From 94be8ccdbfb2f44c9bc569428537444030ba8eeb Mon Sep 17 00:00:00 2001
From: mwturvey <michael.w.turvey@intel.com>
Date: Fri, 17 Mar 2017 13:46:34 -0700
Subject: Wired Watchman Now Emit Light & IMU Data

---
 src/survive_vive.c | 101 +++++++++++++++++++++++++++++++++++++++++++++--------
 1 file changed, 86 insertions(+), 15 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 1929b1a..d4a853d 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -39,13 +39,15 @@
 struct SurviveViveData;
 
 const short vidpids[] = {
-	0x0bb4, 0x2c87, 0, //The main HTC HMD device
-	0x28de, 0x2000, 0, //Valve lighthouse
+	0x0bb4, 0x2c87, 0, //Valve HMD Button and face proximity sensor
+	0x28de, 0x2000, 0, //Valve HMD IMU & Lighthouse Sensors
 	0x28de, 0x2101, 0, //Valve Watchman
 	0x28de, 0x2101, 1, //Valve Watchman
 	0x28de, 0x2022, 0, //HTC Tracker
+	0x28de, 0x2012, 0, //Valve Watchman, USB connected
 #ifdef HIDAPI
-	0x28de, 0x2000, 1, //Valve lighthouse(B) (only used on HIDAPI, for lightcap)
+	0x28de, 0x2000, 1, //Valve HMD lighthouse(B) (only used on HIDAPI, for lightcap)
+	0x28de, 0x2012, 1, //Valve Watchman, USB connected (only used on HIDAPI, for lightcap)
 #endif
 }; //length MAX_USB_INTERFACES*2
 
@@ -55,8 +57,10 @@ const char * devnames[] = {
 	"Watchman 1",
 	"Watchman 2",
 	"Tracker 0",
+	"Wired Watchman 1",
 #ifdef HIDAPI
-	"Lightcap",
+	"HMD Lightcap",
+	"Wired Watchman 1 Lightcap",
 #endif
 }; //length MAX_USB_INTERFACES
 
@@ -66,12 +70,14 @@ const char * devnames[] = {
 #define USB_DEV_WATCHMAN1	2
 #define USB_DEV_WATCHMAN2	3
 #define USB_DEV_TRACKER0	4
+#define USB_DEV_W_WATCHMAN1	5 // Wired Watchman attached via USB
 
 #ifdef HIDAPI
-#define USB_DEV_LIGHTHOUSEB 5
-#define MAX_USB_DEVS		6
+#define USB_DEV_LIGHTHOUSEB 6
+#define USB_DEV_W_WATCHMAN1_LIGHTCAP 7
+#define MAX_USB_DEVS		8
 #else
-#define MAX_USB_DEVS		5
+#define MAX_USB_DEVS		6
 #endif
 
 #define USB_IF_HMD			0
@@ -79,8 +85,10 @@ const char * devnames[] = {
 #define USB_IF_WATCHMAN1	2
 #define USB_IF_WATCHMAN2	3
 #define USB_IF_TRACKER0		4
-#define USB_IF_LIGHTCAP		5
-#define MAX_INTERFACES		6
+#define USB_IF_W_WATCHMAN1	5
+#define USB_IF_LIGHTCAP		6
+#define USB_IF_W_WATCHMAN1_LIGHTCAP		7
+#define MAX_INTERFACES		8
 
 typedef struct SurviveUSBInterface SurviveUSBInterface;
 typedef struct SurviveViveData SurviveViveData;
@@ -299,7 +307,7 @@ static inline int hid_get_feature_report_timeout(USBHANDLE device, uint16_t ifac
 	return -1;
 }
 
-int survive_usb_init( struct SurviveViveData * sv, struct SurviveObject * hmd, struct SurviveObject *wm0, struct SurviveObject * wm1, struct SurviveObject * tr0 )
+int survive_usb_init( struct SurviveViveData * sv, struct SurviveObject * hmd, struct SurviveObject *wm0, struct SurviveObject * wm1, struct SurviveObject * tr0 , struct SurviveObject * ww0 )
 {
 	struct SurviveContext * ctx = sv->ctx;
 #ifdef HIDAPI
@@ -463,11 +471,14 @@ int survive_usb_init( struct SurviveViveData * sv, struct SurviveObject * hmd, s
 	if( sv->udev[USB_DEV_WATCHMAN1] && AttachInterface( sv, wm0, USB_IF_WATCHMAN1,  sv->udev[USB_DEV_WATCHMAN1],  0x81, survive_data_cb, "Watchman 1" ) ) { return -8; }
 	if( sv->udev[USB_DEV_WATCHMAN2] && AttachInterface( sv, wm1, USB_IF_WATCHMAN2, sv->udev[USB_DEV_WATCHMAN2], 0x81, survive_data_cb, "Watchman 2")) { return -9; }
 	if( sv->udev[USB_DEV_TRACKER0] && AttachInterface( sv, tr0, USB_IF_TRACKER0, sv->udev[USB_DEV_TRACKER0], 0x81, survive_data_cb, "Tracker 1")) { return -10; }
+	if( sv->udev[USB_DEV_W_WATCHMAN1] && AttachInterface( sv, ww0, USB_IF_W_WATCHMAN1, sv->udev[USB_DEV_W_WATCHMAN1], 0x81, survive_data_cb, "Wired Watchman 1")) { return -11; }
 #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; }
+	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
 	if( sv->udev[USB_DEV_LIGHTHOUSE] && AttachInterface( sv, hmd, USB_IF_LIGHTCAP, sv->udev[USB_DEV_LIGHTHOUSE], 0x82, survive_data_cb, "Lightcap")) { return -12; }
+	if( sv->udev[USB_DEV_W_WATCHMAN1] && AttachInterface( sv, ww0, USB_IF_W_WATCHMAN1_LIGHTCAP, sv->udev[USB_DEV_W_WATCHMAN1], 0x82, survive_data_cb, "Wired Watchman 1 Lightcap")) { return -13; }
 #endif
 	SV_INFO( "All enumerated devices attached." );
 
@@ -508,8 +519,19 @@ int survive_vive_send_magic(struct SurviveContext * ctx, void * drv, int magic_c
 			if( r != sizeof( vive_magic_enable_lighthouse2 ) ) return 5;
 		}
 
+		if (sv->udev[USB_DEV_W_WATCHMAN1])
+		{
+			static uint8_t vive_magic_enable_lighthouse[5] = { 0x04 };
+			r = update_feature_report( sv->udev[USB_DEV_W_WATCHMAN1], 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_W_WATCHMAN1], 0, vive_magic_enable_lighthouse2, sizeof( vive_magic_enable_lighthouse2 ) );
+			if( r != sizeof( vive_magic_enable_lighthouse2 ) ) return 5;
+		}
+
 #if 0
-		for( i = 0; i < 256; i++ )
+		for( int i = 0; i < 256; i++ )
 		{
 			static uint8_t vive_controller_haptic_pulse[64] = { 0xff, 0x8f, 0xff, 0, 0, 0, 0, 0, 0, 0 };
 			r = update_feature_report( sv->udev[USB_DEV_WATCHMAN1], 0, vive_controller_haptic_pulse, sizeof( vive_controller_haptic_pulse ) );
@@ -518,6 +540,14 @@ int survive_vive_send_magic(struct SurviveContext * ctx, void * drv, int magic_c
 			OGUSleep( 1000 );
 		}
 #endif
+
+		if (sv->udev[USB_DEV_TRACKER0])
+		{
+			static uint8_t vive_magic_power_on[64] = {  0x04, 0x78, 0x29, 0x38 };
+			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;
+		}
+
 		SV_INFO( "Powered unit on." );
 	}
 	else
@@ -550,7 +580,7 @@ int survive_vive_send_magic(struct SurviveContext * ctx, void * drv, int magic_c
 			if( r != sizeof( vive_magic_power_off2 ) ) return 5;
 		}
 	}
-
+	return 0;
 }
 
 void survive_vive_usb_close( struct SurviveViveData * sv )
@@ -584,6 +614,7 @@ int survive_vive_usb_poll( struct SurviveContext * ctx, void * v )
 	OGUnlockMutex( GlobalRXUSBMutx );
 	OGUSleep( 100 );
 	OGUnlockMutex( GlobalRXUSBMutx );
+	return 0;
 #else
 	struct SurviveViveData * sv = v;
 	int r = libusb_handle_events( sv->usbctx );
@@ -642,6 +673,7 @@ int survive_get_config( char ** config, struct SurviveViveData * sv, int devno,
 		OGUSleep(1000);
 	}
 
