From 7eb1feba7c7a64910cb17f741f2349254a34fddd Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Sat, 11 Feb 2017 10:08:16 -0500
Subject: ootx payload length for lighthouse 1 seems to be decoding correctly
 at 0x21. the payload length seems to be oscillating between 0x21 and a much
 larger number. the larger number 0xc8ec I have no idea why. 0xc8ec does not
 last long before a new preamble is found

---
 tools/ootx_decode/ootx_decoder.c | 74 ++++++++++++++++++++++++++++++++++------
 1 file changed, 63 insertions(+), 11 deletions(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index b386132..6ec0857 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -16,6 +16,7 @@
 #define MAX_BUFF_SIZE 1024
 
 void (*ootx_packet_clbk)(ootx_packet* packet) = NULL;
+void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit);
 
 void ootx_init_decoder_context(ootx_decoder_context *ctx) {
 	ctx->buf_offset = 0;
@@ -45,26 +46,70 @@ void ootx_init_buffer() {
 
 int8_t ootx_decode_lighthouse_number(uint8_t last_num, uint32_t ticks, int32_t delta) {
 	if (ticks<2000) return -1; //sweep
-	if ((ticks > 2000) & (delta>100000)) return 0; //master
-	if ((ticks > 2000) & (delta>10000)) return last_num+1; //a slave
+	if (delta>100000) return 0; //master
+	if (delta>10000) return 1; //a slave
 	return -1;
 }
 
+uint8_t decode_internal(uint32_t length) {
+		uint16_t temp = length - 2880;
+//		printf
 
-uint8_t ootx_decode_bit(uint32_t ticks) {
-	ticks = ((ticks/500)*500)+500;
+#if BETTER_SAFE_THAN_FAST
+	if (temp < 0 || length > 6525) {
+		return -1;
+	}
+#endif
+
+	if ((temp % 500) < 150) {
+		return temp / 500;
+	}
 
-	ticks-=3000;
-	if (ticks>=2000) { ticks-=2000; }
-	if (ticks>=1000)  { return 0xFF; }
+	return -1;
+
+}
+
+uint8_t ootx_decode_bit(uint32_t length) {
+	length = ((length/500)*500)+500;
+
+	length-=3000;
+	if (length>=2000) { length-=2000; }
+	if (length>=1000)  { return 0xFF; }
 
 	return 0x00;
 }
+/*
+uint8_t ootx_decode_bit(uint32_t ticks) {
+	int8_t bits = decode_internal(ticks);
+	return bits&0x02;
+}
+*/
+
+void ootx_log_bit(ootx_decoder_context *ctx, uint32_t ticks) {
+	int8_t dbit = ootx_decode_bit(ticks);
+//	printf("%d\n\n", dbit);
+	ctx->bit_count[(dbit&0x01)]++;
+//	printf("%d %d %d\n", dbit, ctx->bit_count[0], ctx->bit_count[1]);
+}
+
+void ootx_pump_greatest_bit(ootx_decoder_context *ctx) {
+	//pump the bit
+	if (ctx->bit_count[0] > ctx->bit_count[1]) {
+//		printf("Pump 0x00\n");
+		ootx_pump_bit( ctx, 0x00 );
+	} else {
+//		printf("Pump 0xFF\n");
+		ootx_pump_bit( ctx, 0xFF );
+	}
+
+	ctx->bit_count[0] = 0;
+	ctx->bit_count[1] = 0;
+}
 
 uint8_t ootx_detect_preamble(ootx_decoder_context *ctx, uint8_t dbit) {
 	ctx->preamble <<= 1;
 	ctx->preamble |= (0x01 & dbit);
-	if ((ctx->preamble & 0x0001ffff) == 0x01) return 1;
+	if ((ctx->preamble & 0x0001ffff) == 0x00000001) return 1;
 	return 0;
 }
 
@@ -92,8 +137,10 @@ void ootx_inc_buffer_offset(ootx_decoder_context *ctx) {
 void ootx_write_to_buffer(ootx_decoder_context *ctx, uint8_t dbit) {
 	uint8_t *current_byte = ctx->buffer + ctx->buf_offset;
 //	printf("%d\n", dbit);
-	*current_byte >>= 1;
-	*current_byte |= (0x80 & dbit);
+//	*current_byte >>= 1;
+//	*current_byte |= (0x80 & dbit);
+	*current_byte <<= 1;
+	*current_byte |= (0x01 & dbit);
 	++(ctx->bits_written);
 	if (ctx->bits_written>7) {
 		ctx->bits_written=0;
@@ -103,7 +150,12 @@ void ootx_write_to_buffer(ootx_decoder_context *ctx, uint8_t dbit) {
 }
 
 void ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) {
-	uint8_t dbit = ootx_decode_bit(length);
+	int8_t dbit = ootx_decode_bit(length);
+	ootx_pump_bit( ctx, dbit );
+}
+
+void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit) {
+//	uint8_t dbit = ootx_decode_bit(length);
 	++(ctx->bits_processed);
 
 //	printf("z %d %d\n", bits_processed,dbit);
-- 
cgit v1.2.3


From 5c54917eaed3e1c6777e16baec65e63dffa215ce Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Sat, 11 Feb 2017 15:45:10 -0500
Subject: end of frame detection corrected

