diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/disambiguator.c | 197 | ||||
| -rw-r--r-- | src/disambiguator.h | 68 | ||||
| -rw-r--r-- | src/ootx_decoder.c | 287 | ||||
| -rw-r--r-- | src/ootx_decoder.h | 72 | ||||
| -rw-r--r-- | src/survive.c | 47 | ||||
| -rw-r--r-- | src/survive_cal.c | 195 | ||||
| -rw-r--r-- | src/survive_cal.h | 57 | ||||
| -rw-r--r-- | src/survive_data.c | 185 | ||||
| -rw-r--r-- | src/survive_internal.h | 35 | ||||
| -rw-r--r-- | src/survive_process.c | 51 | ||||
| -rw-r--r-- | src/survive_usb.c | 6 |
11 files changed, 846 insertions, 354 deletions
diff --git a/src/disambiguator.c b/src/disambiguator.c deleted file mode 100644 index f1d310a..0000000 --- a/src/disambiguator.c +++ /dev/null @@ -1,197 +0,0 @@ -// (C) 2016 Julian Picht, MIT/x11 License. -// -// All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses. - -// -// The theory behind this disambiguator is, that if we just track all pulses and if one could be a sync pulse, we look back in time, -// if we saw as sync pulse X samples ago than it is probably a sync pulse. -// -// X can be 20000 or 400000, depending if it came from the master or the slave. -// - -#include "disambiguator.h" -#include <stdlib.h> -#include <string.h> -#include <stdio.h> -#include <stdbool.h> - -typedef uint8_t pulse_data; - -/** - * Translate pulse length to pulse SKIP, DATA, AXIS - * @param length Length of the pulse in (1/48000000) seconds - * @return pulse data - */ -pulse_data get_pulse_data(uint32_t length) { - uint16_t temp = length - 2880; - -#if BETTER_SAFE_THAN_FAST - if (temp < 0 || length > 6525) { - return -1; - } -#endif - - if ((temp % 500) < 150) { - return temp / 500; - } - - return -1; -} - -const uint32_t pulse_types[] = { - 0, 1, 0, 1, - 2, 3, 2, 3, -}; - -#define PULSE_BIT_AXIS 0x1 -#define PULSE_BIT_DATA 0x2 -#define PULSE_BIT_SKIP 0x4 - -#define PULSE_DATA(D) ((D >> 1)&0x1) -#define PULSE_AXIS(D) (D&0x01) -#define PULSE_SKIP(D) ((D >> 2)&0x1) - -void disambiguator_init( struct disambiguator * d ) { - memset(&(d->times), 0x0, sizeof(d->times)); - memset(&(d->scores), 0x0, sizeof(d->scores)); - - d->state = D_STATE_UNLOCKED; - d->last = 0; - d->max_confidence = 0; -} - -inline void disambiguator_discard( struct disambiguator * d ); - -/** - * Drop all data that is outdated - * @param d - * @param age Maximum age of data we care to keep - */ -void disambiguator_discard( struct disambiguator * d ) -{ - long age; - if (d->state == D_STATE_LOCKED) { - age = d->last - 400000; - } else { - age = 1000000; - } - int confidence = 0; - for (unsigned int i = 0; i < DIS_NUM_VALUES; ++i) { - if (d->times[i] != 0 && d->times[i] < age) { - d->times[i] = 0; - d->scores[i] = 0; - } else { - if (d->scores[i] > confidence) { - confidence = d->scores[i]; - } - } - } - d->max_confidence = confidence; -} - -/** - * Find the index that has the best likelyhood too match up with the timestamp given - * @param t1 Rising edge time, where we expect to find the last sync pulse, if this is a master pulse - * @param t2 Rising edge time, where we expect to find the last sync pulse, if this is a slave pulse - * @param max_diff Maximum difference we are prepared to accept - * @return index inside d->times, if we found something, -1 otherwise - */ -inline int disambiguator_find_nearest( struct disambiguator * d, uint32_t t1, uint32_t t2, int max_diff ); - -int disambiguator_find_nearest( struct disambiguator * d, uint32_t t1, uint32_t t2, int max_diff ) -{ - int diff = max_diff; // max allowed diff for a match - int idx = -1; - for (unsigned int i = 0; i < DIS_NUM_VALUES; ++i) { - if (d->times[i] == 0) continue; - - int a_1 = abs(d->times[i] - t1); - int a_2 = abs(d->times[i] - t2); - -// printf("T %d %d %d\n", time, i, a); - if (a_1 < diff) { - idx = i; - diff = a_1; - } else