+	// Send Report 16 to prepare the device for reading config info
 	memset( cfgbuff, 0, sizeof( cfgbuff ) );
 	cfgbuff[0] = 0x10;
 	if( ( ret = hid_get_feature_report_timeout( dev, iface, cfgbuff, sizeof( cfgbuff ) ) ) < 0 )
@@ -651,6 +683,7 @@ int survive_get_config( char ** config, struct SurviveViveData * sv, int devno,
 	}
 
 
+	// Now do a bunch of Report 17 until there are no bytes left
 	cfgbuff[1] = 0xaa;
 	cfgbuff[0] = 0x11;
 	do
@@ -996,6 +1029,7 @@ void survive_data_cb( SurviveUSBInterface * si )
 		break;
 	}
 	case USB_IF_LIGHTHOUSE:
+	case USB_IF_W_WATCHMAN1:
 	{
 		int i;
 		//printf( "%d -> ", size );
@@ -1055,7 +1089,7 @@ void survive_data_cb( SurviveUSBInterface * si )
 			// TODO: Looks like this will need to be handle_tracker, since
 			// it appears the interface is sufficiently different.
 			// More work needd to reverse engineer it.
-			handle_watchman( w, readdata);
+			//handle_wired_watchman( w, readdata, size);
 		}
 		else
 		{
@@ -1077,6 +1111,20 @@ void survive_data_cb( SurviveUSBInterface * si )
 		}		
 		break;
 	}
+	case USB_IF_W_WATCHMAN1_LIGHTCAP:
+	{
+		int i;
+		for( i = 0; i < 7; i++ )
+		{
+			LightcapElement le;
+			le.sensor_id = POP2;
+			le.length = POP2;
+			le.timestamp = POP4;
+			if( le.sensor_id == 0xff ) break;
+			handle_lightcap( obj, &le );
+		}		
+		break;
+	}
 	}
 }
 
@@ -1234,6 +1282,8 @@ int survive_vive_close( SurviveContext * ctx, void * driver )
 	SurviveViveData * sv = driver;
  
 	survive_vive_usb_close( sv );
+
+	return 0;
 }
 
 
@@ -1244,6 +1294,7 @@ int DriverRegHTCVive( SurviveContext * ctx )
 	SurviveObject * wm0 = calloc( 1, sizeof( SurviveObject ) );
 	SurviveObject * wm1 = calloc( 1, sizeof( SurviveObject ) );
 	SurviveObject * tr0 = calloc( 1, sizeof( SurviveObject ) );
+	SurviveObject * ww0 = calloc( 1, sizeof( SurviveObject ) );
 	SurviveViveData * sv = calloc( 1, sizeof( SurviveViveData ) );
 
 	sv->ctx = ctx;
@@ -1269,9 +1320,12 @@ int DriverRegHTCVive( SurviveContext * ctx )
 	tr0->ctx = ctx;
 	memcpy( tr0->codename, "TR0", 4 );
 	memcpy( tr0->drivername, "HTC", 4 );
+	ww0->ctx = ctx;
+	memcpy( ww0->codename, "WW0", 4 );
+	memcpy( ww0->drivername, "HTC", 4 );
 
 	//USB must happen last.
-	if( r = survive_usb_init( sv, hmd, wm0, wm1, tr0) )
+	if( r = survive_usb_init( sv, hmd, wm0, wm1, tr0, ww0) )
 	{
 		//TODO: Cleanup any libUSB stuff sitting around.
 		goto fail_gracefully;
@@ -1281,20 +1335,35 @@ int DriverRegHTCVive( SurviveContext * ctx )
 	if( sv->udev[USB_DEV_HMD]       && LoadConfig( sv, hmd, 1, 0, 0 )) { SV_INFO( "HMD config issue." ); }
 	if( sv->udev[USB_DEV_WATCHMAN1] && LoadConfig( sv, wm0, 2, 0, 1 )) { SV_INFO( "Watchman 0 config issue." ); }
 	if( sv->udev[USB_DEV_WATCHMAN2] && LoadConfig( sv, wm1, 3, 0, 1 )) { SV_INFO( "Watchman 1 config issue." ); }
-	if( sv->udev[USB_DEV_TRACKER0]  && LoadConfig( sv, tr0, 4, 0, 1 )) { SV_INFO( "Tracker 0 config issue." ); }
+	if( sv->udev[USB_DEV_TRACKER0]  && LoadConfig( sv, tr0, 4, 0, 0 )) { SV_INFO( "Tracker 0 config issue." ); }
+	if( sv->udev[USB_DEV_W_WATCHMAN1]  && LoadConfig( sv, ww0, 5, 0, 0 )) { SV_INFO( "Wired Watchman 0 config issue." ); }
 
 	hmd->timebase_hz = wm0->timebase_hz = wm1->timebase_hz = 48000000;
+	tr0->timebase_hz = ww0->timebase_hz = hmd->timebase_hz;
+
 	hmd->pulsedist_max_ticks = wm0->pulsedist_max_ticks = wm1->pulsedist_max_ticks = 500000;
+	tr0->pulsedist_max_ticks = ww0->pulsedist_max_ticks = hmd->pulsedist_max_ticks;
+
 	hmd->pulselength_min_sync = wm0->pulselength_min_sync = wm1->pulselength_min_sync = 2200;
+	tr0->pulselength_min_sync = ww0->pulselength_min_sync = hmd->pulselength_min_sync;
+
 	hmd->pulse_in_clear_time = wm0->pulse_in_clear_time = wm1->pulse_in_clear_time = 35000;
+	tr0->pulse_in_clear_time = ww0->pulse_in_clear_time = hmd->pulse_in_clear_time;
+
 	hmd->pulse_max_for_sweep = wm0->pulse_max_for_sweep = wm1->pulse_max_for_sweep = 1800;
+	tr0->pulse_max_for_sweep = ww0->pulse_max_for_sweep = hmd->pulse_max_for_sweep;
 
 	hmd->pulse_synctime_offset = wm0->pulse_synctime_offset = wm1->pulse_synctime_offset = 20000;
+	tr0->pulse_synctime_offset = ww0->pulse_synctime_offset = hmd->pulse_synctime_offset;
+
 	hmd->pulse_synctime_slack = wm0->pulse_synctime_slack = wm1->pulse_synctime_slack = 5000;
+	tr0->pulse_synctime_slack = ww0->pulse_synctime_slack = hmd->pulse_synctime_slack;
 
 	hmd->timecenter_ticks = hmd->timebase_hz / 240;
 	wm0->timecenter_ticks = wm0->timebase_hz / 240;
 	wm1->timecenter_ticks = wm1->timebase_hz / 240;
+	tr0->timecenter_ticks = tr0->timebase_hz / 240;
+	ww0->timecenter_ticks = ww0->timebase_hz / 240;
 /*
 	int i;
 	int locs = hmd->nr_locations;
@@ -1322,6 +1391,7 @@ int DriverRegHTCVive( SurviveContext * ctx )
 	if( sv->udev[USB_DEV_WATCHMAN1] ) { survive_add_object( ctx, wm0 ); }
 	if( sv->udev[USB_DEV_WATCHMAN2] ) { survive_add_object( ctx, wm1 ); }
 	if( sv->udev[USB_DEV_TRACKER0]  ) { survive_add_object( ctx, tr0 ); }
+	if( sv->udev[USB_DEV_W_WATCHMAN1]  ) { survive_add_object( ctx, ww0 ); }
 
 	survive_add_driver( ctx, sv, survive_vive_usb_poll, survive_vive_close, survive_vive_send_magic );
 
@@ -1331,6 +1401,7 @@ fail_gracefully:
 	free( wm0 );
 	free( wm1 );
 	free( tr0 );
+	free( ww0 );
 	survive_vive_usb_close( sv );
 	free( sv );
 	return -1;
-- 
cgit v1.2.3


From 129677f041dc87689e73d85ef737501be59b58ca Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Sat, 18 Mar 2017 01:01:49 -0400
Subject: Fix mixed usage of "struct" and typedef'd struct, and fix compile
 error on gcc/Linux.