---
 tools/ootx_decode/ootx_decoder.c | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index 6ec0857..8c7f28c 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -92,24 +92,23 @@ void ootx_log_bit(ootx_decoder_context *ctx, uint32_t ticks) {
 //	printf("%d %d %d\n", dbit, ctx->bit_count[0], ctx->bit_count[1]);
 }
 
-void ootx_pump_greatest_bit(ootx_decoder_context *ctx) {
+uint8_t ootx_pump_greatest_bit(ootx_decoder_context *ctx) {
 	//pump the bit
-	if (ctx->bit_count[0] > ctx->bit_count[1]) {
-//		printf("Pump 0x00\n");
-		ootx_pump_bit( ctx, 0x00 );
-	} else {
-//		printf("Pump 0xFF\n");
-		ootx_pump_bit( ctx, 0xFF );
-	}
+	uint8_t bit = 0x00;
+	if (ctx->bit_count[0] < ctx->bit_count[1]) bit = 0xFF;
+
+	ootx_pump_bit( ctx, bit );
 
 	ctx->bit_count[0] = 0;
 	ctx->bit_count[1] = 0;
+
+	return bit;
 }
 
 uint8_t ootx_detect_preamble(ootx_decoder_context *ctx, uint8_t dbit) {
 	ctx->preamble <<= 1;
 	ctx->preamble |= (0x01 & dbit);
-	if ((ctx->preamble & 0x0001ffff) == 0x00000001) return 1;
+	if ((ctx->preamble & 0x0003ffff) == 0x00000001) return 1;
 	return 0;
 }
 
@@ -183,7 +182,10 @@ void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit) {
 
 		ootx_write_to_buffer(ctx, dbit);
 
-		if (ctx->buf_offset >= (*(ctx->payload_size)+6)) {
+		uint16_t padded_length = *(ctx->payload_size);
+		padded_length += (padded_length&0x01); //extra null byte if odd
+
+		if (ctx->buf_offset >= (padded_length+6)) {
 			/*	once we have a complete ootx packet, send it out in the callback */
 			ootx_packet op;
 
-- 
cgit v1.2.3


From aab9f4f1db0dd752a00f3ae67531f1d58b9e2980 Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Sat, 11 Feb 2017 16:27:57 -0500
Subject: correctly decodes lighthouse 1 ootx frames

---
 tools/ootx_decode/ootx_decoder.c | 32 ++++++++++++++++++++++++++++----
 1 file changed, 28 insertions(+), 4 deletions(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index 8c7f28c..72ce87c 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -6,10 +6,10 @@
 
 #include <stdio.h>
 #include <stdlib.h>
-
+#include <zlib.h>
 #include <assert.h>
 #include "ootx_decoder.h"
-#include "crc32.h"
+//#include "crc32.h"
 
 //char* fmt_str = "L Y HMD %d 5 1 206230 %d\n";
 
@@ -153,6 +153,19 @@ void ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) {
 	ootx_pump_bit( ctx, dbit );
 }
 
+void print_crc32(uint32_t crc) {
+//	uint8_t* p = (uint32_t*)&crc;
+//	uint8_t i = 0;
+
+	printf("%X\n", crc);
+}
+
+void write_to_file(uint8_t *d, uint16_t length){
+	FILE *fp = fopen("binary.data","w");
+	fwrite(d, length, 1, fp);
+	fclose(fp);
+}
+
 void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit) {
 //	uint8_t dbit = ootx_decode_bit(length);
 	++(ctx->bits_processed);
@@ -191,12 +204,23 @@ void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit) {
 
 			op.length = *(ctx->payload_size);
 			op.data = ctx->buffer+2;
-			op.crc32 = *(uint32_t*)(ctx->buffer+2+op.length);
+			op.crc32 = *(uint32_t*)(op.data+padded_length);
+
+			uint32_t crc = crc32( 0L, Z_NULL, 0 );
+			crc = crc32( crc, op.data,op.length);
+//			uint32_t crc = crc32(0xffffffff,op.data,op.length);
 
-			uint32_t crc = crc32(0xffffffff,op.data,op.length);
 
 			if (crc != op.crc32) {
 				printf("CRC mismatch\n");
+/*
+				printf("r:");
+				print_crc32(op.crc32);
+
+				printf("c:");
+				print_crc32(crc);
+//				write_to_file(op.data,op.length);
+*/
 			}
 
 			if ((crc == op.crc32) && ootx_packet_clbk) ootx_packet_clbk(&op);
-- 
cgit v1.2.3


From c04c9fb7dcf80123edec53a2e6709bb128548a73 Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Sat, 11 Feb 2017 20:56:50 -0500
Subject: add lighthouse_info_v6

---
 tools/ootx_decode/ootx_decoder.c | 108 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 108 insertions(+)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index 72ce87c..6a06744 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -230,3 +230,111 @@ void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit) {
 	}
 }
 
