Imported Upstream version 2.1.8.20120507upstream/2.1.8.20120507

37 files changed, 5091 insertions, 3099 deletions

diff --git a/Java/com/phidgets/AdvancedServoPhidget.java b/Java/com/phidgets/AdvancedServoPhidget.java
index 1aa485a..db33e2a 100644
--- a/Java/com/phidgets/AdvancedServoPhidget.java
+++ b/Java/com/phidgets/AdvancedServoPhidget.java
@@ -314,7 +314,7 @@ public final class AdvancedServoPhidget extends Phidget
 	 * Sets the speed ramping state.
 	 * <p>
 	 * Disable speed ramping to disable velocity and acceleration control. With speed ramping disabled, the servo will be sent to
-	 * the desired position immediately upon recieving the command. This is how the regular Phidget Servo Controller works.
+	 * the desired position immediately upon receiving the command. This is how the regular Phidget Servo Controller works.
 	 * <p>
 	 * This is turned on by default.
 	 *
diff --git a/Java/com/phidgets/Dictionary.java b/Java/com/phidgets/Dictionary.java
index 0afde5e..211bdfc 100644
--- a/Java/com/phidgets/Dictionary.java
+++ b/Java/com/phidgets/Dictionary.java
@@ -228,7 +228,7 @@ public class Dictionary
 	}
 	/**
 	 * Closes this Dictionary.
-	 * This will shut down all threads dealing with this Dictionary and you won't recieve any more events.
+	 * This will shut down all threads dealing with this Dictionary and you won't receive any more events.
 	 * 
 	 * @throws PhidgetException If this Dictionary is not opened. 
 	 */
diff --git a/Java/com/phidgets/IRPhidget.java b/Java/com/phidgets/IRPhidget.java
index 8418d74..6a1d198 100644
--- a/Java/com/phidgets/IRPhidget.java
+++ b/Java/com/phidgets/IRPhidget.java
@@ -1,239 +1,239 @@
-

-/*

- * Copyright 2010 Phidgets Inc.  All rights reserved.

- */

-

-package com.phidgets;

-import java.util.Iterator;

-import java.util.LinkedList;

-import com.phidgets.event.*;

-/**

- * This class represents a Phidget IR. All methods

- * to send and receive IR data are implemented in this class.

- * <p>

- * The Phidget IR Receiver-Transmitter can send and receive Consumer-IR signals. Ability to learn and re-transmit codes, 

- * as well as low-level access to raw data, is provided.

- * 

- * @author Phidgets Inc.

- */

-public final class IRPhidget extends Phidget

-{

-	public IRPhidget () throws PhidgetException

-	{

-		super (create ());

-	}

-	private static native long create () throws PhidgetException;

-

-	/**

-	 * Represents a long space (greater then 327,670 microseconds) in raw data. 

-	 * This can be considered a period of no IR activity. This is used with {@link #readRaw readRaw}

-	 */

-	public static final int RAWDATA_LONGSPACE = 0x7fffffff;

-

-	/**

-	 * Transmits a code.

-	 * @param code the code to transmit

-	 * @param codeInfo the code specification

-	 * @throws PhidgetException If this Phidget is not opened and attached.

-	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.

-	 */

-	public native void transmit (IRCode code, IRCodeInfo codeInfo) throws PhidgetException;

-	/**

-	 * Transmits a repeat. This needs to be called within the gap time of a transmit to be meaningful.

-	 * @throws PhidgetException If this Phidget is not opened and attached.

-	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.

-	 */

-	public native void transmitRepeat () throws PhidgetException;

-	/**

-	 * Transmits raw data.

-	 * @param data data in microseconds, must start and end with a pulse

-	 * @param offset offset in the data array to start transmitting

-	 * @param count number of elements of data to transmit

-	 * @param gap gap size in microseconds

-	 * @param carrierFrequency carrier frequency in kHz

-	 * @param dutyCycle duty cycle in percent

-	 * @throws PhidgetException If this Phidget is not opened and attached.

-	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.

-	 */

-	public native void transmitRaw (int[]data, int offset, int count, int gap, int carrierFrequency, int dutyCycle) throws PhidgetException;

-	/**

-	 * Transmits raw data.

-	 * @param data data in microseconds, must start and end with a pulse

-	 * @throws PhidgetException If this Phidget is not opened and attached.

-	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.

-	 */

-	public final void transmitRaw (int[]data) throws PhidgetException

-	{

-		transmitRaw (data, 0, data.length, 0, 0, 0);

-	}

-	/**

-	 * Transmits raw data.

-	 * @param data data in microseconds, must start and end with a pulse

-	 * @param gap gap size in microseconds

-	 * @throws PhidgetException If this Phidget is not opened and attached.

-	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.

-	 */

-	public final void transmitRaw (int[]data, int gap) throws PhidgetException

-	{

-		transmitRaw (data, 0, data.length, gap, 0, 0);

-	}

-	/**

-	 * Transmits raw data.

-	 * @param data data in microseconds, must start and end with a pulse

-	 * @param offset offset in the data array to start transmitting

-	 * @param count number of elements of data to transmit

-	 * @throws PhidgetException If this Phidget is not opened and attached.

-	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.

-	 */

-	public final void transmitRaw (int[]data, int offset, int count) throws PhidgetException

-	{

-		transmitRaw (data, offset, count, 0, 0, 0);

-	}

-	/**

-	 * Transmits raw data.

-	 * @param data data in microseconds, must start and end with a pulse

-	 * @param offset offset in the data array to start transmitting

-	 * @param count number of elements of data to transmit

-	 * @param gap gap size in microseconds

-	 * @throws PhidgetException If this Phidget is not opened and attached.

-	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.

-	 */

-	public final void transmitRaw (int[]data, int offset, int count, int gap) throws PhidgetException

-	{

-		transmitRaw (data, offset, count, gap, 0, 0);

-	}

-	/**

-	 * Reads raw data. Use {@link #RAWDATA_LONGSPACE RAWDATA_LONGSPACE} to detect gaps in IR data.

-	 * @param buffer array into which data will be read.

-	 * @param offset offset in data to start writing

-	 * @param count maximum ammount of data to read

-	 * @return ammount of data read

-	 * @throws PhidgetException If this Phidget is not opened and attached.

-	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.

-	 */

-	public native int readRaw (int[]buffer, int offset, int count) throws PhidgetException;

-	/**

-	 * Reads raw data. Use {@link #RAWDATA_LONGSPACE RAWDATA_LONGSPACE} to detect gaps in IR data.

-	 * @param buffer array into which data will be read.

-	 * @return ammount of data read

-	 * @throws PhidgetException If this Phidget is not opened and attached.

-	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.

-	 */

-	public final int readRaw (int[]buffer) throws PhidgetException

-	{

-		return readRaw (buffer, 0, buffer.length);

-	}

-	/**

-	 * Returns the last recieved code. This is updated right after the code event returns.

-	 * @return last code

-	 * @throws PhidgetException If this Phidget is not opened and attached. 

-	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.

-	 */

-	public native IRCode getLastCode () throws PhidgetException;

-	/**

-	 * Returns the last learned code. This is updated right after the learn event returns.

-	 * @return last learned code

-	 * @throws PhidgetException If this Phidget is not opened and attached. 

-	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.

-	 */

-	public native IRLearnedCode getLastLearnedCode () throws PhidgetException;

-

-	private final void enableDeviceSpecificEvents (boolean b)

-	{

-		enableCodeEvents (b && codeListeners.size () > 0);

-		enableLearnEvents (b && learnListeners.size () > 0);

-		enableRawDataEvents (b && rawDataListeners.size () > 0);

-	}

-	/**

-	 * Adds a code listener. The code handler is a method that will be called when a new code is

-	 seen by the reader. The event is fired on each code, including repetitions.

-	 * <p>

-	 * There is no limit on the number of code handlers that can be registered for a particular Phidget.

-	 * 

-	 * @param l An implemetation of the {@link com.phidgets.event.CodeListener CodeListener} interface

-	 */

-	public final void addCodeListener (CodeListener l)

-	{

-		synchronized (codeListeners)

-		{

-			codeListeners.add (l);

-			enableCodeEvents (true);

-	}} private LinkedList codeListeners = new LinkedList ();

-	private long nativeCodeHandler = 0;

-	public final void removeCodeListener (CodeListener l)

-	{

-		synchronized (codeListeners)

-		{

-			codeListeners.remove (l);

-			enableCodeEvents (codeListeners.size () > 0);

-	}} private void fireCode (CodeEvent e)

-	{

-		synchronized (codeListeners)

-		{

-			for (Iterator it = codeListeners.iterator (); it.hasNext ();)

-				((CodeListener) it.next ()).code (e);

-		}

-	}

-	private native void enableCodeEvents (boolean b);

-	/**

-	 * Adds a code learn listener. The learn handler is a method that will be called when a new code is

-	 learned by the reader. This requires that the code be repeated several times.

-	 * <p>

-	 * There is no limit on the number of learn handlers that can be registered for a particular Phidget.

-	 * 

-	 * @param l An implemetation of the {@link com.phidgets.event.LearnListener LearnListener} interface

-	 */

-	public final void addLearnListener (LearnListener l)

-	{

-		synchronized (learnListeners)

-		{

-			learnListeners.add (l);

-			enableLearnEvents (true);

-	}} private LinkedList learnListeners = new LinkedList ();

-	private long nativeLearnHandler = 0;

-	public final void removeLearnListener (LearnListener l)

-	{

-		synchronized (learnListeners)

-		{

-			learnListeners.remove (l);

-			enableLearnEvents (learnListeners.size () > 0);

-	}} private void fireLearn (LearnEvent e)

-	{

-		synchronized (learnListeners)

-		{

-			for (Iterator it = learnListeners.iterator (); it.hasNext ();)

-				((LearnListener) it.next ()).learn (e);

-		}

-	}

-	private native void enableLearnEvents (boolean b);

-	/**

-	 * Adds a rawData listener. The rawData handler is a method that will be called when a raw IR data is recieved.

-	 * <p>

-	 * There is no limit on the number of rawData handlers that can be registered for a particular Phidget.

-	 * 

-	 * @param l An implemetation of the {@link com.phidgets.event.RawDataListener RawDataListener} interface

-	 */

-	public final void addRawDataListener (RawDataListener l)

-	{

-		synchronized (rawDataListeners)

-		{

-			rawDataListeners.add (l);

-			enableRawDataEvents (true);

-	}} private LinkedList rawDataListeners = new LinkedList ();

-	private long nativeRawDataHandler = 0;

-	public final void removeRawDataListener (RawDataListener l)

-	{

-		synchronized (rawDataListeners)

-		{

-			rawDataListeners.remove (l);

-			enableRawDataEvents (rawDataListeners.size () > 0);

-	}} private void fireRawData (RawDataEvent e)

-	{

-		synchronized (rawDataListeners)

-		{

-			for (Iterator it = rawDataListeners.iterator (); it.hasNext ();)

-				((RawDataListener) it.next ()).rawData (e);

-		}

-	}

-	private native void enableRawDataEvents (boolean b);

-}

+
+/*
+ * Copyright 2010 Phidgets Inc.  All rights reserved.
+ */
+
+package com.phidgets;
+import java.util.Iterator;
+import java.util.LinkedList;
+import com.phidgets.event.*;
+/**
+ * This class represents a Phidget IR. All methods
+ * to send and receive IR data are implemented in this class.
+ * <p>
+ * The Phidget IR Receiver-Transmitter can send and receive Consumer-IR signals. Ability to learn and re-transmit codes, 
+ * as well as low-level access to raw data, is provided.
+ * 
+ * @author Phidgets Inc.
+ */
+public final class IRPhidget extends Phidget
+{
+	public IRPhidget () throws PhidgetException
+	{
+		super (create ());
+	}
+	private static native long create () throws PhidgetException;
+
+	/**
+	 * Represents a long space (greater then 327,670 microseconds) in raw data. 
+	 * This can be considered a period of no IR activity. This is used with {@link #readRaw readRaw}
+	 */
+	public static final int RAWDATA_LONGSPACE = 0x7fffffff;
+
+	/**
+	 * Transmits a code.
+	 * @param code the code to transmit
+	 * @param codeInfo the code specification
+	 * @throws PhidgetException If this Phidget is not opened and attached.
+	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
+	 */
+	public native void transmit (IRCode code, IRCodeInfo codeInfo) throws PhidgetException;
+	/**
+	 * Transmits a repeat. This needs to be called within the gap time of a transmit to be meaningful.
+	 * @throws PhidgetException If this Phidget is not opened and attached.
+	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
+	 */
+	public native void transmitRepeat () throws PhidgetException;
+	/**
+	 * Transmits raw data.
+	 * @param data data in microseconds, must start and end with a pulse
+	 * @param offset offset in the data array to start transmitting
+	 * @param count number of elements of data to transmit
+	 * @param gap gap size in microseconds
+	 * @param carrierFrequency carrier frequency in kHz
+	 * @param dutyCycle duty cycle in percent
+	 * @throws PhidgetException If this Phidget is not opened and attached.
+	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
+	 */
+	public native void transmitRaw (int[]data, int offset, int count, int gap, int carrierFrequency, int dutyCycle) throws PhidgetException;
+	/**
+	 * Transmits raw data.
+	 * @param data data in microseconds, must start and end with a pulse
+	 * @throws PhidgetException If this Phidget is not opened and attached.
+	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
+	 */
+	public final void transmitRaw (int[]data) throws PhidgetException
+	{
+		transmitRaw (data, 0, data.length, 0, 0, 0);
+	}
+	/**
+	 * Transmits raw data.
+	 * @param data data in microseconds, must start and end with a pulse
+	 * @param gap gap size in microseconds
+	 * @throws PhidgetException If this Phidget is not opened and attached.
+	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
+	 */
+	public final void transmitRaw (int[]data, int gap) throws PhidgetException
+	{
+		transmitRaw (data, 0, data.length, gap, 0, 0);
+	}
+	/**
+	 * Transmits raw data.
+	 * @param data data in microseconds, must start and end with a pulse
+	 * @param offset offset in the data array to start transmitting
+	 * @param count number of elements of data to transmit
+	 * @throws PhidgetException If this Phidget is not opened and attached.
+	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
+	 */
+	public final void transmitRaw (int[]data, int offset, int count) throws PhidgetException
+	{
+		transmitRaw (data, offset, count, 0, 0, 0);
+	}
+	/**
+	 * Transmits raw data.
+	 * @param data data in microseconds, must start and end with a pulse
+	 * @param offset offset in the data array to start transmitting
+	 * @param count number of elements of data to transmit
+	 * @param gap gap size in microseconds
+	 * @throws PhidgetException If this Phidget is not opened and attached.
+	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
+	 */
+	public final void transmitRaw (int[]data, int offset, int count, int gap) throws PhidgetException
+	{
+		transmitRaw (data, offset, count, gap, 0, 0);
+	}
+	/**
+	 * Reads raw data. Use {@link #RAWDATA_LONGSPACE RAWDATA_LONGSPACE} to detect gaps in IR data.
+	 * @param buffer array into which data will be read.
+	 * @param offset offset in data to start writing
+	 * @param count maximum ammount of data to read
+	 * @return ammount of data read
+	 * @throws PhidgetException If this Phidget is not opened and attached.
+	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
+	 */
+	public native int readRaw (int[]buffer, int offset, int count) throws PhidgetException;
+	/**
+	 * Reads raw data. Use {@link #RAWDATA_LONGSPACE RAWDATA_LONGSPACE} to detect gaps in IR data.
+	 * @param buffer array into which data will be read.
+	 * @return ammount of data read
+	 * @throws PhidgetException If this Phidget is not opened and attached.
+	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
+	 */
+	public final int readRaw (int[]buffer) throws PhidgetException
+	{
+		return readRaw (buffer, 0, buffer.length);
+	}
+	/**
+	 * Returns the last received code. This is updated right after the code event returns.
+	 * @return last code
+	 * @throws PhidgetException If this Phidget is not opened and attached. 
+	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
+	 */
+	public native IRCode getLastCode () throws PhidgetException;
+	/**
+	 * Returns the last learned code. This is updated right after the learn event returns.
+	 * @return last learned code
+	 * @throws PhidgetException If this Phidget is not opened and attached. 
+	 * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
+	 */
+	public native IRLearnedCode getLastLearnedCode () throws PhidgetException;
+
+	private final void enableDeviceSpecificEvents (boolean b)
+	{
+		enableCodeEvents (b && codeListeners.size () > 0);
+		enableLearnEvents (b && learnListeners.size () > 0);
+		enableRawDataEvents (b && rawDataListeners.size () > 0);
+	}
+	/**
+	 * Adds a code listener. The code handler is a method that will be called when a new code is
+	 seen by the reader. The event is fired on each code, including repetitions.
+	 * <p>
+	 * There is no limit on the number of code handlers that can be registered for a particular Phidget.
+	 * 
+	 * @param l An implemetation of the {@link com.phidgets.event.CodeListener CodeListener} interface
+	 */
+	public final void addCodeListener (CodeListener l)
+	{
+		synchronized (codeListeners)
+		{
+			codeListeners.add (l);
+			enableCodeEvents (true);
+	}} private LinkedList codeListeners = new LinkedList ();
+	private long nativeCodeHandler = 0;
+	public final void removeCodeListener (CodeListener l)
+	{
+		synchronized (codeListeners)
+		{
+			codeListeners.remove (l);
+			enableCodeEvents (codeListeners.size () > 0);
+	}} private void fireCode (CodeEvent e)
+	{
+		synchronized (codeListeners)
+		{
+			for (Iterator it = codeListeners.iterator (); it.hasNext ();)
+				((CodeListener) it.next ()).code (e);
+		}
+	}
+	private native void enableCodeEvents (boolean b);
+	/**
+	 * Adds a code learn listener. The learn handler is a method that will be called when a new code is
+	 learned by the reader. This requires that the code be repeated several times.
+	 * <p>
+	 * There is no limit on the number of learn handlers that can be registered for a particular Phidget.
+	 * 
+	 * @param l An implemetation of the {@link com.phidgets.event.LearnListener LearnListener} interface
+	 */
+	public final void addLearnListener (LearnListener l)
+	{
+		synchronized (learnListeners)
+		{
+			learnListeners.add (l);
+			enableLearnEvents (true);
+	}} private LinkedList learnListeners = new LinkedList ();
+	private long nativeLearnHandler = 0;
+	public final void removeLearnListener (LearnListener l)
+	{
+		synchronized (learnListeners)
+		{
+			learnListeners.remove (l);
+			enableLearnEvents (learnListeners.size () > 0);
+	}} private void fireLearn (LearnEvent e)
+	{
+		synchronized (learnListeners)
+		{
+			for (Iterator it = learnListeners.iterator (); it.hasNext ();)
+				((LearnListener) it.next ()).learn (e);
+		}
+	}
+	private native void enableLearnEvents (boolean b);
+	/**
+	 * Adds a rawData listener. The rawData handler is a method that will be called when a raw IR data is received.
+	 * <p>
+	 * There is no limit on the number of rawData handlers that can be registered for a particular Phidget.
+	 * 
+	 * @param l An implemetation of the {@link com.phidgets.event.RawDataListener RawDataListener} interface
+	 */
+	public final void addRawDataListener (RawDataListener l)
+	{
+		synchronized (rawDataListeners)
+		{
+			rawDataListeners.add (l);
+			enableRawDataEvents (true);
+	}} private LinkedList rawDataListeners = new LinkedList ();
+	private long nativeRawDataHandler = 0;
+	public final void removeRawDataListener (RawDataListener l)
+	{
+		synchronized (rawDataListeners)
+		{
+			rawDataListeners.remove (l);
+			enableRawDataEvents (rawDataListeners.size () > 0);
+	}} private void fireRawData (RawDataEvent e)
+	{
+		synchronized (rawDataListeners)
+		{
+			for (Iterator it = rawDataListeners.iterator (); it.hasNext ();)
+				((RawDataListener) it.next ()).rawData (e);
+		}
+	}
+	private native void enableRawDataEvents (boolean b);
+}
diff --git a/Java/com/phidgets/Manager.java b/Java/com/phidgets/Manager.java
index 7e7cafb..d0e5f85 100644
--- a/Java/com/phidgets/Manager.java
+++ b/Java/com/phidgets/Manager.java
@@ -64,7 +64,7 @@ public class Manager
 	/**
 	 * The default constructor. Creating a Phidget Manager object will initialize the
 	 * attach and detach handlers internally, but {@link #open() open} still needs to be called
-	 * to actually recieve event notifications.
+	 * to actually receive event notifications.
 	 */
 	public Manager() throws PhidgetException
 	{
@@ -195,7 +195,7 @@ public class Manager
 
 	/**
 	 * Shuts down the Phidget Manager. This method should be called to close down the Phidget Manager.
-	 * Events will no longer be recieved. This method gets calledd automatically when the class is
+	 * Events will no longer be received. This method gets called automatically when the class is
 	 * destroyed so calling it is not required.
 	 */
 	public final void close() throws PhidgetException {
diff --git a/Java/com/phidgets/Phidget.java b/Java/com/phidgets/Phidget.java
index e2d611c..444779a 100644
--- a/Java/com/phidgets/Phidget.java
+++ b/Java/com/phidgets/Phidget.java
@@ -675,7 +675,7 @@ public class Phidget
 
 	/**
 	 * Closes this Phidget.
-	 * This will shut down all threads dealing with this Phidget and you won't recieve any more events.
+	 * This will shut down all threads dealing with this Phidget and you won't receive any more events.
 	 * 
 	 * @throws PhidgetException If this Phidget is not opened. 
 	 */
diff --git a/Java/com/phidgets/PhidgetException.java b/Java/com/phidgets/PhidgetException.java
index f33d345..1ace535 100644
--- a/Java/com/phidgets/PhidgetException.java
+++ b/Java/com/phidgets/PhidgetException.java
@@ -52,7 +52,7 @@ public class PhidgetException extends java.lang.Exception {
 	/**
 	 * Invalid argument exception. "Invalid argument passed to function."
 	 * <P>
-	 * This exception is thrown whenever a function recieves an unexpected null pointer, or a value that is out of range. ie setting a motor's speed to 101 when the maximum is 100.
+	 * This exception is thrown whenever a function receives an unexpected null pointer, or a value that is out of range. ie setting a motor's speed to 101 when the maximum is 100.
 	 * <p>
 	 * This is returned by {@link #getErrorNumber getErrorNumber}
 	 */
diff --git a/Makefile.am b/Makefile.am
index 793dbd8..5e0ccf4 100644
--- a/Makefile.am
+++ b/Makefile.am
@@ -2,6 +2,9 @@
 
 AM_CFLAGS = -I$(top_srcdir) -I$(top_srcdir)/utils -I$(top_srcdir)/dict -I$(top_srcdir)/linux -I$(top_srcdir)/include -D_LINUX
 
+pkgconfigdir = $(libdir)/pkgconfig
+pkgconfig_DATA = libphidget21.pc
+
 lib_LTLIBRARIES = libphidget21.la
 
 # Rules for unpdating the libtool version:
@@ -85,7 +88,6 @@ libphidget21_la_SOURCES = cphidget.c \
 	cthread.h \
 	phidget21.c \
 	phidget21int.h \
-	linux/cusblinux.c \
 	dict/pdict.c \
 	dict/pdict.h \
 	dict/pdictclient.c \
@@ -119,6 +121,7 @@ EXTRA_DIST = examples/ifkit.c \
 	hotplug/phidgets.usermap \
 	hotplug/phidgets \
 	version.sh \
+	libphidget21.pc.in \
 	Java/com/phidgets/DictionaryKeyListener.java \
 	Java/com/phidgets/TextLCDPhidget.java \
 	Java/com/phidgets/SpatialEventData.java \
@@ -231,6 +234,12 @@ libphidget21_la_SOURCES += utils/cvtutf.c
 libphidget21_la_SOURCES += utils/cvtutf.h
 AM_CFLAGS += -DUSE_INTERNAL_UNICONV
 endif
+
+if NEW_LIBUSB
+libphidget21_la_SOURCES += linux/cusblinux-1.0.c
+else
+libphidget21_la_SOURCES += linux/cusblinux.c
+endif
 	
 if ZEROCONF_AVAHI
 libphidget21_la_SOURCES += linux/zeroconf_avahi.c \
@@ -355,11 +364,13 @@ phidget21matlab.h:
 	@echo "Making $@"
 	@echo "/*" > $@
 	@echo " * Phidget21 Header for Matlab" >> $@
-	@echo " * -All pointers to structs have been changed to long, as Matlab seems" >> $@
+	@echo " * -All pointers to structs have been changed to void *, as Matlab seems" >> $@
 	@echo " *  to be unhappy with either the undefined stucts or the double pointers." >> $@
 	@echo " */" >> $@
-	@$(CC) -g -E -P -D_LINUX -DEXTERNALPROTO -DREMOVE_DEPRECATED phidget21int.h | sed -e "s/extern \"C\" //g" | sed -e "s/struct [a-zA-Z_]* \*/long /" >> $@
+	@cat cppheader >> $@
+	@$(CC) -g -E -P -D_LINUX -DEXTERNALPROTO -DREMOVE_DEPRECATED phidget21int.h | sed -e "s/extern \"C\" //g" | sed -e "s/struct [a-zA-Z_]* \*/void * /" >> $@
 	@cat cphidgetconstants.h >> $@
+	@cat cppfooter >> $@
 
 phidget21.jar:
 	@echo "Making $@"
diff --git a/Makefile.in b/Makefile.in
index 486ed1a..7945472 100644
--- a/Makefile.in
+++ b/Makefile.in
@@ -16,6 +16,7 @@
 @SET_MAKE@
 
 
+
 VPATH = @srcdir@
 pkgdatadir = $(datadir)/@PACKAGE@
 pkgincludedir = $(includedir)/@PACKAGE@
@@ -39,7 +40,9 @@ host_triplet = @host@
 @ZEROCONF_FALSE@am__append_2 = -DNO_ZEROCONF
 @INTERNAL_UNICONV_TRUE@am__append_3 = utils/cvtutf.c utils/cvtutf.h
 @INTERNAL_UNICONV_TRUE@am__append_4 = -DUSE_INTERNAL_UNICONV
-@ZEROCONF_AVAHI_TRUE@am__append_5 = linux/zeroconf_avahi.c \
+@NEW_LIBUSB_TRUE@am__append_5 = linux/cusblinux-1.0.c
+@NEW_LIBUSB_FALSE@am__append_6 = linux/cusblinux.c
+@ZEROCONF_AVAHI_TRUE@am__append_7 = linux/zeroconf_avahi.c \
 @ZEROCONF_AVAHI_TRUE@	linux/avahi-client/client.h \
 @ZEROCONF_AVAHI_TRUE@	linux/avahi-client/lookup.h \
 @ZEROCONF_AVAHI_TRUE@	linux/avahi-client/publish.h \
@@ -59,21 +62,21 @@ host_triplet = @host@
 @ZEROCONF_AVAHI_TRUE@	linux/avahi-common/timeval.h \
 @ZEROCONF_AVAHI_TRUE@	linux/avahi-common/watch.h
 
-@ZEROCONF_BONJOUR_TRUE@am__append_6 = zeroconf.c \
+@ZEROCONF_BONJOUR_TRUE@am__append_8 = zeroconf.c \
 @ZEROCONF_BONJOUR_TRUE@	include/dns_sd.h
 
-@ZEROCONF_LOOKUP_TRUE@am__append_7 = zeroconf_lookup.c
-@ZEROCONF_LOOKUP_TRUE@am__append_8 = -DZEROCONF_LOOKUP
-@LABVIEW_TRUE@am__append_9 = labview/phidget_labview.c \
+@ZEROCONF_LOOKUP_TRUE@am__append_9 = zeroconf_lookup.c
+@ZEROCONF_LOOKUP_TRUE@am__append_10 = -DZEROCONF_LOOKUP
+@LABVIEW_TRUE@am__append_11 = labview/phidget_labview.c \
 @LABVIEW_TRUE@	labview/phidget_labview.h
 
-@LABVIEW_TRUE@am__append_10 = -DCOMPILE_PHIDGETS_LABVIEW \
+@LABVIEW_TRUE@am__append_12 = -DCOMPILE_PHIDGETS_LABVIEW \
 @LABVIEW_TRUE@	-I$(LABVIEW_CINTOOLS_PATH) \
 @LABVIEW_TRUE@	-L$(LABVIEW_CINTOOLS_PATH) \
 @LABVIEW_TRUE@	-Wl,-rpath,$(LABVIEW_CINTOOLS_PATH) -llv
-@DEBUG_TRUE@am__append_11 = -D_DEBUG -DDEBUG
-@JNI_TRUE@am__append_12 = -I$(top_srcdir)/include/jni -I$(top_srcdir)/include/jni/linux
-@JNI_TRUE@am__append_13 = Java/com_phidgets_Phidget.c \
+@DEBUG_TRUE@am__append_13 = -D_DEBUG -DDEBUG
+@JNI_TRUE@am__append_14 = -I$(top_srcdir)/include/jni -I$(top_srcdir)/include/jni/linux
+@JNI_TRUE@am__append_15 = Java/com_phidgets_Phidget.c \
 @JNI_TRUE@	Java/com_phidgets_Phidget.h \
 @JNI_TRUE@	Java/com_phidgets_AccelerometerPhidget.c \
 @JNI_TRUE@	Java/com_phidgets_AccelerometerPhidget.h \
@@ -133,8 +136,9 @@ host_triplet = @host@
 subdir = .
 DIST_COMMON = README $(am__configure_deps) $(include_HEADERS) \
 	$(srcdir)/Makefile.am $(srcdir)/Makefile.in \
-	$(top_srcdir)/configure AUTHORS COPYING ChangeLog INSTALL NEWS \
-	config.guess config.sub depcomp install-sh ltmain.sh missing
+	$(srcdir)/libphidget21.pc.in $(top_srcdir)/configure AUTHORS \
+	COPYING ChangeLog INSTALL NEWS config.guess config.sub depcomp \
+	install-sh ltmain.sh missing
 ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
 am__aclocal_m4_deps = $(top_srcdir)/configure.ac
 am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
@@ -142,7 +146,7 @@ am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
 am__CONFIG_DISTCLEAN_FILES = config.status config.cache config.log \
  configure.lineno config.status.lineno
 mkinstalldirs = $(install_sh) -d
-CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_FILES = libphidget21.pc
 CONFIG_CLEAN_VPATH_FILES =
 am__vpath_adj_setup = srcdirstrip=`echo "$(srcdir)" | sed 's|.|.|g'`;
 am__vpath_adj = case $$p in \
@@ -165,7 +169,8 @@ am__nobase_list = $(am__nobase_strip_setup); \
 am__base_list = \
   sed '$$!N;$$!N;$$!N;$$!N;$$!N;$$!N;$$!N;s/\n/ /g' | \
   sed '$$!N;$$!N;$$!N;$$!N;s/\n/ /g'
-am__installdirs = "$(DESTDIR)$(libdir)" "$(DESTDIR)$(includedir)"
+am__installdirs = "$(DESTDIR)$(libdir)" "$(DESTDIR)$(pkgconfigdir)" \
+	"$(DESTDIR)$(includedir)"
 LTLIBRARIES = $(lib_LTLIBRARIES)
 libphidget21_la_LIBADD =
 am__libphidget21_la_SOURCES_DIST = cphidget.c cphidget.h \
@@ -191,12 +196,12 @@ am__libphidget21_la_SOURCES_DIST = cphidget.c cphidget.h \
 	cphidgetsbc.c cphidgetsbc.h clog.c clog.h csocketevents.c \
 	csocketevents.h csocketopen.c csocket.h cphidgetconstants.c \
 	cphidgetconstants.h cphidgetlist.c cphidgetlist.h cthread.c \
-	cthread.h phidget21.c phidget21int.h linux/cusblinux.c \
-	dict/pdict.c dict/pdict.h dict/pdictclient.c \
-	dict/pdictclient.h dict/pdict-impl.h utils/md5.c utils/md5.h \
-	utils/utils.c utils/utils.h utils/ptree.c utils/ptree.h \
-	utils/plist.c utils/plist.h cppheader cppfooter zeroconf.h \
-	utils/cvtutf.c utils/cvtutf.h linux/zeroconf_avahi.c \
+	cthread.h phidget21.c phidget21int.h dict/pdict.c dict/pdict.h \
+	dict/pdictclient.c dict/pdictclient.h dict/pdict-impl.h \
+	utils/md5.c utils/md5.h utils/utils.c utils/utils.h \
+	utils/ptree.c utils/ptree.h utils/plist.c utils/plist.h \
+	cppheader cppfooter zeroconf.h utils/cvtutf.c utils/cvtutf.h \
+	linux/cusblinux-1.0.c linux/cusblinux.c linux/zeroconf_avahi.c \
 	linux/avahi-client/client.h linux/avahi-client/lookup.h \
 	linux/avahi-client/publish.h linux/avahi-common/address.h \
 	linux/avahi-common/alternative.h linux/avahi-common/cdecl.h \
@@ -255,11 +260,13 @@ am__libphidget21_la_SOURCES_DIST = cphidget.c cphidget.h \
 	include/jni/linux/jawt_md.h include/jni/linux/jni_md.h
 am__objects_1 =
 @INTERNAL_UNICONV_TRUE@am__objects_2 = cvtutf.lo
-@ZEROCONF_AVAHI_TRUE@am__objects_3 = zeroconf_avahi.lo
-@ZEROCONF_BONJOUR_TRUE@am__objects_4 = zeroconf.lo
-@ZEROCONF_LOOKUP_TRUE@am__objects_5 = zeroconf_lookup.lo
-@LABVIEW_TRUE@am__objects_6 = phidget_labview.lo
-@JNI_TRUE@am__objects_7 = com_phidgets_Phidget.lo \
+@NEW_LIBUSB_TRUE@am__objects_3 = cusblinux-1.0.lo
+@NEW_LIBUSB_FALSE@am__objects_4 = cusblinux.lo
+@ZEROCONF_AVAHI_TRUE@am__objects_5 = zeroconf_avahi.lo
+@ZEROCONF_BONJOUR_TRUE@am__objects_6 = zeroconf.lo
+@ZEROCONF_LOOKUP_TRUE@am__objects_7 = zeroconf_lookup.lo
+@LABVIEW_TRUE@am__objects_8 = phidget_labview.lo
+@JNI_TRUE@am__objects_9 = com_phidgets_Phidget.lo \
 @JNI_TRUE@	com_phidgets_AccelerometerPhidget.lo \
 @JNI_TRUE@	com_phidgets_AdvancedServoPhidget.lo \
 @JNI_TRUE@	com_phidgets_AnalogPhidget.lo \
@@ -291,11 +298,11 @@ am_libphidget21_la_OBJECTS = cphidget.lo cphidgetaccelerometer.lo \
 	cphidgettextled.lo cphidgetweightsensor.lo cphidgetmanager.lo \
 	cphidgetdictionary.lo cphidgetgeneric.lo cphidgetsbc.lo \
 	clog.lo csocketevents.lo csocketopen.lo cphidgetconstants.lo \
-	cphidgetlist.lo cthread.lo phidget21.lo cusblinux.lo pdict.lo \
+	cphidgetlist.lo cthread.lo phidget21.lo pdict.lo \
 	pdictclient.lo md5.lo utils.lo ptree.lo plist.lo \
 	$(am__objects_1) $(am__objects_2) $(am__objects_3) \
 	$(am__objects_4) $(am__objects_5) $(am__objects_6) \
-	$(am__objects_7)
+	$(am__objects_7) $(am__objects_8) $(am__objects_9)
 libphidget21_la_OBJECTS = $(am_libphidget21_la_OBJECTS)
 AM_V_lt = $(am__v_lt_$(V))
 am__v_lt_ = $(am__v_lt_$(AM_DEFAULT_VERBOSITY))
@@ -332,6 +339,7 @@ am__v_GEN_ = $(am__v_GEN_$(AM_DEFAULT_VERBOSITY))
 am__v_GEN_0 = @echo "  GEN   " $@;
 SOURCES = $(libphidget21_la_SOURCES)
 DIST_SOURCES = $(am__libphidget21_la_SOURCES_DIST)
+DATA = $(pkgconfig_DATA)
 HEADERS = $(include_HEADERS)
 ETAGS = etags
 CTAGS = ctags
@@ -461,8 +469,10 @@ top_builddir = @top_builddir@
 top_srcdir = @top_srcdir@
 AM_CFLAGS = -I$(top_srcdir) -I$(top_srcdir)/utils -I$(top_srcdir)/dict \
 	-I$(top_srcdir)/linux -I$(top_srcdir)/include -D_LINUX \
-	$(am__append_2) $(am__append_4) $(am__append_8) \
-	$(am__append_10) $(am__append_11) $(am__append_12)
+	$(am__append_2) $(am__append_4) $(am__append_10) \
+	$(am__append_12) $(am__append_13) $(am__append_14)
+pkgconfigdir = $(libdir)/pkgconfig
+pkgconfig_DATA = libphidget21.pc
 lib_LTLIBRARIES = libphidget21.la
 
 # Rules for unpdating the libtool version:
@@ -498,14 +508,14 @@ libphidget21_la_SOURCES = cphidget.c cphidget.h cphidgetmacros.h \
 	cphidgetsbc.c cphidgetsbc.h clog.c clog.h csocketevents.c \
 	csocketevents.h csocketopen.c csocket.h cphidgetconstants.c \
 	cphidgetconstants.h cphidgetlist.c cphidgetlist.h cthread.c \
-	cthread.h phidget21.c phidget21int.h linux/cusblinux.c \
-	dict/pdict.c dict/pdict.h dict/pdictclient.c \
-	dict/pdictclient.h dict/pdict-impl.h utils/md5.c utils/md5.h \
-	utils/utils.c utils/utils.h utils/ptree.c utils/ptree.h \
-	utils/plist.c utils/plist.h cppheader cppfooter \
-	$(am__append_1) $(am__append_3) $(am__append_5) \
-	$(am__append_6) $(am__append_7) $(am__append_9) \
-	$(am__append_13)
+	cthread.h phidget21.c phidget21int.h dict/pdict.c dict/pdict.h \
+	dict/pdictclient.c dict/pdictclient.h dict/pdict-impl.h \
+	utils/md5.c utils/md5.h utils/utils.c utils/utils.h \
+	utils/ptree.c utils/ptree.h utils/plist.c utils/plist.h \
+	cppheader cppfooter $(am__append_1) $(am__append_3) \
+	$(am__append_5) $(am__append_6) $(am__append_7) \
+	$(am__append_8) $(am__append_9) $(am__append_11) \
+	$(am__append_15)
 include_HEADERS = phidget21.h
 CLEANFILES = phidget21.h phidget21matlab.h phidget21.jar Java/com/phidgets/*.class Java/com/phidgets/event/*.class
 EXTRA_DIST = examples/ifkit.c \
@@ -518,6 +528,7 @@ EXTRA_DIST = examples/ifkit.c \
 	hotplug/phidgets.usermap \
 	hotplug/phidgets \
 	version.sh \
+	libphidget21.pc.in \
 	Java/com/phidgets/DictionaryKeyListener.java \
 	Java/com/phidgets/TextLCDPhidget.java \
 	Java/com/phidgets/SpatialEventData.java \
@@ -657,6 +668,8 @@ $(top_srcdir)/configure:  $(am__configure_deps)
 $(ACLOCAL_M4):  $(am__aclocal_m4_deps)
 	$(am__cd) $(srcdir) && $(ACLOCAL) $(ACLOCAL_AMFLAGS)
 $(am__aclocal_m4_deps):
+libphidget21.pc: $(top_builddir)/config.status $(srcdir)/libphidget21.pc.in
+	cd $(top_builddir) && $(SHELL) ./config.status $@
 install-libLTLIBRARIES: $(lib_LTLIBRARIES)
 	@$(NORMAL_INSTALL)
 	test -z "$(libdir)" || $(MKDIR_P) "$(DESTDIR)$(libdir)"
@@ -752,6 +765,7 @@ distclean-compile:
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/csocketevents.Plo@am__quote@
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/csocketopen.Plo@am__quote@
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/cthread.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/cusblinux-1.0.Plo@am__quote@
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/cusblinux.Plo@am__quote@
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/cvtutf.Plo@am__quote@
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/md5.Plo@am__quote@
@@ -791,14 +805,6 @@ distclean-compile:
 @AMDEP_TRUE@@am__fastdepCC_FALSE@	DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@
 @am__fastdepCC_FALSE@	$(LTCOMPILE) -c -o $@ $<
 
-cusblinux.lo: linux/cusblinux.c
-@am__fastdepCC_TRUE@	$(AM_V_CC)$(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -MT cusblinux.lo -MD -MP -MF $(DEPDIR)/cusblinux.Tpo -c -o cusblinux.lo `test -f 'linux/cusblinux.c' || echo '$(srcdir)/'`linux/cusblinux.c
-@am__fastdepCC_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/cusblinux.Tpo $(DEPDIR)/cusblinux.Plo
-@am__fastdepCC_FALSE@	$(AM_V_CC) @AM_BACKSLASH@
-@AMDEP_TRUE@@am__fastdepCC_FALSE@	source='linux/cusblinux.c' object='cusblinux.lo' libtool=yes @AMDEPBACKSLASH@
-@AMDEP_TRUE@@am__fastdepCC_FALSE@	DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@
-@am__fastdepCC_FALSE@	$(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o cusblinux.lo `test -f 'linux/cusblinux.c' || echo '$(srcdir)/'`linux/cusblinux.c
-
 pdict.lo: dict/pdict.c
 @am__fastdepCC_TRUE@	$(AM_V_CC)$(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -MT pdict.lo -MD -MP -MF $(DEPDIR)/pdict.Tpo -c -o pdict.lo `test -f 'dict/pdict.c' || echo '$(srcdir)/'`dict/pdict.c
 @am__fastdepCC_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/pdict.Tpo $(DEPDIR)/pdict.Plo
@@ -855,6 +861,22 @@ cvtutf.lo: utils/cvtutf.c
 @AMDEP_TRUE@@am__fastdepCC_FALSE@	DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@
 @am__fastdepCC_FALSE@	$(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o cvtutf.lo `test -f 'utils/cvtutf.c' || echo '$(srcdir)/'`utils/cvtutf.c
 
+cusblinux-1.0.lo: linux/cusblinux-1.0.c
+@am__fastdepCC_TRUE@	$(AM_V_CC)$(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -MT cusblinux-1.0.lo -MD -MP -MF $(DEPDIR)/cusblinux-1.0.Tpo -c -o cusblinux-1.0.lo `test -f 'linux/cusblinux-1.0.c' || echo '$(srcdir)/'`linux/cusblinux-1.0.c
+@am__fastdepCC_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/cusblinux-1.0.Tpo $(DEPDIR)/cusblinux-1.0.Plo
+@am__fastdepCC_FALSE@	$(AM_V_CC) @AM_BACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@	source='linux/cusblinux-1.0.c' object='cusblinux-1.0.lo' libtool=yes @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@	DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCC_FALSE@	$(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o cusblinux-1.0.lo `test -f 'linux/cusblinux-1.0.c' || echo '$(srcdir)/'`linux/cusblinux-1.0.c
+
+cusblinux.lo: linux/cusblinux.c
+@am__fastdepCC_TRUE@	$(AM_V_CC)$(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -MT cusblinux.lo -MD -MP -MF $(DEPDIR)/cusblinux.Tpo -c -o cusblinux.lo `test -f 'linux/cusblinux.c' || echo '$(srcdir)/'`linux/cusblinux.c
+@am__fastdepCC_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/cusblinux.Tpo $(DEPDIR)/cusblinux.Plo
+@am__fastdepCC_FALSE@	$(AM_V_CC) @AM_BACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@	source='linux/cusblinux.c' object='cusblinux.lo' libtool=yes @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@	DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCC_FALSE@	$(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o cusblinux.lo `test -f 'linux/cusblinux.c' || echo '$(srcdir)/'`linux/cusblinux.c
+
 zeroconf_avahi.lo: linux/zeroconf_avahi.c
 @am__fastdepCC_TRUE@	$(AM_V_CC)$(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -MT zeroconf_avahi.lo -MD -MP -MF $(DEPDIR)/zeroconf_avahi.Tpo -c -o zeroconf_avahi.lo `test -f 'linux/zeroconf_avahi.c' || echo '$(srcdir)/'`linux/zeroconf_avahi.c
 @am__fastdepCC_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/zeroconf_avahi.Tpo $(DEPDIR)/zeroconf_avahi.Plo
@@ -1079,6 +1101,26 @@ clean-libtool:
 
 distclean-libtool:
 	-rm -f libtool config.lt
+install-pkgconfigDATA: $(pkgconfig_DATA)
+	@$(NORMAL_INSTALL)
+	test -z "$(pkgconfigdir)" || $(MKDIR_P) "$(DESTDIR)$(pkgconfigdir)"
+	@list='$(pkgconfig_DATA)'; test -n "$(pkgconfigdir)" || list=; \
+	for p in $$list; do \
+	  if test -f "$$p"; then d=; else d="$(srcdir)/"; fi; \
+	  echo "$$d$$p"; \
+	done | $(am__base_list) | \
+	while read files; do \
+	  echo " $(INSTALL_DATA) $$files '$(DESTDIR)$(pkgconfigdir)'"; \
+	  $(INSTALL_DATA) $$files "$(DESTDIR)$(pkgconfigdir)" || exit $$?; \
+	done
+
+uninstall-pkgconfigDATA:
+	@$(NORMAL_UNINSTALL)
+	@list='$(pkgconfig_DATA)'; test -n "$(pkgconfigdir)" || list=; \
+	files=`for p in $$list; do echo $$p; done | sed -e 's|^.*/||'`; \
+	test -n "$$files" || exit 0; \
+	echo " ( cd '$(DESTDIR)$(pkgconfigdir)' && rm -f" $$files ")"; \
+	cd "$(DESTDIR)$(pkgconfigdir)" && rm -f $$files
 install-includeHEADERS: $(include_HEADERS)
 	@$(NORMAL_INSTALL)
 	test -z "$(includedir)" || $(MKDIR_P) "$(DESTDIR)$(includedir)"
@@ -1300,9 +1342,9 @@ distcleancheck: distclean
 	       exit 1; } >&2
 check-am: all-am
 check: check-am
-all-am: Makefile $(LTLIBRARIES) $(HEADERS)
+all-am: Makefile $(LTLIBRARIES) $(DATA) $(HEADERS)
 installdirs:
-	for dir in "$(DESTDIR)$(libdir)" "$(DESTDIR)$(includedir)"; do \
+	for dir in "$(DESTDIR)$(libdir)" "$(DESTDIR)$(pkgconfigdir)" "$(DESTDIR)$(includedir)"; do \
 	  test -z "$$dir" || $(MKDIR_P) "$$dir"; \
 	done
 install: install-am
@@ -1356,7 +1398,7 @@ info: info-am
 
 info-am:
 
-install-data-am: install-includeHEADERS
+install-data-am: install-includeHEADERS install-pkgconfigDATA
 	@$(NORMAL_INSTALL)
 	$(MAKE) $(AM_MAKEFLAGS) install-data-hook
 install-dvi: install-dvi-am
@@ -1406,7 +1448,8 @@ ps: ps-am
 
 ps-am:
 
-uninstall-am: uninstall-includeHEADERS uninstall-libLTLIBRARIES
+uninstall-am: uninstall-includeHEADERS uninstall-libLTLIBRARIES \
+	uninstall-pkgconfigDATA
 
 .MAKE: install-am install-data-am install-exec-am install-strip
 
@@ -1421,12 +1464,13 @@ uninstall-am: uninstall-includeHEADERS uninstall-libLTLIBRARIES
 	install-dvi-am install-exec install-exec-am install-exec-hook \
 	install-html install-html-am install-includeHEADERS \
 	install-info install-info-am install-libLTLIBRARIES \
-	install-man install-pdf install-pdf-am install-ps \
-	install-ps-am install-strip installcheck installcheck-am \
-	installdirs maintainer-clean maintainer-clean-generic \
-	mostlyclean mostlyclean-compile mostlyclean-generic \
-	mostlyclean-libtool pdf pdf-am ps ps-am tags uninstall \
-	uninstall-am uninstall-includeHEADERS uninstall-libLTLIBRARIES
+	install-man install-pdf install-pdf-am install-pkgconfigDATA \
+	install-ps install-ps-am install-strip installcheck \
+	installcheck-am installdirs maintainer-clean \
+	maintainer-clean-generic mostlyclean mostlyclean-compile \
+	mostlyclean-generic mostlyclean-libtool pdf pdf-am ps ps-am \
+	tags uninstall uninstall-am uninstall-includeHEADERS \
+	uninstall-libLTLIBRARIES uninstall-pkgconfigDATA
 
 
 distclean-local:
@@ -1450,11 +1494,13 @@ phidget21matlab.h:
 	@echo "Making $@"
 	@echo "/*" > $@
 	@echo " * Phidget21 Header for Matlab" >> $@
-	@echo " * -All pointers to structs have been changed to long, as Matlab seems" >> $@
+	@echo " * -All pointers to structs have been changed to void *, as Matlab seems" >> $@
 	@echo " *  to be unhappy with either the undefined stucts or the double pointers." >> $@
 	@echo " */" >> $@
-	@$(CC) -g -E -P -D_LINUX -DEXTERNALPROTO -DREMOVE_DEPRECATED phidget21int.h | sed -e "s/extern \"C\" //g" | sed -e "s/struct [a-zA-Z_]* \*/long /" >> $@
+	@cat cppheader >> $@
+	@$(CC) -g -E -P -D_LINUX -DEXTERNALPROTO -DREMOVE_DEPRECATED phidget21int.h | sed -e "s/extern \"C\" //g" | sed -e "s/struct [a-zA-Z_]* \*/void * /" >> $@
 	@cat cphidgetconstants.h >> $@
+	@cat cppfooter >> $@
 
 phidget21.jar:
 	@echo "Making $@"
diff --git a/README b/README
index af610ab..46e7055 100644
--- a/README
+++ b/README
@@ -1,5 +1,5 @@
                           Phidgets for Linux
-                    Version 2.1.8, 22 February 2011
+                      Version 2.1.8, 3 May 2012
 
 Installation
 ============
@@ -17,10 +17,13 @@ zeroconf if it is available.
 Requirements
 ============
 
-libusb 0.1
+libusb 1.0
 
    This is generally already installed. The libusb dev files may need to
-be installed - this is usually a package called libusb-dev.
+be installed - this is usually a package called libusb-1.0-0-dev. If
+libusb-1.0 is not available, libusb-0.1 will be used as a fallback,
+however, libusb-0.1 is not recommended because of a memory leak which
+will never be fixed.
 
    Some embedded systems / older distros may need to manually set up
 the userspace USB device tree. Usually this is handled by udev and 
@@ -54,6 +57,10 @@ Options
      make LABVIEW_CINTOOLS_PATH=/usr/local/natinst/LabVIEW-2010/cintools
 	 
    Note: replace 'LabVIEW-2010' with your version
+   
+   To use old libusb-0.1
+   
+     ./configure --enable-oldlibusb
 
 Usage
 =====
diff --git a/configure b/configure
index d543cd9..32e9e9d 100755
--- a/configure
+++ b/configure
@@ -1,6 +1,6 @@
 #! /bin/sh
 # Guess values for system-dependent variables and create Makefiles.
-# Generated by GNU Autoconf 2.64 for Phidget21 C Library 2.1.8.20120216.
+# Generated by GNU Autoconf 2.64 for Phidget21 C Library 2.1.8.20120507.
 #
 # Report bugs to <support@phidgets.com>.
 #
@@ -698,8 +698,8 @@ MAKEFLAGS=
 # Identity of this package.
 PACKAGE_NAME='Phidget21 C Library'
 PACKAGE_TARNAME='libphidget'
-PACKAGE_VERSION='2.1.8.20120216'
-PACKAGE_STRING='Phidget21 C Library 2.1.8.20120216'
+PACKAGE_VERSION='2.1.8.20120507'
+PACKAGE_STRING='Phidget21 C Library 2.1.8.20120507'
 PACKAGE_BUGREPORT='support@phidgets.com'
 PACKAGE_URL='www.phidgets.com'
 
@@ -749,6 +749,8 @@ INTERNAL_UNICONV_FALSE
 INTERNAL_UNICONV_TRUE
 RUN_LDCONFIG_FALSE
 RUN_LDCONFIG_TRUE
+NEW_LIBUSB_FALSE
+NEW_LIBUSB_TRUE
 LABVIEW_FALSE
 LABVIEW_TRUE
 ZEROCONF_LOOKUP_FALSE
@@ -887,6 +889,7 @@ enable_debug
 enable_zeroconf
 enable_zeroconf_lookup
 enable_labview
+enable_oldlibusb
 enable_ldconfig
 '
       ac_precious_vars='build_alias
@@ -1440,7 +1443,7 @@ if test "$ac_init_help" = "long"; then
   # Omit some internal or obsolete options to make the list less imposing.
   # This message is too long to be a string in the A/UX 3.1 sh.
   cat <<_ACEOF
-\`configure' configures Phidget21 C Library 2.1.8.20120216 to adapt to many kinds of systems.
+\`configure' configures Phidget21 C Library 2.1.8.20120507 to adapt to many kinds of systems.
 
 Usage: $0 [OPTION]... [VAR=VALUE]...
 