---
 src/survive_vive.c | 32 ++++++++++++++++----------------
 1 file changed, 16 insertions(+), 16 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index a9b295f..91efc2c 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -141,10 +141,10 @@ void survive_data_cb( SurviveUSBInterface * si );
 
 //USB Subsystem 
 void survive_usb_close( SurviveContext * t );
-int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *wm0, SurviveObject * wm1, SurviveObject * tr0 );
+int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *wm0, SurviveObject * wm1, SurviveObject * tr0 , SurviveObject * ww0 );
 int survive_usb_poll( SurviveContext * ctx );
 int survive_get_config( char ** config, SurviveViveData * ctx, int devno, int iface, int send_extra_magic );
-int survive_vive_send_magic(struct SurviveContext * ctx, void * drv, int magic_code, void * data, int datalen );
+int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, void * data, int datalen );
 
 #ifdef HIDAPI
 void * HAPIReceiver( void * v )
@@ -177,8 +177,8 @@ void * HAPIReceiver( void * v )
 #else
 static void handle_transfer(struct libusb_transfer* transfer)
 {
-	struct SurviveUSBInterface * iface = transfer->user_data;
-	struct SurviveContext * ctx = iface->ctx;
+	SurviveUSBInterface * iface = transfer->user_data;
+	SurviveContext * ctx = iface->ctx;
 
 	if( transfer->status != LIBUSB_TRANSFER_COMPLETED )
 	{
@@ -307,9 +307,9 @@ static inline int hid_get_feature_report_timeout(USBHANDLE device, uint16_t ifac
 	return -1;
 }
 
-int survive_usb_init( struct SurviveViveData * sv, struct SurviveObject * hmd, struct SurviveObject *wm0, struct SurviveObject * wm1, struct SurviveObject * tr0 , struct SurviveObject * ww0 )
+int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *wm0, SurviveObject * wm1, SurviveObject * tr0 , SurviveObject * ww0 )
 {
-	struct SurviveContext * ctx = sv->ctx;
+	SurviveContext * ctx = sv->ctx;
 #ifdef HIDAPI
 	if( !GlobalRXUSBMutx )
 	{
@@ -488,10 +488,10 @@ int survive_usb_init( struct SurviveViveData * sv, struct SurviveObject * hmd, s
 	return 0;
 }
 
-int survive_vive_send_magic(struct SurviveContext * ctx, void * drv, int magic_code, void * data, int datalen )
+int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, void * data, int datalen )
 {
 	int r;
-	struct SurviveViveData * sv = drv;
+	SurviveViveData * sv = drv;
 	printf( "*CALLING %p %p\n", ctx, sv );
 
 	//XXX TODO: Handle haptics, etc.
@@ -583,7 +583,7 @@ int survive_vive_send_magic(struct SurviveContext * ctx, void * drv, int magic_c
 	return 0;
 }
 
-void survive_vive_usb_close( struct SurviveViveData * sv )
+void survive_vive_usb_close( SurviveViveData * sv )
 {
 	int i;
 #ifdef HIDAPI
@@ -608,7 +608,7 @@ void survive_vive_usb_close( struct SurviveViveData * sv )
 #endif
 }
 
-int survive_vive_usb_poll( struct SurviveContext * ctx, void * v )
+int survive_vive_usb_poll( SurviveContext * ctx, void * v )
 {
 #ifdef HIDAPI
 	OGUnlockMutex( GlobalRXUSBMutx );
@@ -616,11 +616,11 @@ int survive_vive_usb_poll( struct SurviveContext * ctx, void * v )
 	OGUnlockMutex( GlobalRXUSBMutx );
 	return 0;
 #else
-	struct SurviveViveData * sv = v;
+	SurviveViveData * sv = v;
 	int r = libusb_handle_events( sv->usbctx );
 	if( r )
 	{
-		struct SurviveContext * ctx = sv->ctx;
+		SurviveContext * ctx = sv->ctx;
 		SV_ERROR( "Libusb poll failed." );
 	}
 	return r;
@@ -629,9 +629,9 @@ int survive_vive_usb_poll( struct SurviveContext * ctx, void * v )
 }
 
 
-int survive_get_config( char ** config, struct SurviveViveData * sv, int devno, int iface, int send_extra_magic )
+int survive_get_config( char ** config, SurviveViveData * sv, int devno, int iface, int send_extra_magic )
 {
-	struct SurviveContext * ctx = sv->ctx;
+	SurviveContext * ctx = sv->ctx;
 	int ret, count = 0, size = 0;
 	uint8_t cfgbuff[64];
 	uint8_t compressed_data[8192];
@@ -749,7 +749,7 @@ int survive_get_config( char ** config, struct SurviveViveData * sv, int devno,
 #define POP2  (*(((uint16_t*)((readdata+=2)-2))))
 #define POP4  (*(((uint32_t*)((readdata+=4)-4))))
 
-static void handle_watchman( struct SurviveObject * w, uint8_t * readdata )
+static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 {
 
 	uint8_t startread[29];
@@ -1015,7 +1015,7 @@ void survive_data_cb( SurviveUSBInterface * si )
 	{
 	case USB_IF_HMD:
 	{
-		struct SurviveObject * headset = obj;
+		SurviveObject * headset = obj;
 		readdata+=2;
 		headset->buttonmask = POP1;		//Lens
 		headset->axis2 = POP2;			//Lens Separation
-- 
cgit v1.2.3


From af81a4dbe0e58e94b61b11c14b21a2decc15d823 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Sat, 18 Mar 2017 13:15:22 -0400
Subject: Fix unititialized array.

---
 src/survive_vive.c | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 91efc2c..c8e2b55 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -920,7 +920,7 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 		{
 			uint8_t *marked;
 			marked = alloca(nrtime);
-			memset( marked, 0, sizeof( marked ) );
+			memset( marked, 0, sizeof( nrtime ) );
 			int i, parpl = 0;
 			timecount--;
 			int timepl = 0;
@@ -935,6 +935,7 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 				while( marked[timepl] ) timepl++;
 				if( timepl > timecount ) { fault = 3; goto end; }         //Ran off max of list.
 				uint32_t endtime = times[timepl++];
+
 				int end = timepl + adv;
 				if( end > timecount ) { fault = 4; goto end; } //end referencing off list
 				if( marked[end] > 0 ) { fault = 5; goto end; } //Already marked trying to be used.
@@ -978,7 +979,7 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 	end:
 		{
 			SurviveContext * ctx = w->ctx;
-			SV_INFO( "Light decoding fault: %d\n", fault );
+			SV_INFO( "Light decoding fault: %d", fault );
 		}
 	}
 }
-- 
cgit v1.2.3


From f976a532970afecce640ddfba88a6f1b04ab34b8 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Sat, 18 Mar 2017 13:21:13 -0400
Subject: Wow... Actually initilize to right size.

---
 src/survive_vive.c | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index c8e2b55..f6465b2 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -771,7 +771,7 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 	qty-=2;
 	int propset = 0;
 	int doimu = 0;
-
+	int i;
 
 	if( (type & 0xf0) == 0xf0 )
 	{
@@ -916,11 +916,12 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 		LightcapElement les[10];
 		int lese = 0; //les's end
 
+
 		//Second, go through all LEDs and extract the lightevent from them. 
 		{
 			uint8_t *marked;
 			marked = alloca(nrtime);
-			memset( marked, 0, sizeof( nrtime ) );
+			memset( marked, 0, nrtime );
 			int i, parpl = 0;
 			timecount--;
 			int timepl = 0;
@@ -933,6 +934,17 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 				led >>= 3;
 
 				while( marked[timepl] ) timepl++;
+
+#ifdef DEBUG_WATCHMAN
+				int i;
+				printf( "TP %d   TC: %d : ", timepl, timecount );
+				for( i = 0; i < nrtime; i++ )
+				{
+					printf( "%d", marked[i] );
+				}
+				printf( "\n" );
+#endif
+
 				if( timepl > timecount ) { fault = 3; goto end; }         //Ran off max of list.
 				uint32_t endtime = times[timepl++];
 
-- 
cgit v1.2.3


From 3d86dda66d50d1e1955d4e0cd5f374e0aed1789f Mon Sep 17 00:00:00 2001
From: mwturvey <michael.w.turvey@intel.com>
Date: Thu, 23 Mar 2017 16:26:27 -0700
Subject: Fixed Windows USB Interface Enumeration