+uint8_t* get_ptr(uint8_t* data, uint8_t bytes, uint16_t* idx) {
+	uint8_t* x = data + *idx;
+	*idx += bytes;
+	return x;
+}
+
+float _to_float(uint8_t* data) {
+	uint16_t h = *(uint16_t*)(data);
+	uint16_t h_exp, h_sig;
+	uint32_t f_sgn, f_exp, f_sig;
+
+	h_exp = (h&0x7c00u);
+	f_sgn = ((uint32_t)h&0x8000u) << 16;
+	if (h_exp == 0x0000u) { /* 0 or subnormal */
+		h_sig = (h&0x03ffu);
+		/* Signed zero */
+		if (h_sig == 0) {
+			return f_sgn;
+		}
+		/* Subnormal */
+		h_sig <<= 1;
+		while ((h_sig&0x0400u) == 0) {
+			h_sig <<= 1;
+			h_exp++;
+		}
+		f_exp = ((uint32_t)(127 - 15 - h_exp)) << 23;
+		f_sig = ((uint32_t)(h_sig&0x03ffu)) << 13;
+			return f_sgn + f_exp + f_sig;
+	}
+	else if (h_exp == 0x7c00u) { /* inf or NaN */
+		/* All-ones exponent and a copy of the significand */
+		return f_sgn + 0x7f800000u + (((uint32_t)(h&0x03ffu)) << 13);
+	}
+	else { /* normalized */
+		/* Just need to adjust the exponent and shift */
+		return f_sgn + (((uint32_t)(h&0x7fffu) + 0x1c000u) << 13);
+	}
+}
+
+void init_lighthouse_info_v6(lighthouse_info_v6* lhi, uint8_t* data) {
+	uint16_t idx = 0;
+	/*
+	uint16_t fw_version;//Firmware version (bit 15..6), protocol version (bit 5..0)
+	uint32_t id; //Unique identifier of the base station
+	float fcal_0_phase; //"phase" for rotor 0
+	float fcal_1_phase; //"phase" for rotor 1
+	float fcal_0_tilt; //"tilt" for rotor 0
+	float fcal_1_tilt; //"tilt" for rotor 1
+	uint8_t sys_unlock_count; //Lowest 8 bits of the rotor desynchronization counter
+	uint8_t hw_version; //Hardware version
+	float fcal_0_curve; //"curve" for rotor 0
+	float fcal_1_curve; //"curve" for rotor 1
+	int8_t accel_dir_x; //"orientation vector"
+	int8_t accel_dir_y; //"orientation vector"
+	int8_t accel_dir_z; //"orientation vector"
+	float fcal_0_gibphase; //"gibbous phase" for rotor 0 (normalized angle)
+	float fcal_1_gibphase; //"gibbous phase" for rotor 1 (normalized angle)
+	float fcal_0_gibmag; //"gibbous magnitude" for rotor 0
+	float fcal_1_gibmag; //"gibbous magnitude" for rotor 1
+	uint8_t mode_current; //Currently selected mode (default: 0=A, 1=B, 2=C)
+	uint8_t sys_faults; //"fault detect flags" (should be 0)
+	*/
+
+	lhi->fw_version = *(uint16_t*)get_ptr(data,2,&idx);
+	lhi->id = *(uint32_t*)get_ptr(data,4,&idx);
+	lhi->fcal_0_phase = _to_float( get_ptr(data,2,&idx) );
+	lhi->fcal_1_phase = _to_float( get_ptr(data,2,&idx) );
+	lhi->fcal_0_tilt = _to_float( get_ptr(data,2,&idx) );
+	lhi->fcal_1_tilt = _to_float( get_ptr(data,2,&idx) );
+	lhi->sys_unlock_count = *get_ptr(data,1,&idx);
+	lhi->hw_version = *get_ptr(data,1,&idx);
+	lhi->fcal_0_curve = _to_float( get_ptr(data,2,&idx) );
+	lhi->fcal_1_curve = _to_float( get_ptr(data,2,&idx) );
+	lhi->accel_dir_x = *(int8_t*)get_ptr(data,1,&idx);
+	lhi->accel_dir_y = *(int8_t*)get_ptr(data,1,&idx);
+	lhi->accel_dir_z = *(int8_t*)get_ptr(data,1,&idx);
+	lhi->fcal_0_gibphase = _to_float( get_ptr(data,2,&idx) );
+	lhi->fcal_1_gibphase = _to_float( get_ptr(data,2,&idx) );
+	lhi->fcal_0_gibmag = _to_float( get_ptr(data,2,&idx) );
+	lhi->fcal_1_gibmag = _to_float( get_ptr(data,2,&idx) );
+	lhi->mode_current = *get_ptr(data,1,&idx);
+	lhi->sys_faults = *get_ptr(data,1,&idx);
+
+}
+
+void print_lighthouse_info_v6(lighthouse_info_v6* lhi) {
+
+	printf("\t%X\n\t%X\n\t%f\n\t%f\n\t%f\n\t%f\n\t%d\n\t%d\n\t%f\n\t%f\n\t%d\n\t%d\n\t%d\n\t%f\n\t%f\n\t%f\n\t%f\n\t%d\n\t%d\n",
+		lhi->fw_version,
+		lhi->id,
+		lhi->fcal_0_phase,
+		lhi->fcal_1_phase,
+		lhi->fcal_0_tilt,
+		lhi->fcal_1_tilt,
+		lhi->sys_unlock_count,
+		lhi->hw_version,
+		lhi->fcal_0_curve,
+		lhi->fcal_1_curve,
+		lhi->accel_dir_x,
+		lhi->accel_dir_y,
+		lhi->accel_dir_z,
+		lhi->fcal_0_gibphase,
+		lhi->fcal_1_gibphase,
+		lhi->fcal_0_gibmag,
+		lhi->fcal_1_gibmag,
+		lhi->mode_current,
+		lhi->sys_faults);
+}
\ No newline at end of file
-- 
cgit v1.2.3