@@ -1510,7 +1513,7 @@ fi
 
 if test -n "$ac_init_help"; then
   case $ac_init_help in
-     short | recursive ) echo "Configuration of Phidget21 C Library 2.1.8.20120216:";;
+     short | recursive ) echo "Configuration of Phidget21 C Library 2.1.8.20120507:";;
    esac
   cat <<\_ACEOF
 
@@ -1532,6 +1535,7 @@ Optional Features:
   --enable-zeroconf    Turn on zeroconf, choose avahi or bonjour
   --enable-zeroconf-lookup    Turn on zeroconf lookup
   --enable-labview    Turn on Labview support
+  --enable-oldlibusb    Use libusb-0.1 instead of 1.0
   --disable-ldconfig      do not update dynamic linker cache using ldconfig
 
 Optional Packages:
@@ -1619,7 +1623,7 @@ fi
 test -n "$ac_init_help" && exit $ac_status
 if $ac_init_version; then
   cat <<\_ACEOF
-Phidget21 C Library configure 2.1.8.20120216
+Phidget21 C Library configure 2.1.8.20120507
 generated by GNU Autoconf 2.64
 
 Copyright (C) 2009 Free Software Foundation, Inc.
@@ -1897,7 +1901,7 @@ cat >config.log <<_ACEOF
 This file contains any messages produced by compilers while
 running configure, to aid debugging if configure makes a mistake.
 
-It was created by Phidget21 C Library $as_me 2.1.8.20120216, which was
+It was created by Phidget21 C Library $as_me 2.1.8.20120507, which was
 generated by GNU Autoconf 2.64.  Invocation command line was
 
   $ $0 $@
@@ -2705,7 +2709,7 @@ fi
 
 # Define the identity of the package.
  PACKAGE='libphidget'
- VERSION='2.1.8.20120216'
+ VERSION='2.1.8.20120507'
 
 
 cat >>confdefs.h <<_ACEOF
@@ -4382,13 +4386,13 @@ if test "${lt_cv_nm_interface+set}" = set; then :
 else
   lt_cv_nm_interface="BSD nm"
   echo "int some_variable = 0;" > conftest.$ac_ext
-  (eval echo "\"\$as_me:4385: $ac_compile\"" >&5)
+  (eval echo "\"\$as_me:4389: $ac_compile\"" >&5)
   (eval "$ac_compile" 2>conftest.err)
   cat conftest.err >&5
-  (eval echo "\"\$as_me:4388: $NM \\\"conftest.$ac_objext\\\"\"" >&5)
+  (eval echo "\"\$as_me:4392: $NM \\\"conftest.$ac_objext\\\"\"" >&5)
   (eval "$NM \"conftest.$ac_objext\"" 2>conftest.err > conftest.out)
   cat conftest.err >&5
-  (eval echo "\"\$as_me:4391: output\"" >&5)
+  (eval echo "\"\$as_me:4395: output\"" >&5)
   cat conftest.out >&5
   if $GREP 'External.*some_variable' conftest.out > /dev/null; then
     lt_cv_nm_interface="MS dumpbin"
@@ -5594,7 +5598,7 @@ ia64-*-hpux*)
   ;;
 *-*-irix6*)
   # Find out which ABI we are using.
-  echo '#line 5597 "configure"' > conftest.$ac_ext
+  echo '#line 5601 "configure"' > conftest.$ac_ext
   if { { eval echo "\"\$as_me\":${as_lineno-$LINENO}: \"$ac_compile\""; } >&5
   (eval $ac_compile) 2>&5
   ac_status=$?
@@ -7120,11 +7124,11 @@ else
    -e 's:.*FLAGS}\{0,1\} :&$lt_compiler_flag :; t' \
    -e 's: [^ ]*conftest\.: $lt_compiler_flag&:; t' \
    -e 's:$: $lt_compiler_flag:'`
-   (eval echo "\"\$as_me:7123: $lt_compile\"" >&5)
+   (eval echo "\"\$as_me:7127: $lt_compile\"" >&5)
    (eval "$lt_compile" 2>conftest.err)
    ac_status=$?
    cat conftest.err >&5
-   echo "$as_me:7127: \$? = $ac_status" >&5
+   echo "$as_me:7131: \$? = $ac_status" >&5
    if (exit $ac_status) && test -s "$ac_outfile"; then
      # The compiler can only warn and ignore the option if not recognized
      # So say no if there are warnings other than the usual output.
@@ -7459,11 +7463,11 @@ else
    -e 's:.*FLAGS}\{0,1\} :&$lt_compiler_flag :; t' \
    -e 's: [^ ]*conftest\.: $lt_compiler_flag&:; t' \
    -e 's:$: $lt_compiler_flag:'`
-   (eval echo "\"\$as_me:7462: $lt_compile\"" >&5)
+   (eval echo "\"\$as_me:7466: $lt_compile\"" >&5)
    (eval "$lt_compile" 2>conftest.err)
    ac_status=$?
    cat conftest.err >&5
-   echo "$as_me:7466: \$? = $ac_status" >&5
+   echo "$as_me:7470: \$? = $ac_status" >&5
    if (exit $ac_status) && test -s "$ac_outfile"; then
      # The compiler can only warn and ignore the option if not recognized
      # So say no if there are warnings other than the usual output.
@@ -7564,11 +7568,11 @@ else
    -e 's:.*FLAGS}\{0,1\} :&$lt_compiler_flag :; t' \
    -e 's: [^ ]*conftest\.: $lt_compiler_flag&:; t' \
    -e 's:$: $lt_compiler_flag:'`
-   (eval echo "\"\$as_me:7567: $lt_compile\"" >&5)
+   (eval echo "\"\$as_me:7571: $lt_compile\"" >&5)
    (eval "$lt_compile" 2>out/conftest.err)
    ac_status=$?
    cat out/conftest.err >&5
-   echo "$as_me:7571: \$? = $ac_status" >&5
+   echo "$as_me:7575: \$? = $ac_status" >&5
    if (exit $ac_status) && test -s out/conftest2.$ac_objext
    then
      # The compiler can only warn and ignore the option if not recognized
@@ -7619,11 +7623,11 @@ else
    -e 's:.*FLAGS}\{0,1\} :&$lt_compiler_flag :; t' \
    -e 's: [^ ]*conftest\.: $lt_compiler_flag&:; t' \
    -e 's:$: $lt_compiler_flag:'`
-   (eval echo "\"\$as_me:7622: $lt_compile\"" >&5)
+   (eval echo "\"\$as_me:7626: $lt_compile\"" >&5)
    (eval "$lt_compile" 2>out/conftest.err)
    ac_status=$?
    cat out/conftest.err >&5
-   echo "$as_me:7626: \$? = $ac_status" >&5
+   echo "$as_me:7630: \$? = $ac_status" >&5
    if (exit $ac_status) && test -s out/conftest2.$ac_objext
    then
      # The compiler can only warn and ignore the option if not recognized
@@ -10002,7 +10006,7 @@ else
   lt_dlunknown=0; lt_dlno_uscore=1; lt_dlneed_uscore=2
   lt_status=$lt_dlunknown
   cat > conftest.$ac_ext <<_LT_EOF
-#line 10005 "configure"
+#line 10009 "configure"
 #include "confdefs.h"
 
 #if HAVE_DLFCN_H
@@ -10098,7 +10102,7 @@ else
   lt_dlunknown=0; lt_dlno_uscore=1; lt_dlneed_uscore=2
   lt_status=$lt_dlunknown
   cat > conftest.$ac_ext <<_LT_EOF
-#line 10101 "configure"
+#line 10105 "configure"
 #include "confdefs.h"
 
 #if HAVE_DLFCN_H
@@ -11230,63 +11234,6 @@ else
   as_fn_error "Missing libpthread!" "$LINENO" 5
 fi
 
-{ $as_echo "$as_me:${as_lineno-$LINENO}: checking for library containing usb_find_busses" >&5
-$as_echo_n "checking for library containing usb_find_busses... " >&6; }
-if test "${ac_cv_search_usb_find_busses+set}" = set; then :
-  $as_echo_n "(cached) " >&6
-else
-  ac_func_search_save_LIBS=$LIBS
-cat confdefs.h - <<_ACEOF >conftest.$ac_ext
-/* end confdefs.h.  */
-
-/* Override any GCC internal prototype to avoid an error.
-   Use char because int might match the return type of a GCC
-   builtin and then its argument prototype would still apply.  */
-#ifdef __cplusplus
-extern "C"
-#endif
-char usb_find_busses ();
-int
-main ()
-{
-return usb_find_busses ();
-  ;
-  return 0;
-}
-_ACEOF
-for ac_lib in '' usb; do
-  if test -z "$ac_lib"; then
-    ac_res="none required"
-  else
-    ac_res=-l$ac_lib
-    LIBS="-l$ac_lib  $ac_func_search_save_LIBS"
-  fi
-  if ac_fn_c_try_link "$LINENO"; then :
-  ac_cv_search_usb_find_busses=$ac_res
-fi
-rm -f core conftest.err conftest.$ac_objext \
-    conftest$ac_exeext
-  if test "${ac_cv_search_usb_find_busses+set}" = set; then :
-  break
-fi
-done
-if test "${ac_cv_search_usb_find_busses+set}" = set; then :
-
-else
-  ac_cv_search_usb_find_busses=no
-fi
-rm conftest.$ac_ext
-LIBS=$ac_func_search_save_LIBS
-fi
-{ $as_echo "$as_me:${as_lineno-$LINENO}: result: $ac_cv_search_usb_find_busses" >&5
-$as_echo "$ac_cv_search_usb_find_busses" >&6; }
-ac_res=$ac_cv_search_usb_find_busses
-if test "$ac_res" != no; then :
-  test "$ac_res" = "none required" || LIBS="$ac_res $LIBS"
-
-else
-  as_fn_error "Missing libusb!" "$LINENO" 5
-fi
 
 # we need iconv - if it's not available in libc, look for the 'libiconv' function from libiconv.so
 { $as_echo "$as_me:${as_lineno-$LINENO}: checking for library containing iconv" >&5
@@ -11523,6 +11470,204 @@ else
 fi
 
 
+# Check whether --enable-oldlibusb was given.
+if test "${enable_oldlibusb+set}" = set; then :
+  enableval=$enable_oldlibusb; case "${enableval}" in
+	yes) newlibusb=false ;;
+	no)  newlibusb=true ;;
+	*) as_fn_error "bad value ${enableval} for --enable-oldlibusb" "$LINENO" 5 ;;
+esac
+else
+  newlibusb=true
+fi
+
+
+if test "$newlibusb" = "true"; then
+{ $as_echo "$as_me:${as_lineno-$LINENO}: checking for library containing libusb_init" >&5
+$as_echo_n "checking for library containing libusb_init... " >&6; }
+if test "${ac_cv_search_libusb_init+set}" = set; then :
+  $as_echo_n "(cached) " >&6
+else
+  ac_func_search_save_LIBS=$LIBS
+cat confdefs.h - <<_ACEOF >conftest.$ac_ext
+/* end confdefs.h.  */
+
+/* Override any GCC internal prototype to avoid an error.
+   Use char because int might match the return type of a GCC
+   builtin and then its argument prototype would still apply.  */
+#ifdef __cplusplus
+extern "C"
+#endif
+char libusb_init ();
+int
+main ()
+{
+return libusb_init ();
+  ;
+  return 0;
+}
+_ACEOF
+for ac_lib in '' usb-1.0; do
+  if test -z "$ac_lib"; then
+    ac_res="none required"
+  else
+    ac_res=-l$ac_lib
+    LIBS="-l$ac_lib  $ac_func_search_save_LIBS"
+  fi
+  if ac_fn_c_try_link "$LINENO"; then :
+  ac_cv_search_libusb_init=$ac_res
+fi
+rm -f core conftest.err conftest.$ac_objext \
+    conftest$ac_exeext
+  if test "${ac_cv_search_libusb_init+set}" = set; then :
+  break
+fi
+done
+if test "${ac_cv_search_libusb_init+set}" = set; then :
+
+else
+  ac_cv_search_libusb_init=no
+fi
+rm conftest.$ac_ext
+LIBS=$ac_func_search_save_LIBS
+fi
+{ $as_echo "$as_me:${as_lineno-$LINENO}: result: $ac_cv_search_libusb_init" >&5
+$as_echo "$ac_cv_search_libusb_init" >&6; }
+ac_res=$ac_cv_search_libusb_init
+if test "$ac_res" != no; then :
+  test "$ac_res" = "none required" || LIBS="$ac_res $LIBS"
+  newlibusb=true
+else
+  { $as_echo "$as_me:${as_lineno-$LINENO}: checking for library containing usb_find_busses" >&5
+$as_echo_n "checking for library containing usb_find_busses... " >&6; }
+if test "${ac_cv_search_usb_find_busses+set}" = set; then :
+  $as_echo_n "(cached) " >&6
+else
+  ac_func_search_save_LIBS=$LIBS
+cat confdefs.h - <<_ACEOF >conftest.$ac_ext
+/* end confdefs.h.  */
+
+/* Override any GCC internal prototype to avoid an error.
+   Use char because int might match the return type of a GCC
+   builtin and then its argument prototype would still apply.  */
+#ifdef __cplusplus
+extern "C"
+#endif
+char usb_find_busses ();
+int
+main ()
+{
+return usb_find_busses ();
+  ;
+  return 0;
+}
+_ACEOF
+for ac_lib in '' usb; do
+  if test -z "$ac_lib"; then
+    ac_res="none required"
+  else
+    ac_res=-l$ac_lib
+    LIBS="-l$ac_lib  $ac_func_search_save_LIBS"
+  fi
+  if ac_fn_c_try_link "$LINENO"; then :
+  ac_cv_search_usb_find_busses=$ac_res
+fi
+rm -f core conftest.err conftest.$ac_objext \
+    conftest$ac_exeext
+  if test "${ac_cv_search_usb_find_busses+set}" = set; then :
+  break
+fi
+done
+if test "${ac_cv_search_usb_find_busses+set}" = set; then :
+
+else
+  ac_cv_search_usb_find_busses=no
+fi
+rm conftest.$ac_ext
+LIBS=$ac_func_search_save_LIBS
+fi
+{ $as_echo "$as_me:${as_lineno-$LINENO}: result: $ac_cv_search_usb_find_busses" >&5
+$as_echo "$ac_cv_search_usb_find_busses" >&6; }
+ac_res=$ac_cv_search_usb_find_busses
+if test "$ac_res" != no; then :
+  test "$ac_res" = "none required" || LIBS="$ac_res $LIBS"
+  newlibusb=false
+else
+  as_fn_error "Missing libusb!" "$LINENO" 5
+fi
+
+fi
+
+else
+{ $as_echo "$as_me:${as_lineno-$LINENO}: checking for library containing usb_find_busses" >&5
+$as_echo_n "checking for library containing usb_find_busses... " >&6; }
+if test "${ac_cv_search_usb_find_busses+set}" = set; then :
+  $as_echo_n "(cached) " >&6
+else
+  ac_func_search_save_LIBS=$LIBS
+cat confdefs.h - <<_ACEOF >conftest.$ac_ext
+/* end confdefs.h.  */
+
+/* Override any GCC internal prototype to avoid an error.
+   Use char because int might match the return type of a GCC
+   builtin and then its argument prototype would still apply.  */
+#ifdef __cplusplus
+extern "C"
+#endif
+char usb_find_busses ();
+int
+main ()
+{
+return usb_find_busses ();
+  ;
+  return 0;
+}
+_ACEOF
+for ac_lib in '' usb; do
+  if test -z "$ac_lib"; then
+    ac_res="none required"
+  else
+    ac_res=-l$ac_lib
+    LIBS="-l$ac_lib  $ac_func_search_save_LIBS"
+  fi
+  if ac_fn_c_try_link "$LINENO"; then :
+  ac_cv_search_usb_find_busses=$ac_res
+fi
+rm -f core conftest.err conftest.$ac_objext \
+    conftest$ac_exeext
+  if test "${ac_cv_search_usb_find_busses+set}" = set; then :
+  break
+fi
+done
+if test "${ac_cv_search_usb_find_busses+set}" = set; then :
+
+else
+  ac_cv_search_usb_find_busses=no
+fi
+rm conftest.$ac_ext
+LIBS=$ac_func_search_save_LIBS
+fi
+{ $as_echo "$as_me:${as_lineno-$LINENO}: result: $ac_cv_search_usb_find_busses" >&5
+$as_echo "$ac_cv_search_usb_find_busses" >&6; }
+ac_res=$ac_cv_search_usb_find_busses
+if test "$ac_res" != no; then :
+  test "$ac_res" = "none required" || LIBS="$ac_res $LIBS"
+  newlibusb=false
+else
+  as_fn_error "Missing libusb!" "$LINENO" 5
+fi
+
+fi
+
+ if test x$newlibusb = xtrue; then
+  NEW_LIBUSB_TRUE=
+  NEW_LIBUSB_FALSE='#'
+else
+  NEW_LIBUSB_TRUE='#'
+  NEW_LIBUSB_FALSE=
+fi
+
+
 # Check whether --enable-ldconfig was given.
 if test "${enable_ldconfig+set}" = set; then :
   enableval=$enable_ldconfig;
@@ -11548,8 +11693,11 @@ else
 fi
 
 
+
 ac_config_files="$ac_config_files Makefile examples/Makefile"
 
+ac_config_files="$ac_config_files libphidget21.pc"
+
 cat >confcache <<\_ACEOF
 # This file is a shell script that caches the results of configure
 # tests run on this system so they can be shared between configure
@@ -11731,6 +11879,10 @@ if test -z "${LABVIEW_TRUE}" && test -z "${LABVIEW_FALSE}"; then
   as_fn_error "conditional \"LABVIEW\" was never defined.
 Usually this means the macro was only invoked conditionally." "$LINENO" 5
 fi
+if test -z "${NEW_LIBUSB_TRUE}" && test -z "${NEW_LIBUSB_FALSE}"; then
+  as_fn_error "conditional \"NEW_LIBUSB\" was never defined.
+Usually this means the macro was only invoked conditionally." "$LINENO" 5
+fi
 if test -z "${RUN_LDCONFIG_TRUE}" && test -z "${RUN_LDCONFIG_FALSE}"; then
   as_fn_error "conditional \"RUN_LDCONFIG\" was never defined.
 Usually this means the macro was only invoked conditionally." "$LINENO" 5
@@ -12147,7 +12299,7 @@ cat >>$CONFIG_STATUS <<\_ACEOF || ac_write_fail=1
 # report actual input values of CONFIG_FILES etc. instead of their
 # values after options handling.
 ac_log="
-This file was extended by Phidget21 C Library $as_me 2.1.8.20120216, which was
+This file was extended by Phidget21 C Library $as_me 2.1.8.20120507, which was
 generated by GNU Autoconf 2.64.  Invocation command line was
 
   CONFIG_FILES    = $CONFIG_FILES
@@ -12203,7 +12355,7 @@ Phidget21 C Library home page: <www.phidgets.com>."
 _ACEOF
 cat >>$CONFIG_STATUS <<_ACEOF || ac_write_fail=1
 ac_cs_version="\\
-Phidget21 C Library config.status 2.1.8.20120216
+Phidget21 C Library config.status 2.1.8.20120507
 configured by $0, generated by GNU Autoconf 2.64,
   with options \\"`$as_echo "$ac_configure_args" | sed 's/^ //; s/[\\""\`\$]/\\\\&/g'`\\"
 
@@ -12572,6 +12724,7 @@ do
     "libtool") CONFIG_COMMANDS="$CONFIG_COMMANDS libtool" ;;
     "Makefile") CONFIG_FILES="$CONFIG_FILES Makefile" ;;
     "examples/Makefile") CONFIG_FILES="$CONFIG_FILES examples/Makefile" ;;
+    "libphidget21.pc") CONFIG_FILES="$CONFIG_FILES libphidget21.pc" ;;
 
   *) as_fn_error "invalid argument: \`$ac_config_target'" "$LINENO" 5;;
   esac
diff --git a/configure.ac b/configure.ac
index 559e4da..f49f25e 100644
--- a/configure.ac
+++ b/configure.ac
@@ -25,8 +25,7 @@ AC_SEARCH_LIBS([sqrt], [m], [],
 	AC_MSG_ERROR([Missing libm!]))
 AC_SEARCH_LIBS([pthread_join], [pthread], [], 
 	AC_MSG_ERROR([Missing libpthread!]))
-AC_SEARCH_LIBS([usb_find_busses], [usb], [], 
-	AC_MSG_ERROR([Missing libusb!]))
+
 # we need iconv - if it's not available in libc, look for the 'libiconv' function from libiconv.so
 AC_SEARCH_LIBS([iconv], [iconv], [], 
 	AC_SEARCH_LIBS([libiconv], [iconv], [], 
@@ -81,6 +80,25 @@ AC_ARG_ENABLE([labview],
 esac],[labview=false])
 AM_CONDITIONAL([LABVIEW], [test x$labview = xtrue])
 
+AC_ARG_ENABLE([oldlibusb],
+[  --enable-oldlibusb    Use libusb-0.1 instead of 1.0],
+[case "${enableval}" in
+	yes) newlibusb=false ;;
+	no)  newlibusb=true ;;
+	*) AC_MSG_ERROR([bad value ${enableval} for --enable-oldlibusb]) ;;
+esac],[newlibusb=true])
+
+if test "$newlibusb" = "true"; then
+AC_SEARCH_LIBS([libusb_init], [usb-1.0], [newlibusb=true], 
+	AC_SEARCH_LIBS([usb_find_busses], [usb], [newlibusb=false], 
+	AC_MSG_ERROR([Missing libusb!])))
+else
+AC_SEARCH_LIBS([usb_find_busses], [usb], [newlibusb=false], 
+	AC_MSG_ERROR([Missing libusb!]))
+fi
+
+AM_CONDITIONAL([NEW_LIBUSB], [test x$newlibusb = xtrue])
+
 AC_ARG_ENABLE([ldconfig],
 [AS_HELP_STRING([--disable-ldconfig],[do not update dynamic linker cache using ldconfig])],
 ,
@@ -89,6 +107,7 @@ AM_CONDITIONAL([RUN_LDCONFIG], [test "${enable_ldconfig}" = "yes"])
 
 AM_CONDITIONAL([INTERNAL_UNICONV], [test x$internaluniconv = xtrue])
 
+
 AC_CONFIG_FILES([Makefile
                  examples/Makefile])
-AC_OUTPUT
+AC_OUTPUT([libphidget21.pc])
diff --git a/cphidget.c b/cphidget.c
index d8d5cb3..a408210 100644
--- a/cphidget.c
+++ b/cphidget.c
@@ -6,6 +6,8 @@
 #include "cphidgetlist.h"
 #include "utils.h"
 
+static int CPhidgetGPP_dataInput(CPhidgetHandle phid, unsigned char *buffer, int length);
+
 int print_debug_messages = FALSE;
 
 CPhidgetListHandle ActiveDevices = 0;
@@ -120,8 +122,8 @@ int CCONV CPhidget_areEqual(void *arg1, void *arg2)
 	if(phid1->specificDevice && phid2->specificDevice)
 	{
 		// If one is open serial and the other is open label
-		if(phid1->specificDevice == PHIDGETOPEN_SERIAL && phid2->specificDevice == PHIDGETOPEN_LABEL ||
-			phid1->specificDevice == PHIDGETOPEN_LABEL && phid2->specificDevice == PHIDGETOPEN_SERIAL)
+		if((phid1->specificDevice == PHIDGETOPEN_SERIAL && phid2->specificDevice == PHIDGETOPEN_LABEL) ||
+			(phid1->specificDevice == PHIDGETOPEN_LABEL && phid2->specificDevice == PHIDGETOPEN_SERIAL))
 			return PFALSE;
 
 		// If one is open serial but they have different serials
@@ -279,14 +281,14 @@ int CPhidget_read(CPhidgetHandle phid)
 
 	TESTPTR(phid)
 
-	if (CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHED_FLAG)
-		|| CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHING_FLAG)) {
-		result = CUSBReadPacket((CPhidgetHandle)phid,
-		    phid->lastReadPacket);
-		if (result) return result;
-		if (phid->fptrData)
-			result= phid->fptrData((CPhidgetHandle)phid,
-			    phid->lastReadPacket, phid->inputReportByteLength);
+	if (CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHED_FLAG) || CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHING_FLAG))
+	{
+		if((result = CUSBReadPacket((CPhidgetHandle)phid, phid->lastReadPacket)) != EPHIDGET_OK)
+			return result;
+		if((phid->lastReadPacket[0] & PHID_USB_GENERAL_PACKET_FLAG) && deviceSupportsGeneralUSBProtocol(phid))
+			result = CPhidgetGPP_dataInput(phid, phid->lastReadPacket, phid->inputReportByteLength);
+		else if (phid->fptrData)
+			result= phid->fptrData(phid, phid->lastReadPacket, phid->inputReportByteLength);
 		return result;
 	}
 	return EPHIDGET_NOTATTACHED;
@@ -503,6 +505,10 @@ netdone:
 		if(!ActiveDevices && !ActivePhidgetManagers)
 		{
 			JoinCentralThread();
+			//Shut down USB
+#if defined(_LINUX) && !defined(_ANDROID)
+			CUSBUninit();
+#endif
 		}
 	}
 	CPhidget_clearStatusFlag(&phid->status, PHIDGET_OPENED_FLAG, &phid->lock);
@@ -572,7 +578,14 @@ CPhidget_getDeviceName(CPhidgetHandle phid, const char **buffer)
 		&& !CPhidget_statusFlagIsSet(phid->status, PHIDGET_DETACHING_FLAG))
 		return EPHIDGET_NOTATTACHED;
 
-	*buffer = (char *)phid->deviceDef->pdd_name;
+	if(phid->deviceIDSpec == PHIDID_FIRMWARE_UPGRADE)
+	{
+		if(!phid->firmwareUpgradeName[0])
+			snprintf(phid->firmwareUpgradeName, 30, "%s %s", phid->usbProduct, phid->deviceDef->pdd_name);
+		*buffer = phid->firmwareUpgradeName;
+	}
+	else
+		*buffer = (char *)phid->deviceDef->pdd_name;
 	return EPHIDGET_OK;
 }
 
@@ -719,7 +732,7 @@ CPhidget_setDeviceLabel(CPhidgetHandle phid, const char *buffer)
 	else
 	{
 		
-#if defined(_WINDOWS) && !defined(WINCE)
+#if 0// defined(_WINDOWS) && !defined(WINCE)
 		//setLabel not supported on Windows only (Windows CE does support it)
 		return EPHIDGET_UNSUPPORTED;
 #else
@@ -816,6 +829,9 @@ CPhidget_setDeviceLabel(CPhidgetHandle phid, const char *buffer)
 			}
 			else 
 			{
+#if defined(_WINDOWS) && !defined(WINCE)
+				if(ret != EPHIDGET_UNSUPPORTED)
+#endif
 				LOG(PHIDGET_LOG_ERROR, "Something unexpected happened trying to set the label. Try again.");
 				return ret;
 			}
@@ -1261,6 +1277,7 @@ int attachActiveDevice(CPhidgetHandle activeDevice, CPhidgetHandle attachedDevic
 	activeDevice->CPhidgetFHandle = malloc(wcslen(attachedDevice->CPhidgetFHandle)*sizeof(WCHAR)+10);
 	wcsncpy((WCHAR *)activeDevice->CPhidgetFHandle, attachedDevice->CPhidgetFHandle, wcslen(attachedDevice->CPhidgetFHandle)+1);
 	activeDevice->deviceIDSpec = attachedDevice->deviceIDSpec;
+	activeDevice->deviceUID = attachedDevice->deviceUID;
 	activeDevice->deviceDef = attachedDevice->deviceDef;
 #endif
 #endif
@@ -1269,6 +1286,7 @@ int attachActiveDevice(CPhidgetHandle activeDevice, CPhidgetHandle attachedDevic
 	//Android also uses the file handle to open the device
 	activeDevice->CPhidgetFHandle = strdup(attachedDevice->CPhidgetFHandle);
 	activeDevice->deviceIDSpec = attachedDevice->deviceIDSpec;
+	activeDevice->deviceUID = attachedDevice->deviceUID;
 	activeDevice->deviceDef = attachedDevice->deviceDef;
 #endif
 
@@ -1287,6 +1305,7 @@ int attachActiveDevice(CPhidgetHandle activeDevice, CPhidgetHandle attachedDevic
 			activeDevice->serialNumber = -1;
 		}
 		activeDevice->deviceIDSpec = 0;
+		activeDevice->deviceUID = 0;
 		return result;
 	}
 	
@@ -1541,39 +1560,15 @@ int labelHasWrapError(int serialNumber, char *labelBuf)
 	return PFALSE;
 }
 
-//takes the label string buffer from the USB device and outputs a UTF-8 version
-int decodeLabelString(char *labelBuf, char *out, int serialNumber)
+int UTF16toUTF8(char *in, int inLen, char *out)
 {
-	//out NEEDS to be zeroed out, or we'll end up with a UTF-8 string with no terminating NULL
-	ZEROMEM(out, MAX_LABEL_STORAGE);
-	
-	//this returns true only if our descriptor is > 16 bytes and has the error, so we truncate
-	if (labelHasWrapError(serialNumber, labelBuf))
-	{
-		int i;
-		for(i=16;i<labelBuf[0];i++)
-			labelBuf[i] = 0x00;
-		labelBuf[0] = 16;
-		LOG(PHIDGET_LOG_WARNING, "Detected getLabel error - label is being truncated to first 7 characters. Please setLabel again to correct this.");
-	}
-	
-	//check if the label is stored as UTF-8 directly
-	if(labelBuf[0] > 4 && labelBuf[2] == (char)0xFF && labelBuf[3] == (char)0xFF)
-	{
-		LOG(PHIDGET_LOG_DEBUG, "Found a wrap-around bug style label.");
-		memcpy(out, &labelBuf[4], labelBuf[0]-4);
-		out[labelBuf[0]-4] = '\0';
-	}
-	//otherwise it's stored as UTF-16LE
-	else
-	{
 #ifdef USE_INTERNAL_UNICONV
-		unsigned char *utf8label = (unsigned char *)out;
-		unsigned char *utf8labelEnd = utf8label + MAX_LABEL_STORAGE;
-		unichar *utf16label = (unichar *)&labelBuf[2];
-		unichar *utf16labelEnd = utf16label + ((labelBuf[0]-2) / 2);
+		unsigned char *utf8string = (unsigned char *)out;
+		unsigned char *utf8stringEnd = utf8string + MAX_LABEL_STORAGE;
+		unichar *utf16string = (unichar *)in;
+		unichar *utf16stringEnd = utf16string + (inLen / 2);
 		ConversionResult resp;
-		resp = NSConvertUTF16toUTF8(&utf16label, utf16labelEnd, &utf8label, utf8labelEnd);
+		resp = NSConvertUTF16toUTF8(&utf16string, utf16stringEnd, &utf8string, utf8stringEnd);
 		
 		if(resp != ok)
 		{
@@ -1591,13 +1586,11 @@ int decodeLabelString(char *labelBuf, char *out, int serialNumber)
 			}
 			return EPHIDGET_INVALIDARG;
 		}
-		
 #else
-	
  #ifndef _WINDOWS
-		char *utf16label = &labelBuf[2];
-		char *utf8label = (char *)out;
-		size_t inBytes = labelBuf[0]-2; // Up to MAX_LABEL_STORAGE bytes read
+		char *utf16string = in;
+		char *utf8string = (char *)out;
+		size_t inBytes = inLen; // Up to MAX_LABEL_STORAGE bytes read
 		size_t outBytes = (MAX_LABEL_STORAGE); //UTF-16 characters are two bytes each.
 		iconv_t conv;
 		size_t resp;
@@ -1605,7 +1598,7 @@ int decodeLabelString(char *labelBuf, char *out, int serialNumber)
 		if (conv == (iconv_t)(-1))
 			return EPHIDGET_UNEXPECTED;
 		
-		resp = iconv(conv, &utf16label, &inBytes, &utf8label, &outBytes);
+		resp = iconv(conv, &utf16string, &inBytes, &utf8string, &outBytes);
 		
 		iconv_close(conv);
 		
@@ -1615,23 +1608,389 @@ int decodeLabelString(char *labelBuf, char *out, int serialNumber)
 				case EINVAL:
 				case E2BIG:
 				default:
-					LOG (PHIDGET_LOG_ERROR, "Unexpected error converting label to UTF-8: %s.", strerror (errno));
+					LOG (PHIDGET_LOG_ERROR, "Unexpected error converting string to UTF-8: %s.", strerror (errno));
 					return EPHIDGET_UNEXPECTED;
 			}
 		}
  #else
-		//labelData in NULL terminated
-		int bytesWritten = WideCharToMultiByte(CP_UTF8, 0, (wchar_t *)&labelBuf[2], -1, out, MAX_LABEL_STORAGE+1, NULL, NULL);
+		//stringData in NULL terminated
+		int bytesWritten = WideCharToMultiByte(CP_UTF8, 0, (wchar_t *)in, -1, out, MAX_LABEL_STORAGE+1, NULL, NULL);
 
 		//Error
 		if(!bytesWritten)
 		{
-			LOG(PHIDGET_LOG_ERROR, "Unable to convert label to UTF-8!");
+			LOG(PHIDGET_LOG_ERROR, "Unable to convert string to UTF-8!");
 			return EPHIDGET_UNEXPECTED;
 		}
  #endif
 #endif
+	return EPHIDGET_OK;
+}
+
+//takes the label string buffer from the USB device and outputs a UTF-8 version
+int decodeLabelString(char *labelBuf, char *out, int serialNumber)
+{
+	//out NEEDS to be zeroed out, or we'll end up with a UTF-8 string with no terminating NULL
+	ZEROMEM(out, MAX_LABEL_STORAGE);
+	
+	//this returns true only if our descriptor is > 16 bytes and has the error, so we truncate
+	if (labelHasWrapError(serialNumber, labelBuf))
+	{
+		int i;
+		for(i=16;i<labelBuf[0];i++)
+			labelBuf[i] = 0x00;
+		labelBuf[0] = 16;
+		LOG(PHIDGET_LOG_WARNING, "Detected getLabel error - label is being truncated to first 7 characters. Please setLabel again to correct this.");
+	}
+	
+	//check if the label is stored as UTF-8 directly
+	if(labelBuf[0] > 4 && labelBuf[2] == (char)0xFF && labelBuf[3] == (char)0xFF)
+	{
+		LOG(PHIDGET_LOG_DEBUG, "Found a wrap-around bug style label.");
+		memcpy(out, &labelBuf[4], labelBuf[0]-4);
+		out[labelBuf[0]-4] = '\0';
+	}
+	//otherwise it's stored as UTF-16LE
+	else
+	{
+		return UTF16toUTF8(&labelBuf[2], labelBuf[0]-2, out);
 	}
 	
 	return EPHIDGET_OK;
 }
+
+CPhidget_DeviceUID CPhidget_getUID(CPhidget_DeviceID id, int version)
+{
+	const CPhidgetUniqueDeviceDef *uidList = Phid_Unique_Device_Def;
+	int i = 0;
+
+	while (uidList->pdd_uid)
+	{
+		if(uidList->pdd_id == id && version >= uidList->pdd_vlow && version < uidList->pdd_vhigh)\
+			return uidList->pdd_uid;
+		i++;
+		uidList++;
+	}
+
+	//Should never get here!
+	LOG(PHIDGET_LOG_DEBUG, "We have a Phidgets that doesn't match and Device UID!");
+	return PHIDUID_NOTHING;
+}
+
+
+
+/**
+ * General Packet Protocol
+ *
+ * These are devices on the new M3. They all support this protocol.
+ *  MSB is set is buf[0] for incoming and outgoing packets.
+ */
+
+int deviceSupportsGeneralUSBProtocol(CPhidgetHandle phid)
+{
+	switch(phid->deviceUID)
+	{
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1041:
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1043:
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1042:
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044:
+			return PTRUE;
+
+		case PHIDUID_FIRMWARE_UPGRADE:
+			return PTRUE;
+
+		case PHIDUID_GENERIC:
+			return PTRUE;
+
+		default:
+			return PFALSE;
+	}
+}
+
+static int CPhidgetGPP_dataInput(CPhidgetHandle phid, unsigned char *buffer, int length)
+{
+	int result = EPHIDGET_OK;
+
+	//if response bits are set (0x00 is ignore), then store response
+	if(buffer[0] & 0x3f)
+		phid->GPPResponse = buffer[0];
+
+	return result;
+}
+
+int GPP_getResponse(CPhidgetHandle phid, int packetType, int timeout)
+{
+	while((phid->GPPResponse & 0x3f) != packetType && timeout > 0)
+	{
+		SLEEP(20);
+		timeout -= 20;
+	}
+
+	//Didn't get the response!
+	if((phid->GPPResponse & 0x3f) != packetType)
+	{
+		return EPHIDGET_TIMEOUT;
+	}
+
+	if(phid->GPPResponse & PHID_USB_GENERAL_PACKET_FAIL)
+		return EPHIDGET_UNEXPECTED;
+
+	return EPHIDGET_OK;
+}
+
+int CCONV CPhidgetGPP_upgradeFirmware(CPhidgetHandle phid, unsigned char *data, int length)
+{
+	int result, i, j, index, indexEnd;
+	unsigned char *buffer;
+	TESTPTR(phid)
+	if (!CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHED_FLAG))
+		return EPHIDGET_NOTATTACHED;
+
+	if(!deviceSupportsGeneralUSBProtocol(phid))
+		return EPHIDGET_UNSUPPORTED;
+
+	buffer = (unsigned char *) malloc(phid->outputReportByteLength);
+	ZEROMEM(buffer, phid->outputReportByteLength);
+	
+	CThread_mutex_lock(&phid->writelock);
+
+	phid->GPPResponse = 0;
+
+	index = ((length & 0xf000) >> 12) + 1;
+	indexEnd = length & 0xfff;
+	j = 0;
+	while (index)
+	{
+		int secLength = length - ((index - 1) * 0x1000);
+		if(secLength > 0x1000) secLength = 0x1000;
+
+		buffer[0] = PHID_USB_GENERAL_PACKET_FLAG | PHID_USB_GENERAL_PACKET_FIRMWARE_UPGRADE_WRITE_SECTOR;
+		buffer[1] = index;
+		buffer[2] = secLength;
+		buffer[3] = secLength >> 8;
+
+		for(i=4;i<phid->outputReportByteLength && j<indexEnd;i++,j++)
+			buffer[i] = data[j];
+
+		if((result = CUSBSendPacket((CPhidgetHandle)phid, buffer)) != EPHIDGET_OK)
+			goto done;
+
+		while(j<indexEnd && result == EPHIDGET_OK)
+		{
+			buffer[0] = PHID_USB_GENERAL_PACKET_FLAG | PHID_USB_GENERAL_PACKET_CONTINUATION;
+			for(i=1;i<phid->outputReportByteLength && j<indexEnd;i++,j++)
+				buffer[i] = data[j];
+
+			if((result = CUSBSendPacket((CPhidgetHandle)phid, buffer)) != EPHIDGET_OK)
+				goto done;
+		}
+		index--;
+		indexEnd+=0x1000;
+	}
+
+done:
+
+	result = GPP_getResponse(phid, PHID_USB_GENERAL_PACKET_FIRMWARE_UPGRADE_WRITE_SECTOR, 200);
+
+	CThread_mutex_unlock(&phid->writelock);
+
+	free(buffer);
+
+	return result;
+}
+
+int CCONV CPhidgetGPP_eraseFirmware(CPhidgetHandle phid)
+{
+	int result;
+	unsigned char *buffer;
+	TESTPTR(phid)
+	if (!CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHED_FLAG))
+		return EPHIDGET_NOTATTACHED;
+
+	if(!deviceSupportsGeneralUSBProtocol(phid))
+		return EPHIDGET_UNSUPPORTED;
+
+	buffer = (unsigned char *) malloc(phid->outputReportByteLength);
+	ZEROMEM(buffer, phid->outputReportByteLength);
+	
+	buffer[0] = PHID_USB_GENERAL_PACKET_FLAG | PHID_USB_GENERAL_PACKET_FIRMWARE_UPGRADE_ERASE;
+	
+	CThread_mutex_lock(&phid->writelock);
+
+	phid->GPPResponse = 0;
+	if((result = CUSBSendPacket((CPhidgetHandle)phid, buffer)) == EPHIDGET_OK)
+		result = GPP_getResponse(phid, PHID_USB_GENERAL_PACKET_FIRMWARE_UPGRADE_ERASE, 200);
+
+	CThread_mutex_unlock(&phid->writelock);
+	free(buffer);
+
+	return result;
+}
+
+int CCONV CPhidgetGPP_reboot_firmwareUpgrade(CPhidgetHandle phid)
+{
+	int result;
+	unsigned char *buffer;
+	TESTPTR(phid)
+	if (!CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHED_FLAG))
+		return EPHIDGET_NOTATTACHED;
+
+	if(!deviceSupportsGeneralUSBProtocol(phid))
+		return EPHIDGET_UNSUPPORTED;
+
+	buffer = (unsigned char *) malloc(phid->outputReportByteLength);
+	ZEROMEM(buffer, phid->outputReportByteLength);
+	
+	buffer[0] = PHID_USB_GENERAL_PACKET_FLAG | PHID_USB_GENERAL_PACKET_REBOOT_FIRMWARE_UPGRADE;
+	
+	result = CUSBSendPacket((CPhidgetHandle)phid, buffer);
+
+	free(buffer);
+
+	return result;
+}
+
+int CCONV CPhidgetGPP_reboot_ISP(CPhidgetHandle phid)
+{
+	int result;
+	unsigned char *buffer;
+	TESTPTR(phid)
+	if (!CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHED_FLAG))
+		return EPHIDGET_NOTATTACHED;
+
+	if(!deviceSupportsGeneralUSBProtocol(phid))
+		return EPHIDGET_UNSUPPORTED;
+
+	buffer = (unsigned char *) malloc(phid->outputReportByteLength);
+	ZEROMEM(buffer, phid->outputReportByteLength);
+	
+	buffer[0] = PHID_USB_GENERAL_PACKET_FLAG | PHID_USB_GENERAL_PACKET_REBOOT_ISP;
+	
+	result = CUSBSendPacket((CPhidgetHandle)phid, buffer);
+
+	free(buffer);
+
+	return result;
+}
+
+int CCONV CPhidgetGPP_writeFlash(CPhidgetHandle phid)
+{
+	int result;
+	unsigned char *buffer;
+	TESTPTR(phid)
+	if (!CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHED_FLAG))
+		return EPHIDGET_NOTATTACHED;
+
+	if(!deviceSupportsGeneralUSBProtocol(phid))
+		return EPHIDGET_UNSUPPORTED;
+
+	buffer = (unsigned char *) malloc(phid->outputReportByteLength);
+	ZEROMEM(buffer, phid->outputReportByteLength);
+	
+	buffer[0] = PHID_USB_GENERAL_PACKET_FLAG | PHID_USB_GENERAL_PACKET_WRITE_FLASH;
+	
+	result = CUSBSendPacket((CPhidgetHandle)phid, buffer);
+
+	free(buffer);
+
+	return result;
+}
+
+int CCONV CPhidgetGPP_zeroConfig(CPhidgetHandle phid)
+{
+	int result;
+	unsigned char *buffer;
+	TESTPTR(phid)
+	if (!CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHED_FLAG))
+		return EPHIDGET_NOTATTACHED;
+
+	if(!deviceSupportsGeneralUSBProtocol(phid))
+		return EPHIDGET_UNSUPPORTED;
+
+	buffer = (unsigned char *) malloc(phid->outputReportByteLength);
+	ZEROMEM(buffer, phid->outputReportByteLength);
+	
+	buffer[0] = PHID_USB_GENERAL_PACKET_FLAG | PHID_USB_GENERAL_PACKET_ZERO_CONFIG;
+	
+	result = CUSBSendPacket((CPhidgetHandle)phid, buffer);
+
+	free(buffer);
+
+	return result;
+}
+
+int CCONV CPhidgetGPP_setLabel(CPhidgetHandle phid, const char *label)
+{
+	unsigned char buffer[26] = {0};
+	int result;
+	TESTPTR(phid)
+	if (!CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHED_FLAG))
+		return EPHIDGET_NOTATTACHED;
+
+	if(!deviceSupportsGeneralUSBProtocol(phid))
+		return EPHIDGET_UNSUPPORTED;
+
+	//Label Table Header is: 0x0010001A
+    buffer[3] = 0x00; //header high byte
+    buffer[2] = 0x10;
+    buffer[1] = 0x00;
+    buffer[0] = 0x1a; //header low byte
+
+	memcpy(buffer+4, label, label[0]);
+
+	//Label Table index is: 0
+	if((result=CPhidgetGPP_setDeviceWideConfigTable(phid, buffer, 26, 0))==EPHIDGET_OK)
+		return CPhidgetGPP_writeFlash(phid);
+	return result;
+}
+
+static int CPhidgetGPP_setConfigTable(CPhidgetHandle phid, unsigned char *data, int length, int index, int packetType)
+{
+	int result, i, j;
+	unsigned char *buffer;
+	TESTPTR(phid)
+	if (!CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHED_FLAG))
+		return EPHIDGET_NOTATTACHED;
+
+	if(!deviceSupportsGeneralUSBProtocol(phid))
+		return EPHIDGET_UNSUPPORTED;
+
+	buffer = (unsigned char *) malloc(phid->outputReportByteLength);
+	ZEROMEM(buffer, phid->outputReportByteLength);
+	
+	buffer[0] = PHID_USB_GENERAL_PACKET_FLAG | packetType;
+	buffer[1] = index;
+	for(i=2,j=0;i<phid->outputReportByteLength && j<length;i++,j++)
+		buffer[i] = data[j];
+
+	CThread_mutex_lock(&phid->writelock);
+
+	if((result = CUSBSendPacket((CPhidgetHandle)phid, buffer)) != EPHIDGET_OK)
+		goto done;
+
+	while(j<length && result == EPHIDGET_OK)
+	{
+		buffer[0] = PHID_USB_GENERAL_PACKET_FLAG | PHID_USB_GENERAL_PACKET_CONTINUATION;
+		for(i=1;i<phid->outputReportByteLength && j<length;i++,j++)
+			buffer[i] = data[j];
+		if((result = CUSBSendPacket((CPhidgetHandle)phid, buffer)) != EPHIDGET_OK)
+			goto done;
+	}
+
+done:
+	CThread_mutex_unlock(&phid->writelock);
+
+	free(buffer);
+
+	return result;
+}
+
+int CCONV CPhidgetGPP_setDeviceSpecificConfigTable(CPhidgetHandle phid, unsigned char *data, int length, int index)
+{
+	return CPhidgetGPP_setConfigTable(phid, data, length, index, PHID_USB_GENERAL_PACKET_SET_DS_TABLE);
+}
+
+int CCONV CPhidgetGPP_setDeviceWideConfigTable(CPhidgetHandle phid, unsigned char *data, int length, int index)
+{
+	return CPhidgetGPP_setConfigTable(phid, data, length, index, PHID_USB_GENERAL_PACKET_SET_DW_TABLE);
+}
\ No newline at end of file
diff --git a/cphidget.h b/cphidget.h
index 7962026..3ad3770 100644
--- a/cphidget.h
+++ b/cphidget.h
@@ -102,6 +102,13 @@ typedef struct {
 	const char *pdd_name;
 } CPhidgetDeviceDef;
 
+typedef struct {
+	CPhidget_DeviceUID pdd_uid;
+	CPhidget_DeviceID pdd_id;
+	int pdd_vlow;
+	int pdd_vhigh;
+} CPhidgetUniqueDeviceDef;
+
 struct _CPhidget {
 	CPhidgetRemoteHandle networkInfo; //NULL if local, !NULL if remote
 	int(CCONV *fptrError)(CPhidgetHandle , void *, int, const char *);
@@ -129,6 +136,7 @@ struct _CPhidget {
 	int specificDevice;
 	CPhidget_DeviceClass deviceID;
 	CPhidget_DeviceID deviceIDSpec;
+	CPhidget_DeviceUID deviceUID;
 	const CPhidgetDeviceDef *deviceDef;
 	//int Phid_Device_Def_index;
 	int deviceVersion;
@@ -140,6 +148,9 @@ struct _CPhidget {
 	unsigned short inputReportByteLength;
 	char label[MAX_LABEL_STORAGE];
 	char *escapedLabel; //for webservice
+	char usbProduct[64];
+	char firmwareUpgradeName[30];
+	unsigned char GPPResponse;
 	int(CCONV *fptrInit)(CPhidgetHandle);
 	int(CCONV *fptrClear)(CPhidgetHandle);
 	int(CCONV *fptrEvents)(CPhidgetHandle);
@@ -191,6 +202,7 @@ extern int phidgetLocksInitialized;
 extern CThread_mutex_t activeDevicesLock, attachedDevicesLock;
 
 extern const CPhidgetDeviceDef Phid_Device_Def[];
+extern const CPhidgetUniqueDeviceDef Phid_Unique_Device_Def[];
 
 void CPhidgetFHandle_free(void *arg);
 int CPhidget_read(CPhidgetHandle phid);
@@ -209,8 +221,11 @@ double timeSince(TIME *start);
 void setTimeNow(TIME *now);
 int encodeLabelString(const char *buffer, char *out, int *outLen);
 int decodeLabelString(char *labelBuf, char *out, int serialNumber);
+int UTF16toUTF8(char *in, int inBytes, char *out);
 int labelHasWrapError(int serialNumber, char *labelBuf);
 void CPhidgetErrorEvent_free(void *arg);
+CPhidget_DeviceUID CPhidget_getUID(CPhidget_DeviceID id, int version);
+int deviceSupportsGeneralUSBProtocol(CPhidgetHandle phid);
 
 PHIDGET21_API int CCONV CPhidget_areEqual(void *arg1, void *arg2);
 PHIDGET21_API int CCONV CPhidget_areExtraEqual(void *arg1, void *arg2);
@@ -221,6 +236,37 @@ PHIDGET21_API int CCONV CPhidget_create(CPhidgetHandle *phid);
 
 PHIDGET21_API int CCONV CPhidget_calibrate_gainoffset(CPhidgetHandle phid, int index, unsigned short offset, unsigned long gain);
 
+//Some constants and function for new M3 Phidgets (General Packet Protocol)
+
+PHIDGET21_API int CCONV CPhidgetGPP_reboot_firmwareUpgrade(CPhidgetHandle phid);
+PHIDGET21_API int CCONV CPhidgetGPP_reboot_ISP(CPhidgetHandle phid);
+PHIDGET21_API int CCONV CPhidgetGPP_setLabel(CPhidgetHandle phid, const char *buffer);
+int CCONV CPhidgetGPP_setDeviceSpecificConfigTable(CPhidgetHandle phid, unsigned char *data, int length, int index);
+int CCONV CPhidgetGPP_setDeviceWideConfigTable(CPhidgetHandle phid, unsigned char *data, int length, int index);
+PHIDGET21_API int CCONV CPhidgetGPP_upgradeFirmware(CPhidgetHandle phid, unsigned char *data, int length);
+PHIDGET21_API int CCONV CPhidgetGPP_eraseFirmware(CPhidgetHandle phid);
+
+//Bit 7 (MSB)
+#define PHID_USB_GENERAL_PACKET_FLAG 0x80
+
+//Bit 6 (used for return value on IN stream)
+#define PHID_USB_GENERAL_PACKET_SUCCESS	0x00
+#define PHID_USB_GENERAL_PACKET_FAIL	0x40
+
+//Bits 0-5 (up to 31 types)
+#define PHID_USB_GENERAL_PACKET_IGNORE 0x00
+#define PHID_USB_GENERAL_PACKET_REBOOT_FIRMWARE_UPGRADE	0x01
+#define PHID_USB_GENERAL_PACKET_REBOOT_ISP 0x02
+//This is more data for when we need to send more then will fit in a single packet.
+#define PHID_USB_GENERAL_PACKET_CONTINUATION 0x03
+#define PHID_USB_GENERAL_PACKET_ZERO_CONFIG 0x04
+#define PHID_USB_GENERAL_PACKET_WRITE_FLASH 0x05
+#define PHID_USB_GENERAL_PACKET_FIRMWARE_UPGRADE_WRITE_SECTOR 0x06
+#define PHID_USB_GENERAL_PACKET_SET_DS_TABLE 0x07
+#define PHID_USB_GENERAL_PACKET_SET_DW_TABLE 0x08
+#define PHID_USB_GENERAL_PACKET_FIRMWARE_UPGRADE_ERASE 0x09
+
+
 #endif
 #include "cphidgetmacros.h"
 
diff --git a/cphidgetadvancedservo.c b/cphidgetadvancedservo.c
index 12419cb..8b5624b 100644
--- a/cphidgetadvancedservo.c
+++ b/cphidgetadvancedservo.c
@@ -310,7 +310,7 @@ CPHIDGETDATA(AdvancedServo)
 		else
 			phid->motorPositionEcho[i] = position[i];
 		if(velocity[i] > phid->velocityMaxLimit || velocity[i] < -phid->velocityMaxLimit)
-			LOG(PHIDGET_LOG_WARNING, "Phidget advanced servo recieved out of range velocity data: %lE", velocity[i]);
+			LOG(PHIDGET_LOG_WARNING, "Phidget advanced servo received out of range velocity data: %lE", velocity[i]);
 		else
 			phid->motorVelocityEcho[i] = velocity[i];
 
@@ -570,8 +570,8 @@ CSETINDEX(AdvancedServo,Acceleration,double)
 	TESTDEVICETYPE(PHIDCLASS_ADVANCEDSERVO)
 	TESTATTACHED
 	TESTINDEX(phid.attr.advancedservo.numMotors)
-	TESTRANGE(servo_us_to_degrees_vel(phid->servoParams[Index], phid->accelerationMin, PFALSE), 
-		servo_us_to_degrees_vel(phid->servoParams[Index], phid->accelerationMax, PFALSE))
+	TESTRANGE(servo_us_to_degrees_vel(phid->servoParams[Index], phid->accelerationMin, PFALSE)-0.5, 
+		servo_us_to_degrees_vel(phid->servoParams[Index], phid->accelerationMax, PFALSE)+0.5)
 
 	newVal = servo_degrees_to_us_vel(phid->servoParams[Index], newVal);
 
