initial import of hatire by Furax49

Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>

16 files changed, 2611 insertions, 1 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 12c4cee0..307aeac4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -96,7 +96,7 @@ if(MINGW)
 endif()
 
     find_package(OpenCV REQUIRED)
-    find_package(Qt5 REQUIRED COMPONENTS Core Xml Network Widgets Gui QUIET)
+    find_package(Qt5 REQUIRED COMPONENTS Core Xml Network Widgets Gui SerialPort QUIET)
     cmake_policy(SET CMP0020 NEW)
     include_directories(${Qt5Core_INCLUDE_DIRS} ${Qt5Xml_INCLUDE_DIRS} ${Qt5Gui_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS} ${Qt5Network_INCLUDE_DIRS})
     add_definitions(${Qt5Core_DEFINITIONS} ${Qt5Xml_DEFINITIONS} ${Qt5Gui_DEFINITIONS} ${Qt5Widgets_DEFINITIONS} ${Qt5Network_DEFINITIONS})
@@ -308,6 +308,13 @@ file(GLOB opentrack-tracker-hydra-rc "ftnoir_tracker_hydra/*.qrc")
 QT5_WRAP_UI(opentrack-tracker-hydra-uih ${opentrack-tracker-hydra-ui})
 QT5_ADD_RESOURCES(opentrack-tracker-hydra-rcc ${opentrack-tracker-hydra-rc})
 
+file(GLOB opentrack-tracker-hatire-c "ftnoir_tracker_hatire/*.cpp")
+file(GLOB opentrack-tracker-hatire-h "ftnoir_tracker_hatire/*.h")
+file(GLOB opentrack-tracker-hatire-ui "ftnoir_tracker_hatire/*.ui")
+file(GLOB opentrack-tracker-hatire-rc "ftnoir_tracker_hatire/*.qrc")
+QT5_WRAP_UI(opentrack-tracker-hatire-uih ${opentrack-tracker-hatire-ui})
+QT5_ADD_RESOURCES(opentrack-tracker-hatire-rcc ${opentrack-tracker-hatire-rc})
+
 file(GLOB opentrack-csv-c "ftnoir_csv/*.cpp")
 
 # compat lib for POSIX/win32
@@ -524,6 +531,13 @@ if(SDK_ARUCO_LIBPATH)
     endif()
 endif()
 
+add_library(opentrack-tracker-hatire SHARED ${opentrack-tracker-hatire-c} ${opentrack-tracker-hatire-h} ${opentrack-tracker-hatire-moc} ${opentrack-tracker-hatire-uih} ${opentrack-tracker-hatire-rcc})
+target_link_libraries(opentrack-tracker-hatire ${MY_QT_LIBS} Qt5SerialPort)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC)
+    SET_TARGET_PROPERTIES(opentrack-tracker-hatire
+                  PROPERTIES LINK_FLAGS "-Wl,--version-script=${CMAKE_SOURCE_DIR}/facetracknoir/posix-version-script.txt")
+endif()
+
 if(WIN32)
     target_link_libraries(opentrack-tracker-ht
                   "${CMAKE_SOURCE_DIR}/dinput/dxguid.lib"
diff --git a/facetracknoir/clientfiles/HAT_100/HAT_100.ino b/facetracknoir/clientfiles/HAT_100/HAT_100.ino
new file mode 100644
index 00000000..f8644ffe
--- /dev/null
+++ b/facetracknoir/clientfiles/HAT_100/HAT_100.ino
@@ -0,0 +1,389 @@
+// Arduino sketch for MPU6050 on NanoWII using DMP MotionApps v4.1 
+// HAT 14/04/2013 by FuraX49
+//
+// Head Arduino Tracker  for FaceTrackNoIR 
+//   http://facetracknoir.sourceforge.net/home/default.htm	
+// I2C device class (I2Cdev)
+//   https://github.com/jrowberg/i2cdevlib
+
+
+#include <avr/eeprom.h>
+#include <Wire.h>
+#include "I2Cdev.h"
+#include "MPU6050_9Axis_MotionApps41.h"
+
+
+MPU6050 mpu;
+
+
+typedef struct  {
+  int16_t  Begin  ;   // 2  Debut
+  uint16_t Cpt ;      // 2  Compteur trame or Code info or error
+  float    gyro[3];   // 12 [Y, P, R]    gyro
+  float    acc[3];    // 12 [x, y, z]    Acc
+  int16_t  End ;      // 2  Fin
+} _hatire;
+
+typedef struct  {
+  int16_t  Begin  ;   // 2  Debut
+  uint16_t Code ;     // 2  Code info
+  char     Msg[24];   // 24 Message
+  int16_t  End ;      // 2  Fin
+} _msginfo;
+
+typedef struct 
+{
+  byte   rate;
+  double gyro_offset[3] ;
+  double acc_offset[3]  ;
+} _eprom_save;
+
+
+// MPU control/status vars
+bool dmpReady = false;  // set true if DMP init was successful
+bool dmpLoaded = false;  // set true if DMP loaded  successfuly
+uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
+uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
+uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
+uint16_t fifoCount;     // count of all bytes currently in FIFO
+uint8_t fifoBuffer[64]; // FIFO storage buffer
+
+char Commande;
+char Version[] = "HAT V 1.00";
+
+// orientation/motion vars
+Quaternion q;           // [w, x, y, z]         quaternion container
+VectorInt16 aa;         // [x, y, z]            accel sensor measurements
+VectorFloat gravity;    // [x, y, z]            gravity vector
+
+float Rad2Deg = (180/M_PI) ;
+
+// trame for message 
+_hatire hatire;
+_msginfo msginfo;
+_eprom_save eprom_save;
+
+
+bool   AskCalibrate = false;  // set true when calibrating is ask
+int    CptCal =  0;
+const int    NbCal = 5; 
+
+
+
+
+// ================================================================
+// ===               INTERRUPT DETECTION ROUTINE                ===
+// ================================================================
+volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
+
+void dmpDataReady() {
+  mpuInterrupt = true;
+}
+
+// ================================================================
+// ===               PRINT SERIAL FORMATTE                      ===
+// ================================================================
+void PrintCodeSerial(uint16_t code,char Msg[24],bool EOL ) {
+  msginfo.Code=code;
+  memset(msginfo.Msg,0x00,24);
+  strcpy(msginfo.Msg,Msg);
+  if (EOL) msginfo.Msg[23]=0x0A;
+  // Send HATIRE message to  PC
+  Serial.write((byte*)&msginfo,30);
+}
+
+
+// ================================================================
+// ===                      INITIAL SETUP                       ===
+// ================================================================
+
+void setup() {
+  // join I2C bus (I2Cdev library doesn't do this automatically)
+  Wire.begin();
+
+  // initialize serial communication
+  while (!Serial); // wait for Leonardo enumeration, others continue immediately
+
+  Serial.begin(115200);
+  PrintCodeSerial(2000,Version,true);
+
+  hatire.Begin=0xAAAA;
+  hatire.Cpt=0;
+  hatire.End=0x5555;
+
+  msginfo.Begin=0xAAAA;
+  msginfo.Code=0;
+  msginfo.End=0x5555;
+
+  // initialize device
+  PrintCodeSerial(3001,"Initializing I2C",true);
+  mpu.initialize();
+
+  // verify connection
+  PrintCodeSerial(3002,"Testing connections",true);
+
+  if (mpu.testConnection()){
+     PrintCodeSerial(3003,"MPU6050 connection OK",true);
+  } else {
+     PrintCodeSerial(9007,"MPU6050 ERRROR CNX",true);
+  }
+
+  while (Serial.available() && Serial.read()); // empty buffer
+
+  // load and configure the DMP
+  PrintCodeSerial(3004,"Initializing DMP...",true);
+  devStatus = mpu.dmpInitialize();
+
+  // make sure it worked (returns 0 if so)
+  if (devStatus == 0) {
+    dmpLoaded=true;
+
+    // Read Epprom saved params
+    PrintCodeSerial(3005,"Reading saved params...",true);
+    ReadParams();
+
+    // turn on the DMP, now that it's ready
+    PrintCodeSerial(3006,"Enabling DMP...",true);
+    mpu.setDMPEnabled(true);
+
+    // enable Arduino interrupt detection
+    PrintCodeSerial(3007,"Enabling interrupt",true);
+    attachInterrupt(0, dmpDataReady, RISING);
+    mpuIntStatus = mpu.getIntStatus();
+
+    // set our DMP Ready flag so the main loop() function knows it's okay to use it
+    PrintCodeSerial(5000,"HAT BEGIN",true);
+    dmpReady = true;
+    // get expected DMP packet size for later comparison
+    packetSize = mpu.dmpGetFIFOPacketSize();    
+    // Empty FIFO
+    fifoCount = mpu.getFIFOCount();
+    while (fifoCount > packetSize) {
+      fifoCount = mpu.getFIFOCount();
+      mpu.getFIFOBytes(fifoBuffer, fifoCount);
+    }
+  } 
+  else {
+    // ERROR!
