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HTC Vive Watchman Hacking Codes!
So, the way this goes is I post my AVR code, then I post what the HTC Vive does.
The output is: POST 0: (# of bytes) (IMU Timecode MSBs) (All raw light data)
(All raw light data ends with [3 bytes, LSB timecode] [OTA CRC (probably ignore)])
Events (TIME): (LED CODE 1)/(TIME CODE 1/TIMECODE 2)/(LED CODE 2)/(TIME CODE 3/TIMECODE 4)...
//NOTICE: The funky encoding of the numbers, and the fact that paramters are read from the end of the data going forward.
//We know we're done when the # of parameters read is (# of bytes left*2)-1
tikingfritsthecat suggests reading: https://en.wikipedia.org/wiki/Variable-length_quantity
For all of the following we will use _delay_ms(10) between messages.
PARAMETER FIELDS are encoded, read from end going forward. If MSB is 1 (i.e. 0x80) it is done! If not, then need to read next byte.
// First look at 0x04. There will be another byte because it is less than
// 128!
// 0x04<<7 = 0x200
// Because 0x81 is >= 128, it's a terminator.
// 0x200 | 0x81 = 0x281 << The actual value
//
marker = 40;
do{ PORTB = LED48;
marker--; PORTB = 0; } while( marker );
_delay_us(10);
marker = 40;
do{ PORTB = LED50;
marker--; PORTB = 0; } while( marker );
_delay_us(10);
marker = 40;
do{ PORTB = LED40;
marker--; PORTB = 0; } while( marker );
Produces:
POST 0: 16 (f62d) - 40 50 48 b0 05 a2 02 c1 05 c7 03 f1 03 65 9b 2f 80 03 2b 58
Events (-164652187): 48/( 688/ 290)50/( 705/ 455)40/( 497/ -1)
POST 0: 16 (f633) - 40 50 48 b0 05 a2 02 c2 05 cb 03 ec 03 63 f4 33 28 40 ed c5
Events (-164367261): 48/( 688/ 290)50/( 706/ 459)40/( 492/ -1)
POST 0: 16 (f636) - 40 50 48 b2 05 a3 02 c3 05 c5 03 f5 03 57 4e 38 d2 2e c9 30
Events (-164082089): 48/( 690/ 291)50/( 707/ 453)40/( 501/ -1)
POST 0: 16 (f63b) - 40 50 48 b2 05 a3 02 c4 05 c6 03 f4 03 c6 a8 3c fe bd ca c1
Events (-163796794): 48/( 690/ 291)50/( 708/ 454)40/( 500/ -1)
POST 0: 16 (f63e) - 40 50 48 b1 05 a3 02 c3 05 c1 03 f8 03 40 02 41 fd 6d e0 08
Events (-163511744): 48/( 689/ 291)50/( 707/ 449)40/( 504/ -1)
marker = 40; //Length of time for following
do{ PORTB = LED48;
marker--; PORTB = 0; } while( marker );
vvvvvvvv
Events (-890299908): 48/( 683/ -1)
POST 0: 6 (caf1) - 48 ac 05 bd 6b f3 9e 3b ab c6
Events (-890016835): 48/( 684/ -1)
POST 0: 6 (caf6) - 48 ac 05 f2 bd f7 dc 46 0e 7f
Events (-889733646): 48/( 684/ -1)
POST 0: 6 (caf9) - 48 ac 05 73 10 fc 7a 78 6d 93
Events (-889450381): 48/( 684/ -1)
marker = 40; //Length of time for following
do{ PORTB = LED48;
marker--; PORTB = 0; } while( marker );
marker = 40; //Length of time for following
do{ PORTB = LED50 | LED48;
marker--; PORTB = 0; } while( marker );
marker = 40; //Length of time for following
do{ PORTB = LED48;
marker--; PORTB = 0; } while( marker );
PRODUCES:::::
POST 0: 11 (b03d) - 4a 50 b8 05 c1 05 b4 05 b6 b1 3d e8 dc 86 2e
Events (-1338134090): 50/( 696/ 705)4a/( 692/ -1)
POST 0: 11 (b040) - 4a 50 b6 05 c0 05 b2 05 bf 09 42 5f 9b a8 e3
Events (-1337849409): 50/( 694/ 704)4a/( 690/ -1)
POST 0: 11 (b046) - 4a 50 b7 05 c0 05 b1 05 1d 61 46 9e d5 b2 5b
Events (-1337564899): 50/( 695/ 704)4a/( 689/ -1)
marker = 40; //Length of time for following
do{ PORTB = LED50;
marker--; PORTB = 0; } while( marker );
marker = 40; //Length of time for following
do{ PORTB = LED50 | LED48;
marker--; PORTB = 0; } while( marker );
marker = 40; //Length of time for following
do{ PORTB = LED50;
marker--; PORTB = 0; } while( marker );
PRODUCES:
POST 0: 11 (f21f) - 52 48 cb 05 ac 05 c1 05 21 5b 20 fe 55 89 00
Events (-232760543): 48/( 715/ 684)52/( 705/ -1)
POST 0: 11 (f222) - 52 48 cb 05 ac 05 c0 05 13 b2 24 2b 65 ee 99
Events (-232476141): 48/( 715/ 684)52/( 704/ -1)
POST 0: 11 (f228) - 52 48 cb 05 ab 05 c1 05 ee 08 29 56 7b 9e 70
Events (-232191762): 48/( 715/ 683)52/( 705/ -1)
POST 0: 11 (f22b) - 52 48 ca 05 ab 05 c0 05 97 5f 2d c4 01 c6 5c
Events (-231907433): 48/( 714/ 683)52/( 704/ -1)
marker = 255; //Length of time for following
for( k = 0; k < 12; k++ )
do{ PORTB = LED50;
marker--; PORTB = 0; } while( marker );
POST 0: 7 (6ea8) - 50 c5 7b 03 f7 a7 a0 f1 12 65 81
Events (1856022519): 50/(64965/ -1)
POST 0: 7 (6eae) - 50 c5 7b 03 81 f3 a5 37 cd 97 f1
Events (1856369537): 50/(64965/ -1)
BUT
marker = 255; //Length of time for following
for( k = 0; k < 13; k++ )
do{ PORTB = LED50;
marker--; PORTB = 0; } while( marker );
PRODUCES NOTHING AT ALL!!!!
Looks like maximum for timing is 65536.
marker = 80; //Length of time for following
do{ PORTB = LED50;
marker--; PORTB = 0; } while( marker );
marker = 90; //Length of time for following
do{ PORTB = LED50 | LED48;
marker--; PORTB = 0; } while( marker );
marker = 100; //Length of time for following
do{ PORTB = LED50;
marker--; PORTB = 0; } while( marker );
produces;
POST 0: 12 (e16d) - 48 50 fe 24 cd 25 11 91 0c 6a 24 6f b8 5a fd 69
Events (-512809878): 50/( 4734/283341)48/( 1553/ -1)
POST 0: 12 (e172) - 48 50 f7 24 b2 26 11 93 0c 88 84 73 8c ac ad 52
Events (-512523128): 50/( 4727/283442)48/( 1555/ -1)
POST 0: 12 (e175) - 48 50 ff 24 b3 26 11 8f 0c a6 e4 77 94 7f a1 10
Events (-512236378): 50/( 4735/283443)48/( 1551/ -1)
POST 0: 12 (e17b) - 48 50 f4 24 8c 24 11 91 0c 9a 43 7c 70 a6 51 63
Events (-511949926): 50/( 4724/283148)48/( 1553/ -1)
POST 0: 12 (e17e) - 48 50 f7 24 84 27 11 90 0c 06 a4 80 ab 7b 91 b2
Events (-511663098): 50/( 4727/283524)48/( 1552/ -1)
NOTE PARAMETER 2 IS NOT BETWEEN 0 and 65535 (it's value (above 65536) is 4.)
marker = 30; //Length of time for following
do{ PORTB = LED50;
marker--; PORTB = 0; } while( marker );
marker = 20; //Length of time for following
do{ PORTB = LED50 | LED48;
marker--; PORTB = 0; } while( marker );
marker = 10; //Length of time for following
do{ PORTB = LED50;
marker--; PORTB = 0; } while( marker );
Produces:
POST 0: 11 (632a) - 52 48 9f 04 c3 02 ba 01 58 40 2d 7a 4a 80 67
Events (1663909976): 48/( 543/ 323)52/( 186/ -1)
POST 0: 11 (6330) - 52 48 9f 04 c5 02 ba 01 16 92 31 ef 8e 7b 75
Events (1664193046): 48/( 543/ 325)52/( 186/ -1)
POST 0: 11 (6333) - 52 48 9f 04 c4 02 b9 01 87 e4 35 b1 e2 cf 45
Events (1664476295): 48/( 543/ 324)52/( 185/ -1)
...wat??
marker = 30; //Length of time for following
do{ PORTB = LED40;
marker--; PORTB = 0; } while( marker );
marker = 20; //Length of time for following
do{ PORTB = LED40 | LED48;
marker--; PORTB = 0; } while( marker );
marker = 10; //Length of time for following
do{ PORTB = LED40;
marker--; PORTB = 0; } while( marker );
Events (2081688601): 48/( 330/ 323)42/( 153/ -1)
POST 0: 11 (7c17) - 42 48 c8 02 c5 02 98 01 a0 5f 18 b4 65 3a 41
Events (2081972128): 48/( 328/ 325)42/( 152/ -1)
POST 0: 11 (7c1a) - 42 48 cb 02 c3 02 99 01 05 b3 1c 0b 5a 16 37
Events (2082255621): 48/( 331/ 323)42/( 153/ -1)
#define DO_MARKER( time, LEDS ) \
marker = time; do { PORTB = LEDs; marker--; PORTB = 0; } while( marker );
DO_MARKER( 30, LED48 );
DO_MARKER( 20, LED48|LED40 );
DO_MARKER( 10, LED48 );
POST 0: 11 (7bb4) - 4a 40 bb 04 9a 02 bc 01 cf 0c b6 56 5c 4d 87
Events (2075528399): 40/( 571/ 282)4a/( 188/ -1)
DO_MARKER( 30, LED48 );
DO_MARKER( 20, LED40|LED48 );
DO_MARKER( 10, LED40 );
Events ( 615414066): 49/( 676/ 188)41/( 158/ -1)
DO_MARKER( 30, LED48 );
_delay_us(50);
DO_MARKER( 70, LED40 );
Events (-1151761741): 48/( 512/ 1510)40/( 1115/ -1)
DO_MARKER( 30, LED48 );
DO_MARKER( 20, LED50|LED48 );
DO_MARKER( 10, LED50 );
Events (1259200831): 49/( 522/ 343)51/( 181/ -1)
DO_MARKER( 30, LED40 );
DO_MARKER( 20, LED50|LED40 );
DO_MARKER( 10, LED50 );
POST 0: 11 (a3b6) - 51 41 b5 03 c5 02 c9 01 8e 3f b8 86 85 bb b7
Events (-1548206194): 41/( 437/ 325)51/( 201/ -1)
DO_MARKER( 20, LED40 );
DO_MARKER( 20, LED50|LED40 );
DO_MARKER( 20, LED50 );
POST 0: 11 (dce8) - 51 41 86 02 c4 02 f8 02 90 94 eb b9 24 5b 63
Events (-588540784): 41/( 262/ 324)51/( 376/ -1)
DO_MARKER( 21, LED40 );
DO_MARKER( 21, LED50|LED40 );
DO_MARKER( 21, LED50 );
POST 0: 11 (61e6) - 51 41 93 02 d4 02 89 03 8d da e6 b2 12 4b 0e
Events (1642519181): 41/( 275/ 340)51/( 393/ -1)
DO_MARKER( 22, LED40 );
DO_MARKER( 22, LED50|LED40 );
DO_MARKER( 22, LED50 );
POST 0: 11 (a35b) - 51 41 9f 02 e7 02 99 03 2c f0 5d 5d f4 45 0d
Events (-1554124756): 41/( 287/ 359)51/( 409/ -1)
DO_MARKER( 8, LED40 );
DO_MARKER( 8, LED50|LED40 );
DO_MARKER( 8, LED50 );
Events (-220957990): 41/( 45/ 111)51/( 171/ -1)
DO_MARKER( 9, LED40 );
DO_MARKER( 9, LED50|LED40 );