@@ -620,8 +620,8 @@ CSETINDEX(AdvancedServo,VelocityLimit,double)
 	TESTDEVICETYPE(PHIDCLASS_ADVANCEDSERVO)
 	TESTATTACHED
 	TESTINDEX(phid.attr.advancedservo.numMotors)
-	TESTRANGE(servo_us_to_degrees_vel(phid->servoParams[Index], phid->velocityMin, PTRUE)-0.5, 
-		servo_us_to_degrees_vel(phid->servoParams[Index], phid->velocityMax[Index]+0.5, PTRUE))
+	TESTRANGE(servo_us_to_degrees_vel(phid->servoParams[Index], phid->velocityMin, PFALSE)-0.5, 
+		servo_us_to_degrees_vel(phid->servoParams[Index], phid->velocityMax[Index], PFALSE)+0.5)
 
 	newVal = servo_degrees_to_us_vel(phid->servoParams[Index], newVal);
 
@@ -684,8 +684,8 @@ CSETINDEX(AdvancedServo,Position,double)
 	TESTDEVICETYPE(PHIDCLASS_ADVANCEDSERVO)
 	TESTATTACHED
 	TESTINDEX(phid.attr.advancedservo.numMotors)
-	TESTRANGE(servo_us_to_degrees(phid->servoParams[Index], phid->motorPositionMin[Index], PTRUE)-0.5, 
-		servo_us_to_degrees(phid->servoParams[Index], phid->motorPositionMax[Index], PTRUE)+0.5)
+	TESTRANGE(servo_us_to_degrees(phid->servoParams[Index], phid->motorPositionMin[Index], PFALSE)-0.5, 
+		servo_us_to_degrees(phid->servoParams[Index], phid->motorPositionMax[Index], PFALSE)+0.5)
 
 	newVal = servo_degrees_to_us(phid->servoParams[Index], newVal);
 
diff --git a/cphidgetattr.h b/cphidgetattr.h
index c1b33f6..b8a8fce 100644
--- a/cphidgetattr.h
+++ b/cphidgetattr.h
@@ -240,6 +240,9 @@ typedef enum  {
 	PHIDID_TEXTLED_4x8						= 0x048,	/**< Phidget TextLED 4x8 (1040) */
 	PHIDID_WEIGHTSENSOR						= 0x072,	/**< Phidget Weight Sensor (1050) */
 	
+	/* Device in firmware upgrade mode */
+	PHIDID_FIRMWARE_UPGRADE					= 0x098,
+	
 #if defined(DEBUG) || !defined(EXTERNALPROTO)
 	/* Nothing device */
 	PHIDID_NOTHING							= 1,
@@ -257,5 +260,109 @@ typedef enum  {
 #endif
 } CPhidget_DeviceID;
 /** @} */
+
+typedef enum  {
+	PHIDUID_NOTHING							=1,
+
+	PHIDUID_ACCELEROMETER_2AXIS_2G,
+	PHIDUID_ACCELEROMETER_2AXIS_10G,
+	PHIDUID_ACCELEROMETER_2AXIS_5G,
+	PHIDUID_ACCELEROMETER_3AXIS_3G,	
+
+	PHIDUID_ADVANCEDSERVO_1MOTOR,
+
+	PHIDUID_ADVANCEDSERVO_8MOTOR,
+	PHIDUID_ADVANCEDSERVO_8MOTOR_PGOOD_FLAG,
+	PHIDUID_ADVANCEDSERVO_8MOTOR_CURSENSE_FIX,
+
+	PHIDUID_ANALOG_4OUTPUT,
+
+	PHIDUID_BRIDGE_4INPUT,
+
+	PHIDUID_ENCODER_1ENCODER_1INPUT_OLD,
+	PHIDUID_ENCODER_1ENCODER_1INPUT_v1,
+	PHIDUID_ENCODER_1ENCODER_1INPUT_v2,
+	PHIDUID_ENCODER_HS_1ENCODER,
+	PHIDUID_ENCODER_HS_4ENCODER_4INPUT,
+
+	PHIDUID_FREQUENCYCOUNTER_2INPUT,
+
+	PHIDUID_GPS,
+
+	PHIDUID_INTERFACEKIT_0_0_4_NO_ECHO,
+	PHIDUID_INTERFACEKIT_0_0_4,
+	PHIDUID_INTERFACEKIT_0_0_8,
+	PHIDUID_INTERFACEKIT_0_5_7,
+	PHIDUID_INTERFACEKIT_0_8_8_w_LCD,
+	PHIDUID_INTERFACEKIT_0_16_16_NO_ECHO,
+	PHIDUID_INTERFACEKIT_0_16_16_BITBUG,
+	PHIDUID_INTERFACEKIT_0_16_16,
+	PHIDUID_INTERFACEKIT_2_2_2,
+	PHIDUID_INTERFACEKIT_2_8_8,
+	PHIDUID_INTERFACEKIT_4_8_8,
+	PHIDUID_INTERFACEKIT_8_8_8_NO_ECHO,
+	PHIDUID_INTERFACEKIT_8_8_8,
+	PHIDUID_INTERFACEKIT_8_8_8_FAST,
+	PHIDUID_INTERFACEKIT_8_8_8_w_LCD_NO_ECHO,
+	PHIDUID_INTERFACEKIT_8_8_8_w_LCD,
+	PHIDUID_INTERFACEKIT_8_8_8_w_LCD_FAST,
+	PHIDUID_INTERFACEKIT_TOUCH_SLIDER,
+	PHIDUID_INTERFACEKIT_TOUCH_ROTARY,
+
+	PHIDUID_IR,
+
+	PHIDUID_LED_64,
+	PHIDUID_LED_64_ADV,
+
+	PHIDUID_MOTORCONTROL_1MOTOR,
+	PHIDUID_MOTORCONTROL_HC_2MOTOR,
+	PHIDUID_MOTORCONTROL_LV_2MOTOR_4INPUT,
+
+	PHIDUID_PHSENSOR,
+
+	PHIDUID_RFID_OLD,
+	PHIDUID_RFID,
+	PHIDUID_RFID_2OUTPUT_NO_ECHO,
+	PHIDUID_RFID_2OUTPUT,
+	PHIDUID_RFID_2OUTPUT_ADVANCED,
+
+	PHIDUID_SERVO_1MOTOR_OLD,
+	PHIDUID_SERVO_4MOTOR_OLD,
+	PHIDUID_SERVO_1MOTOR_NO_ECHO,
+	PHIDUID_SERVO_1MOTOR,
+	PHIDUID_SERVO_4MOTOR_NO_ECHO,
+	PHIDUID_SERVO_4MOTOR,
+
+	PHIDUID_SPATIAL_ACCEL_3AXIS_1049,
+	PHIDUID_SPATIAL_ACCEL_3AXIS_1041,
+	PHIDUID_SPATIAL_ACCEL_3AXIS_1043,
+	PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056,
+	PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056_NEG_GAIN,
+	PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1042,
+	PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044,
+
+	PHIDUID_STEPPER_BIPOLAR_1MOTOR,
+	PHIDUID_STEPPER_UNIPOLAR_4MOTOR,
+
+	PHIDUID_TEMPERATURESENSOR_OLD,
+	PHIDUID_TEMPERATURESENSOR,
+	PHIDUID_TEMPERATURESENSOR_AD22100,
+	PHIDUID_TEMPERATURESENSOR_TERMINAL_BLOCKS,
+	PHIDUID_TEMPERATURESENSOR_4,
+	PHIDUID_TEMPERATURESENSOR_IR,
+
+	PHIDUID_TEXTLCD_2x20,
+	PHIDUID_TEXTLCD_2x20_w_8_8_8,
+	PHIDUID_TEXTLCD_2x20_w_8_8_8_BRIGHTNESS,
+	PHIDUID_TEXTLCD_ADAPTER,
+
+	PHIDUID_TEXTLED_1x8,
+	PHIDUID_TEXTLED_4x8,
+
+	PHIDUID_WEIGHTSENSOR,
+
+	PHIDUID_GENERIC,
+	PHIDUID_FIRMWARE_UPGRADE
+} CPhidget_DeviceUID;
 #endif
 
diff --git a/cphidgetconstants.c b/cphidgetconstants.c
index 95b36e9..3b5f77b 100644
--- a/cphidgetconstants.c
+++ b/cphidgetconstants.c
@@ -147,7 +147,121 @@ const CPhidgetDeviceDef Phid_Device_Def[PHIDGET_DEVICE_COUNT+1] = {
 { PHIDID_INTERFACEKIT_0_0_8,			PHIDCLASS_INTERFACEKIT,		0x6C2, 0x81,	0, { UFINTS(ifkit,				 0,  0,  8 ) },	"Phidget InterfaceKit 0/0/8"},
 { PHIDID_ADVANCEDSERVO_1MOTOR,			PHIDCLASS_ADVANCEDSERVO,	0x6C2, 0x82,	0, { UFINTS(advancedservo,		 1         ) },	"Phidget Advanced Servo Controller 1-motor"},
 
+{ PHIDID_FIRMWARE_UPGRADE,				PHIDCLASS_GENERIC,			0x6C2, 0x98,	0, { UFINTS(dummy,				 0,  0,  0 ) },	"Firmware Upgrade"},	
 { PHIDID_GENERIC,						PHIDCLASS_GENERIC,			0x6C2, 0x99,	0, { UFINTS(dummy,				 0,  0,  0 ) },	"Phidget Generic Device"},				//generic device - used for prototyping
 
 { 0 } //ending null
 };
+
+/*
+ * List Every unique device - in terms of packet protocol
+ * 0,9999 for version means any version
+ * matching is >= lower version, < higher version
+ */
+const CPhidgetUniqueDeviceDef Phid_Unique_Device_Def[] = {
+	{PHIDUID_NOTHING,									PHIDUID_NOTHING,						  0,	  0},	// Invalid
+	
+	{PHIDUID_ACCELEROMETER_2AXIS_2G,					PHIDID_ACCELEROMETER_2AXIS,				  0,	200},	// <200
+	{PHIDUID_ACCELEROMETER_2AXIS_10G,					PHIDID_ACCELEROMETER_2AXIS,				200,	300},	// 200 - <300
+	{PHIDUID_ACCELEROMETER_2AXIS_5G,					PHIDID_ACCELEROMETER_2AXIS,				300,	400},	// 300 - <400
+	{PHIDUID_ACCELEROMETER_3AXIS_3G,					PHIDID_ACCELEROMETER_3AXIS,				400,	500},	// 400 - <500
+
+	{PHIDUID_ADVANCEDSERVO_1MOTOR,						PHIDID_ADVANCEDSERVO_1MOTOR,			100,	200},	// 100 - <200
+	{PHIDUID_ADVANCEDSERVO_8MOTOR,						PHIDID_ADVANCEDSERVO_8MOTOR,			100,	200},	// 100 - <200
+	{PHIDUID_ADVANCEDSERVO_8MOTOR_PGOOD_FLAG,			PHIDID_ADVANCEDSERVO_8MOTOR,			200,	300},	// 200 - <300
+	{PHIDUID_ADVANCEDSERVO_8MOTOR_CURSENSE_FIX,			PHIDID_ADVANCEDSERVO_8MOTOR,			300,	400},	// 300 - <400
+
+	{PHIDUID_ANALOG_4OUTPUT,							PHIDID_ANALOG_4OUTPUT,					100,	200},	// 100 - <200
+
+	{PHIDUID_BRIDGE_4INPUT,								PHIDID_BRIDGE_4INPUT,					100,	200},	// 100 - <200
+
+	{PHIDUID_ENCODER_1ENCODER_1INPUT_OLD,				PHIDID_ENCODER_1ENCODER_1INPUT,			  0,	101},	// <=100
+	{PHIDUID_ENCODER_1ENCODER_1INPUT_v1,				PHIDID_ENCODER_1ENCODER_1INPUT,			101,	110},	// 101 - <110
+	{PHIDUID_ENCODER_1ENCODER_1INPUT_v2,				PHIDID_ENCODER_1ENCODER_1INPUT,			110,	300},	// 110 - <300
+	{PHIDUID_ENCODER_HS_1ENCODER,						PHIDID_ENCODER_HS_1ENCODER,				300,	400},	// 300 - <400
+	{PHIDUID_ENCODER_HS_4ENCODER_4INPUT,				PHIDID_ENCODER_HS_4ENCODER_4INPUT,		100,	200},	// 100 - <200
+
+	{PHIDUID_FREQUENCYCOUNTER_2INPUT,					PHIDID_FREQUENCYCOUNTER_2INPUT,			  0,	200},	// < 200
+
+	{PHIDUID_GPS,										PHIDID_GPS,								  0,   9999},	// ANY
+
+	{PHIDUID_INTERFACEKIT_0_0_4_NO_ECHO,				PHIDID_INTERFACEKIT_0_0_4,				  0,	704},	// <704
+	{PHIDUID_INTERFACEKIT_0_0_4,						PHIDID_INTERFACEKIT_0_0_4,				704,	800},	// 704 - <800
+	{PHIDUID_INTERFACEKIT_0_0_8,						PHIDID_INTERFACEKIT_0_0_8,				  0,   9999},	// ANY
+	{PHIDUID_INTERFACEKIT_0_5_7,						PHIDID_INTERFACEKIT_0_5_7,				  0,   9999},	// ANY
+	{PHIDUID_INTERFACEKIT_0_8_8_w_LCD,					PHIDID_INTERFACEKIT_0_8_8_w_LCD,		  0,   9999},	// ANY
+	{PHIDUID_INTERFACEKIT_0_16_16_NO_ECHO,				PHIDID_INTERFACEKIT_0_16_16,			  0,	601},	// <=600
+	{PHIDUID_INTERFACEKIT_0_16_16_BITBUG,				PHIDID_INTERFACEKIT_0_16_16,			601,	602},	// 601
+	{PHIDUID_INTERFACEKIT_0_16_16,						PHIDID_INTERFACEKIT_0_16_16,			602,	700},	// 602 - <700
+	{PHIDUID_INTERFACEKIT_2_2_2,						PHIDID_INTERFACEKIT_2_2_2,				  0,	200},	// <200
+	{PHIDUID_INTERFACEKIT_2_8_8,						PHIDID_INTERFACEKIT_2_8_8,				  0,   9999},	// ANY
+	{PHIDUID_INTERFACEKIT_4_8_8,						PHIDID_INTERFACEKIT_4_8_8,				  0,	101},	// <=100
+	{PHIDUID_INTERFACEKIT_8_8_8_NO_ECHO,				PHIDID_INTERFACEKIT_8_8_8,				  0,	821},	// <=820
+	{PHIDUID_INTERFACEKIT_8_8_8,						PHIDID_INTERFACEKIT_8_8_8,				821,	900},	// 821 - <900
+	{PHIDUID_INTERFACEKIT_8_8_8_FAST,					PHIDID_INTERFACEKIT_8_8_8,				900,   1000},	// 900 - <1000
+	{PHIDUID_INTERFACEKIT_8_8_8_w_LCD_NO_ECHO,			PHIDID_INTERFACEKIT_8_8_8_w_LCD,		  0,	120},	// <120
+	{PHIDUID_INTERFACEKIT_8_8_8_w_LCD,					PHIDID_INTERFACEKIT_8_8_8_w_LCD,		120,	200},	// 120 - <200
+	{PHIDUID_INTERFACEKIT_8_8_8_w_LCD_FAST,				PHIDID_INTERFACEKIT_8_8_8_w_LCD,		200,	300},	// 200 - <300
+	{PHIDUID_INTERFACEKIT_TOUCH_SLIDER,					PHIDID_LINEAR_TOUCH,					  0,   9999},	// ANY
+	{PHIDUID_INTERFACEKIT_TOUCH_ROTARY,					PHIDID_ROTARY_TOUCH,					  0,   9999},	// ANY
+
+	{PHIDUID_IR,										PHIDID_IR,								100,	200},	// 100 - <200
+
+	{PHIDUID_LED_64,									PHIDID_LED_64,							100,	300},	// 100 - <300
+	{PHIDUID_LED_64_ADV,								PHIDID_LED_64_ADV,						100,	200},	// 100 - <200
+
+	{PHIDUID_MOTORCONTROL_1MOTOR,						PHIDID_MOTORCONTROL_1MOTOR,				100, 	200},	// 100 - <200
+	{PHIDUID_MOTORCONTROL_HC_2MOTOR,					PHIDID_MOTORCONTROL_HC_2MOTOR,			100,	200},	// 100 - <200
+	{PHIDUID_MOTORCONTROL_LV_2MOTOR_4INPUT,				PHIDID_MOTORCONTROL_LV_2MOTOR_4INPUT,	100,	200},	// 100 - <200
+
+	{PHIDUID_PHSENSOR,									PHIDID_PHSENSOR,						100,	200},	// 100 - <200
+
+	{PHIDUID_RFID_OLD,									PHIDID_RFID,							  0,	104},	// <=103
+	{PHIDUID_RFID,										PHIDID_RFID,							104,	200},	// 104 - <200
+	{PHIDUID_RFID_2OUTPUT_NO_ECHO,						PHIDID_RFID_2OUTPUT,					200,	201},	// 200
+	{PHIDUID_RFID_2OUTPUT,								PHIDID_RFID_2OUTPUT,					201,	300},	// 201 - <300
+	{PHIDUID_RFID_2OUTPUT_ADVANCED,						PHIDID_RFID_2OUTPUT_ADVANCED,			100,	200},	// 100 - <200
+
+	{PHIDUID_SERVO_1MOTOR_OLD,							PHIDID_SERVO_1MOTOR_OLD,				200,	201},	// 200
+	{PHIDUID_SERVO_1MOTOR_OLD,							PHIDID_SERVO_1MOTOR,					200,	201},	// 200
+	{PHIDUID_SERVO_4MOTOR_OLD,							PHIDID_SERVO_4MOTOR_OLD,				200,	201},	// 200
+	{PHIDUID_SERVO_4MOTOR_OLD,							PHIDID_SERVO_4MOTOR,					200,	201},	// 200
+	{PHIDUID_SERVO_1MOTOR_NO_ECHO,						PHIDID_SERVO_1MOTOR,					300,	313},	// 300 - 312
+	{PHIDUID_SERVO_1MOTOR,								PHIDID_SERVO_1MOTOR,					313,	400},	// 313 - <400
+	{PHIDUID_SERVO_4MOTOR_NO_ECHO,						PHIDID_SERVO_4MOTOR,					300,	313},	// 300 - 312
+	{PHIDUID_SERVO_4MOTOR,								PHIDID_SERVO_4MOTOR,					313,	400},	// 313 - <400
+
+	{PHIDUID_SPATIAL_ACCEL_3AXIS_1049,					PHIDID_SPATIAL_ACCEL_3AXIS,				  0,	200},	// <200
+	{PHIDUID_SPATIAL_ACCEL_3AXIS_1041,					PHIDID_SPATIAL_ACCEL_3AXIS,				200,	300},	// 200 - <300
+	{PHIDUID_SPATIAL_ACCEL_3AXIS_1043,					PHIDID_SPATIAL_ACCEL_3AXIS,				300,	400},	// 300 - <400
+	{PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056,			PHIDID_SPATIAL_ACCEL_GYRO_COMPASS,		  0,	200},	// <200
+	{PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056_NEG_GAIN,	PHIDID_SPATIAL_ACCEL_GYRO_COMPASS,		200,	300},	// 200 - <300
+	{PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1042,			PHIDID_SPATIAL_ACCEL_GYRO_COMPASS,		300,	400},	// 300 - <400
+	{PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044,			PHIDID_SPATIAL_ACCEL_GYRO_COMPASS,		400,	500},	// 400 - <500
+
+	{PHIDUID_STEPPER_BIPOLAR_1MOTOR,					PHIDID_BIPOLAR_STEPPER_1MOTOR,			100,	200},	// 100 - <200
+	{PHIDUID_STEPPER_UNIPOLAR_4MOTOR,					PHIDID_UNIPOLAR_STEPPER_4MOTOR,			100,	200},	// 100 - <200
+
+	{PHIDUID_TEMPERATURESENSOR_OLD,						PHIDID_TEMPERATURESENSOR,				  0,	200},	// <200
+	{PHIDUID_TEMPERATURESENSOR,							PHIDID_TEMPERATURESENSOR,				200,	300},	// 200 - <300
+	{PHIDUID_TEMPERATURESENSOR_AD22100,					PHIDID_TEMPERATURESENSOR,				300,	400},	// 300 - <400
+	{PHIDUID_TEMPERATURESENSOR_TERMINAL_BLOCKS,			PHIDID_TEMPERATURESENSOR,				400,	500},	// 400 - <500
+	{PHIDUID_TEMPERATURESENSOR_4,						PHIDID_TEMPERATURESENSOR_4,				100,	200},	// 100 - <200
+	{PHIDUID_TEMPERATURESENSOR_IR,						PHIDID_TEMPERATURESENSOR_IR,			100,	200},	// 100 - <200
+
+	{PHIDUID_TEXTLCD_2x20,								PHIDID_TEXTLCD_2x20,					  0,   9999},	// ANY
+	{PHIDUID_TEXTLCD_2x20,								PHIDID_TEXTLCD_2x20_CUSTOM,				  0,   9999},	// ANY
+	{PHIDUID_TEXTLCD_2x20,								PHIDID_TEXTLCD_2x20_w_0_8_8,			  0,   9999},	// ANY
+	{PHIDUID_TEXTLCD_2x20_w_8_8_8,						PHIDID_TEXTLCD_2x20_w_8_8_8,			  0,	200},	// <200
+	{PHIDUID_TEXTLCD_2x20_w_8_8_8_BRIGHTNESS,			PHIDID_TEXTLCD_2x20_w_8_8_8,			200,   9999},	// 200+
+	{PHIDUID_TEXTLCD_ADAPTER,							PHIDID_TEXTLCD_ADAPTER,					  0,   9999},	// ANY
+
+	{PHIDUID_TEXTLED_1x8,								PHIDID_TEXTLED_1x8,						111,	114},	// 111 - 113
+	{PHIDUID_TEXTLED_4x8,								PHIDID_TEXTLED_4x8,						200,	300},	// 200 - <300
+
+	{PHIDUID_WEIGHTSENSOR,								PHIDID_WEIGHTSENSOR,					  0,   9999},	// ANY
+
+	{PHIDUID_FIRMWARE_UPGRADE,							PHIDID_FIRMWARE_UPGRADE,				  0,   9999},	// ANY
+	{PHIDUID_GENERIC,									PHIDID_GENERIC,							  0,   9999},	// ANY
+	{ 0 } //ending null
+};
diff --git a/cphidgetconstantsinternal.h b/cphidgetconstantsinternal.h
index 5659bec..216fe89 100644
--- a/cphidgetconstantsinternal.h
+++ b/cphidgetconstantsinternal.h
@@ -124,7 +124,7 @@
 // this needs to reflect the size of Phid_DeviceName

 #define PHIDGET_DEVICE_CLASS_COUNT		24

 // this needs to reflect the size of Phid_Device_Def (not including the null end)

-#define PHIDGET_DEVICE_COUNT			54

+#define PHIDGET_DEVICE_COUNT			55

 

 #endif

 

diff --git a/cphidgetgps.c b/cphidgetgps.c
index 8215107..d97ac05 100644
--- a/cphidgetgps.c
+++ b/cphidgetgps.c
@@ -76,7 +76,7 @@ CPHIDGETINIT(GPS)
 	CUSBSendPacket((CPhidgetHandle)phid, buffer);*/
 
 	//read some initial data - rate is 10Hz so we shouldn't have to wait long
-	//This ensures we have recieved at least one GGA and one RMC
+	//This ensures we have received at least one GGA and one RMC
 	readtries = 30; //250ms
 	while((phid->fix==PUNK_BOOL || phid->haveTime==PUNK_BOOL || phid->haveDate==PUNK_BOOL) && readtries)
 	{
diff --git a/cphidgetmanager.c b/cphidgetmanager.c
index eecdb04..d0f918b 100644
--- a/cphidgetmanager.c
+++ b/cphidgetmanager.c
@@ -125,6 +125,7 @@ int CPhidgetDetachEvent(CPhidgetHandle phid) {
 				travPhid->fptrDetach((CPhidgetHandle)travPhid, travPhid->fptrDetachptr);
 
 			travPhid->deviceIDSpec = 0;
+			travPhid->deviceUID = 0;
 			
 #if !defined(_MACOSX) && !defined(WINCE)
 			CPhidgetFHandle_free(travPhid->CPhidgetFHandle);
@@ -298,6 +299,10 @@ int CCONV CPhidgetManager_close(CPhidgetManagerHandle phidm)
 	if(!ActiveDevices && !ActivePhidgetManagers)
 	{
 		JoinCentralThread();
+		//Shut down USB
+#if defined(_LINUX) && !defined(_ANDROID)
+		CUSBUninit();
+#endif
 	}
 
 	CPhidget_clearStatusFlag(&phidm->status, PHIDGET_OPENED_FLAG, &phidm->lock);
diff --git a/cphidgetspatial.c b/cphidgetspatial.c
index 41a8048..2feccce 100644
--- a/cphidgetspatial.c
+++ b/cphidgetspatial.c
@@ -1,1382 +1,1665 @@
-#include "stdafx.h"

-#include "cphidgetspatial.h"

-#include "cusb.h"

-#include "math.h"

-#include "csocket.h"

-#include "cthread.h"

-

-// === Internal Functions === //

-static double getCorrectedField(CPhidgetSpatialHandle phid, double fields[], int axis);

-

-//clearVars - sets all device variables to unknown state

-CPHIDGETCLEARVARS(Spatial)

-	int i = 0;

-

-	phid->dataRateMin = PUNI_INT;

-	phid->dataRate = PUNI_INT;

-	phid->dataRateMax = PUNI_INT;

-

-	phid->accelerationMax = PUNI_DBL;

-	phid->accelerationMin = PUNI_DBL;

-	phid->angularRateMax = PUNI_DBL;

-	phid->angularRateMin = PUNI_DBL;

-	phid->magneticFieldMax = PUNI_DBL;

-	phid->magneticFieldMin = PUNI_DBL;

-	phid->interruptRate = PUNI_INT;

-

-	phid->spatialDataNetwork = PUNI_BOOL;

-

-	for (i = 0; i<SPATIAL_MAX_ACCELAXES; i++)

-	{

-		phid->accelAxis[i] = PUNI_DBL;

-	}

-	for (i = 0; i<SPATIAL_MAX_GYROAXES; i++)

-	{

-		phid->gyroAxis[i] = PUNI_DBL;

-	}

-	for (i = 0; i<SPATIAL_MAX_COMPASSAXES; i++)

-	{

-		phid->compassAxis[i] = PUNI_DBL;

-	}

-	return EPHIDGET_OK;

-}

-

-//initAfterOpen - sets up the initial state of an object, reading in packets from the device if needed

-//				  used during attach initialization - on every attach

-CPHIDGETINIT(Spatial)

-	int i = 0;

-

-	TESTPTR(phid);

-

-	//Setup max/min values

-	switch(phid->phid.deviceIDSpec)

-	{

-		case PHIDID_SPATIAL_ACCEL_3AXIS:

-			if (phid->phid.deviceVersion < 200)

-			{

-				phid->accelerationMax = 5.1;

-				phid->accelerationMin = -5.1;

-				phid->interruptRate = 8;

-				phid->dataRateMin = SPATIAL_MIN_DATA_RATE;

-				phid->dataRate = phid->interruptRate;

-				phid->dataRateMax = 1; //actual data rate

-				phid->angularRateMax = 0;

-				phid->angularRateMin = 0;

-				phid->magneticFieldMax = 0;

-				phid->magneticFieldMin = 0;

-				phid->calDataValid = PFALSE;

-			}

-			else

-				return EPHIDGET_BADVERSION;

-			break;

-		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:

-			if (phid->phid.deviceVersion < 300)

-			{

-				phid->accelerationMax = 5.1;

-				phid->accelerationMin = -5.1;

-				phid->interruptRate = 8;

-				phid->dataRateMin = SPATIAL_MIN_DATA_RATE;

-				phid->dataRate = phid->interruptRate;

-				phid->dataRateMax = 4; //actual data rate

-				phid->angularRateMax = 400.1;

-				phid->angularRateMin = -400.1;

-				phid->magneticFieldMax = 4.1;

-				phid->magneticFieldMin = -4.1;

-				phid->userMagField = 1.0;

-				phid->calDataValid = PFALSE;

-			}

-			// 1042 (Digital 3/3/3)

-			else if (phid->phid.deviceVersion  >= 300 && phid->phid.deviceVersion < 400)

-			{

-				phid->accelerationMax = 5.1;

-				phid->accelerationMin = -5.1;

-				phid->interruptRate = 8;

-				phid->dataRateMin = SPATIAL_MIN_DATA_RATE;

-				phid->dataRate = phid->interruptRate;

-				phid->dataRateMax = 4; //actual data rate

-				phid->angularRateMax = 400.1;

-				phid->angularRateMin = -400.1;

-				phid->magneticFieldMax = 4.1;

-				phid->magneticFieldMin = -4.1;

-				phid->userMagField = 1.0;

-				phid->calDataValid = PFALSE;

-			}

-			// 1044 (1056 Replacement)

-			else if (phid->phid.deviceVersion  >= 400 && phid->phid.deviceVersion < 500)

-			{

-				phid->accelerationMax = 5.1;

-				phid->accelerationMin = -5.1;

-				phid->interruptRate = 4;

-				phid->dataRateMin = SPATIAL_MIN_DATA_RATE;

-				phid->dataRate = 8;//phid->interruptRate;

-				phid->dataRateMax = 4; //actual data rate

-				phid->angularRateMax = 400.1;

-				phid->angularRateMin = -400.1;

-				phid->magneticFieldMax = 10.1;

-				phid->magneticFieldMin = -10.1;

-				phid->userMagField = 1.0;

-				phid->calDataValid = PFALSE;

-			}

-			else

-				return EPHIDGET_BADVERSION;

-			break;

-		default:

-			return EPHIDGET_UNEXPECTED;

-	}

-

-	//initialize triggers, set data arrays to unknown

-	for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)

-	{

-		phid->accelAxis[i] = PUNK_DBL;

-		phid->accelGain1[i] = PUNK_DBL;

-		phid->accelGain2[i] = PUNK_DBL;

-		phid->accelOffset[i] = PUNK_INT;

-	}

-	for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)

-	{

-		phid->gyroAxis[i] = PUNK_DBL;

-		phid->gryoCorrection[i] = 0;

-		phid->gyroGain1[i] = PUNK_DBL;

-		phid->gyroGain2[i] = PUNK_DBL;

-		phid->gyroOffset[i] = PUNK_INT;

-	}

-	for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)

-	{

-		phid->compassAxis[i] = PUNK_DBL;

-		phid->userCompassGain[i] = 1.0;

-	}

-	phid->bufferReadPtr = 0;

-	phid->bufferWritePtr = 0;

-	phid->timestamp.seconds = 0;

-	phid->timestamp.microseconds = 0;

-	phid->lastEventTime.seconds = 0;

-	phid->lastEventTime.microseconds = 0;

-	phid->latestDataTime.seconds = 0;

-	phid->latestDataTime.microseconds = 0;

-

-	phid->lastTimeCounterValid = PFALSE;

-	phid->doZeroGyro = PFALSE;

-

-	//get calibration values

-	switch(phid->phid.deviceIDSpec) {

-		case PHIDID_SPATIAL_ACCEL_3AXIS:

-			// 1041, 1043 - no streamed calibration values

-			if (phid->phid.deviceVersion >= 200)

-				break;

-		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:

-			// 1042, 1044 - no streamed calibration values

-			if (phid->phid.deviceVersion >= 300)

-				break;

-			else

-			{

-				unsigned char buffer[8] = { 0 };

-				int result;

-				int readCount = 125; // up to 1 second of data - should be PLENTY

-				//ask for calibration values

-				buffer[0] = SPATIAL_READCALIB;

-				if ((result = CUSBSendPacket((CPhidgetHandle)phid, buffer)) != EPHIDGET_OK)

-					return result;

-				while(phid->calDataValid == PFALSE && readCount--)

-				{

-					//note that Windows queues up to 32 packets, so we need to read at least this many to get the calibration packet

-					CPhidget_read((CPhidgetHandle)phid);

-				}

-				if(!phid->calDataValid)

-					return EPHIDGET_UNEXPECTED;

-			}

-			break;

-		default:

-			break;

-	}

-

-	//issue one read

-	//this should fill in the data because the dataRate is the interrupt rate

-	CPhidget_read((CPhidgetHandle)phid);

-

-	return EPHIDGET_OK;

-}

-

-//dataInput - parses device packets

-CPHIDGETDATA(Spatial)

-	int i = 0, j = 0, count = 0, dataRate = phid->dataRate, cal;

-	unsigned char doneGyroZero = PFALSE;

-	double accelAvg[SPATIAL_MAX_ACCELAXES], angularRateAvg[SPATIAL_MAX_ACCELAXES], magneticFieldAvg[SPATIAL_MAX_ACCELAXES], magneticFieldCorr[SPATIAL_MAX_ACCELAXES];

-	CPhidgetSpatial_SpatialEventDataHandle *eventData;

-	

-	ZEROMEM(accelAvg, sizeof(accelAvg));

-	ZEROMEM(angularRateAvg, sizeof(angularRateAvg));

-	ZEROMEM(magneticFieldAvg, sizeof(magneticFieldAvg));

-

-	if (length<0) return EPHIDGET_INVALIDARG;

-	TESTPTR(phid);

-	TESTPTR(buffer);

-

-	//Parse device packets - store data locally

-	switch(phidG->deviceIDSpec)

-	{

-		case PHIDID_SPATIAL_ACCEL_3AXIS:

-			if (phid->phid.deviceVersion < 200)

-			{

-				int data;

-				double accelUncalib[3] = {0,0,0};

-				int time;

-				

-				//top 2 bits in buffer[0] are packet type

-				switch(buffer[0] & 0xc0)

-				{

-					case SPATIAL_PACKET_DATA:

-						if(phid->calDataValid)

-						{

-							count = buffer[0] / 3;

-							if(count == 0)

-								goto done;

-

-							//this timestamp is for the latest data

-							time = ((unsigned short)buffer[1]<<8) + (unsigned short)buffer[2];

-							if(phid->lastTimeCounterValid)

-							{

-								//0-255 ms

-								int timechange = (unsigned short)((unsigned short)time - (unsigned short)phid->lastTimeCounter);

-								timechange *= 1000; //us

-

-								phid->timestamp.seconds = phid->timestamp.seconds + (phid->timestamp.microseconds + timechange) / 1000000;

-								phid->timestamp.microseconds = (phid->timestamp.microseconds + timechange) % 1000000;

-							}

-							else

-							{

-								phid->lastTimeCounterValid = PTRUE;

-							}

-							phid->lastTimeCounter = time;

-

-							//add data to data buffer

-							for(i=0;i<count;i++)

-							{

-								//LIS344ALH - Vdd/15 V/g - 0x1fff/15 = 0x222 (546.06666666666666666666666666667)

-								for(j=0;j<3;j++)

-								{

-									data = ((unsigned short)buffer[3 + j * 2 + i * 6]<<8) + (unsigned short)buffer[4 + j * 2 + i * 6];

-									accelUncalib[j] = ((double)data - 0x0fff) / 546.066667;

-								}

-								accelUncalib[1] = -accelUncalib[1]; //reverse Y-axis

-								//Apply offsets

-								for(j=0;j<3;j++)

-								{

-									accelUncalib[j] -= phid->accelOffset[j];

-								}

-								//X

-								if(accelUncalib[0] > 0)

-									phid->dataBuffer[phid->bufferWritePtr].acceleration[0] = accelUncalib[0] * phid->accelGain1[0] + accelUncalib[1] * phid->accelFactor1[0] + accelUncalib[2] * phid->accelFactor2[0];

-								else

-									phid->dataBuffer[phid->bufferWritePtr].acceleration[0] = accelUncalib[0] * phid->accelGain2[0] + accelUncalib[1] * phid->accelFactor1[0] + accelUncalib[2] * phid->accelFactor2[0];

-								//Y

-								if(accelUncalib[1] > 0)

-									phid->dataBuffer[phid->bufferWritePtr].acceleration[1] = accelUncalib[1] * phid->accelGain1[1] + accelUncalib[0] * phid->accelFactor1[1] + accelUncalib[2] * phid->accelFactor2[1];

-								else

-									phid->dataBuffer[phid->bufferWritePtr].acceleration[1] = accelUncalib[1] * phid->accelGain2[1] + accelUncalib[0] * phid->accelFactor1[1] + accelUncalib[2] * phid->accelFactor2[1];

-								//Z

-								if(accelUncalib[2] > 0)

-									phid->dataBuffer[phid->bufferWritePtr].acceleration[2] = accelUncalib[2] * phid->accelGain1[2] + accelUncalib[0] * phid->accelFactor1[2] + accelUncalib[1] * phid->accelFactor2[2];

-								else

-									phid->dataBuffer[phid->bufferWritePtr].acceleration[2] = accelUncalib[2] * phid->accelGain2[2] + accelUncalib[0] * phid->accelFactor1[2] + accelUncalib[1] * phid->accelFactor2[2];

-

-

-								phid->latestDataTime.seconds = phid->timestamp.seconds + (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) / 1000000;

-								phid->latestDataTime.microseconds = (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) % 1000000;

-

-								phid->dataBuffer[phid->bufferWritePtr].timestamp = phid->latestDataTime;

-

-								phid->bufferWritePtr++;

-								if(phid->bufferWritePtr >= SPATIAL_DATA_BUFFER_SIZE)

-									phid->bufferWritePtr = 0;

-							}

-						}

-						break;

-					case SPATIAL_PACKET_CALIB:

-						for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)

-						{

-							cal = ((unsigned short)buffer[i*7 + 1]<<4) + ((unsigned short)buffer[i*7 + 2]>>4);

-							phid->accelGain1[i] = cal / (4096/0.4) + 0.8;

-							cal = (((unsigned short)buffer[i*7 + 2]<<8) & 0x0F00) | ((unsigned short)buffer[i*7 + 3]);

-							phid->accelGain2[i] = cal / (4096/0.4) + 0.8;

-							cal = (unsigned short)((unsigned short)buffer[i*7 + 4]<<8) + (unsigned short)buffer[i*7 + 5];

-							phid->accelOffset[i] = cal / (65535 / 1.0) - 0.5;

-							cal = (unsigned char)buffer[i*7 + 6];

-							phid->accelFactor1[i] = cal / (256 / 0.2) - 0.1;

-							cal = (unsigned char)buffer[i*7 + 7];

-							phid->accelFactor2[i] = cal / (256 / 0.2) - 0.1;

-							//LOG(PHIDGET_LOG_INFO, "Accel(%d) Calib: %1.4lf, %1.4lf, %1.4lf, %1.4lf, %1.4lf", i, 

-							//	phid->accelGain1[i], phid->accelGain2[i], phid->accelOffset[i], phid->accelFactor1[i], phid->accelFactor2[i]);

-						}

-						phid->calDataValid = PTRUE;

-						break;

-				}

-			}

-			else

-				return EPHIDGET_UNEXPECTED;

-			break;

-		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:

-			if (phidG->deviceVersion < 300)

-			{

-				//top 2 bits in buffer[0] are packet type

-				switch(buffer[0])

-				{

-					case SPATIAL_PACKET_DATA:

-						if(phid->calDataValid)

-						{

-							int data;

-							double accelUncalib[3] = {0,0,0};

-							double gyroUncalib[3] = {0,0,0};

-							int time;

-							

-							count = (buffer[1] & 0x1f) / 9;

-							if(count == 0)

-								goto done;

-

-							//this timestamp is for the latest data

-							time = ((unsigned short)buffer[2]<<8) + (unsigned short)buffer[3];

-							if(phid->lastTimeCounterValid)

-							{

-								//0-255 ms

-								int timechange = (unsigned short)((unsigned short)time - (unsigned short)phid->lastTimeCounter);

-								timechange *= 1000; //us

-

-								phid->timestamp.seconds = phid->timestamp.seconds + (phid->timestamp.microseconds + timechange) / 1000000;

-								phid->timestamp.microseconds = (phid->timestamp.microseconds + timechange) % 1000000;

-							}

-							else

-							{

-								phid->lastTimeCounterValid = PTRUE;

-							}

-							phid->lastTimeCounter = time;

-

-							//add data to data buffer

-							for(i=0;i<count;i++)

-							{

-								//LIS344ALH - Vdd/15 V/g - 0xffff/15 = 0x1111 (4369.0)

-								for(j=0;j<3;j++)

-								{

-									data = ((unsigned short)buffer[4 + j * 2 + i * 18]<<8) + (unsigned short)buffer[5 + j * 2 + i * 18];

-									accelUncalib[j] = ((double)data - 0x7fff) / 4369.0;

-								}

-								accelUncalib[1] = -accelUncalib[1]; //reverse Y-axis

-								//Apply offsets

-								for(j=0;j<3;j++)

-								{

-									accelUncalib[j] -= phid->accelOffset[j];

-								}

-								//X

-								if(accelUncalib[0] > 0)

-									phid->dataBuffer[phid->bufferWritePtr].acceleration[0] = accelUncalib[0] * phid->accelGain1[0] + accelUncalib[1] * phid->accelFactor1[0] + accelUncalib[2] * phid->accelFactor2[0];

-								else

-									phid->dataBuffer[phid->bufferWritePtr].acceleration[0] = accelUncalib[0] * phid->accelGain2[0] + accelUncalib[1] * phid->accelFactor1[0] + accelUncalib[2] * phid->accelFactor2[0];

-								//Y

-								if(accelUncalib[1] > 0)

-									phid->dataBuffer[phid->bufferWritePtr].acceleration[1] = accelUncalib[1] * phid->accelGain1[1] + accelUncalib[0] * phid->accelFactor1[1] + accelUncalib[2] * phid->accelFactor2[1];

-								else

-									phid->dataBuffer[phid->bufferWritePtr].acceleration[1] = accelUncalib[1] * phid->accelGain2[1] + accelUncalib[0] * phid->accelFactor1[1] + accelUncalib[2] * phid->accelFactor2[1];

-								//Z

-								if(accelUncalib[2] > 0)

-									phid->dataBuffer[phid->bufferWritePtr].acceleration[2] = accelUncalib[2] * phid->accelGain1[2] + accelUncalib[0] * phid->accelFactor1[2] + accelUncalib[1] * phid->accelFactor2[2];

-								else

-									phid->dataBuffer[phid->bufferWritePtr].acceleration[2] = accelUncalib[2] * phid->accelGain2[2] + accelUncalib[0] * phid->accelFactor1[2] + accelUncalib[1] * phid->accelFactor2[2];

-

-								//ADC ref is 0-3.3V - 50.355uV/bit, gyro zero rate is 1.23V, 2.5mV/deg/s - these voltages are fixed, non-ratiometric to Vref

-								// 1 / 0.000050355 = 19859 (1V)

-								// 1.23 * 19859 = 24427

-								// 0.0025 * 19859 = 49.6477bits/deg/s

-								for(j=0;j<3;j++)

-								{

-									data = ((unsigned short)buffer[10 + j * 2 + i * 18]<<8) + (unsigned short)buffer[11 + j * 2 + i * 18];

-									if(j==1)

-										gyroUncalib[j] = ((double)(data-24427) + phid->gyroOffset[j]) / 49.6477;

-									else

-										gyroUncalib[j] = ((double)-(data-24427) + phid->gyroOffset[j]) / 49.6477; //reverse X/Z-axis

-								}

-								//0 - we multiply these by their gains so revered axes will still appear positive and get the correct gain

-								if((gyroUncalib[0] * phid->gyroGain1[0]) > 0)

-									phid->dataBuffer[phid->bufferWritePtr].angularRate[0] = gyroUncalib[0] * phid->gyroGain1[0] - gyroUncalib[1] * phid->gyroFactor1[0] - gyroUncalib[2] * phid->gyroFactor2[0];

-								else

-									phid->dataBuffer[phid->bufferWritePtr].angularRate[0] = gyroUncalib[0] * phid->gyroGain2[0] - gyroUncalib[1] * phid->gyroFactor1[0] - gyroUncalib[2] * phid->gyroFactor2[0];

-								//1

-								if((gyroUncalib[1] * phid->gyroGain1[1]) > 0)

-									phid->dataBuffer[phid->bufferWritePtr].angularRate[1] = gyroUncalib[1] * phid->gyroGain1[1] - gyroUncalib[0] * phid->gyroFactor1[1] - gyroUncalib[2] * phid->gyroFactor2[1];

-								else

-									phid->dataBuffer[phid->bufferWritePtr].angularRate[1] = gyroUncalib[1] * phid->gyroGain2[1] - gyroUncalib[0] * phid->gyroFactor1[1] - gyroUncalib[2] * phid->gyroFactor2[1];

-								//2

-								if((gyroUncalib[2] * phid->gyroGain1[2]) > 0)

-									phid->dataBuffer[phid->bufferWritePtr].angularRate[2] = gyroUncalib[2] * phid->gyroGain1[2] - gyroUncalib[0] * phid->gyroFactor1[2] - gyroUncalib[1] * phid->gyroFactor2[2];

-								else

-									phid->dataBuffer[phid->bufferWritePtr].angularRate[2] = gyroUncalib[2] * phid->gyroGain2[2] - gyroUncalib[0] * phid->gyroFactor1[2] - gyroUncalib[1] * phid->gyroFactor2[2];

-

-								//checks if compass data is valid

-								//Note: we miss ~7 samples (28ms) every second while the compass is callibrating

-								if(buffer[1] & (0x80 >> i))

-								{

-									//ADC 50.355uV/bit (0-3.3V)

-									//ideal compass midpoint is 0x7FFF (32767) (1.65V) 

-									//valid range for zero field offset is: 0.825V - 2.475V (16384-49151) (+-16384)

-									// Note that this may be less (~3x) because the Gain is less, but I'm not sure. (+-5460)

-									//valid output voltage range is defined as 0.165V - 3.135V (3277-62258), 

-									// so we can't really trust values outside of this, though we do seem to get valid data...

-									//ideal sensitivity is 250mV/gauss (ext. resistor), valid range is 195 - 305

-									// 1 / 0.000050355 = 19859 (1Volt)

-									// 0.250 * 19859 = 4964.75 bits/gauss (1.0 gain) (ideal) - valid range is (3861-6068) (+-1103)

-									//We have defined the compass gain multiplier to be based on 6500bits/gauss to keep the math resonable,

-									// so we must use that value here. Implications?

-									//The largest range we can guarantee is:

-									// 16384-3277/6068 = +-2.16 gauss or, more likely: +-3.96 gauss

-									// Ideal is: 32767-3277/4964.75 = +-5.94 gauss

-									// we can tell from the incoming data whether it's valid or not, 

-									// we'll probably have more range in one dirrection then the other because of offset.