+    // 1 = initial memory load failed
+    // 2 = DMP configuration updates failed
+    // (if it's going to break, usually the code will be 1)
+    dmpLoaded=false;
+    PrintCodeSerial(9000+devStatus,"DMP Initialization failed",true);
+  }
+}
+
+
+// ================================================================
+// ===                    RAZ OFFSET                            ===
+// ================================================================
+void razoffset() {
+  eprom_save.gyro_offset[0] = 0;
+  eprom_save.gyro_offset[1] = 0;
+  eprom_save.gyro_offset[2] = 0;
+  eprom_save.acc_offset[0] = 0;
+  eprom_save.acc_offset[1] = 0;
+  eprom_save.acc_offset[2] = 0;
+}
+
+
+// ================================================================
+// ===                    SAVE PARAMS                           ===
+// ================================================================
+void SaveParams() {
+  eeprom_write_block((const void*)&eprom_save, (void*) 0, sizeof(eprom_save));
+}
+
+
+
+// ================================================================
+// ===                    READ PARAMS                           ===
+// ================================================================
+void ReadParams() {
+  eeprom_read_block( (void*)&eprom_save, (void*) 0, sizeof(eprom_save));
+}
+
+
+// ================================================================
+// ===                    Serial Command                        ===
+// ================================================================
+void serialEvent(){
+  Commande = (char)Serial.read();
+  switch (Commande) {
+  case 'S':
+    PrintCodeSerial(5001,"HAT START",true);
+    if (dmpLoaded==true) {
+      mpu.resetFIFO();   
+      hatire.Cpt=0;              
+      attachInterrupt(0, dmpDataReady, RISING);
+      mpu.setDMPEnabled(true);
+      dmpReady = true;
+    } 
+    else {
+      PrintCodeSerial(9011,"Error DMP not loaded",true);
+    }
+    break;      
+
+  case 's':
+    PrintCodeSerial(5002,"HAT STOP",true);
+    if (dmpReady==true) {
+      mpu.setDMPEnabled(false);
+      detachInterrupt(0);
+      dmpReady = false;
+    }
+    break;      
+
+  case 'R':
+    PrintCodeSerial(5003,"HAT RESET",true);
+    if (dmpLoaded==true) {
+      mpu.setDMPEnabled(false);
+      detachInterrupt(0);
+      mpu.resetFIFO();   
+      hatire.Cpt=0;              
+      dmpReady = false;
+      setup();
+    } 
+    else {
+      PrintCodeSerial(9011,"Error DMP not loaded",true);
+    }
+    break;      
+
+
+  case 'C':
+    CptCal=0;
+    razoffset();  
+    AskCalibrate=true;
+    break;      
+
+  case 'V':
+    PrintCodeSerial(2000,Version,true);
+    break;      
+
+  case 'I':
+  	Serial.println();
+  	Serial.print("Version : \t");
+    Serial.println(Version);
+    Serial.println("Gyroscopes offsets");
+    for (int i=0; i <= 2; i++) {
+  	  Serial.print(i);
+  	  Serial.print(" : ");
+    	Serial.print(eprom_save.gyro_offset[i]);
+  	  Serial.println();
+    }
+    Serial.println("Accelerometers offsets");
+    for (int i=0; i <= 2; i++) {
+  	  Serial.print(i);
+  	  Serial.print(" : ");
+    	Serial.print(eprom_save.acc_offset[i]);
+  	  Serial.println();
+    }
+    break;      
+
+
+  default:
+    break;
+  }	
+}
+
+
+// ================================================================
+// ===                    MAIN PROGRAM LOOP                     ===
+// ================================================================
+void loop() {
+  // Leonardo BUG (simul Serial Event)
+  if(Serial.available() > 0)  serialEvent();
+
+
+  // if programming failed, don't try to do anything
+  if (dmpReady)  { 
+
+
+    while (!mpuInterrupt && fifoCount < packetSize) ;
+
+    // reset interrupt flag and get INT_STATUS byte
+    mpuInterrupt = false;
+    mpuIntStatus = mpu.getIntStatus();
+
+    // get current FIFO count
+    fifoCount = mpu.getFIFOCount();
+
+    // check for overflow (this should never happen unless our code is too inefficient)
+    if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
+      // reset so we can continue cleanly
+      mpu.resetFIFO();
+      PrintCodeSerial(9010,"Overflow FIFO DMP",true);
+      hatire.Cpt=0;
+
+      // otherwise, check for DMP data ready interrupt (this should happen frequently)
+    } 
+    else if (mpuIntStatus & 0x02) {
+      // wait for correct available data length, should be a VERY short wait
+      while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
+
+      // read a packet from FIFO
+      mpu.getFIFOBytes(fifoBuffer, packetSize);
+
+      // track FIFO count here in case there is > 1 packet available
+      // (this lets us immediately read more without waiting for an interrupt)
+      fifoCount -= packetSize;
+
+      // Get Euler angles in degrees
+      mpu.dmpGetQuaternion(&q, fifoBuffer);
+      mpu.dmpGetGravity(&gravity, &q);
+      mpu.dmpGetYawPitchRoll(hatire.gyro, &q, &gravity);
+
+      // Get real acceleration, adjusted to remove gravity
+      // not used in this script
+      // mpu.dmpGetAccel(&aa, fifoBuffer);
+      // mpu.dmpGetLinearAccel(&hatire.acc, &aa, &gravity);
+
+      // Calibration sur X mesures  
+      if (AskCalibrate) {
+        if ( CptCal>=NbCal) {
+          CptCal=0;
+          eprom_save.gyro_offset[0] = eprom_save.gyro_offset[0] / NbCal ;
+          eprom_save.gyro_offset[1] = eprom_save.gyro_offset[1] / NbCal ;
+          eprom_save.gyro_offset[2] = eprom_save.gyro_offset[2] / NbCal ;
+          AskCalibrate=false;
+          SaveParams();
+        } 
+        else {
+          eprom_save.gyro_offset[0] += (float) hatire.gyro[0];
+          eprom_save.gyro_offset[1] += (float) hatire.gyro[1];
+          eprom_save.gyro_offset[2] += (float) hatire.gyro[2];
+
+          CptCal++;
+        }
+      }
+
+
+      // Conversion angles Euler en +-180 Degr�es
+      for (int i=0; i <= 2; i++) {
+        hatire.gyro[i]= (hatire.gyro[i] - eprom_save.gyro_offset[i] ) * Rad2Deg;
+        if  (hatire.gyro[i]>180) {
+          hatire.gyro[i] = hatire.gyro[i] - 360;
+        }
+      }
+
+      if (AskCalibrate) {
+        hatire.gyro[0] = 0; 
+        hatire.gyro[1] = 0;
+        hatire.gyro[2] = 0;
+        hatire.acc[0]= 0;
+        hatire.acc[1] = 0;
+        hatire.acc[2] = 0;
+      }
+
+      // Send Trame to HATIRE PC
+      Serial.write((byte*)&hatire,30);
+
+      hatire.Cpt++;
+      if (hatire.Cpt>999) {
+        hatire.Cpt=0;
+      }
+    }
+  }
+  delay(1);
+}
+
+
diff --git a/facetracknoir/clientfiles/HAT_100/README b/facetracknoir/clientfiles/HAT_100/README
new file mode 100644
index 00000000..1e4f2926
--- /dev/null
+++ b/facetracknoir/clientfiles/HAT_100/README
@@ -0,0 +1,35 @@
+  Frame exchange protocol fixed size of 30 bytes like this :
+    
+ typedef struct  {
+  int16_t  Begin  ;   // 2  Debut
+  uint16_t Cpt ;      // 2  Compteur trame or Code
+  float    gyro[3];   // 12 [Y, P, R]    gyro
+  float    acc[3];    // 12 [x, y, z]    Acc
+  int16_t  End ;      // 2  Fin
+} _hatire;
+_hat hat;
+
+
+void setup() {
+  Serial.begin(115200);
+  // header frame
+  hatire.Begin=0xAAAA;
+  // Frame Number or Error code
+  hat.Cpt=0;
+  // footer frame
+  hat.End=0x5555;
+}
+
+ 
+ void loop() {
+   mpu.dmpGetYawPitchRoll(hatire.gyro);
+   mpu.dmpAccXYZ(hatire.acc);
+   // Send Trame to HATIRE PC
+   Serial.write((byte*)&hatire,30);
+   hatire.Cpt++;
+   if (hatire.Cpt>999) {
+       hatire.Cpt=0;
+   }
+   delay(1);      
+}      
+
diff --git a/ftnoir_tracker_hatire/ftnoir_arduino_type.h b/ftnoir_tracker_hatire/ftnoir_arduino_type.h
new file mode 100644
index 00000000..4d19043b
--- /dev/null
+++ b/ftnoir_tracker_hatire/ftnoir_arduino_type.h
@@ -0,0 +1,31 @@
+#ifndef FTNOIR_TARDUINO_TYPE_H
+#define FTNOIR_TARDUINO_TYPE_H
+
+// Arduino trame structure
+#pragma pack(push,2)
+struct TArduinoData
+{
+	quint16  Begin;    // Header trame 0xAAAA;
+	quint16  Code;     // 0->999 Num Trame  >=2000  Info >=3000 Init  >=5000 Start Command  >=9000 Error 
+	float Gyro[3];  
+	float Acc[3];
+	quint16  End;     // End trame   0x5555;
+} ;
+#pragma pack(pop) 
+
+
+inline QDataStream & operator >> ( QDataStream& in, TArduinoData& out )
+{
+	in.setByteOrder(QDataStream::LittleEndian );  
+	in.setFloatingPointPrecision(QDataStream::SinglePrecision ); 
+
+	in >> (quint16)out.Begin  >> (quint16)out.Code 
+	   >> (float)out.Gyro[0] >> (float)out.Gyro[1]  >> (float)out.Gyro[2]	
+	   >> (float)out.Acc[0]  >> (float)out.Acc[1] 	 >> (float)out.Acc[2]
+	   >> (quint16)out.End;
+	return in;
+}
+
+
+
+#endif
\ No newline at end of file
diff --git a/ftnoir_tracker_hatire/ftnoir_hat.qrc b/ftnoir_tracker_hatire/ftnoir_hat.qrc
new file mode 100644
index 00000000..4c606f92
--- /dev/null
+++ b/ftnoir_tracker_hatire/ftnoir_hat.qrc
@@ -0,0 +1,6 @@
+<RCC>
+  <qresource prefix="/">
+    <file>images/hat.ico</file>
+    <file>images/hat_logo.png</file>
+  </qresource>
+</RCC>
diff --git a/ftnoir_tracker_hatire/ftnoir_hatcontrols.ui b/ftnoir_tracker_hatire/ftnoir_hatcontrols.ui
new file mode 100644
index 00000000..86f9e48a
--- /dev/null
+++ b/ftnoir_tracker_hatire/ftnoir_hatcontrols.ui
@@ -0,0 +1,1066 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UIHATControls</class>
+ <widget class="QWidget" name="UIHATControls">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>370</width>
+    <height>520</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>370</width>
+    <height>520</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>370</width>
+    <height>520</height>
+   </size>
+  </property>
+  <property name="contextMenuPolicy">
+   <enum>Qt::NoContextMenu</enum>
+  </property>
+  <property name="windowTitle">
+   <string>Head Arduino Tracker settings FaceTrackNoIR</string>
+  </property>
+  <property name="windowIcon">
+   <iconset>
+    <normaloff>images/hat.ico</normaloff>images/hat.ico</iconset>
+  </property>
+  <property name="windowOpacity">
+   <double>1.000000000000000</double>
+  </property>
+  <property name="layoutDirection">
+   <enum>Qt::LeftToRight</enum>
+  </property>
+  <property name="autoFillBackground">
+   <bool>false</bool>
+  </property>
+  <widget class="QWidget" name="layoutWidget">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>480</y>
+     <width>361</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <layout class="QHBoxLayout" name="horizontalLayout_frm_dialog">
+    <item>
+     <widget class="QPushButton" name="btnOK">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>80</width>
+        <height>25</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>80</width>
+        <height>25</height>
+       </size>
+      </property>
+      <property name="text">
+       <string>OK</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QPushButton" name="btnSave">
+      <property name="minimumSize">
+       <size>
+        <width>80</width>
+        <height>25</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>80</width>
+        <height>25</height>
+       </size>
+      </property>
+      <property name="text">
+       <string>Save</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QPushButton" name="btnCancel">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>80</width>
+        <height>25</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>80</width>
+        <height>25</height>
+       </size>
+      </property>
+      <property name="text">
+       <string>Cancel</string>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QTabWidget" name="tabWidget">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>360</width>