if (a_2 < diff) { - idx = i; - diff = a_2; - } - } - -// if (idx != -1) { -// printf("R %d %d %d\n", idx, d->scores[idx], diff); -// } - - return idx; -} - -pulse_type disambiguator_step_return_helper( struct disambiguator * d, bool sweep_possible ) { - if (d->state == D_STATE_LOCKED && sweep_possible) { - return P_SWEEP; - } - return P_UNKNOWN; -} - -pulse_type disambiguator_step( struct disambiguator * d, uint32_t time, int length) -{ - uint32_t diff = time - d->last; - bool sweep_possible = (diff > 70000 && diff < 350000); - - // all smaller pulses are most probably sweeps - // TODO: check we are inside the time window of actual sweeps - if (length < 2750) { - return disambiguator_step_return_helper(d, sweep_possible); - } - - // we expected to see a sync pulse earlier ... - if (time - d->last > 401000) { - d->state = D_STATE_UNLOCKED; - } - - // discard all data, that is so old, we don't care about it anymore - disambiguator_discard(d); - - // find the best match for our timestamp and presumed offset - int idx = disambiguator_find_nearest(d, time - 400000, time - 20000, 1000); - - // We did not find a matching pulse, so try find a place to record the current - // one's time of arrival. - if (idx == -1) { - for (int i = 0; i < DIS_NUM_VALUES; ++i) { - if (d->times[i] == 0) { - d->times[i] = time; - break; - } - } - - return d->state == D_STATE_LOCKED && sweep_possible ? P_SWEEP : P_UNKNOWN; - } else { - d->scores[idx]++; - - // we need to be reasonably sure, that we have the right pulses - if (d->scores[idx] >= DIS_NUM_PULSES_BEFORE_LOCK) { - d->state = D_STATE_LOCKED; - } - - // if the offset is about 20000 ticks, then this is a slave pulse - if (diff < 21000) { - if (d->state == D_STATE_LOCKED) { - return P_SLAVE; - } - - return P_UNKNOWN; - } - - d->times[idx] = time; - d->last = time; - - // TODO: why do we need to check the confidence level here? - if (d->state == D_STATE_LOCKED && d->scores[idx] >= d->max_confidence) { - return P_MASTER; - } - - return P_UNKNOWN; - } - - return disambiguator_step_return_helper(d, sweep_possible); -} diff --git a/src/disambiguator.h b/src/disambiguator.h deleted file mode 100644 index 8258a18..0000000 --- a/src/disambiguator.h +++ /dev/null @@ -1,68 +0,0 @@ -// (C) 2016 Julian Picht, MIT/x11 License. -// -//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses. -#ifndef DISAMBIGUATOR_H -#define DISAMBIGUATOR_H - -// Determines the number of samples stored in the disambiguator struct. -// Has to be higher than the maximum number of pulses expected between sync pulses. -#define DIS_NUM_VALUES 48 -#define DIS_NUM_PULSES_BEFORE_LOCK 30 -#include <stdint.h> - -/** - * internal disambiguator state - */ -typedef enum { - D_STATE_INVALID = 0, - D_STATE_LOCKED = 1, - D_STATE_UNLOCKED = -1, -} dis_state; - -/** - * classification result - */ -typedef enum { - P_UNKNOWN = 0, - P_MASTER = 1, - P_SWEEP = 2, - P_SLAVE = 3, -} pulse_type; - -/** - * internal state of the disambiguator - */ -struct disambiguator { - // the timestamps of the recorded pulses - uint32_t times[DIS_NUM_VALUES]; - // countes how many sync pulses we have seen, that match the time offset at the same offset - uint16_t scores[DIS_NUM_VALUES]; - // current state - dis_state state; - // last sync pulse time - uint32_t last; - // the absolute maximum counter value - int max_confidence; - // the last code type seen - char code; -}; - - -/** - * Initialize a new disambiguator. calloc or memset with 0x00 will work just as well. - * - * @param d Pointer to the struct - */ -void disambiguator_init( struct disambiguator * d); - -/** - * Feed in one pulse to have if classified. - * - * @param d Pointer to disambiguator state - * @param time Rising edge of the pulse - * @param length Length of the pulse - * @return Classification result - */ -pulse_type disambiguator_step( struct disambiguator * d, uint32_t time, int length); - -#endif /* DISAMBIGUATOR_H */