-									for(j=0;j<phid->phid.attr.spatial.numCompassAxes; j++)

-									{

-										data = ((unsigned short)buffer[16 + i * 18 + j * 2]<<8) + (unsigned short)buffer[17 + i * 18 + j * 2];

-										//if we are not within (3277-62258), data is not valid

-										if(data < 3277)

-										{

-											phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMin;

-											break;

-										}

-										if(data > 62258)

-										{

-											phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMax;

-											break;

-										}

-

-										//if gain or offset don't make sense, throw out data

-										//if(phid->compassGain[j] > 6068 || phid->compassGain[j] < 3861 || 

-										if(phid->compassGain[j] > 6068 || phid->compassGain[j] < 2500 || //lower gains seem to be common

-											phid->compassOffset[j] > 5460 || phid->compassOffset[j] < -5460)

-										{

-											if(data > 32767)

-												phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMax;

-											else

-												phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMin;

-											break;

-										}

-

-										//Convert ADC to Gauss

-										phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = 

-											-((double)data - 0x7fff - phid->compassOffset[j]) / phid->compassGain[j];

-

-										//constrain to max/min

-										//ie if field is 4.02 and max is 4.1, make it 4.1, since real max is 4.0

-										if(phid->dataBuffer[phid->bufferWritePtr].magneticField[j] > (phid->magneticFieldMax - 0.1))

-											phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMax;

-										if(phid->dataBuffer[phid->bufferWritePtr].magneticField[j] < (phid->magneticFieldMin + 0.1))

-											phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMin;

-									}

-

-								}

-								else

-								{

-									phid->dataBuffer[phid->bufferWritePtr].magneticField[0] = PUNK_DBL;

-									phid->dataBuffer[phid->bufferWritePtr].magneticField[1] = PUNK_DBL;

-									phid->dataBuffer[phid->bufferWritePtr].magneticField[2] = PUNK_DBL;

-								}

-

-								phid->latestDataTime.seconds = phid->timestamp.seconds + (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) / 1000000;

-								phid->latestDataTime.microseconds = (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) % 1000000;

-

-								phid->dataBuffer[phid->bufferWritePtr].timestamp = phid->latestDataTime;

-

-								phid->bufferWritePtr++;

-								if(phid->bufferWritePtr >= SPATIAL_DATA_BUFFER_SIZE)

-									phid->bufferWritePtr = 0;

-							}

-						}

-						break;

-					case SPATIAL_PACKET_CALIB:

-						for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)

-						{

-							cal = ((unsigned short)buffer[i*7 + 1]<<4) + ((unsigned short)buffer[i*7 + 2]>>4);

-							phid->accelGain1[i] = cal / (4096/0.4) + 0.8;

-							cal = (((unsigned short)buffer[i*7 + 2]<<8) & 0x0F00) | ((unsigned short)buffer[i*7 + 3]);

-							phid->accelGain2[i] = cal / (4096/0.4) + 0.8;

-							cal = (unsigned short)((unsigned short)buffer[i*7 + 4]<<8) + (unsigned short)buffer[i*7 + 5];

-							phid->accelOffset[i] = cal / (65535 / 1.0) - 0.5;

-							cal = (unsigned char)buffer[i*7 + 6];

-							phid->accelFactor1[i] = cal / (256 / 0.2) - 0.1;

-							cal = (unsigned char)buffer[i*7 + 7];

-							phid->accelFactor2[i] = cal / (256 / 0.2) - 0.1;

-							//LOG(PHIDGET_LOG_INFO, "Accel(%d) Calib: %1.4lf, %1.4lf, %1.4lf, %1.4lf, %1.4lf", i, 

-							//	phid->accelGain1[i], phid->accelGain2[i], phid->accelOffset[i], phid->accelFactor1[i], phid->accelFactor2[i]);

-						}

-						for (j=0; j<phid->phid.attr.spatial.numGyroAxes; i++,j++)

-						{

-							if (phidG->deviceVersion < 200)

-							{

-								cal = ((unsigned short)buffer[i*7 + 1]<<4) + ((unsigned short)buffer[i*7 + 2]>>4);

-								phid->gyroGain1[j] = cal / (4096/0.4) + 0.8;

-								cal = (((unsigned short)buffer[i*7 + 2]<<8) & 0x0F00) | ((unsigned short)buffer[i*7 + 3]);

-								phid->gyroGain2[j] = cal / (4096/0.4) + 0.8;

-							}

-							//Allow for negative gains

-							else if (phidG->deviceVersion >= 200 && phidG->deviceVersion < 300)

-							{

-								cal = ((signed short)((signed char)buffer[i*7 + 1])<<4) + ((unsigned short)buffer[i*7 + 2]>>4);

-								phid->gyroGain1[j] = cal / (4096/0.4) + (cal > 0 ? 0.9 : -0.9);

-								cal = ((((unsigned short)buffer[i*7 + 2]<<8) & 0x0F00) | ((unsigned short)buffer[i*7 + 3]) ) << 4;

-								cal = (signed short)cal >> 4;

-								phid->gyroGain2[j] = cal / (4096/0.4) + (cal > 0 ? 0.9 : -0.9);

-							}

-							cal = (signed short)((unsigned short)buffer[i*7 + 4]<<8) + (unsigned short)buffer[i*7 + 5];

-							phid->gyroOffset[j] = cal;

-							cal = (unsigned char)buffer[i*7 + 6];

-							phid->gyroFactor1[j] = cal / (256 / 0.1) - 0.05;

-							cal = (unsigned char)buffer[i*7 + 7];

-							phid->gyroFactor2[j] = cal / (256 / 0.1) - 0.05;

-

-//Zero out calibrations

-#if 0

-							phid->gyroGain1[j] = 1;

-							phid->gyroGain2[j] = 1;

-							phid->gyroOffset[j] = 0;

-							phid->gyroFactor1[j] = 0;

-							phid->gyroFactor2[j] = 0;

-#endif

-

-							LOG(PHIDGET_LOG_VERBOSE, "Gyro(%d) Calib: %1.4lf, %1.4lf, %1.4lf, %1.4lf, %1.4lf", j, 

-								phid->gyroGain1[j], phid->gyroGain2[j], phid->gyroOffset[j], phid->gyroFactor1[j], phid->gyroFactor2[j]);

-						}

-						for(j=0;j<phid->phid.attr.spatial.numCompassAxes; j++)

-						{

-							phid->compassOffset[j] = (signed short)((unsigned short)buffer[j*4 + 49]<<8) + (unsigned short)buffer[j*4 + 50];

-							phid->compassGain[j] = ((unsigned short)buffer[j*4 + 51]<<8) + (unsigned short)buffer[j*4 + 52];

-							//phid->compassGain[j] = 4964;

-						}

-						//LOG(PHIDGET_LOG_INFO, "Compass Gain: %d, %d, %d", phid->compassGain[0], phid->compassGain[1], phid->compassGain[2]);

-						//LOG(PHIDGET_LOG_INFO, "Compass Offset: %d, %d, %d", phid->compassOffset[0], phid->compassOffset[1], phid->compassOffset[2]);

-						phid->calDataValid = PTRUE;

-						break;

-				}

-			}

-			// 1044 (1056 Replacement) and 1042 (low-cost 3/3/3)

-			else if (phidG->deviceVersion  >= 300 && phidG->deviceVersion < 500)

-			{				//top 2 bits in buffer[0] are packet type

-				switch(buffer[0])

-				{

-					case SPATIAL_PACKET_DATA:

-					{

-						int data;

-						int time;

-						

-						count = buffer[1] & 0x03;

-						if(count == 0)

-							goto done;

-

-						//this timestamp is for the latest data

-						time = ((unsigned short)buffer[2]<<8) + (unsigned short)buffer[3];

-						//LOG(PHIDGET_LOG_DEBUG, "TimeStamp: %6d",time);

-						if(phid->lastTimeCounterValid)

-						{

-							//1-255 ms

-							int timechange = (unsigned short)((unsigned short)time - (unsigned short)phid->lastTimeCounter);

-							timechange *= 1000; //us

-

-							if(timechange > 500000)

-								LOG(PHIDGET_LOG_DEBUG, "Timechange: %d",timechange);

-

-							phid->timestamp.seconds = phid->timestamp.seconds + (phid->timestamp.microseconds + timechange) / 1000000;

-							phid->timestamp.microseconds = (phid->timestamp.microseconds + timechange) % 1000000;

-						}

-						else

-						{

-							phid->lastTimeCounterValid = PTRUE;

-						}

-						phid->lastTimeCounter = time;

-

-						//add data to data buffer

-						for(i=0;i<count;i++)

-						{

-							//digital accel

-							if(buffer[1] & (0x08 >> i))

-							{

-								LOG(PHIDGET_LOG_DEBUG, "digital accel");

-								//+-8g resolution is 1g/1024/bit

-								for(j=0;j<3;j++)

-								{

-									short accelData = 

-										(signed short)((unsigned short)buffer[4 + j * 2 + i * 18]<<8) + (unsigned short)buffer[5 + j * 2 + i * 18];

-

-									if(j==0)

-										phid->dataBuffer[phid->bufferWritePtr].acceleration[j] = -((double)accelData / 1024.0);

-									else

-										phid->dataBuffer[phid->bufferWritePtr].acceleration[j] = (double)accelData / 1024.0;

-								}

-							}

-							//analog accel

-							else

-							{

-								//KXR94-2050 - 660 mV/g (VCC/5) - 0xffff/5 = 0x3333 (13107.0)

-								for(j=0;j<3;j++)

-								{

-									data = ((unsigned short)buffer[4 + j * 2 + i * 18]<<8) + (unsigned short)buffer[5 + j * 2 + i * 18];

-									if(j==2)

-										phid->dataBuffer[phid->bufferWritePtr].acceleration[j] = ((double)data - 0x7fff) / 13107;

-									else

-										phid->dataBuffer[phid->bufferWritePtr].acceleration[j] = -((double)data - 0x7fff) / 13107;

-								}

-								phid->dataBuffer[phid->bufferWritePtr].acceleration[1] = -phid->dataBuffer[phid->bufferWritePtr].acceleration[1]; //reverse Y-axis

-							}

-

-							//digital gyro

-							if(buffer[1] & (0x20 >> i))

-							{

-								LOG(PHIDGET_LOG_DEBUG, "digital gyro");

-								//2000dps

-								// 0.07 dps/digit

-								for(j=0;j<3;j++)

-								{

-									short gyroData = 

-										(signed short)((unsigned short)buffer[10 + j * 2 + i * 18]<<8) + (unsigned short)buffer[11 + j * 2 + i * 18];

-

-									phid->dataBuffer[phid->bufferWritePtr].angularRate[j] = (double)gyroData * 0.07;

-								}

-							}

-							//analog gyro

-							else

-							{

-								//ADC ref is 0-3.3V - 50.355uV/bit, gyro zero rate is 1.5V, X/Y: 2.5mV/deg/s Z: 3.572mV/deg/s

-								// these voltages are fixed, non-ratiometric to Vref

-								// 1 / 0.000050355 = 19859 (1V)

-								// 1.5 * 19859 = 29789

-								// 0.0025 * 19859 = 49.6477bits/deg/s

-								// 0.003572 * 19859 = 70.936348bits/deg/s

-								for(j=0;j<3;j++)

-								{

-									data = ((unsigned short)buffer[10 + j * 2 + i * 18]<<8) + (unsigned short)buffer[11 + j * 2 + i * 18];

-									if(j==0)

-										phid->dataBuffer[phid->bufferWritePtr].angularRate[j] = ((double)-(data-29789)) / 49.6477; //reverse X-axis

-									else if(j==2)

-										phid->dataBuffer[phid->bufferWritePtr].angularRate[j] = ((double)-(data-29789)) / 70.936348; //reverse Z-axis

-									else

-										phid->dataBuffer[phid->bufferWritePtr].angularRate[j] = ((double)(data-29789)) / 49.6477;

-								}

-							}

-

-							//LOG(PHIDGET_LOG_DEBUG, "ADC Values: %1.3lf, %1.3lf, %1.3lf, %1.3lf, %1.3lf, %1.3lf", dataTrack[0], dataTrack[1], dataTrack[2], dataTrack[3], dataTrack[4], dataTrack[5]);

-

-							//checks if compass data is valid

-							if(buffer[1] & (0x80 >> i))

-							{

-								for(j=0;j<phid->phid.attr.spatial.numCompassAxes; j++)

-								{

-									short magData = 

-										(signed short)((unsigned short)buffer[16 + i * 18 + j * 2]<<8) + (unsigned short)buffer[17 + i * 18 + j * 2];

-

-									//each bit is 0.1 uT

-

-

-									//Convert to Gauss (divide by 1000)

-									if(j==1)

-										phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = -(magData / 1000.0);

-									else

-										phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = magData / 1000.0;

-

-									//constrain to max/min

-									//ie if field is 4.02 and max is 4.1, make it 4.1, since real max is 4.0

-									if(phid->dataBuffer[phid->bufferWritePtr].magneticField[j] > (phid->magneticFieldMax - 0.1))

-										phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMax;

-									if(phid->dataBuffer[phid->bufferWritePtr].magneticField[j] < (phid->magneticFieldMin + 0.1))

-										phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMin;

-								}

-

-							}

-							else

-							{

-								phid->dataBuffer[phid->bufferWritePtr].magneticField[0] = PUNK_DBL;

-								phid->dataBuffer[phid->bufferWritePtr].magneticField[1] = PUNK_DBL;

-								phid->dataBuffer[phid->bufferWritePtr].magneticField[2] = PUNK_DBL;

-							}

-

-							phid->latestDataTime.seconds = phid->timestamp.seconds + (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) / 1000000;

-							phid->latestDataTime.microseconds = (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) % 1000000;

-

-							//LOG(PHIDGET_LOG_DEBUG, "Time: %d:%d",phid->latestDataTime.seconds,phid->latestDataTime.microseconds);

-

-							phid->dataBuffer[phid->bufferWritePtr].timestamp = phid->latestDataTime;

-

-							phid->bufferWritePtr++;

-							if(phid->bufferWritePtr >= SPATIAL_DATA_BUFFER_SIZE)

-								phid->bufferWritePtr = 0;

-						}

-

-						break;

-					}

-				}

-			}

-			else

-				return EPHIDGET_UNEXPECTED;

-			break;

-		default:

-			return EPHIDGET_UNEXPECTED;

-	}

-

-	if(phid->doZeroGyro)

-	{

-		//done

-		if(timestampdiff(phid->latestDataTime, phid->dataBuffer[phid->gyroZeroReadPtr].timestamp) >= SPATIAL_ZERO_GYRO_TIME)

-		{

-			double gryoCorrectionTemp[SPATIAL_MAX_GYROAXES] = {0,0,0};

-			int gryoCorrectionCount = 0;

-

-			while(phid->gyroZeroReadPtr != phid->bufferWritePtr)

-			{

-				for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)

-				{

-					gryoCorrectionTemp[i] += phid->dataBuffer[phid->gyroZeroReadPtr].angularRate[i];

-				}

-

-				phid->gyroZeroReadPtr++;

-				if(phid->gyroZeroReadPtr >= SPATIAL_DATA_BUFFER_SIZE)

-					phid->gyroZeroReadPtr = 0;

-

-				gryoCorrectionCount++;

-			}

-			

-			for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)

-			{

-				phid->gryoCorrection[i] = gryoCorrectionTemp[i] / (double)gryoCorrectionCount;

-			}

-

-			doneGyroZero = PTRUE;

-		}

-	}

-

-	//see if it's time for an event

-	if(timestampdiff(phid->latestDataTime, phid->lastEventTime) >= dataRate)

-	{

-		CPhidget_Timestamp tempTime;

-		//int lastPtr;

-		int accelCounter[SPATIAL_MAX_ACCELAXES], angularRateCounter[SPATIAL_MAX_ACCELAXES], magneticFieldCounter[SPATIAL_MAX_ACCELAXES];

-

-		int dataPerEvent = 0;

-

-		int multipleDataPerEvent = PFALSE;

-

-		if(dataRate < phid->interruptRate)

-			multipleDataPerEvent = PTRUE;

-

-		//max of 16 data per event

-		eventData = malloc(16 * sizeof(CPhidgetSpatial_SpatialEventDataHandle));

-		

-		for(j=0;;j++)

-		{

-			//makes sure we read all data

-			if(phid->bufferReadPtr == phid->bufferWritePtr || j>=16)

-			{

-				dataPerEvent = j;

-				break;

-			}

-

-			eventData[j] = malloc(sizeof(CPhidgetSpatial_SpatialEventData));

-			ZEROMEM(accelCounter, sizeof(accelCounter));

-			ZEROMEM(angularRateCounter, sizeof(angularRateCounter));

-			ZEROMEM(magneticFieldCounter, sizeof(magneticFieldCounter));

-

-			tempTime = phid->dataBuffer[phid->bufferReadPtr].timestamp;

-

-			//average data for each stage

-			while(phid->bufferReadPtr != phid->bufferWritePtr && 

-				(!multipleDataPerEvent || timestampdiff(phid->dataBuffer[phid->bufferReadPtr].timestamp, tempTime) < dataRate))

-			{

-				for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)

-				{

-					if(phid->dataBuffer[phid->bufferReadPtr].acceleration[i] != PUNK_DBL)

-					{

-						if(phid->dataBuffer[phid->bufferReadPtr].acceleration[i] > phid->accelerationMax)

-							phid->dataBuffer[phid->bufferReadPtr].acceleration[i] = phid->accelerationMax;

-						if(phid->dataBuffer[phid->bufferReadPtr].acceleration[i] < phid->accelerationMin) 

-							phid->dataBuffer[phid->bufferReadPtr].acceleration[i] = phid->accelerationMin;

-						accelAvg[i] += phid->dataBuffer[phid->bufferReadPtr].acceleration[i];

-						accelCounter[i]++;

-					}

-				}

-				for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)

-				{

-					if(phid->dataBuffer[phid->bufferReadPtr].angularRate[i] != PUNK_DBL)

-					{

-						double rate = phid->dataBuffer[phid->bufferReadPtr].angularRate[i] - phid->gryoCorrection[i];

-

-						if(rate > phid->angularRateMax) 

-							angularRateAvg[i] += phid->angularRateMax;

-						else if(rate < phid->angularRateMin) 

-							angularRateAvg[i] += phid->angularRateMin;

-						else

-							angularRateAvg[i] += rate;

-						angularRateCounter[i]++;

-					}

-				}

-				for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)

-				{

-					if(phid->dataBuffer[phid->bufferReadPtr].magneticField[i] != PUNK_DBL)

-					{

-						if(phid->dataBuffer[phid->bufferReadPtr].magneticField[i] > phid->magneticFieldMax) 

-							phid->dataBuffer[phid->bufferReadPtr].magneticField[i] = phid->magneticFieldMax;

-						if(phid->dataBuffer[phid->bufferReadPtr].magneticField[i] < phid->magneticFieldMin) 

-							phid->dataBuffer[phid->bufferReadPtr].magneticField[i] = phid->magneticFieldMin;

-						magneticFieldAvg[i] += phid->dataBuffer[phid->bufferReadPtr].magneticField[i];

-						magneticFieldCounter[i]++;

-					}

-				}

-

-				//lastPtr = phid->bufferReadPtr;

-

-				phid->bufferReadPtr++;

-				if(phid->bufferReadPtr >= SPATIAL_DATA_BUFFER_SIZE)

-					phid->bufferReadPtr = 0;

-			}

-

-			for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)

-			{

-				if(accelCounter[i] > 0)

-					eventData[j]->acceleration[i] = round_double(accelAvg[i] / (double)accelCounter[i], 5);

-				else

-					eventData[j]->acceleration[i] = PUNK_DBL;

-				accelAvg[i] = 0;

-			}

-			for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)

-			{

-				if(angularRateCounter[i] > 0)

-				{

-					if(phid->doZeroGyro && !doneGyroZero)

-						eventData[j]->angularRate[i] = 0;

-					else

-						eventData[j]->angularRate[i] = round_double(angularRateAvg[i] / (double)angularRateCounter[i], 5);

-				}

-				else

-					eventData[j]->angularRate[i] = PUNK_DBL;

-				angularRateAvg[i] = 0;

-			}

-			for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)

-			{

-				if(magneticFieldCounter[i] > 0)

-					eventData[j]->magneticField[i] = round_double(magneticFieldAvg[i] / (double)magneticFieldCounter[i], 5);

-				else

-					eventData[j]->magneticField[i] = PUNK_DBL;

-				magneticFieldAvg[i] = 0;

-			}

-			eventData[j]->timestamp = tempTime;

-		}

-

-		//correct magnetic field data in the event structure

-		for( j = 0; j < dataPerEvent; j++)

-		{

-			for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)

-			{

-				magneticFieldCorr[i] = eventData[j]->magneticField[i];

-			}

-			for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)

-			{

-				if(eventData[j]->magneticField[i] != PUNK_DBL)

-				{

-					eventData[j]->magneticField[i] = getCorrectedField(phid, magneticFieldCorr, i);

-				}

-			}

-		}

-

-		//store to local structure

-		ZEROMEM(accelCounter, sizeof(accelCounter));

-		ZEROMEM(angularRateCounter, sizeof(angularRateCounter));

-		ZEROMEM(magneticFieldCounter, sizeof(magneticFieldCounter));

-		for( j = 0; j < dataPerEvent; j++)

-		{

-			for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)

-			{

-				if(eventData[j]->acceleration[i] != PUNK_DBL)

-				{

-					accelAvg[i] += eventData[j]->acceleration[i];

-					accelCounter[i]++;

-				}

-			}

-			for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)

-			{

-				if(eventData[j]->angularRate[i] != PUNK_DBL)

-				{

-					angularRateAvg[i] += eventData[j]->angularRate[i];

-					angularRateCounter[i]++;

-				}

-			}

-			for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)

-			{

-				if(eventData[j]->magneticField[i] != PUNK_DBL)

-				{

-					magneticFieldAvg[i] += eventData[j]->magneticField[i];

-					magneticFieldCounter[i]++;

-				}

-			}

-		}

-

-		//Set local get data to averages

-		for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)

-		{

-			if(accelCounter[i] > 0)

-				phid->accelAxis[i] = round_double(accelAvg[i] / (double)accelCounter[i], 5);

-			else

-				phid->accelAxis[i] = PUNK_DBL;

-		}

-		for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)

-		{

-			if(angularRateCounter[i] > 0)

-			{

-				if(phid->doZeroGyro && !doneGyroZero)

-					phid->gyroAxis[i] = 0;

-				else

-					phid->gyroAxis[i] = round_double(angularRateAvg[i] / (double)angularRateCounter[i], 5);

-			}

-			else

-				phid->gyroAxis[i] = PUNK_DBL;

-		}

-		for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)

-		{

-			if(magneticFieldCounter[i] > 0)

-				phid->compassAxis[i] = round_double(magneticFieldAvg[i] / (double)magneticFieldCounter[i], 5);

-			else

-				phid->compassAxis[i] = PUNK_DBL;

-		}

-		

-		//send out any events

-		FIRE(SpatialData, eventData, dataPerEvent);

-

-		phid->lastEventTime = phid->latestDataTime;

-

-		for(i=0;i<dataPerEvent;i++)

-			free(eventData[i]);

-		free(eventData);

-	}

-done:

-

-	//this will signal the zero function to return;

-	if(doneGyroZero)

-		phid->doZeroGyro = PFALSE;

-

-	return EPHIDGET_OK;

-}

-

-//eventsAfterOpen - sends out an event for all valid data, used during attach initialization

-CPHIDGETINITEVENTS(Spatial)

-	TESTPTR(phid);

-	//don't need to worry, because the interrupts come at a set rate

-	return EPHIDGET_OK;

-}

-

-//getPacket - not used for spatial

-CGETPACKET(Spatial)

-	return EPHIDGET_UNEXPECTED;

-}

-

-static double getCorrectedField(CPhidgetSpatialHandle phid, double fields[], int axis)

-{

-	switch(axis)

-	{

-	case 0:

-		return phid->userMagField * 

-			(phid->userCompassGain[0] * (fields[0] - phid->userCompassOffset[0])

-			+ phid->userCompassTransform[0] * (fields[1] - phid->userCompassOffset[1])

-			+ phid->userCompassTransform[1] * (fields[2] - phid->userCompassOffset[2]));

-	case 1:

-		return phid->userMagField * 

-			(phid->userCompassGain[1] * (fields[1] - phid->userCompassOffset[1])

-			+ phid->userCompassTransform[2] * (fields[0] - phid->userCompassOffset[0])

-			+ phid->userCompassTransform[3] * (fields[2] - phid->userCompassOffset[2]));

-	case 2:

-		return phid->userMagField * 

-			(phid->userCompassGain[2] * (fields[2] - phid->userCompassOffset[2])

-			+ phid->userCompassTransform[4] * (fields[0] - phid->userCompassOffset[0])

-			+ phid->userCompassTransform[5] * (fields[1] - phid->userCompassOffset[1]));

-	default:

-		return 0;

-	}

-}

-

-// === Exported Functions === //

-

-//create and initialize a device structure

-CCREATE(Spatial, PHIDCLASS_SPATIAL)

-

-//event setup functions

-CFHANDLE(Spatial, SpatialData, CPhidgetSpatial_SpatialEventDataHandle *, int)

-

-CGET(Spatial,AccelerationAxisCount,int)

-	TESTPTRS(phid,pVal) 

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-

-	MASGN(phid.attr.spatial.numAccelAxes)

-}

-CGET(Spatial,GyroAxisCount,int)

-	TESTPTRS(phid,pVal) 

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-

-	MASGN(phid.attr.spatial.numGyroAxes)

-}

-CGET(Spatial,CompassAxisCount,int)

-	TESTPTRS(phid,pVal) 

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-

-	MASGN(phid.attr.spatial.numCompassAxes)

-}

-

-CGETINDEX(Spatial,Acceleration,double)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-	TESTINDEX(phid.attr.spatial.numAccelAxes)

-	TESTMASGN(accelAxis[Index], PUNK_DBL)

-

-	MASGN(accelAxis[Index])

-}

-

-CGETINDEX(Spatial,AccelerationMax,double)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-	TESTINDEX(phid.attr.spatial.numAccelAxes)

-	TESTMASGN(accelerationMax, PUNK_DBL)

-

-	MASGN(accelerationMax)

-}

-

-CGETINDEX(Spatial,AccelerationMin,double)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-	TESTINDEX(phid.attr.spatial.numAccelAxes)

-	TESTMASGN(accelerationMin, PUNK_DBL)

-

-	MASGN(accelerationMin)

-}

-

-CGETINDEX(Spatial,AngularRate,double)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-

-	switch(phid->phid.deviceIDSpec)

-	{

-		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:

-			TESTINDEX(phid.attr.spatial.numGyroAxes)

-			TESTMASGN(gyroAxis[Index], PUNK_DBL)

-			MASGN(gyroAxis[Index])

-		case PHIDID_SPATIAL_ACCEL_3AXIS:

-		default:

-			return EPHIDGET_UNSUPPORTED;

-	}

-}

-

-CGETINDEX(Spatial,AngularRateMax,double)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-

-	switch(phid->phid.deviceIDSpec)

-	{

-		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:

-			TESTINDEX(phid.attr.spatial.numGyroAxes)

-			TESTMASGN(angularRateMax, PUNK_DBL)

-			MASGN(angularRateMax)

-		case PHIDID_SPATIAL_ACCEL_3AXIS:

-		default:

-			return EPHIDGET_UNSUPPORTED;

-	}

-}

-

-CGETINDEX(Spatial,AngularRateMin,double)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-

-	switch(phid->phid.deviceIDSpec)

-	{

-		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:

-			TESTINDEX(phid.attr.spatial.numGyroAxes)

-			TESTMASGN(angularRateMin, PUNK_DBL)

-			MASGN(angularRateMin)

-		case PHIDID_SPATIAL_ACCEL_3AXIS:

-		default:

-			return EPHIDGET_UNSUPPORTED;

-	}

-}

-

-CGETINDEX(Spatial,MagneticField,double)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-

-	switch(phid->phid.deviceIDSpec)

-	{

-		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:

-			TESTINDEX(phid.attr.spatial.numCompassAxes)

-			TESTMASGN(compassAxis[Index], PUNK_DBL)

-			MASGN(compassAxis[Index])

-		case PHIDID_SPATIAL_ACCEL_3AXIS:

-		default:

-			return EPHIDGET_UNSUPPORTED;

-	}

-}

-

-CGETINDEX(Spatial,MagneticFieldMax,double)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-

-	switch(phid->phid.deviceIDSpec)

-	{

-		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:

-			TESTINDEX(phid.attr.spatial.numCompassAxes)

-			TESTMASGN(magneticFieldMax, PUNK_DBL)

-			MASGN(magneticFieldMax)

-		case PHIDID_SPATIAL_ACCEL_3AXIS:

-		default:

-			return EPHIDGET_UNSUPPORTED;

-	}

-}

-

-CGETINDEX(Spatial,MagneticFieldMin,double)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-

-	switch(phid->phid.deviceIDSpec)

-	{

-		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:

-			TESTINDEX(phid.attr.spatial.numCompassAxes)

-			TESTMASGN(magneticFieldMin, PUNK_DBL)

-			MASGN(magneticFieldMin)

-		case PHIDID_SPATIAL_ACCEL_3AXIS:

-		default:

-			return EPHIDGET_UNSUPPORTED;

-	}

-}

-

-CSET(Spatial,DataRate,int)

-	TESTPTR(phid)

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-	TESTRANGE(phid->dataRateMax, phid->dataRateMin)

-

-	//make sure it's a power of 2, or 1

-	if(newVal < phid->interruptRate)

-	{

-		int temp = phid->dataRateMax;

-		unsigned char good = FALSE;

-		while(temp <= newVal)

-		{

-			if(temp == newVal)

-			{

-				good = TRUE;

-				break;

-			}

-			temp *= 2;

-		}

-		if(!good)

-			return EPHIDGET_INVALIDARG;

-	}

-	//make sure it's divisible by interruptRate

-	else

-	{

-		if(newVal%phid->interruptRate)

-			return EPHIDGET_INVALIDARG;

-	}

-

-	if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))

-		ADDNETWORKKEY(DataRate, "%d", dataRate);

-	else

-		phid->dataRate = newVal;

-

-	return EPHIDGET_OK;

-}

-CGET(Spatial,DataRate,int)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-	TESTMASGN(dataRate, PUNK_INT)

-

-	MASGN(dataRate)

-}

-

-CGET(Spatial,DataRateMax,int)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-	TESTMASGN(dataRateMax, PUNK_INT)

-

-	MASGN(dataRateMax)

-}

-

-CGET(Spatial,DataRateMin,int)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-	TESTMASGN(dataRateMin, PUNK_INT)

-

-	MASGN(dataRateMin)

-}

-

-PHIDGET21_API int CCONV CPhidgetSpatial_zeroGyro(CPhidgetSpatialHandle phid)

-{

-	TESTPTR(phid) 

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-	if(phid->phid.attr.spatial.numGyroAxes==0)

-		return EPHIDGET_UNSUPPORTED;

-

-	if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))

-	{

-		int newVal = phid->flip^1;

-		ADDNETWORKKEY(ZeroGyro, "%d", flip);

-	}

-	else

-	{

-		if(!phid->doZeroGyro)

-		{

-			phid->gyroZeroReadPtr = phid->bufferReadPtr;

-			phid->doZeroGyro = PTRUE;

-		}

-	}

-

-	return EPHIDGET_OK;

-}

-

-PHIDGET21_API int CCONV CPhidgetSpatial_resetCompassCorrectionParameters(

-	CPhidgetSpatialHandle phid)

-{

-	TESTPTR(phid) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-

-	switch(phid->phid.deviceIDSpec)

-	{

-		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:

-			if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))

-			{

-				char newVal[1024];

-				sprintf(newVal, "1,0,0,0,1,1,1,0,0,0,0,0,0");

-				ADDNETWORKKEY(CompassCorrectionParams, "%s", compassCorrectionParamsString);

-			}

-			else

-			{

-				phid->userMagField = 1;

-

-				phid->userCompassOffset[0] = 0;

-				phid->userCompassOffset[1] = 0;

-				phid->userCompassOffset[2] = 0;

-

-				phid->userCompassGain[0] = 1;

-				phid->userCompassGain[1] = 1;

-				phid->userCompassGain[2] = 1;

-

-				phid->userCompassTransform[0] = 0;

-				phid->userCompassTransform[1] = 0;

-				phid->userCompassTransform[2] = 0;

-				phid->userCompassTransform[3] = 0;

-				phid->userCompassTransform[4] = 0;

-				phid->userCompassTransform[5] = 0;

-			}

-			return EPHIDGET_OK;

-		case PHIDID_SPATIAL_ACCEL_3AXIS:

-		default:

-			return EPHIDGET_UNSUPPORTED;

-	}

-}

-PHIDGET21_API int CCONV CPhidgetSpatial_setCompassCorrectionParameters(

-	CPhidgetSpatialHandle phid, 

-	double magField, 

-	double offset0, double offset1, double offset2, 

-	double gain0, double gain1, double gain2, 

-	double T0, double T1, double T2, double T3, double T4, double T5)

-{

-	TESTPTR(phid) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-

-	switch(phid->phid.deviceIDSpec)

-	{

-		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:

-			//Magnetic Field 0.1-1000

-			if(magField < 0.1 || magField > 1000)

-				return EPHIDGET_INVALIDARG;

-			//Offsets need to be 0+-5.0

-			if(offset0 < -5 || offset0 > 5)

-				return EPHIDGET_INVALIDARG;

-			if(offset1 < -5 || offset1 > 5)

-				return EPHIDGET_INVALIDARG;

-			if(offset2 < -5 || offset2 > 5)

-				return EPHIDGET_INVALIDARG;

-			//Gains need to be 0-15.0

-			if(gain0 < 0 || gain0 > 15)

-				return EPHIDGET_INVALIDARG;

-			if(gain1 < 0 || gain1 > 15)

-				return EPHIDGET_INVALIDARG;

-			if(gain2 < 0 || gain2 > 15)

-				return EPHIDGET_INVALIDARG;

-			//T params 0+-5.0

-			if(T0 < -5 || T0 > 5)

-				return EPHIDGET_INVALIDARG;

-			if(T1 < -5 || T1 > 5)

-				return EPHIDGET_INVALIDARG;

-			if(T2 < -5 || T2 > 5)

-				return EPHIDGET_INVALIDARG;

-			if(T3 < -5 || T3 > 5)

-				return EPHIDGET_INVALIDARG;

-			if(T4 < -5 || T4 > 5)

-				return EPHIDGET_INVALIDARG;

-			if(T5 < -5 || T5 > 5)

-				return EPHIDGET_INVALIDARG;

-

-			if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))

-			{

-				char newVal[1024];

-				sprintf(newVal, "%lE,%lE,%lE,%lE,%lE,%lE,%lE,%lE,%lE,%lE,%lE,%lE,%lE",

-					magField, offset0, offset1, offset2, gain0, gain1, gain2, T0, T1, T2, T3, T4, T5);

-				ADDNETWORKKEY(CompassCorrectionParams, "%s", compassCorrectionParamsString);

-			}

-			else

-			{

-				phid->userMagField = magField;

-

-				phid->userCompassOffset[0] = offset0;

-				phid->userCompassOffset[1] = offset1;

-				phid->userCompassOffset[2] = offset2;

-

-				phid->userCompassGain[0] = gain0;

-				phid->userCompassGain[1] = gain1;

-				phid->userCompassGain[2] = gain2;

-

-				phid->userCompassTransform[0] = T0;

-				phid->userCompassTransform[1] = T1;

-				phid->userCompassTransform[2] = T2;

-				phid->userCompassTransform[3] = T3;

-				phid->userCompassTransform[4] = T4;

-				phid->userCompassTransform[5] = T5;

-			}

-

-			return EPHIDGET_OK;

-		case PHIDID_SPATIAL_ACCEL_3AXIS:

-		default:

-			return EPHIDGET_UNSUPPORTED;

-	}

-}

-

-//Maybe add these later

-/*

-CGET(Spatial,GyroHeading,double)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-	TESTMASGN(gyroHeading, PUNK_DBL)

-

-	MASGN(gyroHeading)

-}

-

-CGET(Spatial,CompassHeading,double)

-	TESTPTRS(phid,pVal) 	

-	TESTDEVICETYPE(PHIDCLASS_SPATIAL)

-	TESTATTACHED

-	TESTMASGN(compassHeading, PUNK_DBL)

-

-	MASGN(compassHeading)