+     <height>470</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>360</width>
+     <height>470</height>
+    </size>
+   </property>
+   <property name="maximumSize">
+    <size>
+     <width>360</width>
+     <height>470</height>
+    </size>
+   </property>
+   <property name="currentIndex">
+    <number>0</number>
+   </property>
+   <property name="usesScrollButtons">
+    <bool>true</bool>
+   </property>
+   <widget class="QWidget" name="tab_config">
+    <attribute name="icon">
+     <iconset resource="ftnoir_hat.qrc">
+      <normaloff>:/images/hat.ico</normaloff>:/images/hat.ico</iconset>
+    </attribute>
+    <attribute name="title">
+     <string>General</string>
+    </attribute>
+    <widget class="QGroupBox" name="groupBox_status">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>350</y>
+       <width>331</width>
+       <height>91</height>
+      </rect>
+     </property>
+     <property name="title">
+      <string>Information</string>
+     </property>
+     <widget class="QWidget" name="formLayoutWidget">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>20</y>
+        <width>311</width>
+        <height>51</height>
+       </rect>
+      </property>
+      <layout class="QFormLayout" name="formLayout_status">
+       <property name="fieldGrowthPolicy">
+        <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+       </property>
+       <property name="horizontalSpacing">
+        <number>10</number>
+       </property>
+       <property name="verticalSpacing">
+        <number>10</number>
+       </property>
+       <property name="leftMargin">
+        <number>0</number>
+       </property>
+       <property name="topMargin">
+        <number>0</number>
+       </property>
+       <property name="bottomMargin">
+        <number>0</number>
+       </property>
+       <item row="0" column="0">
+        <widget class="QLabel" name="lab_tps">
+         <property name="minimumSize">
+          <size>
+           <width>31</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>60</width>
+           <height>13</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string>Trame per seconde</string>
+         </property>
+         <property name="text">
+          <string>tps :</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <widget class="QLabel" name="lab_status">
+         <property name="maximumSize">
+          <size>
+           <width>60</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Status :</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="1">
+        <widget class="QLabel" name="lab_vstatus">
+         <property name="minimumSize">
+          <size>
+           <width>170</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>60</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QLabel" name="lab_vtps">
+         <property name="minimumSize">
+          <size>
+           <width>31</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>60</width>
+           <height>13</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>00</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>130</y>
+       <width>331</width>
+       <height>211</height>
+      </rect>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>106</height>
+      </size>
+     </property>
+     <property name="title">
+      <string>Axis Configuration</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+     </property>
+     <widget class="QWidget" name="layoutWidget_Configuration">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>20</y>
+        <width>311</width>
+        <height>181</height>
+       </rect>
+      </property>
+      <layout class="QGridLayout" name="gridLayout_2">
+       <property name="sizeConstraint">
+        <enum>QLayout::SetMinAndMaxSize</enum>
+       </property>
+       <property name="leftMargin">
+        <number>0</number>
+       </property>
+       <property name="topMargin">
+        <number>0</number>
+       </property>
+       <property name="spacing">
+        <number>6</number>
+       </property>
+       <item row="3" column="2">
+        <widget class="QCheckBox" name="chkEnableYaw">
+         <property name="maximumSize">
+          <size>
+           <width>20</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string>Enable Axis</string>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="2">
+        <widget class="QCheckBox" name="chkEnableRoll">
+         <property name="maximumSize">
+          <size>
+           <width>20</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string>Enable Axis</string>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="styleSheet">
+          <string notr="true"/>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="3">
+        <widget class="QComboBox" name="cb_yaw">
+         <property name="toolTip">
+          <string>Associate Axis</string>
+         </property>
+         <item>
+          <property name="text">
+           <string>RotX</string>
+          </property>
+         </item>
+         <item>
+          <property name="text">
+           <string>RotY</string>
+          </property>
+         </item>
+         <item>
+          <property name="text">
+           <string>RotZ</string>
+          </property>
+         </item>
+        </widget>
+       </item>
+       <item row="3" column="1">
+        <widget class="QLabel" name="label_yaw">
+         <property name="text">
+          <string>Yaw:</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="3">
+        <widget class="QComboBox" name="cb_roll">
+         <property name="toolTip">
+          <string>Associate Axis</string>
+         </property>
+         <item>
+          <property name="text">
+           <string>RotX</string>
+          </property>
+         </item>
+         <item>
+          <property name="text">
+           <string>RotY</string>
+          </property>
+         </item>
+         <item>
+          <property name="text">
+           <string>RotZ</string>
+          </property>
+         </item>
+        </widget>
+       </item>
+       <item row="2" column="3">
+        <widget class="QComboBox" name="cb_pitch">
+         <property name="toolTip">
+          <string>Associate Axis</string>
+         </property>
+         <item>
+          <property name="text">
+           <string>RotX</string>
+          </property>
+         </item>
+         <item>
+          <property name="text">
+           <string>RotY</string>
+          </property>
+         </item>
+         <item>
+          <property name="text">
+           <string>RotZ</string>
+          </property>
+         </item>
+        </widget>
+       </item>
+       <item row="2" column="2">
+        <widget class="QCheckBox" name="chkEnablePitch">
+         <property name="maximumSize">
+          <size>
+           <width>20</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string>Enable Axis</string>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="1">
+        <widget class="QLabel" name="label_pitch">
+         <property name="text">
+          <string>Pitch:</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="1">
+        <widget class="QLabel" name="label_roll">
+         <property name="text">
+          <string>Roll:</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="4">
+        <widget class="QCheckBox" name="chkInvertRoll">
+         <property name="maximumSize">
+          <size>
+           <width>20</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string>Invert Axis</string>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="styleSheet">
+          <string notr="true"/>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="4">
+        <widget class="QCheckBox" name="chkInvertPitch">
+         <property name="maximumSize">
+          <size>
+           <width>20</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string>Invert Axis</string>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="styleSheet">
+          <string notr="true"/>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="4">
+        <widget class="QCheckBox" name="chkInvertYaw">
+         <property name="maximumSize">
+          <size>
+           <width>20</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string>Invert Axis</string>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="styleSheet">
+          <string notr="true"/>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="2">
+        <widget class="QLabel" name="label">
+         <property name="text">
+          <string>Enable</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="3">
+        <widget class="QLabel" name="label_2">
+         <property name="text">
+          <string>Axis</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="4">
+        <widget class="QLabel" name="label_3">
+         <property name="text">
+          <string>Invert</string>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="1">
+        <widget class="QLabel" name="label_x">
+         <property name="text">
+          <string>X:</string>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="2">
+        <widget class="QCheckBox" name="chkEnableX">
+         <property name="maximumSize">
+          <size>
+           <width>20</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string>Enable Axis</string>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="3">
+        <widget class="QComboBox" name="cb_x">
+         <property name="toolTip">
+          <string>Associate Axis</string>
+         </property>
+         <item>
+          <property name="text">
+           <string>X</string>
+          </property>
+         </item>
+         <item>
+          <property name="text">
+           <string>Y</string>
+          </property>
+         </item>
+         <item>
+          <property name="text">
+           <string>Z</string>
+          </property>
+         </item>
+        </widget>
+       </item>
+       <item row="4" column="4">
+        <widget class="QCheckBox" name="chkInvertX">
+         <property name="maximumSize">
+          <size>
+           <width>20</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string>Invert Axis</string>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="styleSheet">
+          <string notr="true"/>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="1">
+        <widget class="QLabel" name="label_y">
+         <property name="text">
+          <string>Y:</string>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="2">
+        <widget class="QCheckBox" name="chkEnableY">
+         <property name="maximumSize">
+          <size>
+           <width>20</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string>Enable Axis</string>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="3">
+        <widget class="QComboBox" name="cb_y">
+         <property name="toolTip">
+          <string>Associate Axis</string>
+         </property>
+         <item>
+          <property name="text">
+           <string>X</string>
+          </property>
+         </item>
+         <item>
+          <property name="text">
+           <string>Y</string>
+          </property>
+         </item>
+         <item>
+          <property name="text">
+           <string>Z</string>
+          </property>
+         </item>
+        </widget>
+       </item>
+       <item row="5" column="4">
