From a576703242adea11c012af5afdff38af84d22e2e Mon Sep 17 00:00:00 2001 From: mwturvey Date: Fri, 24 Mar 2017 13:44:38 -0700 Subject: Adaptive Acode Offset Compensation --- calibrate.c | 2 +- src/survive_cal.c | 5 +-- src/survive_data.c | 114 +++++++++++++++++++++++++++++++---------------------- src/survive_vive.c | 30 ++++++++------ 4 files changed, 86 insertions(+), 65 deletions(-) diff --git a/calibrate.c b/calibrate.c index 62acbf6..6e2b5d1 100644 --- a/calibrate.c +++ b/calibrate.c @@ -59,7 +59,7 @@ void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int if( acode < 0 ) return; //return; int jumpoffset = sensor_id; - if( strcmp( so->codename, "WM0" ) == 0 ) jumpoffset += 32; + if( strcmp( so->codename, "WM0" ) == 0 || strcmp( so->codename, "WW0" ) == 0) jumpoffset += 32; else if( strcmp( so->codename, "WM1" ) == 0 ) jumpoffset += 64; diff --git a/src/survive_cal.c b/src/survive_cal.c index 81889ca..22a8eff 100755 --- a/src/survive_cal.c +++ b/src/survive_cal.c @@ -200,6 +200,7 @@ void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int //Collecting OOTX data. if( sensor_id < 0 ) { + //fprintf(stderr, "%s\n", so->codename); int lhid = -sensor_id-1; // Take the OOTX data from the first device. (if using HMD, WM0, WM1 only, this will be HMD) if( lhid < NUM_LIGHTHOUSES && so == cd->poseobjects[0] ) @@ -210,9 +211,7 @@ void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int 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. <------- Revert This!!!!! - //if( i == 1 ) - //cd->stage = 2; //If all lighthouses have their OOTX set, move on. + if( i == NUM_LIGHTHOUSES ) cd->stage = 2; //TODO: Make this configuratble to allow single lighthouse. } break; case 3: //Look for light sync lengths. diff --git a/src/survive_data.c b/src/survive_data.c index 849b722..4e2479a 100644 --- a/src/survive_data.c +++ b/src/survive_data.c @@ -21,26 +21,42 @@ typedef struct int lh_start_time[NUM_LIGHTHOUSES]; int current_lh; // used knowing which sync pulse we're looking at. +} lightcap2_per_sweep_data; + +typedef struct +{ + float acode_offset; } lightcap2_global_data; typedef struct { lightcaps_sweep_data sweep; + lightcap2_per_sweep_data per_sweep; lightcap2_global_data global; } lightcap2_data; //static lightcap2_global_data lcgd = { 0 }; -int handle_lightcap2_getAcodeFromSyncPulse(int pulseLen) +int handle_lightcap2_getAcodeFromSyncPulse(SurviveObject * so, int pulseLen) { - if (pulseLen < 3125) return 0; - if (pulseLen < 3625) return 1; - if (pulseLen < 4125) return 2; - if (pulseLen < 4625) return 3; - if (pulseLen < 5125) return 4; - if (pulseLen < 5625) return 5; - if (pulseLen < 6125) return 6; + float oldOffset = ((lightcap2_data*)so->disambiguator_data)->global.acode_offset; + + int modifiedPulseLen = pulseLen - (int)oldOffset; + + float newOffset = (((pulseLen) + 250) % 500) - 250; + + ((lightcap2_data*)so->disambiguator_data)->global.acode_offset = oldOffset * 0.9 + newOffset * 0.1; + +//fprintf(stderr, " %f\n", oldOffset); +#define ACODE_OFFSET 0 + if (pulseLen < 3250 - ACODE_OFFSET) return 0; + if (pulseLen < 3750 - ACODE_OFFSET) return 1; + if (pulseLen < 4250 - ACODE_OFFSET) return 2; + if (pulseLen < 4750 - ACODE_OFFSET) return 