From 280a6599fea76a7d2c16cfe0fcc5c8f37fde66de Mon Sep 17 00:00:00 2001
From: mwturvey <michael.w.turvey@intel.com>
Date: Thu, 23 Mar 2017 09:47:38 -0700
Subject: More cleanup

---
 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 a9b295f..c04fc03 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -141,7 +141,7 @@ 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, struct 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 );
-- 
cgit v1.3.1


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_cal.c  |  4 ++--
 src/survive_data.c | 21 +++++++++++----------
 src/survive_vive.c | 18 ++++++++++++++----
 3 files changed, 27 insertions(+), 16 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_cal.c b/src/survive_cal.c
index f9ec595..81889ca 100755
--- a/src/survive_cal.c
+++ b/src/survive_cal.c
@@ -155,7 +155,7 @@ void survive_cal_install( struct SurviveContext * ctx )
 	{
 		if (requiredTrackersFound != ((strlen(RequiredTrackersForCal) + 1) / 4))
 		{
-			SV_ERROR( "Error: cannot find all devices needed for calibration." );
+			SV_ERROR( "Error: Did not find all devices required for calibration." );
 			free( cd );
 			return;
 		}
@@ -201,7 +201,7 @@ void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int
 		if( sensor_id < 0 )
 		{
 			int lhid = -sensor_id-1;
-			// Take the OOTX data from the first device. 
+			// 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]  ) 
 			{
 				uint8_t dbit = (acode & 2)>>1;
diff --git a/src/survive_data.c b/src/survive_data.c
index da4e0a2..ce263ed 100644
--- a/src/survive_data.c
+++ b/src/survive_data.c
@@ -208,13 +208,14 @@ void handle_lightcap2_sweep(SurviveObject * so, LightcapElement * le )
 	// assume that the longest (i.e. strongest signal) is most likely 
 	// the non-reflected signal. 
 
-	if (le->length < 80)
-	{
-		// this is a low-quality read.  Better to throw it out than to use it.
-		//fprintf(stderr, "%2d %d\n", le->sensor_id, le->length);
-		return;
-	}
-	fprintf(stderr, "%2d %d\n", le->sensor_id, le->length);
+	//if (le->length < 80)
+	//{
+	//	// this is a low-quality read.  Better to throw it out than to use it.
+	//	//fprintf(stderr, "%2d %d\n", le->sensor_id, le->length);
+	//	return;
+	//}
+	//fprintf(stderr, "%2d %d\n", le->sensor_id, le->length);
+	//fprintf(stderr, ".");
 
 	if (lcd->sweep.sweep_len[le->sensor_id] < le->length)
 	{
@@ -269,8 +270,8 @@ int32_t decode_acode(uint32_t length, int32_t main_divisor) {
 void handle_lightcap( SurviveObject * so, LightcapElement * le )
 {
 	SurviveContext * ctx = so->ctx;
-//	handle_lightcap2(so,le);
-//	return;
+	handle_lightcap2(so,le);
+	return;
 
 	//int32_t deltat = (uint32_t)le->timestamp - (uint32_t)so->last_master_time;
 
@@ -373,7 +374,7 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le )
 			int base_station = is_new_pulse;
 			//printf( "%s %d %d %d\n", so->codename, le->sensor_id, so->sync_set_number, le->length );
 			ctx->lightproc( so, le->sensor_id, -3 - so->sync_set_number, 0, le->timestamp, le->length, base_station);
-	}
+		}
 	}
 
 
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 v1.3.1


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_data.c |  2 +-
 src/survive_vive.c | 45 +++++++++++++++++++++++++++++++++------------
 2 files changed, 34 insertions(+), 13 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/survive_data.c b/src/survive_data.c
index ce263ed..849b722 100644
--- a/src/survive_data.c
+++ b/src/survive_data.c
@@ -71,7 +71,7 @@ void handle_lightcap2_process_sweep_data(SurviveObject *so)
 
 				if (offset_from < 380000 && offset_from > 70000)
 				{
-					if (longest_pulse *10 / 8 < lcd->sweep.sweep_len[i]) 
+					//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);
 					}
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 v1.3.1


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.
---
 calibrate_client.c | 11 +++++++----
 src/survive_vive.c | 31 ++++++++++++++++++++++++++++++-
 2 files changed, 37 insertions(+), 5 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/calibrate_client.c b/calibrate_client.c
index 1a2ee41..1e18321 100644
--- a/calibrate_client.c
+++ b/calibrate_client.c
@@ -43,9 +43,9 @@ int bufferpts[32*2*3];
 char buffermts[32*128*3];
 int buffertimeto[32*3];
 
