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TODO

  • Rework docs.
  • Assertion/termination system for Teensy (clear eeprom if continuous; write exception to usb.)
  • Add FTM input

Later:

  • Create multi-sensor geometry processing unit
  • Add calibration mode to calculate base station geometry. Don't depend on having a full htc vive setup.
  • Provide .hex files for teensies 3.2 and 3.6. (see #14)
  • Increase precision by applying geometry adjustments for base stations. 1:1 with Unity.
  • Create Unity tutorial.
  • Write articles about timestamps, pipeline/modules, hashing, cross-platform unit testing (see https://news.ycombinator.com/item?id=13691115).
  • Increase precision by keeping an estimate of cycle and removing uncertainty of long pulses.
  • Re-check all last-success timestamps (LongTimestamp) - they don't survive the overflow.
  • Remove Timestamp in favor of std::chrono::duration (http://en.cppreference.com/w/cpp/chrono/duration)
  • Remove Vector in favor of std::vector.
  • Add stack overflow protection (or at least find out that it happened).
  • Cover all major cases with tests
  • Add polling mode for outputs
  • DataFrame: Check CRC32.
  • Split PersistentSettings to Settings and Persistent<>
  • Get rid of Teensy's Print. Use vsnprintf instead. debug_print, print_def, parse_def, DataChunkPrint
  • Avoid using double (-Wdouble-promotion). This will require killing all printf-s.
  • (Maybe) Introduce EASTL library and all its niceties like fixed_vector. Tried it and it looks problematic (platform not supported + threading issues).

Style guide

https://google.github.io/styleguide/cppguide.html

Git submodule management

  • Update submodules to latest on branches/tags: git submodule update --remote
  • When changing .gitmodules, do git submodule sync

Example Base Station Data Frames

base0: fw 436, id 0x4242089a, desync 16, hw 9, accel [-4, 126, 127], mode B, faults 0 fcal0: phase 0.0500, tilt -0.0091, curve -0.0038, gibphase 1.8633, gibmag 0.0113 fcal1: phase 0.0241, tilt 0.0008, curve -0.0015, gibphase -0.7920, gibmag -0.0112 (2 total) base1: fw 436, id 0x2f855022, desync 53, hw 9, accel [0, 118, 127], mode C, faults 0 fcal0: phase 0.0284, tilt -0.0036, curve -0.0010, gibphase 2.1758, gibmag 0.0086 fcal1: phase 0.0487, tilt -0.0080, curve -0.0023, gibphase 0.4695, gibmag -0.0086 (1 total)

GCC Headers search for #include <..>

/usr/local/Caskroom/gcc-arm-embedded/6_2-2016q4,20161216/gcc-arm-none-eabi-6_2-2016q4
  /arm-none-eabi/include/c++/6.2.1
  /arm-none-eabi/include/c++/6.2.1/arm-none-eabi
  /arm-none-eabi/include/c++/6.2.1/backward
  /lib/gcc/arm-none-eabi/6.2.1/include
  /lib/gcc/arm-none-eabi/6.2.1/include-fixed
  /arm-none-eabi/include