-}*/

+#include "stdafx.h"
+#include "cphidgetspatial.h"
+#include "cusb.h"
+#include "math.h"
+#include "csocket.h"
+#include "cthread.h"
+
+// === Internal Functions === //
+static double getCorrectedField(CPhidgetSpatialHandle phid, double fields[], int axis);
+
+//clearVars - sets all device variables to unknown state
+CPHIDGETCLEARVARS(Spatial)
+	int i = 0;
+
+	phid->dataRateMin = PUNI_INT;
+	phid->dataRate = PUNI_INT;
+	phid->dataRateMax = PUNI_INT;
+
+	phid->accelerationMax = PUNI_DBL;
+	phid->accelerationMin = PUNI_DBL;
+	phid->angularRateMax = PUNI_DBL;
+	phid->angularRateMin = PUNI_DBL;
+	phid->magneticFieldMax = PUNI_DBL;
+	phid->magneticFieldMin = PUNI_DBL;
+	phid->interruptRate = PUNI_INT;
+
+	phid->spatialDataNetwork = PUNI_BOOL;
+
+	for (i = 0; i<SPATIAL_MAX_ACCELAXES; i++)
+	{
+		phid->accelAxis[i] = PUNI_DBL;
+	}
+	for (i = 0; i<SPATIAL_MAX_GYROAXES; i++)
+	{
+		phid->gyroAxis[i] = PUNI_DBL;
+	}
+	for (i = 0; i<SPATIAL_MAX_COMPASSAXES; i++)
+	{
+		phid->compassAxis[i] = PUNI_DBL;
+	}
+	return EPHIDGET_OK;
+}
+
+//initAfterOpen - sets up the initial state of an object, reading in packets from the device if needed
+//				  used during attach initialization - on every attach
+CPHIDGETINIT(Spatial)
+	int i = 0;
+
+	TESTPTR(phid);
+
+	//Setup max/min values
+	switch(phid->phid.deviceUID)
+	{
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1049:
+			phid->accelerationMax = 5.1;
+			phid->accelerationMin = -5.1;
+			phid->interruptRate = 8;
+			phid->dataRateMin = SPATIAL_MIN_DATA_RATE;
+			phid->dataRate = phid->interruptRate;
+			phid->dataRateMax = 1; //actual data rate
+			phid->angularRateMax = 0;
+			phid->angularRateMin = 0;
+			phid->magneticFieldMax = 0;
+			phid->magneticFieldMin = 0;
+			phid->calDataValid = PFALSE;
+			break;
+
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1041:
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1043:
+			phid->accelerationMax = 8.1;
+			phid->accelerationMin = -8.1;
+			phid->interruptRate = 8;
+			phid->dataRateMin = SPATIAL_MIN_DATA_RATE;
+			phid->dataRate = phid->interruptRate;
+			phid->dataRateMax = 1; //actual data rate
+			phid->angularRateMax = 0;
+			phid->angularRateMin = 0;
+			phid->magneticFieldMax = 0;
+			phid->magneticFieldMin = 0;
+			phid->calDataValid = PFALSE;
+			break;
+
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056:
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056_NEG_GAIN:
+			phid->accelerationMax = 5.1;
+			phid->accelerationMin = -5.1;
+			phid->interruptRate = 8;
+			phid->dataRateMin = SPATIAL_MIN_DATA_RATE;
+			phid->dataRate = phid->interruptRate;
+			phid->dataRateMax = 4; //actual data rate
+			phid->angularRateMax = 400.1;
+			phid->angularRateMin = -400.1;
+			phid->magneticFieldMax = 4.1;
+			phid->magneticFieldMin = -4.1;
+			phid->userMagField = 1.0;
+			phid->calDataValid = PFALSE;
+			break;
+
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1042:
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044:
+			phid->accelerationMax = 8.1;
+			phid->accelerationMin = -8.1;
+			phid->interruptRate = 4;
+			phid->dataRateMin = SPATIAL_MIN_DATA_RATE;
+			phid->dataRate = 8;
+			phid->dataRateMax = 4; //actual data rate
+			phid->angularRateMax = 2000.1;
+			phid->angularRateMin = -2000.1;
+			phid->magneticFieldMax = 5.6;
+			phid->magneticFieldMin = -5.6;
+			phid->userMagField = 1.0;
+			phid->calDataValid = PFALSE;
+			break;
+
+		default:
+			return EPHIDGET_UNEXPECTED;
+	}
+
+	//initialize triggers, set data arrays to unknown
+	for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)
+	{
+		phid->accelAxis[i] = PUNK_DBL;
+		phid->accelGain1[i] = PUNK_DBL;
+		phid->accelGain2[i] = PUNK_DBL;
+		phid->accelOffset[i] = PUNK_INT;
+	}
+	for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)
+	{
+		phid->gyroAxis[i] = PUNK_DBL;
+		phid->gryoCorrection[i] = 0;
+		phid->gyroGain1[i] = PUNK_DBL;
+		phid->gyroGain2[i] = PUNK_DBL;
+		phid->gyroOffset[i] = PUNK_INT;
+	}
+	for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)
+	{
+		phid->compassAxis[i] = PUNK_DBL;
+		phid->userCompassGain[i] = 1.0;
+	}
+	phid->bufferReadPtr = 0;
+	phid->bufferWritePtr = 0;
+	phid->timestamp.seconds = 0;
+	phid->timestamp.microseconds = 0;
+	phid->lastEventTime.seconds = 0;
+	phid->lastEventTime.microseconds = 0;
+	phid->latestDataTime.seconds = 0;
+	phid->latestDataTime.microseconds = 0;
+
+	phid->lastTimeCounterValid = PFALSE;
+	phid->doZeroGyro = PFALSE;
+
+	//get calibration values
+	switch(phid->phid.deviceUID) {
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1049:
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056:
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056_NEG_GAIN:
+			{
+				unsigned char buffer[8] = { 0 };
+				int result;
+				int readCount = 125; // up to 1 second of data - should be PLENTY
+				//ask for calibration values
+				buffer[0] = SPATIAL_READCALIB;
+				if ((result = CUSBSendPacket((CPhidgetHandle)phid, buffer)) != EPHIDGET_OK)
+					return result;
+				while(phid->calDataValid == PFALSE && readCount--)
+				{
+					//note that Windows queues up to 32 packets, so we need to read at least this many to get the calibration packet
+					CPhidget_read((CPhidgetHandle)phid);
+				}
+				if(!phid->calDataValid)
+					return EPHIDGET_UNEXPECTED;
+			}
+			break;
+		// No streamed Calibration
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1041:
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1043:
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1042:
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044:
+		default:
+			break;
+	}
+
+	//issue one read
+	//this should fill in the data because the dataRate is the interrupt rate
+	CPhidget_read((CPhidgetHandle)phid);
+
+	return EPHIDGET_OK;
+}
+
+static void updateTimestamp(CPhidgetSpatialHandle phid, int time)
+{
+	if(phid->lastTimeCounterValid)
+	{
+		//1-255 ms
+		int timechange = (unsigned short)((unsigned short)time - (unsigned short)phid->lastTimeCounter);
+		timechange *= 1000; //us
+
+		//if(timechange > 500000)
+		//	LOG(PHIDGET_LOG_DEBUG, "Timechange: %d",timechange);
+
+		phid->timestamp.seconds = phid->timestamp.seconds + (phid->timestamp.microseconds + timechange) / 1000000;
+		phid->timestamp.microseconds = (phid->timestamp.microseconds + timechange) % 1000000;
+	}
+	else
+	{
+		phid->lastTimeCounterValid = PTRUE;
+	}
+	phid->lastTimeCounter = time;
+}
+
+//dataInput - parses device packets
+CPHIDGETDATA(Spatial)
+	int i = 0, j = 0, count = 0, dataRate = phid->dataRate, cal;
+	unsigned char doneGyroZero = PFALSE;
+	double accelAvg[SPATIAL_MAX_ACCELAXES], angularRateAvg[SPATIAL_MAX_ACCELAXES], magneticFieldAvg[SPATIAL_MAX_ACCELAXES], magneticFieldCorr[SPATIAL_MAX_ACCELAXES];
+	CPhidgetSpatial_SpatialEventDataHandle *eventData;
+	
+	ZEROMEM(accelAvg, sizeof(accelAvg));
+	ZEROMEM(angularRateAvg, sizeof(angularRateAvg));
+	ZEROMEM(magneticFieldAvg, sizeof(magneticFieldAvg));
+
+	if (length<0) return EPHIDGET_INVALIDARG;
+	TESTPTR(phid);
+	TESTPTR(buffer);
+
+	//Parse device packets - store data locally
+	switch(phidG->deviceUID)
+	{
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1049:
+		{
+			int data;
+			double accelUncalib[3] = {0,0,0};
+			int time;
+			
+			//top 2 bits in buffer[0] are packet type
+			switch(buffer[0] & 0xc0)
+			{
+				case SPATIAL_PACKET_DATA:
+					if(phid->calDataValid)
+					{
+						count = buffer[0] / 3;
+						if(count == 0)
+							goto done;
+
+						//this timestamp is for the latest data
+						time = ((unsigned short)buffer[1]<<8) + (unsigned short)buffer[2];
+						if(phid->lastTimeCounterValid)
+						{
+							//0-255 ms
+							int timechange = (unsigned short)((unsigned short)time - (unsigned short)phid->lastTimeCounter);
+							timechange *= 1000; //us
+
+							phid->timestamp.seconds = phid->timestamp.seconds + (phid->timestamp.microseconds + timechange) / 1000000;
+							phid->timestamp.microseconds = (phid->timestamp.microseconds + timechange) % 1000000;
+						}
+						else
+						{
+							phid->lastTimeCounterValid = PTRUE;
+						}
+						phid->lastTimeCounter = time;
+
+						//add data to data buffer
+						for(i=0;i<count;i++)
+						{
+							//LIS344ALH - Vdd/15 V/g - 0x1fff/15 = 0x222 (546.06666666666666666666666666667)
+							for(j=0;j<3;j++)
+							{
+								data = ((unsigned short)buffer[3 + j * 2 + i * 6]<<8) + (unsigned short)buffer[4 + j * 2 + i * 6];
+								accelUncalib[j] = ((double)data - 0x0fff) / 546.066667;
+							}
+							accelUncalib[1] = -accelUncalib[1]; //reverse Y-axis
+							//Apply offsets
+							for(j=0;j<3;j++)
+							{
+								accelUncalib[j] -= phid->accelOffset[j];
+							}
+							//X
+							if(accelUncalib[0] > 0)
+								phid->dataBuffer[phid->bufferWritePtr].acceleration[0] = accelUncalib[0] * phid->accelGain1[0] + accelUncalib[1] * phid->accelFactor1[0] + accelUncalib[2] * phid->accelFactor2[0];
+							else
+								phid->dataBuffer[phid->bufferWritePtr].acceleration[0] = accelUncalib[0] * phid->accelGain2[0] + accelUncalib[1] * phid->accelFactor1[0] + accelUncalib[2] * phid->accelFactor2[0];
+							//Y
+							if(accelUncalib[1] > 0)
+								phid->dataBuffer[phid->bufferWritePtr].acceleration[1] = accelUncalib[1] * phid->accelGain1[1] + accelUncalib[0] * phid->accelFactor1[1] + accelUncalib[2] * phid->accelFactor2[1];
+							else
+								phid->dataBuffer[phid->bufferWritePtr].acceleration[1] = accelUncalib[1] * phid->accelGain2[1] + accelUncalib[0] * phid->accelFactor1[1] + accelUncalib[2] * phid->accelFactor2[1];
+							//Z
+							if(accelUncalib[2] > 0)
+								phid->dataBuffer[phid->bufferWritePtr].acceleration[2] = accelUncalib[2] * phid->accelGain1[2] + accelUncalib[0] * phid->accelFactor1[2] + accelUncalib[1] * phid->accelFactor2[2];
+							else
+								phid->dataBuffer[phid->bufferWritePtr].acceleration[2] = accelUncalib[2] * phid->accelGain2[2] + accelUncalib[0] * phid->accelFactor1[2] + accelUncalib[1] * phid->accelFactor2[2];
+
+
+							phid->latestDataTime.seconds = phid->timestamp.seconds + (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) / 1000000;
+							phid->latestDataTime.microseconds = (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) % 1000000;
+
+							phid->dataBuffer[phid->bufferWritePtr].timestamp = phid->latestDataTime;
+
+							phid->bufferWritePtr++;
+							if(phid->bufferWritePtr >= SPATIAL_DATA_BUFFER_SIZE)
+								phid->bufferWritePtr = 0;
+						}
+					}
+					break;
+				case SPATIAL_PACKET_CALIB:
+					for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)
+					{
+						cal = ((unsigned short)buffer[i*7 + 1]<<4) + ((unsigned short)buffer[i*7 + 2]>>4);
+						phid->accelGain1[i] = cal / (4096/0.4) + 0.8;
+						cal = (((unsigned short)buffer[i*7 + 2]<<8) & 0x0F00) | ((unsigned short)buffer[i*7 + 3]);
+						phid->accelGain2[i] = cal / (4096/0.4) + 0.8;
+						cal = (unsigned short)((unsigned short)buffer[i*7 + 4]<<8) + (unsigned short)buffer[i*7 + 5];
+						phid->accelOffset[i] = cal / (65535 / 1.0) - 0.5;
+						cal = (unsigned char)buffer[i*7 + 6];
+						phid->accelFactor1[i] = cal / (256 / 0.2) - 0.1;
+						cal = (unsigned char)buffer[i*7 + 7];
+						phid->accelFactor2[i] = cal / (256 / 0.2) - 0.1;
+						//LOG(PHIDGET_LOG_INFO, "Accel(%d) Calib: %1.4lf, %1.4lf, %1.4lf, %1.4lf, %1.4lf", i, 
+						//	phid->accelGain1[i], phid->accelGain2[i], phid->accelOffset[i], phid->accelFactor1[i], phid->accelFactor2[i]);
+					}
+					phid->calDataValid = PTRUE;
+					break;
+			}
+			break;
+		}
+		// 1043 (1049 Replacement v300) and 1041 (low-cost 0/0/3 v200)
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1041:
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1043:
+		{
+			int time;
+			int analogOrDigital = ((unsigned short)buffer[1]<<8) + (unsigned short)buffer[2];
+			count = buffer[0];
+
+			if(count == 0)
+				goto done;
+
+			//this timestamp is for the latest data
+			time = ((unsigned short)buffer[3]<<8) + (unsigned short)buffer[4];
+			updateTimestamp(phid, time);
+
+			//add data to data buffer
+			for(i=0;i<count;i++)
+			{
+				int countOffset = i * 6; //Each set of samples is 6 bytes
+				for(j=0;j<3;j++)
+				{
+					int indexOffset = j * 2; //Each value is 2 bytes
+					short accelData	= (signed short)((unsigned short)buffer[5 + indexOffset + countOffset]<<8) + (unsigned short)buffer[6 + indexOffset + countOffset];
+
+					//digital accel
+					if(analogOrDigital & (0x01 << i))
+						phid->dataBuffer[phid->bufferWritePtr].acceleration[j] = (double)accelData / SPATIAL_MMA8451Q_BITS_PER_G;
+					//analog accel
+					else
+						phid->dataBuffer[phid->bufferWritePtr].acceleration[j] = (double)accelData / SPATIAL_KXR94_2050_w_AD7689_BITS_PER_G;
+				}
+
+				phid->latestDataTime.seconds = phid->timestamp.seconds + (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) / 1000000;
+				phid->latestDataTime.microseconds = (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) % 1000000;
+
+				phid->dataBuffer[phid->bufferWritePtr].timestamp = phid->latestDataTime;
+
+				phid->bufferWritePtr++;
+				if(phid->bufferWritePtr >= SPATIAL_DATA_BUFFER_SIZE)
+					phid->bufferWritePtr = 0;
+			}
+			break;
+		}
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056:
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056_NEG_GAIN:
+			//top 2 bits in buffer[0] are packet type
+			switch(buffer[0])
+			{
+				case SPATIAL_PACKET_DATA:
+					if(phid->calDataValid)
+					{
+						int data;
+						double accelUncalib[3] = {0,0,0};
+						double gyroUncalib[3] = {0,0,0};
+						int time;
+						
+						count = (buffer[1] & 0x1f) / 9;
+						if(count == 0)
+							goto done;
+
+						//this timestamp is for the latest data
+						time = ((unsigned short)buffer[2]<<8) + (unsigned short)buffer[3];
+						if(phid->lastTimeCounterValid)
+						{
+							//0-255 ms
+							int timechange = (unsigned short)((unsigned short)time - (unsigned short)phid->lastTimeCounter);
+							timechange *= 1000; //us
+
+							phid->timestamp.seconds = phid->timestamp.seconds + (phid->timestamp.microseconds + timechange) / 1000000;
+							phid->timestamp.microseconds = (phid->timestamp.microseconds + timechange) % 1000000;
+						}
+						else
+						{
+							phid->lastTimeCounterValid = PTRUE;
+						}
+						phid->lastTimeCounter = time;
+
+						//add data to data buffer
+						for(i=0;i<count;i++)
+						{
+							//LIS344ALH - Vdd/15 V/g - 0xffff/15 = 0x1111 (4369.0)
+							for(j=0;j<3;j++)
+							{
+								data = ((unsigned short)buffer[4 + j * 2 + i * 18]<<8) + (unsigned short)buffer[5 + j * 2 + i * 18];
+								accelUncalib[j] = ((double)data - 0x7fff) / 4369.0;
+							}
+							accelUncalib[1] = -accelUncalib[1]; //reverse Y-axis
+							//Apply offsets
+							for(j=0;j<3;j++)
+							{
+								accelUncalib[j] -= phid->accelOffset[j];
+							}
+							//X
+							if(accelUncalib[0] > 0)
+								phid->dataBuffer[phid->bufferWritePtr].acceleration[0] = accelUncalib[0] * phid->accelGain1[0] + accelUncalib[1] * phid->accelFactor1[0] + accelUncalib[2] * phid->accelFactor2[0];
+							else
+								phid->dataBuffer[phid->bufferWritePtr].acceleration[0] = accelUncalib[0] * phid->accelGain2[0] + accelUncalib[1] * phid->accelFactor1[0] + accelUncalib[2] * phid->accelFactor2[0];
+							//Y
+							if(accelUncalib[1] > 0)
+								phid->dataBuffer[phid->bufferWritePtr].acceleration[1] = accelUncalib[1] * phid->accelGain1[1] + accelUncalib[0] * phid->accelFactor1[1] + accelUncalib[2] * phid->accelFactor2[1];
+							else
+								phid->dataBuffer[phid->bufferWritePtr].acceleration[1] = accelUncalib[1] * phid->accelGain2[1] + accelUncalib[0] * phid->accelFactor1[1] + accelUncalib[2] * phid->accelFactor2[1];
+							//Z
+							if(accelUncalib[2] > 0)
+								phid->dataBuffer[phid->bufferWritePtr].acceleration[2] = accelUncalib[2] * phid->accelGain1[2] + accelUncalib[0] * phid->accelFactor1[2] + accelUncalib[1] * phid->accelFactor2[2];
+							else
+								phid->dataBuffer[phid->bufferWritePtr].acceleration[2] = accelUncalib[2] * phid->accelGain2[2] + accelUncalib[0] * phid->accelFactor1[2] + accelUncalib[1] * phid->accelFactor2[2];
+
+							//ADC ref is 0-3.3V - 50.355uV/bit, gyro zero rate is 1.23V, 2.5mV/deg/s - these voltages are fixed, non-ratiometric to Vref
+							// 1 / 0.000050355 = 19859 (1V)
+							// 1.23 * 19859 = 24427
+							// 0.0025 * 19859 = 49.6477bits/deg/s
+							for(j=0;j<3;j++)
+							{
+								data = ((unsigned short)buffer[10 + j * 2 + i * 18]<<8) + (unsigned short)buffer[11 + j * 2 + i * 18];
+								if(j==1)
+									gyroUncalib[j] = ((double)(data-24427) + phid->gyroOffset[j]) / 49.6477;
+								else
+									gyroUncalib[j] = ((double)-(data-24427) + phid->gyroOffset[j]) / 49.6477; //reverse X/Z-axis
+							}
+							//0 - we multiply these by their gains so revered axes will still appear positive and get the correct gain
+							if((gyroUncalib[0] * phid->gyroGain1[0]) > 0)
+								phid->dataBuffer[phid->bufferWritePtr].angularRate[0] = gyroUncalib[0] * phid->gyroGain1[0] - gyroUncalib[1] * phid->gyroFactor1[0] - gyroUncalib[2] * phid->gyroFactor2[0];
+							else
+								phid->dataBuffer[phid->bufferWritePtr].angularRate[0] = gyroUncalib[0] * phid->gyroGain2[0] - gyroUncalib[1] * phid->gyroFactor1[0] - gyroUncalib[2] * phid->gyroFactor2[0];
+							//1
+							if((gyroUncalib[1] * phid->gyroGain1[1]) > 0)
+								phid->dataBuffer[phid->bufferWritePtr].angularRate[1] = gyroUncalib[1] * phid->gyroGain1[1] - gyroUncalib[0] * phid->gyroFactor1[1] - gyroUncalib[2] * phid->gyroFactor2[1];
+							else
+								phid->dataBuffer[phid->bufferWritePtr].angularRate[1] = gyroUncalib[1] * phid->gyroGain2[1] - gyroUncalib[0] * phid->gyroFactor1[1] - gyroUncalib[2] * phid->gyroFactor2[1];
+							//2
+							if((gyroUncalib[2] * phid->gyroGain1[2]) > 0)
+								phid->dataBuffer[phid->bufferWritePtr].angularRate[2] = gyroUncalib[2] * phid->gyroGain1[2] - gyroUncalib[0] * phid->gyroFactor1[2] - gyroUncalib[1] * phid->gyroFactor2[2];
+							else
+								phid->dataBuffer[phid->bufferWritePtr].angularRate[2] = gyroUncalib[2] * phid->gyroGain2[2] - gyroUncalib[0] * phid->gyroFactor1[2] - gyroUncalib[1] * phid->gyroFactor2[2];
+
+							//checks if compass data is valid
+							//Note: we miss ~7 samples (28ms) every second while the compass is callibrating
+							if(buffer[1] & (0x80 >> i))
+							{
+								//ADC 50.355uV/bit (0-3.3V)
+								//ideal compass midpoint is 0x7FFF (32767) (1.65V) 
+								//valid range for zero field offset is: 0.825V - 2.475V (16384-49151) (+-16384)
+								// Note that this may be less (~3x) because the Gain is less, but I'm not sure. (+-5460)
+								//valid output voltage range is defined as 0.165V - 3.135V (3277-62258), 
+								// so we can't really trust values outside of this, though we do seem to get valid data...
+								//ideal sensitivity is 250mV/gauss (ext. resistor), valid range is 195 - 305
+								// 1 / 0.000050355 = 19859 (1Volt)
+								// 0.250 * 19859 = 4964.75 bits/gauss (1.0 gain) (ideal) - valid range is (3861-6068) (+-1103)
+								//We have defined the compass gain multiplier to be based on 6500bits/gauss to keep the math resonable,
+								// so we must use that value here. Implications?
+								//The largest range we can guarantee is:
+								// 16384-3277/6068 = +-2.16 gauss or, more likely: +-3.96 gauss
+								// Ideal is: 32767-3277/4964.75 = +-5.94 gauss
+								// we can tell from the incoming data whether it's valid or not, 
+								// we'll probably have more range in one dirrection then the other because of offset.
+								for(j=0;j<phid->phid.attr.spatial.numCompassAxes; j++)
+								{
+									data = ((unsigned short)buffer[16 + i * 18 + j * 2]<<8) + (unsigned short)buffer[17 + i * 18 + j * 2];
+									//if we are not within (3277-62258), data is not valid
+									if(data < 3277)
+									{
+										phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMin;
+										break;
+									}
+									if(data > 62258)
+									{
+										phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMax;
+										break;
+									}
+
+									//if gain or offset don't make sense, throw out data
+									//if(phid->compassGain[j] > 6068 || phid->compassGain[j] < 3861 || 
+									if(phid->compassGain[j] > 6068 || phid->compassGain[j] < 2500 || //lower gains seem to be common
+										phid->compassOffset[j] > 5460 || phid->compassOffset[j] < -5460)
+									{
+										if(data > 32767)
+											phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMax;
+										else
+											phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMin;
+										break;
+									}
+
+									//Convert ADC to Gauss
+									phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = 
+										-((double)data - 0x7fff - phid->compassOffset[j]) / phid->compassGain[j];
+
+									//constrain to max/min
+									//ie if field is 4.02 and max is 4.1, make it 4.1, since real max is 4.0
+									if(phid->dataBuffer[phid->bufferWritePtr].magneticField[j] > (phid->magneticFieldMax - 0.1))
+										phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMax;
+									if(phid->dataBuffer[phid->bufferWritePtr].magneticField[j] < (phid->magneticFieldMin + 0.1))
+										phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = phid->magneticFieldMin;
+								}
+
+							}
+							else
+							{
+								phid->dataBuffer[phid->bufferWritePtr].magneticField[0] = PUNK_DBL;
+								phid->dataBuffer[phid->bufferWritePtr].magneticField[1] = PUNK_DBL;
+								phid->dataBuffer[phid->bufferWritePtr].magneticField[2] = PUNK_DBL;
+							}
+
+							phid->latestDataTime.seconds = phid->timestamp.seconds + (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) / 1000000;
+							phid->latestDataTime.microseconds = (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) % 1000000;
+
+							phid->dataBuffer[phid->bufferWritePtr].timestamp = phid->latestDataTime;
+
+							phid->bufferWritePtr++;
+							if(phid->bufferWritePtr >= SPATIAL_DATA_BUFFER_SIZE)
+								phid->bufferWritePtr = 0;
+						}
+					}
+					break;
+				case SPATIAL_PACKET_CALIB:
+					for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)
+					{
+						cal = ((unsigned short)buffer[i*7 + 1]<<4) + ((unsigned short)buffer[i*7 + 2]>>4);
+						phid->accelGain1[i] = cal / (4096/0.4) + 0.8;
+						cal = (((unsigned short)buffer[i*7 + 2]<<8) & 0x0F00) | ((unsigned short)buffer[i*7 + 3]);
+						phid->accelGain2[i] = cal / (4096/0.4) + 0.8;
+						cal = (unsigned short)((unsigned short)buffer[i*7 + 4]<<8) + (unsigned short)buffer[i*7 + 5];
+						phid->accelOffset[i] = cal / (65535 / 1.0) - 0.5;
+						cal = (unsigned char)buffer[i*7 + 6];
+						phid->accelFactor1[i] = cal / (256 / 0.2) - 0.1;
+						cal = (unsigned char)buffer[i*7 + 7];
+						phid->accelFactor2[i] = cal / (256 / 0.2) - 0.1;
+						//LOG(PHIDGET_LOG_INFO, "Accel(%d) Calib: %1.4lf, %1.4lf, %1.4lf, %1.4lf, %1.4lf", i, 
+						//	phid->accelGain1[i], phid->accelGain2[i], phid->accelOffset[i], phid->accelFactor1[i], phid->accelFactor2[i]);
+					}
+					for (j=0; j<phid->phid.attr.spatial.numGyroAxes; i++,j++)
+					{
+						if (phidG->deviceUID == PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056)
+						{
+							cal = ((unsigned short)buffer[i*7 + 1]<<4) + ((unsigned short)buffer[i*7 + 2]>>4);
+							phid->gyroGain1[j] = cal / (4096/0.4) + 0.8;
+							cal = (((unsigned short)buffer[i*7 + 2]<<8) & 0x0F00) | ((unsigned short)buffer[i*7 + 3]);
+							phid->gyroGain2[j] = cal / (4096/0.4) + 0.8;
+						}
+						//Allow for negative gains
+						else if (phidG->deviceUID == PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056_NEG_GAIN)
+						{
+							cal = ((signed short)((signed char)buffer[i*7 + 1])<<4) + ((unsigned short)buffer[i*7 + 2]>>4);
+							phid->gyroGain1[j] = cal / (4096/0.4) + (cal > 0 ? 0.9 : -0.9);
+							cal = ((((unsigned short)buffer[i*7 + 2]<<8) & 0x0F00) | ((unsigned short)buffer[i*7 + 3]) ) << 4;
+							cal = (signed short)cal >> 4;
+							phid->gyroGain2[j] = cal / (4096/0.4) + (cal > 0 ? 0.9 : -0.9);
+						}
+						cal = (signed short)((unsigned short)buffer[i*7 + 4]<<8) + (unsigned short)buffer[i*7 + 5];
+						phid->gyroOffset[j] = cal;
+						cal = (unsigned char)buffer[i*7 + 6];
+						phid->gyroFactor1[j] = cal / (256 / 0.1) - 0.05;
+						cal = (unsigned char)buffer[i*7 + 7];
+						phid->gyroFactor2[j] = cal / (256 / 0.1) - 0.05;
+
+//Zero out calibrations
+#if 0
+						phid->gyroGain1[j] = 1;
+						phid->gyroGain2[j] = 1;
+						phid->gyroOffset[j] = 0;
+						phid->gyroFactor1[j] = 0;
+						phid->gyroFactor2[j] = 0;
+#endif
+
+						LOG(PHIDGET_LOG_VERBOSE, "Gyro(%d) Calib: %1.4lf, %1.4lf, %1.4lf, %1.4lf, %1.4lf", j, 
+							phid->gyroGain1[j], phid->gyroGain2[j], phid->gyroOffset[j], phid->gyroFactor1[j], phid->gyroFactor2[j]);
+					}
+					for(j=0;j<phid->phid.attr.spatial.numCompassAxes; j++)
+					{
+						phid->compassOffset[j] = (signed short)((unsigned short)buffer[j*4 + 49]<<8) + (unsigned short)buffer[j*4 + 50];
+						phid->compassGain[j] = ((unsigned short)buffer[j*4 + 51]<<8) + (unsigned short)buffer[j*4 + 52];
+						//phid->compassGain[j] = 4964;
+					}
+					//LOG(PHIDGET_LOG_INFO, "Compass Gain: %d, %d, %d", phid->compassGain[0], phid->compassGain[1], phid->compassGain[2]);
+					//LOG(PHIDGET_LOG_INFO, "Compass Offset: %d, %d, %d", phid->compassOffset[0], phid->compassOffset[1], phid->compassOffset[2]);
+					phid->calDataValid = PTRUE;
+					break;
+			}
+			break;
+
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1042:
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044:
+		{
+			int time;
+			int flags = buffer[1];
+			count = buffer[0];
+
+			if(count == 0)
+				goto done;
+
+			//this timestamp is for the latest data
+			time = ((unsigned short)buffer[2]<<8) + (unsigned short)buffer[3];
+			updateTimestamp(phid, time);
+
+			//add data to data buffer
+			for(i=0;i<count;i++)
+			{
+				int countOffset = i * 18; //Each set of samples is 18 bytes
+				for(j=0;j<3;j++)
+				{
+					int indexOffset = j * 2; //Each value is 2 bytes
+					short accelData	= (signed short)((unsigned short)buffer[ 4 + indexOffset + countOffset] << 8) + (unsigned short)buffer[ 5 + indexOffset + countOffset];
+					short gyroData  = (signed short)((unsigned short)buffer[10 + indexOffset + countOffset] << 8) + (unsigned short)buffer[11 + indexOffset + countOffset];
+					short magData   = (signed short)((unsigned short)buffer[16 + indexOffset + countOffset] << 8) + (unsigned short)buffer[17 + indexOffset + countOffset];
+
+					//digital accel
+					if(flags & (0x02 >> i))
+						phid->dataBuffer[phid->bufferWritePtr].acceleration[j] = (double)accelData / SPATIAL_MMA8451Q_BITS_PER_G;
+					//analog accel
+					else
+						phid->dataBuffer[phid->bufferWritePtr].acceleration[j] = (double)accelData / SPATIAL_KXR94_2050_w_AD7689_BITS_PER_G;
+					
+					//digital gyro
+					if(flags & (0x08 >> i))
+							phid->dataBuffer[phid->bufferWritePtr].angularRate[j] = (double)gyroData / SPATIAL_L3GD20_BITS_PER_DPS;
+					//analog gyro
+					else
+						if(j==2)
+							phid->dataBuffer[phid->bufferWritePtr].angularRate[j] = (double)(gyroData) / SPATIAL_LY330ALH_w_AD7689_BITS_PER_DPS;
+						else
+							phid->dataBuffer[phid->bufferWritePtr].angularRate[j] = (double)(gyroData) / SPATIAL_LRP410AL_w_AD7689_BITS_PER_DPS;
+									
+					//compass valid
+					if(flags & (0x20 >> i))
+						phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = magData / SPATIAL_HMC5883L_BITS_PER_GAUSS;
+					//no compass data
+					else
+						phid->dataBuffer[phid->bufferWritePtr].magneticField[j] = PUNK_DBL;
+				}
+
+				phid->latestDataTime.seconds = phid->timestamp.seconds + (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) / 1000000;
+				phid->latestDataTime.microseconds = (phid->timestamp.microseconds + (i + 1) * phid->dataRateMax * 1000) % 1000000;
+
+				phid->dataBuffer[phid->bufferWritePtr].timestamp = phid->latestDataTime;
+
+				phid->bufferWritePtr++;
+				if(phid->bufferWritePtr >= SPATIAL_DATA_BUFFER_SIZE)
+					phid->bufferWritePtr = 0;
+			}
+			break;
+		}
+		default:
+			return EPHIDGET_UNEXPECTED;
+	}
+
+	if(phid->doZeroGyro)
+	{
+		//done
+		if(timestampdiff(phid->latestDataTime, phid->dataBuffer[phid->gyroZeroReadPtr].timestamp) >= SPATIAL_ZERO_GYRO_TIME)
+		{
+			double gryoCorrectionTemp[SPATIAL_MAX_GYROAXES] = {0,0,0};
+			int gryoCorrectionCount = 0;
+
+			while(phid->gyroZeroReadPtr != phid->bufferWritePtr)
+			{
+				for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)
+				{
+					gryoCorrectionTemp[i] += phid->dataBuffer[phid->gyroZeroReadPtr].angularRate[i];
+				}
+
+				phid->gyroZeroReadPtr++;
+				if(phid->gyroZeroReadPtr >= SPATIAL_DATA_BUFFER_SIZE)
+					phid->gyroZeroReadPtr = 0;
+
+				gryoCorrectionCount++;
+			}
+			
+			for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)
+			{
+				phid->gryoCorrection[i] = gryoCorrectionTemp[i] / (double)gryoCorrectionCount;
+			}
+
+			doneGyroZero = PTRUE;
+		}
+	}
+
+	//see if it's time for an event
+	if(timestampdiff(phid->latestDataTime, phid->lastEventTime) >= dataRate)
+	{
+		CPhidget_Timestamp tempTime;
+		//int lastPtr;
+		int accelCounter[SPATIAL_MAX_ACCELAXES], angularRateCounter[SPATIAL_MAX_ACCELAXES], magneticFieldCounter[SPATIAL_MAX_ACCELAXES];
+
+		int dataPerEvent = 0;
+
+		int multipleDataPerEvent = PFALSE;
+
+		if(dataRate < phid->interruptRate)
+			multipleDataPerEvent = PTRUE;
+
+		//max of 16 data per event
+		eventData = malloc(16 * sizeof(CPhidgetSpatial_SpatialEventDataHandle));
+		
+		for(j=0;;j++)
+		{
+			//makes sure we read all data
+			if(phid->bufferReadPtr == phid->bufferWritePtr || j>=16)
+			{
+				dataPerEvent = j;
+				break;
+			}
+
+			eventData[j] = malloc(sizeof(CPhidgetSpatial_SpatialEventData));
+			ZEROMEM(accelCounter, sizeof(accelCounter));
+			ZEROMEM(angularRateCounter, sizeof(angularRateCounter));
+			ZEROMEM(magneticFieldCounter, sizeof(magneticFieldCounter));
+
+			tempTime = phid->dataBuffer[phid->bufferReadPtr].timestamp;
+
+			//average data for each stage
+			while(phid->bufferReadPtr != phid->bufferWritePtr && 
+				(!multipleDataPerEvent || timestampdiff(phid->dataBuffer[phid->bufferReadPtr].timestamp, tempTime) < dataRate))
+			{
+				for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)
+				{
+					if(phid->dataBuffer[phid->bufferReadPtr].acceleration[i] != PUNK_DBL)
+					{
+						if(phid->dataBuffer[phid->bufferReadPtr].acceleration[i] > phid->accelerationMax)
+							phid->dataBuffer[phid->bufferReadPtr].acceleration[i] = phid->accelerationMax;
+						if(phid->dataBuffer[phid->bufferReadPtr].acceleration[i] < phid->accelerationMin) 
+							phid->dataBuffer[phid->bufferReadPtr].acceleration[i] = phid->accelerationMin;
+						accelAvg[i] += phid->dataBuffer[phid->bufferReadPtr].acceleration[i];
+						accelCounter[i]++;
+					}
+				}
+				for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)
+				{
+					if(phid->dataBuffer[phid->bufferReadPtr].angularRate[i] != PUNK_DBL)
+					{
+						double rate = phid->dataBuffer[phid->bufferReadPtr].angularRate[i] - phid->gryoCorrection[i];
+
+						if(rate > phid->angularRateMax) 
+							angularRateAvg[i] += phid->angularRateMax;
+						else if(rate < phid->angularRateMin) 
+							angularRateAvg[i] += phid->angularRateMin;
+						else
+							angularRateAvg[i] += rate;
+						angularRateCounter[i]++;
+					}
+				}
+				for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)
+				{
+					if(phid->dataBuffer[phid->bufferReadPtr].magneticField[i] != PUNK_DBL)
+					{
+						if(phid->dataBuffer[phid->bufferReadPtr].magneticField[i] > phid->magneticFieldMax) 
+							phid->dataBuffer[phid->bufferReadPtr].magneticField[i] = phid->magneticFieldMax;
+						if(phid->dataBuffer[phid->bufferReadPtr].magneticField[i] < phid->magneticFieldMin) 
+							phid->dataBuffer[phid->bufferReadPtr].magneticField[i] = phid->magneticFieldMin;
+						magneticFieldAvg[i] += phid->dataBuffer[phid->bufferReadPtr].magneticField[i];
+						magneticFieldCounter[i]++;
+					}
+				}
+
+				//lastPtr = phid->bufferReadPtr;
+
+				phid->bufferReadPtr++;
+				if(phid->bufferReadPtr >= SPATIAL_DATA_BUFFER_SIZE)
+					phid->bufferReadPtr = 0;
+			}
+
+			for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)
+			{
+				if(accelCounter[i] > 0)
+					eventData[j]->acceleration[i] = round_double(accelAvg[i] / (double)accelCounter[i], 5);
+				else
+					eventData[j]->acceleration[i] = PUNK_DBL;
+				accelAvg[i] = 0;
+			}
+			for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)
+			{
+				if(angularRateCounter[i] > 0)
+				{
+					if(phid->doZeroGyro && !doneGyroZero)
+						eventData[j]->angularRate[i] = 0;
+					else
+						eventData[j]->angularRate[i] = round_double(angularRateAvg[i] / (double)angularRateCounter[i], 5);
+				}
+				else
+					eventData[j]->angularRate[i] = PUNK_DBL;
+				angularRateAvg[i] = 0;
+			}
+			for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)
+			{
+				if(magneticFieldCounter[i] > 0)
+					eventData[j]->magneticField[i] = round_double(magneticFieldAvg[i] / (double)magneticFieldCounter[i], 5);
+				else
+					eventData[j]->magneticField[i] = PUNK_DBL;
+				magneticFieldAvg[i] = 0;
+			}
+			eventData[j]->timestamp = tempTime;
+		}
+
+		//correct magnetic field data in the event structure
+		// But only on devices that don't do this in Firmware!
+		switch(phid->phid.deviceUID)
+		{
+			case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056:
+			case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056_NEG_GAIN:
+				for( j = 0; j < dataPerEvent; j++)
+				{
+					for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)
+					{
+						magneticFieldCorr[i] = eventData[j]->magneticField[i];
+					}
+					for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)
+					{
+						if(eventData[j]->magneticField[i] != PUNK_DBL)
+						{
+							eventData[j]->magneticField[i] = getCorrectedField(phid, magneticFieldCorr, i);
+						}
+					}
+				}
+				break;
+			case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1042:
+			case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044:
+			default:
+				break;
+		}
+
+		//store to local structure
+		ZEROMEM(accelCounter, sizeof(accelCounter));
+		ZEROMEM(angularRateCounter, sizeof(angularRateCounter));
+		ZEROMEM(magneticFieldCounter, sizeof(magneticFieldCounter));
+		for( j = 0; j < dataPerEvent; j++)
+		{
+			for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)
+			{
+				if(eventData[j]->acceleration[i] != PUNK_DBL)
+				{
+					accelAvg[i] += eventData[j]->acceleration[i];
+					accelCounter[i]++;
+				}
+			}
+			for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)
+			{
+				if(eventData[j]->angularRate[i] != PUNK_DBL)
+				{
+					angularRateAvg[i] += eventData[j]->angularRate[i];
+					angularRateCounter[i]++;
+				}
+			}
+			for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)
+			{
+				if(eventData[j]->magneticField[i] != PUNK_DBL)
+				{
+					magneticFieldAvg[i] += eventData[j]->magneticField[i];
+					magneticFieldCounter[i]++;
+				}
+			}
+		}
+
+		//Set local get data to averages
+		for (i = 0; i<phid->phid.attr.spatial.numAccelAxes; i++)
+		{
+			if(accelCounter[i] > 0)
+				phid->accelAxis[i] = round_double(accelAvg[i] / (double)accelCounter[i], 5);
+			else
+				phid->accelAxis[i] = PUNK_DBL;
+		}
+		for (i = 0; i<phid->phid.attr.spatial.numGyroAxes; i++)
+		{
+			if(angularRateCounter[i] > 0)
+			{
+				if(phid->doZeroGyro && !doneGyroZero)
+					phid->gyroAxis[i] = 0;
+				else
+					phid->gyroAxis[i] = round_double(angularRateAvg[i] / (double)angularRateCounter[i], 5);
+			}
+			else
+				phid->gyroAxis[i] = PUNK_DBL;
+		}
+		for (i = 0; i<phid->phid.attr.spatial.numCompassAxes; i++)
+		{
+			if(magneticFieldCounter[i] > 0)
+				phid->compassAxis[i] = round_double(magneticFieldAvg[i] / (double)magneticFieldCounter[i], 5);
+			else
+				phid->compassAxis[i] = PUNK_DBL;
+		}
+		
+		//send out any events
+		FIRE(SpatialData, eventData, dataPerEvent);
+
+		phid->lastEventTime = phid->latestDataTime;
+
+		for(i=0;i<dataPerEvent;i++)
+			free(eventData[i]);
+		free(eventData);
+	}
+done:
+
+	//this will signal the zero function to return;
+	if(doneGyroZero)
+		phid->doZeroGyro = PFALSE;
+
+	return EPHIDGET_OK;
+}
+
+//eventsAfterOpen - sends out an event for all valid data, used during attach initialization
+CPHIDGETINITEVENTS(Spatial)
+	TESTPTR(phid);
+	//don't need to worry, because the interrupts come at a set rate
+	return EPHIDGET_OK;
+}
+
+//getPacket - not used for spatial
+CGETPACKET(Spatial)
+	return EPHIDGET_UNEXPECTED;
+}
+
+static double getCorrectedField(CPhidgetSpatialHandle phid, double fields[], int axis)
+{
+	switch(axis)
+	{
+	case 0:
+		return phid->userMagField * 
+			(phid->userCompassGain[0] * (fields[0] - phid->userCompassOffset[0])
+			+ phid->userCompassTransform[0] * (fields[1] - phid->userCompassOffset[1])
+			+ phid->userCompassTransform[1] * (fields[2] - phid->userCompassOffset[2]));
+	case 1:
+		return phid->userMagField * 
+			(phid->userCompassGain[1] * (fields[1] - phid->userCompassOffset[1])
+			+ phid->userCompassTransform[2] * (fields[0] - phid->userCompassOffset[0])
+			+ phid->userCompassTransform[3] * (fields[2] - phid->userCompassOffset[2]));
+	case 2:
+		return phid->userMagField * 
+			(phid->userCompassGain[2] * (fields[2] - phid->userCompassOffset[2])
+			+ phid->userCompassTransform[4] * (fields[0] - phid->userCompassOffset[0])
+			+ phid->userCompassTransform[5] * (fields[1] - phid->userCompassOffset[1]));
+	default:
+		return 0;
+	}
+}
+
+// Accel and Gyro tables are the same structure - just different table IDs.
+static int setCalibrationValues_inFirmware(CPhidgetSpatialHandle phid, int tableID, int index,
+	double gainPositive[3], double gainNegative[3], double offset[3], double factor1[3], double factor2[3])
+{
+	unsigned char buffer[SPATIAL_ACCEL_GYRO_CALIB_TABLE_LENGTH] = {0};
+	int i;
+	double offsetMultipliers[3];
+	unsigned int header;
+
+	TESTPTR(phid)
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+
+	if(!deviceSupportsGeneralUSBProtocol((CPhidgetHandle)phid))
+		return EPHIDGET_UNSUPPORTED;
+
+	switch(phid->phid.deviceUID)
+	{
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1043:
+			if(index == SPATIAL_ANALOG_ACCEL_CALIB_TABLE_INDEX)
+			{
+				offsetMultipliers[0] = offsetMultipliers[1] = offsetMultipliers[2] = SPATIAL_KXR94_2050_w_AD7689_BITS_PER_G;
+				break;
+			}
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1041:
+			if(index == SPATIAL_DIGITAL_ACCEL_CALIB_TABLE_INDEX)
+			{
+				offsetMultipliers[0] = offsetMultipliers[1] = offsetMultipliers[2] = SPATIAL_MMA8451Q_BITS_PER_G;
+				break;
+			}
+			else
+				return EPHIDGET_UNSUPPORTED;
+
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044:
+			if(index == SPATIAL_ANALOG_GYRO_CALIB_TABLE_INDEX)
+			{
+				offsetMultipliers[0] = offsetMultipliers[1] = SPATIAL_LRP410AL_w_AD7689_BITS_PER_DPS;
+				offsetMultipliers[2] = SPATIAL_LY330ALH_w_AD7689_BITS_PER_DPS;
+				break;
+			}
+			if(index == SPATIAL_ANALOG_ACCEL_CALIB_TABLE_INDEX)
+			{
+				offsetMultipliers[0] = offsetMultipliers[1] = offsetMultipliers[2] = SPATIAL_KXR94_2050_w_AD7689_BITS_PER_G;
+				break;
+			}
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1042:
+			if(index == SPATIAL_DIGITAL_GYRO_CALIB_TABLE_INDEX)
+			{
+				offsetMultipliers[0] = offsetMultipliers[1] = offsetMultipliers[2] = SPATIAL_L3GD20_BITS_PER_DPS;
+				break;
+			}
+			if(index == SPATIAL_DIGITAL_ACCEL_CALIB_TABLE_INDEX)
+			{
+				offsetMultipliers[0] = offsetMultipliers[1] = offsetMultipliers[2] = SPATIAL_MMA8451Q_BITS_PER_G;
+				break;
+			}
+			else
+				return EPHIDGET_UNSUPPORTED;
+		default:
+			return EPHIDGET_UNSUPPORTED;
+	}
+
+	header = (((unsigned int)tableID) << 20) | SPATIAL_ACCEL_GYRO_CALIB_TABLE_LENGTH;
+
+    buffer[3] = header >> 24; //header high byte
+    buffer[2] = header >> 16;
+    buffer[1] = header >> 8;
+    buffer[0] = header >> 0; //header low byte
+
+	for(i=0;i<3;i++)
+	{
+		int int32Offset = i * 4;
+		int temp;
+
+		temp = round(gainPositive[i] * (double)0x10000);
+		buffer[int32Offset +  7] = temp >> 24;
+		buffer[int32Offset +  6] = temp >> 16;
+		buffer[int32Offset +  5] = temp >> 8;
+		buffer[int32Offset +  4] = temp >> 0;
+		
+		temp = round(gainNegative[i] * (double)0x10000);
+		buffer[int32Offset + 19] = temp >> 24;
+		buffer[int32Offset + 18] = temp >> 16;
+		buffer[int32Offset + 17] = temp >> 8;
+		buffer[int32Offset + 16] = temp >> 0;
+
+		temp = round(offset[i] * offsetMultipliers[i]);
+		buffer[int32Offset + 31] = temp >> 24;
+		buffer[int32Offset + 30] = temp >> 16;
+		buffer[int32Offset + 29] = temp >> 8;
+		buffer[int32Offset + 28] = temp >> 0;
+
+		temp = round(factor1[i] * (double)0x10000);
+		buffer[int32Offset + 43] = temp >> 24;
+		buffer[int32Offset + 42] = temp >> 16;
+		buffer[int32Offset + 41] = temp >> 8;
+		buffer[int32Offset + 40] = temp >> 0;
+
+		temp = round(factor2[i] * (double)0x10000);
+		buffer[int32Offset + 55] = temp >> 24;
+		buffer[int32Offset + 54] = temp >> 16;
+		buffer[int32Offset + 53] = temp >> 8;
+		buffer[int32Offset + 52] = temp >> 0;
+	}
+
+	if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))
+	{
+		//TODO - maybe, maybe not.
+		return EPHIDGET_UNSUPPORTED;
+	}
+	else
+		return CPhidgetGPP_setDeviceSpecificConfigTable((CPhidgetHandle)phid, buffer, SPATIAL_ACCEL_GYRO_CALIB_TABLE_LENGTH, index);
+}
+
+static int setCompassCorrectionTable_inFimrware(
+	CPhidgetSpatialHandle phid, 
+	double magField, 
+	double offset0, double offset1, double offset2, 
+	double gain0, double gain1, double gain2, 
+	double T0, double T1, double T2, double T3, double T4, double T5)
+{
+	unsigned char buffer[SPATIAL_COMPASS_CALIB_TABLE_LENGTH] = {0};
+	int i;
+	int gains[3], offsets[3], transforms[6], mag;
+	TESTPTR(phid)
+	if (!CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_ATTACHED_FLAG))
+		return EPHIDGET_NOTATTACHED;
+
+	if(!deviceSupportsGeneralUSBProtocol((CPhidgetHandle)phid))
+		return EPHIDGET_UNSUPPORTED;
+
+	//compass calibration table Header is: 0x3EA00038
+    buffer[3] = 0x3E; //header high byte
+    buffer[2] = 0xA0;
+    buffer[1] = 0x00;
+    buffer[0] = SPATIAL_COMPASS_CALIB_TABLE_LENGTH; //header low byte
+
+	//Mag Field (x0x10000)
+	mag = round(magField * (double)0x10000);
+    buffer[7] = mag >> 24;
+    buffer[6] = mag >> 16;
+    buffer[5] = mag >> 8;
+    buffer[4] = mag >> 0;
+
+	//Gain (x0x10000)
+	gains[0] = round(gain0 * (double)0x10000);
+	gains[1] = round(gain1 * (double)0x10000);
+	gains[2] = round(gain2 * (double)0x10000);
+	for(i=0;i<3;i++)
+	{
+		buffer[i*4+11] = gains[i] >> 24;
+		buffer[i*4+10] = gains[i] >> 16;
+		buffer[i*4+9] = gains[i] >> 8;
+		buffer[i*4+8] = gains[i] >> 0;
+	}
+
+	//Offset
+	offsets[0] = round(offset0 * (double)SPATIAL_HMC5883L_BITS_PER_GAUSS);
+	offsets[1] = round(offset1 * (double)SPATIAL_HMC5883L_BITS_PER_GAUSS);
+	offsets[2] = round(offset2 * (double)SPATIAL_HMC5883L_BITS_PER_GAUSS);
+	for(i=0;i<3;i++)
+	{
+		buffer[i*4+23] = offsets[i] >> 24;
+		buffer[i*4+22] = offsets[i] >> 16;
+		buffer[i*4+21] = offsets[i] >> 8;
+		buffer[i*4+20] = offsets[i] >> 0;
+	}
+
+	//Transforms (x0x10000)
+	transforms[0] = round(T0 * (double)0x10000);
+	transforms[1] = round(T1 * (double)0x10000);
+	transforms[2] = round(T2 * (double)0x10000);
+	transforms[3] = round(T3 * (double)0x10000);
+	transforms[4] = round(T4 * (double)0x10000);
+	transforms[5] = round(T5 * (double)0x10000);
+	for(i=0;i<6;i++)
+	{
+		buffer[i*4+35] = transforms[i] >> 24;
+		buffer[i*4+34] = transforms[i] >> 16;
+		buffer[i*4+33] = transforms[i] >> 8;
+		buffer[i*4+32] = transforms[i] >> 0;
+	}
+
+	//Label Table index is: 0
+	return CPhidgetGPP_setDeviceSpecificConfigTable((CPhidgetHandle)phid, buffer, SPATIAL_COMPASS_CALIB_TABLE_LENGTH, SPATIAL_COMPASS_CALIB_TABLE_INDEX);
+}
+
+// === Exported Functions === //
+
+//create and initialize a device structure
+CCREATE(Spatial, PHIDCLASS_SPATIAL)
+
+//event setup functions
+CFHANDLE(Spatial, SpatialData, CPhidgetSpatial_SpatialEventDataHandle *, int)
+
+CGET(Spatial,AccelerationAxisCount,int)
+	TESTPTRS(phid,pVal) 
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+
+	MASGN(phid.attr.spatial.numAccelAxes)
+}
+CGET(Spatial,GyroAxisCount,int)
+	TESTPTRS(phid,pVal) 
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+
+	MASGN(phid.attr.spatial.numGyroAxes)
+}
+CGET(Spatial,CompassAxisCount,int)
+	TESTPTRS(phid,pVal) 
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+
+	MASGN(phid.attr.spatial.numCompassAxes)
+}
+
+CGETINDEX(Spatial,Acceleration,double)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+	TESTINDEX(phid.attr.spatial.numAccelAxes)
+	TESTMASGN(accelAxis[Index], PUNK_DBL)
+
+	MASGN(accelAxis[Index])
+}
+
+CGETINDEX(Spatial,AccelerationMax,double)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+	TESTINDEX(phid.attr.spatial.numAccelAxes)
+	TESTMASGN(accelerationMax, PUNK_DBL)
+
+	MASGN(accelerationMax)
+}
+
+CGETINDEX(Spatial,AccelerationMin,double)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+	TESTINDEX(phid.attr.spatial.numAccelAxes)
+	TESTMASGN(accelerationMin, PUNK_DBL)
+
+	MASGN(accelerationMin)
+}
+
+CGETINDEX(Spatial,AngularRate,double)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+
+	switch(phid->phid.deviceIDSpec)
+	{
+		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:
+			TESTINDEX(phid.attr.spatial.numGyroAxes)
+			TESTMASGN(gyroAxis[Index], PUNK_DBL)
+			MASGN(gyroAxis[Index])
+		case PHIDID_SPATIAL_ACCEL_3AXIS:
+		default:
+			return EPHIDGET_UNSUPPORTED;
+	}
+}
+
+CGETINDEX(Spatial,AngularRateMax,double)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+
+	switch(phid->phid.deviceIDSpec)
+	{
+		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:
+			TESTINDEX(phid.attr.spatial.numGyroAxes)
+			TESTMASGN(angularRateMax, PUNK_DBL)
+			MASGN(angularRateMax)
+		case PHIDID_SPATIAL_ACCEL_3AXIS:
+		default:
+			return EPHIDGET_UNSUPPORTED;
+	}
+}
+
+CGETINDEX(Spatial,AngularRateMin,double)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+
+	switch(phid->phid.deviceIDSpec)
+	{
+		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:
+			TESTINDEX(phid.attr.spatial.numGyroAxes)
+			TESTMASGN(angularRateMin, PUNK_DBL)
+			MASGN(angularRateMin)
+		case PHIDID_SPATIAL_ACCEL_3AXIS:
+		default:
+			return EPHIDGET_UNSUPPORTED;
+	}
+}
+
+CGETINDEX(Spatial,MagneticField,double)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+
+	switch(phid->phid.deviceIDSpec)
+	{
+		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:
+			TESTINDEX(phid.attr.spatial.numCompassAxes)
+			TESTMASGN(compassAxis[Index], PUNK_DBL)
+			MASGN(compassAxis[Index])
+		case PHIDID_SPATIAL_ACCEL_3AXIS:
+		default:
+			return EPHIDGET_UNSUPPORTED;
+	}
+}
+
+CGETINDEX(Spatial,MagneticFieldMax,double)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+
+	switch(phid->phid.deviceIDSpec)
+	{
+		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:
+			TESTINDEX(phid.attr.spatial.numCompassAxes)
+			TESTMASGN(magneticFieldMax, PUNK_DBL)
+			MASGN(magneticFieldMax)
+		case PHIDID_SPATIAL_ACCEL_3AXIS:
+		default:
+			return EPHIDGET_UNSUPPORTED;
+	}
+}
+
+CGETINDEX(Spatial,MagneticFieldMin,double)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+
+	switch(phid->phid.deviceIDSpec)
+	{
+		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:
+			TESTINDEX(phid.attr.spatial.numCompassAxes)
+			TESTMASGN(magneticFieldMin, PUNK_DBL)
+			MASGN(magneticFieldMin)
+		case PHIDID_SPATIAL_ACCEL_3AXIS:
+		default:
+			return EPHIDGET_UNSUPPORTED;
+	}
+}
+
+CSET(Spatial,DataRate,int)
+	TESTPTR(phid)
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+	TESTRANGE(phid->dataRateMax, phid->dataRateMin)
+
+	//make sure it's a power of 2, or 1
+	if(newVal < phid->interruptRate)
+	{
+		int temp = phid->dataRateMax;
+		unsigned char good = FALSE;
+		while(temp <= newVal)
+		{
+			if(temp == newVal)
+			{
+				good = TRUE;
+				break;
+			}
+			temp *= 2;
+		}
+		if(!good)
+			return EPHIDGET_INVALIDARG;
+	}
+	//make sure it's divisible by interruptRate
+	else
+	{
+		if(newVal%phid->interruptRate)
+			return EPHIDGET_INVALIDARG;
+	}
+
+	if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))
+		ADDNETWORKKEY(DataRate, "%d", dataRate);
+	else
+		phid->dataRate = newVal;
+
+	return EPHIDGET_OK;
+}
+CGET(Spatial,DataRate,int)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+	TESTMASGN(dataRate, PUNK_INT)
+
+	MASGN(dataRate)
+}
+
+CGET(Spatial,DataRateMax,int)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+	TESTMASGN(dataRateMax, PUNK_INT)
+
+	MASGN(dataRateMax)
+}
+
+CGET(Spatial,DataRateMin,int)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+	TESTMASGN(dataRateMin, PUNK_INT)
+
+	MASGN(dataRateMin)
+}
+
+PHIDGET21_API int CCONV CPhidgetSpatial_zeroGyro(CPhidgetSpatialHandle phid)
+{
+	int result = EPHIDGET_OK;
+	TESTPTR(phid) 
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+	if(phid->phid.attr.spatial.numGyroAxes==0)
+		return EPHIDGET_UNSUPPORTED;
+
+	if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))
+	{
+		int newVal = phid->flip^1;
+		ADDNETWORKKEY(ZeroGyro, "%d", flip);
+	}
+	else
+	{
+		switch(phid->phid.deviceUID)
+		{
+			case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1042:
+			case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044:
+			{
+				unsigned char buffer[8] = { 0 };
+				buffer[0] = SPATIAL_ZERO_GYRO;
+				result = CUSBSendPacket((CPhidgetHandle)phid, buffer);
+				break;
+			}
+			case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056:
+			case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056_NEG_GAIN:
+				if(!phid->doZeroGyro)
+				{
+					phid->gyroZeroReadPtr = phid->bufferReadPtr;
+					phid->doZeroGyro = PTRUE;
+				}
+				break;
+			default:
+				return EPHIDGET_UNEXPECTED;
+		}
+	}
+
+	return EPHIDGET_OK;
+}
+
+PHIDGET21_API int CCONV CPhidgetSpatial_resetCompassCorrectionParameters(
+	CPhidgetSpatialHandle phid)
+{
+	TESTPTR(phid) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+
+	switch(phid->phid.deviceIDSpec)
+	{
+		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:
+			if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))
+			{
+				char newVal[1024];
+				sprintf(newVal, "1,0,0,0,1,1,1,0,0,0,0,0,0");
+				ADDNETWORKKEY(CompassCorrectionParams, "%s", compassCorrectionParamsString);
+			}
+			else
+			{
+				switch(phid->phid.deviceUID)
+				{
+					case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056:
+					case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056_NEG_GAIN:
+
+						phid->userMagField = 1;
+
+						phid->userCompassOffset[0] = 0;
+						phid->userCompassOffset[1] = 0;
+						phid->userCompassOffset[2] = 0;
+
+						phid->userCompassGain[0] = 1;
+						phid->userCompassGain[1] = 1;
+						phid->userCompassGain[2] = 1;
+
+						phid->userCompassTransform[0] = 0;
+						phid->userCompassTransform[1] = 0;
+						phid->userCompassTransform[2] = 0;
+						phid->userCompassTransform[3] = 0;
+						phid->userCompassTransform[4] = 0;
+						phid->userCompassTransform[5] = 0;
+						break;
+					case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1042:
+					case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044:
+						return setCompassCorrectionTable_inFimrware(phid,
+							1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0);
+					default:
+						return EPHIDGET_UNEXPECTED;
+				}
+			}
+			return EPHIDGET_OK;
+		case PHIDID_SPATIAL_ACCEL_3AXIS:
+		default:
+			return EPHIDGET_UNSUPPORTED;
+	}
+}
+PHIDGET21_API int CCONV CPhidgetSpatial_setCompassCorrectionParameters(
+	CPhidgetSpatialHandle phid, 
+	double magField, 
+	double offset0, double offset1, double offset2, 
+	double gain0, double gain1, double gain2, 
+	double T0, double T1, double T2, double T3, double T4, double T5)
+{
+	TESTPTR(phid) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+
+	switch(phid->phid.deviceIDSpec)
+	{
+		case PHIDID_SPATIAL_ACCEL_GYRO_COMPASS:
+			//Magnetic Field 0.1-1000
+			if(magField < 0.1 || magField > 1000)
+				return EPHIDGET_INVALIDARG;
+			//Offsets need to be 0+-5.0
+			if(offset0 < -5 || offset0 > 5)
+				return EPHIDGET_INVALIDARG;
+			if(offset1 < -5 || offset1 > 5)
+				return EPHIDGET_INVALIDARG;
+			if(offset2 < -5 || offset2 > 5)
+				return EPHIDGET_INVALIDARG;
+			//Gains need to be 0-15.0
+			if(gain0 < 0 || gain0 > 15)
+				return EPHIDGET_INVALIDARG;
+			if(gain1 < 0 || gain1 > 15)
+				return EPHIDGET_INVALIDARG;
+			if(gain2 < 0 || gain2 > 15)
+				return EPHIDGET_INVALIDARG;
+			//T params 0+-5.0
+			if(T0 < -5 || T0 > 5)
+				return EPHIDGET_INVALIDARG;
+			if(T1 < -5 || T1 > 5)
+				return EPHIDGET_INVALIDARG;
+			if(T2 < -5 || T2 > 5)
+				return EPHIDGET_INVALIDARG;
+			if(T3 < -5 || T3 > 5)
+				return EPHIDGET_INVALIDARG;
+			if(T4 < -5 || T4 > 5)
+				return EPHIDGET_INVALIDARG;
+			if(T5 < -5 || T5 > 5)
+				return EPHIDGET_INVALIDARG;
+
+			if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))
+			{
+				char newVal[1024];
+				sprintf(newVal, "%lE,%lE,%lE,%lE,%lE,%lE,%lE,%lE,%lE,%lE,%lE,%lE,%lE",
+					magField, offset0, offset1, offset2, gain0, gain1, gain2, T0, T1, T2, T3, T4, T5);
+				ADDNETWORKKEY(CompassCorrectionParams, "%s", compassCorrectionParamsString);
+			}
+			else
+			{
+				switch(phid->phid.deviceUID)
+				{
+					case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056:
+					case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056_NEG_GAIN:
+
+						phid->userMagField = magField;
+
+						phid->userCompassOffset[0] = offset0;
+						phid->userCompassOffset[1] = offset1;
+						phid->userCompassOffset[2] = offset2;
+
+						phid->userCompassGain[0] = gain0;
+						phid->userCompassGain[1] = gain1;
+						phid->userCompassGain[2] = gain2;
+
+						phid->userCompassTransform[0] = T0;
+						phid->userCompassTransform[1] = T1;
+						phid->userCompassTransform[2] = T2;
+						phid->userCompassTransform[3] = T3;
+						phid->userCompassTransform[4] = T4;
+						phid->userCompassTransform[5] = T5;
+						break;
+
+					case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1042:
+					case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044:
+						return setCompassCorrectionTable_inFimrware(phid,
+							magField, offset0, offset1, offset2,
+							gain0, gain1, gain2, T0, T1, T2, T3, T4, T5);
+					default:
+						return EPHIDGET_UNEXPECTED;
+				}
+			}
+			return EPHIDGET_OK;
+		case PHIDID_SPATIAL_ACCEL_3AXIS:
+		default:
+			return EPHIDGET_UNSUPPORTED;
+	}
+}
+
+
+CSET(Spatial,AnalogDigitalMode,CPhidgetSpatial_AnalogDigitalMode)
+	TESTPTR(phid)
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+	TESTRANGE(SPATIAL_ANALOG_AND_DIGITAL, SPATIAL_DIGITAL)
+
+	switch(phid->phid.deviceUID)
+	{
+		case PHIDUID_SPATIAL_ACCEL_3AXIS_1043:
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044:
+		{
+			if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))
+			{
+				//TODO
+			}
+			else
+			{
+				unsigned char buffer[8] = { 0 };
+				buffer[0] = SPATIAL_SET_POLLING_TYPE;
+				buffer[1] = newVal;
+				return CUSBSendPacket((CPhidgetHandle)phid, buffer);
+			}
+		}
+		default:
+			return EPHIDGET_UNSUPPORTED;
+	}
+}
+
+PHIDGET21_API int CCONV CPhidgetSpatial_unZeroGyro(CPhidgetSpatialHandle phid)
+{
+	TESTPTR(phid)
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+
+	switch(phid->phid.deviceUID)
+	{
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1042:
+		case PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044:
+		{
+			if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))
+			{
+				//TODO
+			}
+			else
+			{
+				unsigned char buffer[8] = { 0 };
+				buffer[0] = SPATIAL_UNZERO_GYRO;
+				return CUSBSendPacket((CPhidgetHandle)phid, buffer);
+			}
+		}
+		default:
+			return EPHIDGET_UNSUPPORTED;
+	}
+}
+
+PHIDGET21_API int CCONV CPhidgetSpatial_setDigitalGyroCalibrationValues(CPhidgetSpatialHandle phid,
+	double gainPositive[3], double gainNegative[3], double offset[3], double factor1[3], double factor2[3])
+{
+	return setCalibrationValues_inFirmware(phid, SPATIAL_GyroCalibTable_ID, SPATIAL_DIGITAL_GYRO_CALIB_TABLE_INDEX,
+		gainPositive, gainNegative, offset, factor1, factor2);
+}
+
+PHIDGET21_API int CCONV CPhidgetSpatial_setAnalogGyroCalibrationValues(CPhidgetSpatialHandle phid,
+	double gainPositive[3], double gainNegative[3], double offset[3], double factor1[3], double factor2[3])
+{
+	return setCalibrationValues_inFirmware(phid, SPATIAL_GyroCalibTable_ID, SPATIAL_ANALOG_GYRO_CALIB_TABLE_INDEX,
+		gainPositive, gainNegative, offset, factor1, factor2);
+}
+
+PHIDGET21_API int CCONV CPhidgetSpatial_setDigitalAccelCalibrationValues(CPhidgetSpatialHandle phid,
+	double gainPositive[3], double gainNegative[3], double offset[3], double factor1[3], double factor2[3])
+{
+	return setCalibrationValues_inFirmware(phid, SPATIAL_AccelCalibTable_ID, SPATIAL_DIGITAL_ACCEL_CALIB_TABLE_INDEX,
+		gainPositive, gainNegative, offset, factor1, factor2);
+}
+
+PHIDGET21_API int CCONV CPhidgetSpatial_setAnalogAccelCalibrationValues(CPhidgetSpatialHandle phid,
+	double gainPositive[3], double gainNegative[3], double offset[3], double factor1[3], double factor2[3])
+{
+	return setCalibrationValues_inFirmware(phid, SPATIAL_AccelCalibTable_ID, SPATIAL_ANALOG_ACCEL_CALIB_TABLE_INDEX,
+		gainPositive, gainNegative, offset, factor1, factor2);
+}
+
+
+
+//Maybe add these later
+/*
+CGET(Spatial,GyroHeading,double)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+	TESTMASGN(gyroHeading, PUNK_DBL)
+
+	MASGN(gyroHeading)
+}
+
+CGET(Spatial,CompassHeading,double)
+	TESTPTRS(phid,pVal) 	
+	TESTDEVICETYPE(PHIDCLASS_SPATIAL)
+	TESTATTACHED
+	TESTMASGN(compassHeading, PUNK_DBL)
+
+	MASGN(compassHeading)
+}*/
diff --git a/cphidgetspatial.h b/cphidgetspatial.h
index 8d9fdb7..a24d758 100644
--- a/cphidgetspatial.h
+++ b/cphidgetspatial.h
@@ -172,6 +172,32 @@ PHIDGET21_API int CCONV CPhidgetSpatial_resetCompassCorrectionParameters(CPhidge
  */

 CHDREVENT(Spatial,SpatialData,CPhidgetSpatial_SpatialEventDataHandle *data, int dataCount)

 

+//These are for a prototype device - hide until it's released

+#if !defined(EXTERNALPROTO) || defined(DEBUG)

+

+#define SPATIAL_ANALOG_AND_DIGITAL	0x00

+#define SPATIAL_ANALOG				0x01

+#define SPATIAL_DIGITAL				0x02

+

+typedef enum {

+	PHIDGET_SPATIAL_ANALOG_AND_DIGITAL = 0,	/**< Analog failover to digital */

+	PHIDGET_SPATIAL_ANALOG,					/**< Analog only */

+	PHIDGET_SPATIAL_DIGITAL,				/**< Digital only */

+}  CPhidgetSpatial_AnalogDigitalMode;

+

+CHDRSET(Spatial, AnalogDigitalMode, CPhidgetSpatial_AnalogDigitalMode mode)

+PHIDGET21_API int CCONV CPhidgetSpatial_unZeroGyro(CPhidgetSpatialHandle phid);

+PHIDGET21_API int CCONV CPhidgetSpatial_setDigitalGyroCalibrationValues(CPhidgetSpatialHandle phid,

+	double gainPositive[3], double gainNegative[3], double offset[3], double factor1[3], double factor2[3]);

+PHIDGET21_API int CCONV CPhidgetSpatial_setAnalogGyroCalibrationValues(CPhidgetSpatialHandle phid,

+	double gainPositive[3], double gainNegative[3], double offset[3], double factor1[3], double factor2[3]);

+PHIDGET21_API int CCONV CPhidgetSpatial_setDigitalAccelCalibrationValues(CPhidgetSpatialHandle phid,

+	double gainPositive[3], double gainNegative[3], double offset[3], double factor1[3], double factor2[3]);

+PHIDGET21_API int CCONV CPhidgetSpatial_setAnalogAccelCalibrationValues(CPhidgetSpatialHandle phid,

+	double gainPositive[3], double gainNegative[3], double offset[3], double factor1[3], double factor2[3]);

+

+#endif

+

 #ifndef EXTERNALPROTO

 

 #define SPATIAL_MAX_ACCELAXES 3

@@ -183,16 +209,72 @@ CHDREVENT(Spatial,SpatialData,CPhidgetSpatial_SpatialEventDataHandle *data, int
 //1 second is the longest between events that we support

 #define SPATIAL_MIN_DATA_RATE 1000

 //add 200ms for timing differences (late events, etc) - should be plenty

-#define SPATIAL_DATA_BUFFER_SIZE ((SPATIAL_MIN_DATA_RATE + 200)/SPATIAL_MAX_DATA_RATE)

-//1 second of data to zero the gyro - make sure DATA_BUFFER_SIZE is big enough to hold this much data

+#define SPATIAL_DATA_BUFFER_SIZE ((SPATIAL_MIN_DATA_RATE * 2 + 200)/SPATIAL_MAX_DATA_RATE)

+//2 seconds of data to zero the gyro - make sure DATA_BUFFER_SIZE is big enough to hold this much data

 #define SPATIAL_ZERO_GYRO_TIME 2000

 

 //packet types

 //IN

-#define SPATIAL_PACKET_DATA	0x00

-#define SPATIAL_PACKET_CALIB 0x80

+#define SPATIAL_PACKET_DATA		0x00

+#define SPATIAL_PACKET_CALIB	0x80

 //OUT

-#define SPATIAL_READCALIB 0x01

+#define SPATIAL_READCALIB			0x01

+#define SPATIAL_SET_POLLING_TYPE	0x02

+#define SPATIAL_ZERO_GYRO			0x03

+#define SPATIAL_UNZERO_GYRO			0x04

+

+//M3 Spatial calibration table indexes

+#define SPATIAL_DIGITAL_ACCEL_CALIB_TABLE_INDEX		0

+#define SPATIAL_ANALOG_ACCEL_CALIB_TABLE_INDEX		1

+#define SPATIAL_DIGITAL_GYRO_CALIB_TABLE_INDEX		2

+#define SPATIAL_ANALOG_GYRO_CALIB_TABLE_INDEX		3

+#define SPATIAL_COMPASS_CALIB_TABLE_INDEX			4

+#define SPATIAL_COMPASS_TEMP_CALIB_TABLE_INDEX		5

+

+#define SPATIAL_ACCEL_GYRO_CALIB_TABLE_LENGTH		64

+#define SPATIAL_COMPASS_CALIB_TABLE_LENGTH			56

+

+#define SPATIAL_GyroCalibTable_ID 		1000

+#define SPATIAL_AccelCalibTable_ID 		1001

+

+/**

+ * M3 Spatial constants (1041, 1042, 1043, 1044)

+ *  -Values are transmitted as signed integers with a unit of 'bits'

+ *  -Values are calibrated in-firmware

+ *  -Values are centered at zero

+ *

+ * Precision Voltage Ref is 3.3 V

+ * AD7689 ADC is 16-bit

+ *

+ * LPR410AL x,y Analog Gyro is 2.5 mV/dps and +-400 dps

+ * LY330ALH z-axis Analog Gyro is 3.752 mV/dps and +-300 dps

+ * L3GD20 Digital Gyro is 70 mdps/bit and +-2000 dps

+ *

+ * KXR94-2050 Analog Accelerometer is 660 mV/g and +-2g

+ * MMA8451Q Digital Accelerometer is 1024 bits/g and +-8g

+ *

+ * HMC5883L Digital Compass is 3.03 mG/bit and +-5.6 Gauss

+ **/

+#define SPATIAL_VOLTAGE_REF 3.3

+#define SPATIAL_AD7689_BITS_PER_VOLT (0x10000 / SPATIAL_VOLTAGE_REF)

+

+#define SPATIAL_LPR410AL_VOLTS_PER_DPS 0.0025

+#define SPATIAL_LRP410AL_w_AD7689_BITS_PER_DPS (SPATIAL_LPR410AL_VOLTS_PER_DPS * SPATIAL_AD7689_BITS_PER_VOLT)

+

+#define SPATIAL_LY330ALH_VOLTS_PER_DPS 0.003752

+#define SPATIAL_LY330ALH_w_AD7689_BITS_PER_DPS (SPATIAL_LY330ALH_VOLTS_PER_DPS * SPATIAL_AD7689_BITS_PER_VOLT)

+

+#define SPATIAL_L3GD20_DPS_PER_BIT 0.07

+#define SPATIAL_L3GD20_BITS_PER_DPS (1 / SPATIAL_L3GD20_DPS_PER_BIT)

+

+#define SPATIAL_KXR94_2050_VOLTS_PER_G 0.660

+#define SPATIAL_KXR94_2050_w_AD7689_BITS_PER_G (SPATIAL_KXR94_2050_VOLTS_PER_G * SPATIAL_AD7689_BITS_PER_VOLT)

+

+#define SPATIAL_MMA8451Q_BITS_PER_G 1024

+

+#define SPATIAL_HMC5883L_GAUSS_PER_BIT 0.00303

+#define SPATIAL_HMC5883L_BITS_PER_GAUSS (1 / SPATIAL_HMC5883L_GAUSS_PER_BIT)

+

 

 struct _CPhidgetSpatial {

 	CPhidget phid;

diff --git a/cphidgetstepper.c b/cphidgetstepper.c
index 5b7ead2..0da3dc6 100644
--- a/cphidgetstepper.c
+++ b/cphidgetstepper.c
@@ -238,7 +238,7 @@ CPHIDGETDATA(Stepper)
 			phid->motorPositionEcho[i] = position[i];
 
 		if(speed[i] > phid->motorSpeedMax || speed[i] < -phid->motorSpeedMax)
-			LOG(PHIDGET_LOG_WARNING, "Phidget stepper recieved out of range speed data: %lE", speed[i]);
+			LOG(PHIDGET_LOG_WARNING, "Phidget stepper received out of range speed data: %lE", speed[i]);
 		else
 			phid->motorSpeedEcho[i] = speed[i];
 
diff --git a/csocketevents.c b/csocketevents.c
index 9291994..6ad4ca1 100644
--- a/csocketevents.c
+++ b/csocketevents.c
@@ -2003,6 +2003,7 @@ void network_phidget_event_handler(const char *key, const char *val, unsigned in
 					CPhidget_clearStatusFlag(&phid->status, PHIDGET_DETACHING_FLAG, NULL);
 						
 					phid->deviceIDSpec = 0;
+					phid->deviceUID = 0;
 					ZEROMEM(&phid->attr, sizeof(CPhidgetAttr));
 					if(phid->specificDevice != PHIDGETOPEN_LABEL)
 						ZEROMEM(phid->label, MAX_LABEL_STORAGE);
@@ -2032,6 +2033,9 @@ void network_phidget_event_handler(const char *key, const char *val, unsigned in
 			{
 				LOG(PHIDGET_LOG_VERBOSE, "Got all initkeys, run attach - %d/%d", phid->keyCount, phid->initKeys);
 