DO_MARKER( 9, LED50 );
POST 0: 10 (3343) - 51 41 bf 81 01 bb 01 65 62 43 b6 8c d0 8e
Events ( 860054117): 41/( 63/ 129)51/( 187/ -1)
DO_MARKER( 9, LED50 );
DO_MARKER( 9, LED50|LED40 );
DO_MARKER( 9, LED40 );
POST 0: 11 (6cec) - 41 51 a8 01 9a 01 92 01 71 a6 ec 5f 50 40 67
Events (1827448433): 51/( 168/ 154)41/( 146/ -1)
DO_MARKER( 10, LED40 );
DO_MARKER( 20, LED48|LED40 );
DO_MARKER( 30, LED40 );
POST 0: 11 (0508) - 42 48 b2 01 c4 02 93 04 24 39 09 5a e4 5e af
Events ( 84490532): 48/( 178/ 324)42/( 531/ -1)
DO_MARKER( 10, LED40 );
DO_MARKER( 20, LED48|LED40 );
DO_MARKER( 10, LED40 );
POST 0: 11 (65ab) - 42 48 b1 01 c6 02 b3 01 f0 68 ae 3a 89 73 1e
Events (1705928944): 48/( 177/ 326)42/( 179/ -1)
DO_MARKER( 10, LED40 );
DO_MARKER( 40, LED48|LED40 );
DO_MARKER( 80, LED40 );
POST 0: 11 (afe8) - 42 48 af 01 90 05 85 0b 65 cc e7 3b c6 92 4f
Events (-1343763355): 48/( 175/ 656)42/( 1413/ -1)
DO_MARKER( 10, LED40 );
DO_MARKER( 40, LED50|LED40 );
DO_MARKER( 80, LED50 );
POST 0: 11 (257b) - 51 41 94 01 ad 05 8d 0b 48 43 7e 47 ae ab e6
Events ( 629031752): 41/( 148/ 685)51/( 1421/ -1)
POST 0: 11 (2581) - 51 41 95 01 ad 05 8e 0b 1b 9b 82 d6 9e 4c b5
Events ( 629316379): 41/( 149/ 685)51/( 1422/ -1)
DO_MARKER( 10, LED40 );
DO_MARKER( 40, LED50|LED40 );
DO_MARKER( 80, LED40 );
POST 0: 11 (963b) - 42 50 95 01 c2 05 ef 0a 1b 1f 3b cc 8e 19 e9
Events (-1774510309): 50/( 149/ 706)42/( 1391/ -1)
POST 0: 11 (963e) - 42 50 95 01 c1 05 ee 0a 8c 76 3f 32 fe 46 87
Events (-1774225780): 50/( 149/ 705)42/( 1390/ -1)
DO_MARKER( 40, LED40 );
DO_MARKER( 40, LED50|LED40 );
DO_MARKER( 40, LED40 );
DO_MARKER( 40, LED50|LED40 );
DO_MARKER( 40, LED40 );
DO_MARKER( 40, LED50|LED40 );
DO_MARKER( 40, LED40 );
Events (-415661420): 40/( 4885/282886)50/( 705/ 700)50/( 705/ 706)50/( 700/ -1)
POST 0: 22 (e73d) - 50 50 50 40 94 26 b0 23 11 c2 05 bd 05 c1 05 c4 05 bd 05 b8 e4 3d 20 92 0c ca
Events (-415374152): 40/( 4884/283056)50/( 706/ 701)50/( 705/ 708)50/( 701/ -1)
POST 0: 22 (e740) - 50 50 50 40 9c 26 a6 23 11 c1 05 be 05 c1 05 c4 05 bc 05 d3 46 42 1b 23 6d ec
Events (-415086893): 40/( 4892/283046)50/( 705/ 702)50/( 705/ 708)50/( 700/ -1)
POST 0: 22 (e746) - 50 50 50 40 9c 26 db 21 11 c2 05 bc 05 c1 05 c1 05 bb 05 1e a8 46 88 30 f0 fc
Events (-414799842): 40/( 4892/282843)50/( 706/ 700)50/( 705/ 705)50/( 699/ -1)
WWOOHHH LOOK AT THE BIG NUBMERR ^^^^^
DO_MARKER( 40, LED40 );
DO_MARKER( 40, LED50|LED40 );
DO_MARKER( 40, LED40 );
DO_MARKER( 40, LED50|LED40 );
DO_MARKER( 40, LED40 );
POST 0: 17 (35a1) - 50 50 40 93 1b ab 23 11 c1 05 bd 05 c1 05 70 9d a2 67 b3 6a ce
Events ( 899849584): 40/( 3475/283051)50/( 705/ 701)50/( 705/ -1)
^^^ Big numberrrrr
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED50|LED48 );
DO_MARKER( 40, LED50 );
POST 0: 11 (3ee8) - 51 49 a6 05 ac 05 d1 05 6f 51 ea 6d 4c 11 df
Events (1055543663): 49/( 678/ 684)51/( 721/ -1)
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED50|LED48 );
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED50|LED48 );
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED50|LED48 );
DO_MARKER( 40, LED48 );
POST 0: 22 (d156) - 50 50 50 48 8b 26 bb 22 11 be 05 bc 05 bf 05 c2 05 bb 05 04 29 57 89 58 68 fe
Events (-782817020): 48/( 4875/282939)50/( 702/ 700)50/( 703/ 706)50/( 699/ -1)
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED48 );
POST 0: 22 (97f3) - 40 40 40 48 a1 26 fe 21 11 bb 05 be 05 be 05 c2 05 bb 05 35 5f f5 0a fe 8c 23
Events (-1745526987): 48/( 4897/282878)40/( 699/ 702)40/( 702/ 706)40/( 699/ -1)
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED50|LED48 );
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED48 );
Events (-573114289): 48/( 4898/282829)40/( 699/ 707)50/( 697/ 715)40/( 694/ -1)
POST 0: 22 (ddd9) - 40 50 40 48 a2 26 82 21 11 bb 05 c1 05 b9 05 ca 05 b6 05 37 59 db 02 ba 5b c3
Events (-572827337): 48/( 4898/282754)40/( 699/ 705)50/( 697/ 714)40/( 694/ -1)
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED50|LED48 );
DO_MARKER( 40, LED48 );
POST 0: 17 (3927) - 50 40 48 a1 1b a4 1f 11 bb 05 c1 05 ba 05 7a 99 27 2b f0 8a d0
Events ( 958896506): 48/( 3489/282532)40/( 699/ 705)50/( 698/ -1)
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED48 );
_delay_us(10);
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED50|LED48 );
DO_MARKER( 40, LED48 );
Events (1353710091): 40/( 695/ 699)4a/( 689/ 275)50/( 727/ 697)4a/( 690/ -1)
POST 0: 21 (50b2) - 4a 50 4a 40 b8 05 bc 05 b0 05 94 02 d7 05 ba 05 b2 05 14 59 b4 75 86 56 a5
Events (1353996564): 40/( 696/ 700)4a/( 688/ 276)50/( 727/ 698)4a/( 690/ -1)
POST 0: 21 (50b8) - 4a 50 4a 40 b8 05 bb 05 b2 05 93 02 d7 05 ba 05 b2 05 05 b9 b8 1b ea 08 c6
Events (1354283269): 40/( 696/ 699)4a/( 690/ 275)50/( 727/ 698)4a/( 690/ -1)
DO_MARKER( 40, LED48 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED40|LED48|LED50 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED48 );
POST 0: 17 (499b) - 42 50 48 9f 1b bd 1f 11 bf 05 bd 05 b9 05 e7 cd 9c 01 37 d9 f8
Events (1235013095): 48/( 3487/282557)50/( 703/ 701)42/( 697/ -1)
POST 0: 17 (499e) - 42 50 48 9f 1b 87 1f 11 c0 05 be 05 ba 05 5a 28 a1 60 5f db 06
Events (1235298394): 48/( 3487/282503)50/( 704/ 702)42/( 698/ -1)
DO_MARKER( 40, LED40 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED40|LED48|LED50 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED40 );
POST 0: 17 (eccf) - 4a 50 40 b2 1b c8 20 11 af 05 bd 05 ad 05 9a c7 d1 1a 2b 09 9b
Events (-321796198): 40/( 3506/282696)50/( 687/ 701)4a/( 685/ -1)
DO_MARKER( 40, LED40 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED40|LED48|LED50 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED40|LED48|LED50 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED40 );
POST 0: 22 (91ed) - 50 50 42 48 cf 05 92 1b c4 05 bb 22 11 bd 05 b7 05 be 05 b4 6e ed 89 d4 56 85
Events (-1846710604): 48/( 719/ 3474)42/( 708/282939)50/( 701/ 695)50/( 702/ -1)
POST 0: 22 (91f0) - 50 50 42 48 ce 05 8d 1b c2 05 d3 21 11 be 05 b8 05 be 05 2b cd f1 66 d1 06 5b
Events (-1846424277): 48/( 718/ 3469)42/( 706/282835)50/( 702/ 696)50/( 702/ -1)
DO_MARKER( 40, LED40 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED40|LED48|LED50 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED40|LED48|LED50 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED40|LED48|LED50 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED40 );
POST 0: 22 (1ed9) - 50 50 42 48 cf 05 92 26 c2 05 bf 25 11 bf 05 ba 05 c0 05 80 85 da 46 01 54 29
Events ( 517637504): 48/( 719/ 4882)42/( 706/283327)50/( 703/ 698)50/( 704/ -1)
POST 2: 6 (1edc) - 50 ba 05 fa 8a da e6 b3 9b 6c
Events ( 517638906): 50/( 698/ -1)
DO_MARKER( 40, LED40 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED40|LED48|LED50 );
DO_MARKER( 40, LED40|LED48 );
DO_MARKER( 40, LED40|LED48|LED50 );
DO_MARKER( 40, LED40|LED50 ); <<<< Check this out!
DO_MARKER( 40, LED40 );
Events (-938793947): 40/( 4907/282843)50/( 688/ 703)4b/( 699/ 691)51/( 712/ -1)
POST 1: 22 (c80e) - 51 4b 50 40 b1 26 d8 21 11 b1 05 bf 05 ba 05 b3 05 c8 05 5d 85 0f 08 79 be 17
Events (-938506915): 40/( 4913/282840)50/( 689/ 703)4b/( 698/ 691)51/( 712/ -1)
POST 0: 22 (c811) - 51 4b 50 40 ad 26 b8 20 11 af 05 be 05 b9 05 b2 05 c6 05 ec e5 13 52 fa ff e6
Events (-938220052): 40/( 4909/282680)50/( 687/ 702)4b/( 697/ 690)51/( 710/ -1)
DO_MARKER( 10, LED40 );
DO_MARKER( 10, LED40|LED48 );
DO_MARKER( 10, LED40|LED48|LED50 );
DO_MARKER( 10, LED40|LED48 );
DO_MARKER( 10, LED40|LED48|LED50 );
DO_MARKER( 10, LED40|LED50 );
DO_MARKER( 10, LED40 ); *** Maybe something is not being seen?
POST 0: 20 (b544) - 46 51 4b 50 bf 01 a0 01 b5 01 fb d2 01 bf 01 ac 01 f8 37 46 8c 97 9c 84
Events (-1253689352): 50/( 191/ 160)4b/( 181/ 123)51/( 210/ 191)46/( 172/ -1)
DO_MARKER( 10, LED40 );
DO_MARKER( 10, LED40|LED48 );
DO_MARKER( 10, LED40 );
DO_MARKER( 10, LED40|LED50 );
DO_MARKER( 10, LED40 );
POST 0: 16 (b35c) - 44 50 48 ab 01 b7 01 ab 01 b2 01 a9 01 38 c4 5c 86 12 bb 91
Events (-1285766088): 48/( 171/ 183)50/( 171/ 178)44/( 169/ -1)
It can totally move onto additional packets;
DO_MARKER( 10, LED40 );
DO_MARKER( 10, LED40|LED48 );
DO_MARKER( 10, LED40 );
DO_MARKER( 10, LED40|LED50 );
DO_MARKER( 10, LED40 );
DO_MARKER( 10, LED40|LED48 );
DO_MARKER( 10, LED40 );
DO_MARKER( 10, LED40|LED50 );
DO_MARKER( 10, LED40 );
POST 0: 21 (632c) - 50 48 50 48 b7 01 ab 01 b2 01 9f 01 c1 01 a0 01 bd 01 44 8a 2c f8 37 e7 3c