From cc79e01f62be87f7dcc6de3be7ddb981d6899dff Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Sun, 12 Feb 2017 08:34:01 -0500
Subject: ootx_log_bit to ootx_accumulate_bit

---
 tools/ootx_decode/ootx_decoder.c | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index 6a06744..c244b80 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -84,19 +84,24 @@ uint8_t ootx_decode_bit(uint32_t ticks) {
 	return bits&0x02;
 }
 */
-
-void ootx_log_bit(ootx_decoder_context *ctx, uint32_t ticks) {
-	int8_t dbit = ootx_decode_bit(ticks);
+/*
+void ootx_accumulate_bit(ootx_decoder_context *ctx, uint32_t ticks) {
+	uint8_t dbit = ootx_decode_bit(ticks);
 //	printf("%d\n\n", dbit);
 	ctx->bit_count[(dbit&0x01)]++;
 //	printf("%d %d %d\n", dbit, ctx->bit_count[0], ctx->bit_count[1]);
 }
+*/
+void ootx_accumulate_bit(ootx_decoder_context *ctx, uint8_t bit) {
+	ctx->bit_count[bit&0x01]++;
+}
 
 uint8_t ootx_pump_greatest_bit(ootx_decoder_context *ctx) {
 	//pump the bit
 	uint8_t bit = 0x00;
 	if (ctx->bit_count[0] < ctx->bit_count[1]) bit = 0xFF;
 
+//	printf("pump %d\n", bit);
 	ootx_pump_bit( ctx, bit );
 
 	ctx->bit_count[0] = 0;
@@ -150,6 +155,7 @@ void ootx_write_to_buffer(ootx_decoder_context *ctx, uint8_t dbit) {
 
 void ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) {
 	int8_t dbit = ootx_decode_bit(length);
+
 	ootx_pump_bit( ctx, dbit );
 }
 
-- 
cgit v1.2.3


From da93d5821e6da8462ff42f2c8e6e07a3cbe10740 Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Sun, 12 Feb 2017 09:58:32 -0500
Subject: proper decoding of bith lighthouse ootx data

---
 tools/ootx_decode/ootx_decoder.c | 19 ++++++++++++++-----
 1 file changed, 14 insertions(+), 5 deletions(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index c244b80..6c5031c 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -45,12 +45,21 @@ void ootx_init_buffer() {
 */
 
 int8_t ootx_decode_lighthouse_number(uint8_t last_num, uint32_t ticks, int32_t delta) {
-	if (ticks<2000) return -1; //sweep
-	if (delta>100000) return 0; //master
-	if (delta>10000) return 1; //a slave
+	if (delta<18000) return -1; //sweep
+//	if (ticks<2000) return -1; //sweep
+//	printf ("%d\n", delta);
+
+
+	if (ticks>2000 && delta>100000) return 0; //master
+	if (delta>100000) return -1; //some kind of sweep related to the master
+
+	/*	slaves are tricky. The first few sensor readings can be confused because their tick count could be too low because of the previous master pulse?
+		so we have to ignore ticks completly
+	*/
+	if (delta>18000) return 1; //a slave, should be at least 20000 but there are some data issues
 	return -1;
 }
-
+/*
 uint8_t decode_internal(uint32_t length) {
 		uint16_t temp = length - 2880;
 //		printf
@@ -68,7 +77,7 @@ uint8_t decode_internal(uint32_t length) {
 	return -1;
 
 }
-
+*/
 uint8_t ootx_decode_bit(uint32_t length) {
 	length = ((length/500)*500)+500;
 
-- 
cgit v1.2.3


From 12fd01346d92d24f9e6ecd89c57e25cdaa455e12 Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Sun, 12 Feb 2017 10:05:58 -0500
Subject: remove float16 to float32 conversion

---
 tools/ootx_decode/ootx_decoder.c | 32 ++------------------------------
 1 file changed, 2 insertions(+), 30 deletions(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index 6c5031c..fb87e41 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -252,36 +252,8 @@ uint8_t* get_ptr(uint8_t* data, uint8_t bytes, uint16_t* idx) {
 }
 
 float _to_float(uint8_t* data) {
-	uint16_t h = *(uint16_t*)(data);
-	uint16_t h_exp, h_sig;
-	uint32_t f_sgn, f_exp, f_sig;
-
-	h_exp = (h&0x7c00u);
-	f_sgn = ((uint32_t)h&0x8000u) << 16;
-	if (h_exp == 0x0000u) { /* 0 or subnormal */
-		h_sig = (h&0x03ffu);
-		/* Signed zero */
-		if (h_sig == 0) {
-			return f_sgn;
-		}
-		/* Subnormal */
-		h_sig <<= 1;
-		while ((h_sig&0x0400u) == 0) {
-			h_sig <<= 1;
-			h_exp++;
-		}
-		f_exp = ((uint32_t)(127 - 15 - h_exp)) << 23;
-		f_sig = ((uint32_t)(h_sig&0x03ffu)) << 13;
-			return f_sgn + f_exp + f_sig;
-	}
-	else if (h_exp == 0x7c00u) { /* inf or NaN */
-		/* All-ones exponent and a copy of the significand */
-		return f_sgn + 0x7f800000u + (((uint32_t)(h&0x03ffu)) << 13);
-	}
-	else { /* normalized */
-		/* Just need to adjust the exponent and shift */
-		return f_sgn + (((uint32_t)(h&0x7fffu) + 0x1c000u) << 13);
-	}
+	uint16_t x = *(uint16_t*)data;
+	return x;
 }
 
 void init_lighthouse_info_v6(lighthouse_info_v6* lhi, uint8_t* data) {
-- 
cgit v1.2.3