---
 src/survive_vive.c | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index f6465b2..bfe4926 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -340,7 +340,7 @@ int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *
 			if (cur_dev->vendor_id == vendor_id &&
 				cur_dev->product_id == product_id)
 			{
-				if( menum == enumid )
+				if( cur_dev->interface_number == enumid )
 				{
 					path_to_open = cur_dev->path;
 					break;
@@ -521,12 +521,21 @@ int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, vo
 
 		if (sv->udev[USB_DEV_W_WATCHMAN1])
 		{
+			//static uint8_t vive_magic_power_on[64] = {  0x04, 0x78, 0x29, 0x38 };
+			static uint8_t vive_magic_power_on[5] = { 0x04 };
+			//static uint8_t vive_magic_power_on[5] = { 0x04, 0x00, 0xc3, 0xe2, 0x04 };
+			r = update_feature_report( sv->udev[USB_DEV_W_WATCHMAN1], 0, vive_magic_power_on, sizeof( vive_magic_power_on ) );
+			if( r != sizeof( vive_magic_power_on ) ) return 5;
+		}
+		if (sv->udev[USB_DEV_W_WATCHMAN1_LIGHTCAP])
+		{
+			//static uint8_t vive_magic_enable_lighthouse[64] = {  0x04, 0x78, 0x29, 0x38 };
 			static uint8_t vive_magic_enable_lighthouse[5] = { 0x04 };
-			r = update_feature_report( sv->udev[USB_DEV_W_WATCHMAN1], 0, vive_magic_enable_lighthouse, sizeof( vive_magic_enable_lighthouse ) );
+			r = update_feature_report( sv->udev[USB_DEV_W_WATCHMAN1_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_W_WATCHMAN1], 0, vive_magic_enable_lighthouse2, sizeof( vive_magic_enable_lighthouse2 ) );
+			r = update_feature_report( sv->udev[USB_DEV_W_WATCHMAN1_LIGHTCAP], 0, vive_magic_enable_lighthouse2, sizeof( vive_magic_enable_lighthouse2 ) );
 			if( r != sizeof( vive_magic_enable_lighthouse2 ) ) return 5;
 		}
 
@@ -534,7 +543,8 @@ int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, vo
 		for( int i = 0; i < 256; i++ )
 		{
 			static uint8_t vive_controller_haptic_pulse[64] = { 0xff, 0x8f, 0xff, 0, 0, 0, 0, 0, 0, 0 };
-			r = update_feature_report( sv->udev[USB_DEV_WATCHMAN1], 0, vive_controller_haptic_pulse, sizeof( vive_controller_haptic_pulse ) );
+			//r = update_feature_report( sv->udev[USB_DEV_WATCHMAN1], 0, vive_controller_haptic_pulse, sizeof( vive_controller_haptic_pulse ) );
+			r = update_feature_report( sv->udev[USB_DEV_W_WATCHMAN1_LIGHTCAP], 0, vive_controller_haptic_pulse, sizeof( vive_controller_haptic_pulse ) );
 			SV_INFO( "UCR: %d", r );
 			if( r != sizeof( vive_controller_haptic_pulse ) ) return 5;
 			OGUSleep( 1000 );
-- 
cgit v1.2.3


From c55c5928485da0432140be4befe5165c68ae4ab0 Mon Sep 17 00:00:00 2001
From: mwturvey <michael.w.turvey@intel.com>
Date: Thu, 23 Mar 2017 16:46:04 -0700
Subject: Change disambiguator filter

---
 src/survive_vive.c | 45 +++++++++++++++++++++++++++++++++------------
 1 file changed, 33 insertions(+), 12 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index bfe4926..f58fb79 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -47,6 +47,7 @@ const short vidpids[] = {
 	0x28de, 0x2012, 0, //Valve Watchman, USB connected
 #ifdef HIDAPI
 	0x28de, 0x2000, 1, //Valve HMD lighthouse(B) (only used on HIDAPI, for lightcap)
+	0x28de, 0x2022, 1, //HTC Tracker (only used on HIDAPI, for lightcap)
 	0x28de, 0x2012, 1, //Valve Watchman, USB connected (only used on HIDAPI, for lightcap)
 #endif
 }; //length MAX_USB_INTERFACES*2
@@ -60,6 +61,7 @@ const char * devnames[] = {
 	"Wired Watchman 1",
 #ifdef HIDAPI
 	"HMD Lightcap",
+	"Tracker 0 Lightcap",
 	"Wired Watchman 1 Lightcap",
 #endif
 }; //length MAX_USB_INTERFACES
@@ -74,8 +76,9 @@ const char * devnames[] = {
 
 #ifdef HIDAPI
 #define USB_DEV_LIGHTHOUSEB 6
-#define USB_DEV_W_WATCHMAN1_LIGHTCAP 7
-#define MAX_USB_DEVS		8
+#define USB_DEV_TRACKER0_LIGHTCAP 7
+#define USB_DEV_W_WATCHMAN1_LIGHTCAP 8
+#define MAX_USB_DEVS		9
 #else
 #define MAX_USB_DEVS		6
 #endif
@@ -87,8 +90,9 @@ const char * devnames[] = {
 #define USB_IF_TRACKER0		4
 #define USB_IF_W_WATCHMAN1	5
 #define USB_IF_LIGHTCAP		6
-#define USB_IF_W_WATCHMAN1_LIGHTCAP		7
-#define MAX_INTERFACES		8
+#define USB_IF_TRACKER0_LIGHTCAP		7
+#define USB_IF_W_WATCHMAN1_LIGHTCAP		8
+#define MAX_INTERFACES		9
 
 typedef struct SurviveUSBInterface SurviveUSBInterface;
 typedef struct SurviveViveData SurviveViveData;
@@ -475,9 +479,11 @@ 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; }
+	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
 	if( sv->udev[USB_DEV_LIGHTHOUSE] && AttachInterface( sv, hmd, USB_IF_LIGHTCAP, sv->udev[USB_DEV_LIGHTHOUSE], 0x82, survive_data_cb, "Lightcap")) { return -12; }
+	if( sv->udev[USB_DEV_TRACKER0] && AttachInterface( sv, ww0, USB_IF_TRACKER0_LIGHTCAP, sv->udev[USB_DEV_TRACKER0], 0x82, survive_data_cb, "Tracker 0 Lightcap")) { return -13; }
 	if( sv->udev[USB_DEV_W_WATCHMAN1] && AttachInterface( sv, ww0, USB_IF_W_WATCHMAN1_LIGHTCAP, sv->udev[USB_DEV_W_WATCHMAN1], 0x82, survive_data_cb, "Wired Watchman 1 Lightcap")) { return -13; }
 #endif
 	SV_INFO( "All enumerated devices attached." );
@@ -521,9 +527,7 @@ int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, vo
 
 		if (sv->udev[USB_DEV_W_WATCHMAN1])
 		{
-			//static uint8_t vive_magic_power_on[64] = {  0x04, 0x78, 0x29, 0x38 };
 			static uint8_t vive_magic_power_on[5] = { 0x04 };
-			//static uint8_t vive_magic_power_on[5] = { 0x04, 0x00, 0xc3, 0xe2, 0x04 };
 			r = update_feature_report( sv->udev[USB_DEV_W_WATCHMAN1], 0, vive_magic_power_on, sizeof( vive_magic_power_on ) );
 			if( r != sizeof( vive_magic_power_on ) ) return 5;
 		}
@@ -539,6 +543,23 @@ int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, vo
 			if( r != sizeof( vive_magic_enable_lighthouse2 ) ) return 5;
 		}
 
+		if (sv->udev[USB_DEV_TRACKER0])
+		{
+			static uint8_t vive_magic_power_on[5] = { 0x04 };
+			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;
+		}
+		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;
+		}
+
 #if 0
 		for( int i = 0; i < 256; i++ )
 		{
@@ -551,12 +572,12 @@ int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, vo
 		}
 #endif
 
-		if (sv->udev[USB_DEV_TRACKER0])
-		{
-			static uint8_t vive_magic_power_on[64] = {  0x04, 0x78, 0x29, 0x38 };
-			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;
-		}
+		//if (sv->udev[USB_DEV_TRACKER0])
+		//{
+		//	static uint8_t vive_magic_power_on[64] = {  0x04, 0x78, 0x29, 0x38 };
+		//	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;
+		//}
 
 		SV_INFO( "Powered unit on." );
 	}
-- 
cgit v1.2.3


From 9f6c7e87266c5a7d721d4d8e3ace82dc46207387 Mon Sep 17 00:00:00 2001
From: Michael Turvey <mturvey6@gmail.com>
Date: Fri, 24 Mar 2017 10:10:14 -0700
Subject: Fix linux build

