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Fix ganglion firmware v2 packet ordering
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philippitts committed Aug 7, 2023
1 parent a584036 commit 7c0caff
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Showing 4 changed files with 146 additions and 78 deletions.
94 changes: 59 additions & 35 deletions src/board_controller/openbci/ganglion.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -269,11 +269,11 @@ void Ganglion::read_thread ()
{
if (firmware == 3)
{
decompress_firmware_3 (&data, last_data, acceleration);
decompress_firmware_3 (&data, last_data, acceleration, package);
}
else if (firmware == 2)
{
decompress_firmware_2 (&data, last_data, acceleration);
decompress_firmware_2 (&data, last_data, acceleration, package);
}
}
else if ((data.data[0] > 200) && (data.data[0] < 206))
Expand Down Expand Up @@ -343,33 +343,6 @@ void Ganglion::read_thread ()
}
continue;
}

// add first encoded package
package[board_descr["default"]["package_num_channel"].get<int> ()] = data.data[0];
package[board_descr["default"]["eeg_channels"][0].get<int> ()] =
eeg_scale * last_data[0];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] =
eeg_scale * last_data[1];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] =
eeg_scale * last_data[2];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] =
eeg_scale * last_data[3];
package[board_descr["default"]["accel_channels"][0].get<int> ()] = acceleration[0];
package[board_descr["default"]["accel_channels"][1].get<int> ()] = acceleration[1];
package[board_descr["default"]["accel_channels"][2].get<int> ()] = acceleration[2];
package[board_descr["default"]["timestamp_channel"].get<int> ()] = data.timestamp;
push_package (package);
// add second package
package[board_descr["default"]["eeg_channels"][0].get<int> ()] =
eeg_scale * last_data[4];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] =
eeg_scale * last_data[5];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] =
eeg_scale * last_data[6];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] =
eeg_scale * last_data[7];
package[board_descr["default"]["timestamp_channel"].get<int> ()] = data.timestamp;
push_package (package);
}
else
{
Expand Down Expand Up @@ -398,7 +371,7 @@ void Ganglion::read_thread ()
}

void Ganglion::decompress_firmware_3 (
struct GanglionLib::GanglionData *data, float *last_data, double *acceleration)
struct GanglionLib::GanglionData *data, float *last_data, double *acceleration, double *package)
{
int bits_per_num = 0;
unsigned char package_bits[160] = {0}; // 20 * 8
Expand All @@ -408,7 +381,7 @@ void Ganglion::decompress_firmware_3 (
}

// 18 bit compression, sends 17 MSBs + sign bit of 24-bit sample
if ((data->data[0] >= 0) && (data->data[0] < 100))
if (data->data[0] >= 0 && data->data[0] < 100)
{
int last_digit = data->data[0] % 10;
switch (last_digit)
Expand All @@ -429,7 +402,7 @@ void Ganglion::decompress_firmware_3 (
}
bits_per_num = 18;
}
else if ((data->data[0] >= 100) && (data->data[0] < 200))
else if (data->data[0] >= 100 && data->data[0] < 200)
{
bits_per_num = 19;
}
Expand All @@ -446,10 +419,29 @@ void Ganglion::decompress_firmware_3 (
last_data[counter] = (float)(cast_ganglion_bits_to_int32<19> (package_bits + i) << 5);
}
}

// add first encoded package
package[board_descr["default"]["package_num_channel"].get<int> ()] = data->data[0];
package[board_descr["default"]["eeg_channels"][0].get<int> ()] = eeg_scale * last_data[0];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] = eeg_scale * last_data[1];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] = eeg_scale * last_data[2];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] = eeg_scale * last_data[3];
package[board_descr["default"]["accel_channels"][0].get<int> ()] = acceleration[0];
package[board_descr["default"]["accel_channels"][1].get<int> ()] = acceleration[1];
package[board_descr["default"]["accel_channels"][2].get<int> ()] = acceleration[2];
package[board_descr["default"]["timestamp_channel"].get<int> ()] = data->timestamp;
push_package (package);
// add second package
package[board_descr["default"]["eeg_channels"][0].get<int> ()] = eeg_scale * last_data[4];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] = eeg_scale * last_data[5];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] = eeg_scale * last_data[6];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] = eeg_scale * last_data[7];
package[board_descr["default"]["timestamp_channel"].get<int> ()] = data->timestamp;
push_package (package);
}