+				//Set UID
+				phid->deviceUID = CPhidget_getUID(phid->deviceIDSpec, phid->deviceVersion);
+
 				CPhidget_setStatusFlag(&phid->status, PHIDGET_ATTACHED_FLAG, &phid->lock);
 
 				SET_RUNNING_EVENT(phid)
@@ -2114,6 +2118,7 @@ void network_manager_event_handler(const char *key, const char *val, unsigned in
 		phid->serialNumber = serialNumber;
 		phid->deviceIDSpec = (unsigned short)strtol(deviceIDSpec, NULL, 10);
 		phid->deviceVersion = strtol(version, NULL, 10);
+		phid->deviceUID = CPhidget_getUID(phid->deviceIDSpec, phid->deviceVersion);
 		phid->specificDevice = PHIDGETOPEN_SERIAL; //so it actually compares the serial
 
 		for(i = 1;i<PHIDGET_DEVICE_COUNT;i++)
diff --git a/csocketopen.c b/csocketopen.c
index caaecfc..4c12f5d 100644
--- a/csocketopen.c
+++ b/csocketopen.c
@@ -1269,7 +1269,7 @@ start:
 			{
 				//if we've been waiting too long, then signal disconnect
 				double waitTime = timeSince(&server->lastHeartbeatTime);
-				//if we haven't recieved any heartbeats, set the timeout high (4*4 = 16 seconds)
+				//if we haven't received any heartbeats, set the timeout high (4*4 = 16 seconds)
 				//This is so that really slow connections will get through the auth stage
 				double avgPingTime = ((server->avgHeartbeatTimeCount > 0) ? (server->avgHeartbeatTime / server->avgHeartbeatTimeCount) : 4.0);
 
diff --git a/cthread.c b/cthread.c
index 4ab5e8a..86f2f9b 100644
--- a/cthread.c
+++ b/cthread.c
@@ -5,6 +5,10 @@
 #include "cusb.h"
 #include "cphidgetlist.h"
 
+#if defined(_MACOSX) && !defined(_IPHONE)
+#include "macusb.h"
+#endif
+
 CThread_func_return_t CentralThreadFunction(CThread_func_arg_t arg);
 
 static CThread CentralThread;
@@ -112,7 +116,7 @@ JoinCentralThread()
 }
 
 /*
- * registers a device to recieve events and be polled by the central
+ * registers a device to receive events and be polled by the central
  * thread This needs to start the central thread if it's not yet
  * running.
 */
diff --git a/cusb.h b/cusb.h
index 3c24a11..eda2b16 100644
--- a/cusb.h
+++ b/cusb.h
@@ -13,13 +13,18 @@ void CUSBCleanup();
 int CUSBSetupNotifications();
 int CUSBRefreshLabelString(CPhidgetHandle phid);
 #if defined(_LINUX) && !defined(_ANDROID)
-int CUSBGetDeviceCapabilities(CPhidgetHandle phid, struct usb_device *dev,
-    struct usb_dev_handle *udev);
+void CUSBUninit();
 #else
 int CUSBGetDeviceCapabilities(CPhidgetHandle phid, HANDLE DeviceHandle);
 #endif
 #endif
 
+#ifdef _IPHONE
+int CPhidgetManager_setupNotifications(CFRunLoopRef runloop);
+int CPhidgetManager_teardownNotifications();
+int reenumerateDevice(CPhidgetHandle phid);
+#endif
+
 PHIDGET21_API int CCONV CUSBReadPacket(CPhidgetHandle phidA, unsigned char *buffer);
 PHIDGET21_API int CCONV CUSBSendPacket(CPhidgetHandle phidA, unsigned char *buffer);
 
diff --git a/dict/pdictclient.c b/dict/pdictclient.c
index 987d6bc..75c61b0 100644
--- a/dict/pdictclient.c
+++ b/dict/pdictclient.c
@@ -184,7 +184,7 @@ pdc_init(void)
 
 	if ((res = regcomp(&pendingex, PENDING_PATTERN, REG_EXTENDED)) != 0) {
 		LOG_STDERR(PHIDGET_LOG_CRITICAL, "pending report pattern compilation error %d", res);
-		ABORT();
+		abort();
 	}
 	initialized = 1;
 	return 1;
diff --git a/examples/manager.c b/examples/manager.c
index 412b7de..74bddbd 100644
--- a/examples/manager.c
+++ b/examples/manager.c
@@ -53,7 +53,7 @@ int main()
 {
   CPhidgetManagerHandle phidm;
 	
-  //CPhidget_enableLogging(PHIDGET_LOG_VERBOSE, NULL);
+  CPhidget_enableLogging(PHIDGET_LOG_VERBOSE, NULL);
 	
   CPhidgetManager_create(&phidm);
   CPhidgetManager_set_OnAttach_Handler(phidm, gotAttach, NULL);
diff --git a/libphidget21.pc.in b/libphidget21.pc.in
new file mode 100644
index 0000000..1801775
--- /dev/null
+++ b/libphidget21.pc.in
@@ -0,0 +1,10 @@
+prefix=@prefix@
+exec_prefix=@exec_prefix@
+libdir=@libdir@
+includedir=@includedir@
+
+Name: libphidget
+Description: Phidgets library
+Version: @VERSION@
+Libs: -L${libdir} -lphidget21
+Cflags: -I${includedir}
\ No newline at end of file
diff --git a/linux/cusblinux-1.0.c b/linux/cusblinux-1.0.c
new file mode 100644
index 0000000..4b43b1d
--- /dev/null
+++ b/linux/cusblinux-1.0.c
@@ -0,0 +1,659 @@
+/*
+ *  cusblinux.cpp
+ *
+ *  Filled in by Daniel Risacher on 6/21/05
+ *  Filled in more by Patrick McNeil on 6/27/05
+ *  Copyright 2005 Phidgets Inc. All rights reserved.
+ *
+ */
+
+#include "stdafx.h"
+#include "cusb.h"
+#include <libusb-1.0/libusb.h>
+
+int CUSBCloseHandle(CPhidgetHandle phid) {
+	int ret = 0;
+	int result = EPHIDGET_OK;
+	
+	if (!phid)
+		return EPHIDGET_INVALIDARG;
+
+	CPhidget_clearStatusFlag(&phid->status, PHIDGET_ATTACHED_FLAG, &phid->lock);
+	
+	if (phid->deviceHandle == NULL)
+		return EPHIDGET_NOTATTACHED;
+
+	CThread_join(&phid->readThread);
+		
+	if((ret = libusb_release_interface((libusb_device_handle *) phid->deviceHandle, phid->deviceDef->pdd_iid)) != 0)
+	{
+		switch(ret)
+		{
+			case LIBUSB_ERROR_NO_DEVICE:
+				//usb_release_interface called after the device was unplugged
+				LOG(PHIDGET_LOG_WARNING, "libusb_release_interface called on unplugged device.");
+				break;
+			default:
+				LOG(PHIDGET_LOG_ERROR, "libusb_release_interface failed with error code: %d", ret);
+		}
+	}
+	
+	//if we notice that PHIDGET_USB_ERROR_FLAG is set, then reset this device before closing
+	//this gives us a better chance of getting it back if something has gone wrong.
+	if(CPhidget_statusFlagIsSet(phid->status, PHIDGET_USB_ERROR_FLAG))
+	{
+		LOG(PHIDGET_LOG_WARNING,"PHIDGET_USB_ERROR_FLAG is set - resetting device.");
+		if((ret = libusb_reset_device((libusb_device_handle *) phid->deviceHandle)) != 0)
+		{
+			LOG(PHIDGET_LOG_ERROR, "libusb_reset_device failed with error code: %d", ret);
+			result = EPHIDGET_UNEXPECTED;
+		}
+	}
+	
+	libusb_close((libusb_device_handle *) phid->deviceHandle);
+	
+	phid->deviceHandle = NULL;
+	
+	return result;
+}
+
+int CUSBSendPacket(CPhidgetHandle phid, unsigned char *buffer) {
+	int BytesWritten = 0, ret;
+
+	if (!phid)
+		return EPHIDGET_INVALIDARG;
+		
+	if (!CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHED_FLAG)
+		&& !CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHING_FLAG))
+		return EPHIDGET_NOTATTACHED;
+		
+	if (phid->deviceHandle == NULL)
+	{
+		LOG(PHIDGET_LOG_WARNING,"Handle for writing is not valid");
+		return EPHIDGET_UNEXPECTED;
+	}
+		
+	if(phid->interruptOutEndpoint)
+	{
+		ret = libusb_interrupt_transfer((libusb_device_handle *)phid->deviceHandle, 
+										   LIBUSB_ENDPOINT_OUT | phid->deviceDef->pdd_iid+1, 
+										   (char *)buffer, 
+										   phid->outputReportByteLength, /* size */
+										   &BytesWritten,
+										   500); /* FIXME? timeout */
+	}
+	else
+	{
+		BytesWritten = libusb_control_transfer((libusb_device_handle *)phid->deviceHandle, 
+						LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_CLASS | LIBUSB_RECIPIENT_INTERFACE,
+						LIBUSB_REQUEST_SET_CONFIGURATION,
+						0x0200, /* value */
+						phid->deviceDef->pdd_iid, /* index*/
+						(char *)buffer, 
+						phid->outputReportByteLength, /* size */
+						500); /* FIXME? timeout */
+		ret = BytesWritten;
+	}
+					
+	if(ret < 0)
+	{
+		switch(ret)
+		{
+			case LIBUSB_ERROR_TIMEOUT: //important case?
+					return EPHIDGET_TIMEOUT;
+			case LIBUSB_ERROR_NO_DEVICE:
+				//device is gone - unplugged.
+				LOG(PHIDGET_LOG_INFO, "Device was unplugged - detach.");
+				return EPHIDGET_NOTATTACHED;
+			default:
+				LOG(PHIDGET_LOG_ERROR, "libusb_control_msg failed with error code: %d", ret);
+				return EPHIDGET_UNEXPECTED;
+		}
+	}
+
+	if (BytesWritten != phid->outputReportByteLength)
+	{
+		LOG(PHIDGET_LOG_WARNING,"Failure in CUSBSendPacket - Report Length"
+			": %d, bytes written: %d",
+		    (int)phid->outputReportByteLength, (int)BytesWritten);
+		return EPHIDGET_UNEXPECTED;
+	}
+	
+	return EPHIDGET_OK;
+}
+
+int CUSBSetLabel(CPhidgetHandle phid, char *buffer) {
+	int BytesWritten = 0;
+	int size = buffer[0];
+	
+	if(size>22) return EPHIDGET_INVALID;
+	
+	if (!phid)
+		return EPHIDGET_INVALIDARG;
+		
+	if (!CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHED_FLAG)
+		&& !CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHING_FLAG))
+		return EPHIDGET_NOTATTACHED;
+		
+	if (phid->deviceHandle == NULL)
+	{
+		LOG(PHIDGET_LOG_WARNING,"Handle for writing is not valid");
+		return EPHIDGET_UNEXPECTED;
+	}
+		
+	BytesWritten = libusb_control_transfer((libusb_device_handle *)phid->deviceHandle, 
+					LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_STANDARD | LIBUSB_RECIPIENT_DEVICE,
+					LIBUSB_REQUEST_SET_DESCRIPTOR,
+					0x0304, /* value */
+					0x0409, /* index*/
+					(char *)buffer, 
+					size, /* size */
+					500); /* FIXME? timeout */
+					
+	if(BytesWritten < 0)
+	{
+		switch(BytesWritten)
+		{
+		case LIBUSB_ERROR_TIMEOUT: //important case?	
+		default:
+			LOG(PHIDGET_LOG_INFO, "usb_control_msg failed with error code: %d", BytesWritten);
+			return EPHIDGET_UNSUPPORTED;
+		}
+	}
+
+	if (BytesWritten != size)
+	{
+		LOG(PHIDGET_LOG_WARNING,"Failure in CUSBSetLabel - Report Length"
+			": %d, bytes written: %d",
+		    size, (int)BytesWritten);
+		return EPHIDGET_UNEXPECTED;
+	}
+	
+	return EPHIDGET_OK;
+}
+
+/* Buffer should be at least 8 bytes long */
+int CUSBReadPacket(CPhidgetHandle phid, unsigned char *buffer) {
+	int BytesRead = 0, ret;
+	
+	if (!phid)
+		return EPHIDGET_INVALIDARG;
+		
+	if (!CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHED_FLAG)
+		&& !CPhidget_statusFlagIsSet(phid->status, PHIDGET_ATTACHING_FLAG))
+		return EPHIDGET_NOTATTACHED;
+		
+	if (phid->deviceHandle == NULL)
+	{
+		LOG(PHIDGET_LOG_WARNING,"Handle for writing is not valid");
+		return EPHIDGET_UNEXPECTED;
+	}
+	
+	ret = libusb_interrupt_transfer((libusb_device_handle *)phid->deviceHandle, 
+				LIBUSB_ENDPOINT_IN | phid->deviceDef->pdd_iid+1, 
+				(char *)buffer, 
+				phid->inputReportByteLength,
+				&BytesRead,
+				500);
+				
+	if (ret != 0)
+	{
+		switch(ret)
+		{
+			// A timeout occured, but we'll just try again
+			case LIBUSB_ERROR_TIMEOUT:
+				LOG(PHIDGET_LOG_VERBOSE, "libusb_interrupt_transfer timeout");
+				return EPHIDGET_TIMEOUT;
+			case LIBUSB_ERROR_BUSY:
+				//This happens when someone else calls claim_interface on this interface (a manager for ex.) - basically just wait until they release it.
+				//This will happen if an open occurs in another app which (for some reason) can steal the interface from this one.
+				LOG(PHIDGET_LOG_INFO, "Device is busy on Read - try again.");
+				return EPHIDGET_TRYAGAIN;
+			case LIBUSB_ERROR_NO_DEVICE:
+				//device is gone - unplugged.
+				LOG(PHIDGET_LOG_INFO, "Device was unplugged - detach.");
+				return EPHIDGET_NOTATTACHED;
+			case LIBUSB_ERROR_PIPE:
+			case LIBUSB_ERROR_OVERFLOW:
+			default:
+				LOG(PHIDGET_LOG_ERROR, "libusb_interrupt_transfer returned: %d \"%s\"", ret);
+				goto tryagain;
+		}
+	}
+
+	if (BytesRead != phid->inputReportByteLength)
+	{
+		//Generally means the device was unplugged, but can mean that there is not enough Interrupt bandwidth
+		//We keep trying and we'll get data, just not all data
+		LOG(PHIDGET_LOG_WARNING,"Failure in CUSBReadPacket - Report Length"
+			": %d, bytes read: %d. Probably trying to use too many Phidgets at once, and some data is being lost.",
+		    (int)phid->inputReportByteLength, (int)BytesRead);
+		goto tryagain;
+	}
+	
+	phid->tryAgainCounter = 0;
+	return EPHIDGET_OK;
+	
+	//if we see too many tryagains in a row, then we assume something has actually gone wrong and reset the device
+tryagain:
+	phid->tryAgainCounter++;
+	if(phid->tryAgainCounter > 30) //this will be hit in < 1 second for all devices
+	{
+		LOG(PHIDGET_LOG_ERROR, "CUSBReadPacket returned EPHIDGET_TRYAGAIN too many times in a row - reset device.");
+		phid->tryAgainCounter = 0;
+		return EPHIDGET_UNEXPECTED;
+	}
+	return EPHIDGET_TRYAGAIN;
+}
+
+static int getLabelString(CPhidgetHandle phid, struct libusb_device_handle *handle)
+{	
+	int len = 0;
+	char labelBuf[22];
+	memset(labelBuf, 0, sizeof(labelBuf));
+	
+	//Note that this returns the whole descriptor, including the length and type bytes
+	len = libusb_get_string_descriptor(handle, 4, 0, (char *)labelBuf, 22);
+	
+	if(len < 0)
+	{
+		switch(len)
+		{
+			case LIBUSB_ERROR_TIMEOUT: //important case?
+			default:
+				LOG(PHIDGET_LOG_INFO, "libusb_get_string_descriptor failed in CUSBGetDeviceCapabilities with error code: %d while reading label\
+					- this probably just means the device doesn't support labels, so this is fine.", len);
+		}
+		phid->label[0]='\0';
+		return EPHIDGET_OK;
+	}
+	else
+		return decodeLabelString(labelBuf, phid->label, phid->serialNumber);
+}
+
+int CUSBRefreshLabelString(CPhidgetHandle phid)
+{
+	return getLabelString(phid, (struct libusb_device_handle *)phid->deviceHandle);
+}
+
+int CUSBGetDeviceCapabilities(CPhidgetHandle phid, struct libusb_device *dev, struct libusb_device_handle *udev) {
+	unsigned char buf[255];
+	int len = 0, i = 0, j, ret;
+	const struct libusb_interface_descriptor *interfaceDesc;
+	struct libusb_config_descriptor *configDesc = NULL;
+	
+	memset(buf, 0, sizeof(buf));
+	
+	//Get config descriptor
+	if((ret = libusb_get_active_config_descriptor(dev, &configDesc)) == 0)
+	{
+		interfaceDesc = NULL;
+		
+		//Find the interface Descriptor
+		for(i=0; i<configDesc->bNumInterfaces; i++)
+		{
+			for(j=0; j<configDesc->interface[i].num_altsetting; j++)
+			{
+				if(configDesc->interface[i].altsetting[j].bInterfaceNumber == phid->deviceDef->pdd_iid)
+				{
+					interfaceDesc = &configDesc->interface[i].altsetting[j];
+					break;
+				}
+			}
+		}
+		
+		if(interfaceDesc == NULL)
+		{
+			LOG(PHIDGET_LOG_ERROR, "Couldn't find interface descriptor!");
+			ret = EPHIDGET_UNEXPECTED;
+			goto done;
+		}
+		
+		if(interfaceDesc->bNumEndpoints == 2)
+		{
+			LOG(PHIDGET_LOG_INFO, "Using Interrupt OUT Endpoint for Host->Device communication.");
+			phid->interruptOutEndpoint = PTRUE;
+		}
+		else
+		{
+			LOG(PHIDGET_LOG_INFO, "Using Control Endpoint for Host->Device communication.");
+			phid->interruptOutEndpoint = PFALSE;
+		}
+	}
+	else
+	{
+		LOG(PHIDGET_LOG_ERROR, "libusb_get_active_config_descriptor failed in CUSBGetDeviceCapabilities with error code: %d", ret);
+		ret = EPHIDGET_UNEXPECTED;
+		goto done;
+	}
+	
+	//Get a HID descriptor
+	len = libusb_control_transfer(udev, LIBUSB_ENDPOINT_IN+1, 
+						LIBUSB_REQUEST_GET_DESCRIPTOR,
+						(LIBUSB_DT_REPORT << 8) + 0, phid->deviceDef->pdd_iid, (char*)buf, 
+						sizeof(buf), 500 /* ms timeout */);
+						
+	if(len < 0)
+	{
+		switch(len)
+		{
+		case LIBUSB_ERROR_TIMEOUT: //important case?
+		default:
+				LOG(PHIDGET_LOG_ERROR, "usb_control_msg failed in CUSBGetDeviceCapabilities with error code: %d", len);
+				ret = EPHIDGET_UNEXPECTED;
+				goto done;
+		}
+	}
+	
+	if(len >= 10)
+	{	
+		for(i=10;i<len;i++) {
+			if(buf[i]==0x81 && buf[i-2]==0x95)
+				phid->inputReportByteLength=buf[i-1];
+			else if(buf[i]==0x81 && buf[i-4]==0x95)
+				phid->inputReportByteLength=buf[i-3];
+			if(buf[i]==0x91 && buf[i-2]==0x95)
+				phid->outputReportByteLength=buf[i-1];
+			else if(buf[i]==0x91 && buf[i-4]==0x95)
+				phid->outputReportByteLength=buf[i-3];
+		}
+	}
+	else
+	{
+		LOG(PHIDGET_LOG_ERROR, "Couldn't get report lengths in CUSBGetDeviceCapabilities");
+		ret = EPHIDGET_UNEXPECTED;
+		goto done;
+	}
+	
+	ret = getLabelString(phid, udev);
+	
+done:
+	if(configDesc)
+		libusb_free_config_descriptor(configDesc);
+	return ret;
+}
+
+libusb_context * libusbContext = NULL;
+void CUSBUninit()
+{
+	if(libusbContext)
+	{
+		LOG(PHIDGET_LOG_INFO, "Deinitializing libusb");
+		libusb_exit(libusbContext);
+		libusbContext = NULL;
+	}
+}
+
+int CUSBBuildList(CPhidgetList **curList) {
+	int MemberIndex, i, j, ret = EPHIDGET_OK, found;
+	unsigned long Length;
+	CPhidgetList *traverse;
+	Length = 0;
+	MemberIndex = 0;
+	CPhidgetHandle phid;
+	char unique_name[20];
+	libusb_device **list = NULL;
+	
+	TESTPTR(curList)
+	
+	if(!libusbContext)
+	{
+		LOG(PHIDGET_LOG_INFO, "Initializing libusb");
+		if((ret = libusb_init(&libusbContext)) != 0)
+		{
+			LOG(PHIDGET_LOG_ERROR, "libusb_init failed with error code: %d", ret);
+			libusbContext = NULL;
+			goto done;
+		}
+	}
+	
+	ssize_t cnt = libusb_get_device_list(NULL, &list);
+	if(cnt < 0)
+	{
+		LOG(PHIDGET_LOG_ERROR, "libusb_get_device_list failed with error code: %d", cnt);
+		goto done;
+	}
+	
+	//search through all USB devices
+	for (j = 0; j < cnt; j++) 
+	{
+		libusb_device *device = list[j];
+		
+		snprintf(unique_name,20,"%d/%d",libusb_get_bus_number(device), libusb_get_device_address(device));
+		
+		found = PFALSE;
+		if (AttachedDevices) {
+			// we need to loop all the way through because composite devices will appear twice in the list with the same 'unique' name
+			for (traverse = AttachedDevices; traverse; traverse=traverse->next) {
+				if (!strcmp((char *)traverse->phid->CPhidgetFHandle, unique_name)) {
+					CList_addToList((CListHandle *)curList, traverse->phid, CPhidget_areEqual);
+					found = PTRUE;
+				}
+			}
+			if(found) goto next;
+		}
+		
+		struct libusb_device_descriptor	desc;
+		if((ret = libusb_get_device_descriptor(device, &desc)) != 0)
+		{
+			LOG(PHIDGET_LOG_ERROR, "libusb_get_device_descriptor failed with error code: %d", ret);
+			goto next;
+		}
+		
+		//LOG(PHIDGET_LOG_DEBUG, "Device %d: %04x %04x", j, desc.idVendor, desc.idProduct);
+	
+		for (i = 1; i<PHIDGET_DEVICE_COUNT; i++) {	 
+			if ((desc.idVendor == Phid_Device_Def[i].pdd_vid) && 
+				(desc.idProduct == Phid_Device_Def[i].pdd_pid))
+			{
+				if (!(phid = (CPhidgetHandle)malloc(sizeof (*phid))))
+				{
+					ret = EPHIDGET_NOMEMORY;
+					goto done;
+				}
+				ZEROMEM(phid, sizeof(*phid));
+				
+				//LOG(PHIDGET_LOG_DEBUG,"New Device: %s",(char *)Phid_DeviceName[Phid_Device_Def[i].pdd_did]);
+				
+				libusb_device_handle *handle = NULL;
+				if (libusb_open(device, &handle) == 0)
+				{
+					if (desc.bcdDevice < 0x100) 
+						phid->deviceVersion = desc.bcdDevice * 100;
+					else
+						phid->deviceVersion = ((desc.bcdDevice >> 8) * 100) + ((desc.bcdDevice & 0xff));
+					phid->deviceType = (char *)Phid_DeviceName[Phid_Device_Def[i].pdd_did];
+
+					CPhidget_setStatusFlag(&phid->status, PHIDGET_ATTACHED_FLAG, &phid->lock);
+					phid->deviceIDSpec = Phid_Device_Def[i].pdd_sdid;
+					phid->deviceUID = CPhidget_getUID(phid->deviceIDSpec, phid->deviceVersion);
+					phid->deviceDef = &Phid_Device_Def[i];
+					phid->deviceID = Phid_Device_Def[i].pdd_did;
+					phid->ProductID = desc.idProduct;
+					phid->VendorID = desc.idVendor;
+					
+					if (desc.iSerialNumber) {
+						char string[256];
+						memset(string, 0, 256);
+						if((ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, string, sizeof(string))) < 0)
+						{
+							LOG(PHIDGET_LOG_ERROR, "libusb_get_string_descriptor_ascii failed with error code: %d", ret);
+							LOG(PHIDGET_LOG_INFO, "This usually means you need to run as root");
+							libusb_close(handle);
+							free(phid);
+							goto next;
+						}
+						else
+						{
+							phid->serialNumber = atol(string);
+							getLabelString(phid, handle);
+						}
+					}
+					phid->specificDevice = TRUE;
+					phid->attr = Phid_Device_Def[i].pdd_attr;
+					
+					if(!(phid->CPhidgetFHandle = strdup(unique_name)))
+					{
+						ret = EPHIDGET_NOMEMORY;
+						goto done;
+					}
+					
+					LOG(PHIDGET_LOG_INFO, "New device in CUSBBuildList: %s", (char *)phid->CPhidgetFHandle);
+
+					libusb_close(handle);
+					CList_addToList((CListHandle *)curList, phid, CPhidget_areEqual);
+				} //if(udev)
+				else
+				{
+					free(phid);
+					libusb_close(handle);
+				}
+			} //vendor, product ids match
+		} /* iterate over phidget device table */
+next: ;
+	} /* iterate over USB devices */
+	
+done:
+	if(list)	
+		libusb_free_device_list(list, 1);
+    return ret;
+}
+
+void CUSBCleanup(void)
+{
+	;
+}
+/* 
+	CUSBOpenHandle takes a CPhidgetInfo structure, with 
+	ProductID/VendorID/SerialNumber filled in.
+
+	Serial number is always filled in.
+*/
+int CUSBOpenHandle(CPhidgetHandle phid)
+{
+	int idVendor;
+	int idProduct;
+	int serial = 0;
+	int i, j,ret = EPHIDGET_OK;
+	libusb_device **list = NULL;
+	
+	ssize_t cnt = libusb_get_device_list(NULL, &list);
+	
+	if(cnt < 0)
+	{
+		LOG(PHIDGET_LOG_ERROR, "libusb_get_device_list failed with error code: %d", cnt);
+		goto done;
+	}
+	
+	//search through all USB devices
+	for (j = 0; j < cnt; j++) 
+	{
+		libusb_device *device = list[j];
+		
+		struct libusb_device_descriptor	desc;
+		if((ret = libusb_get_device_descriptor(device, &desc)) != 0)
+		{
+			LOG(PHIDGET_LOG_ERROR, "libusb_get_device_descriptor failed with error code: %d", ret);
+			goto next;
+		}
+		
+		for (i = 1; i<PHIDGET_DEVICE_COUNT; i++) {
+			if (Phid_Device_Def[i].pdd_did == phid->deviceID) {
+				idVendor = Phid_Device_Def[i].pdd_vid;
+				idProduct = Phid_Device_Def[i].pdd_pid;
+				if ((desc.idVendor == idVendor) && (desc.idProduct == idProduct)) {
+					
+					/* the vend/prod matches! */
+					libusb_device_handle *handle = NULL;
+					if (libusb_open(device, &handle) == 0)
+					{
+						serial = -1;
+						if (desc.iSerialNumber) {
+							char string[256];
+							if((ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, string, sizeof(string))) < 0)
+							{
+								LOG(PHIDGET_LOG_WARNING, "libusb_get_string_descriptor_ascii failed with error code: %d", ret);
+								LOG(PHIDGET_LOG_INFO, "This usually means you need to run as root");
+								libusb_close(handle);
+								goto next;
+							}
+							else
+							{
+								serial = atol(string);
+							}
+						}
+						if (serial == phid->serialNumber) {
+							//Detach any Kernel Drivers
+							if((ret = libusb_kernel_driver_active(handle, Phid_Device_Def[i].pdd_iid)) < 0)
+							{
+								LOG(PHIDGET_LOG_WARNING, "libusb_kernel_driver_active failed with error code: %d", ret);
+							}
+							else if(ret == 1)
+							{
+								LOG(PHIDGET_LOG_INFO, "Kernel driver is active - will attempt a detach");
+								if((ret = libusb_detach_kernel_driver(handle, Phid_Device_Def[i].pdd_iid)) != 0)
+								{
+									LOG(PHIDGET_LOG_WARNING, "libusb_detach_kernel_driver failed with error code: %d", ret);
+								}
+								else
+								{
+									LOG(PHIDGET_LOG_INFO, "Successfully detached kernel driver");
+								}
+							}
+							
+							if((ret = libusb_claim_interface(handle, Phid_Device_Def[i].pdd_iid)) != 0)
+							{
+								LOG(PHIDGET_LOG_WARNING, "libusb_claim_interface failed with error code: %d", ret);
+								libusb_close(handle);
+							}
+							else
+							{
+								/* the serialnum is okay */
+						
+								phid->deviceHandle = (HANDLE)handle;
+								phid->deviceIDSpec = Phid_Device_Def[i].pdd_sdid;
+								phid->deviceDef = &Phid_Device_Def[i];
+								phid->deviceType = (char *)Phid_DeviceName[Phid_Device_Def[i].pdd_did];
+		
+								phid->ProductID = idProduct;
+								phid->VendorID = idVendor;
+								if (desc.bcdDevice < 0x100)
+									phid->deviceVersion = desc.bcdDevice * 100;
+								else
+									phid->deviceVersion = ((desc.bcdDevice >> 8) * 100) + ((desc.bcdDevice & 0xff));
+									
+								phid->deviceUID = CPhidget_getUID(phid->deviceIDSpec, phid->deviceVersion);
+								phid->serialNumber = serial;
+		
+								if((ret = CUSBGetDeviceCapabilities(phid, device, handle)))
+								{
+									LOG(PHIDGET_LOG_ERROR, "CUSBGetDeviceCapabilities returned nonzero code: %d", ret);
+								}
+
+								phid->attr = Phid_Device_Def[i].pdd_attr;
+		
+								ret = EPHIDGET_OK;
+								goto done;
+							} /* usb_claim_interface */
+						} /* serial matches */
+						else
+						{
+							libusb_close(handle);
+						}
+					} /* udev open */
+					else
+					{
+						libusb_close(handle);
+						LOG(PHIDGET_LOG_WARNING, "usb_open failed - bad permission or what?");
+					}
+				} /* vendor/product match */
+			} /* deviceID matches in table */
+		} /* iterate over phidget device table */
+next: ;
+	} /* iterate over USB devices */
+done:
+	if(list)	
+		libusb_free_device_list(list, 1);
+	
+  	return ret;
+}
diff --git a/linux/cusblinux.c b/linux/cusblinux.c
index 3a12fca..5e4886c 100644
--- a/linux/cusblinux.c
+++ b/linux/cusblinux.c
@@ -9,6 +9,12 @@
 
 #include "stdafx.h"
 #include "cusb.h"
+#include <usb.h>
+
+int CUSBGetDeviceCapabilities(CPhidgetHandle phid, struct usb_device *dev, struct usb_dev_handle *udev);
+
+void CUSBUninit()
+{}
 
 int CUSBCloseHandle(CPhidgetHandle phid) {
 	int ret = 0;
@@ -472,6 +478,7 @@ int CUSBBuildList(CPhidgetList **curList) {
 
 						CPhidget_setStatusFlag(&phid->status, PHIDGET_ATTACHED_FLAG, &phid->lock);
 						phid->deviceIDSpec = Phid_Device_Def[i].pdd_sdid;
+						phid->deviceUID = CPhidget_getUID(phid->deviceIDSpec, phid->deviceVersion);
 						phid->deviceDef = &Phid_Device_Def[i];
 						phid->deviceID = Phid_Device_Def[i].pdd_did;
 						phid->ProductID = dev->descriptor.idProduct;
@@ -634,7 +641,9 @@ int CUSBOpenHandle(CPhidgetHandle phid)
 									if (dev->descriptor.bcdDevice < 0x100)
 										phid->deviceVersion = dev->descriptor.bcdDevice * 100;
 									else
-										phid->deviceVersion = ((dev->descriptor.bcdDevice >> 8) * 100) + ((dev->descriptor.bcdDevice & 0xff));			
+										phid->deviceVersion = ((dev->descriptor.bcdDevice >> 8) * 100) + ((dev->descriptor.bcdDevice & 0xff));
+										
+									phid->deviceUID = CPhidget_getUID(phid->deviceIDSpec, phid->deviceVersion);
 									phid->serialNumber = serial;
 			
 									if((ret = CUSBGetDeviceCapabilities(phid, dev, udev)))
diff --git a/linux/zeroconf_avahi.c b/linux/zeroconf_avahi.c
index 98187bf..9b205b3 100644
--- a/linux/zeroconf_avahi.c
+++ b/linux/zeroconf_avahi.c
@@ -301,6 +301,7 @@ void PhidFromTXT(CPhidgetHandle phid, uint16_t txtLen, const char *txtRecord)
 		phid->deviceType = Phid_DeviceName[phid->deviceID];

 		free(type);

 	}

+	phid->deviceUID = CPhidget_getUID(phid->deviceIDSpec, phid->deviceVersion);

 	

 	phid->networkInfo->mdns = PTRUE;

 	

diff --git a/phidget21.h b/phidget21.h
index 363a29e..c9f62ea 100644
--- a/phidget21.h
+++ b/phidget21.h
@@ -95,7 +95,89 @@ typedef enum {
  PHIDID_TEXTLED_1x8 = 0x049,
  PHIDID_TEXTLED_4x8 = 0x048,
  PHIDID_WEIGHTSENSOR = 0x072,
+ PHIDID_FIRMWARE_UPGRADE = 0x098,
 } CPhidget_DeviceID;
+typedef enum {
+ PHIDUID_NOTHING =1,
+ PHIDUID_ACCELEROMETER_2AXIS_2G,
+ PHIDUID_ACCELEROMETER_2AXIS_10G,
+ PHIDUID_ACCELEROMETER_2AXIS_5G,
+ PHIDUID_ACCELEROMETER_3AXIS_3G,
+ PHIDUID_ADVANCEDSERVO_1MOTOR,
+ PHIDUID_ADVANCEDSERVO_8MOTOR,
+ PHIDUID_ADVANCEDSERVO_8MOTOR_PGOOD_FLAG,
+ PHIDUID_ADVANCEDSERVO_8MOTOR_CURSENSE_FIX,
+ PHIDUID_ANALOG_4OUTPUT,
+ PHIDUID_BRIDGE_4INPUT,
+ PHIDUID_ENCODER_1ENCODER_1INPUT_OLD,
+ PHIDUID_ENCODER_1ENCODER_1INPUT_v1,
+ PHIDUID_ENCODER_1ENCODER_1INPUT_v2,
+ PHIDUID_ENCODER_HS_1ENCODER,
+ PHIDUID_ENCODER_HS_4ENCODER_4INPUT,
+ PHIDUID_FREQUENCYCOUNTER_2INPUT,
+ PHIDUID_GPS,
+ PHIDUID_INTERFACEKIT_0_0_4_NO_ECHO,
+ PHIDUID_INTERFACEKIT_0_0_4,
+ PHIDUID_INTERFACEKIT_0_0_8,
+ PHIDUID_INTERFACEKIT_0_5_7,
+ PHIDUID_INTERFACEKIT_0_8_8_w_LCD,
+ PHIDUID_INTERFACEKIT_0_16_16_NO_ECHO,
+ PHIDUID_INTERFACEKIT_0_16_16_BITBUG,
+ PHIDUID_INTERFACEKIT_0_16_16,
+ PHIDUID_INTERFACEKIT_2_2_2,
+ PHIDUID_INTERFACEKIT_2_8_8,
+ PHIDUID_INTERFACEKIT_4_8_8,
+ PHIDUID_INTERFACEKIT_8_8_8_NO_ECHO,
+ PHIDUID_INTERFACEKIT_8_8_8,
+ PHIDUID_INTERFACEKIT_8_8_8_FAST,
+ PHIDUID_INTERFACEKIT_8_8_8_w_LCD_NO_ECHO,
+ PHIDUID_INTERFACEKIT_8_8_8_w_LCD,
+ PHIDUID_INTERFACEKIT_8_8_8_w_LCD_FAST,
+ PHIDUID_INTERFACEKIT_TOUCH_SLIDER,
+ PHIDUID_INTERFACEKIT_TOUCH_ROTARY,
+ PHIDUID_IR,
+ PHIDUID_LED_64,
+ PHIDUID_LED_64_ADV,
+ PHIDUID_MOTORCONTROL_1MOTOR,
+ PHIDUID_MOTORCONTROL_HC_2MOTOR,
+ PHIDUID_MOTORCONTROL_LV_2MOTOR_4INPUT,
+ PHIDUID_PHSENSOR,
+ PHIDUID_RFID_OLD,
+ PHIDUID_RFID,
+ PHIDUID_RFID_2OUTPUT_NO_ECHO,
+ PHIDUID_RFID_2OUTPUT,
+ PHIDUID_RFID_2OUTPUT_ADVANCED,
+ PHIDUID_SERVO_1MOTOR_OLD,
+ PHIDUID_SERVO_4MOTOR_OLD,
+ PHIDUID_SERVO_1MOTOR_NO_ECHO,
+ PHIDUID_SERVO_1MOTOR,
+ PHIDUID_SERVO_4MOTOR_NO_ECHO,
+ PHIDUID_SERVO_4MOTOR,
+ PHIDUID_SPATIAL_ACCEL_3AXIS_1049,
+ PHIDUID_SPATIAL_ACCEL_3AXIS_1041,
+ PHIDUID_SPATIAL_ACCEL_3AXIS_1043,
+ PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056,
+ PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1056_NEG_GAIN,
+ PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1042,
+ PHIDUID_SPATIAL_ACCEL_GYRO_COMPASS_1044,
+ PHIDUID_STEPPER_BIPOLAR_1MOTOR,
+ PHIDUID_STEPPER_UNIPOLAR_4MOTOR,
+ PHIDUID_TEMPERATURESENSOR_OLD,
+ PHIDUID_TEMPERATURESENSOR,
+ PHIDUID_TEMPERATURESENSOR_AD22100,
+ PHIDUID_TEMPERATURESENSOR_TERMINAL_BLOCKS,
+ PHIDUID_TEMPERATURESENSOR_4,
+ PHIDUID_TEMPERATURESENSOR_IR,
+ PHIDUID_TEXTLCD_2x20,
+ PHIDUID_TEXTLCD_2x20_w_8_8_8,
+ PHIDUID_TEXTLCD_2x20_w_8_8_8_BRIGHTNESS,
+ PHIDUID_TEXTLCD_ADAPTER,
+ PHIDUID_TEXTLED_1x8,
+ PHIDUID_TEXTLED_4x8,
+ PHIDUID_WEIGHTSENSOR,
+ PHIDUID_GENERIC,
+ PHIDUID_FIRMWARE_UPGRADE
+} CPhidget_DeviceUID;
  int CPhidget_open(CPhidgetHandle phid, int serialNumber);
  int CPhidget_openLabel(CPhidgetHandle phid, const char *label);
  int CPhidget_close(CPhidgetHandle phid);
@@ -135,7 +217,6 @@ typedef struct _CPhidgetDictionaryListener *CPhidgetDictionaryListenerHandle;
     int( *fptr)(CPhidgetDictionaryHandle, void *userPtr, int errorCode, const char *errorString), void *userPtr);
  int CPhidgetDictionary_addKey(CPhidgetDictionaryHandle dict, const char *key, const char *value, int persistent);
  int CPhidgetDictionary_removeKey(CPhidgetDictionaryHandle dict, const char *pattern);
-
 typedef int( *CPhidgetDictionary_OnKeyChange_Function)(CPhidgetDictionaryHandle dict, void *userPtr,
  const char *key, const char *value, CPhidgetDictionary_keyChangeReason reason);
  int CPhidgetDictionary_set_OnKeyChange_Handler(CPhidgetDictionaryHandle dict, CPhidgetDictionaryListenerHandle *dictlistener, const char *pattern,
@@ -161,11 +242,6 @@ typedef struct _CPhidgetManager *CPhidgetManagerHandle;
  int CPhidgetManager_set_OnServerDisconnect_Handler(CPhidgetManagerHandle phidm, int ( *fptr)(CPhidgetManagerHandle phidm, void *userPtr), void *userPtr);
  int CPhidgetManager_getServerID(CPhidgetManagerHandle phidm, const char **serverID);
  int CPhidgetManager_getServerAddress(CPhidgetManagerHandle phidm, const char **address, int *port);
-
-
-
-
-
  int CPhidgetManager_getServerStatus(CPhidgetManagerHandle phidm, int *serverStatus);
  int CPhidget_openRemote(CPhidgetHandle phid, int serial, const char *serverID, const char *password);
  int CPhidget_openLabelRemote(CPhidgetHandle phid, const char *label, const char *serverID, const char *password);
@@ -249,15 +325,7 @@ typedef enum {
  int CPhidgetAdvancedServo_getEngaged(CPhidgetAdvancedServoHandle phid, int index, int *engagedState);
  int CPhidgetAdvancedServo_setEngaged(CPhidgetAdvancedServoHandle phid, int index, int engagedState);
  int CPhidgetAdvancedServo_getStopped(CPhidgetAdvancedServoHandle phid, int index, int *stoppedState);
-
-
  int CPhidgetAdvancedServo_getServoType(CPhidgetAdvancedServoHandle phid, int index, CPhidget_ServoType *servoType);
-
-
-
-
-
-
  int CPhidgetAdvancedServo_setServoType(CPhidgetAdvancedServoHandle phid, int index, CPhidget_ServoType servoType);
  int CPhidgetAdvancedServo_setServoParameters(CPhidgetAdvancedServoHandle phid, int index, double min_us,double max_us,double degrees,double velocity_max);
 typedef struct _CPhidgetAnalog *CPhidgetAnalogHandle;
diff --git a/stdafx.h b/stdafx.h
index fce61f2..bf5389d 100644
--- a/stdafx.h
+++ b/stdafx.h
@@ -48,6 +48,9 @@
 
 #ifdef _WINDOWS
 // Defines & Include for Windows only
+	#ifndef AI_ADDRCONFIG
+		#define AI_ADDRCONFIG   0x00000400  // Resolution only if global address configured
+	#endif
 
 	//On Windows (but not WinCE), compile in Labview functions
 	#ifndef WINCE
@@ -232,11 +235,6 @@
 
 	#elif _LINUX
 		// Defines & Include for Linux Only
-
-        // No libusb on Android
-        #ifndef _ANDROID
-            #include <usb.h>
-        #endif
 		#include <assert.h>
 		#include <dlfcn.h>
 