Successfully tested with a wired watchman on linux.
Wired tracker now succeeds in providing calibration info
Still not getting light info from tracker.
---
 src/survive_vive.c | 31 ++++++++++++++++++++++++++++++-
 1 file changed, 30 insertions(+), 1 deletion(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index f58fb79..c1bcb26 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -531,9 +531,10 @@ int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, vo
 			r = update_feature_report( sv->udev[USB_DEV_W_WATCHMAN1], 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_W_WATCHMAN1_LIGHTCAP])
 		{
-			//static uint8_t vive_magic_enable_lighthouse[64] = {  0x04, 0x78, 0x29, 0x38 };
 			static uint8_t vive_magic_enable_lighthouse[5] = { 0x04 };
 			r = update_feature_report( sv->udev[USB_DEV_W_WATCHMAN1_LIGHTCAP], 0, vive_magic_enable_lighthouse, sizeof( vive_magic_enable_lighthouse ) );
 			if( r != sizeof( vive_magic_enable_lighthouse ) ) return 5;
@@ -543,12 +544,27 @@ int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, vo
 			if( r != sizeof( vive_magic_enable_lighthouse2 ) ) return 5;
 		}
 
+#else
+		if (sv->udev[USB_DEV_W_WATCHMAN1])
+		{
+			static uint8_t vive_magic_enable_lighthouse[5] = { 0x04 };
+			r = update_feature_report( sv->udev[USB_DEV_W_WATCHMAN1], 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_W_WATCHMAN1], 0, vive_magic_enable_lighthouse2, sizeof( vive_magic_enable_lighthouse2 ) );
+			if( r != sizeof( vive_magic_enable_lighthouse2 ) ) return 5;
+		}
+
+#endif
+
 		if (sv->udev[USB_DEV_TRACKER0])
 		{
 			static uint8_t vive_magic_power_on[5] = { 0x04 };
 			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 };
@@ -559,6 +575,19 @@ int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, vo
 			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 };
+			r = update_feature_report( sv->udev[USB_DEV_TRACKER0], 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], 0, vive_magic_enable_lighthouse2, sizeof( vive_magic_enable_lighthouse2 ) );
+			if( r != sizeof( vive_magic_enable_lighthouse2 ) ) return 5;
+		}
+
+#endif
 
 #if 0
 		for( int i = 0; i < 256; i++ )
-- 
cgit v1.2.3


From a576703242adea11c012af5afdff38af84d22e2e Mon Sep 17 00:00:00 2001
From: mwturvey <michael.w.turvey@intel.com>
Date: Fri, 24 Mar 2017 13:44:38 -0700
Subject: Adaptive Acode Offset Compensation

---
 src/survive_vive.c | 30 +++++++++++++++++-------------
 1 file changed, 17 insertions(+), 13 deletions(-)

(limited to 'src/survive_vive.c')

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


From 4dc1d72785c660c206f8def9d8c8aa32289c2709 Mon Sep 17 00:00:00 2001
From: mwturvey <michael.w.turvey@intel.com>
Date: Fri, 24 Mar 2017 15:19:59 -0700
Subject: More cleanup & finishing genericization of calibrator

---
 src/survive_vive.c | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

(limited to 'src/survive_vive.c')

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;
-- 
cgit v1.2.3


From b3bdcdb838ed57986f359b2181a624bfd1acbbf1 Mon Sep 17 00:00:00 2001
From: mwturvey <michael.w.turvey@intel.com>
Date: Tue, 28 Mar 2017 10:15:36 -0700
Subject: Fix Tracker IMU

---
 src/survive_vive.c | 17 +----------------
 1 file changed, 1 insertion(+), 16 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index a5c731d..757fa11 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -1105,6 +1105,7 @@ void survive_data_cb( SurviveUSBInterface * si )
 	}
 	case USB_IF_LIGHTHOUSE:
 	case USB_IF_W_WATCHMAN1:
+	case USB_IF_TRACKER0:
 	{
 		int i;
 		//printf( "%d -> ", size );
@@ -1156,22 +1157,6 @@ void survive_data_cb( SurviveUSBInterface * si )
 		}
 		break;
 	}
-	case USB_IF_TRACKER0:
-	{
-		SurviveObject * w = obj;
-		if( id == 32 )
-		{
-			// TODO: Looks like this will need to be handle_tracker, since
-			// it appears the interface is sufficiently different.
-			// More work needd to reverse engineer it.
-			//handle_wired_watchman( w, readdata, size);
-		}
-		else
-		{
-			SV_INFO( "Unknown tracker code %d\n", id );
-		}
-		break;
-	}
 	case USB_IF_LIGHTCAP:
 	{
 		int i;
-- 
cgit v1.2.3


From 0e69fac4d8565926ac3cff6084c95f204d8e173f Mon Sep 17 00:00:00 2001
From: Mike Turvey <mturvey6@gmail.com>
Date: Sat, 1 Apr 2017 23:37:03 -0700
Subject: Fix bug that prevented HMD from being added

---
 src/survive_vive.c | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 757fa11..5224728 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -68,14 +68,14 @@ const char * devnames[] = {
 
 
 #define USB_DEV_HMD			0
-#define USB_DEV_LIGHTHOUSE	1
+#define USB_DEV_HMD_IMU_LH	1
 #define USB_DEV_WATCHMAN1	2
 #define USB_DEV_WATCHMAN2	3
 #define USB_DEV_TRACKER0	4
 #define USB_DEV_W_WATCHMAN1	5 // Wired Watchman attached via USB
 
 #ifdef HIDAPI
-#define USB_DEV_LIGHTHOUSEB 6
+#define USB_DEV_HMD_IMU_LHB 6
 #define USB_DEV_TRACKER0_LIGHTCAP 7
 #define USB_DEV_W_WATCHMAN1_LIGHTCAP 8
 #define MAX_USB_DEVS		9
@@ -84,7 +84,7 @@ const char * devnames[] = {
 #endif
 
 #define USB_IF_HMD			0
-#define USB_IF_LIGHTHOUSE 	1
+#define USB_IF_HMD_IMU_LH 	1
 #define USB_IF_WATCHMAN1	2
 #define USB_IF_WATCHMAN2	3
 #define USB_IF_TRACKER0		4
@@ -471,14 +471,14 @@ int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *
 #endif
 
 	if( sv->udev[USB_DEV_HMD] && AttachInterface( sv, hmd, USB_IF_HMD,        sv->udev[USB_DEV_HMD],        0x81, survive_data_cb, "Mainboard" ) ) { return -6; }
-	if( sv->udev[USB_DEV_LIGHTHOUSE] && AttachInterface( sv, hmd, USB_IF_LIGHTHOUSE, sv->udev[USB_DEV_LIGHTHOUSE], 0x81, survive_data_cb, "Lighthouse" ) ) { return -7; }
+	if( sv->udev[USB_DEV_HMD_IMU_LH] && AttachInterface( sv, hmd, USB_IF_HMD_IMU_LH, sv->udev[USB_DEV_HMD_IMU_LH], 0x81, survive_data_cb, "Lighthouse" ) ) { return -7; }
 	if( sv->udev[USB_DEV_WATCHMAN1] && AttachInterface( sv, wm0, USB_IF_WATCHMAN1,  sv->udev[USB_DEV_WATCHMAN1],  0x81, survive_data_cb, "Watchman 1" ) ) { return -8; }
 	if( sv->udev[USB_DEV_WATCHMAN2] && AttachInterface( sv, wm1, USB_IF_WATCHMAN2, sv->udev[USB_DEV_WATCHMAN2], 0x81, survive_data_cb, "Watchman 2")) { return -9; }
 	if( sv->udev[USB_DEV_TRACKER0] && AttachInterface( sv, tr0, USB_IF_TRACKER0, sv->udev[USB_DEV_TRACKER0], 0x81, survive_data_cb, "Tracker 1")) { return -10; }
 	if( sv->udev[USB_DEV_W_WATCHMAN1] && AttachInterface( sv, ww0, USB_IF_W_WATCHMAN1, sv->udev[USB_DEV_W_WATCHMAN1], 0x81, survive_data_cb, "Wired Watchman 1")) { return -11; }
 #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; }
+	if( sv->udev[USB_DEV_HMD_IMU_LHB] && AttachInterface( sv, hmd, USB_IF_LIGHTCAP, sv->udev[USB_DEV_HMD_IMU_LHB], 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;
@@ -517,14 +517,14 @@ int survive_vive_send_magic(SurviveContext * ctx, void * drv, int magic_code, vo
 			if( r != sizeof( vive_magic_power_on ) ) return 5;
 		}
 