From b79a1766aaf207943772b2565f674853e2be8314 Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Sun, 12 Feb 2017 10:47:17 -0500
Subject: fix copyright

---
 tools/ootx_decode/ootx_decoder.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index fb87e41..d7efd76 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -1,4 +1,4 @@
-// (C) 2016 Joshua Allen, MIT/x11 License.
+// (C) 2017 Joshua Allen, MIT/x11 License.
 //
 //All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
 
-- 
cgit v1.2.3


From ac556ccbb2ecd419773b3ad941f7aea78a191381 Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Sun, 12 Feb 2017 10:57:57 -0500
Subject: clean up code. move some of the debugging code out into the test
 harness

---
 tools/ootx_decode/ootx_decoder.c | 54 ++++++----------------------------------
 1 file changed, 7 insertions(+), 47 deletions(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index d7efd76..36f93fe 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -16,6 +16,8 @@
 #define MAX_BUFF_SIZE 1024
 
 void (*ootx_packet_clbk)(ootx_packet* packet) = NULL;
+void (*ootx_bad_crc_clbk)(ootx_packet* packet) = NULL;
+
 void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit);
 
 void ootx_init_decoder_context(ootx_decoder_context *ctx) {
@@ -30,13 +32,6 @@ void ootx_init_decoder_context(ootx_decoder_context *ctx) {
 	ctx->payload_size = (uint16_t*)ctx->buffer;
 	*(ctx->payload_size) = 0;
 }
-/*
-void ootx_init_buffer() {
-	buffer = (uint8_t*)malloc(MAX_BUFF_SIZE);
-	payload_size = (uint16_t*)buffer;
-	*payload_size = 0;
-}
-*/
 
 /*
 	how to decode pulses
@@ -87,20 +82,7 @@ uint8_t ootx_decode_bit(uint32_t length) {
 
 	return 0x00;
 }
-/*
-uint8_t ootx_decode_bit(uint32_t ticks) {
-	int8_t bits = decode_internal(ticks);
-	return bits&0x02;
-}
-*/
-/*
-void ootx_accumulate_bit(ootx_decoder_context *ctx, uint32_t ticks) {
-	uint8_t dbit = ootx_decode_bit(ticks);
-//	printf("%d\n\n", dbit);
-	ctx->bit_count[(dbit&0x01)]++;
-//	printf("%d %d %d\n", dbit, ctx->bit_count[0], ctx->bit_count[1]);
-}
-*/
+
 void ootx_accumulate_bit(ootx_decoder_context *ctx, uint8_t bit) {
 	ctx->bit_count[bit&0x01]++;
 }
@@ -168,19 +150,6 @@ void ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) {
 	ootx_pump_bit( ctx, dbit );
 }
 
-void print_crc32(uint32_t crc) {
-//	uint8_t* p = (uint32_t*)&crc;
-//	uint8_t i = 0;
-
-	printf("%X\n", crc);
-}
-
-void write_to_file(uint8_t *d, uint16_t length){
-	FILE *fp = fopen("binary.data","w");
-	fwrite(d, length, 1, fp);
-	fclose(fp);
-}
-
 void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit) {
 //	uint8_t dbit = ootx_decode_bit(length);
 	++(ctx->bits_processed);
@@ -223,22 +192,13 @@ void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit) {
 
 			uint32_t crc = crc32( 0L, Z_NULL, 0 );
 			crc = crc32( crc, op.data,op.length);
-//			uint32_t crc = crc32(0xffffffff,op.data,op.length);
-
 
 			if (crc != op.crc32) {
-				printf("CRC mismatch\n");
-/*
-				printf("r:");
-				print_crc32(op.crc32);
-
-				printf("c:");
-				print_crc32(crc);
-//				write_to_file(op.data,op.length);
-*/
+				if (ootx_bad_crc_clbk != NULL) ootx_bad_crc_clbk(&op);
+			}
+			else if (ootx_packet_clbk != NULL) {
+				ootx_packet_clbk(&op);
 			}
-
-			if ((crc == op.crc32) && ootx_packet_clbk) ootx_packet_clbk(&op);
 
 			ootx_reset_buffer(ctx);
 		}
-- 
cgit v1.2.3


From 6ad28759408695a4825738bcc32bc294d1869ca8 Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Sun, 12 Feb 2017 11:09:38 -0500
Subject: handler for bad crc32

---
 tools/ootx_decode/ootx_decoder.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index 36f93fe..dc5d50a 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -16,7 +16,7 @@
 #define MAX_BUFF_SIZE 1024
 
 void (*ootx_packet_clbk)(ootx_packet* packet) = NULL;
-void (*ootx_bad_crc_clbk)(ootx_packet* packet) = NULL;
+void (*ootx_bad_crc_clbk)(ootx_packet* packet, uint32_t crc) = NULL;
 
 void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit);
 