Events (1663863364): 48/( 183/ 171)50/( 178/ 159)48/( 193/ 160)50/( 189/ -1)
POST 2: 6 (632f) - 40 a4 0c ed 8a 2c 6b bc ea 55
Events (1663863533): 40/( 1572/ -1)
DO_MARKER( 14, LED40 );
DO_MARKER( 14, LED40|LED48 );
DO_MARKER( 14, LED40 );
DO_MARKER( 14, LED40|LED50 );
DO_MARKER( 14, LED40 );
DO_MARKER( 14, LED40|LED48 );
DO_MARKER( 14, LED40 );
DO_MARKER( 14, LED40|LED50 );
DO_MARKER( 14, LED40 );
DO_MARKER( 14, LED40|LED48 );
DO_MARKER( 14, LED40 );
POST 0: 6 (d7ce) - 40 8a 15 1a 0f ce 00 25 9a 03
Events (-674361574): 40/( 2698/ -1)
POST 0: 26 (d7d1) - 48 50 48 50 48 fc 01 f2 01 f8 01 ee 01 80 02 ef 01 f9 01 f3 01 fd 01 19 66 d2 d7 07 c8 40
Events (-674077159): 48/( 252/ 242)50/( 248/ 238)48/( 256/ 239)50/( 249/ 243)48/( 253/ -1)
POST 2: 6 (d7d4) - 40 89 15 04 67 d2 b3 ad 71 4e
Events (-674076924): 40/( 2697/ -1)
NOTICE: The second timecode is actually less than the first, and so we know the time code in the packet
corresponds to the start edge of the event, not the tailing edge of the event... I hope?
DO_MARKER( 14, LED40 );
DO_MARKER( 14, LED40|LED48 );
DO_MARKER( 14, LED40|LED48|LED50 );
DO_MARKER( 14, LED40|LED50 );
DO_MARKER( 14, LED40 );
POST 0: 16 (55b3) - 44 51 49 f1 01 f8 01 f9 01 f1 01 f2 01 fb 99 b5 96 78 95 4c
Events (1437964795): 49/( 241/ 248)51/( 249/ 241)44/( 242/ -1)
DO_MARKER( 14, LED40 );
DO_MARKER( 28, LED40|LED48 );
DO_MARKER( 14, LED40|LED48|LED50 );
DO_MARKER( 14, LED40|LED50 );
DO_MARKER( 14, LED40 );
POST 0: 16 (d8f1) - 44 51 49 f1 01 ef 03 f7 01 f4 01 f1 01 19 de f2 20 ee f9 82
Events (-655172071): 49/( 241/ 495)51/( 247/ 244)44/( 241/ -1)
POST 0: 16 (d8f7) - 44 51 49 f1 01 ee 03 f7 01 f5 01 f1 01 a3 32 f7 bd 50 64 dc
Events (-654888285): 49/( 241/ 494)51/( 247/ 245)44/( 241/ -1)
DO_MARKER( 14, LED40 );
DO_MARKER( 28, LED40|LED48 );
DO_MARKER( 14, LED40|LED48|LED50 );
DO_MARKER( 14, LED40|LED50 );
DO_MARKER( 14, LED40|LED48|LED50 );
DO_MARKER( 14, LED40 );
POST 0: 20 (48e6) - 46 49 52 49 f2 01 ec 03 f7 01 d1 01 97 02 82 ef 01 cf 77 e6 36 51 12 5b
Events (1223063503): 49/( 242/ 492)52/( 247/ 209)49/( 279/ 2)46/( 239/ -1)
DO_MARKER( 14, LED50 );
DO_MARKER( 28, LED50|LED48 );
DO_MARKER( 14, LED50|LED48|LED40 );
DO_MARKER( 14, LED50|LED40 );
DO_MARKER( 14, LED50|LED48|LED40 );
DO_MARKER( 14, LED50 );
POST 0: 20 (fab4) - 56 49 42 49 f4 01 f2 03 f4 01 d1 01 96 02 84 e9 01 f1 07 b5 62 27 b9 26
Events ( -88799247): 49/( 244/ 498)42/( 244/ 209)49/( 278/ 4)56/( 233/ -1)
Changing second to last LED
DO_MARKER( 14, LED50 );
DO_MARKER( 28, LED50|LED48 );
DO_MARKER( 14, LED50|LED48|LED40 );
DO_MARKER( 14, LED50|LED40 );
DO_MARKER( 14, LED50|LED48|LED40 );
DO_MARKER( 14, LED50|LED40 );
DO_MARKER( 14, LED50 );
POST 0: 21 (665d) - 56 43 48 49 f6 01 fb 03 e4 01 d6 01 95 02 ec 01 f2 01 67 ad 5f 24 9c 44 80
Events (1717546343): 49/( 246/ 507)48/( 228/ 214)43/( 277/ 236)56/( 242/ -1)
DO_MARKER( 14, LED50 );
DO_MARKER( 28, LED50|LED48 );
DO_MARKER( 14, LED50|LED48|LED40 );
DO_MARKER( 14, LED50|LED40 );
DO_MARKER( 14, LED50|LED48|LED40 );
DO_MARKER( 14, LED50|LED48 );
DO_MARKER( 14, LED50 );
POST 0: 21 (af86) - 56 49 42 49 f7 01 fb 03 e5 01 d6 01 8b 02 81 02 e8 01 05 0c 86 92 22 2e fd
Events (-1350169595): 49/( 247/ 507)42/( 229/ 214)49/( 267/ 257)56/( 232/ -1)
^^ Look, this changed.
DO_MARKER( 90, LED48 );
DO_MARKER( 14, LED48|LED40 );
DO_MARKER( 28, LED40 );
DO_MARKER( 56, LED48|LED40 );
DO_MARKER( 10, LED48 );
POST 0: 16 (ce15) - 49 42 49 bf 0c de 01 ec 03 d6 07 b2 01 35 f7 15 51 a0 c8 09
Events (-837421259): 49/( 1599/ 222)42/( 492/ 982)49/( 178/ -1)
POST 0: 16 (ce1b) - 49 42 49 bd 0c df 01 ed 03 d6 07 b2 01 ed 53 1a 99 a3 8c 0e
Events (-837135379): 49/( 1597/ 223)42/( 493/ 982)49/( 178/ -1)
DO_MARKER(40, LED40);
_delay_us(5);
DO_MARKER(80, LED50);
POST 0: 11 (6255) - 50 40 a4 05 9b 01 f4 0a d3 c9 56 82 f0 85 a3
Events (1649854931): 40/( 676/ 155)50/( 1396/ -1)
DO_MARKER(40, LED40);
DO_MARKER(80, LED48|LED40);
DO_MARKER(40, LED40);
POST 0: 12 (409a) - 48 40 e0 15 fb 22 11 f6 0a 47 9a 9a 0a 5e e3 4d
Events (1083873863): 40/( 2784/283003)48/( 1398/ -1)
DO_MARKER(40, LED40);
DO_MARKER(80, LED48|LED40);
DO_MARKER(40, LED40);
_delay_us(10);
DO_MARKER(40, LED40);
DO_MARKER(80, LED48|LED40);
DO_MARKER(40, LED40);
POST 0: 22 (f2cb) - 48 42 48 40 fe 15 f9 1b 11 b4 05 f6 0a b6 05 f2 07 ee 0a 01 8c ca 77 f1 74 e4
Events (-221606911): 40/( 2814/282105)48/( 692/ 1398)42/( 694/ 1010)48/( 1390/ -1)
2's bit mayhem:
DO_MARKER(40, LED40);
DO_MARKER(80, LED48|LED40);
DO_MARKER(40, LED40);
Events ( 669590803): 40/( 2785/283104)48/( 1400/ -1)
DO_MARKER(40, LED48);
DO_MARKER(80, LED48|LED40);
DO_MARKER(40, LED48);
Events (-2138863588): 48/( 2803/282920)40/( 1380/ -1)
DO_MARKER(40, LED48);
DO_MARKER(80, LED48|LED40);
DO_MARKER(40, LED40);
POST 0: 11 (cf74) - 41 49 ce 05 e8 0a bb 05 4c 95 76 1e 8d 62 68
Events (-814312116): 49/( 718/ 1384)41/( 699/ -1)
Continuing...
//WHY IS THE ORDER REVERSED?!?!??!??
DO_MARKER(10, LED48);
_delay_us(500);
DO_MARKER(250, LED40);
Events (-2113688082): 40/( 4359/282445)48/( 165/ -1)
DO_MARKER(10, LED40|LED50);
POST 0: 9 (9af3) - 52 40 98 85 01 94 a0 66 f4 16 8a e6 2a
Events (-1695258976): 40/( 24/ 133)52/( 20/ -1)
DO_MARKER(20, LED40);
_delay_us(10);
DO_MARKER(30, LED50);
_delay_us(10);
DO_MARKER(40, LED48);
_delay_us(10);
DO_MARKER(50, LED40);
POST 0: 21 (fc73) - 40 48 50 40 b5 02 ad 02 8d 04 a2 02 b3 05 bb 02 c5 06 56 85 74 22 a2 36 96
Events ( -59472554): 40/( 309/ 301)50/( 525/ 290)48/( 691/ 315)40/( 837/ -1)
DO_MARKER(20, LED40);
DO_MARKER(20, LED50|LED40);
DO_MARKER(20, LED50);
DO_MARKER(20, LED50|LED48);
DO_MARKER(20, LED50);
POST 0: 16 (b269) - 53 48 41 c8 02 cd 02 f7 02 d6 02 d6 02 77 a8 6a d8 2d 7c 19
Events (-1301632905): 41/( 328/ 333)48/( 375/ 342)53/( 342/ -1)
DO_MARKER(10, LED40);
DO_MARKER(20, LED50|LED40);
DO_MARKER(30, LED50);
DO_MARKER(40, LED50|LED48);
DO_MARKER(50, LED50);
Events ( -3705027): 41/( 151/ 334)48/( 552/ 695)53/( 867/ -1)
**********CHANGED OSCILLATOR SPEED SO NUMBERS ARE ABOUT 1/10TH OF CLKs.
The following is in reference to Alan Yates' picture on twitter.
https://twitter.com/vk2zay/status/805989864311132160
DO_MARKER(10, LED40);
DO_MARKER(20, LED50|LED40);
DO_MARKER(30, LED50);
DO_MARKER(40, LED50|LED48);
DO_MARKER(50, LED50);
POST 0: 15 (7d39) - 53 48 41 f8 a8 02 f9 03 ef 04 98 06 8b 68 3a 45 8b d9 26
Events (2100979851): 41/( 120/ 296)48/( 505/ 623)53/( 792/ -1)
DO_MARKER(10, LED40);
DO_MARKER(20, LED50|LED40);
DO_MARKER(50, LED50);
DO_MARKER(80, LED50|LED48);
DO_MARKER(110, LED50);
Events (-1091897926): 50/( 4118/254995)40/( 417/ 823)48/( 1258/ -1)
DO_MARKER(10, LED40);
DO_MARKER(20, LED50|LED40);
DO_MARKER(30, LED50);
DO_MARKER(50, LED50|LED48);
DO_MARKER(70, LED50);
POST 0: 15 (77b3) - 53 48 41 fa a8 02 fa 03 8f 06 d4 08 0f 74 b4 c9 fd d7 29
Events (2008314895): 41/( 122/ 296)48/( 506/ 783)53/( 1108/ -1)
DO_MARKER(10, LED40);
DO_MARKER(20, LED50|LED40);
DO_MARKER(30, LED50);
DO_MARKER(50, LED50|LED48);
DO_MARKER(80, LED50);
POST 0: 17 (d2d8) - 48 40 50 / a7 16 / f4 / 49 0f / a2 03 / fa 03 / 90 06 / 58 a6 d9 / bf 3f bf d8
Events (-757488040): 50/( 2855/255220)40/( 418/ 506)48/( 784/ -1) << Yeah, I'm decoding the 255220 right, I think?
FOUND SOMETHING NEW!!!: 255220−(262144) = −6924 !!! << Ok, nevermind.
They say not to look here, but, I don't get it. Otherwise, it's a mess of 1's and zeros.
"Ben Jackson you're sending a sequence ab ab ab ab and seeing "b a" b a" "b a" come out "
"Ben Jackson it's not a bug"
"Albert Fletcher Edwin called it"
When switching the _delay_ms(...) to 11 from 10...
POST 0: 17 (b3ac) - 48 40 50 ab 16 8e 14 11 a1 03 fb 03 8f 06 b5 2b ad 0b be 45 82
Events (-1280496715): 50/( 2859/281102)40/( 417/ 507)48/( 783/ -1)
that big number is different now.
...then with... _delay_ms(32);
Events (-992766494): 50/( 2849/816305)40/( 420/ 505)48/( 782/ -1)
Ben Jackson well now your debug data is so different from real data that you're seeing strangeness
Ben Jackson but the thing you're decoding is still accurate
vk2zay the delta decoding around line 357 isn't correct
Ben Jackson oh, not all his coding
Ben Jackson but my coding is accurately representing reality
Ben Jackson @cai it wouldn't, but in a real system there's a lot more data flying around
Cai Biesinger Ah, OK. That makes sense. What's the maximum time a controller would theoretically hold data?
Ben Jackson @cai not sure