-		if (sv->udev[USB_DEV_LIGHTHOUSE])
+		if (sv->udev[USB_DEV_HMD_IMU_LH])
 		{
 			static uint8_t vive_magic_enable_lighthouse[5] = { 0x04 };
-			r = update_feature_report( sv->udev[USB_DEV_LIGHTHOUSE], 0, vive_magic_enable_lighthouse, sizeof( vive_magic_enable_lighthouse ) );
+			r = update_feature_report( sv->udev[USB_DEV_HMD_IMU_LH], 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_LIGHTHOUSE], 0, vive_magic_enable_lighthouse2, sizeof( vive_magic_enable_lighthouse2 ) );
+			r = update_feature_report( sv->udev[USB_DEV_HMD_IMU_LH], 0, vive_magic_enable_lighthouse2, sizeof( vive_magic_enable_lighthouse2 ) );
 			if( r != sizeof( vive_magic_enable_lighthouse2 ) ) return 5;
 		}
 
@@ -1103,7 +1103,7 @@ void survive_data_cb( SurviveUSBInterface * si )
 		headset->ison = 1;
 		break;
 	}
-	case USB_IF_LIGHTHOUSE:
+	case USB_IF_HMD_IMU_LH:
 	case USB_IF_W_WATCHMAN1:
 	case USB_IF_TRACKER0:
 	{
@@ -1395,7 +1395,7 @@ int DriverRegHTCVive( SurviveContext * ctx )
 	}
 
 	//Next, pull out the config stuff.
-	if( sv->udev[USB_DEV_HMD]       && LoadConfig( sv, hmd, 1, 0, 0 )) { SV_INFO( "HMD config issue." ); }
+	if( sv->udev[USB_DEV_HMD_IMU_LH]       && LoadConfig( sv, hmd, 1, 0, 0 )) { SV_INFO( "HMD config issue." ); }
 	if( sv->udev[USB_DEV_WATCHMAN1] && LoadConfig( sv, wm0, 2, 0, 1 )) { SV_INFO( "Watchman 0 config issue." ); }
 	if( sv->udev[USB_DEV_WATCHMAN2] && LoadConfig( sv, wm1, 3, 0, 1 )) { SV_INFO( "Watchman 1 config issue." ); }
 	if( sv->udev[USB_DEV_TRACKER0]  && LoadConfig( sv, tr0, 4, 0, 0 )) { SV_INFO( "Tracker 0 config issue." ); }
@@ -1450,7 +1450,7 @@ int DriverRegHTCVive( SurviveContext * ctx )
 */
 
 	//Add the drivers.
-	if( sv->udev[USB_DEV_HMD]       ) { survive_add_object( ctx, hmd ); }
+	if( sv->udev[USB_DEV_HMD_IMU_LH]       ) { survive_add_object( ctx, hmd ); }
 	if( sv->udev[USB_DEV_WATCHMAN1] ) { survive_add_object( ctx, wm0 ); }
 	if( sv->udev[USB_DEV_WATCHMAN2] ) { survive_add_object( ctx, wm1 ); }
 	if( sv->udev[USB_DEV_TRACKER0]  ) { survive_add_object( ctx, tr0 ); }
-- 
cgit v1.2.3


From 443811f15c00df3df9cc14bc859e4cce146cd55f Mon Sep 17 00:00:00 2001
From: mwturvey <michael.w.turvey@intel.com>
Date: Wed, 5 Apr 2017 11:26:09 -0700
Subject: Fix USB_DEV_HMD_IMU_LH

---
 src/survive_vive.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 5224728..1f0b5b9 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -485,7 +485,7 @@ int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *
 	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
-	if( sv->udev[USB_DEV_LIGHTHOUSE] && AttachInterface( sv, hmd, USB_IF_LIGHTCAP, sv->udev[USB_DEV_LIGHTHOUSE], 0x82, survive_data_cb, "Lightcap")) { return -12; }
+	if( sv->udev[USB_DEV_HMD_IMU_LH] && AttachInterface( sv, hmd, USB_IF_LIGHTCAP, sv->udev[USB_DEV_HMD_IMU_LH], 0x82, survive_data_cb, "Lightcap")) { return -12; }
 	if( sv->udev[USB_DEV_TRACKER0] && AttachInterface( sv, ww0, USB_IF_TRACKER0_LIGHTCAP, sv->udev[USB_DEV_TRACKER0], 0x82, survive_data_cb, "Tracker 0 Lightcap")) { return -13; }
 	if( sv->udev[USB_DEV_W_WATCHMAN1] && AttachInterface( sv, ww0, USB_IF_W_WATCHMAN1_LIGHTCAP, sv->udev[USB_DEV_W_WATCHMAN1], 0x82, survive_data_cb, "Wired Watchman 1 Lightcap")) { return -13; }
 #endif
-- 
cgit v1.2.3


From e030943790f202cc8af858135911df347a96cf8c Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Fri, 7 Apr 2017 00:53:11 -0400
Subject: Refactor a bit of survive_vive to re-use existing functions and
 simplify execution.

---
 src/survive_vive.c | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 1f0b5b9..8e22ea1 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -723,11 +723,9 @@ int survive_get_config( char ** config, SurviveViveData * sv, int devno, int ifa
 	
 		#else
 		//Switch mode to pull config?
-		SV_INFO( "XXX TODO See if this can be update_feature_report" );
 		for( k = 0; k < 10; k++ )
 		{
-			int rk = libusb_control_transfer(dev, LIBUSB_REQUEST_TYPE_CLASS | LIBUSB_RECIPIENT_INTERFACE | LIBUSB_ENDPOINT_OUT,
-			0x09, 0x300 | cfgbuff_send[0], iface, cfgbuff_send, 64, 1000 );
+			update_feature_report( dev, iface, cfgbuff_send, 64 );
 			OGUSleep(1000);
 		}
 		#endif
-- 
cgit v1.2.3


From 0b16cebf7ca20da43da99cf9d59ab9ed8a3c205f Mon Sep 17 00:00:00 2001
From: Mike Turvey <mturvey6@gmail.com>
Date: Tue, 11 Apr 2017 17:38:15 -0700
Subject: Better messaging when finding a device

---
 src/survive_vive.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 8e22ea1..3ce985d 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -54,7 +54,7 @@ const short vidpids[] = {
 
 const char * devnames[] = {
 	"HMD",
-	"Lighthouse",
+	"HMD IMU & LH",
 	"Watchman 1",
 	"Watchman 2",
 	"Tracker 0",
@@ -370,6 +370,7 @@ int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *
 		wchar_t wstr[255];
 
 		res = hid_get_serial_number_string(handle, wstr, 255);
+		printf("Found %s. ", devnames[i]);
 		wprintf(L"Serial Number String: (%d) %s for %04x:%04x@%d  (Dev: %p)\n", wstr[0], wstr,vendor_id, product_id, menum, handle);
 		
 		sv->udev[i] = handle;
-- 
cgit v1.2.3


From 1a6f5f8316b2dfa1baa923f5ef109b7a4890300f Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Sat, 29 Apr 2017 17:44:22 -0400
Subject: Fix survive_vive's accidental collection of code 0xfe data elements.

---
 src/survive_vive.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 3ce985d..4acc4e4 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -1165,7 +1165,7 @@ void survive_data_cb( SurviveUSBInterface * si )
 			le.sensor_id = POP1;
 			le.length = POP2;
 			le.timestamp = POP4;
-			if( le.sensor_id == 0xff ) break;
+			if( le.sensor_id > 0xfd ) break;
 			handle_lightcap( obj, &le );
 		}		
 		break;
@@ -1183,7 +1183,7 @@ void survive_data_cb( SurviveUSBInterface * si )
 			le.sensor_id = (uint8_t)POP2;
 			le.length = POP2;
 			le.timestamp = POP4;
-			if( le.sensor_id == 0xff ) break;
+			if( le.sensor_id > 0xfd ) break;
 			handle_lightcap( obj, &le );
 		}		
 		break;
-- 
cgit v1.2.3


From 155124e6ac5cba02bb6370779ed3cc35bccd9d01 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Sun, 30 Apr 2017 00:10:55 -0400
Subject: Fix mistaken edit to survive_vive which dropped rest of packet when
 invalid sensor was found.  Feels odd that this is actually an issue.