@@ -194,7 +194,7 @@ void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit) {
 			crc = crc32( crc, op.data,op.length);
 
 			if (crc != op.crc32) {
-				if (ootx_bad_crc_clbk != NULL) ootx_bad_crc_clbk(&op);
+				if (ootx_bad_crc_clbk != NULL) ootx_bad_crc_clbk(&op,crc);
 			}
 			else if (ootx_packet_clbk != NULL) {
 				ootx_packet_clbk(&op);
-- 
cgit v1.2.3


From c2ca44be9f6408351cfe32e855b1472ec155b9b2 Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Sun, 12 Feb 2017 14:34:29 -0500
Subject: free decoder context

---
 tools/ootx_decode/ootx_decoder.c | 6 ++++++
 1 file changed, 6 insertions(+)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index dc5d50a..f308bfb 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -33,6 +33,12 @@ void ootx_init_decoder_context(ootx_decoder_context *ctx) {
 	*(ctx->payload_size) = 0;
 }
 
+void ootx_free_decoder_context(ootx_decoder_context *ctx) {
+	free(ctx->buffer);
+	ctx->buffer = NULL;
+	ctx->payload_size = NULL;
+}
+
 /*
 	how to decode pulses
 	ticks>2000 && delta>100000== master lighthouse
-- 
cgit v1.2.3


From c339b84a145c6af24fe1ce40f4fee23cd88bce10 Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Sun, 12 Feb 2017 15:23:57 -0500
Subject: buffer does not need to be very large.

---
 tools/ootx_decode/ootx_decoder.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index f308bfb..003322f 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -13,7 +13,7 @@
 
 //char* fmt_str = "L Y HMD %d 5 1 206230 %d\n";
 
-#define MAX_BUFF_SIZE 1024
+#define MAX_BUFF_SIZE 64
 
 void (*ootx_packet_clbk)(ootx_packet* packet) = NULL;
 void (*ootx_bad_crc_clbk)(ootx_packet* packet, uint32_t crc) = NULL;
-- 
cgit v1.2.3


From 46e907ad3059001a0d9361098c2f017c36a3dd13 Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Sun, 12 Feb 2017 21:56:11 -0500
Subject: function half to float conversion

---
 tools/ootx_decode/ootx_decoder.c | 54 +++++++++++++++++++++++++---------------
 1 file changed, 34 insertions(+), 20 deletions(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index 003322f..eee4e7e 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -218,8 +218,22 @@ uint8_t* get_ptr(uint8_t* data, uint8_t bytes, uint16_t* idx) {
 }
 
 float _to_float(uint8_t* data) {
+	//this will not handle infinity, NaN, or denormalized floats
+
 	uint16_t x = *(uint16_t*)data;
-	return x;
+	float f = 0;
+
+	uint32_t *ftmp = (uint32_t*)&f; //use the allocated floating point memory
+
+	if (((x & 0x7c00) == 0x0000) && ((x & 0x03ff) == 0)) return f; //zero
+
+	//sign
+	*ftmp = x & 0x8000;
+	*ftmp <<= 16;
+
+	*ftmp += ((((uint32_t)(x & 0x7fff)) + 0x1c000) << 13);
+
+	return f;
 }
 
 void init_lighthouse_info_v6(lighthouse_info_v6* lhi, uint8_t* data) {
@@ -246,25 +260,25 @@ void init_lighthouse_info_v6(lighthouse_info_v6* lhi, uint8_t* data) {
 	uint8_t sys_faults; //"fault detect flags" (should be 0)
 	*/
 
-	lhi->fw_version = *(uint16_t*)get_ptr(data,2,&idx);
-	lhi->id = *(uint32_t*)get_ptr(data,4,&idx);
-	lhi->fcal_0_phase = _to_float( get_ptr(data,2,&idx) );
-	lhi->fcal_1_phase = _to_float( get_ptr(data,2,&idx) );
-	lhi->fcal_0_tilt = _to_float( get_ptr(data,2,&idx) );
-	lhi->fcal_1_tilt = _to_float( get_ptr(data,2,&idx) );
-	lhi->sys_unlock_count = *get_ptr(data,1,&idx);
-	lhi->hw_version = *get_ptr(data,1,&idx);
-	lhi->fcal_0_curve = _to_float( get_ptr(data,2,&idx) );
-	lhi->fcal_1_curve = _to_float( get_ptr(data,2,&idx) );
-	lhi->accel_dir_x = *(int8_t*)get_ptr(data,1,&idx);
-	lhi->accel_dir_y = *(int8_t*)get_ptr(data,1,&idx);
-	lhi->accel_dir_z = *(int8_t*)get_ptr(data,1,&idx);
-	lhi->fcal_0_gibphase = _to_float( get_ptr(data,2,&idx) );
-	lhi->fcal_1_gibphase = _to_float( get_ptr(data,2,&idx) );
-	lhi->fcal_0_gibmag = _to_float( get_ptr(data,2,&idx) );
-	lhi->fcal_1_gibmag = _to_float( get_ptr(data,2,&idx) );
-	lhi->mode_current = *get_ptr(data,1,&idx);
-	lhi->sys_faults = *get_ptr(data,1,&idx);
+	lhi->fw_version = *(uint16_t*)get_ptr(data,sizeof(uint16_t),&idx);
+	lhi->id = *(uint32_t*)get_ptr(data,sizeof(uint32_t),&idx);
+	lhi->fcal_0_phase = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_phase = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_0_tilt = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_tilt = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->sys_unlock_count = *get_ptr(data,sizeof(uint8_t),&idx);
+	lhi->hw_version = *get_ptr(data,sizeof(uint8_t),&idx);
+	lhi->fcal_0_curve = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_curve = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->accel_dir_x = *(int8_t*)get_ptr(data,sizeof(uint8_t),&idx);
+	lhi->accel_dir_y = *(int8_t*)get_ptr(data,sizeof(uint8_t),&idx);
+	lhi->accel_dir_z = *(int8_t*)get_ptr(data,sizeof(uint8_t),&idx);
+	lhi->fcal_0_gibphase = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_gibphase = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_0_gibmag = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_gibmag = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->mode_current = *get_ptr(data,sizeof(uint8_t),&idx);
+	lhi->sys_faults = *get_ptr(data,sizeof(uint8_t),&idx);
 