void Ganglion::decompress_firmware_2 (
struct GanglionLib::GanglionData *data, float *last_data, double *acceleration)
struct GanglionLib::GanglionData *data, float *last_data, double *acceleration, double *package)
{
int bits_per_num = 0;
unsigned char package_bits[160] = {0}; // 20 * 8
Expand All @@ -474,9 +466,22 @@ void Ganglion::decompress_firmware_2 (
last_data[5] = (float)cast_24bit_to_int32 (data->data + 4);
last_data[6] = (float)cast_24bit_to_int32 (data->data + 7);
last_data[7] = (float)cast_24bit_to_int32 (data->data + 10);

// scale new packet and insert into result
package[board_descr["default"]["package_num_channel"].get<int> ()] = 0.;
package[board_descr["default"]["eeg_channels"][0].get<int> ()] = eeg_scale * data->data[4];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] = eeg_scale * data->data[5];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] = eeg_scale * data->data[6];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] = eeg_scale * data->data[7];
package[board_descr["default"]["accel_channels"][0].get<int> ()] = acceleration[0];
package[board_descr["default"]["accel_channels"][1].get<int> ()] = acceleration[1];
package[board_descr["default"]["accel_channels"][2].get<int> ()] = acceleration[2];
package[board_descr["default"]["timestamp_channel"].get<int> ()] = data->timestamp;
push_package (package);
return;
}
// 18 bit compression, sends delta from previous value instead of real value!
else if ((data->data[0] >= 1) && (data->data[0] <= 100))
else if (data->data[0] >= 1 && data->data[0] <= 100)
{
int last_digit = data->data[0] % 10;
switch (last_digit)
Expand All @@ -497,7 +502,7 @@ void Ganglion::decompress_firmware_2 (
}
bits_per_num = 18;
}
else if ((data->data[0] >= 101) && (data->data[0] <= 200))
else if (data->data[0] >= 101 && data->data[0] <= 200)
{
bits_per_num = 19;
}
Expand Down Expand Up @@ -526,6 +531,25 @@ void Ganglion::decompress_firmware_2 (
{
last_data[i] = last_data[i - 4] - delta[i];
}

// add first encoded package
package[board_descr["default"]["package_num_channel"].get<int> ()] = data->data[0];
package[board_descr["default"]["eeg_channels"][0].get<int> ()] = eeg_scale * last_data[0];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] = eeg_scale * last_data[1];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] = eeg_scale * last_data[2];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] = eeg_scale * last_data[3];
package[board_descr["default"]["accel_channels"][0].get<int> ()] = acceleration[0];
package[board_descr["default"]["accel_channels"][1].get<int> ()] = acceleration[1];
package[board_descr["default"]["accel_channels"][2].get<int> ()] = acceleration[2];
package[board_descr["default"]["timestamp_channel"].get<int> ()] = data->timestamp;
push_package (package);
// add second package
package[board_descr["default"]["eeg_channels"][0].get<int> ()] = eeg_scale * last_data[4];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] = eeg_scale * last_data[5];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] = eeg_scale * last_data[6];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] = eeg_scale * last_data[7];
package[board_descr["default"]["timestamp_channel"].get<int> ()] = data->timestamp;
push_package (package);
}

int Ganglion::config_board (std::string config, std::string &response)
Expand Down
118 changes: 81 additions & 37 deletions src/board_controller/openbci/ganglion_native.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -474,16 +474,17 @@ void GanglionNative::read_data (
package[i] = 0.0;
}

if (data[0] <= 200)
if (data[0] <= 200 && size == 20)
{
if (firmware == 3)
{
decompress_firmware_3 (data);
decompress_firmware_3 (data, package);
}
else if (firmware == 2)
{
decompress_firmware_2 (data);
decompress_firmware_2 (data, package);
}
delete package;
}
else if ((data[0] > 200) && (data[0] < 206))
{
Expand Down Expand Up @@ -556,37 +557,9 @@ void GanglionNative::read_data (
delete[] package;
return;
}