-void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  )
+void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lh)
 {
-	survive_default_light_process( so, sensor_id, acode, timeinsweep, timecode, length );
+	survive_default_light_process( so, sensor_id, acode, timeinsweep, timecode, length, lh);
 
 	if( acode == -1 ) return;
 //return;
@@ -160,7 +160,7 @@ int main()
 
 //	config_save("config.json");
 */
-	
+
 	ctx = survive_init( 1 );
 
 	survive_install_light_fn( ctx,  my_light_process );
@@ -219,9 +219,12 @@ int main()
 					so = wm0;
 				if( strcmp( dev, "WM1" ) == 0 )
 					so = wm1;
+				uint32_t lh = 0;
+				if (lineptr[0] == 'r')
+					lh = 1;
 
 				if( so )
-					my_light_process( so, sensor_id, acode, timeinsweep, timecode, length );
+					my_light_process( so, sensor_id, acode, timeinsweep, timecode, length, lh );
 
 				break;
 			}
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 v1.3.1


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

---
 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(-)

(limited to 'src/survive_vive.c')

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 v1.3.1


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

---
 calibrate.c                        |  4 ++--
 include/libsurvive/survive.h       |  2 +-
 include/libsurvive/survive_types.h |  2 +-
 redist/CNFGWinDriver.c             |  2 +-
 redist/json_helpers.c              |  2 +-
 src/survive_cal.c                  | 30 +++++++++++++++++++-----------
 src/survive_cal.h                  |  6 ++++--
 src/survive_data.c                 |  6 +++---
 src/survive_process.c              |  6 +++---
 src/survive_vive.c                 |  6 ++----
 10 files changed, 37 insertions(+), 29 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/calibrate.c b/calibrate.c
index ee22abf..abf592a 100644
--- a/calibrate.c
+++ b/calibrate.c
@@ -99,9 +99,9 @@ void my_imu_process( struct SurviveObject * so, int mask, FLT * accelgyro, uint3
 }
 
 
-void my_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
+void my_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh)
 {
-	survive_default_angle_process( so, sensor_id, acode, timecode, length, angle );
+	survive_default_angle_process( so, sensor_id, acode, timecode, length, angle, lh );
 }
 
 char* sensor_name[32];
diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h
index 1165e9d..e13312d 100644
--- a/include/libsurvive/survive.h
+++ b/include/libsurvive/survive.h
@@ -132,7 +132,7 @@ void survive_cal_install( SurviveContext * ctx );  //XXX This will be removed if
 //Accept higher-level data.
 void survive_default_light_process( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length , uint32_t lh);
 void survive_default_imu_process( SurviveObject * so, int mode, FLT * accelgyro, uint32_t timecode, int id );
-void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
+void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh );
 
 
 ////////////////////// Survive Drivers ////////////////////////////
diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h
index def30b8..bfd0b1d 100644
--- a/include/libsurvive/survive_types.h
+++ b/include/libsurvive/survive_types.h
@@ -30,7 +30,7 @@ typedef struct SurviveCalData SurviveCalData;   //XXX Warning: This may be remov
 typedef void (*text_feedback_func)( SurviveContext * ctx, const char * fault );
 typedef void (*light_process_func)( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lighthouse);
 typedef void (*imu_process_func)( SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id );
-typedef void (*angle_process_func)( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
+typedef void (*angle_process_func)( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh);
 
 
 //Device drivers (prefix your drivers with "DriverReg") i.e.
diff --git a/redist/CNFGWinDriver.c b/redist/CNFGWinDriver.c
index c5da925..b1c1eb0 100644
--- a/redist/CNFGWinDriver.c
+++ b/redist/CNFGWinDriver.c
@@ -232,7 +232,7 @@ void CNFGHandleInput()
 		case WM_MBUTTONUP:		HandleButton( (msg.lParam & 0xFFFF), (msg.lParam>>16) & 0xFFFF, 3, 0 ); break;
 		case WM_KEYDOWN:
 		case WM_KEYUP:
-			HandleKey( tolower( msg.wParam ), (msg.message==WM_KEYDOWN) );
+			HandleKey( tolower( (int)(msg.wParam) ), (msg.message==WM_KEYDOWN) );
 			break;
 		default:
 			DispatchMessage(&msg);
diff --git a/redist/json_helpers.c b/redist/json_helpers.c
index 3b5cc0d..29d48bd 100644
--- a/redist/json_helpers.c
+++ b/redist/json_helpers.c
@@ -174,7 +174,7 @@ void json_load_file(const char* path) {
 
 	int16_t children = -1;
 