+        <widget class="QCheckBox" name="chkInvertY">
+         <property name="maximumSize">
+          <size>
+           <width>20</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string>Invert Axis</string>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="styleSheet">
+          <string notr="true"/>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="1">
+        <widget class="QLabel" name="label_z">
+         <property name="text">
+          <string>Z:</string>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="2">
+        <widget class="QCheckBox" name="chkEnableZ">
+         <property name="maximumSize">
+          <size>
+           <width>20</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string>Enable Axis</string>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="3">
+        <widget class="QComboBox" name="cb_z">
+         <property name="toolTip">
+          <string>Associate Axis</string>
+         </property>
+         <item>
+          <property name="text">
+           <string>X</string>
+          </property>
+         </item>
+         <item>
+          <property name="text">
+           <string>Y</string>
+          </property>
+         </item>
+         <item>
+          <property name="text">
+           <string>Z</string>
+          </property>
+         </item>
+        </widget>
+       </item>
+       <item row="6" column="4">
+        <widget class="QCheckBox" name="chkInvertZ">
+         <property name="maximumSize">
+          <size>
+           <width>20</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="toolTip">
+          <string>Invert Axis</string>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="styleSheet">
+          <string notr="true"/>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="5">
+        <spacer name="horizontalSpacer_12">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <property name="sizeType">
+          <enum>QSizePolicy::Fixed</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>16</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+       <item row="0" column="0">
+        <spacer name="horizontalSpacer_11">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <property name="sizeType">
+          <enum>QSizePolicy::Fixed</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>16</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+    <widget class="QWidget" name="layoutWidget6">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>90</y>
+       <width>331</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout__arduino">
+      <item>
+       <spacer name="horizontalSpacer_10">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeType">
+         <enum>QSizePolicy::Fixed</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>13</width>
+          <height>16</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btnCenter">
+        <property name="minimumSize">
+         <size>
+          <width>80</width>
+          <height>20</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>Center</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="horizontalSpacer_8">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeType">
+         <enum>QSizePolicy::Fixed</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>13</width>
+          <height>16</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btnReset">
+        <property name="minimumSize">
+         <size>
+          <width>80</width>
+          <height>20</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>Reset</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="horizontalSpacer_9">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeType">
+         <enum>QSizePolicy::Fixed</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>13</width>
+          <height>16</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+     </layout>
+    </widget>
+    <widget class="QWidget" name="layoutWidget1">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>10</y>
+       <width>331</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_3">
+      <item>
+       <widget class="QLabel" name="label_5">
+        <property name="maximumSize">
+         <size>
+          <width>60</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>Serial Port :</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QComboBox" name="cbSerialPort">
+        <property name="maximumSize">
+         <size>
+          <width>100</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="editable">
+         <bool>false</bool>
+        </property>
+        <property name="sizeAdjustPolicy">
+         <enum>QComboBox::AdjustToMinimumContentsLength</enum>
+        </property>
+        <property name="modelColumn">
+         <number>0</number>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="horizontalSpacer_5">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeType">
+         <enum>QSizePolicy::Minimum</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+     </layout>
+    </widget>
+    <widget class="QWidget" name="horizontalLayoutWidget">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>50</y>
+       <width>331</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_serial">
+      <property name="leftMargin">
+       <number>7</number>
+      </property>
+      <item>
+       <widget class="QLabel" name="label_info">
+        <property name="text">
+         <string>Choose the Serial Com port where is connected ARDUINO.</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </widget>
+   <widget class="QWidget" name="tab_about">
+    <attribute name="title">
+     <string>About</string>
+    </attribute>
+    <widget class="QLabel" name="label_10">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>20</y>
+       <width>111</width>
+       <height>111</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FTNoIR HAT  Plugin&lt;br /&gt;Version 1.0&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;by FuraX49&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://hatire.sourceforge.net/&quot;&gt;&lt;span style=&quot; font-weight:600; text-decoration: underline; color:#0000ff;&quot;&gt;Manual (external)&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+     <property name="openExternalLinks">
+      <bool>true</bool>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_35">
+     <property name="geometry">
+      <rect>
+       <x>200</x>
+       <y>20</y>
+       <width>128</width>
+       <height>128</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="pixmap">
+      <pixmap resource="ftnoir_hat.qrc">:/images/hat_logo.png</pixmap>
+     </property>
+    </widget>
+    <widget class="QPlainTextEdit" name="pteINFO">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>190</y>
+       <width>331</width>
+       <height>251</height>
+      </rect>
+     </property>
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
+     <property name="maximumBlockCount">
+      <number>800</number>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="lineSend">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>160</y>
+       <width>241</width>
+       <height>20</height>
+      </rect>
+     </property>
+    </widget>
+    <widget class="QPushButton" name="btnSend">
+     <property name="geometry">
+      <rect>
+       <x>260</x>
+       <y>160</y>
+       <width>75</width>
+       <height>23</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>Send</string>
+     </property>
+    </widget>
+   </widget>
+  </widget>
+ </widget>
+ <tabstops>
+  <tabstop>btnCancel</tabstop>
+ </tabstops>
+ <resources>
+  <include location="ftnoir_hat.qrc"/>
+ </resources>
+ <connections/>
+ <slots>
+  <slot>startEngineClicked()</slot>
+  <slot>stopEngineClicked()</slot>
+  <slot>cameraSettingsClicked()</slot>
+ </slots>
+</ui>
diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp b/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp
new file mode 100644
index 00000000..e961a10f
--- /dev/null
+++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp
@@ -0,0 +1,304 @@
+/********************************************************************************
+* FaceTrackNoIR		This program is a private project of some enthusiastic		*
+*					gamers from Holland, who don't like to pay much for			*
+*					head-tracking.												*
+*																				*
+* Copyright (C) 2012	Wim Vriend (Developing)									*
+*						Ron Hendriks (Researching and Testing)					*
+*																				*
+* Homepage:			http://facetracknoir.sourceforge.net/home/default.htm		*
+*																				*
+* This program is free software; you can redistribute it and/or modify it		*
+* under the terms of the GNU General Public License as published by the			*
+* Free Software Foundation; either version 3 of the License, or (at your		*
+* option) any later version.													*
+*																				*
+* This program is distributed in the hope that it will be useful, but			*
+* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY	*
+* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for	*
+* more details.																	*
+*																				*
+* You should have received a copy of the GNU General Public License along		*
+* with this program; if not, see <http://www.gnu.org/licenses/>.				*
+*																				*
+********************************************************************************/
+
+
+#include "ftnoir_tracker_hat.h"
+#include <QMessageBox>
+#include <QDebug>
+#include <QCoreApplication>
+
+FTNoIR_Tracker::FTNoIR_Tracker()
+{
+	SerialPort = NULL;
+	waitTimeout = 1000;
+	TrackerSettings settings;
+	settings.load_ini();
+	applysettings(settings);
+
+
+	// Create events
+	m_StopThread = CreateEvent(0, TRUE, FALSE, 0);
+	m_WaitThread = CreateEvent(0, TRUE, FALSE, 0);
+
+	ListErrInf  = new QList<QString>();
+
+	// prepare & reserve QByteArray
+	datagram.reserve(30);
+}
+
+FTNoIR_Tracker::~FTNoIR_Tracker()
+{
+	// Trigger thread to stop
+	::SetEvent(m_StopThread);
+
+	// Wait until thread finished
+	if (isRunning()) {
+		::WaitForSingleObject(m_WaitThread, INFINITE);
+	}
+
+	// Close handles
+	::CloseHandle(m_StopThread);
+	::CloseHandle(m_WaitThread);
+
+	if (SerialPort!=NULL) {
+		if (SerialPort->isOpen() ) {
+			SerialPort->putChar('s'); //Send STOP to Arduino
+			SerialPort->close();
+		}
+		delete SerialPort;
+		SerialPort=NULL;
+	}
+
+}
+
+//send CENTER to Arduino
+void FTNoIR_Tracker::notifyCenter() {
+	if (SerialPort!=NULL) {
+		if (SerialPort->isOpen() ) {
+			SerialPort->putChar('C');
+		}
+	}
+}
+
+
+
+//send CENTER to Arduino
+void FTNoIR_Tracker::center() {
+	if (SerialPort!=NULL) {
+		if (SerialPort->isOpen() ) {
+			SerialPort->putChar('C');
+		}
+	}
+}
+
+//send RESET to Arduino
+void FTNoIR_Tracker::reset() {
+	if (SerialPort!=NULL) {
+		if (SerialPort->isOpen() ) {
+			SerialPort->putChar('R');
+		}
+	}
+}
+
+//send command  to Arduino
+void FTNoIR_Tracker::sendcmd(QString* cmd) {
+	QReadLocker locker(&rwlock);
+	QByteArray bytes;
+	if (SerialPort!=NULL) {
+		if (SerialPort->isOpen() ) {
+			bytes.append(cmd->toAscii());
+			SerialPort->write(bytes);
+		}
+	}
+}
+
+// return FPS and last status
+void FTNoIR_Tracker::get_info(QString* info, int* tps ){
+	QReadLocker locker(&rwlock);
+	*tps=HAT.Code;
+	if (ListErrInf->size()>0)  {
+		*info=ListErrInf->takeFirst();
+	} else {
+		*info= QString();
+	}
+}
+
+
+/** QThread run @override **/
+void FTNoIR_Tracker::run() {
+	//
+	// Read the data that was received.