switching to: _delay_ms(32);
Now, flirting with limit.
DO_MARKER(20, LED40);
DO_MARKER(35, LED50|LED40);
DO_MARKER(25, LED50);
DO_MARKER(45, LED50|LED48);
DO_MARKER(65, LED50);
Events (1574058667): 41/( 283/ 536)48/( 427/ 704)53/( 1031/ -1)
POST 0: 16 (5ddc) - 53 48 41 9b 02 99 04 ab 03 bf 05 88 08 98 c2 de 86 68 4c ac
Events (1574879896): 41/( 283/ 537)48/( 427/ 703)53/( 1032/ -1)
POST 0: 11 (5deb) - 48 40 b3 06 ac 03 c0 05 cc 45 eb eb 91 c5 bd
Events (1575699916): 40/( 819/ 428)48/( 704/ -1)
POST 0: 22 (5df6) - 53 48 41 50 8d 15 9e 77 31 9b 02 98 04 ab 03 bf 05 88 08 17 d1 f7 99 e3 75 80
Events (1576522007): 50/( 2701/818078)41/( 283/ 536)48/( 427/ 703)53/( 1032/ -1)
POST 0: 16 (5e02) - 53 48 41 99 02 98 04 ab 03 bf 05 86 08 f6 55 04 df 6e 8b 3e
Events (1577342454): 41/( 281/ 536)48/( 427/ 703)53/( 1030/ -1)
POST 0: 16 (5e0e) - 53 48 41 9b 02 98 04 ac 03 bf 05 88 08 ae dc 10 1e 35 03 35
Now this is flirting with the limit and wrapping around.
TODO TODO TODO : Look at these values and try to figure out what's wrong with the deltaA / deltaB code in survive_data.c
COMMIT. Libsurvive hash 09efa97
APPENDIX: Before I started doing inline "ben"ments I kept a log here is that log:
Ben Jackson says: not sure what's going wrong with haptics. I think there's only one command, and it's pulse duration in microseconds, and shouldn't exceed about 3500
Ben Jackson the 3 byte direct time is the first edge of the first hit
Ben Jackson
Ben Jackson there are only 2n-1 deltas
Ben Jackson: it's "first one to end first"
Ben Jackson when a pulse goes high, you don't know when it will end
Ben Jackson
Ben Jackson you can't report it until it ends
Ben Jackson
Ben Jackson so they come out in the order they end
Ben Jackson no, I can't explain the LSBs in terms of his current code
Daniel Wee that explains why the higher bits didn't show up until we had more LEDs in play
Ben Jackson he's got to fix his time decode first
Ben Jackson the starts and ends are all mixed. they have to be, with all positive deltas, right?
Ben Jackson it's literally start,d0,d1,d2,d3 making times start+d0, start+d0+d1, start+d0+d1+d2, ...
Ben Jackson those are all edges
Ben Jackson then you need the LSBs to figure out which edges go where
Ben Jackson consider nested pulses that look like rise rise fall fall, vs sequential rise fall rise fall
Ben Jackson then the decoded times go with different things
vk2zay what is 2^18
Ben Jackson Stupid question or Socratic method?
Ben Jackson I think this might be a more productive stream if it tried to *compress* the data
Ben Jackson in the process you'd probably come to a bunch of the same conclusions I did
Ben Jackson vee kay two zay is what I'm calling him from now on
The whole thing about 2^18, and it mapping into the 2's bit of the timecode + 65536, instead of
the 2's bit of the LED code.
vk2zay getting there
Daniel Wee your sequence of numbers only applies to the first few bytes - but the assignment to the timestamps may be wrong
Ben Jackson vk2zay explaining in pictures while I snag leftover Indian food
(Picture from Twitter)
Ben Jackson oh, are you in SEA Luke?
Ben Jackson I guess Phil did say something like that
training
Ben Jackson MAKING ALL YOUR TIMINGS IDENTICAL IS MAKING YOUR LIFE SO MUCH HARDER
Ben Jackson too bad all caps doesn't actually yell
Ben Jackson we need to be able to pay $1 to have a bad speech synthesizer repeat on stream
Ben Jackson vk2zay about to discover I got the last samosa
Ben Jackson @scanlime with the classic "all example numbers should be prime so no one can mistake them for anything"
Ben Jackson there is nothing of interest in the nRF24
Ben Jackson that's your whole problem, really
Ben Jackson I didn't decode it in the nRF24
Charles: "Can I record this and put it in the gist?: Ben Jackson sure, I wouldn't say anything in chat without expecting it to be public
Is it encoded in the FPGA? Ben Jackson @Na it's encoded in the controller side in an nRF51
Ben Jackson no, @scanlime guessed it was done in the FPGA
Ben Jackson the fpga outputs yet another different format over SPI
Ben Jackson but I bet you could reverse engineer that in 10 minutes
Ben Jackson well, we're not going to try to lock you out
Ben Jackson but we're going to add features someday that break this without caring that it will break you
vk2zay we would only change the protocol to add features
Ben Jackson I think eventually we'll let you do your own wireless protocol
Ben Jackson but it's not a huge priority and there's only so much time
On the gist, when I realize the big number is about - 6k.
Ben Jackson how big is your delay between batches?
Ben Jackson it's not negative
Ben Jackson whatever it is
Ben Jackson noooo
vk2zay it is not a -ve number
Ben Jackson need that chat vocoder
When I started switching the time coding...
Ben Jackson you're just wrapping around and seeing two of your events in one packet
Ben Jackson also your delay probably isn't 11ms. it's probably 280000/48e6 seconds
Ben Jackson it's not "freaking out", it's just combining them
vk2zay well I got it
APPENDIX B: Nairol from lighthouse-redux chimes in on Reddit in: https://www.reddit.com/r/Vive/comments/5gmk7l/i_live_streamed_hacking_the_vive_got_a_vive/
>>> Thanks for the kind words about Lighthouse Redox. (I did most of the initial reverse-engineering work by disassembling the base station firmware) It was meant as a resource for people interested in Lighthouse to build their own hard- and software and share their findings about the system before the eventual official documentation release by Valve (which never happened publically). I'm happy that finally people actually use it. It has been up since a few days before the release of the Vive. :)
>>> I know the repo is in a pretty bad state and lots of pieces are still missing. It hasn't been updated in months... This is partially because of laziness, partially because of my job but for the most part because I lost almost all my data (not just the Lighthouse-related stuff) to a HDD defect. The data recovery lab told me it has a misaligned read/write head with some impact damage to the disk surface. I might get most of the data back but it takes months. Of course I didn't have a backup.
>>> The wireless receiver data really is a mess. I remember sitting in front of a scrolling console window and trying to figure out WTF was going on. Until I accidentally covered the photodiodes and the data started to make sense. :)
>>> I have only watched the first 30 minutes of the screencast so I don't know how much you already know out about the protocol. I've given up on trying to reconstruct how the light pulse data is multiplexed into the data stream just by looking at the USB data. It seems to be encoded into the time stamp and an additional byte but it just doesn't make sense to me. Also there seems to be some kind of checksum (CRC32?) but I couldn't figure out what byte range it coveres...
>>> I wanted to have a look at the firmware for the controller and the wireless receiver to finally solve this riddle but haven't found the time or motivation yet. Disassembling the firmware is fast but finding the stuff you're interested in takes hours and hours of scrolling through walls of mostly boring assembly code.
>>> If you have questions I might be able to help out a bit. But don't count on it since I haven't been following the VR subreddits and haven't done any work on the Vive internals for quite some time.
>>> edit:
>>> @0:43:15
>>> I don't know who told you 2MHz was the correct modulation frequency but it should be 1.843200 MHz. (Link Ctrl+F "carrier.frequency") But 2MHz is good enough.
>>> @0:48:12
>>> I reverse-engineered the stuff on the USB protocol page the same way as you did. So that shouldn't be a problem. Most of the other documentation comes from the base station firmware but I didn't include any code from there so your version can be considered "clean room implementation" AFAIK. I've also told Alan Yates from Valve that I was disassembling his firmware and he didn't seem to have a problem with that.
>>> @x:xx:xx
>>> Afaik all microcontrollers in the system are ARM Cortex M0+ architecture with the Thumb2 instruction set. Haven't seen any 8051 code in the firmware files.
@CaiB
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CaiB commented Dec 7, 2016