// add first encoded package
package[board_descr["default"]["package_num_channel"].get<int> ()] = data[0];
package[board_descr["default"]["eeg_channels"][0].get<int> ()] =
eeg_scale * temp_data.last_data[0];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] =
eeg_scale * temp_data.last_data[1];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] =
eeg_scale * temp_data.last_data[2];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] =
eeg_scale * temp_data.last_data[3];
package[board_descr["default"]["accel_channels"][0].get<int> ()] = temp_data.accel_x;
package[board_descr["default"]["accel_channels"][1].get<int> ()] = temp_data.accel_y;
package[board_descr["default"]["accel_channels"][2].get<int> ()] = temp_data.accel_z;
package[board_descr["default"]["timestamp_channel"].get<int> ()] = get_timestamp ();
push_package (package);
// add second package
package[board_descr["default"]["eeg_channels"][0].get<int> ()] =
eeg_scale * temp_data.last_data[4];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] =
eeg_scale * temp_data.last_data[5];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] =
eeg_scale * temp_data.last_data[6];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] =
eeg_scale * temp_data.last_data[7];
package[board_descr["default"]["timestamp_channel"].get<int> ()] = get_timestamp ();
push_package (package);
delete[] package;
}

void GanglionNative::decompress_firmware_3 (uint8_t *data)
void GanglionNative::decompress_firmware_3 (uint8_t *data, double *package)
{
int bits_per_num = 0;
unsigned char package_bits[160] = {0}; // 20 * 8
Expand All @@ -596,7 +569,7 @@ void GanglionNative::decompress_firmware_3 (uint8_t *data)
}

// 18 bit compression, sends 17 MSBs + sign bit of 24-bit sample
if ((data[0] >= 0) && (data[0] < 100))
if (data[0] >= 0 && data[0] < 100)
{
int last_digit = data[0] % 10;
switch (last_digit)
Expand All @@ -617,7 +590,7 @@ void GanglionNative::decompress_firmware_3 (uint8_t *data)
}
bits_per_num = 18;
}
else if ((data[0] >= 100) && (data[0] < 200))
else if (data[0] >= 100 && data[0] < 200)
{
bits_per_num = 19;
}
Expand All @@ -636,9 +609,36 @@ void GanglionNative::decompress_firmware_3 (uint8_t *data)
(float)(cast_ganglion_bits_to_int32<19> (package_bits + i) << 5);
}
}

// add first encoded package
package[board_descr["default"]["package_num_channel"].get<int> ()] = data[0];
package[board_descr["default"]["eeg_channels"][0].get<int> ()] =
eeg_scale * temp_data.last_data[0];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] =
eeg_scale * temp_data.last_data[1];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] =
eeg_scale * temp_data.last_data[2];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] =
eeg_scale * temp_data.last_data[3];
package[board_descr["default"]["accel_channels"][0].get<int> ()] = temp_data.accel_x;
package[board_descr["default"]["accel_channels"][1].get<int> ()] = temp_data.accel_y;
package[board_descr["default"]["accel_channels"][2].get<int> ()] = temp_data.accel_z;
package[board_descr["default"]["timestamp_channel"].get<int> ()] = get_timestamp ();
push_package (package);
// add second package
package[board_descr["default"]["eeg_channels"][0].get<int> ()] =
eeg_scale * temp_data.last_data[4];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] =
eeg_scale * temp_data.last_data[5];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] =
eeg_scale * temp_data.last_data[6];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] =
eeg_scale * temp_data.last_data[7];
package[board_descr["default"]["timestamp_channel"].get<int> ()] = get_timestamp ();
push_package (package);
}

void GanglionNative::decompress_firmware_2 (uint8_t *data)
void GanglionNative::decompress_firmware_2 (uint8_t *data, double *package)
{
int bits_per_num = 0;
unsigned char package_bits[160] = {0}; // 20 * 8
Expand All @@ -663,9 +663,26 @@ void GanglionNative::decompress_firmware_2 (uint8_t *data)
temp_data.last_data[5] = (float)cast_24bit_to_int32 (data + 4);
temp_data.last_data[6] = (float)cast_24bit_to_int32 (data + 7);
temp_data.last_data[7] = (float)cast_24bit_to_int32 (data + 10);