+	//
+	forever {
+
+		// Check event for stop thread
+		if(::WaitForSingleObject(m_StopThread, 0) == WAIT_OBJECT_0)
+		{
+			// Set event
+			::SetEvent(m_WaitThread);
+			qDebug() << "FTNoIR_Tracker::run() terminated run()";
+			return;
+		}
+		if (SerialPort->bytesAvailable()>=30) {
+			QWriteLocker locker(&rwlock);
+			datagram.clear();
+			datagram=SerialPort->read(30);
+			QDataStream  datastream(datagram);
+			datastream>>ArduinoData;
+
+			if (ArduinoData.Begin==0xAAAA && ArduinoData.End==0x5555 ) {
+				if (ArduinoData.Code <= 1000) {
+					HAT=ArduinoData;
+				} else {
+					ListErrInf->push_back(QString::fromAscii(datagram.mid(4,24),24))  ;
+				}
+			} else { 
+				SerialPort->read(1);
+			}
+		}
+		//for lower cpu load 
+		usleep(10000);
+	}
+}
+
+void FTNoIR_Tracker::Initialize( QFrame *videoframe )
+{
+	qDebug() << "FTNoIR_Tracker::Initialize says: Starting ";
+
+	//
+	// Create SerialPort if they don't exist already.
+	// They must be created here, because they must be in the new thread (FTNoIR_Tracker::run())
+	//
+
+	if (SerialPort == NULL) {
+		qDebug() << "FTNoIR_Tracker::Initialize() Open SerialPort";
+		SerialPort = new QextSerialPort(sSerialPortName); 
+		if (SerialPort->open(QIODevice::ReadWrite | QIODevice::Unbuffered  ) == true) { 
+			SerialPort->flush();
+			SerialPort->setBaudRate(BAUD115200);  
+			SerialPort->setParity(PAR_NONE);  
+			SerialPort->setDataBits(DATA_8);  
+			SerialPort->setStopBits(STOP_1);  
+			SerialPort->setFlowControl(FLOW_OFF);  
+			SerialPort->setTimeout(waitTimeout);  
+			SerialPort->setQueryMode(QextSerialPort::EventDriven); //Polling  
+			// Send START to arduino
+			SerialPort->putChar('S');
+		}
+		else {
+			QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to open SerialPort",QMessageBox::Ok,QMessageBox::NoButton);
+			delete SerialPort;
+			SerialPort = NULL;
+		}
+	}
+	return;
+}
+
+void FTNoIR_Tracker::StartTracker( HWND parent_window )
+{
+	start( QThread::TimeCriticalPriority );
+	return;
+}
+
+void FTNoIR_Tracker::StopTracker( bool exit )
+{
+	//
+	// OK, the thread is not stopped, doing this. That might be dangerous anyway...
+	//
+	if (exit || !exit) return;
+	return;
+}
+
+//
+// Return 6DOF info
+//
+bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)
+{
+	QReadLocker locker(&rwlock);
+	data->frame_number =  HAT.Code;
+
+	if (bEnableYaw) {
+		if (bInvertYaw )	data->yaw =  HAT.Gyro[iYawAxe] *  -1.0f;
+		else 	data->yaw =  HAT.Gyro[iYawAxe];
+	}	
+
+	if (bEnablePitch) {
+		if (bInvertPitch)data->pitch =  HAT.Gyro[iPitchAxe] *  -1.0f;
+		else data->pitch =  HAT.Gyro[iPitchAxe];
+	}
+
+	if (bEnableRoll) {
+		if (bInvertRoll) data->roll =  HAT.Gyro[iRollAxe] *  -1.0f; 
+		else data->roll =  HAT.Gyro[iRollAxe];
+	}
+
+	if (bEnableX) {
+		if (bInvertX) data->x =  HAT.Acc[iXAxe]*  -1.0f;
+		else data->x =  HAT.Acc[iXAxe];
+	}
+
+	if (bEnableY) {
+		if (bInvertY) data->y = HAT.Acc[iYAxe]*  -1.0f;
+		else data->y =  HAT.Acc[iYAxe];
+	}
+
+	if (bEnableZ) {
+		if (bInvertZ)  data->z =  HAT.Acc[iZAxe]*  -1.0f;
+		else data->z =  HAT.Acc[iZAxe];
+	}
+
+	return true;
+}
+
+
+
+//
+// Apply modification Settings 
+//
+void FTNoIR_Tracker::applysettings(const TrackerSettings& settings){
+	qDebug()<<"Tracker:: Applying settings";
+
+	QReadLocker locker(&rwlock);
+	sSerialPortName= settings.SerialPortName;
+
+	bEnableRoll = settings.EnableRoll;
+	bEnablePitch = settings.EnablePitch;
+	bEnableYaw = settings.EnableYaw;
+	bEnableX = settings.EnableX;
+	bEnableY = settings.EnableY;
+	bEnableZ = settings.EnableZ;
+
+	bInvertRoll = settings.InvertRoll;
+	bInvertPitch = settings.InvertPitch;
+	bInvertYaw = settings.InvertYaw;
+	bInvertX = settings.InvertX;
+	bInvertY = settings.InvertY;
+	bInvertZ = settings.InvertZ;
+
+
+	iRollAxe= settings.RollAxe;
+	iPitchAxe= settings.PitchAxe;
+	iYawAxe= settings.YawAxe;
+	iXAxe= settings.XAxe;
+	iYAxe= settings.YAxe;
+	iZAxe= settings.ZAxe;
+}
+
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+// Factory function that creates instances if the Tracker object.
+
+// Export both decorated and undecorated names.
+//   GetTracker     - Undecorated name, which can be easily used with GetProcAddress
+//                Win32 API function.
+//   _GetTracker@0  - Common name decoration for __stdcall functions in C language.
+#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
+
+FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker()
+{
+	return new FTNoIR_Tracker;
+}
diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat.h b/ftnoir_tracker_hatire/ftnoir_tracker_hat.h
new file mode 100644
index 00000000..54e67f48
--- /dev/null
+++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat.h
@@ -0,0 +1,102 @@
+#ifndef FTNOIR_TRACKER_HAT_H
+#define FTNOIR_TRACKER_HAT_H
+
+#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
+#include "ftnoir_tracker_hat_settings.h"
+#include "ftnoir_arduino_type.h"
+
+#include <QExtSerialPort\qextserialport.h>
+#include <QExtSerialPort\qextserialenumerator.h>
+#include <QThread>
+#include <QReadWriteLock>
+#include <QTimer>
+#include <QSettings>
+#include "Windows.h"
+#include "math.h"
+
+class QextSerialPort;
+class QExtSerialEnumerator;
+
+class FTNoIR_Tracker : public ITracker, QThread
+{ 
+
+public:
+	FTNoIR_Tracker();
+	~FTNoIR_Tracker();
+
+    void Initialize( QFrame *videoframe );
+    void StartTracker( HWND parent_window );
+    void StopTracker( bool exit );
+	bool GiveHeadPoseData(THeadPoseData *data);
+
+	void applysettings(const TrackerSettings& settings);
+	void notifyCenter();
+    void center();
+	void reset();
+	void sendcmd(QString*  cmd);
+	void get_info(QString* info , int* tps );
+
+protected:
+	void run();												// qthread override run method
+
+
+private:
+	// Handles to neatly terminate thread...