-	for (i=0; i<(int)items; i+=2)
+	for (i=0; i<(unsigned int)items; i+=2)
 	{
 		//increment i on each successful tag + values combination, not individual tokens
 		jsmntok_t* tag_t = tokens+i;
diff --git a/src/survive_cal.c b/src/survive_cal.c
index 22a8eff..6c153b4 100755
--- a/src/survive_cal.c
+++ b/src/survive_cal.c
@@ -220,10 +220,13 @@ void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int
 		else if( acode < -4 ) break;
 		int lh = (-acode) - 3;
 
-		if( strcmp( so->codename, "WM0" ) == 0 )
-			sensor_id += 32;
-		if( strcmp( so->codename, "WM1" ) == 0 )
-			sensor_id += 64;
+		for (int i=0; i < min(MAX_DEVICES_TO_CAL, cd->numPoseObjects); i++)
+		{
+			if( strcmp( so->codename, cd->poseobjects[i]->codename ) == 0 )
+			{
+				sensor_id += i*32;
+			}
+		}
 
 		cd->all_sync_times[sensor_id][lh][cd->all_sync_counts[sensor_id][lh]++] = length;
 		break;
@@ -233,7 +236,7 @@ void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int
 	
 }
 
-void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
+void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh )
 {
 	struct SurviveContext * ctx = so->ctx;
 	struct SurviveCalData * cd = ctx->calptr;
@@ -241,14 +244,18 @@ void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uin
 	if( !cd ) return;
 
 	int sensid = sensor_id;
-	if( strcmp( so->codename, "WM0" ) == 0 )
-		sensid += 32;
-	if( strcmp( so->codename, "WM1" ) == 0 )
-		sensid += 64;
+
+	for (int i=0; i < min(MAX_DEVICES_TO_CAL, cd->numPoseObjects); i++)
+	{
+		if( strcmp( so->codename, cd->poseobjects[i]->codename ) == 0 )
+		{
+			sensid += i*32;
+		}
+	}
 
 	if( sensid >= MAX_SENSORS_TO_CAL || sensid < 0 ) return;
 
-	int lighthouse = acode>>2;
+	int lighthouse = lh;
 	int axis = acode & 1;
 
 	switch( cd->stage )
@@ -292,7 +299,8 @@ void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uin
 			int min_peaks = PTS_BEFORE_COMMON;
 			int i, j, k;
 			cd->found_common = 1;
-			for( i = 0; i < MAX_SENSORS_TO_CAL/SENSORS_PER_OBJECT; i++ )
+			for( i = 0; i < cd->numPoseObjects; i++ )
+			//for( i = 0; i < MAX_SENSORS_TO_CAL/SENSORS_PER_OBJECT; i++ )
 			for( j = 0; j < NUM_LIGHTHOUSES; j++ )
 			{
 				int sensors_visible = 0;
diff --git a/src/survive_cal.h b/src/survive_cal.h
index 8f4e4de..ae644d1 100644
--- a/src/survive_cal.h
+++ b/src/survive_cal.h
@@ -30,9 +30,11 @@ int survive_cal_get_status( SurviveContext * ctx, char * description, int descri
 
 //Called from survive_default_light_process
 void survive_cal_light( SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lighthouse);
-void survive_cal_angle( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle );
+void survive_cal_angle( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh );
 
-#define MAX_SENSORS_TO_CAL 96
+#define MAX_SENSORS_PER_DEVICE 32
+#define MAX_DEVICES_TO_CAL 3
+#define MAX_SENSORS_TO_CAL (MAX_SENSORS_PER_DEVICE * MAX_DEVICES_TO_CAL)
 
 #define MIN_PTS_BEFORE_CAL 24
 
diff --git a/src/survive_data.c b/src/survive_data.c
index 4e2479a..9447104 100644
--- a/src/survive_data.c
+++ b/src/survive_data.c
@@ -25,7 +25,7 @@ typedef struct
 
 typedef struct
 {
-	float acode_offset;
+	double acode_offset;
 } lightcap2_global_data;
 
 typedef struct
@@ -40,11 +40,11 @@ typedef struct
 
 int handle_lightcap2_getAcodeFromSyncPulse(SurviveObject * so, int pulseLen)
 {
-	float oldOffset = ((lightcap2_data*)so->disambiguator_data)->global.acode_offset;
+	double oldOffset = ((lightcap2_data*)so->disambiguator_data)->global.acode_offset;
 
 	int modifiedPulseLen = pulseLen - (int)oldOffset;
 