 }
 
-- 
cgit v1.2.3


From 96c3e7838d96fa87c39b28f78b79b925841e6bd4 Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Mon, 13 Feb 2017 15:29:48 -0500
Subject: simplify zero condition

---
 tools/ootx_decode/ootx_decoder.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index eee4e7e..98bac67 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -225,7 +225,7 @@ float _to_float(uint8_t* data) {
 
 	uint32_t *ftmp = (uint32_t*)&f; //use the allocated floating point memory
 
-	if (((x & 0x7c00) == 0x0000) && ((x & 0x03ff) == 0)) return f; //zero
+	if ((x & 0x7FFF) == 0) return f; //zero
 
 	//sign
 	*ftmp = x & 0x8000;
-- 
cgit v1.2.3


From 98db590e55513ca10ea363050f8bcb245116784b Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Mon, 13 Feb 2017 15:31:07 -0500
Subject: fix decoding of length value

---
 tools/ootx_decode/ootx_decoder.c | 30 ++++--------------------------
 1 file changed, 4 insertions(+), 26 deletions(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index 98bac67..510fadb 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -60,33 +60,11 @@ int8_t ootx_decode_lighthouse_number(uint8_t last_num, uint32_t ticks, int32_t d
 	if (delta>18000) return 1; //a slave, should be at least 20000 but there are some data issues
 	return -1;
 }
-/*
-uint8_t decode_internal(uint32_t length) {
-		uint16_t temp = length - 2880;
-//		printf
-
-#if BETTER_SAFE_THAN_FAST
-	if (temp < 0 || length > 6525) {
-		return -1;
-	}
-#endif
 
-	if ((temp % 500) < 150) {
-		return temp / 500;
-	}
-
-	return -1;
-
-}
-*/
 uint8_t ootx_decode_bit(uint32_t length) {
-	length = ((length/500)*500)+500;
-
-	length-=3000;
-	if (length>=2000) { length-=2000; }
-	if (length>=1000)  { return 0xFF; }
-
-	return 0x00;
+	uint8_t t = (length - 2750) / 500; //why 2750?
+//	return ((t & 0x02)>0)?0xFF:0x00;
+	return ((t & 0x02)>>1);
 }
 
 void ootx_accumulate_bit(ootx_decoder_context *ctx, uint8_t bit) {
@@ -151,7 +129,7 @@ void ootx_write_to_buffer(ootx_decoder_context *ctx, uint8_t dbit) {
 }
 
 void ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) {
-	int8_t dbit = ootx_decode_bit(length);
+	uint8_t dbit = ootx_decode_bit(length);
 
 	ootx_pump_bit( ctx, dbit );
 }
-- 
cgit v1.2.3


From cbb6d0b53319a7e0124fff6ce7ffb12cfe94fa3f Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Mon, 13 Feb 2017 15:44:39 -0500
Subject: remove unused code

---
 tools/ootx_decode/ootx_decoder.c | 60 ++++++----------------------------------
 1 file changed, 9 insertions(+), 51 deletions(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index 510fadb..5c64898 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -39,55 +39,16 @@ void ootx_free_decoder_context(ootx_decoder_context *ctx) {
 	ctx->payload_size = NULL;
 }
 
-/*
-	how to decode pulses
-	ticks>2000 && delta>100000== master lighthouse
-	ticks>2000 && delta>10000 == slave lighthouse
-*/
-
-int8_t ootx_decode_lighthouse_number(uint8_t last_num, uint32_t ticks, int32_t delta) {
-	if (delta<18000) return -1; //sweep
-//	if (ticks<2000) return -1; //sweep
-//	printf ("%d\n", delta);
-
-
-	if (ticks>2000 && delta>100000) return 0; //master
-	if (delta>100000) return -1; //some kind of sweep related to the master
-
-	/*	slaves are tricky. The first few sensor readings can be confused because their tick count could be too low because of the previous master pulse?
-		so we have to ignore ticks completly
-	*/
-	if (delta>18000) return 1; //a slave, should be at least 20000 but there are some data issues
-	return -1;
-}
-
 uint8_t ootx_decode_bit(uint32_t length) {
 	uint8_t t = (length - 2750) / 500; //why 2750?
-//	return ((t & 0x02)>0)?0xFF:0x00;
+//	return ((t & 0x02)>0)?0xFF:0x00; //easier if we need to bitshift right
 	return ((t & 0x02)>>1);
 }
 