+	HANDLE m_StopThread;
+	HANDLE m_WaitThread;
+
+    TArduinoData ArduinoData, HAT ;                              // Trame from Arduino
+    QByteArray datagram;
+ 	QextSerialPort *SerialPort;
+	QReadWriteLock rwlock;
+	QList<QString>* ListErrInf ;
+    int waitTimeout;
+	QString sSerialPortName;									// Port serial name
+	bool bEnableRoll;
+	bool bEnablePitch;
+	bool bEnableYaw;
+	bool bEnableX;
+	bool bEnableY;
+	bool bEnableZ;
+
+	bool bInvertRoll;
+	bool bInvertPitch;
+	bool bInvertYaw;
+	bool bInvertX;
+	bool bInvertY;
+	bool bInvertZ;
+
+
+	int iRollAxe;
+	int iPitchAxe;
+	int iYawAxe;
+	int iXAxe;
+	int iYAxe;
+	int iZAxe;
+
+};
+
+
+//*******************************************************************************************************
+// FaceTrackNoIR Tracker DLL. Functions used to get general info on the Tracker
+//*******************************************************************************************************
+class FTNoIR_TrackerDll : public ITrackerDll
+{
+public:
+	FTNoIR_TrackerDll();
+	~FTNoIR_TrackerDll();
+
+    void Initialize();
+
+	void getFullName(QString *strToBeFilled);
+	void getShortName(QString *strToBeFilled);
+	void getDescription(QString *strToBeFilled);
+	void getIcon(QIcon *icon);
+
+private:
+	QString trackerFullName;									// Trackers' name and description
+	QString trackerShortName;
+	QString trackerDescription;
+};
+
+#endif // FTNOIR_TRACKER_HAT_H
\ No newline at end of file
diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat.rc b/ftnoir_tracker_hatire/ftnoir_tracker_hat.rc
new file mode 100644
index 00000000..62e0a613
--- /dev/null
+++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat.rc
@@ -0,0 +1,61 @@
+// Microsoft Visual C++ generated resource script.
+//
+#include "resource.h"
+
+#define APSTUDIO_READONLY_SYMBOLS
+/////////////////////////////////////////////////////////////////////////////
+//
+// Generated from the TEXTINCLUDE 2 resource.
+//
+//#include "afxres.h"
+
+/////////////////////////////////////////////////////////////////////////////
+#undef APSTUDIO_READONLY_SYMBOLS
+
+/////////////////////////////////////////////////////////////////////////////
+// English (U.S.) resources
+
+#if !defined(AFX_RESOURCE_DLL) || defined(AFX_TARG_ENU)
+LANGUAGE 9, 1
+#pragma code_page(1252)
+
+#ifdef APSTUDIO_INVOKED
+/////////////////////////////////////////////////////////////////////////////
+//
+// TEXTINCLUDE
+//
+
+1 TEXTINCLUDE  
+BEGIN
+    "resource.h\0"
+END
+
+2 TEXTINCLUDE  
+BEGIN
+    "#include ""afxres.h""\r\n"
+    "\0"
+END
+
+3 TEXTINCLUDE  
+BEGIN
+    "\r\n"
+    "\0"
+END
+
+#endif    // APSTUDIO_INVOKED
+
+#endif    // English (U.S.) resources
+/////////////////////////////////////////////////////////////////////////////
+
+
+
+#ifndef APSTUDIO_INVOKED
+/////////////////////////////////////////////////////////////////////////////
+//
+// Generated from the TEXTINCLUDE 3 resource.
+//
+
+
+/////////////////////////////////////////////////////////////////////////////
+#endif    // not APSTUDIO_INVOKED
+
diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.cpp b/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.cpp
new file mode 100644
index 00000000..b889341f
--- /dev/null
+++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.cpp
@@ -0,0 +1,299 @@
+/********************************************************************************
+* FaceTrackNoIR		This program is a private project of some enthusiastic		*
+*					gamers from Holland, who don't like to pay much for			*
+*					head-tracking.												*
+*																				*
+* Copyright (C) 2012	Wim Vriend (Developing)									*
+*						Ron Hendriks (Researching and Testing)					*
+*																				*
+* Homepage:			http://facetracknoir.sourceforge.net/home/default.htm		*
+*																				*
+* This program is free software; you can redistribute it and/or modify it		*
+* under the terms of the GNU General Public License as published by the			*
+* Free Software Foundation; either version 3 of the License, or (at your		*
+* option) any later version.													*
+*																				*
+* This program is distributed in the hope that it will be useful, but			*
+* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY	*
+* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for	*
+* more details.																	*
+*																				*
+* You should have received a copy of the GNU General Public License along		*
+* with this program; if not, see <http://www.gnu.org/licenses/>.				*
+*																				*
+********************************************************************************/
+#include "ftnoir_tracker_hat.h"
+#include "ftnoir_tracker_hat_dialog.h"
+
+#include <QMessageBox>
+#include <QDebug>
+
+//*******************************************************************************************************
+// FaceTrackNoIR Client Settings-dialog.
+//*******************************************************************************************************
+
+//
+// Constructor for server-settings-dialog
+//
+TrackerControls::TrackerControls() : settingsDirty(false), theTracker(NULL), timer(this),
+QWidget()
+{
+	
+    settingsDirty= false;
+	theTracker = NULL;
+	ui.setupUi( this );
+	pre_trame = 0;
+	settings.load_ini();
+
+	// make SerialPort list
+	foreach (QextPortInfo PortInfo , QextSerialEnumerator::getPorts() ) {
+		ui.cbSerialPort->addItem(PortInfo.portName);
+	} 
+    // Stop if no SerialPort dispo 
+	if (ui.cbSerialPort->count()<1) {
+		QMessageBox::critical(this,"FaceTrackNoIR Error", "No SerialPort avaible");
+	} else {
+
+		int indxport =ui.cbSerialPort->findText(settings.SerialPortName,Qt::MatchExactly );
+		if (indxport!=-1) {
+			ui.cbSerialPort->setCurrentIndex(indxport);
+		} else {
+			QMessageBox::warning(this,"FaceTrackNoIR Error", "Selected SerialPort modified");
+			ui.cbSerialPort-> setCurrentIndex(indxport);
+		}
+	}
+  
+	ui.chkEnableRoll->setChecked(settings.EnableRoll);
+	ui.chkEnablePitch->setChecked(settings.EnablePitch);
+	ui.chkEnableYaw->setChecked(settings.EnableYaw);
+	ui.chkEnableX->setChecked(settings.EnableX);
+	ui.chkEnableY->setChecked(settings.EnableY);
+	ui.chkEnableZ->setChecked(settings.EnableZ);
+
+	ui.chkInvertRoll->setChecked(settings.InvertRoll);
+	ui.chkInvertPitch->setChecked(settings.InvertPitch);
+	ui.chkInvertYaw->setChecked(settings.InvertYaw);
+	ui.chkInvertX->setChecked(settings.InvertX);
+	ui.chkInvertY->setChecked(settings.InvertY);
+	ui.chkInvertZ->setChecked(settings.InvertZ);
+
+
+	ui.cb_roll->setCurrentIndex(settings.RollAxe);
+	ui.cb_pitch->setCurrentIndex(settings.PitchAxe);
+	ui.cb_yaw->setCurrentIndex(settings.YawAxe);
+	ui.cb_x->setCurrentIndex(settings.XAxe);
+	ui.cb_y->setCurrentIndex(settings.YAxe);
+	ui.cb_z->setCurrentIndex(settings.ZAxe);
+
+
+	// Connect Qt signals to member-functions
+	connect(ui.btnOK, SIGNAL(clicked()), this, SLOT(doOK()));
+	connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
+	connect(ui.btnSave, SIGNAL(clicked()), this, SLOT(doSave()));
+
+
+	connect(ui.cbSerialPort,  SIGNAL(currentIndexChanged(QString)), this,SLOT(set_mod_port(QString)) );
+
+	connect( ui.chkEnableRoll,SIGNAL(toggled(bool)),		 this,SLOT(set_ena_roll(bool)) );
+	connect( ui.chkEnablePitch,SIGNAL(toggled(bool)),		 this,SLOT(set_ena_pitch(bool)) );
+	connect( ui.chkEnableYaw,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_yaw(bool)) );
+	connect( ui.chkEnableX,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_x(bool)) );
+	connect( ui.chkEnableY,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_y(bool)) );
+	connect( ui.chkEnableZ,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_z(bool)) );
+
+	connect( ui.chkInvertRoll,SIGNAL(toggled(bool)),		 this,SLOT(set_inv_roll(bool)) );
+	connect( ui.chkInvertPitch,SIGNAL(toggled(bool)),		 this,SLOT(set_inv_pitch(bool)) );
+	connect( ui.chkInvertYaw,SIGNAL(toggled(bool)),			 this,SLOT(set_inv_yaw(bool)) );
+	connect( ui.chkInvertX,SIGNAL(toggled(bool)),			 this,SLOT(set_inv_x(bool)) );
+	connect( ui.chkInvertY,SIGNAL(toggled(bool)),			 this,SLOT(set_inv_y(bool)) );
+	connect( ui.chkInvertZ,SIGNAL(toggled(bool)),			 this,SLOT(set_inv_z(bool)) );
+
+
+	connect(ui.cb_roll, SIGNAL(currentIndexChanged(int)), this,SLOT(set_rot_roll(int)));
+	connect(ui.cb_pitch, SIGNAL(currentIndexChanged(int)),this,SLOT(set_rot_pitch(int)));
+	connect(ui.cb_yaw, SIGNAL(currentIndexChanged(int)),  this,SLOT(set_rot_yaw(int)));
+	connect(ui.cb_x, SIGNAL(currentIndexChanged(int)),    this,SLOT(set_acc_x(int)));
+	connect(ui.cb_y, SIGNAL(currentIndexChanged(int)),    this,SLOT(set_acc_y(int)));
+	connect(ui.cb_z, SIGNAL(currentIndexChanged(int)),    this,SLOT(set_acc_z(int)));
+
+	connect(ui.btnReset, SIGNAL(clicked()), this, SLOT(doReset()));
+	connect(ui.btnCenter, SIGNAL(clicked()), this, SLOT(doCenter()));
+	connect(ui.btnSend, SIGNAL(clicked()), this, SLOT(doSend()));
+
+	connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
+}
+
+//
+// Destructor for server-dialog
+//
+TrackerControls::~TrackerControls() {
+    delete this;
+}
+
+
+//
+// Initialize tracker-client-dialog
+//
+void TrackerControls::Initialize(QWidget *parent) {