-	float newOffset = (((pulseLen) + 250) % 500) - 250;
+	double newOffset = (((pulseLen) + 250) % 500) - 250;
 
 	((lightcap2_data*)so->disambiguator_data)->global.acode_offset = oldOffset * 0.9 + newOffset * 0.1;
 
diff --git a/src/survive_process.c b/src/survive_process.c
index d4604d8..b58b344 100644
--- a/src/survive_process.c
+++ b/src/survive_process.c
@@ -37,16 +37,16 @@ void survive_default_light_process( SurviveObject * so, int sensor_id, int acode
 #endif
 
 	FLT length_sec = length / (FLT)so->timebase_hz;
-	ctx->angleproc( so, sensor_id, acode, timecode, length_sec, angle );
+	ctx->angleproc( so, sensor_id, acode, timecode, length_sec, angle, lh);
 }
 
 
-void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
+void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh)
 {
 	SurviveContext * ctx = so->ctx;
 	if( ctx->calptr )
 	{
-		survive_cal_angle( so, sensor_id, acode, timecode, length, angle );
+		survive_cal_angle( so, sensor_id, acode, timecode, length, angle, lh );
 	}
 	if( so->PoserFn )
 	{
diff --git a/src/survive_vive.c b/src/survive_vive.c
index 55e949a..a5c731d 100755
--- a/src/survive_vive.c
+++ b/src/survive_vive.c
@@ -834,7 +834,6 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 	qty-=2;
 	int propset = 0;
 	int doimu = 0;
-	int i;
 
 	if( (type & 0xf0) == 0xf0 )
 	{
@@ -911,10 +910,9 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata )
 		*readdata = type; //Put 'type' back on stack.
 		uint8_t * mptr = readdata + qty-3-1; //-3 for timecode, -1 to 
 
-//#define DEBUG_WATCHMAN
 #ifdef DEBUG_WATCHMAN
 		printf( "_%s ", w->codename);
-		for( i = 0; i < qty; i++ )
+		for(int i = 0; i < qty; i++ )
 		{
 			printf( "%02x ", readdata[i] );
 		}
@@ -1198,7 +1196,7 @@ void survive_data_cb( SurviveUSBInterface * si )
 			unsigned short *length = (unsigned short *)(&(readdata[2]));
 			unsigned long *time = (unsigned long *)(&(readdata[4]));
 			LightcapElement le;
-			le.sensor_id = POP2;
+			le.sensor_id = (uint8_t)POP2;
 			le.length = POP2;
 			le.timestamp = POP4;
 			if( le.sensor_id == 0xff ) break;
-- 
cgit v1.3.1


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/poser_turveytori.c |  2 +-
 src/survive_data.c     | 10 ++++++++--
 src/survive_vive.c     | 17 +----------------
 3 files changed, 10 insertions(+), 19 deletions(-)

(limited to 'src/survive_vive.c')

diff --git a/src/poser_turveytori.c b/src/poser_turveytori.c
index 5c3350b..df691e3 100644
--- a/src/poser_turveytori.c
+++ b/src/poser_turveytori.c
@@ -1211,7 +1211,7 @@ int PoserTurveyTori( SurviveObject * so, PoserData * pd )
 	case POSERDATA_IMU:
 	{
 		PoserDataIMU * imu = (PoserDataIMU*)pd;
-		//printf( "IMU:%s (%f %f %f) (%f %f %f)\n", so->codename, imu->accel[0], imu->accel[1], imu->accel[2], imu->gyro[0], imu->gyro[1], imu->gyro[2] );
+		printf( "IMU:%s (%f %f %f) (%f %f %f)\n", so->codename, imu->accel[0], imu->accel[1], imu->accel[2], imu->gyro[0], imu->gyro[1], imu->gyro[2] );
 		break;
 	}
 	case POSERDATA_LIGHT:
diff --git a/src/survive_data.c b/src/survive_data.c
index 9447104..3eb5890 100644
--- a/src/survive_data.c
+++ b/src/survive_data.c
@@ -154,8 +154,14 @@ void handle_lightcap2_sync(SurviveObject * so, LightcapElement * le )
 		{
 			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");
+				static int pulseWarningCount=0;
+
+				if (pulseWarningCount < 5)
+				{
+					pulseWarningCount++;
+					// 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->per_sweep.activeLighthouse = 1;
 			lcd->per_sweep.activeSweepStartTime = le->timestamp;
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 v1.3.1


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 v1.3.1