OK, I think we have a good handle on the logic now, just needs code and a bit more testing. That said, I will leave the actual code implementation to you, unless you want it in C# :P

@cnlohr
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Author

cnlohr commented Dec 7, 2016

Got some more data... Including some general lighthouse outputs.

DO_MARKER(20, LED50|LED48);
DO_MARKER(20, LED48);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED48);

produces:

POST 0:   26 (9ee9) - 48 48 48 49 51 db 02 a0 02 e1 04 cd 02 ae 02 ce 02 ad 02 cf 02 ad 02 c3 4d e9 9b 0f 3a e8 
9 0 0 301
Light Event: LED 9 @ -1628877674, len 301
9 0 335 301
Light Event: LED 9 @ -1628878009, len 335
9 0 334 302
Light Event: LED 9 @ -1628878644, len 334
9 1 333 609
Light Event: LED 9 @ -1628879888, len 942
10 1 288 347
Light Event: LED 10 @ -1628880523, len 635
POST 0:   11 (9ee9) - 49 41 be 13 aa 02 bf 02 7b 51 e9 2d c8 8f 11 
9 1 0 319
8 1 298 2494
Light Event: LED 9 @ -1628877038, len 617
Light Event: LED 8 @ -1628879532, len 2792
POST 0:   26 (9ef5) - 48 48 48 49 51 db 02 a1 02 e2 04 cd 02 af 02 ce 02 ae 02 cf 02 ad 02 e0 d0 f5 9b 0f 3a e8 
9 0 0 301
Light Event: LED 9 @ -1628057677, len 301
9 0 335 302
Light Event: LED 9 @ -1628058012, len 335
9 0 334 303
Light Event: LED 9 @ -1628058648, len 334
9 1 333 610
Light Event: LED 9 @ -1628059894, len 943
10 1 289 347
Light Event: LED 10 @ -1628060530, len 636
POST 0:   11 (9ef5) - 49 41 c1 13 ad 02 be 02 9a d4 f5 b9 b4 98 51 
9 1 0 318
8 1 301 2497
Light Event: LED 9 @ -1628057041, len 619
Light Event: LED 8 @ -1628059538, len 2798
POST 0:   26 (9f00) - 48 48 48 49 51 db 02 a1 02 e2 04 cd 02 b0 02 cd 02 ae 02 ce 02 ae 02 2c 55 02 9b 0f 3a e8 
9 0 0 302
Light Event: LED 9 @ -1627237378, len 302
9 0 334 302
Light Event: LED 9 @ -1627237712, len 334
9 0 333 304
Light Event: LED 9 @ -1627238347, len 333
9 1 333 610
Light Event: LED 9 @ -1627239594, len 943
10 1 289 347
Light Event: LED 10 @ -1627240230, len 636
POST 2:   11 (9f03) - 49 41 c3 13 ac 02 be 02 e5 58 02 3f 9b 0f 3a 
9 1 0 318
8 1 300 2499
Light Event: LED 9 @ -1627236741, len 618
Light Event: LED 8 @ -1627239240, len 2799
DO_MARKER(20, LED50);
DO_MARKER(20, LED50|LED48);
DO_MARKER(20, LED48);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
produces:
POST 0:   22 (236f) - 48 49 51 40 ac 18 ee 66 31 da 02 a1 02 e1 04 ce 02 ae 02 6e 7c 70 24 82 a2 3a 
9 0 0 302
Light Event: LED 9 @ 594574144, len 302
9 1 334 609
Light Event: LED 9 @ 594573201, len 943
10 1 289 346
Light Event: LED 10 @ 594572566, len 635
8 0 815982 3116
OFLOW: LED 8 @ 593756584, len 815982
POST 0:   16 (236f) - 48 48 48 ad 02 cf 02 ad 02 cf 02 ad 02 e1 83 70 36 ac 89 ab 
9 0 0 301
Light Event: LED 9 @ 594576052, len 301
9 0 335 301
Light Event: LED 9 @ 594575717, len 335
9 0 335 301
Light Event: LED 9 @ 594575081, len 335
POST 0:   22 (237b) - 48 49 51 40 aa 18 c6 63 31 db 02 a1 02 e3 04 cd 02 af 02 3f fe 7c a4 a1 30 5d 
9 0 0 303
Light Event: LED 9 @ 595393808, len 303
9 1 333 611
Light Event: LED 9 @ 595392864, len 944
10 1 289 347
Light Event: LED 10 @ 595392228, len 636
8 0 815558 3114
OFLOW: LED 8 @ 594576670, len 815558
POST 2:   11 (237e) - 48 48 ad 02 cf 02 ad 02 37 03 7d 3e 22 0f 30 
9 0 0 301
Light Event: LED 9 @ 595395082, len 301
9 0 335 301
Light Event: LED 9 @ 595394747, len 335
POST 0:    6 (237e) - 48 ad 02 b4 05 7d 7c f2 48 19 
9 0 0 301
Light Event: LED 9 @ 595395719, len 301
POST 0:   22 (2389) - 48 49 51 40 ae 18 f8 60 31 da 02 a0 02 e0 04 cd 02 ad 02 bd 7e 89 d1 6c d8 04 
9 0 0 301
Light Event: LED 9 @ 596213136, len 301
9 1 333 608
Light Event: LED 9 @ 596212195, len 941
10 1 288 346
Light Event: LED 10 @ 596211561, len 634
8 0 815224 3118
OFLOW: LED 8 @ 595396337, len 815224

General lighthouse outputs:

Light Event: LED 5 @ -1471666040, len 593
POST 0:   11 (a848) - 00 10 b2 04 fc 04 ce 04 dc 31 48 8b 25 a9 ce 
Light Event: LED 0 @ -1471664242, len 590
Light Event: LED 2 @ -1471664878, len 636
POST 0:   15 (a84e) - be 2c 1a 50 cc df db ee 12 89 85 85 1a 54 4c 16 b9 bf fa 
Light Event: LED 3 @ -1471395361, len 2600
Light Event: LED 5 @ -1471395361, len 2614
Light Event: LED 10 @ -1471395361, len 95
Light Event: LED 23 @ -1471395437, len 2695
POST 0:   25 (a84e) - 59 81 60 28 60 94 17 95 7e ef 26 cb 1a 0c b1 02 86 02 8f 8c 01 bc 0c b7 4f 16 a8 15 51 
Light Event: LED 11 @ -1471171004, len 200
Light Event: LED 16 @ -1471171019, len 155
Light Event: LED 12 @ -1471171281, len 262
OFLOW: LED 5 @ -1471371597, len 200011
Light Event: LED 12 @ -1471392721, len 16149
POST 2:    6 (a851) - b0 c6 02 99 bd 4f cd eb d2 bf 
Light Event: LED 22 @ -1471169453, len 326
POST 0:   22 (a854) - 60 b0 28 b0 f0 22 86 72 e2 2a d0 3e 0a a9 02 a5 07 89 02 3b 68 55 06 86 23 f2 
Light Event: LED 12 @ -1470798030, len 265
Light Event: LED 22 @ -1470798963, len 933
OFLOW: LED 5 @ -1470971116, len 171856
Light Event: LED 22 @ -1470991188, len 14598
POST 0:   25 (a85a) - 2b 51 4a 28 60 c7 2e e6 66 84 1f fb 31 0b d9 01 da ca db 02 e4 02 f6 b4 5b 9a a8 15 51 
Light Event: LED 10 @ -1470385683, len 421
Light Event: LED 5 @ -1470385773, len 867
OFLOW: LED 5 @ -1470572609, len 186619
OFLOW: LED 9 @ -1470572609, len 186926
Light Event: LED 12 @ -1470589739, len 13158
POST 2:   11 (a85d) - 90 38 f6 05 f3 05 81 05 81 bb 5b 7e a8 15 51 
Light Event: LED 18 @ -1470383872, len 641
Light Event: LED 7 @ -1470384627, len 755
POST 0:   26 (a85d) - 10 0b 03 1b 23 30 b2 02 ba 0a c9 b2 c3 96 02 ea 02 ee d4 ff 05 b0 06 6d cc 5b a8 15 51 e8 
Light Event: LED 2 @ -1470379715, len 816
Light Event: LED 1 @ -1470381038, len 1323
Light Event: LED 0 @ -1470381383, len 817
Light Event: LED 3 @ -1470381506, len 468
Light Event: LED 6 @ -1470382844, len 1338
Light Event: LED 4 @ -1470383150, len 1767
POST 0:   22 (a860) - 20 18 28 b0 c9 2a 98 6a 96 1b fd 39 06 a7 03 b7 08 a3 02 3d 94 60 b7 58 3f 5a 
Light Event: LED 4 @ -1470065894, len 291
Light Event: LED 3 @ -1470066973, len 1079
OFLOW: LED 5 @ -1470173121, len 105725
Light Event: LED 22 @ -1470190191, len 13592
POST 2:   10 (a862) - 09 29 89 04 c9 fd 03 ca 96 60 1a b3 a8 15 
Light Event: LED 1 @ -1470065532, len 582
Light Event: LED 5 @ -1470066053, len 594
POST 0:   11 (a862) - 00 10 b3 04 fa 04 d1 04 d1 9b 60 b3 c9 f9 a3 
Light Event: LED 0 @ -1470064256, len 593
Light Event: LED 2 @ -1470064890, len 634
POST 0:   25 (a868) - 59 81 60 28 b0 ff 1e c1 76 ee 26 b6 1a 0c af 02 8a 02 86 93 01 bd f4 20 68 82 a8 15 51 
Light Event: LED 11 @ -1469571036, len 208
Light Event: LED 16 @ -1469571042, len 153
Light Event: LED 12 @ -1469571308, len 266

and

Light Event: LED 2 @ 1876791825, len 814
1 3 766 96
0 3 94 372
Light Event: LED 1 @ 1876790497, len 1328
3 3 266 80
Light Event: LED 0 @ 1876790151, len 812
4 3 26 81
Light Event: LED 3 @ 1876790044, len 453
6 0 1407 223
Light Event: LED 6 @ 1876788637, len 1407
Light Event: LED 4 @ 1876788414, len 1737
POST 0:   22 (6fe1) - 20 18 28 60 d4 2a c8 70 fb 22 89 32 06 a0 03 c3 08 90 02 20 5d e2 37 61 b9 19 
4 0 0 272
Light Event: LED 4 @ 1877105680, len 272
3 0 1091 416
Light Event: LED 3 @ 1877104589, len 1091
5 0 104713 4475
OFLOW: LED 5 @ 1876999460, len 104713
12 0 14408 5460
Light Event: LED 12 @ 1876980577, len 14408
POST 2:   10 (6fe4) - 09 29 8b 04 bf fc 03 b1 5f e2 29 a2 6f 0f 
1 1 0 508
5 1 63 523
Light Event: LED 1 @ 1877106038, len 571
Light Event: LED 5 @ 1877105515, len 586
POST 0:   11 (6fe4) - 00 10 ad 04 80 05 ca 04 ba 64 e2 d6 4a 7a ce 
0 0 0 586
Light Event: LED 0 @ 1877107312, len 586
2 0 640 557
Light Event: LED 2 @ 1877106672, len 640
POST 0:   25 (6fe7) - 59 81 60 28 60 f8 1e ac 7c d0 2e d9 0c 0c ad 02 83 02 9c 84 01 b5 c1 e6 e9 af 6f 0f cd 
11 1 0 53
16 1 132 28
Light Event: LED 11 @ 1877599752, len 185
Light Event: LED 16 @ 1877599724, len 160
12 0 259 301
Light Event: LED 12 @ 1877599465, len 259
5 0 198233 5968
OFLOW: LED 5 @ 1877400931, len 198233
12 0 15916 3960
Light Event: LED 12 @ 1877379047, len 15916
POST 2:    6 (6fea) - b0 c4 02 51 ed e9 44 76 ba 18 
22 0 0 324
Light Event: LED 22 @ 1877601293, len 324
POST 0:   22 (6fed) - 60 b0 28 60 ef 22 a2 78 d2 32 b0 30 0a a6 02 a8 07 89 02 fd 97 ef 8f e0 60 70 
12 0 0 265
Light Event: LED 12 @ 1877972724, len 265
22 0 936 294
Light Event: LED 22 @ 1877971788, len 936
5 0 170032 6482
OFLOW: LED 5 @ 1877801462, len 170032
12 0 15394 4463
Light Event: LED 12 @ 1877779586, len 15394

@cnlohr
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cnlohr commented Dec 7, 2016

(Above for @CaiB @danweecc and @MobiusHorizons -- do you guys get notifications when I @ you?