+	QPoint offsetpos(100, 100);
+	if (parent) {
+		this->move(parent->pos() + offsetpos);
+	}
+	show();
+}
+
+
+//
+// Apply online settings to tracker
+//
+void TrackerControls::settings_changed()
+{
+	settingsDirty = true;
+	if (theTracker) theTracker->applysettings(settings);
+}
+
+
+//
+// Center asked to ARDUINO
+//
+void TrackerControls::doCenter() {
+	if (theTracker) theTracker->center();
+}
+
+//
+// Reset asked to ARDUINO
+//
+void TrackerControls::doReset() {
+	if (theTracker) theTracker->reset();
+}
+
+
+//
+// Send command to ARDUINO
+//
+void TrackerControls::doSend() {
+	if (theTracker) {
+		if (!ui.lineSend->text().isEmpty()) {
+			QString cmd;
+			cmd=ui.lineSend->text();
+  			theTracker->sendcmd(&cmd);
+			ui.lineSend->clear();
+		}
+	}
+}
+
+
+//
+// Display FPS and Status of Arduino.
+//
+void TrackerControls::poll_tracker_info()
+{
+	if (theTracker)
+	{	
+		QString info;
+		int num_trame;
+		int nb_trame;
+
+		theTracker->get_info(&info,&num_trame);
+		if ( !info.isNull()) {
+			ui.lab_vstatus->setText(info);
+			ui.pteINFO->moveCursor(QTextCursor::End);
+			ui.pteINFO->insertPlainText(info);
+		}
+
+
+		if (pre_trame<num_trame)  
+			{ nb_trame=num_trame-pre_trame;}
+		else 
+			{nb_trame=(1000-pre_trame)+num_trame;}
+		ui.lab_vtps->setText(QString::number(nb_trame*(1000/timer.interval())));
+
+		pre_trame=num_trame;
+	} 
+	
+}
+
+
+void TrackerControls::doSave() {
+	settingsDirty=false;
+    settings.save_ini();
+}
+
+
+//
+// OK clicked on server-dialog
+//
+void TrackerControls::doOK() {
+	settingsDirty=false;
+    settings.save_ini();
+	this->close();
+}
+
+//
+// Cancel clicked on server-dialog
+//
+void TrackerControls::doCancel() {
+	//
+	// Ask if changed Settings should be saved
+	//
+	if (settingsDirty) {
+		int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard );
+
+		//		qDebug() << "doCancel says: answer =" << ret;
+
+		switch (ret) {
+			case QMessageBox::Save:
+				settings.save_ini();
+				close();
+				break;
+			case QMessageBox::Discard:
+				close();
+				break;
+			case QMessageBox::Cancel:
+				// Cancel was clicked
+				break;
+			default:
+				// should never be reached
+				break;
+		}
+	}
+	else {
+		close();
+	}
+}
+
+
+void TrackerControls::registerTracker(ITracker *tracker) {
+//	theTracker = (FTNoIR_Tracker *) tracker;	
+	theTracker = static_cast<FTNoIR_Tracker*>(tracker);
+	if (isVisible() && settingsDirty) theTracker->applysettings(settings);
+	ui.cbSerialPort->setEnabled(false);
+	timer.start(250);
+	ui.lab_vstatus->setText("HAT START");
+}
+
+
+void TrackerControls::unRegisterTracker() {
+	theTracker = NULL;
+	ui.cbSerialPort->setEnabled(true);
+	timer.stop();
+	ui.lab_vstatus->setText("HAT STOPPED");
+	ui.lab_vtps->setText("");
+}
+
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+// Factory function that creates instances if the Tracker-settings dialog object.
+
+// Export both decorated and undecorated names.
+//   GetTrackerDialog     - Undecorated name, which can be easily used with GetProcAddress
+//                          Win32 API function.
+//   _GetTrackerDialog@0  - Common name decoration for __stdcall functions in C language.
+#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")
+
+FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( )
+{
+	return new TrackerControls;
+}
diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.h b/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.h
new file mode 100644
index 00000000..c463f361
--- /dev/null
+++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.h
@@ -0,0 +1,78 @@
+#ifndef FTNOIR_TRACKER_HAT_DIALOG_H
+#define FTNOIR_TRACKER_HAT_DIALOG_H
+
+#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
+#include "ftnoir_tracker_hat_settings.h"
+#include "ftnoir_tracker_hat.h"
+#include "ui_ftnoir_hatcontrols.h"
+
+#include <QTimer>
+#include <QMessageBox>
+
+// Widget that has controls for FTNoIR protocol client-settings.
+class TrackerControls: public QWidget, Ui::UIHATControls, public ITrackerDialog
+{
+    Q_OBJECT
+
+public:
+	explicit TrackerControls();
+    virtual ~TrackerControls();
+
+    void Initialize(QWidget *parent);
+	void registerTracker(ITracker *tracker);
+	void unRegisterTracker() ;
+
+private:
+	Ui::UIHATControls ui;
+	int pre_trame;
+	FTNoIR_Tracker *theTracker;
+
+protected slots:
+
+	/*
+	void set_mod_port(int val)	 {  settings.SerialPortName = ui.cbSerialPort->itemText(val);    
+	                                QMessageBox::warning(this,"FaceTrackNoIR Error", settings.SerialPortName);
+	                                settings_changed(); }
+*/
+	void set_mod_port(const QString & val)	 {  settings.SerialPortName =val;    
+	                                QMessageBox::warning(this,"FaceTrackNoIR Error", settings.SerialPortName);
+	                                settings_changed(); }
+	void set_ena_roll(bool val)	 { settings.EnableRoll = val;    settings_changed(); }
+	void set_ena_pitch(bool val) { settings.EnablePitch = val;   settings_changed(); }
+	void set_ena_yaw(bool val)	 { settings.EnableYaw = val;     settings_changed(); }
+	void set_ena_x(bool val)	 { settings.EnableX = val;       settings_changed(); }
+	void set_ena_y(bool val)	 { settings.EnableY = val;       settings_changed(); }
+	void set_ena_z(bool val)	 { settings.EnableZ = val;       settings_changed(); }
+
+	void set_inv_roll(bool val)	 { settings.InvertRoll = val;    settings_changed(); }
+	void set_inv_pitch(bool val) { settings.InvertPitch = val;   settings_changed(); }
+	void set_inv_yaw(bool val)	 { settings.InvertYaw = val;     settings_changed(); }
+	void set_inv_x(bool val)	 { settings.InvertX = val;       settings_changed(); }
+	void set_inv_y(bool val)	 { settings.InvertY = val;       settings_changed(); }
+	void set_inv_z(bool val)	 { settings.InvertZ = val;       settings_changed(); }
+
+
+	void set_rot_roll(int val)	 { settings.RollAxe = val;    settings_changed(); }
+	void set_rot_pitch(int val)	 { settings.PitchAxe = val;   settings_changed(); }
+	void set_rot_yaw(int val)	 { settings.YawAxe = val;     settings_changed(); }
+	void set_acc_x(int val)		 { settings.XAxe = val;       settings_changed(); }
+	void set_acc_y(int val)		 { settings.YAxe = val;       settings_changed(); }
+	void set_acc_z(int val)		 { settings.ZAxe = val;       settings_changed(); }
+
+	void doOK();
+	void doCancel();
+	void doSave();
+	void doReset();
+	void doCenter();
+	void doSend();
+	void poll_tracker_info();
+
+protected:
+	bool settingsDirty;
+	void settings_changed();
+	TrackerSettings settings;
+	QTimer timer;
+};
+
+
+#endif //FTNOIR_TRACKER_HAT_DIALOG_H
\ No newline at end of file
diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat_dll.cpp b/ftnoir_tracker_hatire/ftnoir_tracker_hat_dll.cpp
new file mode 100644
index 00000000..246eb397
--- /dev/null
+++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat_dll.cpp
@@ -0,0 +1,79 @@
+/********************************************************************************
+* FaceTrackNoIR		This program is a private project of some enthusiastic		*
+*					gamers from Holland, who don't like to pay much for			*
+*					head-tracking.												*
+*																				*
+* Copyright (C) 2012	Wim Vriend (Developing)									*
+*						Ron Hendriks (Researching and Testing)					*
+*																				*
+* Homepage:			http://facetracknoir.sourceforge.net/home/default.htm		*
+*																				*
+* This program is free software; you can redistribute it and/or modify it		*
+* under the terms of the GNU General Public License as published by the			*
+* Free Software Foundation; either version 3 of the License, or (at your		*
+* option) any later version.													*
+*																				*
+* This program is distributed in the hope that it will be useful, but			*
+* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY	*
+* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for	*
+* more details.																	*
+*																				*
+* You should have received a copy of the GNU General Public License along		*
+* with this program; if not, see <http://www.gnu.org/licenses/>.				*
+*																				*
+********************************************************************************/
+
+#include "ftnoir_tracker_hat.h"
+#include <QICon>
+#include <QDebug>
+
+FTNoIR_TrackerDll::FTNoIR_TrackerDll() {
+	//populate the description strings
+	trackerFullName = "Head Arduino Tracker";
+	trackerShortName = "HAT";
+	trackerDescription = "FaceTrackNoIR HAT";
+}
+
+FTNoIR_TrackerDll::~FTNoIR_TrackerDll()
+{
+
+}
+
+void FTNoIR_TrackerDll::Initialize()
+{
+	return;
+}
+
+void FTNoIR_TrackerDll::getFullName(QString *strToBeFilled)
+{
+	*strToBeFilled = trackerFullName;
+};
+
+void FTNoIR_TrackerDll::getShortName(QString *strToBeFilled)
+{
+	*strToBeFilled = trackerShortName;
+};
+
+void FTNoIR_TrackerDll::getDescription(QString *strToBeFilled)
+{
+	*strToBeFilled = trackerDescription;
+};
+
+void FTNoIR_TrackerDll::getIcon(QIcon *icon)
+{
+	*icon = QIcon(":/images/hat.ico");
+};
+
+////////////////////////////////////////////////////////////////////////////////
+// Factory function that creates instances if the Tracker object.
