remove hatire tracker

hatire tracker's unmaintained, unused and has an obvious crash bug

The following line:
data[frame_cnt] = (long) HAT.Code;

contains an arbitrary offset dereference.

It's obvious now that the code has only been compile-tested.

Because no one reported the issue, it's safe to assume it has no users.

If it gets users and becomes actively maintained, it'll return.

-sh

2 files changed, 0 insertions, 424 deletions

diff --git a/facetracknoir/clientfiles/HAT_100/HAT_100.ino b/facetracknoir/clientfiles/HAT_100/HAT_100.ino
deleted file mode 100644
index f8644ffe..00000000
--- a/facetracknoir/clientfiles/HAT_100/HAT_100.ino
+++ /dev/null
@@ -1,389 +0,0 @@
-// 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
deleted file mode 100644
index 1e4f2926..00000000
--- a/facetracknoir/clientfiles/HAT_100/README
+++ /dev/null
@@ -1,35 +0,0 @@
-  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);      
-}      
-