\ No newline at end of file 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.c b/src/survive.c index af4d804..aab2ae6 100644 --- a/src/survive.c +++ b/src/survive.c @@ -8,7 +8,7 @@ #include <jsmn.h> #include <string.h> #include <zlib.h> -#include "disambiguator.h" + static int jsoneq(const char *json, jsmntok_t *tok, const char *s) { if (tok->type == JSMN_STRING && (int) strlen(s) == tok->end - tok->start && @@ -30,7 +30,7 @@ static void survivenote( struct SurviveContext * ctx, const char * fault ) fprintf( stderr, "Info: %s\n", fault ); } -static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so, char * ct0conf, SV_FLOAT ** floats_out, jsmntok_t * t, int i ) +static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so, char * ct0conf, FLT ** floats_out, jsmntok_t * t, int i ) { int k; int pts = t[i+1].size; @@ -43,7 +43,7 @@ static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so, { tk = &t[i+2+k*4]; - float vals[3]; + FLT vals[3]; int m; for( m = 0; m < 3; m++ ) { @@ -60,7 +60,7 @@ static int ParsePoints( struct SurviveContext * ctx, struct SurviveObject * so, memcpy( ctt, ct0conf + tk->start, elemlen ); ctt[elemlen] = 0; - float f = atof( ctt ); + FLT f = atof( ctt ); int id = so->nr_locations*3+m; (*floats_out)[id] = f; } @@ -144,24 +144,14 @@ struct SurviveContext * survive_init() ctx->lightproc = survive_default_light_process; ctx->imuproc = survive_default_imu_process; + ctx->angleproc = survive_default_angle_process; ctx->headset.ctx = ctx; memcpy( ctx->headset.codename, "HMD", 4 ); -#ifndef USE_OLD_DISAMBIGUATOR - ctx->headset.d = calloc( 1, sizeof( struct disambiguator ) ); -#endif - ctx->watchman[0].ctx = ctx; memcpy( ctx->watchman[0].codename, "WM0", 4 ); -#ifndef USE_OLD_DISAMBIGUATOR - ctx->watchman[0].d = calloc( 1, sizeof( struct disambiguator ) ); -#endif - ctx->watchman[1].ctx = ctx; memcpy( ctx->watchman[1].codename, "WM1", 4 ); -#ifndef USE_OLD_DISAMBIGUATOR - ctx->watchman[1].d = calloc( 1, sizeof( struct disambiguator ) ); -#endif //USB must happen last. if( r = survive_usb_init( ctx ) ) @@ -175,6 +165,18 @@ struct SurviveContext * survive_init() if( LoadConfig( ctx, &ctx->watchman[0], 2, 0, 1 ) ) { SV_INFO( "Watchman 0 config issue." ); } if( LoadConfig( ctx, &ctx->watchman[1], 3, 0, 1 ) ) { SV_INFO( "Watchman 1 config issue." ); } + ctx->headset.timebase_hz = ctx->watchman[0].timebase_hz = ctx->watchman[1].timebase_hz = 48000000; + ctx->headset.pulsedist_max_ticks = ctx->watchman[0].pulsedist_max_ticks = ctx->watchman[1].pulsedist_max_ticks = 500000; + ctx->headset.pulselength_min_sync = ctx->watchman[0].pulselength_min_sync = ctx->watchman[1].pulselength_min_sync = 2200; + ctx->headset.pulse_in_clear_time = ctx->watchman[0].pulse_in_clear_time = ctx->watchman[1].pulse_in_clear_time = 35000; + ctx->headset.pulse_max_for_sweep = ctx->watchman[0].pulse_max_for_sweep = ctx->watchman[1].pulse_max_for_sweep = 1800; + + ctx->headset.pulse_synctime_offset = ctx->watchman[0].pulse_synctime_offset = ctx->watchman[1].pulse_synctime_offset = 20000; + ctx->headset.pulse_synctime_slack = ctx->watchman[0].pulse_synctime_slack = ctx->watchman[1].pulse_synctime_slack = 5000; + + ctx->headset.timecenter_ticks = ctx->headset.timebase_hz / 240; + ctx->watchman[0].timecenter_ticks = ctx->watchman[0].timebase_hz / 240; + ctx->watchman[1].timecenter_ticks = ctx->watchman[1].timebase_hz / 240; /* int i; int locs = ctx->headset.nr_locations; @@ -206,7 +208,7 @@ fail_gracefully: return 0; } -void survive_install_info_fn( struct SurviveContext * ctx, text_feedback_fnptr fbp ) +void survive_install_info_fn( struct SurviveContext * ctx, text_feedback_func fbp ) { if( fbp ) ctx->notefunction = fbp; @@ -214,7 +216,7 @@ void survive_install_info_fn( struct SurviveContext * ctx, text_feedback_fnptr ctx->notefunction = survivenote; } -void survive_install_error_fn( struct SurviveContext * ctx, text_feedback_fnptr fbp ) +void survive_install_error_fn( struct SurviveContext * ctx, text_feedback_func fbp ) { if( fbp ) ctx->faultfunction = fbp; @@ -238,6 +240,17 @@ void survive_install_imu_fn( struct SurviveContext * ctx, imu_process_func fbp ctx->imuproc = survive_default_imu_process; } + +void survive_install_angle_fn( struct SurviveContext * ctx, angle_process_func fbp ) +{ + if( fbp ) + ctx->angleproc = fbp; + else + ctx->angleproc = survive_default_angle_process; +} + + + void survive_close( struct SurviveContext * ctx ) { survive_usb_close( ctx ); diff --git a/src/survive_cal.c b/src/survive_cal.c new file mode 100644 index 0000000..7b0a824 --- /dev/null +++ b/src/survive_cal.c @@ -0,0 +1,195 @@ +// (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" +#include <math.h> +#include <string.h> + +#define PTS_BEFORE_COMMON 32 +#define NEEDED_COMMON_POINTS 20 + +static void handle_calibration( struct SurviveCalData *cd ); +static void reset_calibration( struct SurviveCalData * cd ); + +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; + + SV_INFO( "Got OOTX packet %d %p\n", id, cd ); + + lighthouse_info_v6 v6; + init_lighthouse_info_v6(&v6, packet->data); + + struct BaseStationData * b = &ctx->bsd[id]; + //print_lighthouse_info_v6(&v6); + + b->BaseStationID = v6.id; + b->fcalphase[0] = v6.fcal_0_phase; + b->fcalphase[1] = v6.fcal_1_phase; + b->fcaltilt[0] = tan(v6.fcal_0_tilt); + b->fcaltilt[1] = tan(v6.fcal_1_tilt); //XXX??? Is this right? See https://github.com/cnlohr/libsurvive/issues/18 + b->fcalcurve[0] = v6.fcal_0_curve; + b->fcalcurve[1] = v6.fcal_1_curve; + b->fcalgibpha[0] = v6.fcal_0_gibphase; + b->fcalgibpha[1] = v6.fcal_1_gibphase; + b->fcalgibmag[0] = v6.fcal_0_gibmag; + b->fcalgibmag[1] = v6.fcal_1_gibmag; + b->OOTXSet = 1; +} + +int survive_cal_get_status( struct SurviveContext * ctx, char * description, int description_length ) +{ + struct SurviveCalData * cd = ctx->calptr; + + switch( cd->stage ) + { + case 0: + return snprintf( description, description_length, "Not calibrating" ); + case 1: + return snprintf( description, description_length, "Collecting OOTX Data (%d:%d)", cd->ootx_decoders[0].buf_offset, cd->ootx_decoders[1].buf_offset ); + case 2: + if( cd->found_common ) + { + return snprintf( description, description_length, "Collecting Sweep Data %d/%d", cd->peak_counts, DRPTS ); + } + else + { + return snprintf( description, description_length, "Searching for common watchman cal %d/%d", cd->peak_counts, PTS_BEFORE_COMMON ); + } + default: + return snprintf( description, description_length, "Unkown calibration state" ); + } +} + +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; + ootx_pump_bit( &cd->ootx_decoders[lhid], dbit ); + } + int i; + for( i = 0; i < NUM_LIGHTHOUSES; i++ ) + if( ctx->bsd[i].OOTXSet == 0 ) break; + if( i == NUM_LIGHTHOUSES ) cd->stage = 2; //If all lighthouses have their OOTX set, move on. + } + break; + case 2: //Taking in angle data. + break; + } +} + +void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ) +{ + struct SurviveContext * ctx = so->ctx; + struct SurviveCalData * cd = ctx->calptr; + + if( !cd ) return; + + switch( cd->stage ) + { + default: + case 1: //Collecting OOTX data. (Don't do anything here, yet.) + case 0: //Default, inactive. + break; + case 2: + { + int sensid = sensor_id; + if( strcmp( so->codename, "WM0" ) == 0 ) + sensid += 32; + if( strcmp( so->codename, "WM1" ) == 1 ) + sensid += 64; + + int lighthouse = acode>>2; + int axis = acode & 1; + int ct = cd->all_counts[sensid][lighthouse][axis]++; + cd->all_lengths[sensid][lighthouse][axis][ct] = length; + cd->all_angles[sensid][lighthouse][axis][ct] = angle; + if( ct > cd->peak_counts ) + { + cd->peak_counts = ct; + if( ct >= DRPTS ) + handle_calibration( cd ); //This will also reset all cals. + } + + //TODO: Determine if there is a sensor on a watchman visible from both lighthouses. + if( sensid >= 32 && !cd->found_common ) + { + int k; + int ok = 1; + for( k = 0; k < NUM_LIGHTHOUSES; k++ ) + { + + if( cd->all_counts[sensid][k][0] < NEEDED_COMMON_POINTS || cd->all_counts[sensid][k][1] < NEEDED_COMMON_POINTS ) + { + ok = 0; + break; + } + } + if( ok ) cd->found_common = 1; + } + + if( cd->peak_counts > PTS_BEFORE_COMMON && !cd->found_common ) + { + reset_calibration( cd ); + } + + break; + } + } +} + +static void reset_calibration( struct SurviveCalData * cd ) +{ + memset( cd->all_counts, 0, sizeof( cd->all_counts ) ); + cd->peak_counts = 0; + cd->found_common = 0; +} + +static void handle_calibration( struct SurviveCalData *cd ) +{ + //Do stuff. + + reset_calibration( cd ); +} diff --git a/src/survive_cal.h b/src/survive_cal.h new file mode 100644 index 0000000..42ff1ee --- /dev/null +++ b/src/survive_cal.h @@ -0,0 +1,57 @@ +// (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 description_length ); + +//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 ); +void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); + +#define MAX_TO_CAL 96 +#define DRPTS 512 + +struct SurviveCalData +{ + //OOTX Data is sync'd off of the sync pulses coming from the lighthouses. + ootx_decoder_context ootx_decoders[NUM_LIGHTHOUSES]; + + //For statistics-gathering phase. + FLT all_lengths[MAX_TO_CAL][NUM_LIGHTHOUSES][2][DRPTS]; + FLT all_angles[MAX_TO_CAL][NUM_LIGHTHOUSES][2][DRPTS]; + int16_t all_counts[MAX_TO_CAL][NUM_LIGHTHOUSES][2]; + int16_t peak_counts; + int8_t found_common; + + //Stage: + // 0: Idle + // 1: Collecting OOTX data. + int8_t stage; +}; + + + +#endif + diff --git a/src/survive_data.c b/src/survive_data.c index d380d4a..ad834cf 100644 --- a/src/survive_data.c +++ b/src/survive_data.c @@ -11,7 +11,6 @@ //All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses. #include "survive_internal.h" -#include "disambiguator.h" #include <stdint.h> #include <string.h> @@ -32,89 +31,164 @@ struct LightcapElement //This is the disambiguator function, for taking light timing and figuring out place-in-sweep for a given photodiode. static void handle_lightcap( struct SurviveObject * so, struct LightcapElement * le ) { - struct SurviveContext * ct = so->ctx; - int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time; + struct SurviveContext * ctx = so->ctx; + //int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time; // printf( "%s %d %d %d %d %d\n", so->codename, le->sensor_id, le->type, le->length, le->timestamp, le->timestamp-so->tsl ); so->tsl = le->timestamp; - if( le->length < 20 ) return; -#ifndef USE_OLD_DISAMBIGUATOR - int32_t offset = le->timestamp - so->d->last; - switch( disambiguator_step( so->d, le->timestamp, le->length ) ) { - default: - case P_SLAVE: - // this is only interesting for the OOTX data - break; - case P_UNKNOWN: - // not currently locked - break; - case P_MASTER: - ct->lightproc( so, le->sensor_id, -1, 0, le->timestamp, offset ); - so->d->code = ((le->length+125)/250) - 12; - break; - case P_SWEEP: - if (so->d->code & 1) return; - ct->lightproc( so, le->sensor_id, so->d->code >> 1, offset, le->timestamp, le->length ); - break; + if( le->length < 20 ) return; ///Assuming 20 is an okay value for here. + + //The sync pulse finder is taking Charles's old disambiguator code and mixing it with a more linear + //version of Julian Picht's disambiguator, available in 488c5e9. Removed afterwards into this + //unified driver. + int ssn = so->sync_set_number; + if( ssn < 0 ) ssn = 0; + int