---
 src/survive_vive.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 4acc4e4..398ff99 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -1165,7 +1165,7 @@ void survive_data_cb( SurviveUSBInterface * si )
 			le.sensor_id = POP1;
 			le.length = POP2;
 			le.timestamp = POP4;
-			if( le.sensor_id > 0xfd ) break;
+			if( le.sensor_id > 0xfd ) continue;
 			handle_lightcap( obj, &le );
 		}		
 		break;
@@ -1183,7 +1183,7 @@ void survive_data_cb( SurviveUSBInterface * si )
 			le.sensor_id = (uint8_t)POP2;
 			le.length = POP2;
 			le.timestamp = POP4;
-			if( le.sensor_id > 0xfd ) break;
+			if( le.sensor_id > 0xfd ) continue;  //
 			handle_lightcap( obj, &le );
 		}		
 		break;
-- 
cgit v1.2.3


From ba11bb2755dd1dddf6f82893b897513d2e387239 Mon Sep 17 00:00:00 2001
From: Mike Turvey <mturvey6@gmail.com>
Date: Sun, 30 Apr 2017 10:37:45 -0700
Subject: Fix regression that broke support for wireless controllers on Windows

---
 src/survive_vive.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 3ce985d..8f2a42e 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -344,7 +344,8 @@ int survive_usb_init( SurviveViveData * sv, SurviveObject * hmd, SurviveObject *
 			if (cur_dev->vendor_id == vendor_id &&
 				cur_dev->product_id == product_id)
 			{
-				if( cur_dev->interface_number == enumid )
+				if( cur_dev->interface_number == enumid ||
+					cur_dev->interface_number == -1 && menum == enumid)
 				{
 					path_to_open = cur_dev->path;
 					break;
-- 
cgit v1.2.3


From d53ef13d5f8154d225c9f763131129d179db2441 Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Fri, 5 May 2017 15:50:41 -0400
Subject: calibration values from MPU-6500 datasheet. I'm pretty sure the
 accelerometer values are correct. The gyroscope values may not be correct.

---
 src/survive_vive.c | 11 +++++++++++
 1 file changed, 11 insertions(+)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 030db8a..88b9fee 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -1127,6 +1127,17 @@ void survive_data_cb( SurviveUSBInterface * si )
 								acceldata[3], acceldata[4], acceldata[5],
 								0,0,0 };
 
+				//1G for accelerometer, from MPU6500 datasheet
+				//this can change if the firmware changes the sensitivity.
+				agm[0]/=8192.0f;
+				agm[1]/=8192.0f;
+				agm[2]/=8192.0f;
+
+				//1000 deg/s for gyroscope, from MPU6500 datasheet
+				agm[3]/=65.5f;
+				agm[4]/=65.5f;
+				agm[5]/=65.5f;
+
 				ctx->imuproc( obj, 3, agm, timecode, code );
 			}
 		}
-- 
cgit v1.2.3


From 730bbd51f9aa0f0c6b57e9607d2b682ea1bf5ad2 Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Fri, 5 May 2017 15:52:26 -0400
Subject: fix comment

---
 src/survive_vive.c | 1 +
 1 file changed, 1 insertion(+)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 88b9fee..1f6a975 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -1133,6 +1133,7 @@ void survive_data_cb( SurviveUSBInterface * si )
 				agm[1]/=8192.0f;
 				agm[2]/=8192.0f;
 
+				//65.5 deg/s for gyroscope, from MPU6500 datasheet
 				//1000 deg/s for gyroscope, from MPU6500 datasheet
 				agm[3]/=65.5f;
 				agm[4]/=65.5f;
-- 
cgit v1.2.3


From 6c748afc397f29cd461e54c09d8a3cb45272f4ad Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Sat, 6 May 2017 22:16:12 -0400
Subject: use calibration numbers from device json files

---
 src/survive_vive.c | 77 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 77 insertions(+)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 1f6a975..720df77 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -22,6 +22,8 @@
 #include <malloc.h> // for alloca
 #endif
 
+#include "json_helpers.h"
+
 #ifdef HIDAPI
 #if defined(WINDOWS) || defined(WIN32) || defined (_WIN32)
 #include <windows.h>
@@ -1057,6 +1059,34 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 	}
 }
 
+void calibrate_acc(SurviveObject* so, FLT* agm) {
+	if (so->acc_bias != NULL) {
+		agm[0] -= so->acc_bias[0];
+		agm[1] -= so->acc_bias[1];
+		agm[2] -= so->acc_bias[2];
+	}
+
+	if (so->acc_scale != NULL) {
+		agm[0] *= so->acc_scale[0];
+		agm[1] *= so->acc_scale[1];
+		agm[2] *= so->acc_scale[2];
+	}
+}
+
+void calibrate_gyro(SurviveObject* so, FLT* agm) {
+	if (so->gyro_bias != NULL) {
+		agm[0] -= so->gyro_bias[0];
+		agm[1] -= so->gyro_bias[1];
+		agm[2] -= so->gyro_bias[2];
+	}
+
+	if (so->gyro_bias != NULL) {
+		agm[0] *= so->gyro_scale[0];
+		agm[1] *= so->gyro_scale[1];
+		agm[2] *= so->gyro_scale[2];
+	}
+}
+
 
 void survive_data_cb( SurviveUSBInterface * si )
 {
@@ -1127,12 +1157,16 @@ void survive_data_cb( SurviveUSBInterface * si )
 								acceldata[3], acceldata[4], acceldata[5],
 								0,0,0 };
 
+				calibrate_acc(obj, agm);
+
 				//1G for accelerometer, from MPU6500 datasheet
 				//this can change if the firmware changes the sensitivity.
 				agm[0]/=8192.0f;
 				agm[1]/=8192.0f;
 				agm[2]/=8192.0f;
 
+				calibrate_gyro(obj, agm+3);
+
 				//65.5 deg/s for gyroscope, from MPU6500 datasheet
 				//1000 deg/s for gyroscope, from MPU6500 datasheet
 				agm[3]/=65.5f;
@@ -1322,6 +1356,37 @@ printf( "Loading config: %d\n", len );
 					break;
 				}
 			}
+
+
+			if (jsoneq(ct0conf, tk, "acc_bias") == 0) {
+				int32_t count = (tk+1)->size;
+				FLT* values = NULL;
+				if ( parse_float_array(ct0conf, tk+2, &values, count) >0 ) {
+					so->acc_bias = values;
+				}
+			}
+			if (jsoneq(ct0conf, tk, "acc_scale") == 0) {
+				int32_t count = (tk+1)->size;
+				FLT* values = NULL;
+				if ( parse_float_array(ct0conf, tk+2, &values, count) >0 ) {
+					so->acc_scale = values;
+				}
+			}
+
+			if (jsoneq(ct0conf, tk, "gyro_bias") == 0) {
+				int32_t count = (tk+1)->size;
+				FLT* values = NULL;
+				if ( parse_float_array(ct0conf, tk+2, &values, count) >0 ) {
+					so->gyro_bias = values;
+				}
+			}
+			if (jsoneq(ct0conf, tk, "gyro_scale") == 0) {
+				int32_t count = (tk+1)->size;
+				FLT* values = NULL;
+				if ( parse_float_array(ct0conf, tk+2, &values, count) >0 ) {
+					so->gyro_scale = values;
+				}
+			}
 		}
 	}
 	else
@@ -1361,6 +1426,12 @@ int survive_vive_close( SurviveContext * ctx, void * driver )
 	return 0;
 }
 
+void init_SurviveObject(SurviveObject* so) {
+	so->acc_scale = NULL;
+	so->acc_bias = NULL;
+	so->gyro_scale = NULL;
+	so->gyro_bias = NULL;
+}
 
 int DriverRegHTCVive( SurviveContext * ctx )
 {
@@ -1372,6 +1443,12 @@ int DriverRegHTCVive( SurviveContext * ctx )
 	SurviveObject * ww0 = calloc( 1, sizeof( SurviveObject ) );
 	SurviveViveData * sv = calloc( 1, sizeof( SurviveViveData ) );
 
+	init_SurviveObject(hmd);
+	init_SurviveObject(wm0);
+	init_SurviveObject(wm1);
+	init_SurviveObject(tr0);
+	init_SurviveObject(ww0);
+
 	sv->ctx = ctx;
 	
 	#ifdef _WIN32
-- 
cgit v1.2.3


From a93ea0625daa2024ca20e04f1aa6da1d0ecf018c Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Sat, 6 May 2017 22:19:14 -0400
Subject: check proper pointer for null

---
 src/survive_vive.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 720df77..95e688e 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -1080,7 +1080,7 @@ void calibrate_gyro(SurviveObject* so, FLT* agm) {
 		agm[2] -= so->gyro_bias[2];
 	}
 
-	if (so->gyro_bias != NULL) {
+	if (so->gyro_scale != NULL) {
 		agm[0] *= so->gyro_scale[0];
 		agm[1] *= so->gyro_scale[1];
 		agm[2] *= so->gyro_scale[2];
-- 
cgit v1.2.3


From 85eaaff4d295771d28e11e80ae7f27d60eef0ed6 Mon Sep 17 00:00:00 2001
From: cnlohr <lohr85@gmail.com>
Date: Sat, 6 May 2017 23:54:04 -0400
Subject: Tweak calibration values.