-void ootx_accumulate_bit(ootx_decoder_context *ctx, uint8_t bit) {
-	ctx->bit_count[bit&0x01]++;
-}
-
-uint8_t ootx_pump_greatest_bit(ootx_decoder_context *ctx) {
-	//pump the bit
-	uint8_t bit = 0x00;
-	if (ctx->bit_count[0] < ctx->bit_count[1]) bit = 0xFF;
-
-//	printf("pump %d\n", bit);
-	ootx_pump_bit( ctx, bit );
-
-	ctx->bit_count[0] = 0;
-	ctx->bit_count[1] = 0;
-
-	return bit;
-}
-
 uint8_t ootx_detect_preamble(ootx_decoder_context *ctx, uint8_t dbit) {
 	ctx->preamble <<= 1;
-	ctx->preamble |= (0x01 & dbit);
+//	ctx->preamble |= (0x01 & dbit);
+	ctx->preamble |= dbit;
 	if ((ctx->preamble & 0x0003ffff) == 0x00000001) return 1;
 	return 0;
 }
@@ -115,11 +76,11 @@ void ootx_inc_buffer_offset(ootx_decoder_context *ctx) {
 
 void ootx_write_to_buffer(ootx_decoder_context *ctx, uint8_t dbit) {
 	uint8_t *current_byte = ctx->buffer + ctx->buf_offset;
-//	printf("%d\n", dbit);
-//	*current_byte >>= 1;
-//	*current_byte |= (0x80 & dbit);
+
 	*current_byte <<= 1;
-	*current_byte |= (0x01 & dbit);
+//	*current_byte |= (0x01 & dbit);
+	*current_byte |= dbit;
+
 	++(ctx->bits_written);
 	if (ctx->bits_written>7) {
 		ctx->bits_written=0;
@@ -128,19 +89,16 @@ void ootx_write_to_buffer(ootx_decoder_context *ctx, uint8_t dbit) {
 	}
 }
 
-void ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) {
+uint8_t ootx_process_bit(ootx_decoder_context *ctx, uint32_t length) {
 	uint8_t dbit = ootx_decode_bit(length);
-
 	ootx_pump_bit( ctx, dbit );
+	return dbit;
 }
 
 void ootx_pump_bit(ootx_decoder_context *ctx, uint8_t dbit) {
 //	uint8_t dbit = ootx_decode_bit(length);
 	++(ctx->bits_processed);
 
-//	printf("z %d %d\n", bits_processed,dbit);
-//	printf("d %d\n", bits_processed,dbit);
-
 	if ( ootx_detect_preamble(ctx, dbit) ) {
 		/*	data stream can start over at any time so we must
 			always look for preamble bits */
-- 
cgit v1.2.3


From f0e743ccc98397ee011ea10a6068263b5f3dbae7 Mon Sep 17 00:00:00 2001
From: Josh Allen <axlecrusher@gmail.com>
Date: Mon, 13 Feb 2017 21:22:00 -0500
Subject: rename function for half float to float

---
 tools/ootx_decode/ootx_decoder.c | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

(limited to 'tools/ootx_decode/ootx_decoder.c')

diff --git a/tools/ootx_decode/ootx_decoder.c b/tools/ootx_decode/ootx_decoder.c
index 5c64898..b5a7b54 100644
--- a/tools/ootx_decode/ootx_decoder.c
+++ b/tools/ootx_decode/ootx_decoder.c
@@ -153,7 +153,7 @@ uint8_t* get_ptr(uint8_t* data, uint8_t bytes, uint16_t* idx) {
 	return x;
 }
 
-float _to_float(uint8_t* data) {
+float _half_to_float(uint8_t* data) {
 	//this will not handle infinity, NaN, or denormalized floats
 
 	uint16_t x = *(uint16_t*)data;
@@ -198,21 +198,21 @@ void init_lighthouse_info_v6(lighthouse_info_v6* lhi, uint8_t* data) {
 
 	lhi->fw_version = *(uint16_t*)get_ptr(data,sizeof(uint16_t),&idx);
 	lhi->id = *(uint32_t*)get_ptr(data,sizeof(uint32_t),&idx);
-	lhi->fcal_0_phase = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
-	lhi->fcal_1_phase = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
-	lhi->fcal_0_tilt = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
-	lhi->fcal_1_tilt = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_0_phase = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_phase = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_0_tilt = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_tilt = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
 	lhi->sys_unlock_count = *get_ptr(data,sizeof(uint8_t),&idx);
 	lhi->hw_version = *get_ptr(data,sizeof(uint8_t),&idx);
-	lhi->fcal_0_curve = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
-	lhi->fcal_1_curve = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_0_curve = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_curve = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
 	lhi->accel_dir_x = *(int8_t*)get_ptr(data,sizeof(uint8_t),&idx);
 	lhi->accel_dir_y = *(int8_t*)get_ptr(data,sizeof(uint8_t),&idx);
 	lhi->accel_dir_z = *(int8_t*)get_ptr(data,sizeof(uint8_t),&idx);
-	lhi->fcal_0_gibphase = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
-	lhi->fcal_1_gibphase = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
-	lhi->fcal_0_gibmag = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
-	lhi->fcal_1_gibmag = _to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_0_gibphase = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_gibphase = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_0_gibmag = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
+	lhi->fcal_1_gibmag = _half_to_float( get_ptr(data,sizeof(uint16_t),&idx) );
 	lhi->mode_current = *get_ptr(data,sizeof(uint8_t),&idx);
 	lhi->sys_faults = *get_ptr(data,sizeof(uint8_t),&idx);
 
-- 
cgit v1.2.3