last_sync_time = so->last_time [ssn]; + int last_sync_length = so->last_length[ssn]; + int32_t delta = le->timestamp - last_sync_time; //Handle time wrapping (be sure to be int32) + + if( delta < -so->pulsedist_max_ticks || delta > so->pulsedist_max_ticks ) + { + //Reset pulse, etc. + so->sync_set_number = -1; + delta = so->pulsedist_max_ticks; } -#else - if( le->length > 2200 ) //Pulse longer indicates a sync pulse. + + + if( le->length > so->pulselength_min_sync ) //Pulse longer indicates a sync pulse. { - int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time; - if( deltat > 2000 || deltat < -2000 ) //New pulse. (may be inverted) + int is_new_pulse = delta > so->pulselength_min_sync /*1500*/ + last_sync_length; + + so->did_handle_ootx = 0; + + if( is_new_pulse ) { - //See if this is a unique pulse, or another one in the same set we need to look at. - if( le->timestamp - so->last_master_time > 1500 + so->last_photo_length ) + int is_master_sync_pulse = delta > so->pulse_in_clear_time /*40000*/; + + if( is_master_sync_pulse ) + { + ssn = so->sync_set_number = 0; + so->last_time[ssn] = le->timestamp; + so->last_length[ssn] = le->length; + } + else if( so->sync_set_number == -1 ) + { + //Do nothing. + } + else { - // check if it is a slave pulse - if (le->timestamp - so->last_master_time < 70000) { - so->last_slave_time = le->timestamp; - return; + ssn = ++so->sync_set_number; + if( so->sync_set_number >= NUM_LIGHTHOUSES ) + { + SV_INFO( "Warning. Received an extra, unassociated sync pulse." ); + ssn = so->sync_set_number = -1; + } + else + { + so->last_time[ssn] = le->timestamp; + so->last_length[ssn] = le->length; } - -// printf("%10u %10u %6u %6d\n", so->last_master_time, le->timestamp, (le->length - 2750)/500, (int32_t)le->timestamp - (int32_t)so->last_master_time); - so->last_master_time = le->timestamp; - so->last_photo_length = le->length; - ct->lightproc( so, le->sensor_id, -1, 0, le->timestamp, deltat ); - deltat = 0; } } - - //Find longest pulse-length from device in our window and use that one. - if( le->length > so->last_photo_length ) + else { -// printf("%10u %10u %6d %6d\n", so->last_master_time, le->timestamp, (le->length - 2750)/500, (int32_t)le->timestamp - (int32_t)so->last_master_time); - so->last_master_time = le->timestamp; - so->last_photo_length = le->length; + //Find the longest pulse. + if( le->length > last_sync_length ) + { + if( so->last_time[ssn] > le->timestamp ) + { + so->last_time[ssn] = le->timestamp; + so->last_length[ssn] = le->length; + } + } } } + + + //See if this is a valid actual pulse. - else if( le->length < 1800 && le->length > 40 && ( le->timestamp - so->last_master_time < 380000 ) ) + else if( le->length < so->pulse_max_for_sweep && delta > so->pulse_in_clear_time && ssn >= 0 ) { - int32_t dl = so->last_master_time; - int32_t tpco = so->last_photo_length; + 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. - int32_t acode = (tpco+125+50)/250; //+10, seems ike that's - if( acode & 1 ) return; - acode >>= 1; - acode -= 6; - if (acode > 3) { - dl = so->last_slave_time; + int32_t main_divisor = so->timebase_hz / 384000; //125 @ 48 MHz. + + int32_t acode_array[2] = + { + (so->last_length[0]+main_divisor+50)/(main_divisor*2), //+50 adds a small offset and seems to help always get it right. + (so->last_length[1]+main_divisor+50)/(main_divisor*2), //Check the +50 in the future to see how well this works on a variety of hardware. + }; + + //XXX: TODO: Capture error count here. + if( acode_array[0] & 1 ) return; + if( acode_array[1] & 1 ) return; + + 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 ) + { + int32_t delta1 = so->last_time[0] - so->recent_sync_time; + int32_t delta2 = so->last_time[1] - so->last_time[0]; + + 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] ); + + so->recent_sync_time = so->last_time[1]; + + //Throw out everything if our sync pulses look like they're bad. + + int32_t center_1 = so->timecenter_ticks*2 - so->pulse_synctime_offset; + int32_t center_2 = so->pulse_synctime_offset; + int32_t slack = so->pulse_synctime_slack; + + if( delta1 < center_1 - slack || delta1 > center_1 + slack ) + { + //XXX: TODO: Count faults. + so->sync_set_number = -1; + return; + } + + if( delta2 < center_2 - slack || delta2 > center_2 + slack ) + { + //XXX: TODO: Count faults. + so->sync_set_number = -1; + return; + } + + so->did_handle_ootx = 1; } - //printf( "%s / %d %d ++ %d %d\n", so->codename, dl, tpco, offset_from, acode ); + + if (acode > 3) { + if( ssn == 0 ) + { + SV_INFO( "Warning: got a slave marker but only got a master sync." ); + } + dl = so->last_time[1]; + tpco = so->last_length[1]; + } int32_t offset_from = le->timestamp - dl + le->length/2; //Make sure pulse is in valid window if( offset_from < 380000 && offset_from > 70000 ) { - ct->lightproc( so, le->sensor_id, acode, offset_from, le->timestamp, le->length ); + ctx->lightproc( so, le->sensor_id, acode, offset_from, le->timestamp, le->length ); } } else @@ -122,7 +196,6 @@ static void handle_lightcap( struct SurviveObject * so, struct LightcapElement * //printf( "FAIL %d %d - %d = %d\n", le->length, so->last_photo_time, le->timestamp, so->last_photo_time - le->timestamp ); //Runt pulse, or no sync pulses available. } -#endif } diff --git a/src/survive_internal.h b/src/survive_internal.h index 446f3c0..0d0b8a4 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 { @@ -70,14 +86,22 @@ struct SurviveContext struct libusb_device_handle * udev[MAX_USB_DEVS]; struct SurviveUSBInterface uiface[MAX_INTERFACES]; - text_feedback_fnptr faultfunction; - text_feedback_fnptr notefunction; + text_feedback_func faultfunction; + text_feedback_func notefunction; light_process_func lightproc; imu_process_func imuproc; + angle_process_func angleproc; + - //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. + }; @@ -90,9 +114,6 @@ int survive_get_config( char ** config, struct SurviveContext * ctx, int devno, //Accept Data from backend. void survive_data_cb( struct SurviveUSBInterface * si ); -//Accept higher-level data. -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/src/survive_process.c b/src/survive_process.c index d3a8c4a..75453da 100644 --- a/src/survive_process.c +++ b/src/survive_process.c @@ -1,21 +1,58 @@ //<>< (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 ) { - //TODO: Writeme! + struct SurviveContext * ctx = so->ctx; + int base_station = acode >> 2; + int axis = acode & 1; + + if( ctx->calptr ) + { + survive_cal_light( so, sensor_id, acode, timeinsweep, timecode, length ); + } + + if( base_station > NUM_LIGHTHOUSES ) return; + + //No loner need sync information past this point. + if( sensor_id < 0 ) return; + FLT angle = (timeinsweep - so->timecenter_ticks) * (1./so->timecenter_ticks * 3.14159265359/2.0); + + //Need to now do angle correction. +#if 1 + struct BaseStationData * bsd = &ctx->bsd[base_station]; + + //XXX TODO: This seriously needs to be worked on. See: https://github.com/cnlohr/libsurvive/issues/18 + angle += bsd->fcalphase[axis]; +// angle += bsd->fcaltilt[axis] * predicted_angle(axis1); + + //TODO!!! +#endif + + FLT length_sec = length / (FLT)so->timebase_hz; + ctx->angleproc( so, sensor_id, acode, timecode, length_sec, angle ); } + +void survive_default_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ) +{ + struct SurviveContext * ctx = so->ctx; + if( ctx->calptr ) + { + survive_cal_angle( so, sensor_id, acode, timecode, length, angle ); + } + + //TODO: Writeme! +} + + void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id ) { //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) { |