---
 src/survive_vive.c | 17 +++++++++++------
 1 file changed, 11 insertions(+), 6 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 95e688e..c29465e 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -1085,6 +1085,7 @@ void calibrate_gyro(SurviveObject* so, FLT* agm) {
 		agm[1] *= so->gyro_scale[1];
 		agm[2] *= so->gyro_scale[2];
 	}
+
 }
 
 
@@ -1157,21 +1158,22 @@ void survive_data_cb( SurviveUSBInterface * si )
 								acceldata[3], acceldata[4], acceldata[5],
 								0,0,0 };
 
+				agm[0]*=(float)(1./8192.0);
+				agm[1]*=(float)(1./8192.0);
+				agm[2]*=(float)(1./8192.0);
 				calibrate_acc(obj, agm);
 
 				//1G for accelerometer, from MPU6500 datasheet
 				//this can change if the firmware changes the sensitivity.
-				agm[0]/=8192.0f;
-				agm[1]/=8192.0f;
-				agm[2]/=8192.0f;
 
+
+				agm[3]*=(float)((1./32.768)*(3.14159/180.));
+				agm[4]*=(float)((1./32.768)*(3.14159/180.));
+				agm[5]*=(float)((1./32.768)*(3.14159/180.));
 				calibrate_gyro(obj, agm+3);
 
 				//65.5 deg/s for gyroscope, from MPU6500 datasheet
 				//1000 deg/s for gyroscope, from MPU6500 datasheet
-				agm[3]/=65.5f;
-				agm[4]/=65.5f;
-				agm[5]/=65.5f;
 
 				ctx->imuproc( obj, 3, agm, timecode, code );
 			}
@@ -1363,6 +1365,9 @@ printf( "Loading config: %d\n", len );
 				FLT* values = NULL;
 				if ( parse_float_array(ct0conf, tk+2, &values, count) >0 ) {
 					so->acc_bias = values;
+					so->acc_bias[0] *= .125; //XXX Wat?  Observed by CNL.  Biasing by more than this seems to hose things.
+					so->acc_bias[1] *= .125;
+					so->acc_bias[2] *= .125;
 				}
 			}
 			if (jsoneq(ct0conf, tk, "acc_scale") == 0) {
-- 
cgit v1.2.3


From d8fe40d838badac49a013b2d1dc8c330411052c2 Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Sun, 7 May 2017 09:04:43 -0400
Subject: handle applying calibration numbers to watchman devices

---
 src/survive_vive.c | 73 ++++++++++++++++++++++++++++++++----------------------
 1 file changed, 44 insertions(+), 29 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index 95e688e..6a685eb 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -814,6 +814,35 @@ int survive_get_config( char ** config, SurviveViveData * sv, int devno, int ifa
 #define POP2  (*(((uint16_t*)((readdata+=2)-2))))
 #define POP4  (*(((uint32_t*)((readdata+=4)-4))))
 
+void calibrate_acc(SurviveObject* so, FLT* agm) {
+	if (so->acc_bias != NULL) {
+		agm[0] -= so->acc_bias[0];
+		agm[1] -= so->acc_bias[1];
+		agm[2] -= so->acc_bias[2];
+	}
+
+	if (so->acc_scale != NULL) {
+		agm[0] *= so->acc_scale[0];
+		agm[1] *= so->acc_scale[1];
+		agm[2] *= so->acc_scale[2];
+	}
+}
+
+void calibrate_gyro(SurviveObject* so, FLT* agm) {
+	if (so->gyro_bias != NULL) {
+		agm[0] -= so->gyro_bias[0];
+		agm[1] -= so->gyro_bias[1];
+		agm[2] -= so->gyro_bias[2];
+	}
+
+	if (so->gyro_scale != NULL) {
+		agm[0] *= so->gyro_scale[0];
+		agm[1] *= so->gyro_scale[1];
+		agm[2] *= so->gyro_scale[2];
+	}
+}
+
+
 static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 {
 
@@ -891,6 +920,21 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 						readdata[4], readdata[5], readdata[6],
 						0,0,0 };
 
+//		if (w->acc_scale) printf("%f %f %f\n",w->acc_scale[0],w->acc_scale[1],w->acc_scale[2]);
+		calibrate_acc(w, agm);
+
+		//I don't understand where these numbers come from but the data from the WMD seems to max out at 255...
+		agm[0]/=255.0f;
+		agm[1]/=255.0f;
+		agm[2]/=255.0f;
+
+		calibrate_gyro(w, agm+3);
+
+		//I don't understand where these numbers come from but the data from the WMD seems to max out at 255...
+		agm[3]/=255.0f;
+		agm[4]/=255.0f;
+		agm[5]/=255.0f;
+
 		w->ctx->imuproc( w, 3, agm, (time1<<24)|(time2<<16)|readdata[0], 0 );
 
 		int16_t * k = (int16_t *)readdata+1;
@@ -1059,35 +1103,6 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 	}
 }
 
-void calibrate_acc(SurviveObject* so, FLT* agm) {
-	if (so->acc_bias != NULL) {
-		agm[0] -= so->acc_bias[0];
-		agm[1] -= so->acc_bias[1];
-		agm[2] -= so->acc_bias[2];
-	}
-
-	if (so->acc_scale != NULL) {
-		agm[0] *= so->acc_scale[0];
-		agm[1] *= so->acc_scale[1];
-		agm[2] *= so->acc_scale[2];
-	}
-}
-
-void calibrate_gyro(SurviveObject* so, FLT* agm) {
-	if (so->gyro_bias != NULL) {
-		agm[0] -= so->gyro_bias[0];
-		agm[1] -= so->gyro_bias[1];
-		agm[2] -= so->gyro_bias[2];
-	}
-
-	if (so->gyro_scale != NULL) {
-		agm[0] *= so->gyro_scale[0];
-		agm[1] *= so->gyro_scale[1];
-		agm[2] *= so->gyro_scale[2];
-	}
-}
-
-
 void survive_data_cb( SurviveUSBInterface * si )
 {
 	int size = si->actual_len;
-- 
cgit v1.2.3


From 746a1eb0bf8df3effa55e79ff3513d9dcd9ac87c Mon Sep 17 00:00:00 2001
From: Joshua Allen <axlecrusher@gmail.com>
Date: Sun, 7 May 2017 09:14:07 -0400
Subject: use multiplication

---
 src/survive_vive.c | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_vive.c b/src/survive_vive.c
index b44e4fc..9a3cb03 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -924,16 +924,16 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 		calibrate_acc(w, agm);
 
 		//I don't understand where these numbers come from but the data from the WMD seems to max out at 255...
-		agm[0]/=255.0f;
-		agm[1]/=255.0f;
-		agm[2]/=255.0f;
+		agm[0]*=(1.0f/255.0f);
+		agm[1]*=(1.0f/255.0f);
+		agm[2]*=(1.0f/255.0f);
 
 		calibrate_gyro(w, agm+3);
 
 		//I don't understand where these numbers come from but the data from the WMD seems to max out at 255...
-		agm[3]/=255.0f;
-		agm[4]/=255.0f;
-		agm[5]/=255.0f;
+		agm[3]*=(1.0f/255.0f);
+		agm[4]*=(1.0f/255.0f);
+		agm[5]*=(1.0f/255.0f);
 
 		w->ctx->imuproc( w, 3, agm, (time1<<24)|(time2<<16)|readdata[0], 0 );
 
-- 
cgit v1.2.3