@CaiB
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CaiB commented Dec 7, 2016

@cnlohr: No, I don't get notifications, and I can't find a place to enable them. I'll have a look at the data later.

@MobiusHorizons
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MobiusHorizons commented Dec 8, 2016

@danweecc, I just have to say I really love your ASCII graphs, I think they help clarify the encoding very much.

@MobiusHorizons
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MobiusHorizons commented Dec 8, 2016

@cnlohr: about the packet with dropped events:

If there are too many events for a packet, I would expect the packet to get sent as soon as it filled up. And another packet to follow it with the later events shortly after. For this reason I don't think you would have some kind of continue packet, but rather two packets of events one after the other. However this is based on my understanding of the comments of Ben and vk2zay on chat, so I wouldn't be surprised to be wrong.

The biggest limitation on the packet seems to me to be based on the LSB's only being 3 bits. I would expect that the system can't handle more than 7 events taking place in between a sensor's rising and falling edge. I think @CaiB is probably right that this is an uncommon scenario that didn't need to be handled for normal operation of the watchman, although that is just a guess.

@MobiusHorizons
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MobiusHorizons commented Dec 8, 2016

@cnlohr, your event parsing seems good to me, although i'll be honest and say i don't completely understand the timestamp at the end of the packet. I remember in your Saturday night -> Sunday morning stream, you (at one point) found that the IMU timestamps and the sensor timestamps were lining up. Is that still the case? I wonder because the negative numbers don't look like what I remember.

what condition causes the OFLOW in your logs above. Is that when packets don't match up number of leds, to number of transitions?

At this point it looks to me like you have gotten everything I understand. What do you need next?

@danweecc
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danweecc commented Dec 8, 2016

@MobiusHorizons - thanks. The visualizations help me think this through logically.

@cnlohr - no I don't get notifications either.

From your recent examples I am inclined to agree with Mobius. It looks like additional packets are handled in a subsequent packet and the encoding is done cleanly. All you really need to correlate the two, then, are the actual timestamps. Looks like this is pretty much cracked.

@Zmathue
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Zmathue commented Dec 8, 2016

So I wrote this today after watching the latest youtube video, so far it has succeed at pretty much everything I threw at it. (the scanline packets that are very long dont look so great, but those would be filtered out anyway as that is not something we need to measure)

The only thing I cant figure out is why in the most recent data

DO_MARKER(20, LED50|LED48);
DO_MARKER(20, LED48);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED48);

LED50 does not start at the same time as LED48, it should be able to but instead of the lower bits being 000 to achieve this they are set to 001. There is also no other place in the packet for this information to be stored so I have no idea what is wrong....

cnlohr7pm
the magenta line is LED50, and cyan is LED48

and the information parsed from this:

Time:  29996
Deltas:  [347, 289, 610, 333, 304, 333, 302, 334, 302]
Times:  [26842, 27189, 27478, 28088, 28421, 28725, 29058, 29360, 29694, 29996]
LED  0x48 Flags:  000
LED  0x48 Flags:  000
LED  0x48 Flags:  000
LED  0x48 Flags:  001
LED  0x50 Flags:  001
ViveLEDNumber:  0x48    Start time:  29694    End time: 29996   transNum(should be negative!):  -9
ViveLEDNumber:  0x48    Start time:  29058    End time: 29360   transNum(should be negative!):  -7
ViveLEDNumber:  0x48    Start time:  28421    End time: 28725   transNum(should be negative!):  -5
ViveLEDNumber:  0x48    Start time:  27189    End time: 28088   transNum(should be negative!):  -2
ViveLEDNumber:  0x50    Start time:  26842    End time: 27478   transNum(should be negative!):  -1

Time:  30949
Deltas:  [2499, 300, 318]
Times:  [27832, 30331, 30631, 30949]
LED  0x48 Flags:  001
LED  0x40 Flags:  001
ViveLEDNumber:  0x48    Start time:  30331    End time: 30949   transNum(should be negative!):  -2
ViveLEDNumber:  0x40    Start time:  27832    End time: 30631   transNum(should be negative!):  -1

and the code: (i'm a C developer I swear!!, but python is so good for RE)

#!/usr/bin/env python
#Zack Kolarich 2016

import numpy as np
import matplotlib.pyplot as plt

packets = []
#GOOD
#packets.append(bytes.fromhex("  40 50 48 b0 05 a2 02 c1 05 c7 03 f1 03 65 9b 2f 80 03 2b 58  "))
#packets.append(bytes.fromhex("  40 50 48 b0 05 a2 02 c2 05 cb 03 ec 03 63 f4 33 28 40 ed c5  "))
#packets.append(bytes.fromhex("  40 50 48 b2 05 a3 02 c3 05 c5 03 f5 03 57 4e 38 d2 2e c9 30  "))
#GOOD
#packets.append(bytes.fromhex("  4a 50 b8 05 c1 05 b4 05 b6 b1 3d e8 dc 86 2e    "))
#packets.append(bytes.fromhex("  4a 50 b6 05 c0 05 b2 05 bf 09 42 5f 9b a8 e3   "))
#packets.append(bytes.fromhex("  4a 50 b6 05 c0 05 b2 05 bf 09 42 5f 9b a8 e3   "))

#91 GOOD
#packets.append(bytes.fromhex("  52 48 cb 05 ac 05 c0 05 13 b2 24 2b 65 ee 99   "))
#104 GOOD, shows a large value as it is reading the scanline as part of the frame 
#packets.append(bytes.fromhex("  50 c5 7b 03 f7 a7 a0 f1 12 65 81   "))
#204 Good
#packets.append(bytes.fromhex("   51 41 b5 03 c5 02 c9 01 8e 3f b8 86 85 bb b7    "))
#211 Good
#packets.append(bytes.fromhex("  51 41 86 02 c4 02 f8 02 90 94 eb b9 24 5b 63    "))
#276 GOOd
#packets.append(bytes.fromhex("  42 50 95 01 c2 05 ef 0a 1b 1f 3b cc 8e 19 e9    "))
#285 Odd
#packets.append(bytes.fromhex("  50 50 50 40 94 26 b0 23 11 c2 05 bd 05 c1 05 c4 05 bd 05 b8 e4 3d 20 92 0c ca    "))

#325  
#packets.append(bytes.fromhex("  50 50 50 48 8b 26 bb 22 11 be 05 bc 05 bf 05 c2 05 bb 05 04 29 57 89 58 68 fe    "))

#367 GOOD 
#packets.append(bytes.fromhex("  4a 50 4a 40 b8 05 bc 05 b0 05 94 02 d7 05 ba 05 b2 05 14 59 b4 75 86 56 a5     "))

#392 odd 
#packets.append(bytes.fromhex("  50 50 42 48 cf 05 92 1b c4 05 bb 22 11 bd 05 b7 05 be 05 b4 6e ed 89 d4 56 85     "))

#435 PERFECT!
#packets.append(bytes.fromhex("  46 51 4b 50 bf 01 a0 01 b5 01 fb d2 01 bf 01 ac 01 f8 37 46 8c 97 9c 84      "))


#471 also PERFECT! it did not split over a packet boundry, not sure if coincidence or just protocal working correctly, pretty sure if I wrote
#the protocal I dont see there being a need to split over boundry as it should work better without, especially if timing comes over internal bus
#from fpga to mcu
#packets.append(bytes.fromhex("  48 50 48 50 48 fc 01 f2 01 f8 01 ee 01 80 02 ef 01 f9 01 f3 01 fd 01 19 66 d2 d7 07 c8 40       "))
#packets.append(bytes.fromhex("  40 89 15 04 67 d2 b3 ad 71 4e    "))

#455 MULTIPACKET GOOD
#packets.append(bytes.fromhex("  50 48 50 48 b7 01 ab 01 b2 01 9f 01 c1 01 a0 01 bd 01 44 8a 2c f8 37 e7 3c       "))
#packets.append(bytes.fromhex("  40 a4 0c ed 8a 2c 6b bc ea 55       "))

#532 Good
#packets.append(bytes.fromhex("  56 43 48 49 f6 01 fb 03 e4 01 d6 01 95 02 ec 01 f2 01 67 ad 5f 24 9c 44 80       "))
#623good
#packets.append(bytes.fromhex(" 40 48 50 40 b5 02 ad 02 8d 04 a2 02 b3 05 bb 02 c5 06 56 85 74 22 a2 36 96      "))

# #test 654
# #10,20,30,40,50
# packets.append(bytes.fromhex("  53 48 41 f8 a8 02 f9 03 ef 04 98 06 8b 68 3a 45 8b d9 26   "))
# #10,20,30,50,70
# packets.append(bytes.fromhex("  53 48 41 fa a8 02 fa 03 8f 06 d4 08 0f 74 b4 c9 fd d7 29    "))

#cnlohr 10/7 ~7pm gist post GOOD, make sure you get two that the data blocks overlap otherwise it may look odd, but it is still good either way
#packets.append(bytes.fromhex("  48 48 48 49 51 db 02 a1 02 e2 04 cd 02 af 02 ce 02 ae 02 cf 02 ad 02 e0 d0 f5 9b 0f 3a e8       "))
#packets.append(bytes.fromhex("  49 41 c1 13 ad 02 be 02 9a d4 f5 b9 b4 98 51       "))
	#Identicle \/
#packets.append(bytes.fromhex("  48 48 48 49 51 db 02 a1 02 e2 04 cd 02 b0 02 cd 02 ae 02 ce 02 ae 02 2c 55 02 9b 0f 3a e8      "))
#packets.append(bytes.fromhex("  49 41 c3 13 ac 02 be 02 e5 58 02 3f 9b 0f 3a       "))

#General lighthouse outputs
#packets.append(bytes.fromhex(" 00 10 b2 04 fc 04 ce 04 dc 31 48 8b 25 a9 ce   "))
#packets.append(bytes.fromhex(" be 2c 1a 50 cc df db ee 12 89 85 85 1a 54 4c 16 b9 bf fa    "))
# packets.append(bytes.fromhex(" 59 81 60 28 60 94 17 95 7e ef 26 cb 1a 0c b1 02 86 02 8f 8c 01 bc 0c b7 4f 16 a8 15 51    "))
# packets.append(bytes.fromhex(" b0 c6 02 99 bd 4f cd eb d2 bf     "))
# packets.append(bytes.fromhex(" 60 b0 28 b0 f0 22 86 72 e2 2a d0 3e 0a a9 02 a5 07 89 02 3b 68 55 06 86 23 f2    "))
# packets.append(bytes.fromhex(" 2b 51 4a 28 60 c7 2e e6 66 84 1f fb 31 0b d9 01 da ca db 02 e4 02 f6 b4 5b 9a a8 15 51    "))