diff --git a/utils/utils.c b/utils/utils.c
index 57611f2..22d2ec8 100644
--- a/utils/utils.c
+++ b/utils/utils.c
@@ -911,7 +911,7 @@ tryagain:
 		return 0;
 	} else
 	{
-		pu_log(PUL_VERB,0,"Recieved: \"%s\"", (char *)buf);
+		pu_log(PUL_VERB,0,"Received: \"%s\"", (char *)buf);
 		return res;
 	}
 }
diff --git a/version.sh b/version.sh
index 366dee6..34fc206 100755
--- a/version.sh
+++ b/version.sh
@@ -1,2 +1,2 @@
 #!/bin/bash
-echo -n 2.1.8.20120216
+echo -n 2.1.8.20120507
diff --git a/zeroconf.c b/zeroconf.c
index df72b91..81b030c 100644
--- a/zeroconf.c
+++ b/zeroconf.c
@@ -1,1231 +1,1232 @@
-#include "stdafx.h"
-#include "csocket.h"
-#include "csocketevents.h"
-#include "cphidgetlist.h"
-#include "cphidgetmanager.h"
-#include "cphidgetdictionary.h"
-#include "cphidgetsbc.h"
-#include "zeroconf.h"
-#include "dns_sd.h"
-
-#ifdef ZEROCONF_RUNTIME_LINKING
-//function prototypes for run-time loaded library
-typedef DNSServiceErrorType (DNSSD_API * DNSServiceRegisterType) 
-(DNSServiceRef *,DNSServiceFlags,uint32_t,const char *,
- const char *,const char *,const char *,uint16_t,uint16_t,
- const void *,DNSServiceRegisterReply,void *);
-typedef DNSServiceErrorType (DNSSD_API * DNSServiceProcessResultType) (DNSServiceRef);
-typedef void (DNSSD_API * DNSServiceRefDeallocateType) (DNSServiceRef);
-typedef DNSServiceErrorType (DNSSD_API * DNSServiceAddRecordType)
-(DNSServiceRef, DNSRecordRef *, DNSServiceFlags, 
- uint16_t, uint16_t, const void *, uint32_t);
-typedef DNSServiceErrorType (DNSSD_API * DNSServiceUpdateRecordType)
-(DNSServiceRef, DNSRecordRef, DNSServiceFlags, 
- uint16_t, const void *, uint32_t);
-typedef DNSServiceErrorType (DNSSD_API * DNSServiceRemoveRecordType)
-(DNSServiceRef, DNSRecordRef, DNSServiceFlags);
-typedef DNSServiceErrorType (DNSSD_API * DNSServiceBrowseType)
-(DNSServiceRef *, DNSServiceFlags, uint32_t, const char *,
- const char *, DNSServiceBrowseReply, void *);
-typedef DNSServiceErrorType (DNSSD_API * DNSServiceResolveType)
-(DNSServiceRef *, DNSServiceFlags, uint32_t, const char *,
- const char *, const char *, DNSServiceResolveReply, 
- void *context);
-typedef DNSServiceErrorType (DNSSD_API * DNSServiceQueryRecordType)
-(DNSServiceRef *, DNSServiceFlags, uint32_t, const char *,
- uint16_t, uint16_t, DNSServiceQueryRecordReply, void *context);
-typedef int (DNSSD_API * DNSServiceConstructFullNameType)
-(char *, const char *, const char *, const char *);
-typedef int (DNSSD_API * DNSServiceRefSockFDType) (DNSServiceRef sdRef);
-#else
-#define DNSServiceRegisterPtr DNSServiceRegister
-#define DNSServiceProcessResultPtr DNSServiceProcessResult
-#define DNSServiceRefDeallocatePtr DNSServiceRefDeallocate
-#define DNSServiceAddRecordPtr DNSServiceAddRecord
-#define DNSServiceUpdateRecordPtr DNSServiceUpdateRecord
-#define DNSServiceRemoveRecordPtr DNSServiceRemoveRecord
-#define DNSServiceBrowsePtr DNSServiceBrowse
-#define DNSServiceResolvePtr DNSServiceResolve
-#define DNSServiceQueryRecordPtr DNSServiceQueryRecord
-#define DNSServiceConstructFullNamePtr DNSServiceConstructFullName
-#define DNSServiceRefSockFDPtr DNSServiceRefSockFD
-#endif
-
-int Dns_sdInitialized = FALSE;
-int Dns_sdBrowsing = FALSE;
-int stopBrowsing = FALSE;
-DNSServiceRef zeroconf_browse_ws_ref  = NULL;
-DNSServiceRef zeroconf_browse_sbc_ref  = NULL;
-DNSServiceRef zeroconf_browse_phidget_ref  = NULL;
-
-pthread_t dns_thread = NULL;
-
-#ifdef ZEROCONF_RUNTIME_LINKING
-
-//DNS_SD functions
-DNSServiceRegisterType DNSServiceRegisterPtr = NULL;
-DNSServiceProcessResultType DNSServiceProcessResultPtr = NULL;
-DNSServiceRefDeallocateType DNSServiceRefDeallocatePtr = NULL;
-DNSServiceAddRecordType DNSServiceAddRecordPtr = NULL;
-DNSServiceUpdateRecordType DNSServiceUpdateRecordPtr = NULL;
-DNSServiceRemoveRecordType DNSServiceRemoveRecordPtr = NULL;
-DNSServiceBrowseType DNSServiceBrowsePtr = NULL;
-DNSServiceResolveType DNSServiceResolvePtr = NULL;
-DNSServiceQueryRecordType DNSServiceQueryRecordPtr = NULL;
-DNSServiceConstructFullNameType DNSServiceConstructFullNamePtr = NULL;
-DNSServiceRefSockFDType DNSServiceRefSockFDPtr = NULL;
-
-#ifdef _WINDOWS
-HMODULE dllHandle = NULL;
-#elif _LINUX
-void *libHandle = NULL;
-#endif
-#endif
-
-
-static uint8_t *InternalTXTRecordSearch
-(
- uint16_t         txtLen,
- const void       *txtRecord,
- const char       *key,
- unsigned long    *keylen
- )
-{
-	uint8_t *p = (uint8_t*)txtRecord;
-	uint8_t *e = p + txtLen;
-	*keylen = (unsigned long) strlen(key);
-	while (p<e)
-	{
-		uint8_t *x = p;
-		p += 1 + p[0];
-		if (p <= e && *keylen <= x[0] && !strncmp(key, (char*)x+1, *keylen))
-			if (*keylen == x[0] || x[1+*keylen] == '=') return(x);
-	}
-	return(NULL);
-}
-
-const void * TXTRecordGetValuePtrPtr
-(
- uint16_t         txtLen,
- const void       *txtRecord,
- const char       *key,
- uint8_t          *valueLen
- )
-{
-	unsigned long keylen;
-	uint8_t *item = InternalTXTRecordSearch(txtLen, txtRecord, key, &keylen);
-	if (!item || item[0] <= keylen) return(NULL);	// If key not found, or found with no value, return NULL
-	*valueLen = (uint8_t)(item[0] - (keylen + 1));
-	return (item + 1 + keylen + 1);
-}
-
-int dns_callback_thread(void *ptr)
-{    
-    int nfds;
-    fd_set readfds;
-    struct timeval tv;
-    int result;
-	
-	int ws_fd = DNSServiceRefSockFDPtr(zeroconf_browse_ws_ref);
-	int sbc_fd = DNSServiceRefSockFDPtr(zeroconf_browse_sbc_ref);
-	int phidget_fd = DNSServiceRefSockFDPtr(zeroconf_browse_phidget_ref);
-	
-	nfds = ws_fd;
-	if(sbc_fd>nfds)
-		nfds = sbc_fd;
-	if(phidget_fd > nfds)
-		nfds = phidget_fd;
-	nfds++;
-	
-	while (!stopBrowsing)
-	{
-		FD_ZERO(&readfds);
-		FD_SET(ws_fd, &readfds);
-		FD_SET(sbc_fd, &readfds);
-		FD_SET(phidget_fd, &readfds);
-		
-		//100ms
-		tv.tv_sec = 0;
-		tv.tv_usec = 100000;
-		
-		result = select(nfds, &readfds, (fd_set*)NULL, (fd_set*)NULL, &tv);
-		if (result > 0)
-		{
-			DNSServiceErrorType err = kDNSServiceErr_NoError;
-			if (FD_ISSET(ws_fd, &readfds))
-			{
-				if ((err = DNSServiceProcessResultPtr(zeroconf_browse_ws_ref)) != kDNSServiceErr_NoError)
-					stopBrowsing = 1;
-			}
-			if (FD_ISSET(sbc_fd, &readfds))
-			{
-				if ((err = DNSServiceProcessResultPtr(zeroconf_browse_sbc_ref)) != kDNSServiceErr_NoError)
-					stopBrowsing = 1;
-			}
-			if (FD_ISSET(phidget_fd, &readfds))
-			{
-				if ((err = DNSServiceProcessResultPtr(zeroconf_browse_phidget_ref)) != kDNSServiceErr_NoError)
-					stopBrowsing = 1;
-			}
-		}
-		else if(result == SOCKET_ERROR)
-		{
-			LOG(PHIDGET_LOG_DEBUG, "select(  ) returned %d errno %d %s\n", result, errno, strerror(errno));
-			if (errno != EINTR)
-				stopBrowsing = 1;
-		}
-		//result==0 means timeout, loop around again
-	}
-	return EPHIDGET_OK;
-}
-
-void PhidFromTXT(CPhidgetHandle phid, uint16_t txtLen, const char *txtRecord)
-{
-	int i = 0;
-	short txtver;
-	//char *label = NULL;
-	char temp[128];
-	//unsigned int labelLen = 0;
-	
-	uint8_t valLen = 0;
-	const char *valPtr = NULL;
-	
-	//txt version
-	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "txtvers", &valLen))) return;
-	memcpy(temp, valPtr, valLen);
-	temp[valLen] = '\0';
-	txtver = (short)strtol(temp, NULL, 10);
-	
-	//Serial Number
-	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "serial", &valLen))) return;
-	memcpy(temp, valPtr, valLen);
-	temp[valLen] = '\0';
-	phid->serialNumber = strtol(temp, NULL, 10);
-	phid->specificDevice = PHIDGETOPEN_SERIAL;
-	
-	//version
-	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "version", &valLen))) return;
-	memcpy(temp, valPtr, valLen);
-	temp[valLen] = '\0';
-	phid->deviceVersion = strtol(temp, NULL, 10);
-	
-	//label
-	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "label", &valLen))) return;
-	if(valLen >= MAX_LABEL_STORAGE) valLen = MAX_LABEL_STORAGE-1;
-	memcpy(phid->label, valPtr, valLen);
-	phid->label[valLen] = '\0';
-	/*	memcpy(temp, valPtr, valLen);
-	 temp[valLen] = '\0';
-	 unescape(temp, &label, &labelLen);
-	 if(labelLen > MAX_LABEL_STORAGE-1) labelLen = MAX_LABEL_STORAGE-1;
-	 memcpy(phid->label, label, labelLen);
-	 phid->label[labelLen] = '\0';
-	 free(label);*/
-	
-	//server_id
-	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "server_id", &valLen))) return;
-	free(phid->networkInfo->zeroconf_server_id);
-	if(!(phid->networkInfo->zeroconf_server_id = malloc(valLen+1))) return;
-	ZEROMEM(phid->networkInfo->zeroconf_server_id, valLen+1);
-	memcpy(phid->networkInfo->zeroconf_server_id, valPtr, valLen);
-	
-	// things added in version 2 of the txt
-	if(txtver >= 2)
-	{
-		//Device ID
-		if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "id", &valLen))) return;
-		memcpy(temp, valPtr, valLen);
-		temp[valLen] = '\0';
-		phid->deviceIDSpec = strtol(temp, NULL, 10);
-		
-		for(i = 1;i<PHIDGET_DEVICE_COUNT;i++)
-			if(phid->deviceIDSpec == Phid_Device_Def[i].pdd_sdid) break;
-		phid->deviceDef = &Phid_Device_Def[i];
-		phid->attr = Phid_Device_Def[i].pdd_attr;
-		
-		//Device Class
-		if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "class", &valLen))) return;
-		memcpy(temp, valPtr, valLen);
-		temp[valLen] = '\0';
-		phid->deviceID = strtol(temp, NULL, 10);
-		phid->deviceType = Phid_DeviceName[phid->deviceID];
-	}
-	//Old version uses string searching, but some devices have the same name with different IDs
-	else
-	{
-		char *name = NULL;
-		char *type = NULL;
-		
-		//name
-		if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "name", &valLen))) return;
-		if(!(name = malloc(valLen+1))) return;
-		ZEROMEM(name, valLen+1);
-		memcpy(name, valPtr, valLen);
-		for(i = 0;i<PHIDGET_DEVICE_COUNT;i++)
-		{
-			if(!strcmp(name, Phid_Device_Def[i].pdd_name))
-			{
-				phid->deviceIDSpec = Phid_Device_Def[i].pdd_sdid;
-				phid->deviceDef = &Phid_Device_Def[i];
-				phid->attr = Phid_Device_Def[i].pdd_attr;
-				break;
-			}
-		}
-		free(name);
-		
-		//type
-		if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "type", &valLen))) return;
-		if(!(type = malloc(valLen+1))) return;
-		ZEROMEM(type, valLen+1);
-		memcpy(type, valPtr, valLen);
-		phid->deviceID = phidget_type_to_id(type);
-		phid->deviceType = Phid_DeviceName[phid->deviceID];
-		free(type);
-	}
-	
-	phid->networkInfo->mdns = PTRUE;
-	
-}
-
-void DNSServiceQueryRecord_Phidget_CallBack
-(
- DNSServiceRef                       DNSServiceRef,
- DNSServiceFlags                     flags,
- uint32_t                            interfaceIndex,
- DNSServiceErrorType                 errorCode,
- const char                          *fullname,
- uint16_t                            rrtype,
- uint16_t                            rrclass,
- uint16_t                            rdlen,
- const void                          *rdata,
- uint32_t                            ttl,
- void                                *context
- )
-{
-	if (errorCode != kDNSServiceErr_NoError)
-		LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecord_Phidget_CallBack returned error: %d\n", errorCode);
-	else
-	{
-		CPhidgetHandle phid = (CPhidgetHandle)context;
-		LOG(PHIDGET_LOG_INFO, "DNSServiceQueryRecord_Phidget_CallBack: %s (%d)",fullname,interfaceIndex);
-		
-		PhidFromTXT(phid, rdlen, rdata);
-	}
-}
-
-void SBCFromTXT(CPhidgetSBCHandle sbc, uint16_t txtLen, const char *txtRecord)
-{
-	char *hversion = NULL, *txtver = NULL;
-	
-	uint8_t valLen = 0;
-	const char *valPtr = NULL;
-	
-	//txt version
-	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "txtvers", &valLen))) return;
-	if(!(txtver = malloc(valLen+1))) return;
-	ZEROMEM(txtver, valLen+1);
-	memcpy(txtver, valPtr, valLen);
-	sbc->txtver = (short)strtol(txtver, NULL, 10);
-	free(txtver);
-	
-	//Firmware version
-	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "fversion", &valLen))) return;
-	if(valLen > 12) valLen = 12;
-	memcpy(sbc->fversion, valPtr, valLen);
-	sbc->fversion[valLen] = '\0';
-	
-	//Hardware version
-	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "hversion", &valLen))) return;
-	if(!(hversion = malloc(valLen+1))) return;
-	ZEROMEM(hversion, valLen+1);
-	memcpy(hversion, valPtr, valLen);
-	sbc->hversion = (short)strtol(hversion, NULL, 10);
-	free(hversion);
-	
-	// things added in version 2 of the txt
-	if(sbc->txtver >= 2)
-	{
-		//Hostname
-		if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "hostname", &valLen))) return;
-		if(valLen > 128) valLen = 128;
-		memcpy(sbc->hostname, valPtr, valLen);
-		sbc->hostname[valLen] = '\0';
-	}
-	// things added in version 3 of the txt
-	if(sbc->txtver >= 3)
-	{
-		//Device Name
-		if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "name", &valLen))) return;
-		if(valLen > 128) valLen = 128;
-		memcpy(sbc->deviceName, valPtr, valLen);
-		sbc->deviceName[valLen] = '\0';
-	}
-	else
-	{
-		sprintf(sbc->deviceName, "PhidgetSBC");
-	}
-}
-
-void DNSServiceQueryRecord_SBC_CallBack
-(
- DNSServiceRef                       DNSServiceRef,
- DNSServiceFlags                     flags,
- uint32_t                            interfaceIndex,
- DNSServiceErrorType                 errorCode,
- const char                          *fullname,
- uint16_t                            rrtype,
- uint16_t                            rrclass,
- uint16_t                            rdlen,
- const void                          *rdata,
- uint32_t                            ttl,
- void                                *context
- )
-{
-	if (errorCode != kDNSServiceErr_NoError)
-		LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecord_sbc_CallBack returned error: %d\n", errorCode);
-	else
-	{
-		CPhidgetSBCHandle sbc = (CPhidgetSBCHandle)context;
-		LOG(PHIDGET_LOG_INFO, "DNSServiceQueryRecord_sbc_CallBack: %s (%d)",fullname,interfaceIndex);
-		
-		SBCFromTXT(sbc, rdlen, rdata);
-	}
-}
-
-void DNSServiceBrowse_Phidget_CallBack(DNSServiceRef service,
-									   DNSServiceFlags flags,
-									   uint32_t interfaceIndex,
-									   DNSServiceErrorType errorCode,
-									   const char * name,
-									   const char * type,
-									   const char * domain,
-									   void * context)
-{
-	if (errorCode != kDNSServiceErr_NoError)
-		LOG(PHIDGET_LOG_ERROR, "Dns_sd_BrowseCallBack returned error: %d\n", errorCode);
-	else
-	{    
-		DNSServiceErrorType error;
-		DNSServiceRef  serviceRef;
-		char fullname[kDNSServiceMaxDomainName];
-		
-		CPhidgetHandle phid;
-		CPhidgetHandle found_phid;
-		CPhidgetManagerList *trav;
-		
-		DNSServiceConstructFullNamePtr(fullname, name, type, domain);
-		
-		LOG(PHIDGET_LOG_INFO, "DNSServiceBrowse_Phidget_CallBack: %s (%s, %s, %d)",name,type,domain,interfaceIndex);
-		
-		if((CPhidget_create(&phid))) return;
-		if((CPhidgetRemote_create(&phid->networkInfo))) return;
-		
-		phid->networkInfo->zeroconf_name = strdup(name);
-		phid->networkInfo->zeroconf_type = strdup(type);
-		phid->networkInfo->zeroconf_domain = strdup(domain);
-		phid->networkInfo->zeroconf_interface = interfaceIndex;
-		
-		if(flags & kDNSServiceFlagsAdd)
-		{
-			error = DNSServiceQueryRecordPtr(&serviceRef, 0, interfaceIndex, fullname,
-											 kDNSServiceType_TXT, kDNSServiceClass_IN, DNSServiceQueryRecord_Phidget_CallBack, phid);
-			if (error == kDNSServiceErr_NoError)
-			{
-				DNSServiceProcessResultPtr(serviceRef);
-				DNSServiceRefDeallocatePtr(serviceRef);
-				CThread_mutex_lock(&zeroconfPhidgetsLock);
-				CThread_mutex_lock(&activeRemoteManagersLock);
-				
-				CPhidget_setStatusFlag(&phid->status, PHIDGET_ATTACHED_FLAG, &phid->lock);
-				CPhidget_setStatusFlag(&phid->status, PHIDGET_REMOTE_FLAG, &phid->lock);
-				
-				if(CList_findInList((CListHandle)zeroconfPhidgets, phid, CPhidget_areExtraEqual, (void **)&found_phid) == EPHIDGET_OK)
-				{
-					//Only do a detach/attach cycle if something's different
-					if(found_phid->serialNumber == phid->serialNumber
-					   && found_phid->deviceVersion == phid->deviceVersion
-					   && !strcmp(found_phid->label, phid->label)
-					   && !strcmp(found_phid->networkInfo->zeroconf_server_id, phid->networkInfo->zeroconf_server_id))
-					{
-						//prefer local. domain
-						if((strcmp(domain, found_phid->networkInfo->zeroconf_domain) != 0) && !(strcmp(domain, "local.")))
-						{
-							free(found_phid->networkInfo->zeroconf_domain);
-							found_phid->networkInfo->zeroconf_domain = phid->networkInfo->zeroconf_domain;
-							phid->networkInfo->zeroconf_domain = NULL;
-						}
-						CPhidgetRemote_free(phid->networkInfo);
-						CPhidget_free(phid);
-						CThread_mutex_unlock(&activeRemoteManagersLock);
-						CThread_mutex_unlock(&zeroconfPhidgetsLock);
-						return;
-					}
-					
-					//set detaching status
-					CPhidget_clearStatusFlag(&found_phid->status, PHIDGET_ATTACHED_FLAG, &found_phid->lock);
-					CPhidget_setStatusFlag(&found_phid->status, PHIDGET_DETACHING_FLAG, &found_phid->lock);
-					
-					//Remove from list - don't free until after detach event
-					CList_removeFromList((CListHandle *)&zeroconfPhidgets, found_phid, CPhidget_areExtraEqual, FALSE, NULL);
-					
-					for (trav=activeRemoteManagers; trav; trav = trav->next)
-					{
-						if(trav->phidm->networkInfo->requested_address==NULL
-						   && (trav->phidm->networkInfo->requested_serverID == NULL || !strcmp(trav->phidm->networkInfo->requested_serverID,found_phid->networkInfo->zeroconf_server_id)))
-						{
-							CList_removeFromList((CListHandle *)&trav->phidm->AttachedPhidgets, found_phid, CPhidget_areExtraEqual, PFALSE, NULL);
-							
-							if (trav->phidm->fptrDetachChange && trav->phidm->state == PHIDGETMANAGER_ACTIVE)
-								trav->phidm->fptrDetachChange((CPhidgetHandle)found_phid, trav->phidm->fptrDetachChangeptr);
-						}
-					}
-					CPhidgetRemote_free(found_phid->networkInfo);
-					CPhidget_free(found_phid);
-				}
-				
-				CPhidget_setStatusFlag(&phid->status, PHIDGET_SERVER_CONNECTED_FLAG, &phid->lock);
-				
-				//now add it
-				CList_addToList((CListHandle *)&zeroconfPhidgets, phid, CPhidget_areExtraEqual);
-				//managers
-				for (trav=activeRemoteManagers; trav; trav = trav->next)
-				{
-					if(trav->phidm->networkInfo->requested_address==NULL
-					   && (trav->phidm->networkInfo->requested_serverID == NULL || !strcmp(trav->phidm->networkInfo->requested_serverID,phid->networkInfo->zeroconf_server_id)))
-					{
-						CList_addToList((CListHandle *)&trav->phidm->AttachedPhidgets, phid, CPhidget_areExtraEqual);
-						
-						if (trav->phidm->fptrAttachChange && trav->phidm->state == PHIDGETMANAGER_ACTIVE)
-							trav->phidm->fptrAttachChange((CPhidgetHandle)phid, trav->phidm->fptrAttachChangeptr);
-					}
-				}
-				
-				CThread_mutex_unlock(&activeRemoteManagersLock);
-				CThread_mutex_unlock(&zeroconfPhidgetsLock);
-			}
-			else
-				LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecordPtr returned error: %d\n", error);
-		}
-		else
-		{
-			//have to fill in phid manually from just the name
-			int i;
-			char *name_copy = strdup(name);
-			for(i=0;i<(int)strlen(name_copy);i++)
-				if(name_copy[i] == '(') break;
-			if(i<=1) return;
-			name_copy[strlen(name_copy)-1]='\0';
-			name_copy[i-1] = '\0';
-			phid->serialNumber = strtol(name_copy+i+1, NULL, 10);
-			//we need to set this so it checks the serial numbers for a match
-			phid->specificDevice = PHIDGETOPEN_SERIAL;
-			for(i = 0;i<PHIDGET_DEVICE_COUNT;i++)
-				if(!strcmp(name_copy, Phid_Device_Def[i].pdd_name)) break;
-			phid->deviceDef = &Phid_Device_Def[i];
-			//phid->deviceIDSpec = Phid_Device_Def[i].pdd_sdid;
-			phid->deviceIDSpec = 0; //Needs to be 0 because the name can be ambiguous (ie 1018/1200) - we will still match on serial/device class, which is enough for uniqueness
-			phid->attr = Phid_Device_Def[i].pdd_attr;
-			phid->deviceID = Phid_Device_Def[i].pdd_did;
-			phid->deviceType = Phid_DeviceName[phid->deviceID];
-			phid->networkInfo->mdns = PTRUE;
-			
-			CThread_mutex_lock(&zeroconfPhidgetsLock);
-			CThread_mutex_lock(&activeRemoteManagersLock);
-			
-			CPhidget_clearStatusFlag(&phid->status, PHIDGET_ATTACHED_FLAG, &phid->lock);
-			CPhidget_setStatusFlag(&phid->status, PHIDGET_DETACHING_FLAG, &phid->lock);
-			
-			if(!CList_findInList((CListHandle)zeroconfPhidgets, phid, CPhidget_areEqual, (void **)&found_phid))
-			{
-				CPhidget_clearStatusFlag(&found_phid->status, PHIDGET_ATTACHED_FLAG, &found_phid->lock);
-				CPhidget_setStatusFlag(&found_phid->status, PHIDGET_DETACHING_FLAG, &found_phid->lock);
-				CPhidget_setStatusFlag(&found_phid->status, PHIDGET_REMOTE_FLAG, &found_phid->lock);
-				CPhidget_clearStatusFlag(&found_phid->status, PHIDGET_SERVER_CONNECTED_FLAG, &found_phid->lock);
-				
-				CList_removeFromList((CListHandle *)&zeroconfPhidgets, found_phid, CPhidget_areExtraEqual, FALSE, NULL);
-				//managers
-				for (trav=activeRemoteManagers; trav; trav = trav->next)
-				{
-					if(trav->phidm->networkInfo->requested_address==NULL
-					   && (trav->phidm->networkInfo->requested_serverID == NULL || !strcmp(trav->phidm->networkInfo->requested_serverID,found_phid->networkInfo->zeroconf_server_id)))
-					{
-						CList_removeFromList((CListHandle *)&trav->phidm->AttachedPhidgets, found_phid, CPhidget_areExtraEqual, PFALSE, NULL);
-						
-						if (trav->phidm->fptrDetachChange && trav->phidm->state == PHIDGETMANAGER_ACTIVE)
-							trav->phidm->fptrDetachChange((CPhidgetHandle)found_phid, trav->phidm->fptrDetachChangeptr);
-					}
-				}
-				CPhidget_clearStatusFlag(&found_phid->status, PHIDGET_DETACHING_FLAG, &found_phid->lock);
-				CPhidgetRemote_free(found_phid->networkInfo);
-				CPhidget_free(found_phid);
-			}
-			CPhidgetRemote_free(phid->networkInfo);
-			CPhidget_free(phid);
-			
-			CThread_mutex_unlock(&activeRemoteManagersLock);
-			CThread_mutex_unlock(&zeroconfPhidgetsLock);
-			free(name_copy);
-		}
-	}
-}
-
-void DNSServiceBrowse_sbc_CallBack(DNSServiceRef service,
-								   DNSServiceFlags flags,
-								   uint32_t interfaceIndex,
-								   DNSServiceErrorType errorCode,
-								   const char * name,
-								   const char * type,
-								   const char * domain,
-								   void * context)
-{
-	if (errorCode != kDNSServiceErr_NoError)
-		LOG(PHIDGET_LOG_ERROR, "Dns_sbc_BrowseCallBack returned error: %d\n", errorCode);
-	else
-	{    
-		DNSServiceErrorType error;
-		DNSServiceRef  serviceRef;
-		char fullname[kDNSServiceMaxDomainName];
-		
-		CPhidgetSBCHandle sbc;
-		CPhidgetSBCHandle found_sbc;
-		CPhidgetSBCManagerList *trav;
-		
-		DNSServiceConstructFullNamePtr(fullname, name, type, domain);
-		
-		
-		if((CPhidgetSBC_create(&sbc))) return;
-		if((CPhidgetRemote_create(&sbc->networkInfo))) return;
-		
-		sbc->networkInfo->zeroconf_name = strdup(name);
-		sbc->networkInfo->zeroconf_type = strdup(type);
-		sbc->networkInfo->zeroconf_domain = strdup(domain);
-		sbc->networkInfo->zeroconf_interface = interfaceIndex;
-		sbc->networkInfo->mdns = PTRUE;
-		
-		strncpy(sbc->mac, name+12, 18); //name == 'PhidgetSBC (??:??:??:??:??:??)'
-		sbc->mac[17] = '\0';
-		
-		if(flags & kDNSServiceFlagsAdd)
-		{
-			LOG(PHIDGET_LOG_INFO, "DNSServiceBrowse_sbc_CallBack (Add): %s",name);
-			error = DNSServiceQueryRecordPtr(&serviceRef, 0, interfaceIndex, fullname,
-											 kDNSServiceType_TXT, kDNSServiceClass_IN, DNSServiceQueryRecord_SBC_CallBack, sbc);
-			if (error == kDNSServiceErr_NoError)
-			{
-				DNSServiceProcessResultPtr(serviceRef);
-				DNSServiceRefDeallocatePtr(serviceRef);
-				
-				CThread_mutex_lock(&zeroconfSBCsLock);
-				CThread_mutex_lock(&activeSBCManagersLock);
-				
-				//Check if it's in the list and if it's different, remove it to make way for the new one
-				// (Sometimes, we don't get a proper detach notification)
-				if(CList_findInList((CListHandle)zeroconfSBCs, sbc, CPhidgetSBC_areEqual, (void **)&found_sbc) == EPHIDGET_OK)
-				{
-					if(CPhidgetSBC_areExtraEqual(found_sbc, sbc) != PTRUE) //A version number has changed
-					{
-						//make sure zeroconf_ref is not pending
-						if(found_sbc->networkInfo)
-						{
-							CThread_mutex_lock(&found_sbc->networkInfo->zeroconf_ref_lock);
-							if(found_sbc->networkInfo->zeroconf_ref)
-							{
-								DNSServiceRefDeallocatePtr((DNSServiceRef)found_sbc->networkInfo->zeroconf_ref);
-								found_sbc->networkInfo->zeroconf_ref = NULL;
-							}
-							CThread_mutex_unlock(&found_sbc->networkInfo->zeroconf_ref_lock);
-						}
-						
-						//Remove from list - don't free until after detach event
-						CList_removeFromList((CListHandle *)&zeroconfSBCs, found_sbc, CPhidgetSBC_areEqual, PFALSE, NULL);
-						
-						for (trav=activeSBCManagers; trav; trav = trav->next)
-						{
-							if (trav->sbcm->fptrDetachChange && trav->sbcm->state == PHIDGETMANAGER_ACTIVE)
-								trav->sbcm->fptrDetachChange((CPhidgetSBCHandle)found_sbc, trav->sbcm->fptrDetachChangeptr);
-						}
-						
-						CPhidgetSBC_free(found_sbc);
-						
-						//now we fall through and add back to new one
-					}
-					else //Nothing has changed, we didn't remove, don't add
-					{
-						//prefer local. domain
-						if((strcmp(domain, found_sbc->networkInfo->zeroconf_domain) != 0) && !(strcmp(domain, "local.")))
-						{
-							free(found_sbc->networkInfo->zeroconf_domain);
-							found_sbc->networkInfo->zeroconf_domain = sbc->networkInfo->zeroconf_domain;
-							sbc->networkInfo->zeroconf_domain = NULL;
-						}
-						CPhidgetSBC_free(sbc);
-						goto dontadd;
-					}
-				}
-				
-				//now add it
-				CList_addToList((CListHandle *)&zeroconfSBCs, sbc, CPhidgetSBC_areEqual);
-				
-				//send out events
-				for (trav=activeSBCManagers; trav; trav = trav->next)
-				{
-					if (trav->sbcm->fptrAttachChange && trav->sbcm->state == PHIDGETMANAGER_ACTIVE)
-						trav->sbcm->fptrAttachChange((CPhidgetSBCHandle)sbc, trav->sbcm->fptrAttachChangeptr);
-					
-				}
-			dontadd:
-				
-				CThread_mutex_unlock(&activeSBCManagersLock);
-				CThread_mutex_unlock(&zeroconfSBCsLock);
-			}
-			else
-				LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecordPtr returned error: %d\n", error);
-		}
-		else
-		{
-			
-			LOG(PHIDGET_LOG_INFO, "DNSServiceBrowse_sbc_CallBack (Remove): %s",name);
-			CThread_mutex_lock(&zeroconfSBCsLock);
-			CThread_mutex_lock(&activeSBCManagersLock);
-			
-			//make sure zeroconf_ref is not pending
-			if(sbc->networkInfo)
-			{
-				CThread_mutex_lock(&sbc->networkInfo->zeroconf_ref_lock);
-				if(sbc->networkInfo->zeroconf_ref)
-				{
-					DNSServiceRefDeallocatePtr((DNSServiceRef)sbc->networkInfo->zeroconf_ref);
-					sbc->networkInfo->zeroconf_ref = NULL;
-				}
-				CThread_mutex_unlock(&sbc->networkInfo->zeroconf_ref_lock);
-			}
-			
-			if(CList_findInList((CListHandle)zeroconfSBCs, sbc, CPhidgetSBC_areEqual, (void **)&found_sbc) == EPHIDGET_OK)
-			{
-				CList_removeFromList((CListHandle *)&zeroconfSBCs, found_sbc, CPhidgetSBC_areEqual, PFALSE, NULL);
-				//managers
-				for (trav=activeSBCManagers; trav; trav = trav->next)
-				{
-					if (trav->sbcm->fptrDetachChange && trav->sbcm->state == PHIDGETMANAGER_ACTIVE)
-						trav->sbcm->fptrDetachChange((CPhidgetSBCHandle)found_sbc, trav->sbcm->fptrDetachChangeptr);
-				}
-				CPhidgetSBC_free(found_sbc);
-			}
-			
-			CThread_mutex_unlock(&activeSBCManagersLock);
-			CThread_mutex_unlock(&zeroconfSBCsLock);
-			
-			CPhidgetSBC_free(sbc);
-		}
-	}
-}
-
-void DNSServiceBrowse_ws_CallBack(DNSServiceRef service,
-								  DNSServiceFlags flags,
-								  uint32_t interfaceIndex,
-								  DNSServiceErrorType errorCode,
-								  const char * name,
-								  const char * type,
-								  const char * domain,
-								  void * context)
-{
-	if (errorCode != kDNSServiceErr_NoError)
-		LOG(PHIDGET_LOG_ERROR, "DNSServiceBrowse_ws_CallBack returned error: %d\n", errorCode);
-	else
-	{
-		char fullname[kDNSServiceMaxDomainName];
-		
-		CPhidgetRemoteHandle networkInfo;
-		if((CPhidgetRemote_create(&networkInfo))) return;
-		
-		networkInfo->zeroconf_name = strdup(name);
-		networkInfo->zeroconf_server_id = strdup(name);
-		networkInfo->zeroconf_type = strdup(type);
-		networkInfo->zeroconf_domain = strdup(domain);
-		networkInfo->zeroconf_interface = interfaceIndex;
-		
-		DNSServiceConstructFullNamePtr(fullname, name, type, domain);
-		
-		LOG(PHIDGET_LOG_INFO, "DNSServiceBrowse_ws_CallBack: %s (%s, %s, %d)",name,type,domain,interfaceIndex);
-		
-		CThread_mutex_lock(&zeroconfServersLock);
-		if(flags & kDNSServiceFlagsAdd)
-		{
-			if(CList_addToList((CListHandle *)&zeroconfServers, networkInfo, CPhidgetRemote_areEqual) != EPHIDGET_OK)
-				CPhidgetRemote_free(networkInfo);
-		}
-		else
-		{
-			CList_removeFromList((CListHandle *)&zeroconfServers, networkInfo, CPhidgetRemote_areEqual, TRUE, CPhidgetRemote_free);
-		}
-		CThread_mutex_unlock(&zeroconfServersLock);
-	}
-}
-
-int cancelPendingZeroconfLookups(CPhidgetRemoteHandle networkInfo)
-{	
-	if(networkInfo->zeroconf_ref != NULL)
-	{
-		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);
-		networkInfo->zeroconf_ref = NULL;
-	}
-	return EPHIDGET_OK;
-}
-
-
-void DNSServiceQueryRecord_CallBack
-(
- DNSServiceRef                       DNSServiceRef,
- DNSServiceFlags                     flags,
- uint32_t                            interfaceIndex,
- DNSServiceErrorType                 errorCode,
- const char                          *fullname,
- uint16_t                            rrtype,
- uint16_t                            rrclass,
- uint16_t                            rdlen,
- const void                          *rdata,
- uint32_t                            ttl,
- void                                *context
- )
-{
-	
-	CPhidgetRemoteHandle networkInfo = (CPhidgetRemoteHandle)context;
-	
-	if (errorCode != kDNSServiceErr_NoError)
-	{
-		LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecord_CallBack returned error: %d\n", errorCode);
-		networkInfo->zeroconf_ipaddr = NULL;
-	}
-	else if(networkInfo->zeroconf_ipaddr == NULL)
-	{
-		if(rrtype == kDNSServiceType_A && rdlen == 4)
-		{
-			struct in_addr ip;
-			memcpy(&ip, rdata, 4);
-			
-			networkInfo->zeroconf_ipaddr = strdup(inet_ntoa(ip));
-		}
-		//NOTE: Windows doesn't have inet_ntop
-		/*
-		else if(rrtype == kDNSServiceType_AAAA && rdlen == 16)
-		{
-			struct in6_addr ip;
-			memcpy(&ip, rdata, 16);
-			
-			if((networkInfo->zeroconf_ipaddr = malloc(200)) != NULL)
-			{
-				networkInfo->zeroconf_ipaddr = strdup(inet_ntop(AF_INET6, &ip, networkInfo->zeroconf_ipaddr, 200));
-			}
-		}
-		*/
-
-		LOG(PHIDGET_LOG_INFO, "DNSServiceQueryRecord_CallBack: %s (%s %d)",fullname, networkInfo->zeroconf_ipaddr, interfaceIndex);
-	}
-	else
-		LOG(PHIDGET_LOG_INFO, "DNSServiceQueryRecord_CallBack (extra, not used): %s (%d)",fullname, interfaceIndex);
-}
-
-int getZeroconfIPAddr(CPhidgetRemoteHandle networkInfo)
-{
-	DNSServiceErrorType error;
-	
-	LOG(PHIDGET_LOG_VERBOSE, "Resolving IP Address for: %s, %s, %s, %s, %d",
-		networkInfo->zeroconf_name, //name
-		networkInfo->zeroconf_type, // service type
-		networkInfo->zeroconf_domain, //domain
-		networkInfo->zeroconf_host,
-		networkInfo->zeroconf_interface);
-	
-	//already a lookup pending? cancel it and start a new one...
-	CThread_mutex_lock(&networkInfo->zeroconf_ref_lock);
-	if(networkInfo->zeroconf_ref != NULL)
-	{
-		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);
-		networkInfo->zeroconf_ref = NULL;
-	}
-	
-	free(networkInfo->zeroconf_ipaddr);
-	networkInfo->zeroconf_ipaddr = NULL;
-	
-	error = DNSServiceQueryRecordPtr((DNSServiceRef *)&networkInfo->zeroconf_ref,
-									 0,  // no flags
-									 networkInfo->zeroconf_interface,
-									 networkInfo->zeroconf_host, //hostname
-									 kDNSServiceType_A, // IPv4 address for now..
-									 kDNSServiceClass_IN, // service class
-									 DNSServiceQueryRecord_CallBack,
-									 networkInfo);
-	if (error != kDNSServiceErr_NoError)
-	{
-		LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecordPtr returned error: %d\n", error);
-		networkInfo->zeroconf_ref = NULL;
-		CThread_mutex_unlock(&networkInfo->zeroconf_ref_lock);
-		return EPHIDGET_NETWORK;
-	}
-	else
-	{
-		DNSServiceProcessResultPtr((DNSServiceRef)networkInfo->zeroconf_ref);
-		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);
-		networkInfo->zeroconf_ref = NULL;
-		CThread_mutex_unlock(&networkInfo->zeroconf_ref_lock);
-		LOG(PHIDGET_LOG_VERBOSE, "Successfull lookup: %s",networkInfo->zeroconf_host);
-		return EPHIDGET_OK;
-	}
-	
-}
-
-void DNSServiceResolve_CallBack(
-								DNSServiceRef						sdRef,
-								DNSServiceFlags                     flags,
-								uint32_t                            interfaceIndex,
-								DNSServiceErrorType                 errorCode,
-								const char                          *fullname,
-								const char                          *hosttarget,
-								uint16_t                            port,
-								uint16_t                            txtLen,
-								const unsigned char					*txtRecord,
-								void                                *context)
-{	
-	CPhidgetRemoteHandle networkInfo = (CPhidgetRemoteHandle)context;
-	
-	
-	if (errorCode != kDNSServiceErr_NoError)
-	{
-		LOG(PHIDGET_LOG_ERROR, "DNSServiceResolve_CallBack returned error: %d\n", errorCode);
-		networkInfo->zeroconf_host = NULL;
-		networkInfo->zeroconf_port = NULL;
-	}
-	else if(!networkInfo->zeroconf_host && !networkInfo->zeroconf_port)
-	{
-		
-		LOG(PHIDGET_LOG_INFO, "DNSServiceResolve_CallBack: %s (%s:%d %d)",fullname, hosttarget, ntohs(port), interfaceIndex);
-		
-		networkInfo->zeroconf_host = strdup(hosttarget);
-		networkInfo->zeroconf_port = malloc(10);
-		snprintf(networkInfo->zeroconf_port, 10, "%d", ntohs(port));
-	}
-	else
-		LOG(PHIDGET_LOG_INFO, "DNSServiceResolve_CallBack (extra, not used): %s (%s:%d %d)",fullname, hosttarget, ntohs(port), interfaceIndex);
-}
-
-int getZeroconfHostPort(CPhidgetRemoteHandle networkInfo)
-{
-	DNSServiceErrorType error;
-	
-	LOG(PHIDGET_LOG_VERBOSE, "Resolving host:port for: %s, %s, %s",
-		networkInfo->zeroconf_name, //name
-		networkInfo->zeroconf_type, // service type
-		networkInfo->zeroconf_domain //domain
-		);
-	
-	//already a lookup pending? cancel it and start a new one...
-	CThread_mutex_lock(&networkInfo->zeroconf_ref_lock);
-	if(networkInfo->zeroconf_ref != NULL)
-	{
-		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);
-		networkInfo->zeroconf_ref = NULL;
-	}
-	
-	free(networkInfo->zeroconf_host);
-	networkInfo->zeroconf_host = NULL;
-	free(networkInfo->zeroconf_port);
-	networkInfo->zeroconf_port = NULL;
-	
-	error = DNSServiceResolvePtr((DNSServiceRef *)&networkInfo->zeroconf_ref,
-								 0,  // no flags
-								 0,  // all interfaces
-								 //networkInfo->zeroconf_interface,  // interface this service was discovered on
-								 networkInfo->zeroconf_name, //name
-								 networkInfo->zeroconf_type, // service type
-								 networkInfo->zeroconf_domain, //domain
-								 DNSServiceResolve_CallBack,
-								 networkInfo);     // no context
-	if (error != kDNSServiceErr_NoError)
-	{
-		LOG(PHIDGET_LOG_ERROR, "getZeroconfHostPort returned error: %d\n", error);
-		networkInfo->zeroconf_ref = NULL;
-		CThread_mutex_unlock(&networkInfo->zeroconf_ref_lock);
-		return EPHIDGET_NETWORK;
-	}
-	else
-	{
-		DNSServiceProcessResultPtr((DNSServiceRef)networkInfo->zeroconf_ref);
-		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);
-		networkInfo->zeroconf_ref = NULL;
-		LOG(PHIDGET_LOG_VERBOSE, "Successfull host:port lookup: %s:%s",networkInfo->zeroconf_host,networkInfo->zeroconf_port);
-		CThread_mutex_unlock(&networkInfo->zeroconf_ref_lock);
-		//Don't bother - we aren't going to use it anyways
-		//This is just another way to lookup the IP address - from the DNS record
-		//getZeroconfIPAddr(networkInfo);
-		return EPHIDGET_OK;
-	}
-}
-
-int refreshZeroconf(CPhidgetRemoteHandle networkInfo, DNSServiceQueryRecordReply callBack, void *userPtr)
-{
-	DNSServiceErrorType error;
-	char fullname[kDNSServiceMaxDomainName];
-	
-	LOG(PHIDGET_LOG_VERBOSE, "Refreshing zeroconf on: 0x%x",networkInfo);
-	
-	//already a lookup pending? cancel it and start a new one...
-	CThread_mutex_lock(&networkInfo->zeroconf_ref_lock);
-	
-	DNSServiceConstructFullNamePtr(fullname, networkInfo->zeroconf_name, networkInfo->zeroconf_type, networkInfo->zeroconf_domain);
-	
-	if(networkInfo->zeroconf_ref != NULL)
-	{
-		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);
-		networkInfo->zeroconf_ref = NULL;
-	}
-	error = DNSServiceQueryRecordPtr((DNSServiceRef *)&networkInfo->zeroconf_ref,
-									 0,  // no flags
-									 networkInfo->zeroconf_interface,
-									 fullname, //name
-									 kDNSServiceType_TXT, // service type
-									 kDNSServiceClass_IN, // service class
-									 callBack,
-									 userPtr);
-	if (error != kDNSServiceErr_NoError)
-	{
-		LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecordPtr returned error: %d\n", error);
-		networkInfo->zeroconf_ref = NULL;
-		CThread_mutex_unlock(&networkInfo->zeroconf_ref_lock);
-		return EPHIDGET_NETWORK;
-	}
-	else
-	{
-		DNSServiceProcessResultPtr((DNSServiceRef)networkInfo->zeroconf_ref);
-		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);
-		networkInfo->zeroconf_ref = NULL;
-		CThread_mutex_unlock(&networkInfo->zeroconf_ref_lock);
-		LOG(PHIDGET_LOG_VERBOSE, "Successfull refresh.");
-		return EPHIDGET_OK;
-	}
-}
-
-int refreshZeroconfSBC(CPhidgetSBCHandle sbc)
-{
-	return refreshZeroconf(sbc->networkInfo, DNSServiceQueryRecord_SBC_CallBack, sbc);
-}
-
-int refreshZeroconfPhidget(CPhidgetHandle phid)
-{
-	return refreshZeroconf(phid->networkInfo, DNSServiceQueryRecord_Phidget_CallBack, phid);
-}
-
-int InitializeZeroconf()
-{
-	DNSServiceErrorType error;
-	CThread_mutex_lock(&zeroconfInitLock);
-	if(!Dns_sdInitialized)
-	{
-#ifdef ZEROCONF_RUNTIME_LINKING
-		
-#ifdef _WINDOWS
-		if(!(dllHandle = LoadLibrary(L"dnssd.dll")))
-		{
-			DWORD error = GetLastError();
-			switch(error)
-			{
-				case ERROR_MOD_NOT_FOUND:
-					LOG(PHIDGET_LOG_DEBUG,"LoadLibrary failed - module could not be found");
-					break;
-				default:
-					LOG(PHIDGET_LOG_DEBUG,"LoadLibrary failed with error code: %d", error);
-			}
-			CThread_mutex_unlock(&zeroconfInitLock);
-			return EPHIDGET_UNEXPECTED;
-		}
-		
-		// If the handle is valid, try to get the function address. 
-		if (NULL != dllHandle) 
-		{ 
-			//Get pointers to our functions using GetProcAddress:
-#ifdef WINCE
-			DNSServiceRegisterPtr = (DNSServiceRegisterType)GetProcAddress(dllHandle, L"DNSServiceRegister");
-			DNSServiceProcessResultPtr = (DNSServiceProcessResultType)GetProcAddress(dllHandle, L"DNSServiceProcessResult");
-			DNSServiceRefDeallocatePtr = (DNSServiceRefDeallocateType)GetProcAddress(dllHandle, L"DNSServiceRefDeallocate");
-			DNSServiceAddRecordPtr = (DNSServiceAddRecordType)GetProcAddress(dllHandle, L"DNSServiceAddRecord");
-			DNSServiceUpdateRecordPtr = (DNSServiceUpdateRecordType)GetProcAddress(dllHandle, L"DNSServiceUpdateRecord");
-			DNSServiceRemoveRecordPtr = (DNSServiceRemoveRecordType)GetProcAddress(dllHandle, L"DNSServiceRemoveRecord");
-			DNSServiceBrowsePtr = (DNSServiceBrowseType)GetProcAddress(dllHandle, L"DNSServiceBrowse");
-			DNSServiceResolvePtr = (DNSServiceResolveType)GetProcAddress(dllHandle, L"DNSServiceResolve");
-			DNSServiceQueryRecordPtr = (DNSServiceQueryRecordType)GetProcAddress(dllHandle, L"DNSServiceQueryRecord");
-			DNSServiceConstructFullNamePtr = (DNSServiceConstructFullNameType)GetProcAddress(dllHandle, L"DNSServiceConstructFullName");
-			DNSServiceRefSockFDPtr = (DNSServiceRefSockFDType)GetProcAddress(dllHandle, L"DNSServiceRefSockFD");
-#else
-			DNSServiceRegisterPtr = (DNSServiceRegisterType)GetProcAddress(dllHandle, "DNSServiceRegister");
-			DNSServiceProcessResultPtr = (DNSServiceProcessResultType)GetProcAddress(dllHandle, "DNSServiceProcessResult");
-			DNSServiceRefDeallocatePtr = (DNSServiceRefDeallocateType)GetProcAddress(dllHandle, "DNSServiceRefDeallocate");
-			DNSServiceAddRecordPtr = (DNSServiceAddRecordType)GetProcAddress(dllHandle, "DNSServiceAddRecord");
-			DNSServiceUpdateRecordPtr = (DNSServiceUpdateRecordType)GetProcAddress(dllHandle, "DNSServiceUpdateRecord");
-			DNSServiceRemoveRecordPtr = (DNSServiceRemoveRecordType)GetProcAddress(dllHandle, "DNSServiceRemoveRecord");
-			DNSServiceBrowsePtr = (DNSServiceBrowseType)GetProcAddress(dllHandle, "DNSServiceBrowse");
-			DNSServiceResolvePtr = (DNSServiceResolveType)GetProcAddress(dllHandle, "DNSServiceResolve");
-			DNSServiceQueryRecordPtr = (DNSServiceQueryRecordType)GetProcAddress(dllHandle, "DNSServiceQueryRecord");
-			DNSServiceConstructFullNamePtr = (DNSServiceConstructFullNameType)GetProcAddress(dllHandle, "DNSServiceConstructFullName");
-			DNSServiceRefSockFDPtr = (DNSServiceRefSockFDType)GetProcAddress(dllHandle, "DNSServiceRefSockFD");
-#endif
-			
-			Dns_sdInitialized = (
-								 NULL != DNSServiceRegisterPtr && 
-								 NULL != DNSServiceProcessResultPtr &&
-								 NULL != DNSServiceRefDeallocatePtr &&
-								 NULL != DNSServiceAddRecordPtr &&
-								 NULL != DNSServiceUpdateRecordPtr &&
-								 NULL != DNSServiceRemoveRecordPtr &&
-								 NULL != DNSServiceQueryRecordPtr &&
-								 NULL != DNSServiceConstructFullNamePtr &&
-								 NULL != DNSServiceRefSockFDPtr);
-		}
-		
-		if(!Dns_sdInitialized)
-		{
-			LOG(PHIDGET_LOG_DEBUG,"InitializeZeroconf failed somehow...");
-			CThread_mutex_unlock(&zeroconfInitLock);
-			return EPHIDGET_UNSUPPORTED;
-		}
-		
-#elif _LINUX
-		libHandle = dlopen("libdns_sd.so",RTLD_LAZY);
-		if(!libHandle)
-		{
-			LOG(PHIDGET_LOG_WARNING, "dlopen failed with error: %s", dlerror());
-			LOG(PHIDGET_LOG_WARNING, "Assuming that zeroconf is not supported on this machine.");
-			CThread_mutex_unlock(&zeroconfInitLock);
-			return EPHIDGET_UNSUPPORTED;
-		}
-		
-		//Get pointers to our functions using dlsym:
-		if(!(DNSServiceRegisterPtr = (DNSServiceRegisterType)dlsym(libHandle, "DNSServiceRegister"))) goto dlsym_err;
-		if(!(DNSServiceProcessResultPtr = (DNSServiceProcessResultType)dlsym(libHandle, "DNSServiceProcessResult"))) goto dlsym_err;
-		if(!(DNSServiceRefDeallocatePtr = (DNSServiceRefDeallocateType)dlsym(libHandle, "DNSServiceRefDeallocate"))) goto dlsym_err;
-		if(!(DNSServiceAddRecordPtr = (DNSServiceAddRecordType)dlsym(libHandle, "DNSServiceAddRecord"))) goto dlsym_err;
-		if(!(DNSServiceUpdateRecordPtr = (DNSServiceUpdateRecordType)dlsym(libHandle, "DNSServiceUpdateRecord"))) goto dlsym_err;
-		if(!(DNSServiceRemoveRecordPtr = (DNSServiceRemoveRecordType)dlsym(libHandle, "DNSServiceRemoveRecord"))) goto dlsym_err;
-		if(!(DNSServiceBrowsePtr = (DNSServiceBrowseType)dlsym(libHandle, "DNSServiceBrowse"))) goto dlsym_err;
-		if(!(DNSServiceResolvePtr = (DNSServiceResolveType)dlsym(libHandle, "DNSServiceResolve"))) goto dlsym_err;
-		if(!(DNSServiceQueryRecordPtr = (DNSServiceQueryRecordType)dlsym(libHandle, "DNSServiceQueryRecord"))) goto dlsym_err;
-		if(!(DNSServiceConstructFullNamePtr = (DNSServiceConstructFullNameType)dlsym(libHandle, "DNSServiceConstructFullName"))) goto dlsym_err;
-		if(!(DNSServiceRefSockFDPtr = (DNSServiceRefSockFDType)dlsym(libHandle, "DNSServiceRefSockFD"))) goto dlsym_err;
-		
-		goto dlsym_good;
-		
-	dlsym_err:
-		LOG(PHIDGET_LOG_WARNING, "dlsym failed with error: %s", dlerror());
-		LOG(PHIDGET_LOG_WARNING, "Assuming that zeroconf is not supported on this machine.");
-		CThread_mutex_unlock(&zeroconfInitLock);
-		return EPHIDGET_UNSUPPORTED;
-		
-	dlsym_good:
-		Dns_sdInitialized = TRUE;
-#endif
-		
-#else
-		Dns_sdInitialized = TRUE;
-#endif
-		LOG(PHIDGET_LOG_DEBUG,"InitializeZeroconf - System supports zeroconf.");
-	}
-	if(!Dns_sdBrowsing)
-	{
-		error = DNSServiceBrowsePtr(&zeroconf_browse_ws_ref,
-									0,                // no flags
-									0,                // all network interfaces
-									"_phidget_ws._tcp",     // service type
-									"",               // default domains
-									DNSServiceBrowse_ws_CallBack, // call back function
-									NULL);            // no context
-		if (error != kDNSServiceErr_NoError)
-		{
-			LOG(PHIDGET_LOG_ERROR,"DNSServiceBrowse on _phidget_ws._tcp failed: %d", error);
-			CThread_mutex_unlock(&zeroconfInitLock);
-			return EPHIDGET_TRYAGAIN;
-		}
-		
-		error = DNSServiceBrowsePtr(&zeroconf_browse_sbc_ref,
-									0,                // no flags
-									0,                // all network interfaces
-									"_phidget_sbc._tcp",     // service type
-									"",               // default domains
-									DNSServiceBrowse_sbc_CallBack, // call back function
-									NULL);            // no context
-		if (error != kDNSServiceErr_NoError)
-		{
-			LOG(PHIDGET_LOG_ERROR,"DNSServiceBrowse on _phidget_sbc._tcp failed: %d", error);
-			CThread_mutex_unlock(&zeroconfInitLock);
-			return EPHIDGET_TRYAGAIN;
-		}
-		
-		error = DNSServiceBrowsePtr(&zeroconf_browse_phidget_ref,
-									0,                // no flags
-									0,                // all network interfaces
-									"_phidget._tcp",     // service type
-									"",               // default domains
-									DNSServiceBrowse_Phidget_CallBack, // call back function
-									NULL);            // no context
-		if (error != kDNSServiceErr_NoError)
-		{
-			LOG(PHIDGET_LOG_ERROR,"DNSServiceBrowse on _phidget._tcp failed: %d", error);
-			CThread_mutex_unlock(&zeroconfInitLock);
-			return EPHIDGET_TRYAGAIN;
-		}
-		
-		stopBrowsing = FALSE;
-		pthread_create(&dns_thread, NULL, (void *(*)(void *))dns_callback_thread,NULL);
-		
-		Dns_sdBrowsing = PTRUE;
-		LOG(PHIDGET_LOG_DEBUG,"InitializeZeroconf - Zeroconf browsing active.");
-	}
-	CThread_mutex_unlock(&zeroconfInitLock);
-	return EPHIDGET_OK;
-}
-
-int UninitializeZeroconf()
-{
-	void *status;
-	CThread_mutex_lock(&zeroconfInitLock);
-	if(Dns_sdBrowsing)
-	{
-		stopBrowsing = TRUE;
-		if(dns_thread)
-		{
-			pthread_join(dns_thread, &status);
-			dns_thread = NULL;
-		}
-		
-		if(zeroconf_browse_ws_ref)
-		{
-			DNSServiceRefDeallocatePtr(zeroconf_browse_ws_ref);
-			zeroconf_browse_ws_ref = NULL;
-		}
-		if(zeroconf_browse_sbc_ref)
-		{
-			DNSServiceRefDeallocatePtr(zeroconf_browse_sbc_ref);
-			zeroconf_browse_sbc_ref = NULL;
-		}
-		if(zeroconf_browse_phidget_ref)
-		{
-			DNSServiceRefDeallocatePtr(zeroconf_browse_phidget_ref);
-			zeroconf_browse_phidget_ref = NULL;
-		}
-		
-		CThread_mutex_lock(&zeroconfPhidgetsLock);
-		CList_emptyList((CListHandle *)&zeroconfPhidgets, FALSE, NULL);
-		CThread_mutex_unlock(&zeroconfPhidgetsLock);
-		
-		CThread_mutex_lock(&zeroconfSBCsLock);
-		CList_emptyList((CListHandle *)&zeroconfSBCs, FALSE, NULL);
-		CThread_mutex_unlock(&zeroconfSBCsLock);
-		
-		CThread_mutex_lock(&zeroconfServersLock);
-		CList_emptyList((CListHandle *)&zeroconfServers, FALSE, NULL);
-		CThread_mutex_unlock(&zeroconfServersLock);
-		
-		Dns_sdBrowsing = FALSE;
-	}
-	CThread_mutex_unlock(&zeroconfInitLock);
-	return EPHIDGET_OK;
-}
-
-
+#include "stdafx.h"

+#include "csocket.h"

+#include "csocketevents.h"

+#include "cphidgetlist.h"

+#include "cphidgetmanager.h"

+#include "cphidgetdictionary.h"

+#include "cphidgetsbc.h"

+#include "zeroconf.h"

+#include "dns_sd.h"

+

+#ifdef ZEROCONF_RUNTIME_LINKING

+//function prototypes for run-time loaded library

+typedef DNSServiceErrorType (DNSSD_API * DNSServiceRegisterType) 

+(DNSServiceRef *,DNSServiceFlags,uint32_t,const char *,

+ const char *,const char *,const char *,uint16_t,uint16_t,

+ const void *,DNSServiceRegisterReply,void *);

+typedef DNSServiceErrorType (DNSSD_API * DNSServiceProcessResultType) (DNSServiceRef);

+typedef void (DNSSD_API * DNSServiceRefDeallocateType) (DNSServiceRef);

+typedef DNSServiceErrorType (DNSSD_API * DNSServiceAddRecordType)

+(DNSServiceRef, DNSRecordRef *, DNSServiceFlags, 

+ uint16_t, uint16_t, const void *, uint32_t);

+typedef DNSServiceErrorType (DNSSD_API * DNSServiceUpdateRecordType)

+(DNSServiceRef, DNSRecordRef, DNSServiceFlags, 

+ uint16_t, const void *, uint32_t);

+typedef DNSServiceErrorType (DNSSD_API * DNSServiceRemoveRecordType)

+(DNSServiceRef, DNSRecordRef, DNSServiceFlags);

+typedef DNSServiceErrorType (DNSSD_API * DNSServiceBrowseType)

+(DNSServiceRef *, DNSServiceFlags, uint32_t, const char *,

+ const char *, DNSServiceBrowseReply, void *);

+typedef DNSServiceErrorType (DNSSD_API * DNSServiceResolveType)

+(DNSServiceRef *, DNSServiceFlags, uint32_t, const char *,

+ const char *, const char *, DNSServiceResolveReply, 

+ void *context);

+typedef DNSServiceErrorType (DNSSD_API * DNSServiceQueryRecordType)

+(DNSServiceRef *, DNSServiceFlags, uint32_t, const char *,

+ uint16_t, uint16_t, DNSServiceQueryRecordReply, void *context);

+typedef int (DNSSD_API * DNSServiceConstructFullNameType)

+(char *, const char *, const char *, const char *);

+typedef int (DNSSD_API * DNSServiceRefSockFDType) (DNSServiceRef sdRef);

+#else

+#define DNSServiceRegisterPtr DNSServiceRegister

+#define DNSServiceProcessResultPtr DNSServiceProcessResult

+#define DNSServiceRefDeallocatePtr DNSServiceRefDeallocate

+#define DNSServiceAddRecordPtr DNSServiceAddRecord

+#define DNSServiceUpdateRecordPtr DNSServiceUpdateRecord

+#define DNSServiceRemoveRecordPtr DNSServiceRemoveRecord

+#define DNSServiceBrowsePtr DNSServiceBrowse

+#define DNSServiceResolvePtr DNSServiceResolve

+#define DNSServiceQueryRecordPtr DNSServiceQueryRecord

+#define DNSServiceConstructFullNamePtr DNSServiceConstructFullName

+#define DNSServiceRefSockFDPtr DNSServiceRefSockFD

+#endif

+

+int Dns_sdInitialized = FALSE;

+int Dns_sdBrowsing = FALSE;

+int stopBrowsing = FALSE;

+DNSServiceRef zeroconf_browse_ws_ref  = NULL;

+DNSServiceRef zeroconf_browse_sbc_ref  = NULL;

+DNSServiceRef zeroconf_browse_phidget_ref  = NULL;

+

+pthread_t dns_thread = NULL;

+

+#ifdef ZEROCONF_RUNTIME_LINKING

+

+//DNS_SD functions

+DNSServiceRegisterType DNSServiceRegisterPtr = NULL;

+DNSServiceProcessResultType DNSServiceProcessResultPtr = NULL;

+DNSServiceRefDeallocateType DNSServiceRefDeallocatePtr = NULL;

+DNSServiceAddRecordType DNSServiceAddRecordPtr = NULL;

+DNSServiceUpdateRecordType DNSServiceUpdateRecordPtr = NULL;

+DNSServiceRemoveRecordType DNSServiceRemoveRecordPtr = NULL;

+DNSServiceBrowseType DNSServiceBrowsePtr = NULL;

+DNSServiceResolveType DNSServiceResolvePtr = NULL;

+DNSServiceQueryRecordType DNSServiceQueryRecordPtr = NULL;

+DNSServiceConstructFullNameType DNSServiceConstructFullNamePtr = NULL;

+DNSServiceRefSockFDType DNSServiceRefSockFDPtr = NULL;

+

+#ifdef _WINDOWS

+HMODULE dllHandle = NULL;

+#elif _LINUX

+void *libHandle = NULL;

+#endif

+#endif

+

+

+static uint8_t *InternalTXTRecordSearch

+(

+ uint16_t         txtLen,

+ const void       *txtRecord,

+ const char       *key,

+ unsigned long    *keylen

+ )

