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);