#OFLOW test
# packets.append(bytes.fromhex("  00 10 b2 04 fc 04 ce 04 dc 31 48 8b 25 a9 ce       "))
# packets.append(bytes.fromhex("  be 2c 1a 50 cc df db ee 12 89 85 85 1a 54 4c 16 b9 bf fa     "))
# packets.append(bytes.fromhex("  59 81 60 28 60 94 17 95 7e ef 26 cb 1a 0c b1 02 86 02 8f 8c 01 bc 0c b7 4f 16 a8 15 51     "))
# packets.append(bytes.fromhex("  b0 c6 02 99 bd 4f cd eb d2 bf        "))
# packets.append(bytes.fromhex("  60 b0 28 b0 f0 22 86 72 e2 2a d0 3e 0a a9 02 a5 07 89 02 3b 68 55 06 86 23 f2       "))
# packets.append(bytes.fromhex("  2b 51 4a 28 60 c7 2e e6 66 84 1f fb 31 0b d9 01 da ca db 02 e4 02 f6 b4 5b 9a a8 15 51     "))
# packets.append(bytes.fromhex("  90 38 f6 05 f3 05 81 05 81 bb 5b 7e a8 15 51    "))
# packets.append(bytes.fromhex("  10 0b 03 1b 23 30 b2 02 ba 0a c9 b2 c3 96 02 ea 02 ee d4 ff 05 b0 06 6d cc 5b a8 15 51 e8        "))
# packets.append(bytes.fromhex("  20 18 28 b0 c9 2a 98 6a 96 1b fd 39 06 a7 03 b7 08 a3 02 3d 94 60 b7 58 3f 5a     "))
# packets.append(bytes.fromhex("  09 29 89 04 c9 fd 03 ca 96 60 1a b3 a8 15     "))
# packets.append(bytes.fromhex("  00 10 b3 04 fa 04 d1 04 d1 9b 60 b3 c9 f9 a3     "))
# packets.append(bytes.fromhex("  59 81 60 28 b0 ff 1e c1 76 ee 26 b6 1a 0c af 02 8a 02 86 93 01 bd f4 20 68 82 a8 15 51      "))

#ben packet

packets.append(bytes.fromhex("  2b 51 4a 28 60 c7 2e e6 66 84 1f fb 31 0b d9 01 da ca db 02 e4 02 f6 b4 5b 9a a8 15 51       "))

#654 #3
#packets.append(bytes.fromhex("  48 40 50 a7 16 f4 49 0f a2 03 fa 03 90 06 58 a6 d9 bf 3f bf d8    "))
#this test removed because it reads the long scanline pause as being an event, this is correct functioning
#but just confuses matters for the time being
def arcaneValues(p):
	deltas = []
	leds = []
	count = 0
	i = len(p) - 4	#4bytes of mac leftover from RF encryp, ignore
	i -= 3 #move to start of timestamp
	time = (p[i+2]<<12)|(p[i+1]<<8)|(p[i]<<0)		#note this time can only be used to compare two packets near each other
														#incorperate IMU msb into this to get a more absolute time
	#deltas.append(time)
	#do{ ...}while() dont exist in python :(
	i -= 1
	while(i > (count-1)/2 ):		
		accumilate = 0
		while(True):
			accumilate <<= 7	#shift over
			accumilate |= p[i] & ~(1<<7)	#clear highest bit before accumilate
			
			if(p[i] & 1<<7):
				i-=1
				break	#terminate value when 1 in highest bit
				
			i-=1				
		#deltas.append(accumilate)	#TODO: is this the right way or backwards, should prepend to array?
										#^----- Yes this was backwards,see test line #654 of gist document
		deltas.insert(0,accumilate)
		count +=  1


	while (i >= 0):
		leds.insert(0,p[i])	#append(p[i])
		i -= 1
	return (time,leds,deltas)
		
graph=0
for p in packets:
	graph+=1
	times = [0,] 
	(abstime,leds,deltas)=arcaneValues(p)
	
	accumilate = 0
	for i in range(len(deltas)):
		accumilate += deltas[i]
		times.append(accumilate)
	
	#for multiple packets to align they must be anchored at the last value, ie, the 3 byte timestamp of the packet is the time of the last event
	for i in range(len(times)):
		times[i] += abstime - times[-1]	
	
	print("Time: ",abstime)	
	print("Deltas: ",deltas)
	print("Times: ",times)
	for led in leds: 
		print("LED ", hex(led & ~7),"Flags: ", format(led&7, '03b'))
		
	event = len(times) - 1	#holds postition of the event that is being assigned
	
	activeLeds = []
	
	#for i in range(len(leds)-1,-1,-1):	#main led loops this will loop as long as there are leds that havent been activated yet
	while(event >= 0):
		eventUsed = 0 
		for a in activeLeds:					#check all active leds to see if any have an end transtition to process
			#print("check",event,a)				
			if a["transNum"] == 0:				#this event can be shared, not that it would in practice
				eventUsed = 1
				a["startTime"] = times[event] 
			
			a["transNum"] -= 1	#if 0 -> -1, if not subtract 1 for next loop
		
		#we hit a transtition that has not been accounted for, give it to the next LED
		if(not eventUsed):
			led = leds.pop(0)	#pop the first element from leds array and put it in the active leds array 
			#print("new",event,led)
			newLed = {}
			newLed["endTime"] = times[event]
			newLed["ledNum"] = led & ~7
			newLed["transNum"] = led&7	#lowest three bits
			activeLeds.append(newLed)
		event -= 1
		
	for led in activeLeds:
		print("ViveLEDNumber: " ,led["ledNum"]>>3,"   Start time: ", led["startTime"], "   End time:", led["endTime"],"Width:", led["endTime"]-led["startTime"])#"	transNum(should be negative!): ", led["transNum"]  )
		#plt.subplot(3,1,graph)
		plt.subplot(1,1,1)
		plt.plot([led["startTime"]-1,led["startTime"],led["endTime"],led["endTime"]+1],[0,1,1,0])
		plt.ylim(0, 1.1)
		#plt.xlim(0,3000)
		
	#plt.show()
	print("")
	
plt.show()

@cnlohr
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cnlohr commented Dec 8, 2016

@MobiusHorizons @CaiB - I don't think the thing about multiple lights being on at the same time is an uncommon occurrance. Look at all the overlfow'd results in the actual lighthouse data, of 200,000+ ticks. They are marked as "OFLOW"

@danweecc - give me an example where things look like they are happening in a subsequent packet.

@MobiusHorizons: The negative timestamps I think are right because I found the overflow packet showed the thing forward in time, so it was clearly when the thing went dark, not when it went light. I vaguely remember Ben saying something to that effect, at least that the timing things were wrong, and based on this...

I don't know why I'm having such a hard time wrapping my head around the deltas... They can't be the end of time, since ... OH MY GOSH ... I have been reading this example backwards the entire time!

POST 0:   26 (d7d1) - 48 50 48 50 48 fc 01 f2 01 f8 01 ee 01 80 02 ef 01 f9 01 f3 01 fd 01 19 66 d2 d7 07 c8 40 
Events (-674077159): 48/(  252/  242)50/(  248/  238)48/(  256/  239)50/(  249/  243)48/(  253/   -1)
POST 2:    6 (d7d4) - 40 89 15 04 67 d2 b3 ad 71 4e 
Events (-674076924): 40/( 2697/ -1)

If events ever don't line up, it will spit out an error, not OFLOW

OFLOW is strictly caused when everything is parsed fine (all transitions line up) BUT a time comes in that exceeds 65535. There are no natural situations with the lighthouses that will cause an indicator to be on for more than a (8?) thousand ticks, so the 100,000+ ones are clearly something else.

This brings us down to: Is the really big number a code or a bug?

Everyone: We will not use Gist anymore for correspondance in future subprojects, and instead use an issue in the main project, that way all notifications will go as-is. For now, we are stuck with this. Hopefully it will be done soon. Thank you, all for checking back so frequently!

Think about the example lighthouse data with the "OFLOW" stuff. Additionally, I intend to put together a video of this soap opera. I think it'll be really cool! You all will be clearly outlined in the highlights. Can you guys just think through this some more? Any more tests I can run?

@MobiusHorizons
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MobiusHorizons commented Dec 8, 2016

@cnlohr, ok, makes sense. I'll be thinking about it. Let you know when/if I come up with anything.

@cnlohr
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cnlohr commented Dec 8, 2016

@Zmathue I just noticed your post. I will compare what you have to what I currently have in libsurvive.

@cnlohr
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cnlohr commented Dec 8, 2016

@Zmathue... can you run your test against some of the things I just posted (like the real-world lighthouse data) to see if they agree with the unusualalities?

@Zmathue
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Zmathue commented Dec 8, 2016

So I did a test running 8 different packets from the lighthouse data including the OFLOW ones. It appears like those long delta times are not what I thought earlier.

Looking at the lighthouse data it appears that the long deltas always appear in between two signals. ie the long gap is the spacing not the length of a signal. I thought they might be packing older data with newer in the packet but that would lead to their being like 0.1s latency while waiting for the slow half of the packet so its definitely not that.

Time:  358459
Deltas:  [4464, 14598, 5474, 171856, 297, 933, 265]
Times:  [160572, 165036, 179634, 185108, 356964, 357261, 358194, 358459]
LED  0x60 Flags:  000
LED  0xb0 Flags:  000
LED  0x28 Flags:  000
LED  0xb0 Flags:  000
ViveLEDNumber:  0x60    Start time:  358194    End time: 358459         transNum(should be negative!):  -7
ViveLEDNumber:  0xb0    Start time:  356964    End time: 357261         transNum(should be negative!):  -5
ViveLEDNumber:  0x28    Start time:  179634    End time: 185108         transNum(should be negative!):  -3
ViveLEDNumber:  0xb0    Start time:  160572    End time: 165036         transNum(should be negative!):  -1

Note large gap for 0xb0 between the two waves 

Time:  374006
Deltas:  [5959, 13158, 3972, 186619, 217, 90, 74, 347, 356]
Times:  [163214, 169173, 182331, 186303, 372922, 373139, 373229, 373303, 373650,
 374006]
LED  0x28 Flags:  011
LED  0x50 Flags:  001
LED  0x48 Flags:  010
LED  0x28 Flags:  000
LED  0x60 Flags:  000
ViveLEDNumber:  0x28    Start time:  373139    End time: 374006         transNum(should be negative!):  -6
ViveLEDNumber:  0x50    Start time:  373229    End time: 373650         transNum(should be negative!):  -7
ViveLEDNumber:  0x48    Start time:  372922    End time: 373303         transNum(should be negative!):  -5
ViveLEDNumber:  0x28    Start time:  182331    End time: 186303         transNum(should be negative!):  -3
ViveLEDNumber:  0x60    Start time:  163214    End time: 169173         transNum(should be negative!):  -1

Large gap for 0x28 between both waves

Time:  431165
Deltas:  [5449, 13592, 3478, 105725, 423, 1079, 291]
Times:  [301128, 306577, 320169, 323647, 429372, 429795, 430874, 431165]
LED  0x20 Flags:  000
LED  0x18 Flags:  000
LED  0x28 Flags:  000
LED  0xb0 Flags:  000
ViveLEDNumber:  0x20    Start time:  430874    End time: 431165         transNum(should be negative!):  -7
ViveLEDNumber:  0x18    Start time:  429372    End time: 429795         transNum(should be negative!):  -5
ViveLEDNumber:  0x28    Start time:  320169    End time: 323647         transNum(should be negative!):  -3
ViveLEDNumber:  0xb0    Start time:  301128    End time: 306577         transNum(should be negative!):  -1