3; + if (pulseLen < 5250 - ACODE_OFFSET) return 4; + if (pulseLen < 5750 - ACODE_OFFSET) return 5; + if (pulseLen < 6250 - ACODE_OFFSET) return 6; return 7; } void handle_lightcap2_process_sweep_data(SurviveObject *so) @@ -67,13 +83,13 @@ void handle_lightcap2_process_sweep_data(SurviveObject *so) { if (lcd->sweep.sweep_len[i] != 0) // if the sensor was hit, process it { - int offset_from = lcd->sweep.sweep_time[i] - lcd->global.activeSweepStartTime + lcd->sweep.sweep_len[i] / 2; + int offset_from = lcd->sweep.sweep_time[i] - lcd->per_sweep.activeSweepStartTime + lcd->sweep.sweep_len[i] / 2; if (offset_from < 380000 && offset_from > 70000) { //if (longest_pulse *10 / 8 < lcd->sweep.sweep_len[i]) { - so->ctx->lightproc(so, i, lcd->global.activeAcode, offset_from, lcd->sweep.sweep_time[i], lcd->sweep.sweep_len[i], lcd->global.activeLighthouse); + so->ctx->lightproc(so, i, lcd->per_sweep.activeAcode, offset_from, lcd->sweep.sweep_time[i], lcd->sweep.sweep_len[i], lcd->per_sweep.activeLighthouse); } } } @@ -96,54 +112,54 @@ void handle_lightcap2_sync(SurviveObject * so, LightcapElement * le ) // Process any sweep data we have handle_lightcap2_process_sweep_data(so); - int time_since_last_sync = (le->timestamp - lcd->global.recent_sync_time); + int time_since_last_sync = (le->timestamp - lcd->per_sweep.recent_sync_time); //fprintf(stderr, " %2d %8d %d\n", le->sensor_id, time_since_last_sync, le->length); // need to store up sync pulses, so we can take the earliest starting time for all sensors. if (time_since_last_sync < 2400) { - lcd->global.recent_sync_time = le->timestamp; + lcd->per_sweep.recent_sync_time = le->timestamp; // it's the same sync pulse; so->sync_set_number = 1; so->recent_sync_time = le->timestamp; - lcd->global.lh_pulse_len[lcd->global.current_lh] = le->length; - lcd->global.lh_start_time[lcd->global.current_lh] = le->timestamp; + lcd->per_sweep.lh_pulse_len[lcd->per_sweep.current_lh] = le->length; + lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp; - int acode = handle_lightcap2_getAcodeFromSyncPulse(le->length); + int acode = handle_lightcap2_getAcodeFromSyncPulse(so, le->length); if (!(acode >> 2 & 1)) // if the skip bit is not set { - lcd->global.activeLighthouse = lcd->global.current_lh; - lcd->global.activeSweepStartTime = le->timestamp; - lcd->global.activeAcode = acode; + lcd->per_sweep.activeLighthouse = lcd->per_sweep.current_lh; + lcd->per_sweep.activeSweepStartTime = le->timestamp; + lcd->per_sweep.activeAcode = acode; } else { - lcd->global.activeLighthouse = -1; - lcd->global.activeSweepStartTime = 0; - lcd->global.activeAcode = 0; + lcd->per_sweep.activeLighthouse = -1; + lcd->per_sweep.activeSweepStartTime = 0; + lcd->per_sweep.activeAcode = 0; } } else if (time_since_last_sync < 24000) { - lcd->global.recent_sync_time = le->timestamp; + lcd->per_sweep.recent_sync_time = le->timestamp; // I do believe we are lighthouse B - lcd->global.current_lh = 1; - lcd->global.lh_pulse_len[lcd->global.current_lh] = le->length; - lcd->global.lh_start_time[lcd->global.current_lh] = le->timestamp; + lcd->per_sweep.current_lh = 1; + lcd->per_sweep.lh_pulse_len[lcd->per_sweep.current_lh] = le->length; + lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp; - int acode = handle_lightcap2_getAcodeFromSyncPulse(le->length); + int acode = handle_lightcap2_getAcodeFromSyncPulse(so, le->length); if (!