+{

+	uint8_t *p = (uint8_t*)txtRecord;

+	uint8_t *e = p + txtLen;

+	*keylen = (unsigned long) strlen(key);

+	while (p<e)

+	{

+		uint8_t *x = p;

+		p += 1 + p[0];

+		if (p <= e && *keylen <= x[0] && !strncmp(key, (char*)x+1, *keylen))

+			if (*keylen == x[0] || x[1+*keylen] == '=') return(x);

+	}

+	return(NULL);

+}

+

+const void * TXTRecordGetValuePtrPtr

+(

+ uint16_t         txtLen,

+ const void       *txtRecord,

+ const char       *key,

+ uint8_t          *valueLen

+ )

+{

+	unsigned long keylen;

+	uint8_t *item = InternalTXTRecordSearch(txtLen, txtRecord, key, &keylen);

+	if (!item || item[0] <= keylen) return(NULL);	// If key not found, or found with no value, return NULL

+	*valueLen = (uint8_t)(item[0] - (keylen + 1));

+	return (item + 1 + keylen + 1);

+}

+

+int dns_callback_thread(void *ptr)

+{    

+    int nfds;

+    fd_set readfds;

+    struct timeval tv;

+    int result;

+	

+	int ws_fd = DNSServiceRefSockFDPtr(zeroconf_browse_ws_ref);

+	int sbc_fd = DNSServiceRefSockFDPtr(zeroconf_browse_sbc_ref);

+	int phidget_fd = DNSServiceRefSockFDPtr(zeroconf_browse_phidget_ref);

+	

+	nfds = ws_fd;

+	if(sbc_fd>nfds)

+		nfds = sbc_fd;

+	if(phidget_fd > nfds)

+		nfds = phidget_fd;

+	nfds++;

+	

+	while (!stopBrowsing)

+	{

+		FD_ZERO(&readfds);

+		FD_SET(ws_fd, &readfds);

+		FD_SET(sbc_fd, &readfds);

+		FD_SET(phidget_fd, &readfds);

+		

+		//100ms

+		tv.tv_sec = 0;

+		tv.tv_usec = 100000;

+		

+		result = select(nfds, &readfds, (fd_set*)NULL, (fd_set*)NULL, &tv);

+		if (result > 0)

+		{

+			DNSServiceErrorType err = kDNSServiceErr_NoError;

+			if (FD_ISSET(ws_fd, &readfds))

+			{

+				if ((err = DNSServiceProcessResultPtr(zeroconf_browse_ws_ref)) != kDNSServiceErr_NoError)

+					stopBrowsing = 1;

+			}

+			if (FD_ISSET(sbc_fd, &readfds))

+			{

+				if ((err = DNSServiceProcessResultPtr(zeroconf_browse_sbc_ref)) != kDNSServiceErr_NoError)

+					stopBrowsing = 1;

+			}

+			if (FD_ISSET(phidget_fd, &readfds))

+			{

+				if ((err = DNSServiceProcessResultPtr(zeroconf_browse_phidget_ref)) != kDNSServiceErr_NoError)

+					stopBrowsing = 1;

+			}

+		}

+		else if(result == SOCKET_ERROR)

+		{

+			LOG(PHIDGET_LOG_DEBUG, "select(  ) returned %d errno %d %s\n", result, errno, strerror(errno));

+			if (errno != EINTR)

+				stopBrowsing = 1;

+		}

+		//result==0 means timeout, loop around again

+	}

+	return EPHIDGET_OK;

+}

+

+void PhidFromTXT(CPhidgetHandle phid, uint16_t txtLen, const char *txtRecord)

+{

+	int i = 0;

+	short txtver;

+	//char *label = NULL;

+	char temp[128];

+	//unsigned int labelLen = 0;

+	

+	uint8_t valLen = 0;

+	const char *valPtr = NULL;

+	

+	//txt version

+	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "txtvers", &valLen))) return;

+	memcpy(temp, valPtr, valLen);

+	temp[valLen] = '\0';

+	txtver = (short)strtol(temp, NULL, 10);

+	

+	//Serial Number

+	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "serial", &valLen))) return;

+	memcpy(temp, valPtr, valLen);

+	temp[valLen] = '\0';

+	phid->serialNumber = strtol(temp, NULL, 10);

+	phid->specificDevice = PHIDGETOPEN_SERIAL;

+	

+	//version

+	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "version", &valLen))) return;

+	memcpy(temp, valPtr, valLen);

+	temp[valLen] = '\0';

+	phid->deviceVersion = strtol(temp, NULL, 10);

+	

+	//label

+	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "label", &valLen))) return;

+	if(valLen >= MAX_LABEL_STORAGE) valLen = MAX_LABEL_STORAGE-1;

+	memcpy(phid->label, valPtr, valLen);

+	phid->label[valLen] = '\0';

+	/*	memcpy(temp, valPtr, valLen);

+	 temp[valLen] = '\0';

+	 unescape(temp, &label, &labelLen);

+	 if(labelLen > MAX_LABEL_STORAGE-1) labelLen = MAX_LABEL_STORAGE-1;

+	 memcpy(phid->label, label, labelLen);

+	 phid->label[labelLen] = '\0';

+	 free(label);*/

+	

+	//server_id

+	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "server_id", &valLen))) return;

+	free(phid->networkInfo->zeroconf_server_id);

+	if(!(phid->networkInfo->zeroconf_server_id = malloc(valLen+1))) return;

+	ZEROMEM(phid->networkInfo->zeroconf_server_id, valLen+1);

+	memcpy(phid->networkInfo->zeroconf_server_id, valPtr, valLen);

+	

+	// things added in version 2 of the txt

+	if(txtver >= 2)

+	{

+		//Device ID

+		if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "id", &valLen))) return;

+		memcpy(temp, valPtr, valLen);

+		temp[valLen] = '\0';

+		phid->deviceIDSpec = strtol(temp, NULL, 10);

+		

+		for(i = 1;i<PHIDGET_DEVICE_COUNT;i++)

+			if(phid->deviceIDSpec == Phid_Device_Def[i].pdd_sdid) break;

+		phid->deviceDef = &Phid_Device_Def[i];

+		phid->attr = Phid_Device_Def[i].pdd_attr;

+		

+		//Device Class

+		if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "class", &valLen))) return;

+		memcpy(temp, valPtr, valLen);

+		temp[valLen] = '\0';

+		phid->deviceID = strtol(temp, NULL, 10);

+		phid->deviceType = Phid_DeviceName[phid->deviceID];

+	}

+	//Old version uses string searching, but some devices have the same name with different IDs

+	else

+	{

+		char *name = NULL;

+		char *type = NULL;

+		

+		//name

+		if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "name", &valLen))) return;

+		if(!(name = malloc(valLen+1))) return;

+		ZEROMEM(name, valLen+1);

+		memcpy(name, valPtr, valLen);

+		for(i = 0;i<PHIDGET_DEVICE_COUNT;i++)

+		{

+			if(!strcmp(name, Phid_Device_Def[i].pdd_name))

+			{

+				phid->deviceIDSpec = Phid_Device_Def[i].pdd_sdid;

+				phid->deviceDef = &Phid_Device_Def[i];

+				phid->attr = Phid_Device_Def[i].pdd_attr;

+				break;

+			}

+		}

+		free(name);

+		

+		//type

+		if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "type", &valLen))) return;

+		if(!(type = malloc(valLen+1))) return;

+		ZEROMEM(type, valLen+1);

+		memcpy(type, valPtr, valLen);

+		phid->deviceID = phidget_type_to_id(type);

+		phid->deviceType = Phid_DeviceName[phid->deviceID];

+		free(type);

+	}

+	

+	phid->deviceUID = CPhidget_getUID(phid->deviceIDSpec, phid->deviceVersion);

+	phid->networkInfo->mdns = PTRUE;

+	

+}

+

+void DNSServiceQueryRecord_Phidget_CallBack

+(

+ DNSServiceRef                       DNSServiceRef,

+ DNSServiceFlags                     flags,

+ uint32_t                            interfaceIndex,

+ DNSServiceErrorType                 errorCode,

+ const char                          *fullname,

+ uint16_t                            rrtype,

+ uint16_t                            rrclass,

+ uint16_t                            rdlen,

+ const void                          *rdata,

+ uint32_t                            ttl,

+ void                                *context

+ )

+{

+	if (errorCode != kDNSServiceErr_NoError)

+		LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecord_Phidget_CallBack returned error: %d\n", errorCode);

+	else

+	{

+		CPhidgetHandle phid = (CPhidgetHandle)context;

+		LOG(PHIDGET_LOG_INFO, "DNSServiceQueryRecord_Phidget_CallBack: %s (%d)",fullname,interfaceIndex);

+		

+		PhidFromTXT(phid, rdlen, rdata);

+	}

+}

+

+void SBCFromTXT(CPhidgetSBCHandle sbc, uint16_t txtLen, const char *txtRecord)

+{

+	char *hversion = NULL, *txtver = NULL;

+	

+	uint8_t valLen = 0;

+	const char *valPtr = NULL;

+	

+	//txt version

+	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "txtvers", &valLen))) return;

+	if(!(txtver = malloc(valLen+1))) return;

+	ZEROMEM(txtver, valLen+1);

+	memcpy(txtver, valPtr, valLen);

+	sbc->txtver = (short)strtol(txtver, NULL, 10);

+	free(txtver);

+	

+	//Firmware version

+	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "fversion", &valLen))) return;

+	if(valLen > 12) valLen = 12;

+	memcpy(sbc->fversion, valPtr, valLen);

+	sbc->fversion[valLen] = '\0';

+	

+	//Hardware version

+	if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "hversion", &valLen))) return;

+	if(!(hversion = malloc(valLen+1))) return;

+	ZEROMEM(hversion, valLen+1);

+	memcpy(hversion, valPtr, valLen);

+	sbc->hversion = (short)strtol(hversion, NULL, 10);

+	free(hversion);

+	

+	// things added in version 2 of the txt

+	if(sbc->txtver >= 2)

+	{

+		//Hostname

+		if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "hostname", &valLen))) return;

+		if(valLen > 128) valLen = 128;

+		memcpy(sbc->hostname, valPtr, valLen);

+		sbc->hostname[valLen] = '\0';

+	}

+	// things added in version 3 of the txt

+	if(sbc->txtver >= 3)

+	{

+		//Device Name

+		if(!(valPtr = TXTRecordGetValuePtrPtr(txtLen, txtRecord, "name", &valLen))) return;

+		if(valLen > 128) valLen = 128;

+		memcpy(sbc->deviceName, valPtr, valLen);

+		sbc->deviceName[valLen] = '\0';

+	}

+	else

+	{

+		sprintf(sbc->deviceName, "PhidgetSBC");

+	}

+}

+

+void DNSServiceQueryRecord_SBC_CallBack

+(

+ DNSServiceRef                       DNSServiceRef,

+ DNSServiceFlags                     flags,

+ uint32_t                            interfaceIndex,

+ DNSServiceErrorType                 errorCode,

+ const char                          *fullname,

+ uint16_t                            rrtype,

+ uint16_t                            rrclass,

+ uint16_t                            rdlen,

+ const void                          *rdata,

+ uint32_t                            ttl,

+ void                                *context

+ )

+{

+	if (errorCode != kDNSServiceErr_NoError)

+		LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecord_sbc_CallBack returned error: %d\n", errorCode);

+	else

+	{

+		CPhidgetSBCHandle sbc = (CPhidgetSBCHandle)context;

+		LOG(PHIDGET_LOG_INFO, "DNSServiceQueryRecord_sbc_CallBack: %s (%d)",fullname,interfaceIndex);

+		

+		SBCFromTXT(sbc, rdlen, rdata);

+	}

+}

+

+void DNSServiceBrowse_Phidget_CallBack(DNSServiceRef service,

+									   DNSServiceFlags flags,

+									   uint32_t interfaceIndex,

+									   DNSServiceErrorType errorCode,

+									   const char * name,

+									   const char * type,

+									   const char * domain,

+									   void * context)

+{

+	if (errorCode != kDNSServiceErr_NoError)

+		LOG(PHIDGET_LOG_ERROR, "Dns_sd_BrowseCallBack returned error: %d\n", errorCode);

+	else

+	{    

+		DNSServiceErrorType error;

+		DNSServiceRef  serviceRef;

+		char fullname[kDNSServiceMaxDomainName];

+		

+		CPhidgetHandle phid;

+		CPhidgetHandle found_phid;

+		CPhidgetManagerList *trav;

+		

+		DNSServiceConstructFullNamePtr(fullname, name, type, domain);

+		

+		LOG(PHIDGET_LOG_INFO, "DNSServiceBrowse_Phidget_CallBack: %s (%s, %s, %d)",name,type,domain,interfaceIndex);

+		

+		if((CPhidget_create(&phid))) return;

+		if((CPhidgetRemote_create(&phid->networkInfo))) return;

+		

+		phid->networkInfo->zeroconf_name = strdup(name);

+		phid->networkInfo->zeroconf_type = strdup(type);

+		phid->networkInfo->zeroconf_domain = strdup(domain);

+		phid->networkInfo->zeroconf_interface = interfaceIndex;

+		

+		if(flags & kDNSServiceFlagsAdd)

+		{

+			error = DNSServiceQueryRecordPtr(&serviceRef, 0, interfaceIndex, fullname,

+											 kDNSServiceType_TXT, kDNSServiceClass_IN, DNSServiceQueryRecord_Phidget_CallBack, phid);

+			if (error == kDNSServiceErr_NoError)

+			{

+				DNSServiceProcessResultPtr(serviceRef);

+				DNSServiceRefDeallocatePtr(serviceRef);

+				CThread_mutex_lock(&zeroconfPhidgetsLock);

+				CThread_mutex_lock(&activeRemoteManagersLock);

+				

+				CPhidget_setStatusFlag(&phid->status, PHIDGET_ATTACHED_FLAG, &phid->lock);

+				CPhidget_setStatusFlag(&phid->status, PHIDGET_REMOTE_FLAG, &phid->lock);

+				

+				if(CList_findInList((CListHandle)zeroconfPhidgets, phid, CPhidget_areExtraEqual, (void **)&found_phid) == EPHIDGET_OK)

+				{

+					//Only do a detach/attach cycle if something's different

+					if(found_phid->serialNumber == phid->serialNumber

+					   && found_phid->deviceVersion == phid->deviceVersion

+					   && !strcmp(found_phid->label, phid->label)

+					   && !strcmp(found_phid->networkInfo->zeroconf_server_id, phid->networkInfo->zeroconf_server_id))

+					{

+						//prefer local. domain

+						if((strcmp(domain, found_phid->networkInfo->zeroconf_domain) != 0) && !(strcmp(domain, "local.")))

+						{

+							free(found_phid->networkInfo->zeroconf_domain);

+							found_phid->networkInfo->zeroconf_domain = phid->networkInfo->zeroconf_domain;

+							phid->networkInfo->zeroconf_domain = NULL;

+						}

+						CPhidgetRemote_free(phid->networkInfo);

+						CPhidget_free(phid);

+						CThread_mutex_unlock(&activeRemoteManagersLock);

+						CThread_mutex_unlock(&zeroconfPhidgetsLock);

+						return;

+					}

+					

+					//set detaching status

+					CPhidget_clearStatusFlag(&found_phid->status, PHIDGET_ATTACHED_FLAG, &found_phid->lock);

+					CPhidget_setStatusFlag(&found_phid->status, PHIDGET_DETACHING_FLAG, &found_phid->lock);

+					

+					//Remove from list - don't free until after detach event

+					CList_removeFromList((CListHandle *)&zeroconfPhidgets, found_phid, CPhidget_areExtraEqual, FALSE, NULL);

+					

+					for (trav=activeRemoteManagers; trav; trav = trav->next)

+					{

+						if(trav->phidm->networkInfo->requested_address==NULL

+						   && (trav->phidm->networkInfo->requested_serverID == NULL || !strcmp(trav->phidm->networkInfo->requested_serverID,found_phid->networkInfo->zeroconf_server_id)))

+						{

+							CList_removeFromList((CListHandle *)&trav->phidm->AttachedPhidgets, found_phid, CPhidget_areExtraEqual, PFALSE, NULL);

+							

+							if (trav->phidm->fptrDetachChange && trav->phidm->state == PHIDGETMANAGER_ACTIVE)

+								trav->phidm->fptrDetachChange((CPhidgetHandle)found_phid, trav->phidm->fptrDetachChangeptr);

+						}

+					}

+					CPhidgetRemote_free(found_phid->networkInfo);

+					CPhidget_free(found_phid);

+				}

+				

+				CPhidget_setStatusFlag(&phid->status, PHIDGET_SERVER_CONNECTED_FLAG, &phid->lock);

+				

+				//now add it

+				CList_addToList((CListHandle *)&zeroconfPhidgets, phid, CPhidget_areExtraEqual);

+				//managers

+				for (trav=activeRemoteManagers; trav; trav = trav->next)

+				{

+					if(trav->phidm->networkInfo->requested_address==NULL

+					   && (trav->phidm->networkInfo->requested_serverID == NULL || !strcmp(trav->phidm->networkInfo->requested_serverID,phid->networkInfo->zeroconf_server_id)))

+					{

+						CList_addToList((CListHandle *)&trav->phidm->AttachedPhidgets, phid, CPhidget_areExtraEqual);

+						

+						if (trav->phidm->fptrAttachChange && trav->phidm->state == PHIDGETMANAGER_ACTIVE)

+							trav->phidm->fptrAttachChange((CPhidgetHandle)phid, trav->phidm->fptrAttachChangeptr);

+					}

+				}

+				

+				CThread_mutex_unlock(&activeRemoteManagersLock);

+				CThread_mutex_unlock(&zeroconfPhidgetsLock);

+			}

+			else

+				LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecordPtr returned error: %d\n", error);

+		}

+		else

+		{

+			//have to fill in phid manually from just the name

+			int i;

+			char *name_copy = strdup(name);

+			for(i=0;i<(int)strlen(name_copy);i++)

+				if(name_copy[i] == '(') break;

+			if(i<=1) return;

+			name_copy[strlen(name_copy)-1]='\0';

+			name_copy[i-1] = '\0';

+			phid->serialNumber = strtol(name_copy+i+1, NULL, 10);

+			//we need to set this so it checks the serial numbers for a match

+			phid->specificDevice = PHIDGETOPEN_SERIAL;

+			for(i = 0;i<PHIDGET_DEVICE_COUNT;i++)

+				if(!strcmp(name_copy, Phid_Device_Def[i].pdd_name)) break;

+			phid->deviceDef = &Phid_Device_Def[i];

+			//phid->deviceIDSpec = Phid_Device_Def[i].pdd_sdid;

+			phid->deviceIDSpec = 0; //Needs to be 0 because the name can be ambiguous (ie 1018/1200) - we will still match on serial/device class, which is enough for uniqueness

+			phid->attr = Phid_Device_Def[i].pdd_attr;

+			phid->deviceID = Phid_Device_Def[i].pdd_did;

+			phid->deviceType = Phid_DeviceName[phid->deviceID];

+			phid->networkInfo->mdns = PTRUE;

+			

+			CThread_mutex_lock(&zeroconfPhidgetsLock);

+			CThread_mutex_lock(&activeRemoteManagersLock);

+			

+			CPhidget_clearStatusFlag(&phid->status, PHIDGET_ATTACHED_FLAG, &phid->lock);

+			CPhidget_setStatusFlag(&phid->status, PHIDGET_DETACHING_FLAG, &phid->lock);

+			

+			if(!CList_findInList((CListHandle)zeroconfPhidgets, phid, CPhidget_areEqual, (void **)&found_phid))

+			{

+				CPhidget_clearStatusFlag(&found_phid->status, PHIDGET_ATTACHED_FLAG, &found_phid->lock);

+				CPhidget_setStatusFlag(&found_phid->status, PHIDGET_DETACHING_FLAG, &found_phid->lock);

+				CPhidget_setStatusFlag(&found_phid->status, PHIDGET_REMOTE_FLAG, &found_phid->lock);

+				CPhidget_clearStatusFlag(&found_phid->status, PHIDGET_SERVER_CONNECTED_FLAG, &found_phid->lock);

+				

+				CList_removeFromList((CListHandle *)&zeroconfPhidgets, found_phid, CPhidget_areExtraEqual, FALSE, NULL);

+				//managers

+				for (trav=activeRemoteManagers; trav; trav = trav->next)

+				{

+					if(trav->phidm->networkInfo->requested_address==NULL

+					   && (trav->phidm->networkInfo->requested_serverID == NULL || !strcmp(trav->phidm->networkInfo->requested_serverID,found_phid->networkInfo->zeroconf_server_id)))

+					{

+						CList_removeFromList((CListHandle *)&trav->phidm->AttachedPhidgets, found_phid, CPhidget_areExtraEqual, PFALSE, NULL);

+						

+						if (trav->phidm->fptrDetachChange && trav->phidm->state == PHIDGETMANAGER_ACTIVE)

+							trav->phidm->fptrDetachChange((CPhidgetHandle)found_phid, trav->phidm->fptrDetachChangeptr);

+					}

+				}

+				CPhidget_clearStatusFlag(&found_phid->status, PHIDGET_DETACHING_FLAG, &found_phid->lock);

+				CPhidgetRemote_free(found_phid->networkInfo);

+				CPhidget_free(found_phid);

+			}

+			CPhidgetRemote_free(phid->networkInfo);

+			CPhidget_free(phid);

+			

+			CThread_mutex_unlock(&activeRemoteManagersLock);

+			CThread_mutex_unlock(&zeroconfPhidgetsLock);

+			free(name_copy);

+		}

+	}

+}

+

+void DNSServiceBrowse_sbc_CallBack(DNSServiceRef service,

+								   DNSServiceFlags flags,

+								   uint32_t interfaceIndex,

+								   DNSServiceErrorType errorCode,

+								   const char * name,

+								   const char * type,

+								   const char * domain,

+								   void * context)

+{

+	if (errorCode != kDNSServiceErr_NoError)

+		LOG(PHIDGET_LOG_ERROR, "Dns_sbc_BrowseCallBack returned error: %d\n", errorCode);

+	else

+	{    

+		DNSServiceErrorType error;

+		DNSServiceRef  serviceRef;

+		char fullname[kDNSServiceMaxDomainName];

+		

+		CPhidgetSBCHandle sbc;

+		CPhidgetSBCHandle found_sbc;

+		CPhidgetSBCManagerList *trav;

+		

+		DNSServiceConstructFullNamePtr(fullname, name, type, domain);

+		

+		

+		if((CPhidgetSBC_create(&sbc))) return;

+		if((CPhidgetRemote_create(&sbc->networkInfo))) return;

+		

+		sbc->networkInfo->zeroconf_name = strdup(name);

+		sbc->networkInfo->zeroconf_type = strdup(type);

+		sbc->networkInfo->zeroconf_domain = strdup(domain);

+		sbc->networkInfo->zeroconf_interface = interfaceIndex;

+		sbc->networkInfo->mdns = PTRUE;

+		

+		strncpy(sbc->mac, name+12, 18); //name == 'PhidgetSBC (??:??:??:??:??:??)'

+		sbc->mac[17] = '\0';

+		

+		if(flags & kDNSServiceFlagsAdd)

+		{

+			LOG(PHIDGET_LOG_INFO, "DNSServiceBrowse_sbc_CallBack (Add): %s",name);

+			error = DNSServiceQueryRecordPtr(&serviceRef, 0, interfaceIndex, fullname,

+											 kDNSServiceType_TXT, kDNSServiceClass_IN, DNSServiceQueryRecord_SBC_CallBack, sbc);

+			if (error == kDNSServiceErr_NoError)

+			{

+				DNSServiceProcessResultPtr(serviceRef);

+				DNSServiceRefDeallocatePtr(serviceRef);

+				

+				CThread_mutex_lock(&zeroconfSBCsLock);

+				CThread_mutex_lock(&activeSBCManagersLock);

+				

+				//Check if it's in the list and if it's different, remove it to make way for the new one

+				// (Sometimes, we don't get a proper detach notification)

+				if(CList_findInList((CListHandle)zeroconfSBCs, sbc, CPhidgetSBC_areEqual, (void **)&found_sbc) == EPHIDGET_OK)

+				{

+					if(CPhidgetSBC_areExtraEqual(found_sbc, sbc) != PTRUE) //A version number has changed

+					{

+						//make sure zeroconf_ref is not pending

+						if(found_sbc->networkInfo)

+						{

+							CThread_mutex_lock(&found_sbc->networkInfo->zeroconf_ref_lock);

+							if(found_sbc->networkInfo->zeroconf_ref)

+							{

+								DNSServiceRefDeallocatePtr((DNSServiceRef)found_sbc->networkInfo->zeroconf_ref);

+								found_sbc->networkInfo->zeroconf_ref = NULL;

+							}

+							CThread_mutex_unlock(&found_sbc->networkInfo->zeroconf_ref_lock);

+						}

+						

+						//Remove from list - don't free until after detach event

+						CList_removeFromList((CListHandle *)&zeroconfSBCs, found_sbc, CPhidgetSBC_areEqual, PFALSE, NULL);

+						

+						for (trav=activeSBCManagers; trav; trav = trav->next)

+						{

+							if (trav->sbcm->fptrDetachChange && trav->sbcm->state == PHIDGETMANAGER_ACTIVE)

+								trav->sbcm->fptrDetachChange((CPhidgetSBCHandle)found_sbc, trav->sbcm->fptrDetachChangeptr);

+						}

+						

+						CPhidgetSBC_free(found_sbc);

+						

+						//now we fall through and add back to new one

+					}

+					else //Nothing has changed, we didn't remove, don't add

+					{

+						//prefer local. domain

+						if((strcmp(domain, found_sbc->networkInfo->zeroconf_domain) != 0) && !(strcmp(domain, "local.")))

+						{

+							free(found_sbc->networkInfo->zeroconf_domain);

+							found_sbc->networkInfo->zeroconf_domain = sbc->networkInfo->zeroconf_domain;

+							sbc->networkInfo->zeroconf_domain = NULL;

+						}

+						CPhidgetSBC_free(sbc);

+						goto dontadd;

+					}

+				}

+				

+				//now add it

+				CList_addToList((CListHandle *)&zeroconfSBCs, sbc, CPhidgetSBC_areEqual);

+				

+				//send out events

+				for (trav=activeSBCManagers; trav; trav = trav->next)

+				{

+					if (trav->sbcm->fptrAttachChange && trav->sbcm->state == PHIDGETMANAGER_ACTIVE)

+						trav->sbcm->fptrAttachChange((CPhidgetSBCHandle)sbc, trav->sbcm->fptrAttachChangeptr);

+					

+				}

+			dontadd:

+				

+				CThread_mutex_unlock(&activeSBCManagersLock);

+				CThread_mutex_unlock(&zeroconfSBCsLock);

+			}

+			else

+				LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecordPtr returned error: %d\n", error);

+		}

+		else

+		{

+			

+			LOG(PHIDGET_LOG_INFO, "DNSServiceBrowse_sbc_CallBack (Remove): %s",name);

+			CThread_mutex_lock(&zeroconfSBCsLock);

+			CThread_mutex_lock(&activeSBCManagersLock);

+			

+			//make sure zeroconf_ref is not pending

+			if(sbc->networkInfo)

+			{

+				CThread_mutex_lock(&sbc->networkInfo->zeroconf_ref_lock);

+				if(sbc->networkInfo->zeroconf_ref)

+				{

+					DNSServiceRefDeallocatePtr((DNSServiceRef)sbc->networkInfo->zeroconf_ref);

+					sbc->networkInfo->zeroconf_ref = NULL;

+				}

+				CThread_mutex_unlock(&sbc->networkInfo->zeroconf_ref_lock);

+			}

+			

+			if(CList_findInList((CListHandle)zeroconfSBCs, sbc, CPhidgetSBC_areEqual, (void **)&found_sbc) == EPHIDGET_OK)

+			{

+				CList_removeFromList((CListHandle *)&zeroconfSBCs, found_sbc, CPhidgetSBC_areEqual, PFALSE, NULL);

+				//managers

+				for (trav=activeSBCManagers; trav; trav = trav->next)

+				{

+					if (trav->sbcm->fptrDetachChange && trav->sbcm->state == PHIDGETMANAGER_ACTIVE)

+						trav->sbcm->fptrDetachChange((CPhidgetSBCHandle)found_sbc, trav->sbcm->fptrDetachChangeptr);

+				}

+				CPhidgetSBC_free(found_sbc);

+			}

+			

+			CThread_mutex_unlock(&activeSBCManagersLock);

+			CThread_mutex_unlock(&zeroconfSBCsLock);

+			

+			CPhidgetSBC_free(sbc);

+		}

+	}

+}

+

+void DNSServiceBrowse_ws_CallBack(DNSServiceRef service,

+								  DNSServiceFlags flags,

+								  uint32_t interfaceIndex,

+								  DNSServiceErrorType errorCode,

+								  const char * name,

+								  const char * type,

+								  const char * domain,

+								  void * context)

+{

+	if (errorCode != kDNSServiceErr_NoError)

+		LOG(PHIDGET_LOG_ERROR, "DNSServiceBrowse_ws_CallBack returned error: %d\n", errorCode);

+	else

+	{

+		char fullname[kDNSServiceMaxDomainName];

+		

+		CPhidgetRemoteHandle networkInfo;

+		if((CPhidgetRemote_create(&networkInfo))) return;

+		

+		networkInfo->zeroconf_name = strdup(name);

+		networkInfo->zeroconf_server_id = strdup(name);

+		networkInfo->zeroconf_type = strdup(type);

+		networkInfo->zeroconf_domain = strdup(domain);

+		networkInfo->zeroconf_interface = interfaceIndex;

+		

+		DNSServiceConstructFullNamePtr(fullname, name, type, domain);

+		

+		LOG(PHIDGET_LOG_INFO, "DNSServiceBrowse_ws_CallBack: %s (%s, %s, %d)",name,type,domain,interfaceIndex);

+		

+		CThread_mutex_lock(&zeroconfServersLock);

+		if(flags & kDNSServiceFlagsAdd)

+		{

+			if(CList_addToList((CListHandle *)&zeroconfServers, networkInfo, CPhidgetRemote_areEqual) != EPHIDGET_OK)

+				CPhidgetRemote_free(networkInfo);

+		}

+		else

+		{

+			CList_removeFromList((CListHandle *)&zeroconfServers, networkInfo, CPhidgetRemote_areEqual, TRUE, CPhidgetRemote_free);

+		}

+		CThread_mutex_unlock(&zeroconfServersLock);

+	}

+}

+

+int cancelPendingZeroconfLookups(CPhidgetRemoteHandle networkInfo)

+{	

+	if(networkInfo->zeroconf_ref != NULL)

+	{

+		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);

+		networkInfo->zeroconf_ref = NULL;

+	}

+	return EPHIDGET_OK;

+}

+

+

+void DNSServiceQueryRecord_CallBack

+(

+ DNSServiceRef                       DNSServiceRef,

+ DNSServiceFlags                     flags,

+ uint32_t                            interfaceIndex,

+ DNSServiceErrorType                 errorCode,

+ const char                          *fullname,

+ uint16_t                            rrtype,

+ uint16_t                            rrclass,

+ uint16_t                            rdlen,

+ const void                          *rdata,

+ uint32_t                            ttl,

+ void                                *context

+ )

+{

+	

+	CPhidgetRemoteHandle networkInfo = (CPhidgetRemoteHandle)context;

+	

+	if (errorCode != kDNSServiceErr_NoError)

+	{

+		LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecord_CallBack returned error: %d\n", errorCode);

+		networkInfo->zeroconf_ipaddr = NULL;

+	}

+	else if(networkInfo->zeroconf_ipaddr == NULL)

+	{

+		if(rrtype == kDNSServiceType_A && rdlen == 4)

+		{

+			struct in_addr ip;

+			memcpy(&ip, rdata, 4);

+			

+			networkInfo->zeroconf_ipaddr = strdup(inet_ntoa(ip));

+		}

+		//NOTE: Windows doesn't have inet_ntop

+		/*

+		else if(rrtype == kDNSServiceType_AAAA && rdlen == 16)

+		{

+			struct in6_addr ip;

+			memcpy(&ip, rdata, 16);

+			

+			if((networkInfo->zeroconf_ipaddr = malloc(200)) != NULL)

+			{

+				networkInfo->zeroconf_ipaddr = strdup(inet_ntop(AF_INET6, &ip, networkInfo->zeroconf_ipaddr, 200));

+			}

+		}

+		*/

+

+		LOG(PHIDGET_LOG_INFO, "DNSServiceQueryRecord_CallBack: %s (%s %d)",fullname, networkInfo->zeroconf_ipaddr, interfaceIndex);

+	}

+	else

+		LOG(PHIDGET_LOG_INFO, "DNSServiceQueryRecord_CallBack (extra, not used): %s (%d)",fullname, interfaceIndex);

+}

+

+int getZeroconfIPAddr(CPhidgetRemoteHandle networkInfo)

+{

+	DNSServiceErrorType error;

+	

+	LOG(PHIDGET_LOG_VERBOSE, "Resolving IP Address for: %s, %s, %s, %s, %d",

+		networkInfo->zeroconf_name, //name

+		networkInfo->zeroconf_type, // service type

+		networkInfo->zeroconf_domain, //domain

+		networkInfo->zeroconf_host,

+		networkInfo->zeroconf_interface);

+	

+	//already a lookup pending? cancel it and start a new one...

+	CThread_mutex_lock(&networkInfo->zeroconf_ref_lock);

+	if(networkInfo->zeroconf_ref != NULL)

+	{

+		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);

+		networkInfo->zeroconf_ref = NULL;

+	}

+	

+	free(networkInfo->zeroconf_ipaddr);

+	networkInfo->zeroconf_ipaddr = NULL;

+	

+	error = DNSServiceQueryRecordPtr((DNSServiceRef *)&networkInfo->zeroconf_ref,

+									 0,  // no flags

+									 networkInfo->zeroconf_interface,

+									 networkInfo->zeroconf_host, //hostname

+									 kDNSServiceType_A, // IPv4 address for now..

+									 kDNSServiceClass_IN, // service class

+									 DNSServiceQueryRecord_CallBack,

+									 networkInfo);

+	if (error != kDNSServiceErr_NoError)

+	{

+		LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecordPtr returned error: %d\n", error);

+		networkInfo->zeroconf_ref = NULL;

+		CThread_mutex_unlock(&networkInfo->zeroconf_ref_lock);

+		return EPHIDGET_NETWORK;

+	}

+	else

+	{

+		DNSServiceProcessResultPtr((DNSServiceRef)networkInfo->zeroconf_ref);

+		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);

+		networkInfo->zeroconf_ref = NULL;

+		CThread_mutex_unlock(&networkInfo->zeroconf_ref_lock);

+		LOG(PHIDGET_LOG_VERBOSE, "Successfull lookup: %s",networkInfo->zeroconf_host);

+		return EPHIDGET_OK;

+	}

+	

+}

+

+void DNSServiceResolve_CallBack(

+								DNSServiceRef						sdRef,

+								DNSServiceFlags                     flags,

+								uint32_t                            interfaceIndex,

+								DNSServiceErrorType                 errorCode,

+								const char                          *fullname,

+								const char                          *hosttarget,

+								uint16_t                            port,

+								uint16_t                            txtLen,

+								const unsigned char					*txtRecord,

+								void                                *context)

+{	

+	CPhidgetRemoteHandle networkInfo = (CPhidgetRemoteHandle)context;

+	

+	

+	if (errorCode != kDNSServiceErr_NoError)

+	{

+		LOG(PHIDGET_LOG_ERROR, "DNSServiceResolve_CallBack returned error: %d\n", errorCode);

+		networkInfo->zeroconf_host = NULL;

+		networkInfo->zeroconf_port = NULL;

+	}

+	else if(!networkInfo->zeroconf_host && !networkInfo->zeroconf_port)

+	{

+		

+		LOG(PHIDGET_LOG_INFO, "DNSServiceResolve_CallBack: %s (%s:%d %d)",fullname, hosttarget, ntohs(port), interfaceIndex);

+		

+		networkInfo->zeroconf_host = strdup(hosttarget);

+		networkInfo->zeroconf_port = malloc(10);

+		snprintf(networkInfo->zeroconf_port, 10, "%d", ntohs(port));

+	}

+	else

+		LOG(PHIDGET_LOG_INFO, "DNSServiceResolve_CallBack (extra, not used): %s (%s:%d %d)",fullname, hosttarget, ntohs(port), interfaceIndex);

+}

+

+int getZeroconfHostPort(CPhidgetRemoteHandle networkInfo)

+{

+	DNSServiceErrorType error;

+	

+	LOG(PHIDGET_LOG_VERBOSE, "Resolving host:port for: %s, %s, %s",

+		networkInfo->zeroconf_name, //name

+		networkInfo->zeroconf_type, // service type

+		networkInfo->zeroconf_domain //domain

+		);

+	

+	//already a lookup pending? cancel it and start a new one...

+	CThread_mutex_lock(&networkInfo->zeroconf_ref_lock);

+	if(networkInfo->zeroconf_ref != NULL)

+	{

+		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);

+		networkInfo->zeroconf_ref = NULL;

+	}

+	

+	free(networkInfo->zeroconf_host);

+	networkInfo->zeroconf_host = NULL;

+	free(networkInfo->zeroconf_port);

+	networkInfo->zeroconf_port = NULL;

+	

+	error = DNSServiceResolvePtr((DNSServiceRef *)&networkInfo->zeroconf_ref,

+								 0,  // no flags

+								 0,  // all interfaces

+								 //networkInfo->zeroconf_interface,  // interface this service was discovered on

+								 networkInfo->zeroconf_name, //name

+								 networkInfo->zeroconf_type, // service type

+								 networkInfo->zeroconf_domain, //domain

+								 DNSServiceResolve_CallBack,

+								 networkInfo);     // no context

+	if (error != kDNSServiceErr_NoError)

+	{

+		LOG(PHIDGET_LOG_ERROR, "getZeroconfHostPort returned error: %d\n", error);

+		networkInfo->zeroconf_ref = NULL;

+		CThread_mutex_unlock(&networkInfo->zeroconf_ref_lock);

+		return EPHIDGET_NETWORK;

+	}

+	else

+	{

+		DNSServiceProcessResultPtr((DNSServiceRef)networkInfo->zeroconf_ref);

+		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);

+		networkInfo->zeroconf_ref = NULL;

+		LOG(PHIDGET_LOG_VERBOSE, "Successfull host:port lookup: %s:%s",networkInfo->zeroconf_host,networkInfo->zeroconf_port);

+		CThread_mutex_unlock(&networkInfo->zeroconf_ref_lock);

+		//Don't bother - we aren't going to use it anyways

+		//This is just another way to lookup the IP address - from the DNS record

+		//getZeroconfIPAddr(networkInfo);

+		return EPHIDGET_OK;

+	}

+}

+

+int refreshZeroconf(CPhidgetRemoteHandle networkInfo, DNSServiceQueryRecordReply callBack, void *userPtr)

+{

+	DNSServiceErrorType error;

+	char fullname[kDNSServiceMaxDomainName];

+	

+	LOG(PHIDGET_LOG_VERBOSE, "Refreshing zeroconf on: 0x%x",networkInfo);

+	

+	//already a lookup pending? cancel it and start a new one...

+	CThread_mutex_lock(&networkInfo->zeroconf_ref_lock);

+	

+	DNSServiceConstructFullNamePtr(fullname, networkInfo->zeroconf_name, networkInfo->zeroconf_type, networkInfo->zeroconf_domain);

+	

+	if(networkInfo->zeroconf_ref != NULL)

+	{

+		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);

+		networkInfo->zeroconf_ref = NULL;

+	}

+	error = DNSServiceQueryRecordPtr((DNSServiceRef *)&networkInfo->zeroconf_ref,

+									 0,  // no flags

+									 networkInfo->zeroconf_interface,

+									 fullname, //name

+									 kDNSServiceType_TXT, // service type

+									 kDNSServiceClass_IN, // service class

+									 callBack,

+									 userPtr);

+	if (error != kDNSServiceErr_NoError)

+	{

+		LOG(PHIDGET_LOG_ERROR, "DNSServiceQueryRecordPtr returned error: %d\n", error);

+		networkInfo->zeroconf_ref = NULL;

+		CThread_mutex_unlock(&networkInfo->zeroconf_ref_lock);

+		return EPHIDGET_NETWORK;

+	}

+	else

+	{

+		DNSServiceProcessResultPtr((DNSServiceRef)networkInfo->zeroconf_ref);

+		DNSServiceRefDeallocatePtr((DNSServiceRef)networkInfo->zeroconf_ref);

+		networkInfo->zeroconf_ref = NULL;

+		CThread_mutex_unlock(&networkInfo->zeroconf_ref_lock);

+		LOG(PHIDGET_LOG_VERBOSE, "Successfull refresh.");

+		return EPHIDGET_OK;

+	}

+}

+

+int refreshZeroconfSBC(CPhidgetSBCHandle sbc)

+{

+	return refreshZeroconf(sbc->networkInfo, DNSServiceQueryRecord_SBC_CallBack, sbc);

+}

+

+int refreshZeroconfPhidget(CPhidgetHandle phid)

+{

+	return refreshZeroconf(phid->networkInfo, DNSServiceQueryRecord_Phidget_CallBack, phid);

+}

+

+int InitializeZeroconf()

+{

+	DNSServiceErrorType error;

+	CThread_mutex_lock(&zeroconfInitLock);

+	if(!Dns_sdInitialized)

+	{

+#ifdef ZEROCONF_RUNTIME_LINKING

+		

+#ifdef _WINDOWS

+		if(!(dllHandle = LoadLibrary(L"dnssd.dll")))

+		{

+			DWORD error = GetLastError();

+			switch(error)

+			{

+				case ERROR_MOD_NOT_FOUND:

+					LOG(PHIDGET_LOG_DEBUG,"LoadLibrary failed - module could not be found");

+					break;

+				default:

+					LOG(PHIDGET_LOG_DEBUG,"LoadLibrary failed with error code: %d", error);

+			}

+			CThread_mutex_unlock(&zeroconfInitLock);

+			return EPHIDGET_UNEXPECTED;

+		}

+		

+		// If the handle is valid, try to get the function address. 

+		if (NULL != dllHandle) 

+		{ 

+			//Get pointers to our functions using GetProcAddress:

+#ifdef WINCE

+			DNSServiceRegisterPtr = (DNSServiceRegisterType)GetProcAddress(dllHandle, L"DNSServiceRegister");

+			DNSServiceProcessResultPtr = (DNSServiceProcessResultType)GetProcAddress(dllHandle, L"DNSServiceProcessResult");

+			DNSServiceRefDeallocatePtr = (DNSServiceRefDeallocateType)GetProcAddress(dllHandle, L"DNSServiceRefDeallocate");

+			DNSServiceAddRecordPtr = (DNSServiceAddRecordType)GetProcAddress(dllHandle, L"DNSServiceAddRecord");

+			DNSServiceUpdateRecordPtr = (DNSServiceUpdateRecordType)GetProcAddress(dllHandle, L"DNSServiceUpdateRecord");

+			DNSServiceRemoveRecordPtr = (DNSServiceRemoveRecordType)GetProcAddress(dllHandle, L"DNSServiceRemoveRecord");

+			DNSServiceBrowsePtr = (DNSServiceBrowseType)GetProcAddress(dllHandle, L"DNSServiceBrowse");

+			DNSServiceResolvePtr = (DNSServiceResolveType)GetProcAddress(dllHandle, L"DNSServiceResolve");

+			DNSServiceQueryRecordPtr = (DNSServiceQueryRecordType)GetProcAddress(dllHandle, L"DNSServiceQueryRecord");

+			DNSServiceConstructFullNamePtr = (DNSServiceConstructFullNameType)GetProcAddress(dllHandle, L"DNSServiceConstructFullName");

+			DNSServiceRefSockFDPtr = (DNSServiceRefSockFDType)GetProcAddress(dllHandle, L"DNSServiceRefSockFD");

+#else

+			DNSServiceRegisterPtr = (DNSServiceRegisterType)GetProcAddress(dllHandle, "DNSServiceRegister");

+			DNSServiceProcessResultPtr = (DNSServiceProcessResultType)GetProcAddress(dllHandle, "DNSServiceProcessResult");

+			DNSServiceRefDeallocatePtr = (DNSServiceRefDeallocateType)GetProcAddress(dllHandle, "DNSServiceRefDeallocate");

+			DNSServiceAddRecordPtr = (DNSServiceAddRecordType)GetProcAddress(dllHandle, "DNSServiceAddRecord");

+			DNSServiceUpdateRecordPtr = (DNSServiceUpdateRecordType)GetProcAddress(dllHandle, "DNSServiceUpdateRecord");

+			DNSServiceRemoveRecordPtr = (DNSServiceRemoveRecordType)GetProcAddress(dllHandle, "DNSServiceRemoveRecord");

+			DNSServiceBrowsePtr = (DNSServiceBrowseType)GetProcAddress(dllHandle, "DNSServiceBrowse");

+			DNSServiceResolvePtr = (DNSServiceResolveType)GetProcAddress(dllHandle, "DNSServiceResolve");

+			DNSServiceQueryRecordPtr = (DNSServiceQueryRecordType)GetProcAddress(dllHandle, "DNSServiceQueryRecord");

+			DNSServiceConstructFullNamePtr = (DNSServiceConstructFullNameType)GetProcAddress(dllHandle, "DNSServiceConstructFullName");

+			DNSServiceRefSockFDPtr = (DNSServiceRefSockFDType)GetProcAddress(dllHandle, "DNSServiceRefSockFD");

+#endif

+			

+			Dns_sdInitialized = (

+								 NULL != DNSServiceRegisterPtr && 

+								 NULL != DNSServiceProcessResultPtr &&

+								 NULL != DNSServiceRefDeallocatePtr &&

+								 NULL != DNSServiceAddRecordPtr &&

+								 NULL != DNSServiceUpdateRecordPtr &&

+								 NULL != DNSServiceRemoveRecordPtr &&

+								 NULL != DNSServiceQueryRecordPtr &&

+								 NULL != DNSServiceConstructFullNamePtr &&

+								 NULL != DNSServiceRefSockFDPtr);

+		}

+		

+		if(!Dns_sdInitialized)

+		{

+			LOG(PHIDGET_LOG_DEBUG,"InitializeZeroconf failed somehow...");

+			CThread_mutex_unlock(&zeroconfInitLock);

+			return EPHIDGET_UNSUPPORTED;

+		}

+		

+#elif _LINUX

+		libHandle = dlopen("libdns_sd.so",RTLD_LAZY);

+		if(!libHandle)

+		{

+			LOG(PHIDGET_LOG_WARNING, "dlopen failed with error: %s", dlerror());

+			LOG(PHIDGET_LOG_WARNING, "Assuming that zeroconf is not supported on this machine.");

+			CThread_mutex_unlock(&zeroconfInitLock);

+			return EPHIDGET_UNSUPPORTED;

+		}

+		

+		//Get pointers to our functions using dlsym:

+		if(!(DNSServiceRegisterPtr = (DNSServiceRegisterType)dlsym(libHandle, "DNSServiceRegister"))) goto dlsym_err;

+		if(!(DNSServiceProcessResultPtr = (DNSServiceProcessResultType)dlsym(libHandle, "DNSServiceProcessResult"))) goto dlsym_err;

+		if(!(DNSServiceRefDeallocatePtr = (DNSServiceRefDeallocateType)dlsym(libHandle, "DNSServiceRefDeallocate"))) goto dlsym_err;

+		if(!(DNSServiceAddRecordPtr = (DNSServiceAddRecordType)dlsym(libHandle, "DNSServiceAddRecord"))) goto dlsym_err;

+		if(!(DNSServiceUpdateRecordPtr = (DNSServiceUpdateRecordType)dlsym(libHandle, "DNSServiceUpdateRecord"))) goto dlsym_err;

+		if(!(DNSServiceRemoveRecordPtr = (DNSServiceRemoveRecordType)dlsym(libHandle, "DNSServiceRemoveRecord"))) goto dlsym_err;

+		if(!(DNSServiceBrowsePtr = (DNSServiceBrowseType)dlsym(libHandle, "DNSServiceBrowse"))) goto dlsym_err;

+		if(!(DNSServiceResolvePtr = (DNSServiceResolveType)dlsym(libHandle, "DNSServiceResolve"))) goto dlsym_err;

+		if(!(DNSServiceQueryRecordPtr = (DNSServiceQueryRecordType)dlsym(libHandle, "DNSServiceQueryRecord"))) goto dlsym_err;

+		if(!(DNSServiceConstructFullNamePtr = (DNSServiceConstructFullNameType)dlsym(libHandle, "DNSServiceConstructFullName"))) goto dlsym_err;

+		if(!(DNSServiceRefSockFDPtr = (DNSServiceRefSockFDType)dlsym(libHandle, "DNSServiceRefSockFD"))) goto dlsym_err;

+		

+		goto dlsym_good;

+		

+	dlsym_err:

+		LOG(PHIDGET_LOG_WARNING, "dlsym failed with error: %s", dlerror());

+		LOG(PHIDGET_LOG_WARNING, "Assuming that zeroconf is not supported on this machine.");

+		CThread_mutex_unlock(&zeroconfInitLock);

+		return EPHIDGET_UNSUPPORTED;

+		

+	dlsym_good:

+		Dns_sdInitialized = TRUE;

+#endif

+		

+#else

+		Dns_sdInitialized = TRUE;

+#endif

+		LOG(PHIDGET_LOG_DEBUG,"InitializeZeroconf - System supports zeroconf.");

+	}

+	if(!Dns_sdBrowsing)

+	{

+		error = DNSServiceBrowsePtr(&zeroconf_browse_ws_ref,

+									0,                // no flags

+									0,                // all network interfaces

+									"_phidget_ws._tcp",     // service type

+									"",               // default domains

+									DNSServiceBrowse_ws_CallBack, // call back function

+									NULL);            // no context

+		if (error != kDNSServiceErr_NoError)

+		{

+			LOG(PHIDGET_LOG_ERROR,"DNSServiceBrowse on _phidget_ws._tcp failed: %d", error);

+			CThread_mutex_unlock(&zeroconfInitLock);

+			return EPHIDGET_TRYAGAIN;

+		}

+		

+		error = DNSServiceBrowsePtr(&zeroconf_browse_sbc_ref,

+									0,                // no flags

+									0,                // all network interfaces

+									"_phidget_sbc._tcp",     // service type

+									"",               // default domains

+									DNSServiceBrowse_sbc_CallBack, // call back function

+									NULL);            // no context

+		if (error != kDNSServiceErr_NoError)

+		{

+			LOG(PHIDGET_LOG_ERROR,"DNSServiceBrowse on _phidget_sbc._tcp failed: %d", error);

+			CThread_mutex_unlock(&zeroconfInitLock);

+			return EPHIDGET_TRYAGAIN;

+		}

+		

+		error = DNSServiceBrowsePtr(&zeroconf_browse_phidget_ref,

+									0,                // no flags

+									0,                // all network interfaces

+									"_phidget._tcp",     // service type

+									"",               // default domains

+									DNSServiceBrowse_Phidget_CallBack, // call back function

+									NULL);            // no context

+		if (error != kDNSServiceErr_NoError)

+		{

+			LOG(PHIDGET_LOG_ERROR,"DNSServiceBrowse on _phidget._tcp failed: %d", error);

+			CThread_mutex_unlock(&zeroconfInitLock);

+			return EPHIDGET_TRYAGAIN;

+		}

+		

+		stopBrowsing = FALSE;

+		pthread_create(&dns_thread, NULL, (void *(*)(void *))dns_callback_thread,NULL);

+		

+		Dns_sdBrowsing = PTRUE;

+		LOG(PHIDGET_LOG_DEBUG,"InitializeZeroconf - Zeroconf browsing active.");

+	}

+	CThread_mutex_unlock(&zeroconfInitLock);

+	return EPHIDGET_OK;

+}

+

+int UninitializeZeroconf()

+{

+	void *status;

+	CThread_mutex_lock(&zeroconfInitLock);

+	if(Dns_sdBrowsing)

+	{

+		stopBrowsing = TRUE;

+		if(dns_thread)

+		{

+			pthread_join(dns_thread, &status);

+			dns_thread = NULL;

+		}

+		

+		if(zeroconf_browse_ws_ref)

+		{

+			DNSServiceRefDeallocatePtr(zeroconf_browse_ws_ref);

+			zeroconf_browse_ws_ref = NULL;

+		}

+		if(zeroconf_browse_sbc_ref)

+		{

+			DNSServiceRefDeallocatePtr(zeroconf_browse_sbc_ref);

+			zeroconf_browse_sbc_ref = NULL;

+		}

+		if(zeroconf_browse_phidget_ref)

+		{

+			DNSServiceRefDeallocatePtr(zeroconf_browse_phidget_ref);

+			zeroconf_browse_phidget_ref = NULL;

+		}

+		

+		CThread_mutex_lock(&zeroconfPhidgetsLock);

+		CList_emptyList((CListHandle *)&zeroconfPhidgets, FALSE, NULL);

+		CThread_mutex_unlock(&zeroconfPhidgetsLock);

+		

+		CThread_mutex_lock(&zeroconfSBCsLock);

+		CList_emptyList((CListHandle *)&zeroconfSBCs, FALSE, NULL);

+		CThread_mutex_unlock(&zeroconfSBCsLock);

+		

+		CThread_mutex_lock(&zeroconfServersLock);

+		CList_emptyList((CListHandle *)&zeroconfServers, FALSE, NULL);

+		CThread_mutex_unlock(&zeroconfServersLock);

+		

+		Dns_sdBrowsing = FALSE;

+	}

+	CThread_mutex_unlock(&zeroconfInitLock);

+	return EPHIDGET_OK;

+}

+

+