+
+// Export both decorated and undecorated names.
+//   GetTrackerDll     - Undecorated name, which can be easily used with GetProcAddress
+//						Win32 API function.
+//   _GetTrackerDll@0  - Common name decoration for __stdcall functions in C language.
+#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")
+
+FTNOIR_TRACKER_BASE_EXPORT ITrackerDllPtr __stdcall GetTrackerDll()
+{
+	return new FTNoIR_TrackerDll;
+}
diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.cpp b/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.cpp
new file mode 100644
index 00000000..f8b342cc
--- /dev/null
+++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.cpp
@@ -0,0 +1,102 @@
+/********************************************************************************
+* FaceTrackNoIR		This program is a private project of some enthusiastic		*
+*					gamers from Holland, who don't like to pay much for			*
+*					head-tracking.												*
+*																				*
+* Copyright (C) 2012	Wim Vriend (Developing)									*
+*						Ron Hendriks (Researching and Testing)					*
+*																				*
+* Homepage:			http://facetracknoir.sourceforge.net/home/default.htm		*
+*																				*
+* This program is free software; you can redistribute it and/or modify it		*
+* under the terms of the GNU General Public License as published by the			*
+* Free Software Foundation; either version 3 of the License, or (at your		*
+* option) any later version.													*
+*																				*
+* This program is distributed in the hope that it will be useful, but			*
+* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY	*
+* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for	*
+* more details.																	*
+*																				*
+* You should have received a copy of the GNU General Public License along		*
+* with this program; if not, see <http://www.gnu.org/licenses/>.				*
+*																				*
+********************************************************************************/
+#include <QCoreApplication>
+#include <QSettings>
+
+#include "ftnoir_tracker_hat_settings.h"
+
+void TrackerSettings::load_ini()
+{
+	qDebug("TrackerSettings::load_ini()");
+	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");	// Registry settings (in HK_USER)
+	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)
+
+	iniFile.beginGroup( "HAT" );
+
+    SerialPortName=iniFile.value ( "PortName" ).toString();
+
+	EnableRoll = iniFile.value( "EnableRoll", 1 ).toBool();
+	EnablePitch = iniFile.value( "EnablePitch", 1 ).toBool();
+	EnableYaw = iniFile.value( "EnableYaw", 1 ).toBool();
+	EnableX = iniFile.value( "EnableX", 0 ).toBool();
+	EnableY = iniFile.value( "EnableY", 0 ).toBool();
+	EnableZ = iniFile.value( "EnableZ", 0 ).toBool();
+
+
+	InvertRoll = iniFile.value( "InvertRoll", 1 ).toBool();
+	InvertPitch = iniFile.value( "InvertPitch", 1 ).toBool();
+	InvertYaw = iniFile.value( "InvertYaw", 1 ).toBool();
+	InvertX = iniFile.value( "InvertX", 0 ).toBool();
+	InvertY = iniFile.value( "InvertY", 0 ).toBool();
+	InvertZ = iniFile.value( "InvertZ", 0 ).toBool();
+
+
+	RollAxe=iniFile.value("RollAxe",1).toInt();
+	PitchAxe=iniFile.value("PitchAxe",2).toInt();
+	YawAxe=iniFile.value("YawAxe",0).toInt();
+	XAxe=iniFile.value("XAxe",1).toInt();
+	YAxe=iniFile.value("YAxe",2).toInt();
+	ZAxe=iniFile.value("ZAxe",0).toInt();
+
+	iniFile.endGroup();
+}
+
+
+void TrackerSettings::save_ini() const
+{
+	qDebug("TrackerSettings::save_ini()");
+
+	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");	// Registry settings (in HK_USER)
+	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)
+
+	iniFile.beginGroup ( "HAT" );
+
+	iniFile.setValue ( "PortName",SerialPortName );
+
+    iniFile.setValue( "EnableRoll", EnableRoll );
+	iniFile.setValue( "EnablePitch", EnablePitch );
+	iniFile.setValue( "EnableYaw", EnableYaw );
+	iniFile.setValue( "EnableX", EnableX );
+	iniFile.setValue( "EnableY", EnableY );
+	iniFile.setValue( "EnableZ", EnableZ );
+
+    iniFile.setValue( "InvertRoll", InvertRoll );
+	iniFile.setValue( "InvertPitch", InvertPitch );
+	iniFile.setValue( "InvertYaw", InvertYaw );
+	iniFile.setValue( "InvertX", InvertX );
+	iniFile.setValue( "InvertY", InvertY );
+	iniFile.setValue( "InvertZ", InvertZ );
+
+	iniFile.setValue ( "RollAxe", RollAxe );
+	iniFile.setValue ( "PitchAxe", PitchAxe );
+	iniFile.setValue ( "YawAxe",YawAxe );
+	iniFile.setValue ( "XAxe", XAxe );
+	iniFile.setValue ( "YAxe", YAxe );
+	iniFile.setValue ( "ZAxe", ZAxe );
+
+	iniFile.endGroup();
+}
diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.h b/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.h
new file mode 100644
index 00000000..a29fed6b
--- /dev/null
+++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.h
@@ -0,0 +1,44 @@
+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#ifndef FTNOIR_TRACKER_HAT_SETTINGS_H
+#define FTNOIR_TRACKER_HAT_SETTINGS_H
+
+
+//-----------------------------------------------------------------------------
+struct TrackerSettings
+{	
+
+	QString SerialPortName;
+	bool EnableRoll;
+	bool EnablePitch;
+	bool EnableYaw;
+	bool EnableX;
+	bool EnableY;
+	bool EnableZ;
+
+	bool InvertRoll;
+	bool InvertPitch;
+	bool InvertYaw;
+	bool InvertX;
+	bool InvertY;
+	bool InvertZ;
+
+
+	int RollAxe;
+	int PitchAxe;
+	int YawAxe;
+	int XAxe;
+	int YAxe;
+	int ZAxe;
+
+	void load_ini();
+	void save_ini() const;
+};
+
+
+#endif //FTNOIR_TRACKER_HAT_SETTINGS_H
\ No newline at end of file
diff --git a/ftnoir_tracker_hatire/images/hat.ico b/ftnoir_tracker_hatire/images/hat.ico
new file mode 100644
index 00000000..d8f5aac4
--- /dev/null
+++ b/ftnoir_tracker_hatire/images/hat.ico
diff --git a/ftnoir_tracker_hatire/images/hat_logo.png b/ftnoir_tracker_hatire/images/hat_logo.png
new file mode 100644
index 00000000..c3a92b1b
--- /dev/null
+++ b/ftnoir_tracker_hatire/images/hat_logo.png