// scale new packet and insert into result
package[board_descr["default"]["package_num_channel"].get<int> ()] = 0.;
package[board_descr["default"]["eeg_channels"][0].get<int> ()] =
eeg_scale * temp_data.last_data[4];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] =
eeg_scale * temp_data.last_data[5];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] =
eeg_scale * temp_data.last_data[6];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] =
eeg_scale * temp_data.last_data[7];
package[board_descr["default"]["accel_channels"][0].get<int> ()] = temp_data.accel_x;
package[board_descr["default"]["accel_channels"][1].get<int> ()] = temp_data.accel_y;
package[board_descr["default"]["accel_channels"][2].get<int> ()] = temp_data.accel_z;
package[board_descr["default"]["timestamp_channel"].get<int> ()] = get_timestamp ();
push_package (package);
return;
}
// 18 bit compression, sends delta from previous value instead of real value!
else if ((data[0] >= 1) && (data[0] <= 100))
if (data[0] >= 1 && data[0] <= 100)
{
int last_digit = data[0] % 10;
switch (last_digit)
Expand All @@ -686,7 +703,7 @@ void GanglionNative::decompress_firmware_2 (uint8_t *data)
}
bits_per_num = 18;
}
else if ((data[0] >= 101) && (data[0] <= 200))
else if (data[0] >= 101 && data[0] <= 200)
{
bits_per_num = 19;
}
Expand Down Expand Up @@ -715,4 +732,31 @@ void GanglionNative::decompress_firmware_2 (uint8_t *data)
{
temp_data.last_data[i] = temp_data.last_data[i - 4] - delta[i];
}

// add first encoded package
package[board_descr["default"]["package_num_channel"].get<int> ()] = data[0];
package[board_descr["default"]["eeg_channels"][0].get<int> ()] =
eeg_scale * temp_data.last_data[0];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] =
eeg_scale * temp_data.last_data[1];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] =
eeg_scale * temp_data.last_data[2];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] =
eeg_scale * temp_data.last_data[3];
package[board_descr["default"]["accel_channels"][0].get<int> ()] = temp_data.accel_x;
package[board_descr["default"]["accel_channels"][1].get<int> ()] = temp_data.accel_y;
package[board_descr["default"]["accel_channels"][2].get<int> ()] = temp_data.accel_z;
package[board_descr["default"]["timestamp_channel"].get<int> ()] = get_timestamp ();
push_package (package);
// add second package
package[board_descr["default"]["eeg_channels"][0].get<int> ()] =
eeg_scale * temp_data.last_data[4];
package[board_descr["default"]["eeg_channels"][1].get<int> ()] =
eeg_scale * temp_data.last_data[5];
package[board_descr["default"]["eeg_channels"][2].get<int> ()] =
eeg_scale * temp_data.last_data[6];
package[board_descr["default"]["eeg_channels"][3].get<int> ()] =
eeg_scale * temp_data.last_data[7];
package[board_descr["default"]["timestamp_channel"].get<int> ()] = get_timestamp ();
push_package (package);
}
8 changes: 4 additions & 4 deletions src/board_controller/openbci/inc/ganglion.h
Original file line number Diff line number Diff line change
Expand Up @@ -63,8 +63,8 @@ class Ganglion : public Board
int release_session ();
int config_board (std::string config, std::string &response);

void decompress_firmware_3 (
struct GanglionLib::GanglionData *data, float *last_data, double *acceleration);
void decompress_firmware_2 (
struct GanglionLib::GanglionData *data, float *last_data, double *acceleration);
void decompress_firmware_3 (struct GanglionLib::GanglionData *data, float *last_data,
double *acceleration, double *package);
void decompress_firmware_2 (struct GanglionLib::GanglionData *data, float *last_data,
double *acceleration, double *package);
};
4 changes: 2 additions & 2 deletions src/board_controller/openbci/inc/ganglion_native.h
Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,6 @@ class GanglionNative : public BLELibBoard
double const accel_scale = 0.016f;
double const eeg_scale = (1.2f * 1000000) / (8388607.0f * 1.5f * 51.0f);

void decompress_firmware_3 (uint8_t *data);
void decompress_firmware_2 (uint8_t *data);
void decompress_firmware_3 (uint8_t *data, double *package);
void decompress_firmware_2 (uint8_t *data, double *package);
};

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