensid < 0 ) return;
- int lighthouse = acode>>2;
+ int lighthouse = lh;
int axis = acode & 1;
switch( cd->stage )
@@ -292,7 +299,8 @@ void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uin
int min_peaks = PTS_BEFORE_COMMON;
int i, j, k;
cd->found_common = 1;
- for( i = 0; i < MAX_SENSORS_TO_CAL/SENSORS_PER_OBJECT; i++ )
+ for( i = 0; i < cd->numPoseObjects; i++ )
+ //for( i = 0; i < MAX_SENSORS_TO_CAL/SENSORS_PER_OBJECT; i++ )
for( j = 0; j < NUM_LIGHTHOUSES; j++ )
{
int sensors_visible = 0;
diff --git a/src/survive_cal.h b/src/survive_cal.h
index 8f4e4de..ae644d1 100644
--- a/src/survive_cal.h
+++ b/src/survive_cal.h
@@ -30,9 +30,11 @@ int survive_cal_get_status( SurviveContext * ctx, char * description, int descri
//Called from survive_default_light_process
void survive_cal_light( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lighthouse);
-void survive_cal_angle( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
+void survive_cal_angle( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh );
-#define MAX_SENSORS_TO_CAL 96
+#define MAX_SENSORS_PER_DEVICE 32
+#define MAX_DEVICES_TO_CAL 3
+#define MAX_SENSORS_TO_CAL (MAX_SENSORS_PER_DEVICE * MAX_DEVICES_TO_CAL)
#define MIN_PTS_BEFORE_CAL 24
diff --git a/src/survive_data.c b/src/survive_data.c
index 4e2479a..9447104 100644
--- a/src/survive_data.c
+++ b/src/survive_data.c
@@ -25,7 +25,7 @@ typedef struct
typedef struct
{
- float acode_offset;
+ double acode_offset;
} lightcap2_global_data;
typedef struct
@@ -40,11 +40,11 @@ typedef struct
int handle_lightcap2_getAcodeFromSyncPulse(SurviveObject * so, int pulseLen)
{
- float oldOffset = ((lightcap2_data*)so->disambiguator_data)->global.acode_offset;
+ double oldOffset = ((lightcap2_data*)so->disambiguator_data)->global.acode_offset;
int modifiedPulseLen = pulseLen - (int)oldOffset;
- float newOffset = (((pulseLen) + 250) % 500) - 250;
+ double newOffset = (((pulseLen) + 250) % 500) - 250;
((lightcap2_data*)so->disambiguator_data)->global.acode_offset = oldOffset * 0.9 + newOffset * 0.1;
diff --git a/src/survive_process.c b/src/survive_process.c
index d4604d8..b58b344 100644
--- a/src/survive_process.c
+++ b/src/survive_process.c
@@ -37,16 +37,16 @@ void survive_default_light_process( SurviveObject * so, int sensor_id, int acode
#endif
FLT length_sec = length / (FLT)so->timebase_hz;
- ctx->angleproc( so, sensor_id, acode, timecode, length_sec, angle );
+ ctx->angleproc( so, sensor_id, acode, timecode, length_sec, angle, lh);
}
-void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
+void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh)
{
SurviveContext * ctx = so->ctx;
if( ctx->calptr )
{
- survive_cal_angle( so, sensor_id, acode, timecode, length, angle );
+ survive_cal_angle( so, sensor_id, acode, timecode, length, angle, lh );
}
if( so->PoserFn )
{
diff --git a/src/survive_vive.c b/src/survive_vive.c
index 55e949a..a5c731d 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -834,7 +834,6 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
qty-=2;
int propset = 0;
int doimu = 0;
- int i;
if( (type & 0xf0) == 0xf0 )
{
@@ -911,10 +910,9 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
*readdata = type; //Put 'type' back on stack.
uint8_t * mptr = readdata + qty-3-1; //-3 for timecode, -1 to
-//#define DEBUG_WATCHMAN
#ifdef DEBUG_WATCHMAN
printf( "_%s ", w->codename);
- for( i = 0; i < qty; i++ )
+ for(int i = 0; i < qty; i++ )
{
printf( "%02x ", readdata[i] );
}
@@ -1198,7 +1196,7 @@ void survive_data_cb( SurviveUSBInterface * si )
unsigned short *length = (unsigned short *)(&(readdata[2]));
unsigned long *time = (unsigned long *)(&(readdata[4]));
LightcapElement le;
- le.sensor_id = POP2;
+ le.sensor_id = (uint8_t)POP2;
le.length = POP2;
le.timestamp = POP4;
if( le.sensor_id == 0xff ) break;