(acode >> 2 & 1)) // if the skip bit is not set { - if (lcd->global.activeLighthouse != -1) + if (lcd->per_sweep.activeLighthouse != -1) { // hmm, it appears we got two non-skip pulses at the same time. That should never happen fprintf(stderr, "WARNING: Two non-skip pulses received on the same cycle!\n"); } - lcd->global.activeLighthouse = 1; - lcd->global.activeSweepStartTime = le->timestamp; - lcd->global.activeAcode = acode; + lcd->per_sweep.activeLighthouse = 1; + lcd->per_sweep.activeSweepStartTime = le->timestamp; + lcd->per_sweep.activeAcode = acode; } } @@ -153,49 +169,50 @@ void handle_lightcap2_sync(SurviveObject * so, LightcapElement * le ) // first, send out the sync pulse data for the last round (for OOTX decoding { - if (lcd->global.lh_pulse_len[0] != 0) + if (lcd->per_sweep.lh_pulse_len[0] != 0) { so->ctx->lightproc( so, -1, - handle_lightcap2_getAcodeFromSyncPulse(lcd->global.lh_pulse_len[0]), - lcd->global.lh_pulse_len[0], - lcd->global.lh_start_time[0], + handle_lightcap2_getAcodeFromSyncPulse(so, lcd->per_sweep.lh_pulse_len[0]), + lcd->per_sweep.lh_pulse_len[0], + lcd->per_sweep.lh_start_time[0], 0, 0); } - if (lcd->global.lh_pulse_len[1] != 0) + if (lcd->per_sweep.lh_pulse_len[1] != 0) { so->ctx->lightproc( so, -2, - handle_lightcap2_getAcodeFromSyncPulse(lcd->global.lh_pulse_len[1]), - lcd->global.lh_pulse_len[1], - lcd->global.lh_start_time[1], + handle_lightcap2_getAcodeFromSyncPulse(so, lcd->per_sweep.lh_pulse_len[1]), + lcd->per_sweep.lh_pulse_len[1], + lcd->per_sweep.lh_start_time[1], 0, 1); } } + //fprintf(stderr, "************************************ Reinitializing Disambiguator!!!\n"); // initialize here. - memset(&lcd->global, 0, sizeof(lcd->global)); - lcd->global.activeLighthouse = -1; + memset(&lcd->per_sweep, 0, sizeof(lcd->per_sweep)); + lcd->per_sweep.activeLighthouse = -1; - lcd->global.recent_sync_time = le->timestamp; + lcd->per_sweep.recent_sync_time = le->timestamp; // I do believe we are lighthouse A - lcd->global.current_lh = 0; - lcd->global.lh_pulse_len[lcd->global.current_lh] = le->length; - lcd->global.lh_start_time[lcd->global.current_lh] = le->timestamp; + lcd->per_sweep.current_lh = 0; + lcd->per_sweep.lh_pulse_len[lcd->per_sweep.current_lh] = le->length; + lcd->per_sweep.lh_start_time[lcd->per_sweep.current_lh] = le->timestamp; - int acode = handle_lightcap2_getAcodeFromSyncPulse(le->length); + int acode = handle_lightcap2_getAcodeFromSyncPulse(so, le->length); if (!(acode >> 2 & 1)) // if the skip bit is not set { - lcd->global.activeLighthouse = 0; - lcd->global.activeSweepStartTime = le->timestamp; - lcd->global.activeAcode = acode; + lcd->per_sweep.activeLighthouse = 0; + lcd->per_sweep.activeSweepStartTime = le->timestamp; + lcd->per_sweep.activeAcode = acode; } } } @@ -230,6 +247,7 @@ void handle_lightcap2( SurviveObject * so, LightcapElement * le ) if (so->disambiguator_data == NULL) { + fprintf(stderr, "Initializing Disambiguator Data\n"); so->disambiguator_data = malloc(sizeof(lightcap2_data)); memset(so->disambiguator_data, 0, sizeof(lightcap2_data)); } diff --git a/src/survive_vive.c b/src/survive_vive.c index c1bcb26..55e949a 100755 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -479,6 +479,9 @@ int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject * #ifdef HIDAPI //Tricky: use other interface for actual lightcap. XXX THIS IS NOT YET RIGHT!!! if( sv->udev[USB_DEV_LIGHTHOUSEB] && AttachInterface( sv, hmd, USB_IF_LIGHTCAP, sv->udev[USB_DEV_LIGHTHOUSEB], 0x82, survive_data_cb, "Lightcap")) { return -12; } + + // This is a HACK! But it works. Need to investigate further + sv->uiface[USB_DEV_TRACKER0_LIGHTCAP].actual_len = 64; if( sv->udev[USB_DEV_TRACKER0_LIGHTCAP] && AttachInterface( sv, tr0, USB_IF_TRACKER0_LIGHTCAP, sv->udev[USB_DEV_TRACKER0_LIGHTCAP], 0x82, survive_data_cb, "Tracker 1 Lightcap")) { return -13; } if( sv->udev[USB_DEV_W_WATCHMAN1_LIGHTCAP] && AttachInterface( sv, ww0, USB_IF_W_WATCHMAN1_LIGHTCAP, sv->udev[USB_DEV_W_WATCHMAN1_LIGHTCAP], 0x82, survive_data_cb, "Wired Watchman 1 Lightcap")) { return -13; } #else @@ -564,18 +567,18 @@ int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, vo r = update_feature_report( sv->udev[USB_DEV_TRACKER0], 0, vive_magic_power_on, sizeof( vive_magic_power_on ) ); if( r != sizeof( vive_magic_power_on ) ) return 5; } -#ifdef HIDAPI - if (sv->udev[USB_DEV_TRACKER0_LIGHTCAP]) - { - static uint8_t vive_magic_enable_lighthouse[5] = { 0x04 }; - r = update_feature_report( sv->udev[USB_DEV_TRACKER0_LIGHTCAP], 0, vive_magic_enable_lighthouse, sizeof( vive_magic_enable_lighthouse ) ); - if( r != sizeof( vive_magic_enable_lighthouse ) ) return 5; - - static uint8_t vive_magic_enable_lighthouse2[5] = { 0x07, 0x02 }; //Switch to 0x25 mode (able to get more light updates) - r = update_feature_report( sv->udev[USB_DEV_TRACKER0_LIGHTCAP], 0, vive_magic_enable_lighthouse2, sizeof( vive_magic_enable_lighthouse2 ) ); - if( r != sizeof( vive_magic_enable_lighthouse2 ) ) return 5; - } -#else +//#ifdef HIDAPI +// if (sv->udev[USB_DEV_TRACKER0_LIGHTCAP]) +// { +// static uint8_t vive_magic_enable_lighthouse[5] = { 0x04 }; +// r = update_feature_report( sv->udev[USB_DEV_TRACKER0_LIGHTCAP], 0, vive_magic_enable_lighthouse, sizeof( vive_magic_enable_lighthouse ) ); +// if( r != sizeof( vive_magic_enable_lighthouse ) ) return 5; +// +// static uint8_t vive_magic_enable_lighthouse2[5] = { 0x07, 0x02 }; //Switch to 0x25 mode (able to get more light updates) +// r = update_feature_report( sv->udev[USB_DEV_TRACKER0_LIGHTCAP], 0, vive_magic_enable_lighthouse2, sizeof( vive_magic_enable_lighthouse2 ) ); +// if( r != sizeof( vive_magic_enable_lighthouse2 ) ) return 5; +// } +//#else if (sv->udev[USB_DEV_TRACKER0]) { static uint8_t vive_magic_enable_lighthouse[5] = { 0x04 }; @@ -587,7 +590,7 @@ int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, vo if( r != sizeof( vive_magic_enable_lighthouse2 ) ) return 5; } -#endif +//#endif #if 0 for( int i = 0; i < 256; i++ ) @@ -1186,6 +1189,7 @@ void survive_data_cb( SurviveUSBInterface * si ) break; } case USB_IF_W_WATCHMAN1_LIGHTCAP: + case USB_IF_TRACKER0_LIGHTCAP: { int i=0; for( i = 0; i < 7; i++ ) -- cgit v1.2.3