Time:  434420
Deltas:  [3967, 15169, 4974, 199990, 303, 266, 6, 147, 61]
Times:  [209537, 213504, 228673, 233647, 433637, 433940, 434206, 434212, 434359,
 434420]
LED  0x58 Flags:  001
LED  0x80 Flags:  001
LED  0x60 Flags:  000
LED  0x28 Flags:  000
LED  0xb0 Flags:  000
ViveLEDNumber:  0x58    Start time:  434212    End time: 434420         transNum(should be negative!):  -8
ViveLEDNumber:  0x80    Start time:  434206    End time: 434359         transNum(should be negative!):  -7
ViveLEDNumber:  0x60    Start time:  433637    End time: 433940         transNum(should be negative!):  -5
ViveLEDNumber:  0x28    Start time:  228673    End time: 233647         transNum(should be negative!):  -3
ViveLEDNumber:  0xb0    Start time:  209537    End time: 213504         transNum(should be negative!):  -1

Here is a graph of the lighthouse data
figure_1
both axis are linear

@danweecc
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danweecc commented Dec 8, 2016

@cnlohr - you posted the following output above:-

DO_MARKER(20, LED50|LED48);
DO_MARKER(20, LED48);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED40);
DO_MARKER(20, LED40|LED48);
DO_MARKER(20, LED48);

POST 0:   26 (9ee9) - 48 48 48 49 51 db 02 a0 02 e1 04 cd 02 ae 02 ce 02 ad 02 cf 02 ad 02 c3 4d e9 9b 0f 3a e8 
POST 0:   11 (9ee9) - 49 41 be 13 aa 02 bf 02 7b 51 e9 2d c8 8f 11

LED50 |---+---|
LED48 |---+---+---+---+---+---|       |---+---|       |---+---|       |---+---|       |---+---+---+---| <-- appears in next packet
LED40                 |---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---| <-- appears in next packet

If we follow the encoding rules that we have derived so far, the LED header for this pulse configuration should read:-

49 40|8 48 48 48 4a 50

Note that LED50 is encoded as 51 probably because of timing jitter. It could easily be 50 or 51 in this case. If it came in as 50, the you would have 4b preceding it due to the way the final edge overlaps.

I wrote 40|8 because there are 8-transitions within the LED40 pulse, which is more than the system can handle. Nevertheless, instead of getting this string, we have it broken up into two separate packets as you posted:-

48 48 48 49 51
49 41

What seems to be happening here is that the LED40 pulse is completely encoded in the second packet and is completely ignored in the first packet. This is the reason why you have 49 51 in the first packet instead of 4a 51 - because it does not count the LED40's rising edge.

I did not check this but I'd guess that if you looked at the actual timestamp and added the respective deltas, you'd find that the LED40 from the second packet overlaps the first packet.

@cnlohr
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cnlohr commented Dec 8, 2016

Ok... Ben just kinda gave us the ranch...

2b 51 4a 28 60 c7 2e e6 66 84 1f fb 31 0b d9 01 da ca db 02 e4 02 f6 b4 5b 9a a8 15 51 

decodes to:

id 12 start 5799310 width 5959
id 5 start 5818427 width 3972
id 9 start 6009018 width 381
id 10 start 6009325 width 421
id 5 start 6009235 width 867

according to him.

Meanwhile, I decode it as:

Light Event: LED 10 @ -1470385683, len 421  (6009325 = -1470385683)
Light Event: LED 5 @ -1470385773, len 867 (6009235 =  -1470385773)
OFLOW: LED 5 @ -1470572609, len 186619 (5822399 = -1470572609)
OFLOW: LED 9 @ -1470572609, len 186926
Light Event: LED 12 @ -1470589739, len 13158 (5805269 = -1470589739)

Any of you guys mind seeing if your stuff decodes to the same as Ben's...?

@Zmathue
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Zmathue commented Dec 8, 2016

I got the same thing as him, the start times are offset because I didn't include the imu in the time calc but the rest is right (the start times are all offset by the same value). I updated the code in the post above to have the same IDs as bens

C:\Users\Zack\Documents\Vive>python vive.py
Time:  374006
Deltas:  [5959, 13158, 3972, 186619, 217, 90, 74, 347, 356]
Times:  [163214, 169173, 182331, 186303, 372922, 373139, 373229, 373303, 373650,
 374006]
LED  0x28 Flags:  011
LED  0x50 Flags:  001
LED  0x48 Flags:  010
LED  0x28 Flags:  000
LED  0x60 Flags:  000
ViveLEDNumber:  5    Start time:  373139    End time: 374006 Width: 867
ViveLEDNumber:  10    Start time:  373229    End time: 373650 Width: 421
ViveLEDNumber:  9    Start time:  372922    End time: 373303 Width: 381
ViveLEDNumber:  5    Start time:  182331    End time: 186303 Width: 3972
ViveLEDNumber:  12    Start time:  163214    End time: 169173 Width: 5959

@cnlohr
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cnlohr commented Dec 8, 2016

So, I lost this challenge, who would we say won first? P.S. I still need to make a good implementation. The one currently in libsurvive is kinda broken and awful.

@CaiB
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CaiB commented Dec 8, 2016

@cnlohr I mean, that's a really difficult thing to determine... While I was the first to determine what LED LSBs mean, and I had a most-of-the-way-there idea of how the timing worked, we wouldn't have a solution without the other awesome people here.

So I guess the answer is the general tacky one: The open source community wins :P

@Zmathue
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Zmathue commented Dec 8, 2016

@danweecc the 0x51 is whats been confusing me it seems more like some kind of bug than intended operation as it should be able to handle that case fine. And yeah for the case of multiple packets they are aligned by assigning the last timing (the sum of all the deltas) to the absolute timing (from 3bytes timestamp)

I still am curious how it handles the edge case of having overlapping data. I imagine if it has two overlapping falling edges it will break into two separate packets, same with a rising edge and a falling. It should be able to handle two coinciding rising edges in a packet but I haven't seen that yet.

@cnlohr is there any way you can test this input for me? and yeah I understand the avr probably won't be able to turn them on a exactly the same time, but I wouldn't mind seeing how close it can get

DO_MARKER(30, LED48);
DO_MARKER(20, LED48|LED40|LED50);
DO_MARKER(20, LED48|LED40);
DO_MARKER(30, LED48);
DO_MARKER(20, LED48|LED40);
DO_MARKER(20, LED48|LED50);
DO_MARKER(30, LED48);
DO_MARKER(20, LED48|LED40);
DO_MARKER(20, LED48|LED40|LED50);
DO_MARKER(30, LED48);

@cnlohr
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cnlohr commented Dec 9, 2016

Hmm, this seems very odd... This is what I get.

POST 0:   25 (0b25) - 50 40 42 50 48 c0 1d cc 68 31 81 bd 02 b8 02 d3 03 c5 02 86 bc 02 f7 79 26 c1 01 0f 00 
10 0 0 316
Light Event: LED 10 @ 187070651, len 316
8 0 6 325
Light Event: LED 8 @ 187070645, len 6
8 2 467 312
10 0 317 1
Light Event: LED 8 @ 187069224, len 1096
Light Event: LED 10 @ 187069224, len 317
9 0 816204 3776
OFLOW: LED 9 @ 186253019, len 816204
POST 2:   10 (0b28) - 51 41 bd 02 b6 02 87 4c 7e 26 70 81 01 0f 
10 1 0 7
8 1 310 317
Light Event: LED 10 @ 187071759, len 317
Light Event: LED 8 @ 187071442, len 627
POST 0:   25 (0b31) - 50 40 42 50 48 bf 1d e0 64 31 81 bd 02 ba 02 d2 03 c6 02 87 bc 02 3f f9 32 b0 01 0f 00 
10 0 0 316
Light Event: LED 10 @ 187889667, len 316
8 0 7 326
Light Event: LED 8 @ 187889660, len 7
8 2 466 314
10 0 317 1
Light Event: LED 8 @ 187888237, len 1097
Light Event: LED 10 @ 187888237, len 317
9 0 815712 3775
OFLOW: LED 9 @ 187072524, len 815712
POST 2:   10 (0b34) - 51 41 be 02 b6 02 87 95 fd 32 e2 4d 01 0f 

@cnlohr
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cnlohr commented Dec 9, 2016

Ok, this is weird, a little bit later (and updated algorithm), it gives me this:

POST 0:   10 (8b05) - 51 41 bc 02 b5 02 89 6d b6 05 65 42 73 7e 
8: 625 [373747]
10: 318 [374063]
POST 0:   25 (8b11) - 50 40 41 51 48 d3 1d e0 76 31 82 bb 02 b6 02 d9 03 c1 02 8a bc 02 6a 3a 12 53 88 0f b0 
9: 3795 [371044]
10: 317 [1192855]
8: 625 [1192857]
8: 321 [1193955]
10: 316 [1194286]
POST 0:   10 (8b11) - 51 41 bc 02 b4 02 89 c2 3e 12 54 3b 5f 45 
8: 624 [1195081]
10: 317 [1195397]
POST 0:   25 (8b1d) - 50 40 41 51 48 d1 1d ff 6e 31 81 bc 02 b6 02 d8 03 c1 02 8a bc 02 de be 1e 06 88 0f b0 
9: 3793 [1192380]
10: 317 [2013196]
8: 626 [2013197]
8: 321 [2014295]
10: 316 [2014626]

@Zmathue
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Zmathue commented Dec 9, 2016

yeah it was very odd seeing a negative number show up as the delta is actually larger than the time stamp. The width all pulses are exactly as expected (even id:9 which is way off at an earlier time).

and its only the one (id:9) that is so far delayed. I don't know if this is because it is in queue somewhere that is just backed up or if something else is going on.

1

the ones on the left are all id:9

2
this is a closer look at the ones on the right which look very good.

@cnlohr the new algorithm looks good, exactly what I got

@cnlohr
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cnlohr commented Dec 9, 2016

Ben says: "Kind of. We coalesce syncs because there are a lot of them (they hit all the sensors) so it conserves bandwidth. The syncs themselves aren't directly used to track, so we can wait for the actual hits to come to flush them out."

@Zmathue
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Zmathue commented Dec 9, 2016

okay that makes perfect sense, that's why the large offsets are only when you leave an led on for a long time, it passes the threshold where a pulse is no longer considered a hit and is now considered part of the sync flash.

@cnlohr
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cnlohr commented Dec 9, 2016

That is a little annoying from my side, as I average the sync flashes among all of the hit pulses on the headset, but I guess the headset matters more than the controllers.

@danweecc
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danweecc commented Dec 9, 2016

@Zmathue - the 51 or 50 is really easy to understand if you think in terms of an analog system with a lot of jitter. The rising edges of LED50 and LED48 happen at virtually the same moment but they are detected with some jitter. This means that in practice, LED50 could rise just a hair faster or slower than LED48, and depending on which one - there might be an extra edge-transition in the faster LED and one less in the slower LED.

@cnlohr
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cnlohr commented Dec 9, 2016

I have noticed sometimes delta is actually 0. But, when it is, everything /still/ works since you still individually use the edges.

@danweecc
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danweecc commented Dec 10, 2016

@cnlohr - maybe the 0-delta corresponds to a simultaneous edge.

@cnlohr
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cnlohr commented Dec 10, 2016

that's my feelings exactly. They happen when I purposefully make edges as simultaneous as I can.

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